CN111190422A - Container transfer robot track control method - Google Patents

Container transfer robot track control method Download PDF

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Publication number
CN111190422A
CN111190422A CN202010055139.1A CN202010055139A CN111190422A CN 111190422 A CN111190422 A CN 111190422A CN 202010055139 A CN202010055139 A CN 202010055139A CN 111190422 A CN111190422 A CN 111190422A
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China
Prior art keywords
wheels
robot
transfer robot
axis
carrying
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Inventor
高明煜
吴浩杰
杨宇翔
朱晓靖
孙延志
孟安栋
王照明
张昊
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Sinofork Equipment Co ltd
Hangzhou Dianzi University
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Sinofork Equipment Co ltd
Hangzhou Dianzi University
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Priority to CN202010055139.1A priority Critical patent/CN111190422A/en
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    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60P—VEHICLES ADAPTED FOR LOAD TRANSPORTATION OR TO TRANSPORT, TO CARRY, OR TO COMPRISE SPECIAL LOADS OR OBJECTS
    • B60P3/00—Vehicles adapted to transport, to carry or to comprise special loads or objects
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0287—Control of position or course in two dimensions specially adapted to land vehicles involving a plurality of land vehicles, e.g. fleet or convoy travelling

Abstract

The invention relates to a container transfer robot track control method. In the existing automatic carrying equipment, a carrying robot is often adopted to carry the container, and the carrying equipment is large in size, large in turning radius and inflexible in movement, so that the carrying equipment is not suitable for being used in a narrow space range. The invention adopts two carrying devices to carry the container, the control system can receive the lane line information on the advancing route of the robot collected by the camera in real time, and then high-speed operation is carried out according to the received lane line information, the speed and the angle of each wheel are calculated, and the track control of the carrying robot is realized. The method adopts two pieces of carrying equipment, the carrying equipment has relatively small volume, small turning radius and flexible movement. In addition, because two handling equipment often are the symmetrical structure and distribute in the side around the container, consequently can conveniently obtain the orbit control strategy of another handling equipment after calculating the orbit control strategy of an equipment.

Description

Container transfer robot track control method
Technical Field
The invention belongs to the field of container transportation, and particularly relates to a track control method for a container transfer robot.
Background
The container transportation industry is in an important position in the modern logistics industry, and the realization of the automatic transportation of the container by the transportation equipment is a development trend of the modern container transportation industry, so the research on the track control method of the transportation equipment is also an important subject in the container transportation field. In the track control process of the container transfer robot, firstly, a control system receives lane line information on a robot traveling route acquired by a camera, then high-speed operation is carried out according to the lane line information received in real time, the speed and the angle of each wheel are calculated, and track control of the transfer robot is realized on the basis. At present, the track control method of the container transfer robot mainly comprises the following steps: 1) a conventional manually operated trajectory control method; 2) a single robot based trajectory control method; 3) a track control method based on a master-slave double robot is disclosed.
According to the traditional manual operation trajectory control method, workers are used for carrying out real-time control on carrying equipment in the traditional container transportation industry, however, a large amount of manpower and material resource cost is needed for cultivating one worker, and the worker cannot carry out long-time high-load work. In addition, even in the case of requiring high-precision work, workers often cannot meet the work requirements.
A track control method based on a single robot is an automatic control method in the field of container handling, and is characterized in that a container is lifted by using one handling robot, and the transportation track of the robot is calculated in real time. Because the method only adopts one carrying device, the carrying device is often large in size, large in turning radius and inflexible in movement, and therefore, the method is not suitable for being used in a narrow space range.
The method is based on a track control method of a master-slave double robot, two transfer robots are used for lifting a container, and the transportation track of the robots is calculated in real time. Because the method adopts two pieces of carrying equipment, the carrying equipment has relatively small volume, small turning radius and flexible movement. In addition, because two handling equipment often are the symmetrical structure and distribute in the side around the container, consequently can conveniently obtain the orbit control strategy of another handling equipment after calculating the orbit control strategy of an equipment.
Disclosure of Invention
The invention adopts two four-steering wheel system transfer robots with the same structure, which are symmetrically distributed on the front side and the rear side of a container respectively in the container transfer process, a camera arranged on a main transfer robot is used for collecting front lane line information in real time and sending the front lane line information to a control system, the control system calculates the steering wheel speed and the steering angle of the main transfer robot and a slave transfer robot in real time according to the lane line information, and simultaneously sends control parameters to the slave transfer robot through a wireless module, thereby completing the synchronous track control of the main transfer robot and the slave transfer robot. The method comprises the following specific steps:
step (1) establishing an XOY rectangular coordinate system according to the following mode: taking the right center of the container as an origin O, taking the horizontal right direction as the positive direction of an X axis after passing through the origin O, and taking the horizontal forward direction as the positive direction of a Y axis;
recording four steering wheels of a master transfer robot as 1, 2, 3 and 4 respectively, and recording four steering wheels of a slave transfer robot as 5, 6, 7 and 8 respectively; wherein the vertical distance between the No. 1, 2, 5 and 6 wheels and the X axis is d1Perpendicular to the Y axis by a distance d4(ii) a 3. The vertical distance between the No. 4, 7 and 8 wheels and the X axis is d2Perpendicular to the Y axis by a distance d3(ii) a Recording camera on Y axisA distance L from the origin O in the direction2；
Step (2) shooting a front lane line image by using a camera arranged on the main carrying robot and transmitting the front lane line image to a control system through a high-speed Ethernet interface;
after receiving the lane line image, the control system judges the lane line type, and the control system can make different control strategies according to three different lane line types of the judged straight line, broken line and curve; the method comprises the following specific steps:
①, the lane line is judged as a straight line, under the condition, the track control method for the transfer robot is simpler, and the main transfer robot and the slave transfer robot can be controlled to move along the straight line by controlling 8 steering wheels of the main transfer robot and the slave transfer robot to have the same speed and making an angle to move forward vertically along the positive direction of the Y axis;
②, and in this case, the control system calculates the distance L between the camera and the inflection point A of the broken line in the positive direction along the Y axis1And a fold line angle α, the fold line angle intersecting the X axis at a point O1Point of, O1The carrying robot does circular motion to bypass the circle center of the broken line track, and r is the radius of the circular motion;
inscribe line segment OO1Has a length of L3At triangular AOO1In (b), the following relationship exists:
Figure BDA0002372549460000021
Figure BDA0002372549460000022
calculating to obtain L3Length of (d); on the basis, the turning radius and the turning angle of the wheels No. 1-4 can be obtained through calculation, and the specific calculation formula is as follows:
Figure BDA0002372549460000023
Figure BDA0002372549460000031
Figure BDA0002372549460000032
Figure BDA0002372549460000033
Figure BDA0002372549460000034
Figure BDA0002372549460000035
Figure BDA0002372549460000036
Figure BDA0002372549460000037
the turning radius and the striking angle of the wheels 5-8 can be calculated as follows:
r5＝r1，r6＝r2，r7＝r3，r8＝r4
α5＝α1，α6＝α2，α7＝α3，α8＝α4
since the speed of the wheels 1-8 is proportional to the turning radius, the speed relationship of the wheels 1-8 can be obtained as follows:
v1:v2:v3:v4:v5:v6:v7:v8＝r1:r2:r3:r4:r5:r6:r7:r8
③ the lane line is determined as a curve, in which case the control system calculates the coordinate of a certain point A on the curve in the XOY coordinate system as (x)1,y1) Passing A as line segment AO and passing the midpoint of line segment AO
Figure BDA0002372549460000038
Perpendicular bisector BO1Intersects the X axis at a point O1Wherein ∠ OBO1At right angles, line segment BO1The equation is:
Figure BDA0002372549460000039
let x equal to 0, then the line segment OO can be calculated1Length of (d), noted as L3The length is the arc radius r of the transfer robot when the transfer robot performs arc motion to the point A; on the basis, the turning radius and the turning angle of the wheels No. 1-4 can be obtained through calculation, and the specific calculation formula is as follows:
Figure BDA00023725494600000310
Figure BDA0002372549460000041
Figure BDA0002372549460000042
Figure BDA0002372549460000043
Figure BDA0002372549460000044
Figure BDA0002372549460000045
Figure BDA0002372549460000046
Figure BDA0002372549460000047
the turning radius and the striking angle of the wheels 5-8 can be calculated as follows:
r5＝r1，r6＝r2，r7＝r3，r8＝r4
α5＝α1，α6＝α2，α7＝α3，α8＝α4
because the speed of the wheels 1-8 is in direct proportion to the turning radius, the speed relationship of the wheels 1-8 is obtained as follows:
v1:v2:v3:v4:v5:v6:v7:v8＝r1:r2:r3:r4:r5:r6:r7:r8
and (4) controlling the master carrying robot according to the calculated four steering wheel speeds and the calculated angle parameter, simultaneously sending the four steering wheel speeds and the angle parameter of the slave carrying robot to the slave carrying robot through the wireless spread spectrum module, and controlling the slave carrying robot according to the received steering wheel speeds and the angle parameter, so that the cooperative control of the master carrying robot and the slave carrying robot is realized.
By utilizing the 4 steps, a novel method for controlling the track of the master-slave container handling robot is invented, so that two handling robots can be controlled to travel along a lane line and carry the container to a specified place.
The invention has the beneficial effects that: the invention collects the lane line in real time through the camera, the control system judges the lane line information in real time and simply and efficiently calculates the speed and the attack angle of each wheel of the main robot, and simultaneously, the speed and the attack angle of each wheel of the slave robot can be conveniently obtained because the two robots are symmetrically distributed. The track control method is simple and efficient, has small turning radius, can control the carrying robot to flexibly move, and is suitable for operation in a narrow space range.
Drawings
FIG. 1 is a diagram showing the effect of container handling by master-slave double robots;
FIG. 2 is a schematic view of a polygonal line trajectory of the transfer robot;
fig. 3 is a schematic diagram of a transfer robot curve trajectory.
Detailed Description
A method for controlling the track of a container transfer robot comprises the following steps:
step (1) establishing an XOY rectangular coordinate system according to the following mode: taking the right center of the container as an origin O, taking the horizontal right direction as the positive direction of an X axis after passing through the origin O, and taking the horizontal forward direction as the positive direction of a Y axis;
recording four steering wheels of a master transfer robot as 1, 2, 3 and 4 respectively, and recording four steering wheels of a slave transfer robot as 5, 6, 7 and 8 respectively; wherein the vertical distance between the No. 1, 2, 5 and 6 wheels and the X axis is d1Perpendicular to the Y axis by a distance d4(ii) a 3. The vertical distance between the No. 4, 7 and 8 wheels and the X axis is d2Perpendicular to the Y axis by a distance d3(ii) a Recording the distance L between the camera and the origin O in the Y-axis direction2；
Step (2) shooting a front lane line image by using a camera arranged on the main carrying robot and transmitting the front lane line image to a control system through a high-speed Ethernet interface;
after receiving the lane line image, the control system judges the lane line type, and the control system can make different control strategies according to three different lane line types of the judged straight line, broken line and curve; the method comprises the following specific steps:
①, the lane line is judged as a straight line, under the condition, the track control method for the transfer robot is simpler, and the main transfer robot and the slave transfer robot can be controlled to move along the straight line by controlling 8 steering wheels of the main transfer robot and the slave transfer robot to have the same speed and making an angle to move forward vertically along the positive direction of the Y axis;
②, and in this case, the control system calculates the distance L between the camera and the inflection point A of the broken line in the positive direction along the Y axis1And a fold line angle α, the fold line angle intersecting the X axis at a point O1Point of, O1Namely, the carrying robot does circular motionRound the center of the broken line track, and r is the radius of the circular arc motion; as shown in fig. 2;
inscribe line segment OO1Has a length of L3At triangular AOO1In (b), the following relationship exists:
Figure BDA0002372549460000051
Figure BDA0002372549460000052
calculating to obtain L3Length of (d); on the basis, the turning radius and the turning angle of the wheels No. 1-4 can be obtained through calculation, and the specific calculation formula is as follows:
Figure BDA0002372549460000061
Figure BDA0002372549460000062
Figure BDA0002372549460000063
Figure BDA0002372549460000064
Figure BDA0002372549460000065
Figure BDA0002372549460000066
Figure BDA0002372549460000067
Figure BDA0002372549460000068
the turning radius and the striking angle of the wheels 5-8 can be calculated as follows:
r5＝r1，r6＝r2，r7＝r3，r8＝r4
α5＝α1，α6＝α2，α7＝α3，α8＝α4
since the speed of the wheels 1-8 is proportional to the turning radius, the speed relationship of the wheels 1-8 can be obtained as follows:
v1:v2:v3:v4:v5:v6:v7:v8＝r1:r2:r3:r4:r5:r6:r7:r8
③ is determined to be a curve, and as shown in FIG. 3, in this case, the control system calculates the coordinates of a point A on the curve in the XOY coordinate system as (x)1,y1) Passing A as line segment AO and passing the midpoint of line segment AO
Figure BDA0002372549460000069
Perpendicular bisector BO1Intersects the X axis at a point O1Wherein ∠ OBO1At right angles, line segment BO1The equation is:
Figure BDA00023725494600000610
let x equal to 0, then the line segment OO can be calculated1Length of (d), noted as L3The length is the arc radius r of the transfer robot when the transfer robot performs arc motion to the point A; on the basis, the turning radius and the turning angle of the wheels No. 1-4 can be obtained through calculation, and the specific calculation formula is as follows:
Figure BDA0002372549460000071
Figure BDA0002372549460000072
Figure BDA0002372549460000073
Figure BDA0002372549460000074
Figure BDA0002372549460000075
Figure BDA0002372549460000076
Figure BDA0002372549460000077
Figure BDA0002372549460000078
the turning radius and the striking angle of the wheels 5-8 can be calculated as follows:
r5＝r1，r6＝r2，r7＝r3，r8＝r4
α5＝α1，α6＝α2，α7＝α3，α8＝α4
because the speed of the wheels 1-8 is in direct proportion to the turning radius, the speed relationship of the wheels 1-8 is obtained as follows:
v1:v2:v3:v4:v5:v6:v7:v8＝r1:r2:r3:r4:r5:r6:r7:r8
and (4) controlling the master carrying robot according to the calculated four steering wheel speeds and the calculated angle parameter, simultaneously sending the four steering wheel speeds and the angle parameter of the slave carrying robot to the slave carrying robot through the wireless spread spectrum module, and controlling the slave carrying robot according to the received steering wheel speeds and the angle parameter, so that the cooperative control of the master carrying robot and the slave carrying robot is realized.
By utilizing the above 4 steps, as shown in fig. 1, a novel method for controlling the track of a master-slave transfer robot of a container can control two transfer robots to travel along a lane line and transfer the container to a designated place.

Claims (1)

1. A method for controlling the track of a container transfer robot is characterized by comprising the following specific steps:
step (1) establishing an XOY rectangular coordinate system according to the following mode: taking the right center of the container as an origin O, taking the horizontal right direction as the positive direction of an X axis after passing through the origin O, and taking the horizontal forward direction as the positive direction of a Y axis;
recording four steering wheels of a master transfer robot as 1, 2, 3 and 4 respectively, and recording four steering wheels of a slave transfer robot as 5, 6, 7 and 8 respectively; wherein the vertical distance between the No. 1, 2, 5 and 6 wheels and the X axis is d1Perpendicular to the Y axis by a distance d4(ii) a 3. The vertical distance between the No. 4, 7 and 8 wheels and the X axis is d2Perpendicular to the Y axis by a distance d3(ii) a Recording the distance L between the camera and the origin O in the Y-axis direction2；
Step (2) shooting a front lane line image by using a camera arranged on the main carrying robot and transmitting the front lane line image to a control system through a high-speed Ethernet interface;
after receiving the lane line image, the control system judges the lane line type, and the control system can make different control strategies according to three different lane line types of the judged straight line, broken line and curve; the method comprises the following specific steps:
①, the lane line is judged as a straight line, under the condition, the track control method for the transfer robot is simpler, and the main transfer robot and the slave transfer robot can be controlled to move along the straight line by controlling 8 steering wheels of the main transfer robot and the slave transfer robot to have the same speed and making an angle to move forward vertically along the positive direction of the Y axis;
② lane marking determinationFolding lines; in this case, the control system calculates the distance L between the camera and the inflection point A of the polygonal line in the positive direction along the Y-axis1And a fold line angle α, the fold line angle intersecting the X axis at a point O1Point of, O1The carrying robot does circular motion to bypass the circle center of the broken line track, and r is the radius of the circular motion;
inscribe line segment OO1Has a length of L3At triangular AOO1In (b), the following relationship exists:
Figure FDA0002372549450000011
Figure FDA0002372549450000012
calculating to obtain L3Length of (d); on the basis, the turning radius and the turning angle of the wheels No. 1-4 can be obtained through calculation, and the specific calculation formula is as follows:
Figure FDA0002372549450000013
Figure FDA0002372549450000021
Figure FDA0002372549450000022
Figure FDA0002372549450000023
Figure FDA0002372549450000024
Figure FDA0002372549450000025
Figure FDA0002372549450000026
Figure FDA0002372549450000027
the turning radius and the striking angle of the wheels 5-8 can be calculated as follows:
r5＝r1，r6＝r2，r7＝r3，r8＝r4
α5＝α1，α6＝α2，α7＝α3，α8＝α4
since the speed of the wheels 1-8 is proportional to the turning radius, the speed relationship of the wheels 1-8 can be obtained as follows:
v1:v2:v3:v4:v5:v6:v7:v8＝r1:r2:r3:r4:r5:r6:r7:r8
③ the lane line is determined as a curve, in which case the control system calculates the coordinate of a certain point A on the curve in the XOY coordinate system as (x)1,y1) Passing A as line segment AO and passing the midpoint of line segment AO
Figure FDA0002372549450000028
Perpendicular bisector BO1Intersects the X axis at a point O1Wherein ∠ OBO1At right angles, line segment BO1The equation is:
Figure FDA0002372549450000029
let x equal to 0, then the line segment OO can be calculated1Length of (d), noted as L3The length is the arc radius r of the transfer robot when the transfer robot performs arc motion to the point A; on the basis of the above-mentionedThe turning radius and the turning angle of the wheels No. 1-4 can be obtained through calculation, and the specific calculation formula is as follows:
Figure FDA00023725494500000210
Figure FDA0002372549450000031
Figure FDA0002372549450000032
Figure FDA0002372549450000033
Figure FDA0002372549450000034
Figure FDA0002372549450000035
Figure FDA0002372549450000036
Figure FDA0002372549450000037
the turning radius and the striking angle of the wheels 5-8 can be calculated as follows:
r5＝r1，r6＝r2，r7＝r3，r8＝r4
α5＝α1，α6＝α2，α7＝α3，α8＝α4
because the speed of the wheels 1-8 is in direct proportion to the turning radius, the speed relationship of the wheels 1-8 is obtained as follows:
v1:v2:v3:v4:v5:v6:v7:v8＝r1:r2:r3:r4:r5:r6:r7:r8
and (4) controlling the master carrying robot according to the calculated four steering wheel speeds and the calculated angle parameter, simultaneously sending the four steering wheel speeds and the angle parameter of the slave carrying robot to the slave carrying robot through the wireless spread spectrum module, and controlling the slave carrying robot according to the received steering wheel speeds and the angle parameter, so that the cooperative control of the master carrying robot and the slave carrying robot is realized.
CN202010055139.1A 2020-01-17 2020-01-17 Container transfer robot track control method Pending CN111190422A (en)

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Application publication date: 20200522