CN112230653A - Method and device for determining driving wheel parameters and automatic navigation vehicle - Google Patents

Method and device for determining driving wheel parameters and automatic navigation vehicle Download PDF

Info

Publication number
CN112230653A
CN112230653A CN202011019518.1A CN202011019518A CN112230653A CN 112230653 A CN112230653 A CN 112230653A CN 202011019518 A CN202011019518 A CN 202011019518A CN 112230653 A CN112230653 A CN 112230653A
Authority
CN
China
Prior art keywords
target vehicle
driving wheel
parameter
determining
wheel
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Pending
Application number
CN202011019518.1A
Other languages
Chinese (zh)
Inventor
张文君
范小军
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Beijing Kuangshi Robot Technology Co Ltd
Original Assignee
Beijing Kuangshi Robot Technology Co Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Beijing Kuangshi Robot Technology Co Ltd filed Critical Beijing Kuangshi Robot Technology Co Ltd
Priority to CN202011019518.1A priority Critical patent/CN112230653A/en
Publication of CN112230653A publication Critical patent/CN112230653A/en
Pending legal-status Critical Current

Links

Images

Classifications

    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
    • G05D1/0234—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using optical markers or beacons
    • G05D1/0236—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using optical markers or beacons in combination with a laser
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
    • G05D1/0246—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using a video camera in combination with image processing means
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0276—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle

Abstract

The invention provides a method and a device for determining driving wheel parameters and an automatic navigation vehicle, wherein a first operation instruction is executed to enable a target vehicle to walk for a specified distance; acquiring a first operating parameter of a target vehicle and a first rotation parameter of a driving wheel; then executing a second operation instruction to enable the target vehicle to rotate by a specified angle; acquiring a second operation parameter of the target vehicle and a second rotation parameter of the driving wheel; determining a driving wheel parameter of the target vehicle according to the first operation parameter, the first rotation parameter, the second operation parameter and the second rotation parameter. In the mode, the target vehicle automatically walks for the designated distance and rotates for the designated angle by executing the operation instruction, and the driving wheel parameters of the target vehicle are determined according to the obtained operation parameters and rotation parameters, so that the accuracy and the measuring efficiency of the driving wheel parameters are improved.

Description

Method and device for determining driving wheel parameters and automatic navigation vehicle
Technical Field
The invention relates to the technical field of artificial intelligence, in particular to a method and a device for determining driving wheel parameters and an automatic navigation vehicle.
Background
The parameters of a main driving wheel of an AGV (automatic Guided Vehicles) mainly comprise the radius, the axle distance and the like of the wheel; the accuracy of the AGV main driving wheel parameters has important influence on the positioning accuracy in the running process of the AGV. In the correlation technique, the parameters of the main driving wheel can be directly and manually measured, the actual running distance and running angle of the AGV can be manually measured after the AGV runs for a certain distance and angle, and then the parameters of the main driving wheel are calculated. Both the two modes need manual measurement of related parameters, so that the obtained main driving wheel parameters have large errors, the parameter accuracy is low, and the measurement efficiency is low.
Disclosure of Invention
In view of the above, the present invention provides a method and an apparatus for determining driving wheel parameters, and an automatic guided vehicle, so as to improve the accuracy and the measurement efficiency of the driving wheel parameters.
In a first aspect, an embodiment of the present invention provides a method for determining a driving wheel parameter, where the method is applied to a target vehicle; the target vehicle is provided with a driving wheel; the method comprises the following steps: executing the first operation instruction; the first operation instruction is used for indicating the target vehicle to walk for a specified distance; acquiring a first operating parameter of a target vehicle and a first rotation parameter of a driving wheel; executing a second operation instruction; the second operation instruction is used for indicating the target vehicle to rotate by a specified angle; acquiring a second operation parameter of the target vehicle and a second rotation parameter of the driving wheel; determining a driving wheel parameter of the target vehicle according to the first operation parameter, the first rotation parameter, the second operation parameter and the second rotation parameter.
Further, the first operating parameter of the target vehicle includes: after the target vehicle executes the first operation instruction, the course change value and the actual walking distance of the target vehicle; the driving wheels comprise a first driving wheel and a second driving wheel; the first driving wheel and the second driving wheel are coaxially connected; the first rotation parameter of the drive wheel includes: and after the target vehicle executes the first running instruction, the first angle change value of the first driving wheel and the first angle change value of the second driving wheel.
Further, the step of obtaining a first operating parameter of the target vehicle and a first rotation parameter of the drive wheels comprises: when the target vehicle is at an initial position and the course of the target vehicle faces the direction to be traveled, determining a first position coordinate of the initial position, a first course of the target vehicle and first coded disc data of a driving wheel; after the target vehicle executes the first operation instruction, determining a second position coordinate of the target vehicle at the destination position, a second course direction of the target vehicle and second code disc data of the driving wheel; determining a first operating parameter of the target vehicle according to the first course, the second course, the first position coordinate and the second position coordinate; a first rotation parameter of the drive wheel is determined based on the first code wheel data and the second code wheel data.
Further, the step of determining a first operating parameter of the target vehicle based on the first heading, the second heading, the first position coordinate, and the second position coordinate includes: determining a course change value of the target vehicle according to the first course and the second course; and determining the actual walking distance of the target vehicle according to the first position coordinate and the second position coordinate.
Further, a first identifier and a second identifier are preset in a traveling area of the target vehicle; the distance between the first identifier and the second identifier is a designated distance; the first identifier is used for determining a first position coordinate and a first heading of the initial position; the second identifier is used to determine second location coordinates and a second heading for the destination location.
Further, the driving wheels comprise a first driving wheel and a second driving wheel; the step of determining a first rotation parameter of the drive wheel based on the first code wheel data and the second code wheel data comprises: determining a first angle change value of the first driving wheel according to first coded disc data of the first driving wheel and second coded disc data of the first driving wheel; and determining a first angle change value of the second driving wheel according to the first coded disc data of the second driving wheel and the second coded disc data of the second driving wheel.
Further, the second operating parameter of the target vehicle includes: after the target vehicle executes the second operation instruction, the actual rotation angle of the target vehicle is obtained; the driving wheels comprise a first driving wheel and a second driving wheel; the first driving wheel and the second driving wheel are coaxially connected; the second rotation parameter of the drive wheel includes: and after the target vehicle executes the second operation instruction, the second angle change value of the first driving wheel and the second angle change value of the second driving wheel.
Further, the step of obtaining a second operating parameter of the target vehicle and a second rotation parameter of the drive wheel includes: determining a third heading of the target vehicle and third code wheel data of the driving wheel when the target vehicle is in the initial posture; after the target vehicle executes the second operation instruction, determining that the target vehicle is in the final posture, and obtaining a fourth course of the target vehicle and fourth coded disc data of the driving wheel; determining a second rotation parameter of the driving wheel according to the third coded disc data and the fourth coded disc data; and determining the actual rotation angle of the target vehicle according to the third heading and the fourth heading.
Further, the driving wheels comprise a first driving wheel and a second driving wheel; the step of determining a second rotational parameter of the drive wheel based on the third code wheel data and the fourth code wheel data includes: determining a second angle change value of the first driving wheel according to the third coded disc data of the first driving wheel and the fourth coded disc data of the first driving wheel; and determining a second angle change value of the second driving wheel according to the third coded disc data of the second driving wheel and the fourth coded disc data of the second driving wheel.
Further, the step of determining a driving wheel parameter of the target vehicle based on the first operating parameter, the first rotational parameter, the second operating parameter, and the second rotational parameter includes: determining a coefficient of a driving wheel parameter of the target vehicle according to the first operation parameter, the first rotation parameter, the second operation parameter and the second rotation parameter; and determining the driving wheel parameters of the target vehicle according to the theoretical values and the coefficients of the driving wheel parameters of the target vehicle.
Further, the driving wheel parameters include: the radius of the first drive wheel, the radius of the second drive wheel, and the axle spacing between the first drive wheel and the second drive wheel; the step of determining a coefficient of a driving wheel parameter of the target vehicle based on the first operational parameter, the first rotational parameter, the second operational parameter and the second rotational parameter, comprises: determining a coefficient of radius of the first drive wheel by the following equation:
Figure BDA0002699406560000041
Figure BDA0002699406560000042
determining a coefficient of radius of the second drive wheel by the following equation:
Figure BDA0002699406560000043
by the followingThe coefficients of the shaft spacing are determined by the formula:
Figure BDA0002699406560000044
wherein k isl1Coefficient of radius of the first drive wheel, kr1A factor of the radius of the second drive wheel; k is a radical ofd1Is the coefficient of the interaxial distance; thetaaIs the actual angle of rotation of the target vehicle; thetaΔThe course change value of the target vehicle is obtained; thetalmIs a first angle change value theta of the first driving wheelrmA first angle change value of the second driving wheel; thetalrA second angle change value of the first driving wheel; thetarrA second angle change value of the second driving wheel; saYThe actual walking distance of the target vehicle; theta1A first heading of the target vehicle; theta2A second heading of the target vehicle; d is the shaft spacing.
Further, the step of determining the driving wheel parameters of the target vehicle according to the theoretical values and coefficients of the driving wheel parameters of the target vehicle includes: executing the first operation instruction and the second operation instruction for multiple times to obtain coefficients of driving wheel parameters of the target vehicles; calculating an average value of coefficients of driving wheel parameters of a plurality of target vehicles; and determining the driving wheel parameters of the target vehicle according to the average value and the theoretical value of the coefficient.
In a second aspect, an embodiment of the present invention provides a device for determining a driving wheel parameter, where the device is provided for a target vehicle; the target vehicle is provided with a driving wheel; the device comprises: the first operation instruction execution module is used for executing a first operation instruction; the first operation instruction is used for indicating the target vehicle to walk for a specified distance; acquiring a first operating parameter of a target vehicle and a first rotation parameter of a driving wheel; the second operation instruction execution module is used for executing a second operation instruction; the second operation instruction is used for indicating the target vehicle to rotate by a specified angle; acquiring a second operation parameter of the target vehicle and a second rotation parameter of the driving wheel; and the driving wheel parameter determining module is used for determining the driving wheel parameters of the target vehicle according to the first operation parameter, the first rotation parameter, the second operation parameter and the second rotation parameter.
In a third aspect, an embodiment of the present invention provides an automatic navigation vehicle, including: a processing device and a storage device; the storage device has stored thereon a computer program that, when executed by a processing apparatus, performs the method of determining the drive wheel parameter according to any one of the first aspect.
In a fourth aspect, an embodiment of the present invention provides a computer-readable storage medium, on which a computer program is stored, where the computer program is executed by a processing device to perform the steps of the method for determining the driving wheel parameter according to any one of the first aspect.
The embodiment of the invention has the following beneficial effects:
the embodiment of the invention provides a method and a device for determining driving wheel parameters and an automatic navigation vehicle, wherein a first operation instruction is executed to enable a target vehicle to walk for a specified distance; acquiring a first operating parameter of a target vehicle and a first rotation parameter of a driving wheel; then executing a second operation instruction to enable the target vehicle to rotate by a specified angle; acquiring a second operation parameter of the target vehicle and a second rotation parameter of the driving wheel; determining a driving wheel parameter of the target vehicle according to the first operation parameter, the first rotation parameter, the second operation parameter and the second rotation parameter. In the mode, the target vehicle automatically walks for the designated distance and rotates for the designated angle by executing the operation instruction, and the driving wheel parameters of the target vehicle are determined according to the obtained operation parameters and rotation parameters, so that the accuracy and the measuring efficiency of the driving wheel parameters are improved.
Additional features and advantages of the invention will be set forth in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention. The objectives and other advantages of the invention will be realized and attained by the structure particularly pointed out in the written description and claims hereof as well as the appended drawings.
In order to make the aforementioned and other objects, features and advantages of the present invention comprehensible, preferred embodiments accompanied with figures are described in detail below.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and other drawings can be obtained by those skilled in the art without creative efforts.
Fig. 1 is a schematic structural diagram of an automatic navigation vehicle according to an embodiment of the present invention;
fig. 2 is a flowchart of a method for determining parameters of a driving wheel according to an embodiment of the present invention;
FIG. 3 is a flow chart of another driving wheel parameter determining method according to an embodiment of the present invention;
FIG. 4 is a schematic diagram illustrating the walking motion of a target vehicle according to an embodiment of the present invention;
FIG. 5 is a flow chart of another driving wheel parameter determining method according to an embodiment of the present invention;
FIG. 6 is a schematic diagram of a target vehicle rotating 180 degrees in situ according to an embodiment of the present invention;
FIG. 7 is a flowchart of another driving wheel parameter determining method according to an embodiment of the present invention;
fig. 8 is a schematic structural diagram of a driving wheel parameter determining apparatus according to an embodiment of the present invention.
Detailed Description
To make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings, and it is apparent that the described embodiments are some, but not all embodiments of the present invention. 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 consideration of the fact that in the related technology, the method for calibrating the AVG main driving wheel parameters needs manual measurement of the related parameters, so that the obtained main driving wheel parameters have large errors, the actual displacement and angle values are almost difficult to measure, and the parameter accuracy is low; in addition, aiming at the mass AGV production, the measurement efficiency is lower. Based on this, the embodiments of the present invention provide a method and an apparatus for determining driving wheel parameters, and an automatic navigation vehicle, where the technology may be applied to a vehicle having a driving wheel, and particularly, may be applied to an automatic navigation vehicle, and the technology may be implemented by software and hardware, and is described below by way of an embodiment.
The first embodiment is as follows:
first, an example automatic navigation vehicle 100 for implementing the determination method, apparatus, and automatic navigation vehicle of the driving wheel parameter of the embodiment of the present invention is described with reference to fig. 1.
As shown in fig. 1, an automated guided vehicle 100 includes one or more processing devices 102, one or more memory devices 104, an input device 106, an output device 108, and one or more image capture devices 110, which are interconnected via a bus system 112 and/or other type of connection mechanism (not shown). It should be noted that the components and configuration of the autonomous navigation vehicle 100 shown in fig. 1 are exemplary only and not limiting, and that the autonomous navigation vehicle may have other components and configurations as desired.
The processing device 102 may be a gateway or may be a smart terminal or a device containing a Central Processing Unit (CPU) or other form of processing unit having data processing capabilities and/or instruction execution capabilities that can process data from and control other components of the automated navigation vehicle 100 to perform desired functions.
Storage 104 may include one or more computer program products that may include various forms of computer-readable storage media, such as volatile memory and/or non-volatile memory. Volatile memory can include, for example, Random Access Memory (RAM), cache memory (or the like). The non-volatile memory may include, for example, Read Only Memory (ROM), a hard disk, flash memory, and the like. One or more computer program instructions may be stored on a computer-readable storage medium and executed by processing device 102 to implement the client functionality (implemented by the processing device) of the embodiments of the invention described below and/or other desired functionality. Various applications and various data, such as various data used and/or generated by the applications, may also be stored in the computer-readable storage medium.
The input device 106 may be a device used by a user to input instructions and may include one or more of a keyboard, a mouse, a microphone, a touch screen, and the like.
The output device 108 may output various information (e.g., images, sounds, or data) to an outside (e.g., a user), and may include one or more of a display, a speaker, and the like.
Image capture device 110 may capture preview video frames or picture data (such as pictures to be recognized) and store the captured preview video frames or picture data in storage 104 for use by other components.
For example, the devices in the automatic navigation vehicle for implementing the method and apparatus for determining driving wheel parameters and the automatic navigation vehicle according to the embodiment of the present invention may be integrally disposed, or may be disposed in a distributed manner, such as integrally disposing the processing device 102, the storage device 104, the input device 106 and the output device 108, and disposing the image capturing device 110 at a specific position where a picture can be captured. When the respective devices in the automatic navigation vehicle described above are integrally provided, the automatic navigation vehicle may be implemented as a vehicle having a driving wheel.
Example two:
the embodiment provides a method for determining driving wheel parameters, which is applied to a target vehicle; the target vehicle is provided with a driving wheel; as shown in fig. 2, the method comprises the steps of:
step S202, executing a first operation instruction; the first operation instruction is used for indicating the target vehicle to walk for a specified distance; acquiring a first operating parameter of a target vehicle and a first rotation parameter of a driving wheel;
the first operation instruction may be an instruction automatically issued by the target vehicle, or an instruction issued by a control device in communication connection with the target vehicle, where the first operation instruction includes a specified distance for traveling, and the specified distance may be set according to actual needs; and automatically walking the specified distance after the target vehicle receives the first running instruction. The first operation parameters may include operation parameters such as an angle change value, a traveling distance value, a traveling route and the like of the target vehicle in the traveling direction before and after the target vehicle executes the first operation instruction; the first rotation parameter may include a parameter such as an angle that the driving wheel rotates after the target vehicle executes the first operation command and the target vehicle travels a predetermined distance.
Specifically, after the target vehicle receives a first running instruction, the target vehicle automatically walks for a specified distance at the current position according to the current walking direction of the target vehicle according to the specified distance included by the instruction, and stops walking when reaching the end position of the specified distance; according to the traveling direction of the target vehicle when the target vehicle starts to travel and the traveling direction when the target vehicle reaches the end position, the running angle of the target vehicle and the change of the running angle can be determined; the traveling distance of the target vehicle can be determined based on the position information of the target vehicle at the start of traveling, the end position information, and the specified distance of traveling. In addition, according to the code wheel data of the driving wheel when the target vehicle starts to run and the code wheel data of the driving wheel when the target vehicle reaches the end position, the rotating angle of the driving wheel which runs for a specified distance can be determined, and the driving wheel needs to rotate for a specified distance when the target vehicle runs for a specified distance can also be understood.
In addition, before the target vehicle executes the first operation instruction, the target vehicle can be controlled to be within a preset range of a first mark point in a preset automatic calibration environment by a human or control device so as to ensure that the target vehicle can scan a second mark point; then, a calibration program of the target vehicle can be started manually or by control equipment; after the program is started, the target vehicle can automatically rotate to a proper angle within the preset range of the first marking point, so that the walking direction points to the second marking point.
Step S204, executing a second operation instruction; the second operation instruction is used for indicating the target vehicle to rotate by a specified angle; acquiring a second operation parameter of the target vehicle and a second rotation parameter of the driving wheel;
after the target vehicle finishes the first operation instruction and walks to the end position of the specified distance, the target vehicle can automatically execute a second operation instruction, wherein the second operation instruction can be an instruction automatically issued by the target vehicle or an instruction automatically issued by a control device in communication connection with the target vehicle, the second operation instruction comprises a specified angle of rotation of the target vehicle, and the specified angle can be set according to actual needs; and after the target vehicle receives the second operation instruction, automatically rotating the specified angle. The second operation parameter may include an angle change value of the target vehicle before and after the target vehicle executes the second operation command; the second rotation parameter may include a parameter such as an angle that the driving wheel rotates after the target vehicle executes the second operation command and the target vehicle rotates by a predetermined angle.
Specifically, after the target vehicle receives a second operation instruction, the target vehicle automatically rotates by a specified angle at the current position according to the specified angle included by the instruction, and the rotation process includes the rotation of the target vehicle and the rotation of the driving wheel; the rotation angle of the target vehicle can be determined according to the orientation of the target vehicle before the target vehicle starts to rotate, namely the walking direction, and the orientation after the target vehicle rotates by a specified angle; in addition, the angle by which the driving wheel rotates by the specified angle can be determined according to the code wheel data of the front driving wheel and the code wheel data of the rear driving wheel rotating by the specified angle when the target vehicle starts to rotate, and the driving wheel can also be understood to rotate by the specified angle by how many times.
And step S206, determining the driving wheel parameters of the target vehicle according to the first operation parameter, the first rotation parameter, the second operation parameter and the second rotation parameter.
The driving wheel parameters generally include driving wheel radius, wheel spacing, coaxiality of two wheels, verticality of two wheels and the like. Because the actual driving wheel parameter has a certain deviation from the theoretical driving wheel parameter calibrated when the target vehicle leaves the factory, in the actual walking and rotating process of the target vehicle, the actual walking distance and the actual rotating angle have a certain deviation from the specified distance and the specified angle set by the target vehicle, and the deviation may be caused by the deviation of the actual driving wheel parameter and the theoretical driving wheel parameter, therefore, the deviation of the actual driving wheel parameter and the theoretical driving wheel parameter can be calculated according to the first operation parameter, the first rotating parameter, the second operation parameter and the second rotating parameter which are actually measured in the walking and rotating process of the target vehicle, so as to determine the driving wheel parameter of the target vehicle.
The embodiment of the invention provides a method for determining driving wheel parameters, which comprises the steps of executing a first running instruction to enable a target vehicle to walk for a specified distance; acquiring a first operating parameter of a target vehicle and a first rotation parameter of a driving wheel; then executing a second operation instruction to enable the target vehicle to rotate by a specified angle; acquiring a second operation parameter of the target vehicle and a second rotation parameter of the driving wheel; determining a driving wheel parameter of the target vehicle according to the first operation parameter, the first rotation parameter, the second operation parameter and the second rotation parameter. In the mode, the target vehicle automatically walks for the designated distance and rotates for the designated angle by executing the operation instruction, and the driving wheel parameters of the target vehicle are determined according to the obtained operation parameters and rotation parameters, so that the accuracy and the measuring efficiency of the driving wheel parameters are improved.
Example three:
the present embodiment provides another method for determining a parameter of a driving wheel, where the first operating parameter of the target vehicle includes: and after the target vehicle executes the first operation instruction, the course change value and the actual walking distance of the target vehicle. The course change value of the target vehicle can be understood as the angle of the target vehicle, which is rotated by the traveling direction, from the beginning to the stop of traveling; because the relevant parameters in the target vehicle have certain deviation, the specified distance is different from the actual walking distance, and the actual walking distance needs to be obtained according to the actual running parameters.
The driving wheels comprise a first driving wheel and a second driving wheel; the first driving wheel and the second driving wheel are coaxially connected; the first rotation parameter of the drive wheel includes: and after the target vehicle executes the first running instruction, the first angle change value of the first driving wheel and the first angle change value of the second driving wheel.
The first driving wheel and the second driving wheel can be understood as left and right driving wheels; in the actual production process, the left driving wheel and the right driving wheel may have certain deviation, so that parameters such as the distance between the shafts of the left driving wheel and the right driving wheel, the coaxiality of two wheels, the verticality, the radius and the like may have certain deviation, and therefore, a first angle change value of the first driving wheel and a first angle change value of the second driving wheel are obtained respectively, namely after the target vehicle executes the first operation instruction, a rotated angle of the first driving wheel and a rotated angle of the second driving wheel may have certain difference.
The embodiment focuses on a specific implementation process of the step of acquiring the first operating parameter of the target vehicle and the first rotation parameter of the driving wheel, and as shown in fig. 3, the method includes the following steps:
step S302, executing a first operation instruction; the first operation instruction is used for indicating the target vehicle to walk for a specified distance;
step S304, when the target vehicle is at an initial position and the course direction is towards the direction to be walked, determining a first position coordinate of the initial position, a first course direction of the target vehicle and first coded disc data of a driving wheel;
a first identifier and a second identifier are preset in a traveling area of a target vehicle; the distance between the first identifier and the second identifier is a designated distance; wherein the first identifier and the second identifier may be two-dimensional codes; referring to fig. 4, the schematic diagram of the walking motion of the target vehicle is the walking area of the target vehicle, the Qr1 box is the first identifier, and the Qr2 box is the second identifier;
the initial position may be a range of positions that are pre-assigned with a first identifier, as shown in fig. 4, where the Qr1 box is the first identifier of the initial position within which the target vehicle can scan; navigation in a target vehicleWhen the target vehicle is facing the direction to be traveled, the target vehicle can scan a second identifier, such as the Qr2 position in the figure, the Qr2 box being the second identifier; wherein the distance between the first identifier Qr1 and the second identifier Qr2 is a designated distance S. After the initial position of the target vehicle and the course of the position are determined, the first position coordinate, the first course and the first code wheel data of the driving wheel of the target vehicle can be determined at the moment; wherein the first identifier is used to determine first location coordinates and a first heading of the initial location; specifically, the first position coordinate may be a coordinate of the target vehicle relative to a center point of the initial position, the center point of the initial position may be a center point of the first identifier, see a first coordinate system formed by a cross-dashed intersection of the Qr1 positions in fig. 4, that is, the center point of the first identifier, with the intersection as an origin, a horizontal dashed line as an X-axis, and a vertical dashed line as a Y-axis, and the first position coordinate of the center point of the target vehicle in the first coordinate system is (X)1，y1)。
The first heading of the target vehicle can be a heading towards a direction to be traveled when the target vehicle is at an initial position, and an included angle theta between the heading and the Y axis in the figure1(ii) a The first code wheel data of the driving wheel can be calculated according to a processor connected with the driving wheel to obtain the first code wheel data (tick) of the driving wheel at the initial position1l,tick1r) Wherein, tick1lCan be expressed as first code wheel data, tick, of the first drive wheel1rFirst code wheel data, which may be represented as a second drive wheel; of course, tick1lCan also be expressed as first code wheel data, tick, of the second drive wheel1rAlso denoted as first code wheel data of the first driving wheel.
Step S306, after the target vehicle executes the first operation instruction, determining a second position coordinate of the target vehicle at the destination position, a second course direction of the target vehicle and second code wheel data of the driving wheel;
referring to fig. 4, the target vehicle travels in the direction to be traveled along the above-mentioned heading direction, and stops traveling after traveling to the destination position, that is, the position Qr2 in the figure; wherein the target vehicle can be positioned when walking to the destination positionTo be determined using the second identifier. After the target vehicle reaches the target position, the second position coordinate of the target vehicle, the second heading of the target vehicle and the second code disc data of the driving wheel can be determined; wherein the second identifier is used to determine second location coordinates and a second heading of the destination location; specifically, the second location coordinates may be coordinates of the target vehicle with respect to a center point of the destination location, which may be a center point of the second identifier; referring to fig. 4, a second coordinate system is formed by the cross-dashed intersection of the Qr2 positions, i.e., the center point of the second identifier, with the intersection as the origin, the horizontal dashed line as the X-axis, and the vertical dashed line as the Y-axis, and the second position coordinate of the center point of the target vehicle in the second coordinate system is (X)2，y2)。
The second heading of the target vehicle may be a direction toward which the heading is directed when the target vehicle is at the destination location, and may be at an angle θ to the Y-axis of the figure2(ii) a The second code disc data of the driving wheel can be calculated according to a processor connected with the driving wheel to obtain the second code disc data (tick) of the driving wheel at the destination position2l,tick2r) Wherein, tick2lCan be represented as second code wheel data, tick, of the first drive wheel2rSecond code wheel data, which may be represented as a second drive wheel; of course, tick2lCan also be expressed as second code wheel data, tick, of the second drive wheel2rOr may be represented as second code wheel data for the first drive wheel.
Step S308, determining a first operating parameter of the target vehicle according to the first course, the second course, the first position coordinate and the second position coordinate;
since the first operating parameter of the target vehicle includes the heading change value of the target vehicle and the actual distance traveled by the target vehicle, one possible embodiment:
(1) determining a course change value of the target vehicle according to the first course and the second course;
since there may be a difference between the left and right driving wheels, even if the traveling direction of the target vehicle is specified, the traveling direction is present during travelingThe angle is changed; therefore, the course change value of the target vehicle can be calculated according to the first course and the second course. Specifically, the first heading may be represented by θ1And the second heading may be represented as θ2Then, the course change value theta of the target vehicle is calculatedΔCan be calculated by the following equation: thetaΔ＝θ2-θ1。
In addition, no other control is added in the process of the straight-ahead movement of the target vehicle, and the heading direction of the target vehicle relative to the identifier in the embodiment, namely the included angle between the target vehicle and the Y axis, is negative on the left side of the Y axis and positive on the right side of the Y axis.
(2) And determining the actual walking distance of the target vehicle according to the first position coordinate and the second position coordinate.
Because there is a difference between the left and right driving wheels and the target vehicle itself has a certain dimension, there may be a difference in position when the first position and the second position are located, so even if the target vehicle is specified to travel a specified distance, there will be a change in the actual travel distance during travel; thus, the actual traveling distance of the target vehicle can be calculated based on the difference between the Y-axis coordinate value of the first position coordinate and the Y-axis coordinate value of the second position coordinate. Specifically, the first position coordinate may be expressed as (x)1，y1) And the second position coordinate may be expressed as (x)2，y2) Then the actual running distance S of the target vehicleaYCan be calculated by the following equation: saY＝(S-y1+y2)。
Step S310, determining a first rotation parameter of the driving wheel according to the first code disc data and the second code disc data;
since the first rotation parameter of the drive wheel comprises the angle change value of the first drive wheel and the angle change value of the second drive wheel, one possible embodiment:
(1) determining a first angle change value of the first driving wheel according to first coded disc data of the first driving wheel and second coded disc data of the first driving wheel;
since there may be a difference between the left and right driving wheels even if the left and right are specifiedThe driving wheels act simultaneously, and the obtained code disc data can be different; therefore, the angle change value of each driving wheel during walking can be calculated respectively. Specifically, the first code wheel data of the first driving wheel may be represented as tick1l(ii) a The second code wheel data of the first drive wheel may be denoted tick2l(ii) a The first angle change value theta of the first driving wheellmCan be calculated by the following equation:
Figure BDA0002699406560000141
wherein TICK expresses TICK value of one-turn change of the driving wheel, the TICK value is determined to be a fixed value according to the type of the motor, and ABS expresses absolute value calculation.
(2) And determining a first angle change value of the second driving wheel according to the first coded disc data of the second driving wheel and the second coded disc data of the second driving wheel.
Specifically, the first code wheel data of the second driving wheel can be represented as tick1r(ii) a The second code wheel data of the second driving wheel can be represented as tick2r(ii) a The first angle change value theta of the second driving wheelrmCan be calculated by the following equation:
Figure BDA0002699406560000142
wherein TICK expresses TICK value of one-turn change of the driving wheel, the TICK value is determined to be a fixed value according to the type of the motor, and ABS expresses absolute value calculation.
Step S312, executing a second operation instruction; the second operation instruction is used for indicating the target vehicle to rotate by a specified angle; acquiring a second operation parameter of the target vehicle and a second rotation parameter of the driving wheel;
step S314, determining driving wheel parameters of the target vehicle according to the first operating parameter, the first rotation parameter, the second operating parameter, and the second rotation parameter.
In the mode, the actual running distance, the course change value and the angle change value of the driving wheel of the target vehicle can be obtained through calculation by executing the first running instruction; calibrating the difference between the driving wheels of the target vehicle by means of the straight-going and rotating movements and the fixed position calibration; the driving wheel parameters of the target vehicle can be obtained through the actual operation parameters, and the accuracy and the measuring efficiency of the driving wheel parameters are improved.
Example three:
the present embodiment provides another method for determining a parameter of a driving wheel, where the second operating parameter of the target vehicle includes: and after the target vehicle executes the second operation instruction, the actual rotation angle of the target vehicle is obtained. The actual rotation angle of the target vehicle can be understood as the angle through which the target vehicle rotates from the start of rotation to the stop of rotation; because the relevant parameters in the target vehicle have certain deviation, the specified rotation angle may not be the same as the actual rotation angle, and the actual rotation angle needs to be obtained according to the actual operation parameters.
The driving wheels comprise a first driving wheel and a second driving wheel; the first driving wheel and the second driving wheel are coaxially connected; the second rotation parameter of the drive wheel includes: and after the target vehicle executes the second operation instruction, the second angle change value of the first driving wheel and the second angle change value of the second driving wheel.
The first driving wheel and the second driving wheel can be understood as left and right driving wheels; in the actual production process, the left driving wheel and the right driving wheel may have certain deviation, so that parameters such as the distance between the shafts between the left driving wheel and the right driving wheel, the coaxiality of two wheels, the verticality, the radius and the like may have certain deviation, and therefore, a second angle change value of the first driving wheel and a second angle change value of the second driving wheel are obtained respectively, namely after the target vehicle executes a second operation instruction, a rotated angle of the first driving wheel and a rotated angle of the second driving wheel may have certain difference.
The embodiment focuses on a specific implementation process of the step of acquiring the second operating parameter of the target vehicle and the second rotation parameter of the driving wheel, and as shown in fig. 5, the method includes the following steps:
step S502, executing a first operation instruction; the first operation instruction is used for indicating the target vehicle to walk for a specified distance; acquiring a first operating parameter of a target vehicle and a first rotation parameter of a driving wheel;
step S504, executing a second operation instruction; the second operation instruction is used for indicating the target vehicle to rotate by a specified angle;
step S506, when the target vehicle is in the initial posture, determining a third heading of the target vehicle and third code wheel data of the driving wheel;
wherein the pose of the target vehicle may be acquired by a vision camera; the initial posture may be a posture at the second identifier position after the target vehicle executes the first operation instruction; when the target vehicle executes the first operation instruction and does not move or rotate at the second identifier position, the third course can be the same as the second course, and the third code disc data of the driving wheel is the same as the second code disc data; if the target vehicle performs the first operation command and then moves or rotates at the second identifier position, the third heading direction of the target vehicle and the third code wheel data of the driving wheel need to be determined again.
The embodiment is described by taking an example of a rotation designated angle of 180 °, for example, a schematic in-situ rotation of 180 ° shown in fig. 6, where θ is3Before the target vehicle performs the rotating action, the heading direction of the target vehicle at the initial posture, namely the third heading direction of the target vehicle is theta3(ii) a The third code disc data of the driving wheel can be calculated according to a processor connected with the driving wheel to obtain the third code disc data (tick) of the driving wheel in the initial posture3l,tick3r) Wherein, tick3lCan be expressed as third code wheel data, tick, of the first drive wheel3rThird code wheel data, which may be represented as a second drive wheel; of course, tick3lOr as third code wheel data, tick, of the second drive wheel3rAlso indicated as third code wheel data of the first driving wheel.
Step S508, after the target vehicle executes the second operation instruction, when the target vehicle is determined to be in the final posture, the fourth course of the target vehicle and the fourth coded disc data of the driving wheel are determined;
the final pose may be obtained by a vision camera; referring to fig. 6, the target vehicle is in the final posture after rotating by a designated angle of 180 °, as shown in this figureMiddle theta4A fourth heading of the target vehicle; the fourth code wheel data of the driving wheel can be calculated according to a processor connected with the driving wheel to obtain the fourth code wheel data (tick) of the driving wheel in the final posture4l,tick4r) Wherein, tick4lCan be expressed as fourth code wheel data, tick, of the first drive wheel4rFourth code wheel data, which may be represented as a second drive wheel; of course, tick4lCan also be expressed as fourth code wheel data, tick, of the second drive wheel4rAlso denoted as fourth code wheel data of the first driving wheel.
Step S510, determining a second rotation parameter of the driving wheel according to the third coded disc data and the fourth coded disc data;
since the second rotation parameter of the driving wheel comprises the angle change value of the first driving wheel and the angle change value of the second driving wheel, one possible embodiment is:
(1) determining a second angle change value of the first driving wheel according to the third coded disc data of the first driving wheel and the fourth coded disc data of the first driving wheel;
the step of calculating the second angle variation value of the first driving wheel in this embodiment is the same as the step of determining the first angle variation value of the first driving wheel according to the first code wheel data of the first driving wheel and the second code wheel data of the first driving wheel, and specifically, the third code wheel data of the first driving wheel may be represented as tick3l(ii) a The fourth code wheel data of the first driving wheel can be represented as tick4l(ii) a The second angle change value theta of the first driving wheellrCan be calculated by the following equation:
Figure BDA0002699406560000171
wherein TICK expresses TICK value of one-turn change of the driving wheel, the TICK value is determined to be a fixed value according to the type of the motor, and ABS expresses absolute value calculation.
(2) And determining a second angle change value of the second driving wheel according to the third coded disc data of the second driving wheel and the fourth coded disc data of the second driving wheel.
Likewise, a third pallet for a second drive wheelThe data may be represented as ticks3r(ii) a The fourth code wheel data of the first driving wheel can be represented as tick4r(ii) a The second angle change value theta of the first driving wheelrrCan be calculated by the following equation:
Figure BDA0002699406560000172
wherein TICK expresses TICK value of one-turn change of the driving wheel, the TICK value is determined to be a fixed value according to the type of the motor, and ABS expresses absolute value calculation.
Step S512, determining the actual rotation angle of the target vehicle according to the third course and the fourth course;
specifically, the third heading may be represented by θ3The fourth heading may be represented as θ4(ii) a The actual rotation angle of the target vehicle may be represented as θaThen, the actual rotation angle θ of the target vehicle is setaCan be calculated by the following equation: thetaa＝(180-θ2+3)。
And step S514, determining the driving wheel parameters of the target vehicle according to the first operation parameter, the first rotation parameter, the second operation parameter and the second rotation parameter.
In the mode, the course change value of the target vehicle and the angle change value of the driving wheel can be obtained through calculation by executing the second operation instruction; calibrating the difference between the driving wheels of the target vehicle by means of the straight-going and rotating movements and the fixed position calibration; the driving wheel parameters of the target vehicle can be obtained through the actual operation parameters, and the accuracy and the measuring efficiency of the driving wheel parameters are improved. The problems that the calibration is not accurate enough theoretically, the artificial measurement error is large and the efficiency is low in the conventional calibration method are solved.
Example four:
the present embodiment provides another method for determining driving wheel parameters, which focuses on describing the implementation process of the step of determining the driving wheel parameters of the target vehicle according to the first operating parameter, the first rotation parameter, the second operating parameter and the second rotation parameter, as shown in fig. 7, the method includes the following steps:
step S702, executing a first operation instruction; the first operation instruction is used for indicating the target vehicle to walk for a specified distance; acquiring a first operating parameter of a target vehicle and a first rotation parameter of a driving wheel;
step S704, executing a second operation instruction; the second operation instruction is used for indicating the target vehicle to rotate by a specified angle; acquiring a second operation parameter of the target vehicle and a second rotation parameter of the driving wheel;
step S706, determining a coefficient of a driving wheel parameter of the target vehicle according to the first operation parameter, the first rotation parameter, the second operation parameter and the second rotation parameter;
because the actual driving wheel parameter has a certain deviation from the theoretical driving wheel parameter calibrated when the target vehicle leaves the factory, in the actual walking and rotating process of the target vehicle, the actual walking distance and the actual rotating angle have a certain deviation from the specified distance and the specified angle set by the target vehicle, and the deviation may be caused by the deviation of the actual driving wheel parameter and the theoretical driving wheel parameter, so the coefficient of the driving wheel parameter of the target vehicle can be understood as the difference between the driving wheel parameter and the theoretical parameter of the target vehicle.
Specifically, equation calculation can be performed according to a first operation parameter, a first rotation parameter, a second operation parameter and a second rotation parameter obtained by actual measurement in the traveling and rotating processes of the target vehicle and a theoretical driving wheel parameter, and a coefficient which can make the actual parameter equal to the theoretical parameter is determined, and the coefficient can be determined as a coefficient of the driving wheel parameter of the target vehicle; of course, the target vehicle may also repeatedly execute the operation instruction, and the coefficient of the driving wheel parameter of one target vehicle may be calculated and obtained each time the operation instruction is executed, and the average value of the obtained multiple coefficients may be determined as the final coefficient of the driving wheel parameter of the target vehicle; the execution of the running instruction may be continued repeatedly until the finally obtained difference between the plurality of systems satisfies the threshold, and the coefficient satisfying the threshold is determined as the coefficient of the driving wheel parameter of the target vehicle.
The driving wheel parameters include: the radius of the first drive wheel, the radius of the second drive wheel, and the axle spacing between the first drive wheel and the second drive wheel;
one possible implementation:
determining a coefficient of radius of the first drive wheel by the following equation:
Figure BDA0002699406560000191
determining a coefficient of radius of the second drive wheel by the following equation:
Figure BDA0002699406560000192
the coefficient of the shaft spacing is determined by the following equation:
Figure BDA0002699406560000193
wherein k isl1Coefficient of radius of the first drive wheel, kr1A factor of the radius of the second drive wheel; k is a radical ofd1Is the coefficient of the interaxial distance; thetaaIs the actual angle of rotation of the target vehicle; thetaΔThe course change value of the target vehicle is obtained; thetalmIs a first angle change value theta of the first driving wheelrmA first angle change value of the second driving wheel; thetalrA second angle change value of the first driving wheel; thetarrA second angle change value of the second driving wheel; saYThe actual walking distance of the target vehicle; theta1A first heading of the target vehicle; theta2A second heading of the target vehicle; d is the shaft spacing. All the calculated coefficients are obtained by the target vehicle executing the first operation command and the second operation command.
And step S708, determining the driving wheel parameters of the target vehicle according to the theoretical values and the coefficients of the driving wheel parameters of the target vehicle.
Specifically, the product of the theoretical value of the driving wheel parameter of the target vehicle and the corresponding coefficient may be determined as the driving wheel parameter of the target vehicle; one possible implementation:
executing the first operation instruction and the second operation instruction for multiple times to obtain coefficients of driving wheel parameters of the target vehicles; calculating an average value of coefficients of driving wheel parameters of a plurality of target vehicles; and determining the driving wheel parameters of the target vehicle according to the average value and the theoretical value of the coefficient.
During actual implementation, executing the first operation instruction and the second operation instruction for multiple times to obtain coefficients of driving wheel parameters of multiple target vehicles, wherein the coefficients comprise coefficients of radiuses of multiple first driving wheels, coefficients of radiuses of second driving wheels and coefficients of axle distances; calculating an average of coefficients of radii of the plurality of first drive wheels:
Figure BDA0002699406560000201
wherein N is a preset execution frequency; k is a radical ofliObtaining a coefficient of the radius of the first driving wheel for the ith execution of the first operation instruction and the second operation instruction; likewise, the average of the coefficients of the radii of the plurality of second drive wheels is calculated:
Figure BDA0002699406560000202
is a preset execution number; k is a radical ofriObtaining a coefficient of the radius of the second driving wheel for the ith execution of the first operating instruction and the second operating instruction; likewise, the average of the coefficients of the plurality of interaxial distances is calculated:
Figure BDA0002699406560000203
is a preset execution number; k is a radical ofdiAnd obtaining the coefficient of the shaft distance for the ith time of executing the first operation instruction and the second operation instruction. It should be noted that k is calculated every time k is recordedli、kri、kdiIn the process, the field values exceeding the threshold value need to be removed, and then the average value of all effective values is taken as a final result; the threshold value can be set according to actual needs.
The above theoretical values include: theoretical axle spacing d, theoretical first drive wheel radius R, theoretical second drive wheel radius R; specifically, canTo calculate the final shaft spacing coefficient kdMultiplying the theoretical interaxial distance d to obtain a real interaxial distance; the coefficient k of the final first driving wheel radius obtained by calculationlMultiplying the theoretical first driving wheel radius R to obtain a real first driving wheel radius; the coefficient k of the final second driving wheel radius obtained by calculationrMultiplying the theoretical second driving wheel radius R to obtain a real second driving wheel radius; thereby obtaining the driving wheel parameters of the target vehicle.
In the method, the target vehicle reciprocates and rotates in place between the two fixed first identifiers and the second identifiers, after the target vehicle reciprocates for multiple times, the driving wheel parameter calibration precision is improved by utilizing global optimization, the coefficient of the driving wheel parameter can be automatically calibrated, and further the real driving wheel parameter of the target vehicle is obtained. The method can improve the parameter calibration precision and efficiency of the driving wheels of the target vehicle and solve the bottleneck problem of mass target vehicle offline. The problems of errors caused by a large number of manual measurements and low efficiency in the process of mass production of target vehicles are solved.
Example five:
corresponding to the method embodiment, the invention provides a device for determining the parameters of the driving wheel, which is arranged on a target vehicle; the target vehicle is provided with a driving wheel; as shown in fig. 8, the apparatus includes:
a first operation instruction execution module 81, configured to execute a first operation instruction; the first operation instruction is used for indicating the target vehicle to walk for a specified distance; acquiring a first operating parameter of a target vehicle and a first rotation parameter of a driving wheel;
a second operation instruction execution module 82, configured to execute a second operation instruction; the second operation instruction is used for indicating the target vehicle to rotate by a specified angle; acquiring a second operation parameter of the target vehicle and a second rotation parameter of the driving wheel;
and a driving wheel parameter determining module 83, configured to determine a driving wheel parameter of the target vehicle according to the first operating parameter, the first rotation parameter, the second operating parameter, and the second rotation parameter.
The embodiment of the invention provides a device for determining parameters of a driving wheel, which executes a first running instruction to enable a target vehicle to walk for a specified distance; acquiring a first operating parameter of a target vehicle and a first rotation parameter of a driving wheel; then executing a second operation instruction to enable the target vehicle to rotate by a specified angle; acquiring a second operation parameter of the target vehicle and a second rotation parameter of the driving wheel; determining a driving wheel parameter of the target vehicle according to the first operation parameter, the first rotation parameter, the second operation parameter and the second rotation parameter. In the mode, the target vehicle automatically walks for the designated distance and rotates for the designated angle by executing the operation instruction, and the driving wheel parameters of the target vehicle are determined according to the obtained operation parameters and rotation parameters, so that the accuracy and the measuring efficiency of the driving wheel parameters are improved.
Further, the first operating parameter of the target vehicle includes: after the target vehicle executes the first operation instruction, the course change value and the actual walking distance of the target vehicle; the driving wheels comprise a first driving wheel and a second driving wheel; the first driving wheel and the second driving wheel are coaxially connected; the first rotation parameter of the drive wheel includes: and after the target vehicle executes the first running instruction, the first angle change value of the first driving wheel and the first angle change value of the second driving wheel.
Further, the first operation instruction execution module is further configured to: when the target vehicle is at an initial position and the course of the target vehicle faces the direction to be traveled, determining a first position coordinate of the initial position, a first course of the target vehicle and first coded disc data of a driving wheel; after the target vehicle executes the first operation instruction, determining a second position coordinate of the target vehicle at the destination position, a second course direction of the target vehicle and second code disc data of the driving wheel; determining a first operating parameter of the target vehicle according to the first course, the second course, the first position coordinate and the second position coordinate; a first rotation parameter of the drive wheel is determined based on the first code wheel data and the second code wheel data.
Further, the first operation instruction execution module is further configured to: determining a course change value of the target vehicle according to the first course and the second course; and determining the actual walking distance of the target vehicle according to the first position coordinate and the second position coordinate.
Further, a first identifier and a second identifier are preset in a traveling area of the target vehicle; the distance between the first identifier and the second identifier is a designated distance; the first identifier is used for determining a first position coordinate and a first heading of the initial position; the second identifier is used to determine second location coordinates and a second heading for the destination location.
Further, the driving wheels include a first driving wheel and a second driving wheel; the first operation instruction execution module is further configured to: determining a first angle change value of the first driving wheel according to first coded disc data of the first driving wheel and second coded disc data of the first driving wheel; and determining a first angle change value of the second driving wheel according to the first coded disc data of the second driving wheel and the second coded disc data of the second driving wheel.
Further, the second operating parameter of the target vehicle includes: after the target vehicle executes the second operation instruction, the actual rotation angle of the target vehicle is obtained; the driving wheels comprise a first driving wheel and a second driving wheel; the first driving wheel and the second driving wheel are coaxially connected; the second rotation parameter of the drive wheel includes: and after the target vehicle executes the second operation instruction, the second angle change value of the first driving wheel and the second angle change value of the second driving wheel.
Further, the second operation instruction execution module is further configured to: determining a third heading of the target vehicle and third code wheel data of the driving wheel when the target vehicle is in the initial posture; after the target vehicle executes the second operation instruction, determining that the target vehicle is in the final posture, and obtaining a fourth course of the target vehicle and fourth coded disc data of the driving wheel; determining a second rotation parameter of the driving wheel according to the third coded disc data and the fourth coded disc data; and determining the actual rotation angle of the target vehicle according to the third heading and the fourth heading.
Further, the driving wheels include a first driving wheel and a second driving wheel; the second operation instruction execution module is further configured to: determining a second angle change value of the first driving wheel according to the third coded disc data of the first driving wheel and the fourth coded disc data of the first driving wheel; and determining a second angle change value of the second driving wheel according to the third coded disc data of the second driving wheel and the fourth coded disc data of the second driving wheel.
Further, the driving wheel parameter determining module is further configured to: determining a coefficient of a driving wheel parameter of the target vehicle according to the first operation parameter, the first rotation parameter, the second operation parameter and the second rotation parameter; and determining the driving wheel parameters of the target vehicle according to the theoretical values and the coefficients of the driving wheel parameters of the target vehicle.
Further, the driving wheel parameters include: the radius of the first drive wheel, the radius of the second drive wheel, and the axle spacing between the first drive wheel and the second drive wheel; the driving wheel parameter determining module is further configured to: determining a coefficient of radius of the first drive wheel by the following equation:
Figure BDA0002699406560000241
determining a coefficient of radius of the second drive wheel by the following equation:
Figure BDA0002699406560000242
the coefficient of the shaft spacing is determined by the following equation:
Figure BDA0002699406560000243
wherein k isl1Coefficient of radius of the first drive wheel, kr1A factor of the radius of the second drive wheel; k is a radical ofd1Is the coefficient of the interaxial distance; thetaaIs the actual angle of rotation of the target vehicle; thetaΔThe course change value of the target vehicle is obtained; thetalmIs a first angle change value theta of the first driving wheelrmA first angle change value of the second driving wheel; thetalrA second angle change value of the first driving wheel; thetarrA second angle change value of the second driving wheel; saYThe actual walking distance of the target vehicle; theta1A first heading of the target vehicle; theta2A second heading of the target vehicle; d isAnd (4) shaft spacing.
Further, the driving wheel parameter determining module is further configured to: executing the first operation instruction and the second operation instruction for multiple times to obtain coefficients of driving wheel parameters of the target vehicles; calculating an average value of coefficients of driving wheel parameters of a plurality of target vehicles; and determining the driving wheel parameters of the target vehicle according to the average value and the theoretical value of the coefficient.
The device for determining the driving wheel parameters provided by the embodiment of the invention has the same technical characteristics as the method for determining the driving wheel parameters provided by the embodiment, so that the same technical problems can be solved, and the same technical effects can be achieved.
Example six:
the embodiment of the invention provides an automatic navigation vehicle, which comprises: the device comprises an image acquisition device, a processing device and a storage device; the image acquisition equipment is used for acquiring preview video frames or image data; the storage means has stored thereon a computer program which, when run by the processing device, executes the above-mentioned method of determining driving wheel parameters, or the steps of the above-mentioned method of determining driving wheel parameters.
It can be clearly understood by those skilled in the art that, for convenience and brevity of description, the specific working process of the automatic navigation vehicle described above may refer to the corresponding process in the foregoing method embodiment, and is not described herein again.
The embodiment of the present invention further provides a computer-readable storage medium, on which a computer program is stored, where the computer program is executed by a processing device to execute the method for determining the driving wheel parameter or the steps of the method for determining the driving wheel parameter.
The method and the device for determining the driving wheel parameters and the computer program product of the automatic navigation vehicle provided by the embodiment of the invention comprise a computer readable storage medium storing program codes, wherein instructions included in the program codes can be used for executing the method described in the previous method embodiment, and specific implementation can refer to the method embodiment, and is not described herein again.
It is clear to those skilled in the art that, for convenience and brevity of description, the specific working processes of the system and the apparatus described above may refer to the corresponding processes in the foregoing method embodiments, and are not described herein again.
In addition, in the description of the embodiments of the present invention, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, e.g., as meaning either a fixed connection, a removable connection, or an integral connection; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meaning of the above terms in the present invention can be understood in specific cases for those skilled in the art.
The functions, if implemented in the form of software functional units and sold or used as a stand-alone product, may be stored in a computer readable storage medium. Based on such understanding, the technical solution of the present invention may be embodied in the form of a software product, which is stored in a storage medium and includes instructions for causing a computer device (which may be a personal computer, a server, or a network device) to execute all or part of the steps of the method according to the embodiments of the present invention. And the aforementioned storage medium includes: a U-disk, a removable hard disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk or an optical disk, and other various media capable of storing program codes.
In the description of the present invention, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc., indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are only for convenience of description and simplicity of description, but do not indicate or imply that the device or element being referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus, should not be construed as limiting the present invention. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.
Finally, it should be noted that: although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art will understand that the following embodiments are merely illustrative of the present invention, and not restrictive, and the scope of the present invention is not limited thereto: any person skilled in the art can modify or easily conceive the technical solutions described in the foregoing embodiments or equivalent substitutes for some technical features within the technical scope of the present disclosure; such modifications, changes or substitutions do not depart from the spirit and scope of the embodiments of the present invention, and they should be construed as being included therein. Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims.

Claims (15)

1. A method of determining a parameter of a drive wheel, characterized in that the method is applied to a target vehicle; the target vehicle is provided with a driving wheel; the method comprises the following steps:
executing the first operation instruction; the first operation instruction is used for indicating the target vehicle to walk for a specified distance; acquiring a first operating parameter of the target vehicle and a first rotation parameter of the drive wheel;
executing a second operation instruction; the second operation instruction is used for indicating the target vehicle to rotate by a specified angle; acquiring a second operating parameter of the target vehicle and a second rotation parameter of the driving wheel;
determining a driving wheel parameter of the target vehicle according to the first operating parameter, the first rotation parameter, the second operating parameter, and the second rotation parameter.
2. The method of claim 1, wherein the first operating parameter of the target vehicle comprises: after the target vehicle executes the first operation instruction, the course change value and the actual walking distance of the target vehicle;
the driving wheels comprise a first driving wheel and a second driving wheel; the first driving wheel and the second driving wheel are coaxially connected; the first rotation parameter of the drive wheel comprises: and after the target vehicle executes the first operation instruction, the first angle change value of the first driving wheel and the first angle change value of the second driving wheel.
3. The method of claim 1 or 2, wherein the step of obtaining a first operating parameter of the target vehicle and a first rotation parameter of the drive wheel comprises:
when the target vehicle is at an initial position and the course direction of the target vehicle faces the direction to be traveled, determining a first position coordinate of the initial position, a first course direction of the target vehicle and first coded disc data of the driving wheel;
after the target vehicle executes the first operation instruction, determining second position coordinates of the target vehicle at a destination position, a second heading of the target vehicle and second coded disc data of the driving wheel;
determining a first operating parameter of the target vehicle according to the first course, the second course, the first position coordinate and the second position coordinate;
and determining a first rotation parameter of the driving wheel according to the first code disc data and the second code disc data.
4. The method of claim 3, wherein the step of determining a first operating parameter of the target vehicle based on the first heading, the second heading, the first location coordinate, and the second location coordinate comprises:
determining a course change value of the target vehicle according to the first course and the second course;
and determining the actual walking distance of the target vehicle according to the first position coordinate and the second position coordinate.
5. The method according to claim 3, characterized in that a first identifier and a second identifier are previously set in a traveling area of the target vehicle; the distance between the first identifier and the second identifier is the designated distance;
the first identifier is used for determining a first position coordinate of the initial position and the first heading; the second identifier is used to determine a second location coordinate of the destination location and the second heading.
6. The method of claim 3, wherein the drive wheels comprise a first drive wheel and a second drive wheel; a step of determining a first rotation parameter of the drive wheel based on the first code wheel data and the second code wheel data, comprising:
determining a first angle change value of the first driving wheel according to first coded disc data of the first driving wheel and second coded disc data of the first driving wheel;
and determining a first angle change value of the second driving wheel according to the first coded disc data of the second driving wheel and the second coded disc data of the second driving wheel.
7. The method of claim 1, wherein the second operating parameter of the target vehicle comprises: after the target vehicle executes the second operation instruction, the actual rotation angle of the target vehicle;
the driving wheels comprise a first driving wheel and a second driving wheel; the first driving wheel and the second driving wheel are coaxially connected; the second rotation parameter of the drive wheel comprises: and after the target vehicle executes the second operation instruction, a second angle change value of the first driving wheel and a second angle change value of the second driving wheel.
8. The method of claim 1 or 7, wherein the step of obtaining a second operating parameter of the target vehicle and a second rotation parameter of the drive wheel comprises:
when the target vehicle is in an initial posture, determining a third heading of the target vehicle and third coded disc data of the driving wheel;
after the target vehicle executes the second operation instruction, determining that the target vehicle is in a final posture, and obtaining a fourth heading of the target vehicle and fourth coded disc data of the driving wheel;
determining a second rotation parameter of the driving wheel according to the third coded disc data and the fourth coded disc data;
and determining the actual rotation angle of the target vehicle according to the third heading and the fourth heading.
9. The method of claim 8, wherein the drive wheels comprise a first drive wheel and a second drive wheel; determining a second rotational parameter of the drive wheel based on the third code wheel data and the fourth code wheel data, comprising:
determining a second angle change value of the first driving wheel according to third coded disc data of the first driving wheel and fourth coded disc data of the first driving wheel;
and determining a second angle change value of the second driving wheel according to the third coded disc data of the second driving wheel and the fourth coded disc data of the second driving wheel.
10. The method of claim 1, wherein the step of determining a drive wheel parameter of the target vehicle based on the first operating parameter, the first rotational parameter, the second operating parameter, and the second rotational parameter comprises:
determining a coefficient of a driving wheel parameter of the target vehicle according to the first operating parameter, the first rotation parameter, the second operating parameter, and the second rotation parameter;
and determining the driving wheel parameters of the target vehicle according to the theoretical values of the driving wheel parameters of the target vehicle and the coefficients.
11. The method of claim 10, wherein the drive wheel parameters comprise: a radius of a first drive wheel, a radius of a second drive wheel, and an inter-axle distance of the first drive wheel and the second drive wheel;
the step of determining coefficients of the driving wheel parameters of the target vehicle based on the first operating parameter, the first rotational parameter, the second operating parameter and the second rotational parameter comprises:
determining a coefficient of radius of the first drive wheel by the following equation:
Figure FDA0002699406550000041
determining a coefficient of the radius of the second drive wheel by the following equation:
Figure FDA0002699406550000042
determining the coefficient of the interaxial distance by the following equation:
Figure FDA0002699406550000043
wherein k isl1Is a coefficient of the radius of the first drive wheel, kr1A coefficient being a radius of the second drive wheel; k is a radical ofd1Is a factor of the shaft spacing; thetaaIs the actual angle of rotation of the target vehicle; thetaΔThe target vehicle is a course change value of the target vehicle; thetalmIs a first angle change value theta of the first driving wheelrmIs a first angle change value of the second drive wheel; thetalrA second angle change value of the first driving wheel; thetarrA second angle change value of the second driving wheel; saYThe actual walking distance of the target vehicle; theta1A first heading of the target vehicle; theta2The second course direction of the target vehicle; d is the shaft spacing.
12. The method of claim 10, wherein the step of determining the driving wheel parameter of the target vehicle based on the theoretical value of the driving wheel parameter of the target vehicle and the coefficient comprises:
executing the first operation instruction and the second operation instruction for multiple times to obtain coefficients of driving wheel parameters of the target vehicles;
calculating an average value of coefficients of driving wheel parameters of a plurality of the target vehicles;
and determining the driving wheel parameters of the target vehicle according to the average value of the coefficients and the theoretical value.
13. A drive wheel parameter determination device, characterized in that the device is provided to a target vehicle; the target vehicle is provided with a driving wheel; the device comprises:
the first operation instruction execution module is used for executing a first operation instruction; the first operation instruction is used for indicating the target vehicle to walk for a specified distance; acquiring a first operating parameter of the target vehicle and a first rotation parameter of the drive wheel;
the second operation instruction execution module is used for executing a second operation instruction; the second operation instruction is used for indicating the target vehicle to rotate by a specified angle; acquiring a second operating parameter of the target vehicle and a second rotation parameter of the driving wheel;
a driving wheel parameter determination module for determining a driving wheel parameter of the target vehicle according to the first operating parameter, the first rotational parameter, the second operating parameter, and the second rotational parameter.
14. An automated navigation vehicle, comprising: a processing device and a storage device;
the storage means has stored thereon a computer program which, when executed by the processing device, performs the method of determining a drive wheel parameter according to any one of claims 1 to 12.
15. A computer-readable storage medium, on which a computer program is stored, which, when being executed by a processing device, carries out the steps of the method for determining a parameter of a drive wheel according to any one of claims 1 to 12.
CN202011019518.1A 2020-09-24 2020-09-24 Method and device for determining driving wheel parameters and automatic navigation vehicle Pending CN112230653A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN202011019518.1A CN112230653A (en) 2020-09-24 2020-09-24 Method and device for determining driving wheel parameters and automatic navigation vehicle

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN202011019518.1A CN112230653A (en) 2020-09-24 2020-09-24 Method and device for determining driving wheel parameters and automatic navigation vehicle

Publications (1)

Publication Number Publication Date
CN112230653A true CN112230653A (en) 2021-01-15

Family

ID=74108106

Family Applications (1)

Application Number Title Priority Date Filing Date
CN202011019518.1A Pending CN112230653A (en) 2020-09-24 2020-09-24 Method and device for determining driving wheel parameters and automatic navigation vehicle

Country Status (1)

Country Link
CN (1) CN112230653A (en)

Citations (13)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP0055304A1 (en) * 1980-12-31 1982-07-07 Jungheinrich Unternehmensverwaltung KG Load transport vehicle with driving means for high speeds in both directions
JP2001075648A (en) * 1999-09-07 2001-03-23 Shinko Electric Co Ltd Method and device for adjusting driving wheel diameter parameter of unmanned vehicle
JP2006252349A (en) * 2005-03-11 2006-09-21 Secom Co Ltd Mobile robot
JP2007156576A (en) * 2005-11-30 2007-06-21 Mitsubishi Heavy Ind Ltd Method and device for adjusting odometry(wheel range finder) parameter for traveling carrier
JP2011008637A (en) * 2009-06-26 2011-01-13 Fujitsu Ltd Robot control apparatus, robot control program and robot control method
CN103707903A (en) * 2013-12-05 2014-04-09 北京交控科技有限公司 Automatic train wheel diameter correcting method
CN105573322A (en) * 2016-01-04 2016-05-11 杭州亚美利嘉科技有限公司 Wheel diameter compensation method and apparatus for robot
CN107085430A (en) * 2017-05-24 2017-08-22 深圳优地科技有限公司 A kind of optimization method of wheeled robot parameter adjustment, device and system
CN108982116A (en) * 2018-06-27 2018-12-11 北京艾瑞思机器人技术有限公司 Transport vehicle and its chassis parameter calibration method, device and computer-readable medium
CN109552417A (en) * 2018-12-27 2019-04-02 华晟（青岛）智能装备科技有限公司 A kind of calibration method and system of driving wheel angle zero bias
CN110108306A (en) * 2019-06-06 2019-08-09 广东嘉腾机器人自动化有限公司 The physical parameter check method and AGV trolley of AGV trolley
CN110849387A (en) * 2018-08-20 2020-02-28 北京京东尚科信息技术有限公司 Sensor parameter calibration method and device
US20200103912A1 (en) * 2018-09-30 2020-04-02 Baidu Usa Llc Method for determining a vehicle control parameter, apparatus for the same, vehicle on-board controller, and autonomous vehicle

Patent Citations (13)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP0055304A1 (en) * 1980-12-31 1982-07-07 Jungheinrich Unternehmensverwaltung KG Load transport vehicle with driving means for high speeds in both directions
JP2001075648A (en) * 1999-09-07 2001-03-23 Shinko Electric Co Ltd Method and device for adjusting driving wheel diameter parameter of unmanned vehicle
JP2006252349A (en) * 2005-03-11 2006-09-21 Secom Co Ltd Mobile robot
JP2007156576A (en) * 2005-11-30 2007-06-21 Mitsubishi Heavy Ind Ltd Method and device for adjusting odometry(wheel range finder) parameter for traveling carrier
JP2011008637A (en) * 2009-06-26 2011-01-13 Fujitsu Ltd Robot control apparatus, robot control program and robot control method
CN103707903A (en) * 2013-12-05 2014-04-09 北京交控科技有限公司 Automatic train wheel diameter correcting method
CN105573322A (en) * 2016-01-04 2016-05-11 杭州亚美利嘉科技有限公司 Wheel diameter compensation method and apparatus for robot
CN107085430A (en) * 2017-05-24 2017-08-22 深圳优地科技有限公司 A kind of optimization method of wheeled robot parameter adjustment, device and system
CN108982116A (en) * 2018-06-27 2018-12-11 北京艾瑞思机器人技术有限公司 Transport vehicle and its chassis parameter calibration method, device and computer-readable medium
CN110849387A (en) * 2018-08-20 2020-02-28 北京京东尚科信息技术有限公司 Sensor parameter calibration method and device
US20200103912A1 (en) * 2018-09-30 2020-04-02 Baidu Usa Llc Method for determining a vehicle control parameter, apparatus for the same, vehicle on-board controller, and autonomous vehicle
CN109552417A (en) * 2018-12-27 2019-04-02 华晟（青岛）智能装备科技有限公司 A kind of calibration method and system of driving wheel angle zero bias
CN110108306A (en) * 2019-06-06 2019-08-09 广东嘉腾机器人自动化有限公司 The physical parameter check method and AGV trolley of AGV trolley

Similar Documents

Publication Publication Date Title
CN109084732B (en) Positioning and navigation method, device and processing equipment
CN107160395B (en) Map construction method and robot control system
CN106708048B (en) Ceiling image positioning method and system for robot
CN108810473B (en) Method and system for realizing GPS mapping camera picture coordinate on mobile platform
KR102016636B1 (en) Calibration apparatus and method of camera and rader
JP6988197B2 (en) Controls, flying objects, and control programs
CN105073348A (en) A robot system and method for calibration
US11062475B2 (en) Location estimating apparatus and method, learning apparatus and method, and computer program products
CN112907678B (en) Vehicle-mounted camera external parameter attitude dynamic estimation method and device and computer equipment
JP2022510418A (en) Time synchronization processing method, electronic devices and storage media
Michot et al. Bi-objective bundle adjustment with application to multi-sensor slam
US11245841B2 (en) Method for marking target position of gimbal, gimbal, and photographing device
CN111220148A (en) Mobile robot positioning method, system and device and mobile robot
CN114236564B (en) Method for positioning robot in dynamic environment, robot, device and storage medium
CN113137968B (en) Repositioning method and repositioning device based on multi-sensor fusion and electronic equipment
CN111220155A (en) Method, device and processor for estimating pose based on binocular vision inertial odometer
CN114777768A (en) High-precision positioning method and system for satellite rejection environment and electronic equipment
WO2021189784A1 (en) Scenario reconstruction method, system and apparatus, and sweeping robot
CN111932637B (en) Vehicle body camera external parameter self-adaptive calibration method and device
TWI726536B (en) Image capturing method and image capturing apparatus
CN112230653A (en) Method and device for determining driving wheel parameters and automatic navigation vehicle
KR102506411B1 (en) Method and apparatus for estimation of location and pose on vehicle and record medium for this
CN115585805A (en) Vehicle positioning method, positioning device, positioning system and vehicle
CN113301248B (en) Shooting method and device, electronic equipment and computer storage medium
CN111256689B (en) Robot positioning method, robot and storage medium

Legal Events

Date Code Title Description
PB01 Publication
PB01 Publication
SE01 Entry into force of request for substantive examination
SE01 Entry into force of request for substantive examination