CN111469921A - Calibration method and system for zero offset of double-steering-wheel type AGV steering wheel - Google Patents
Calibration method and system for zero offset of double-steering-wheel type AGV steering wheel Download PDFInfo
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- CN111469921A CN111469921A CN202010472773.5A CN202010472773A CN111469921A CN 111469921 A CN111469921 A CN 111469921A CN 202010472773 A CN202010472773 A CN 202010472773A CN 111469921 A CN111469921 A CN 111469921A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D15/00—Steering not otherwise provided for
- B62D15/02—Steering position indicators ; Steering position determination; Steering aids
- B62D15/021—Determination of steering angle
- B62D15/0245—Means or methods for determination of the central position of the steering system, e.g. straight ahead position
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Abstract
The invention discloses a method and a system for calibrating zero offset of a steering wheel of a double-steering-wheel AGV. The method comprises the following steps: controlling the front and rear steering wheels to move forwards at the same rotating speed; determining the deflection direction of the vehicle body after the movement relative to the direction of the vehicle body before the movement; if the direction of the vehicle body deflects anticlockwise, the rotation angle of the front steering wheel is adjusted clockwise; if the vehicle body deflects clockwise, the rotation angle of the rear steering wheel is adjusted clockwise; if the direction of the vehicle body does not deflect, judging whether the motion track of the vehicle body does not deflect; if the motion trail of the vehicle body deflects clockwise, the rotation angles of the front and rear steering wheels are adjusted counterclockwise by the same angle; if the movement track of the vehicle body deflects anticlockwise, the rotation angles of the front and rear steering wheels are adjusted clockwise by the same angle until the movement track does not deflect, and the respective current positions of the steering wheels are used as zero points to adjust the deflection of the front and rear steering wheels. Compared with the prior art, the method has the characteristic of high deviation adjustment precision.
Description
Technical Field
The invention relates to the field of steering wheel zero offset calibration, in particular to a method and a system for calibrating steering wheel zero offset of a double-steering-wheel AGV.
Background
The structure of the wheel system of the double-wheel AGV is shown in FIG. 1, Df,DbThe front driving wheel and the rear driving wheel are provided with a driving motor and a steering engine at the same time, so that the driving force can be provided when the vehicle moves forward, and the vehicle can rotate at the maximum of 90 degrees; c is the center of mass of the vehicle body, and the distance between the front and rear wheels and the center of mass is d/2 usually.
The driving wheel angle control block diagram is shown in fig. 2, and part of the controller accuracy is important depending on the accuracy of the sensor. Due to individual mechanical deviation and mechanical abrasion, a certain error always exists between the sampling angle and the real angle of the driving wheel sensor, and the error cannot be avoided and can be eliminated only by a calibration method. For a two-wheeled AGV, engineering tolerances typically must be maintained at ± 0.5 degrees. If the error value is too large, the AGV will deviate from the planned path, and the designated task cannot be completed.
Therefore, the AGV body is subjected to zero offset calibration before leaving the factory or after running for a period of time. The traditional manual calibration scheme is that the return-to-zero angle of the driving wheel is directly observed through manual vision, the subjectivity is high, and the precision cannot be guaranteed.
Disclosure of Invention
The invention aims to provide a high-accuracy calibration method and system for zero offset of a steering wheel of a double-steering-wheel AGV.
In order to achieve the purpose, the invention provides the following scheme:
a method for calibrating zero offset of a steering wheel of a two-wheeled AGV, the method comprising:
controlling the front steering wheel and the rear steering wheel to be in a set rotation angle;
controlling the front steering wheel and the rear steering wheel to move forwards or backwards at the same rotating speed;
determining the deflection direction of the vehicle body after the movement relative to the direction of the vehicle body before the movement;
under the condition of forward movement, if the direction of the vehicle body deflects anticlockwise, adjusting the rotation angle of the front steering wheel clockwise or adjusting the rotation angle of the rear steering wheel anticlockwise, and skipping to the step of controlling the front steering wheel and the rear steering wheel to move forwards or backwards at the same rotation speed;
under the condition of forward movement, if the direction of the vehicle body deflects clockwise, the rotation angle of the rear steering wheel is adjusted clockwise or the rotation angle of the front steering wheel is adjusted anticlockwise, and the step of controlling the front steering wheel and the rear steering wheel to move forwards or backwards at the same rotation speed is skipped;
under the condition of backward movement, if the direction of the vehicle body deflects anticlockwise, the rotation angle of the rear steering wheel is adjusted clockwise or the rotation angle of the front steering wheel is adjusted anticlockwise, and the step of controlling the front steering wheel and the rear steering wheel to move forwards or backwards at the same rotation speed is skipped;
under the condition of backward movement, if the direction of the vehicle body deflects clockwise, the rotation angle of the front steering wheel is adjusted clockwise or the rotation angle of the rear steering wheel is adjusted anticlockwise, and the step of controlling the front steering wheel and the rear steering wheel to move forwards or backwards at the same rotation speed is skipped;
if the direction of the vehicle body does not deflect, judging whether the motion track of the vehicle body does not deflect;
under the condition of forward movement, if the movement track of the vehicle body deflects clockwise, the rotation angle of the front steering wheel and the rotation angle of the rear steering wheel are adjusted anticlockwise by the same angle, the front steering wheel and the rear steering wheel are controlled to move forward or backward at the same rotation speed, and the step of judging whether the movement track of the vehicle body does not deflect is skipped;
under the condition of forward movement, if the movement track of the vehicle body deflects anticlockwise, clockwise adjusting the rotation angle of the front steering wheel and the rotation angle of the rear steering wheel by the same angle, controlling the front steering wheel and the rear steering wheel to move forwards or backwards at the same rotation speed, and jumping to the step of judging whether the movement track of the vehicle body does not deflect;
under the condition of backward movement, if the movement track of the vehicle body deflects anticlockwise, adjusting the rotation angle of the front steering wheel and the rotation angle of the rear steering wheel anticlockwise by the same angle, controlling the front steering wheel and the rear steering wheel to move forwards or backwards at the same rotation speed, and jumping to the step of judging whether the movement track of the vehicle body does not deflect;
under the condition of backward movement, if the movement track of the vehicle body deflects clockwise and anticlockwise, the rotation angle of the front steering wheel and the rotation angle of the rear steering wheel are adjusted clockwise by the same angle, the front steering wheel and the rear steering wheel are controlled to move forwards or backwards at the same rotation speed, and the step of judging whether the movement track of the vehicle body does not deflect is skipped;
if the motion track of the vehicle body does not deflect, stopping jumping;
after the rotation angle of the front steering wheel is adjusted each time, performing zero offset angle correction on the front steering wheel by taking the current angle position of the front steering wheel as a zero point of the front steering wheel, and after the rotation angle of the rear steering wheel is adjusted each time, performing zero offset angle correction on the rear steering wheel by taking the current angle position of the rear steering wheel as a zero point of the rear steering wheel; or under the condition that the movement track of the vehicle body is determined not to deflect, the current angle position of the front steering wheel is used as a zero point of the front steering wheel to correct the zero-deflection angle of the front steering wheel, and the current angle position of the rear steering wheel is used as a zero point of the rear steering wheel to correct the zero-deflection angle of the rear steering wheel.
Optionally, before the controlling the front steering wheel and the rear steering wheel at the set rotation angle, the method further includes:
controlling the front steering wheel to rotate, stopping the rotation of the front steering wheel when detecting that the deviation angle between the front steering wheel and the vehicle body direction is smaller than a set value, and correcting the zero deviation angle of the front steering wheel by taking the current angle position of the front steering wheel as the zero point of the front steering wheel;
and controlling the rear steering wheel to rotate, stopping the rotation of the rear steering wheel when detecting that the deviation angle between the rear steering wheel and the vehicle body direction is smaller than a set value, and correcting the zero deviation angle of the rear steering wheel by taking the current angle position of the rear steering wheel as the zero point of the rear steering wheel.
Optionally, the detection of the deviation angle between the steering wheel and the vehicle body direction is manual detection.
The invention also provides a calibration system for zero offset of the steering wheel of the double-steering-wheel AGV, which comprises:
the front and rear steering wheel difference value calibration module is used for controlling the front steering wheel and the rear steering wheel to be in a set rotation angle; controlling the front steering wheel and the rear steering wheel to move forwards or backwards at the same rotating speed; determining the deflection direction of the vehicle body after the movement relative to the direction of the vehicle body before the movement; under the condition of forward movement, if the direction of the vehicle body deflects anticlockwise, adjusting the rotation angle of the front steering wheel clockwise or adjusting the rotation angle of the rear steering wheel anticlockwise, and skipping to the step of controlling the front steering wheel and the rear steering wheel to move forwards or backwards at the same rotation speed; under the condition of forward movement, if the direction of the vehicle body deflects clockwise, the rotation angle of the rear steering wheel is adjusted clockwise or the rotation angle of the front steering wheel is adjusted anticlockwise, and the step of controlling the front steering wheel and the rear steering wheel to move forwards or backwards at the same rotation speed is skipped; under the condition of backward movement, if the direction of the vehicle body deflects anticlockwise, the rotation angle of the rear steering wheel is adjusted clockwise or the rotation angle of the front steering wheel is adjusted anticlockwise, and the step of controlling the front steering wheel and the rear steering wheel to move forwards or backwards at the same rotation speed is skipped; under the condition of backward movement, if the direction of the vehicle body deflects clockwise, the rotation angle of the front steering wheel is adjusted clockwise or the rotation angle of the rear steering wheel is adjusted anticlockwise, and the step of controlling the front steering wheel and the rear steering wheel to move forwards or backwards at the same rotation speed is skipped;
the final value calibration module is used for judging whether the motion track of the vehicle body does not deflect when the vehicle body does not deflect; under the condition of forward movement, if the movement track of the vehicle body deflects clockwise, the rotation angle of the front steering wheel and the rotation angle of the rear steering wheel are adjusted anticlockwise by the same angle, the front steering wheel and the rear steering wheel are controlled to move forward or backward at the same rotation speed, and the step of judging whether the movement track of the vehicle body does not deflect is skipped; under the condition of forward movement, if the movement track of the vehicle body deflects anticlockwise, clockwise adjusting the rotation angle of the front steering wheel and the rotation angle of the rear steering wheel by the same angle, controlling the front steering wheel and the rear steering wheel to move forwards or backwards at the same rotation speed, and jumping to the step of judging whether the movement track of the vehicle body does not deflect; under the condition of backward movement, if the movement track of the vehicle body deflects anticlockwise, adjusting the rotation angle of the front steering wheel and the rotation angle of the rear steering wheel anticlockwise by the same angle, controlling the front steering wheel and the rear steering wheel to move forwards or backwards at the same rotation speed, and jumping to the step of judging whether the movement track of the vehicle body does not deflect; under the condition of backward movement, if the movement track of the vehicle body deflects clockwise and anticlockwise, the rotation angle of the front steering wheel and the rotation angle of the rear steering wheel are adjusted clockwise by the same angle, the front steering wheel and the rear steering wheel are controlled to move forwards or backwards at the same rotation speed, and the step of judging whether the movement track of the vehicle body does not deflect is skipped; if the motion track of the vehicle body does not deflect, stopping jumping;
the control execution module is used for performing zero offset angle correction on the front steering wheel by taking the current angle position of the front steering wheel as a zero point of the front steering wheel after adjusting the rotation angle of the front steering wheel each time, and performing zero offset angle correction on the rear steering wheel by taking the current angle position of the rear steering wheel as a zero point of the rear steering wheel after adjusting the rotation angle of the rear steering wheel each time; or under the condition that the movement track of the vehicle body is determined not to deflect, the current angle position of the front steering wheel is used as a zero point of the front steering wheel to correct the zero-deflection angle of the front steering wheel, and the current angle position of the rear steering wheel is used as a zero point of the rear steering wheel to correct the zero-deflection angle of the rear steering wheel.
Optionally, the system further includes:
the initial value calibration module is used for controlling the front steering wheel to rotate, stopping the rotation of the front steering wheel when detecting that the deviation angle between the front steering wheel and the vehicle body direction is smaller than a set value, and correcting the zero deviation angle of the front steering wheel by taking the current angle position of the front steering wheel as the zero point of the front steering wheel; and controlling the rear steering wheel to rotate, stopping the rotation of the rear steering wheel when detecting that the deviation angle between the rear steering wheel and the vehicle body direction is smaller than a set value, and correcting the zero deviation angle of the rear steering wheel by taking the current angle position of the rear steering wheel as the zero point of the rear steering wheel.
Optionally, in the initial value calibration module, the detection of the deviation angle between the steering wheel and the vehicle body direction is manual detection.
According to the specific embodiment provided by the invention, the invention discloses the following technical effects: according to the calibration method and system for zero offset of the two-steering-wheel AGV steering wheel, the deflection angles of the front steering wheel and the rear steering wheel are unified based on the deflection condition of the posture of the vehicle body, then the zero positions of the front steering wheel and the rear steering wheel are determined based on the motion trail, accordingly, zero offset calibration is carried out on the front steering wheel and the rear steering wheel, and the calibration precision is effectively improved.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings needed in the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings without creative efforts.
FIG. 1 is a diagram of a gear train of a two-wheeled AGV;
FIG. 2 is a block diagram of drive wheel angle control;
fig. 3 is a schematic flowchart of a calibration method for zero offset of a two-wheeled AGV steering wheel according to embodiment 1 of the present invention;
fig. 4(a), fig. 4(b), and fig. 4(c) are schematic diagrams of the motion conditions of the vehicle body during clockwise deflection, counterclockwise deflection, and no deflection, respectively, in the differential value calibration stage in embodiment 1 of the present invention;
fig. 5(a), fig. 5(b), and fig. 5(c) are schematic diagrams of motion situations of the vehicle body motion trajectory when the vehicle body motion trajectory is deflected clockwise, deflected counterclockwise, and deflected no respectively in the final value calibration stage in embodiment 1 of the present invention;
fig. 6 is a schematic structural diagram of a calibration system for zero offset of a two-wheeled AGV steering wheel according to embodiment 2 of the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
In order to make the aforementioned objects, features and advantages of the present invention comprehensible, embodiments accompanied with figures are described in further detail below.
Example 1
Fig. 3 is a schematic flow chart of a calibration method for zero offset of a two-wheeled AGV steering wheel according to embodiment 1 of the present invention, and as shown in fig. 3, the calibration method for zero offset of a two-wheeled AGV steering wheel according to this embodiment includes the following two stages: the method comprises the following steps of difference value calibration and final value calibration, wherein the difference value calibration is used for unifying the current positions of the front and rear steering wheels and the zero point, and the final value calibration is used for determining the zero point positions of the front and rear steering wheels.
And (3) difference value calibration:
step 101: controlling the front steering wheel and the rear steering wheel to be at a set rotation angle, wherein the set rotation angle can be an angle rotated when a worker adjusts zero deflection in advance in a manual observation mode, and can also be an angle required to rotate when the current steering wheel is adjusted to be zero calibrated by respective systems because the current steering wheel is not zero calibrated by the systems;
step 102: the front steering wheel and the rear steering wheel are controlled to move forwards at the same rotating speed, and certainly, the front steering wheel and the rear steering wheel can also be controlled to move backwards at the same rotating speed;
step 103: determining the deflection direction of the vehicle body direction after the movement relative to the vehicle body direction before the movement, and adjusting the front and rear steering wheels differently according to different deflection directions, wherein the specific conditions are as follows:
step 104: in the case of forward motion: as shown in fig. 4(a), if the vehicle body is deflected counterclockwise, the rotation angle of the front steering wheel is adjusted clockwise or the rotation angle of the rear steering wheel is adjusted counterclockwise, and the process goes to step 102; as shown in fig. 4(b), if the vehicle body is steered clockwise, the rotation angle of the rear steering wheel is adjusted clockwise or the rotation angle of the front steering wheel is adjusted counterclockwise, and the process goes to step 102. In the case of a backward movement: and if the direction of the vehicle body deflects anticlockwise, adjusting the rotation angle of the rear steering wheel clockwise or adjusting the rotation angle of the front steering wheel anticlockwise, and skipping to the step of controlling the front steering wheel and the rear steering wheel to move forwards or backwards at the same rotation speed. If the vehicle body is deflected clockwise, the rotation angle of the front steering wheel is adjusted clockwise or the rotation angle of the rear steering wheel is adjusted counterclockwise, and the process goes to step 102.
As shown in fig. 4(c), if there is no deflection in the vehicle body direction, it means that the angle between the current position of the front steering wheel and the zero point is equal to the angle between the current position of the rear steering wheel and the zero point, and the difference calibration is completed.
Final value calibration:
after the difference value calibration is completed, the final value calibration is completed based on the motion trail of the vehicle body, because the vehicle body posture does not deflect in the last motion of the difference value calibration, the deflection condition of the motion trail of the vehicle body in the motion can be directly judged, of course, the front and rear steering wheels can be controlled to move forwards or backwards at the same rotating speed after the difference value calibration, the motion trail of the vehicle body in the motion process is obtained, and the motion trail of the vehicle body is analyzed. The movement locus of the vehicle body may have the following conditions, and the final value calibration of the front and rear steering wheels can be completed by executing the following steps. The method comprises the following specific steps:
step 105: judging whether the motion track of the vehicle body has no deflection;
step 106: in the case of forward movement, as shown in fig. 5(a), if the movement track of the vehicle body deflects clockwise, the rotation angle of the front steering wheel and the rotation angle of the rear steering wheel are adjusted counterclockwise by the same angle, and the front steering wheel and the rear steering wheel are controlled to move forward or backward at the same rotation speed, and the step 105 is skipped; as shown in fig. 5(b), if the movement locus of the vehicle body is deflected counterclockwise, the rotation angle of the front steering wheel and the rotation angle of the rear steering wheel are adjusted clockwise by the same angle, and the front steering wheel and the rear steering wheel are controlled to move forward or backward at the same rotation speed, and the process goes to step 105. Under the condition of backward movement, if the movement track of the vehicle body deflects anticlockwise, adjusting the rotation angle of the front steering wheel and the rotation angle of the rear steering wheel anticlockwise by the same angle, controlling the front steering wheel and the rear steering wheel to move forwards or backwards at the same rotation speed, and jumping to the step 105; if the moving track of the vehicle body deflects clockwise and counterclockwise, the rotation angle of the front steering wheel and the rotation angle of the rear steering wheel are adjusted clockwise by the same angle, the front steering wheel and the rear steering wheel are controlled to move forwards or backwards at the same rotation speed, and the step 105 is skipped. Until it is determined that the movement locus of the vehicle body is not deflected, jumping is stopped as shown in fig. 5 (c).
In the above process, after the rotation angle of the front steering wheel (or the rear steering wheel) is adjusted each time, the zero offset angle correction may be performed on the front steering wheel (or the rear steering wheel) using the current angle position of the front steering wheel (or the rear steering wheel) as the zero point of the front steering wheel (or the rear steering wheel). Or under the condition that the movement track of the vehicle body is determined not to deflect, the current angle position of the front steering wheel (or the rear steering wheel) is used as the zero point of the front steering wheel (or the rear steering wheel) to carry out zero deflection angle correction on the front steering wheel (or the rear steering wheel). That is, the steering wheel may be corrected while adjusting the rotation angle of the steering wheel each time, or the zero-offset angle of the steering wheel may be corrected at a time after the zero position of the steering wheel is finally determined.
As an optional implementation manner, before performing the difference calibration, an initial calibration is further included to perform a preliminary calibration on the steering wheel, so as to avoid a large amount of time consumed in the difference calibration and the final calibration, which may be specifically as follows:
controlling the front steering wheel to rotate, stopping the rotation of the front steering wheel when detecting that the deviation angle between the front steering wheel and the vehicle body direction is smaller than a set value, and correcting the zero deviation angle of the front steering wheel by taking the current angle position of the front steering wheel as a zero point of the front steering wheel;
and controlling the rear steering wheel to rotate, stopping the rotation of the rear steering wheel when detecting that the deviation angle between the rear steering wheel and the vehicle body direction is smaller than a set value, and correcting the zero deviation angle of the rear steering wheel by taking the current angle position of the rear steering wheel as a zero point of the rear steering wheel.
The detection of the deviation angle between the steering wheel and the vehicle body direction can be realized through manual detection.
Example 2
Fig. 6 is a schematic structural diagram of a calibration system for zero offset of a two-wheeled AGV steering wheel according to embodiment 2 of the present invention, and as shown in fig. 6, the calibration system for zero offset of a two-wheeled AGV steering wheel according to this embodiment includes:
a front and rear steering wheel difference value calibration module 201, configured to control the front steering wheel and the rear steering wheel to be at a set rotation angle; controlling the front steering wheel and the rear steering wheel to move forwards or backwards at the same rotating speed; determining the deflection direction of the vehicle body after the movement relative to the direction of the vehicle body before the movement; under the condition of forward movement, if the direction of the vehicle body deflects anticlockwise, the rotation angle of the front steering wheel is adjusted clockwise or the rotation angle of the rear steering wheel is adjusted anticlockwise, and the step of controlling the front steering wheel and the rear steering wheel to move forwards or backwards at the same rotation speed is skipped; under the condition of forward movement, if the direction of the vehicle body deflects clockwise, the rotation angle of the rear steering wheel is adjusted clockwise or the rotation angle of the front steering wheel is adjusted anticlockwise, and the step of controlling the front steering wheel and the rear steering wheel to move forward or backward at the same rotation speed is skipped; under the condition of backward movement, if the direction of the vehicle body deflects anticlockwise, the rotation angle of the rear steering wheel is adjusted clockwise or the rotation angle of the front steering wheel is adjusted anticlockwise, and the step of controlling the front steering wheel and the rear steering wheel to move forwards or backwards at the same rotation speed is skipped; in case of backward movement, if the vehicle body is deflected clockwise, the rotation angle of the front steering wheel is adjusted clockwise or the rotation angle of the rear steering wheel is adjusted counterclockwise, and it is skipped to a step of controlling the front steering wheel and the rear steering wheel to move forward or backward at the same rotation speed.
The final value calibration module 202 is used for judging whether the motion track of the vehicle body has no deflection when the vehicle body has no deflection; under the condition of forward movement, if the movement track of the vehicle body deflects clockwise, the rotation angle of the front steering wheel and the rotation angle of the rear steering wheel are adjusted anticlockwise by the same angle, the front steering wheel and the rear steering wheel are controlled to move forward or backward at the same rotating speed, and the step of judging whether the movement track of the vehicle body does not deflect is skipped; under the condition of forward movement, if the movement track of the vehicle body deflects anticlockwise, clockwise adjusting the rotation angle of the front steering wheel and the rotation angle of the rear steering wheel by the same angle, controlling the front steering wheel and the rear steering wheel to move forwards or backwards at the same rotating speed, and jumping to the step of judging whether the movement track of the vehicle body has no deflection; under the condition of backward movement, if the movement locus of the vehicle body deflects anticlockwise, adjusting the rotation angle of the front steering wheel and the rotation angle of the rear steering wheel anticlockwise by the same angle, controlling the front steering wheel and the rear steering wheel to move forwards or backwards at the same rotating speed, and jumping to the step of judging whether the movement locus of the vehicle body does not deflect; under the condition of backward movement, if the movement track of the vehicle body deflects clockwise and anticlockwise, the rotation angle of the front steering wheel and the rotation angle of the rear steering wheel are adjusted clockwise by the same angle, the front steering wheel and the rear steering wheel are controlled to move forwards or backwards at the same rotation speed, and the step of judging whether the movement track of the vehicle body has no deflection is carried out; and if the motion track of the vehicle body is not deflected, stopping jumping.
The control execution module 203 is used for performing zero offset angle correction on the front steering wheel by taking the current angle position of the front steering wheel as a zero point of the front steering wheel after adjusting the rotation angle of the front steering wheel each time, and performing zero offset angle correction on the rear steering wheel by taking the current angle position of the rear steering wheel as a zero point of the rear steering wheel after adjusting the rotation angle of the rear steering wheel each time; or under the condition that the movement track of the vehicle body is determined not to deflect, the current angle position of the front steering wheel is used as a zero point of the front steering wheel to carry out zero deflection angle correction on the front steering wheel, and the current angle position of the rear steering wheel is used as a zero point of the rear steering wheel to carry out zero deflection angle correction on the rear steering wheel.
As an optional implementation, the system further comprises:
the initial value calibration module is used for controlling the rotation of the front steering wheel, stopping the rotation of the front steering wheel when detecting that the deviation angle between the front steering wheel and the vehicle body direction is smaller than a set value, and correcting the zero deviation angle of the front steering wheel by taking the current angle position of the front steering wheel as a zero point of the front steering wheel; and controlling the rear steering wheel to rotate, stopping the rotation of the rear steering wheel when detecting that the deviation angle between the rear steering wheel and the vehicle body direction is smaller than a set value, and correcting the zero deviation angle of the rear steering wheel by taking the current angle position of the rear steering wheel as a zero point of the rear steering wheel. In the initial value calibration module, the detection of the direction deviation angle between the steering wheel and the vehicle body can be manual detection.
The invention overcomes the defects of large subjectivity and low precision of the traditional manual calibration and realizes zero offset calibration based on the vehicle body motion track and the vehicle body posture. The method is simple and easy to implement, has low requirement on sites, can be understood and implemented by non-professionals, and can greatly improve the production efficiency and labor cost.
The embodiments in the present description are described in a progressive manner, each embodiment focuses on differences from other embodiments, and the same and similar parts among the embodiments are referred to each other. For the system disclosed by the embodiment, the description is relatively simple because the system corresponds to the method disclosed by the embodiment, and the relevant points can be referred to the method part for description.
The principles and embodiments of the present invention have been described herein using specific examples, which are provided only to help understand the method and the core concept of the present invention; meanwhile, for a person skilled in the art, according to the idea of the present invention, the specific embodiments and the application range may be changed. In view of the above, the present disclosure should not be construed as limiting the invention.
Claims (6)
1. A calibration method for zero offset of a steering wheel of a double-steering-wheel AGV (automatic guided vehicle) is characterized by comprising the following steps:
controlling the front steering wheel and the rear steering wheel to be in a set rotation angle;
controlling the front steering wheel and the rear steering wheel to move forwards or backwards at the same rotating speed;
determining the deflection direction of the vehicle body after the movement relative to the direction of the vehicle body before the movement;
under the condition of forward movement, if the direction of the vehicle body deflects anticlockwise, adjusting the rotation angle of the front steering wheel clockwise or adjusting the rotation angle of the rear steering wheel anticlockwise, and skipping to the step of controlling the front steering wheel and the rear steering wheel to move forwards or backwards at the same rotation speed;
under the condition of forward movement, if the direction of the vehicle body deflects clockwise, the rotation angle of the rear steering wheel is adjusted clockwise or the rotation angle of the front steering wheel is adjusted anticlockwise, and the step of controlling the front steering wheel and the rear steering wheel to move forwards or backwards at the same rotation speed is skipped;
under the condition of backward movement, if the direction of the vehicle body deflects anticlockwise, the rotation angle of the rear steering wheel is adjusted clockwise or the rotation angle of the front steering wheel is adjusted anticlockwise, and the step of controlling the front steering wheel and the rear steering wheel to move forwards or backwards at the same rotation speed is skipped;
under the condition of backward movement, if the direction of the vehicle body deflects clockwise, the rotation angle of the front steering wheel is adjusted clockwise or the rotation angle of the rear steering wheel is adjusted anticlockwise, and the step of controlling the front steering wheel and the rear steering wheel to move forwards or backwards at the same rotation speed is skipped;
if the direction of the vehicle body does not deflect, judging whether the motion track of the vehicle body does not deflect;
under the condition of forward movement, if the movement track of the vehicle body deflects clockwise, the rotation angle of the front steering wheel and the rotation angle of the rear steering wheel are adjusted anticlockwise by the same angle, the front steering wheel and the rear steering wheel are controlled to move forward or backward at the same rotation speed, and the step of judging whether the movement track of the vehicle body does not deflect is skipped;
under the condition of forward movement, if the movement track of the vehicle body deflects anticlockwise, clockwise adjusting the rotation angle of the front steering wheel and the rotation angle of the rear steering wheel by the same angle, controlling the front steering wheel and the rear steering wheel to move forwards or backwards at the same rotation speed, and jumping to the step of judging whether the movement track of the vehicle body does not deflect;
under the condition of backward movement, if the movement track of the vehicle body deflects anticlockwise, adjusting the rotation angle of the front steering wheel and the rotation angle of the rear steering wheel anticlockwise by the same angle, controlling the front steering wheel and the rear steering wheel to move forwards or backwards at the same rotation speed, and jumping to the step of judging whether the movement track of the vehicle body does not deflect;
under the condition of backward movement, if the movement track of the vehicle body deflects clockwise and anticlockwise, the rotation angle of the front steering wheel and the rotation angle of the rear steering wheel are adjusted clockwise by the same angle, the front steering wheel and the rear steering wheel are controlled to move forwards or backwards at the same rotation speed, and the step of judging whether the movement track of the vehicle body does not deflect is skipped;
if the motion track of the vehicle body does not deflect, stopping jumping;
after the rotation angle of the front steering wheel is adjusted each time, performing zero offset angle correction on the front steering wheel by taking the current angle position of the front steering wheel as a zero point of the front steering wheel, and after the rotation angle of the rear steering wheel is adjusted each time, performing zero offset angle correction on the rear steering wheel by taking the current angle position of the rear steering wheel as a zero point of the rear steering wheel; or under the condition that the movement track of the vehicle body is determined not to deflect, the current angle position of the front steering wheel is used as a zero point of the front steering wheel to correct the zero-deflection angle of the front steering wheel, and the current angle position of the rear steering wheel is used as a zero point of the rear steering wheel to correct the zero-deflection angle of the rear steering wheel.
2. The calibration method for zero offset of two-rudder wheel type AGV rudder wheel according to claim 1, further comprising, before controlling the front and rear rudder wheels at a set rotation angle:
controlling the front steering wheel to rotate, stopping the rotation of the front steering wheel when detecting that the deviation angle between the front steering wheel and the vehicle body direction is smaller than a set value, and correcting the zero deviation angle of the front steering wheel by taking the current angle position of the front steering wheel as the zero point of the front steering wheel;
and controlling the rear steering wheel to rotate, stopping the rotation of the rear steering wheel when detecting that the deviation angle between the rear steering wheel and the vehicle body direction is smaller than a set value, and correcting the zero deviation angle of the rear steering wheel by taking the current angle position of the rear steering wheel as the zero point of the rear steering wheel.
3. The calibration method for zero offset of the rudder wheel of the AGV with two rudder wheels according to claim 2, wherein the detection of the angle of the deviation of the rudder wheel from the vehicle body direction is a manual detection.
4. A calibration system for zero offset for a steerable AGV wheel, the system comprising:
the front and rear steering wheel difference value calibration module is used for controlling the front steering wheel and the rear steering wheel to be in a set rotation angle; controlling the front steering wheel and the rear steering wheel to move forwards or backwards at the same rotating speed; determining the deflection direction of the vehicle body after the movement relative to the direction of the vehicle body before the movement; under the condition of forward movement, if the direction of the vehicle body deflects anticlockwise, adjusting the rotation angle of the front steering wheel clockwise or adjusting the rotation angle of the rear steering wheel anticlockwise, and skipping to the step of controlling the front steering wheel and the rear steering wheel to move forwards or backwards at the same rotation speed; under the condition of forward movement, if the direction of the vehicle body deflects clockwise, the rotation angle of the rear steering wheel is adjusted clockwise or the rotation angle of the front steering wheel is adjusted anticlockwise, and the step of controlling the front steering wheel and the rear steering wheel to move forwards or backwards at the same rotation speed is skipped; under the condition of backward movement, if the direction of the vehicle body deflects anticlockwise, the rotation angle of the rear steering wheel is adjusted clockwise or the rotation angle of the front steering wheel is adjusted anticlockwise, and the step of controlling the front steering wheel and the rear steering wheel to move forwards or backwards at the same rotation speed is skipped; under the condition of backward movement, if the direction of the vehicle body deflects clockwise, the rotation angle of the front steering wheel is adjusted clockwise or the rotation angle of the rear steering wheel is adjusted anticlockwise, and the step of controlling the front steering wheel and the rear steering wheel to move forwards or backwards at the same rotation speed is skipped;
the final value calibration module is used for judging whether the motion track of the vehicle body does not deflect when the vehicle body does not deflect; under the condition of forward movement, if the movement track of the vehicle body deflects clockwise, the rotation angle of the front steering wheel and the rotation angle of the rear steering wheel are adjusted anticlockwise by the same angle, the front steering wheel and the rear steering wheel are controlled to move forward or backward at the same rotation speed, and the step of judging whether the movement track of the vehicle body does not deflect is skipped; under the condition of forward movement, if the movement track of the vehicle body deflects anticlockwise, clockwise adjusting the rotation angle of the front steering wheel and the rotation angle of the rear steering wheel by the same angle, controlling the front steering wheel and the rear steering wheel to move forwards or backwards at the same rotation speed, and jumping to the step of judging whether the movement track of the vehicle body does not deflect; under the condition of backward movement, if the movement track of the vehicle body deflects anticlockwise, adjusting the rotation angle of the front steering wheel and the rotation angle of the rear steering wheel anticlockwise by the same angle, controlling the front steering wheel and the rear steering wheel to move forwards or backwards at the same rotation speed, and jumping to the step of judging whether the movement track of the vehicle body does not deflect; under the condition of backward movement, if the movement track of the vehicle body deflects clockwise and anticlockwise, the rotation angle of the front steering wheel and the rotation angle of the rear steering wheel are adjusted clockwise by the same angle, the front steering wheel and the rear steering wheel are controlled to move forwards or backwards at the same rotation speed, and the step of judging whether the movement track of the vehicle body does not deflect is skipped; if the motion track of the vehicle body does not deflect, stopping jumping;
the control execution module is used for performing zero offset angle correction on the front steering wheel by taking the current angle position of the front steering wheel as a zero point of the front steering wheel after adjusting the rotation angle of the front steering wheel each time, and performing zero offset angle correction on the rear steering wheel by taking the current angle position of the rear steering wheel as a zero point of the rear steering wheel after adjusting the rotation angle of the rear steering wheel each time; or under the condition that the movement track of the vehicle body is determined not to deflect, the current angle position of the front steering wheel is used as a zero point of the front steering wheel to correct the zero-deflection angle of the front steering wheel, and the current angle position of the rear steering wheel is used as a zero point of the rear steering wheel to correct the zero-deflection angle of the rear steering wheel.
5. The system for calibrating steering wheel zero offset for a two-wheeled AGV according to claim 4, further comprising:
the initial value calibration module is used for controlling the front steering wheel to rotate, stopping the rotation of the front steering wheel when detecting that the deviation angle between the front steering wheel and the vehicle body direction is smaller than a set value, and correcting the zero deviation angle of the front steering wheel by taking the current angle position of the front steering wheel as the zero point of the front steering wheel; and controlling the rear steering wheel to rotate, stopping the rotation of the rear steering wheel when detecting that the deviation angle between the rear steering wheel and the vehicle body direction is smaller than a set value, and correcting the zero deviation angle of the rear steering wheel by taking the current angle position of the rear steering wheel as the zero point of the rear steering wheel.
6. The calibration method for zero offset of the rudder wheel of the AGV with two rudder wheels according to claim 5, wherein the detection of the angle of the direction deviation between the rudder wheel and the car body in the initial calibration module is manual detection.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202010472773.5A CN111469921A (en) | 2020-05-29 | 2020-05-29 | Calibration method and system for zero offset of double-steering-wheel type AGV steering wheel |
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| CN202010472773.5A CN111469921A (en) | 2020-05-29 | 2020-05-29 | Calibration method and system for zero offset of double-steering-wheel type AGV steering wheel |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111966103A (en) * | 2020-08-18 | 2020-11-20 | 国以贤智能科技(上海)股份有限公司 | Method, device, equipment and medium for dynamically correcting zero deflection angle of unmanned forklift |
| CN113335313A (en) * | 2021-08-06 | 2021-09-03 | 国汽智控(北京)科技有限公司 | Vehicle angle deviation calibration method and device, electronic equipment and storage medium |
| CN114413791A (en) * | 2021-11-29 | 2022-04-29 | 合肥井松智能科技股份有限公司 | Method, system and device for detecting zero deflection angle of steering wheel type forklift |
| CN114625113A (en) * | 2020-12-11 | 2022-06-14 | 广东博智林机器人有限公司 | Automatic calibration method, control system and storage medium for AGV steering wheel |
-
2020
- 2020-05-29 CN CN202010472773.5A patent/CN111469921A/en not_active Withdrawn
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111966103A (en) * | 2020-08-18 | 2020-11-20 | 国以贤智能科技(上海)股份有限公司 | Method, device, equipment and medium for dynamically correcting zero deflection angle of unmanned forklift |
| CN111966103B (en) * | 2020-08-18 | 2021-04-20 | 国以贤智能科技(上海)股份有限公司 | Method, device, equipment and medium for dynamically correcting zero deflection angle of unmanned forklift |
| CN114625113A (en) * | 2020-12-11 | 2022-06-14 | 广东博智林机器人有限公司 | Automatic calibration method, control system and storage medium for AGV steering wheel |
| CN113335313A (en) * | 2021-08-06 | 2021-09-03 | 国汽智控(北京)科技有限公司 | Vehicle angle deviation calibration method and device, electronic equipment and storage medium |
| CN114413791A (en) * | 2021-11-29 | 2022-04-29 | 合肥井松智能科技股份有限公司 | Method, system and device for detecting zero deflection angle of steering wheel type forklift |
| CN114413791B (en) * | 2021-11-29 | 2023-11-14 | 合肥井松智能科技股份有限公司 | Method, system and device for detecting steering wheel zero deflection angle of steering wheel type forklift |
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