CN111521181A - A method and device for determining driving deviation - Google Patents

Abstract

The invention discloses a method and a device for determining driving deviation, which relate to the technical field of computers. A specific implementation of the method includes: step S1, when the transportation equipment travels from the starting point to the current point after a set period of time, obtain the coordinate offset value of the transportation equipment at the starting point, the offset angle of the traveling direction, and the distance at the starting point. The speed of the left and right wheels within the set duration; Step S2, according to the coordinate offset value of the transportation equipment at the starting point, the offset angle of the driving direction, the speeds of the left and right wheels within the set duration, and the set duration, Determine the coordinate offset value of the transport device at the current point. This embodiment can calculate the current AGV driving deviation when the AGV misses scanning the code, so that the AGV plans navigation based on the calculated driving, which can reduce the deviation of the AGV from the predetermined track as much as possible.

Description

A method and device for determining driving deviation

technical field

The invention relates to the field of computer technology, and in particular, to a method and device for determining driving deviation.

Background technique

In an automated warehouse using Automated Guided Vehicle (AGV), the intelligent handling robot AGV realizes the handling of materials between corresponding stations, usually using inertial navigation and two-dimensional code identification technology, which can be flexibly adjusted through the scheduling system. change the path to optimize the efficiency. The implementation of QR code navigation is to arrange a QR code on the path point in the warehouse where the AGV can pass. At the same time, determine the body posture and the deviation between the vehicle body and the ground code point when it passes through the ground code point. The latter helps AVG to correct the current movement direction and attitude, etc., so that it can drive quickly and accurately between each path point, that is, the ground code point, and prevent the AVG from driving deviation and derailment.

In the process of implementing the present invention, the inventor found at least the following problems in the prior art: the AGV based on the two-dimensional code navigation relies too much on the scanning recognition of the two-dimensional code, and if the code is not scanned, the calculation of the current driving deviation cannot be performed. , AGV will directly report the scan code abnormality or continue to walk according to the last deviation calculation at the scan code point, which makes the AGV's two-dimensional code navigation error tolerance rate low. Scan code point.

Therefore, there is an urgent need for a determination method and device that can calculate the driving deviation of the current AGV driving deviation when the AGV misses scanning the code.

SUMMARY OF THE INVENTION

In view of this, the embodiments of the present invention provide a method and device for determining a driving deviation, which can calculate the current driving deviation of the AGV when the AGV misses scanning the code, so that the AGV plans navigation based on the calculated driving, which can reduce the deviation of the AGV as much as possible. Predetermined track.

To achieve the above object, according to an aspect of the embodiments of the present invention, a method for determining a driving deviation is provided, including:

Step S1, when the transportation equipment travels from the starting point to the current point after a set period of time, obtain the coordinate offset value of the transportation equipment at the starting point, the offset angle of the traveling direction, and the left and right wheels within the set period of time. speed, where the coordinate offset value is the offset of the actual coordinate value of the transportation equipment relative to the predetermined coordinate value in the preset coordinate system, and the travel direction offset angle is the actual traveling direction of the transportation equipment in the preset coordinate system the offset angle relative to the intended direction of travel;

Step S2: Determine the coordinate offset of the transportation device at the current point according to the coordinate offset value of the transportation device at the starting point, the offset angle of the traveling direction, the speed of the left wheel and the right wheel within the set duration, and the set duration. value.

Optionally, the step of determining the coordinate offset value of the transport device at the current point includes:

The driving direction change angle of the transportation equipment within the set time period is determined according to the set period of time and the speed of the left and right wheels of the transportation equipment within the set period of time, wherein the travel direction change angle within the set period of time is: In the preset coordinate system, the change angle of the actual driving direction of the transportation equipment at the current point relative to the actual driving direction at the starting point;

Determine the abscissa offset value of the transportation equipment at the current point according to the abscissa offset value of the transportation equipment at the starting point, the offset angle of the traveling direction, the change angle of the traveling direction within the set duration, and the set duration;

Determine the ordinate offset value of the transportation device at the current point according to the ordinate offset value of the transportation device at the starting point, the offset angle of the driving direction, the speed of the left and right wheels within the set duration, and the set duration .

Optionally, the step of determining the change angle of the travel direction of the transport equipment within the set time period includes:

Determine the angular velocity of the transport device within the set time period as the quotient of the difference between the speed of the right wheel and the speed of the left wheel of the transport device and the wheel spacing;

Determine the change angle of the traveling direction of the transport equipment within the set time period as the product of the angular velocity and the set time period.

Optionally, determine the abscissa offset value of the transport device at the current point according to the following expression:

Determine the ordinate offset value of the transport device at the current point according to the following expression:

Among them, xA and yA are the abscissa offset value and ordinate offset value of the transportation equipment at the starting point, respectively, xB and yB are the abscissa offset value and ordinate offset value of the transportation equipment at the current point, respectively, δt is Set time length, δ _θ is the change angle of the traveling direction of the transportation equipment within the set time length, v is the traveling speed of the transportation equipment, and θ is the deviation angle of the traveling direction of the transportation equipment at the starting point.

Optionally, after step S2 is performed, step S1 is performed to determine the coordinate offset value of the current point when step S2 is performed each time, wherein when step S1 is performed for the next time, if the starting point is not For the scanning code point of the transportation equipment, the starting point is the current point when step S2 was performed last time.

Optionally, step S2 further includes:

After determining the coordinate offset value of the transportation device at the current point, correct the current left and right wheel speeds of the transportation device according to the coordinate offset value.

In order to achieve the above object, according to another aspect of the embodiments of the present invention, a device for determining driving deviation is also provided, including:

The acquisition module is used to execute step S1, when the transportation equipment travels from the starting point to the current point after the set time period, obtain the coordinate offset value of the transportation equipment at the starting point, the offset angle of the traveling direction, and the set period of time. The speed of the left and right wheels inside, where the coordinate offset value is the offset of the actual coordinate value of the transportation equipment relative to the predetermined coordinate value in the preset coordinate system, and the offset angle of the driving direction is in the preset coordinate system. , the offset angle of the actual driving direction of the transport equipment relative to the predetermined driving direction;

The determining module is used to perform step S2, according to the coordinate offset value of the transportation device at the starting point, the offset angle of the driving direction, the speed of the left wheel and the right wheel within the set duration, and the set duration, determine that the transport device is in The coordinate offset value of the current point.

Optionally, the determining module is further configured to determine the change angle of the traveling direction of the transport equipment within the set period of time according to the set period of time and the speeds of the left and right wheels of the transport equipment within the set period of time, wherein the set The change angle of the travel direction within the time period is, in the preset coordinate system, the change angle of the actual travel direction of the transportation equipment at the current point relative to the actual travel direction at the starting point;

Determine the abscissa offset value of the transportation equipment at the current point according to the abscissa offset value of the transportation equipment at the starting point, the offset angle of the traveling direction, the change angle of the traveling direction within the set duration, and the set duration;

Determine the ordinate offset value of the transportation device at the current point according to the ordinate offset value of the transportation device at the starting point, the offset angle of the driving direction, the speed of the left and right wheels within the set duration, and the set duration .

Optionally, the determining module is further configured to determine the angular velocity of the transport device within the set duration as the quotient of the difference between the speed of the right wheel and the speed of the left wheel of the transport device and the wheel spacing;

Determine the change angle of the traveling direction of the transport equipment within the set time period as the product of the angular velocity and the set time period.

In order to achieve the above object, according to another aspect of the embodiments of the present invention, an electronic device for determining driving deviation is also provided, including:

one or more processors;

storage means for storing one or more programs,

When the one or more programs are executed by the one or more processors, the one or more processors implement the driving deviation determination method provided by the present invention.

In order to achieve the above object, according to another aspect of the embodiments of the present invention, a computer-readable medium is also provided, on which a computer program is stored, and when the program is executed by a processor, the driving deviation determination method provided by the present invention is implemented. .

According to the method and device for determining the driving deviation provided by the embodiments of the present invention, after the transportation equipment travels from the starting point to the current point, according to the coordinate offset value of the transportation equipment at the starting point, the offset angle of the driving direction, and the set duration The speed of the left wheel and the right wheel and the set time length are used to determine the coordinate offset value of the transportation equipment at the current point, so as to realize the calculation of the running deviation of the transportation equipment. By repeatedly executing the above method, the current AGV driving deviation can be calculated when the AGV misses scanning the code, so that the AGV can plan navigation based on the calculated driving, which can reduce the deviation of the AGV from the predetermined track as much as possible.

Further effects of the above non-conventional alternatives will be described below in conjunction with specific embodiments.

Description of drawings

The accompanying drawings are used for better understanding of the present invention and do not constitute an improper limitation of the present invention. in:

1 is a schematic diagram of the main flow of a method for determining a driving deviation provided by an embodiment of the present invention;

FIG. 2 is a schematic diagram of the flow of an implementation manner of a method for determining a driving deviation provided by an embodiment of the present invention;

3 is a schematic diagram of a process for determining a coordinate offset value of a transportation device at a current point provided by an embodiment of the present invention;

4 is a schematic diagram of a coordinate system of a travel route of a transportation device provided by an embodiment of the present invention;

5 is a schematic diagram of the main modules of the device for determining driving deviation provided by an embodiment of the present invention;

FIG. 6 is an exemplary system architecture diagram to which an embodiment of the present invention may be applied;

FIG. 7 is a schematic structural diagram of a computer system suitable for implementing an electronic device according to an embodiment of the present invention.

Detailed ways

Exemplary embodiments of the present invention are described below with reference to the accompanying drawings, which include various details of the embodiments of the present invention to facilitate understanding and should be considered as exemplary only. Accordingly, those of ordinary skill in the art will recognize that various changes and modifications of the embodiments described herein can be made without departing from the scope and spirit of the invention. Also, descriptions of well-known functions and constructions are omitted from the following description for clarity and conciseness.

An embodiment of the present invention provides a method for determining driving deviation, which can be applied to an automated warehouse of an automated guided vehicle (Automated Guided Vehicle, AGV) to determine the driving deviation of an AGV under two-dimensional code navigation.

In the present invention, a coordinate system is preset for the transportation equipment, and the present invention determines the coordinate offset value of the transportation equipment (eg AGV). The coordinate offset value is in the preset coordinate system, and the actual coordinate value of the transportation equipment is relatively Based on the offset of the predetermined coordinate value, the predetermined coordinate value, that is, the coordinate at which the transportation device is scheduled to arrive when there is no deviation.

In the present invention, a travel direction offset angle of the transportation equipment is also defined, and the travel direction offset angle is the offset angle of the actual travel direction of the transportation equipment relative to the predetermined travel direction in the preset coordinate system. The predetermined travel direction is the direction in which the transport device is intended to travel when there is no deviation.

As shown in FIG. 1 , the method for determining the driving deviation includes step S1 and step S2. Wherein, in step S1, when the transportation equipment travels from the starting point to the current point after a set period of time, obtain the coordinate offset value of the transportation equipment at the starting point, the offset angle of the traveling direction, and the distance within the set period of time. Left and right wheel speeds. The speed of the left and right wheels of the transportation equipment can be obtained by obtaining the real-time speed of the left-wheel train motor and the real-time speed of the right-wheel train motor of the transportation equipment in real time. It will be described in the subsequent embodiment part of the present invention.

Step S2: Determine the coordinate offset of the transportation device at the current point according to the coordinate offset value of the transportation device at the starting point, the offset angle of the traveling direction, the speed of the left wheel and the right wheel within the set duration, and the set duration. value.

After determining the coordinate offset value of the transportation device at the current point, the current left and right wheel speeds of the transportation device can be corrected according to the coordinate offset value, so as to reduce the transportation device from deviating from the predetermined track as much as possible. Or, if the coordinate offset value of the current point is greater than the set threshold, an exception can be reported to the system.

In an embodiment of the present invention, as shown in FIG. 2 , after step S2 is performed, step S1 is performed to determine the coordinate offset value of the current point when step S2 is performed each time, wherein when step S1 is performed each time , if the starting point is not the scanning point of the transportation equipment, the starting point is the current point when step S2 was executed last time.

That is, in this embodiment, when the AGV passes through a code scanning point, the starting point in step S1 is the code scanning point, and the scanning code point can be deployed with a navigation QR code. The camera reads the ground code information to understand the location, and can determine the left and right (horizontal) and front and rear (longitudinal) deviations between the camera and the ground code point, and can determine the coordinate offset value and driving direction offset angle of the AGV at the starting point. .

Then step S2 is performed to determine the AGV coordinate offset value of the corresponding current point when the code scanning point is used as the starting point. Then step S1 is performed again, this time step S1 is performed, and the starting point is the current point at which step S2 was performed last time, that is, the current point is used as the starting point to perform step S1.

In an embodiment of the present invention, the set duration of each execution of step S1 may be unified into a set period, and the coordinate offset value of the current point of the period is calculated for each period.

Using the above method can effectively reduce the deviation of the vehicle body when the AGV loses the scan code and does not need to report the code loss exception. Calculate the distance traveled by the AGV according to the value of the wheel train encoder. When the distance is greater than the set code distance, it is considered that the AGV has missed scanning the code. At this time, the remaining path of the AGV can be controlled to reduce the corresponding path and start to decelerate. When the AGV starts to decelerate, the car is considered Safety issues when deviating from the intended route. And according to the method of the present invention, the coordinate offset value is determined in real time to carry out the driving correction of the AGV after code loss.

In an embodiment of the present invention, as shown in FIG. 3 , the step of determining the coordinate offset value of the transportation device at the current point in step S2 may specifically be:

First, according to the set duration and the speed of the left and right wheels of the transport equipment within the set duration, determine the travel direction change angle of the transport equipment within the set duration, wherein the travel direction change angle within the set duration is , in the preset coordinate system, the change angle of the actual driving direction of the transportation equipment at the current point relative to the actual driving direction at the starting point.

As shown in FIG. 4 , in the preset coordinate system, when the transportation equipment travels from the starting point A to the current point B, due to the setting of the navigation path or the existence of the path correction setting, the transportation equipment may be certain in the set duration δt. The angular velocity curve travels, that is, the left wheel speed Vl and the right wheel speed Vr of the transport equipment do not coincide.

In an embodiment, the above-mentioned step of determining the change angle of the traveling direction of the transportation equipment within the set time period is specifically: determining the angular velocity of the transportation equipment within the set period of time as, the speed of the right wheel of the transportation equipment and the speed of the left wheel of the transportation equipment The quotient of the speed difference and the wheel spacing. Determine the change angle of the traveling direction of the transportation equipment within the set time period as the product of the angular velocity and the set time period.

That is, the driving direction change angle δ _θ of the transportation equipment within the set time period is determined by the following expression:

δ _θ =δt*(Vr-Vl)/C;

Among them, Vr is the right wheel speed of the transportation equipment, Vl is the left wheel speed of the transportation equipment, C is the wheel spacing, that is, the diameter distance between the left and right wheels of the transportation equipment, and δt is the set duration.

Then, according to the abscissa offset value of the transportation equipment at the starting point, the offset angle of the traveling direction, the change angle of the traveling direction within the set duration, and the set duration, determine the abscissa offset value of the transportation equipment at the current point .

Determine the ordinate offset value of the transportation device at the current point according to the ordinate offset value of the transportation device at the starting point, the offset angle of the driving direction, the speed of the left and right wheels within the set duration, and the set duration .

In one embodiment, the abscissa offset value of the transport device at the current point is determined according to the following expression:

Determine the ordinate offset value of the transport device at the current point according to the following expression:

The above expression uses the approximate integral expansion of the Runge-Kutta method to calculate the coordinate offset value. Among them, xA and yA are the abscissa offset value and ordinate offset value of the transportation equipment at the starting point, respectively, xB and yB are the abscissa offset value and ordinate offset value of the transportation equipment at the current point, respectively, δt is Set time length, δ _θ is the change angle of the traveling direction of the transportation equipment within the set time length, v is the traveling speed of the transportation equipment, and θ is the deviation angle of the traveling direction of the transportation equipment at the starting point.

An embodiment of the present invention further provides a driving deviation determination device, as shown in FIG. 5 , including: an acquisition module 501 and a determination module 502 .

The obtaining module 501 is configured to perform step S1, when the transportation equipment travels from the starting point to the current point after a set period of time, obtain the coordinate offset value of the transportation equipment at the starting point, the offset angle of the traveling direction, and the set period of time. The speed of the left and right wheels inside, where the coordinate offset value is the offset of the actual coordinate value of the transportation equipment relative to the predetermined coordinate value in the preset coordinate system, and the offset angle of the driving direction is in the preset coordinate system. , the offset angle of the actual travel direction of the transport equipment relative to the predetermined travel direction.

The determination module 502 is configured to execute step S2, according to the coordinate offset value of the transportation device at the starting point, the offset angle of the traveling direction, the speed of the left wheel and the right wheel within the set duration, and the set duration, determine that the transport device is in The coordinate offset value of the current point.

In the present invention, the determination module is further configured to determine the change angle of the traveling direction of the transportation equipment within the set period of time according to the set period of time and the speed of the left and right wheels of the transport equipment within the set period of time, wherein the set The change angle of the driving direction within the duration is, in the preset coordinate system, the change angle of the actual driving direction of the transportation equipment at the current point relative to the actual driving direction at the starting point.

Determine the abscissa offset value of the transportation device at the current point according to the abscissa offset value of the transportation device at the starting point, the travel direction offset angle, the travel direction change angle within the set duration, and the set duration.

Determine the ordinate offset value of the transportation device at the current point according to the ordinate offset value of the transportation device at the starting point, the offset angle of the driving direction, the speed of the left and right wheels within the set duration, and the set duration .

In the present invention, the determining module is further configured to determine the angular velocity of the transportation device within the set time period as the quotient of the difference between the speed of the right wheel and the speed of the left wheel of the transportation device and the wheel spacing.

Determine the change angle of the traveling direction of the transportation equipment within the set time period as the product of the angular velocity and the set time period.

In the present invention, the determining module is further used to determine the abscissa offset value of the transport device at the current point according to the following expression:

Determine the ordinate offset value of the transport device at the current point according to the following expression:

Among them, xA and yA are the abscissa offset value and ordinate offset value of the transportation equipment at the starting point, respectively, xB and yB are the abscissa offset value and ordinate offset value of the transportation equipment at the current point, respectively, δt is Set time length, δ _θ is the change angle of the traveling direction of the transportation equipment within the set time length, v is the traveling speed of the transportation equipment, and θ is the deviation angle of the traveling direction of the transportation equipment at the starting point.

In the present invention, after the determining module executes step S2, the obtaining module executes step S1 to determine the coordinate offset value of the current point every time the determining module executes step S2, wherein, when the obtaining module executes step S1 each time, if the If the starting point is not the scanning point of the transport equipment, the starting point is the current point when the determination module performed step S2 last time.

In the present invention, the determining module is further configured to correct the current left and right wheel speeds of the transportation device according to the coordinate offset value after determining the coordinate offset value of the transportation device at the current point.

According to the method and device for determining the driving deviation provided by the embodiments of the present invention, after the transportation equipment travels from the starting point to the current point, according to the coordinate offset value of the transportation equipment at the starting point, the offset angle of the driving direction, and the set duration The speed of the left wheel and the right wheel and the set time length are used to determine the coordinate offset value of the transportation equipment at the current point, so as to realize the calculation of the running deviation of the transportation equipment. By repeatedly executing the above method, the current AGV driving deviation can be calculated when the AGV misses scanning the code, so that the AGV can plan navigation based on the calculated driving, which can reduce the deviation of the AGV from the predetermined track as much as possible.

FIG. 6 shows an exemplary system architecture 600 to which a method for determining a driving deviation or an apparatus for determining a driving deviation according to an embodiment of the present invention may be applied.

As shown in FIG. 6 , the system architecture 600 may include terminal devices 601 , 602 , and 603 , a network 604 and a server 605 . The network 604 is a medium used to provide a communication link between the terminal devices 601 , 602 , 603 and the server 605 . Network 604 may include various connection types, such as wired, wireless communication links, or fiber optic cables, among others.

The user can use the terminal devices 601, 602, 603 to interact with the server 605 through the network 604 to receive or send messages and the like. Various communication client applications may be installed on the terminal devices 601 , 602 and 603 .

The terminal devices 601, 602, 603 may be various electronic devices having a display screen and supporting web browsing, including but not limited to AGVs, smart phones, tablet computers, laptop computers, desktop computers, and the like.

The server 605 may be a server that provides various services.

It should be noted that the method for determining the driving deviation provided by the embodiment of the present invention may be executed by the server 605 or the AGV. Accordingly, the device for determining the driving deviation may be set in the server 605 or in the AGV. .

It should be understood that the numbers of terminal devices, networks and servers in FIG. 60 are merely illustrative. There can be any number of terminal devices, networks and servers according to implementation needs.

Referring next to FIG. 7 , it shows a schematic structural diagram of a computer system 700 suitable for implementing a terminal device according to an embodiment of the present invention. The terminal device shown in FIG. 7 is only an example, and should not impose any limitations on the functions and scope of use of the embodiments of the present invention.

As shown in FIG. 7, a computer system 700 includes a central processing unit (CPU) 701 which can be loaded into a random access memory (RAM) 703 according to a program stored in a read only memory (ROM) 702 or a program from a storage section 708 Instead, various appropriate actions and processes are performed. In the RAM 703, various programs and data necessary for the operation of the system 700 are also stored. The CPU 701 , the ROM 702 , and the RAM 703 are connected to each other through a bus 704 . An input/output (I/O) interface 705 is also connected to bus 704 .

The following components are connected to the I/O interface 705: an input section 706 including a keyboard, a mouse, etc.; an output section 707 including a cathode ray tube (CRT), a liquid crystal display (LCD), etc., and a speaker, etc.; a storage section 708 including a hard disk, etc. ; and a communication section 709 including a network interface card such as a LAN card, a modem, and the like. The communication section 709 performs communication processing via a network such as the Internet. A drive 710 is also connected to the I/O interface 705 as needed. A removable medium 711, such as a magnetic disk, an optical disk, a magneto-optical disk, a semiconductor memory, etc., is mounted on the drive 710 as needed so that a computer program read therefrom is installed into the storage section 708 as needed.

In particular, the processes described above with reference to the flowcharts may be implemented as computer software programs in accordance with the disclosed embodiments of the present invention. For example, embodiments disclosed herein include a computer program product comprising a computer program carried on a computer-readable medium, the computer program containing program code for performing the method illustrated in the flowchart. In such an embodiment, the computer program may be downloaded and installed from the network via the communication portion 709 and/or installed from the removable medium 711 . When the computer program is executed by the central processing unit (CPU) 701, the above-described functions defined in the system of the present invention are executed.

It should be noted that the computer-readable medium shown in the present invention may be a computer-readable signal medium or a computer-readable storage medium, or any combination of the above two. The computer-readable storage medium can be, for example, but not limited to, an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus or device, or a combination of any of the above. More specific examples of computer readable storage media may include, but are not limited to, electrical connections with one or more wires, portable computer disks, hard disks, random access memory (RAM), read only memory (ROM), erasable Programmable read only memory (EPROM or flash memory), fiber optics, portable compact disk read only memory (CD-ROM), optical storage devices, magnetic storage devices, or any suitable combination of the foregoing. In the present invention, a computer-readable storage medium may be any tangible medium that contains or stores a program that can be used by or in conjunction with an instruction execution system, apparatus, or device. In the present invention, however, a computer-readable signal medium may include a data signal propagated in baseband or as part of a carrier wave, carrying computer-readable program code therein. Such propagated data signals may take a variety of forms, including but not limited to electromagnetic signals, optical signals, or any suitable combination of the foregoing. A computer-readable signal medium can also be any computer-readable medium other than a computer-readable storage medium that can transmit, propagate, or transport the program for use by or in connection with the instruction execution system, apparatus, or device . Program code embodied on a computer readable medium may be transmitted using any suitable medium including, but not limited to, wireless, wireline, optical fiber cable, RF, etc., or any suitable combination of the foregoing.

The flowchart and block diagrams in the Figures illustrate the architecture, functionality, and operation of possible implementations of systems, methods and computer program products according to various embodiments of the present invention. In this regard, each block in the flowchart or block diagrams may represent a module, segment, or portion of code that contains one or more logical functions for implementing the specified functions executable instructions. It should also be noted that, in some alternative implementations, the functions noted in the blocks may occur out of the order noted in the figures. For example, two blocks shown in succession may, in fact, be executed substantially concurrently, or the blocks may sometimes be executed in the reverse order, depending upon the functionality involved. It is also noted that each block of the block diagrams or flowchart illustrations, and combinations of blocks in the block diagrams or flowchart illustrations, can be implemented in special purpose hardware-based systems that perform the specified functions or operations, or can be implemented using A combination of dedicated hardware and computer instructions is implemented.

The modules involved in the embodiments of the present invention may be implemented in a software manner, and may also be implemented in a hardware manner. The described modules can also be provided in the processor, for example, it can be described as: a processor includes an acquisition module and a determination module. Among them, the names of these modules do not constitute a limitation on the module itself under certain circumstances.

As another aspect, the present invention also provides a computer-readable medium, which may be included in the device described in the above embodiments; or may exist alone without being assembled into the device. The above-mentioned computer-readable medium carries one or more programs, and when the above-mentioned one or more programs are executed by a device, the device includes:

Step S1, when the transportation equipment travels from the starting point to the current point after a set period of time, obtain the coordinate offset value of the transportation equipment at the starting point, the offset angle of the traveling direction, and the left and right wheels within the set period of time. speed, where the coordinate offset value is the offset of the actual coordinate value of the transportation equipment relative to the predetermined coordinate value in the preset coordinate system, and the travel direction offset angle is the actual traveling direction of the transportation equipment in the preset coordinate system the offset angle relative to the intended direction of travel;

Step S2: Determine the coordinate offset of the transportation device at the current point according to the coordinate offset value of the transportation device at the starting point, the offset angle of the traveling direction, the speed of the left wheel and the right wheel within the set duration, and the set duration. value.

The above-mentioned specific embodiments do not constitute a limitation on the protection scope of the present invention. It should be understood by those skilled in the art that various modifications, combinations, sub-combinations and substitutions may occur depending on design requirements and other factors. Any modifications, equivalent replacements and improvements made within the spirit and principle of the present invention shall be included within the protection scope of the present invention.

Claims (11)

1. a determination method of driving deviation, is characterized in that, comprises: Step S1, when the transportation equipment travels from the starting point to the current point after a set period of time, obtain the coordinate offset value of the transportation equipment at the starting point, the offset angle of the traveling direction, and the left and right wheels within the set period of time. speed, where the coordinate offset value is the offset of the actual coordinate value of the transportation equipment relative to the predetermined coordinate value in the preset coordinate system, and the travel direction offset angle is the actual traveling direction of the transportation equipment in the preset coordinate system the offset angle relative to the intended direction of travel; Step S2: Determine the coordinate offset of the transportation device at the current point according to the coordinate offset value of the transportation device at the starting point, the offset angle of the traveling direction, the speed of the left wheel and the right wheel within the set duration, and the set duration. value. 2. The method according to claim 1, wherein the step of determining the coordinate offset value of the transport device at the current point comprises: According to the set duration and the speed of the left and right wheels of the transport equipment within the set duration, the travel direction change angle of the transport equipment within the set duration is determined, wherein the travel direction change angle within the set duration is: In the preset coordinate system, the change angle of the actual driving direction of the transportation equipment at the current point relative to the actual driving direction at the starting point; Determine the abscissa offset value of the transportation equipment at the current point according to the abscissa offset value of the transportation equipment at the starting point, the offset angle of the traveling direction, the change angle of the traveling direction within the set duration, and the set duration; Determine the ordinate offset value of the transportation device at the current point according to the ordinate offset value of the transportation device at the starting point, the offset angle of the driving direction, the speed of the left and right wheels within the set duration, and the set duration . 3. The method according to claim 2, wherein the step of determining the change angle of the traveling direction of the transportation equipment within the set time period comprises: Determine the angular velocity of the transport device within the set time period as the quotient of the difference between the speed of the right wheel and the speed of the left wheel of the transport device and the wheel spacing; Determine the change angle of the traveling direction of the transport equipment within the set time period as the product of the angular velocity and the set time period. 4. The method according to claim 2, wherein the abscissa offset value of the transport equipment at the current point is determined according to the following expression:

Determine the ordinate offset value of the transport device at the current point according to the following expression:

Among them, xA and yA are the abscissa offset value and ordinate offset value of the transportation equipment at the starting point, respectively, xB and yB are the abscissa offset value and ordinate offset value of the transportation equipment at the current point, respectively, δt is Set time length, δ _θ is the change angle of the traveling direction of the transportation equipment within the set time length, v is the traveling speed of the transportation equipment, and θ is the deviation angle of the traveling direction of the transportation equipment at the starting point. 5. The method according to any one of claims 1 to 4, wherein after step S2 is performed, step S1 is performed to determine the coordinate offset value of the current point when step S2 is performed each time , wherein, when step S1 is performed for the next time, if the starting point is not the scanning point of the transportation equipment, the starting point is the current point when step S2 was performed last time. 6. The method according to claim 5, wherein step S2 further comprises: After determining the coordinate offset value of the transportation device at the current point, correct the current left and right wheel speeds of the transportation device according to the coordinate offset value. 7. A device for determining driving deviation, comprising: The acquisition module is used to execute step S1, when the transportation equipment travels from the starting point to the current point after the set time period, obtain the coordinate offset value of the transportation equipment at the starting point, the offset angle of the traveling direction, and the set period of time. The speed of the left and right wheels inside, where the coordinate offset value is the offset of the actual coordinate value of the transportation equipment relative to the predetermined coordinate value in the preset coordinate system, and the offset angle of the driving direction is in the preset coordinate system. , the offset angle of the actual driving direction of the transport equipment relative to the predetermined driving direction; The determining module is used to perform step S2, according to the coordinate offset value of the transportation device at the starting point, the offset angle of the driving direction, the speed of the left wheel and the right wheel within the set duration, and the set duration, determine that the transport device is in The coordinate offset value of the current point. 8 . The device according to claim 7 , wherein the determining module is further configured to determine the set duration of the transport equipment according to the set duration and the left and right wheel speeds of the transport equipment within the set duration. 9 . The change angle of the driving direction within the set duration is, in the preset coordinate system, the change angle of the actual driving direction of the transportation equipment at the current point relative to the actual driving direction at the starting point ; Determine the abscissa offset value of the transportation equipment at the current point according to the abscissa offset value of the transportation equipment at the starting point, the offset angle of the traveling direction, the change angle of the traveling direction within the set duration, and the set duration; Determine the ordinate offset value of the transportation device at the current point according to the ordinate offset value of the transportation device at the starting point, the offset angle of the driving direction, the speed of the left and right wheels within the set duration, and the set duration . 9 . The device according to claim 8 , wherein the determining module is further configured to determine the angular velocity of the transportation device within the set time length as, the difference between the speed of the right wheel and the speed of the left wheel of the transportation device and the speed of the wheel. 10 . quotient of spacing; Determine the change angle of the traveling direction of the transport equipment within the set time period as the product of the angular velocity and the set time period. 10. An electronic device for determining driving deviation, characterized in that it comprises: one or more processors; storage means for storing one or more programs, The one or more programs, when executed by the one or more processors, cause the one or more processors to implement the method of any one of claims 1-6. 11. A computer-readable medium on which a computer program is stored, characterized in that, when the program is executed by a processor, the method according to any one of claims 1-6 is implemented.

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