CN112256036B - Chassis operation control method, system and device and AGV trolley - Google Patents
Chassis operation control method, system and device and AGV trolley Download PDFInfo
- Publication number
- CN112256036B CN112256036B CN202011209693.7A CN202011209693A CN112256036B CN 112256036 B CN112256036 B CN 112256036B CN 202011209693 A CN202011209693 A CN 202011209693A CN 112256036 B CN112256036 B CN 112256036B
- Authority
- CN
- China
- Prior art keywords
- chassis
- speed
- feedback
- coefficient
- increment
- 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.)
- Active
Links
- 238000000034 method Methods 0.000 title claims abstract description 49
- 238000004364 calculation method Methods 0.000 claims abstract description 17
- 238000000354 decomposition reaction Methods 0.000 claims description 14
- 238000004590 computer program Methods 0.000 claims description 9
- 238000004519 manufacturing process Methods 0.000 abstract description 4
- 238000001514 detection method Methods 0.000 abstract 1
- 238000005516 engineering process Methods 0.000 description 9
- 238000004891 communication Methods 0.000 description 7
- 230000006978 adaptation Effects 0.000 description 2
- 230000004927 fusion Effects 0.000 description 2
- 239000004973 liquid crystal related substance Substances 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 239000000835 fiber Substances 0.000 description 1
- 230000003287 optical effect Effects 0.000 description 1
- 230000000007 visual effect Effects 0.000 description 1
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
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0223—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory involving speed control of the vehicle
-
- 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
Landscapes
- Engineering & Computer Science (AREA)
- Aviation & Aerospace Engineering (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Gyroscopes (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The invention discloses an AGV trolley, a chassis running control method, a chassis running control system and a chassis running control device, wherein the chassis running control method comprises the following steps: acquiring the vehicle head closing speed C z Chassis reference speeds x, y, z and chassis feedback speed gyro_w; acquiring a first chassis feedback credibility coefficient according to the chassis reference speeds x, y and z; according to the closing speed C of the vehicle head z And the chassis feedback speed gyro_w obtains a second chassis feedback reliability coefficient; calculating to obtain the chassis feedback speed Cz_fb; the chassis operation is controlled based on the chassis feedback speed cz_fb and the chassis reference speeds x, y, z. The chassis operation control method can realize stable control of the chassis operation without detection and feedback by an additional high-precision sensor or judgment, thus reducing the requirements on the chassis control calculation and storage performance and reducing the production cost to a certain extent.
Description
Technical Field
The invention relates to the technical field of vehicle control, in particular to an AGV (automatic guided vehicle), a chassis running control method, a chassis running control system and a chassis running control device.
Background
In AGV chassis control applications, the problem of slipping of the chassis is often encountered, where additional gyroscopic sensors are often required to monitor and correlate feedback in the control, where gyroscopes typically choose inexpensive MEMS devices, where such gyroscopes typically have large zero Bias Instability (Bias Instability), which can lead to excessive head direction and reference direction differences over time, ultimately resulting in drift in the head direction position of the chassis.
In order to solve the drifting problem of the chassis headstock direction, the existing scheme is roughly divided into the following two types: 1. the chassis control uses a multi-sensor fusion technology, not only uses a gyroscope, but also adds an accelerometer, a chassis speed sensor, a GPS and the like, and the reliability fusion proportion of each sensor data is adjusted through the reliability of different sensors under different working conditions and different time periods so as to fuse the reliable angular speed and the angle of the chassis. 2. The chassis control uses advanced data calibration compensation technology of a sensor with higher specification. For example, a high-precision sensor such as a fiber optic gyroscope is used, and the high-specification sensor does have high-specification performance, but the high price is not applicable to general applications; in addition, before the gyroscope is installed and used, the data of drift conditions under different temperatures and working conditions are recorded separately, and then the data is used for relevant compensation in actual use, so that the workload is very large and the gyroscope can not be used in batches almost.
Therefore, how to avoid the increase of production costs due to the control of the chassis using the conventional control technique is a technical problem that the person skilled in the art needs to solve at present.
Disclosure of Invention
The invention aims to provide an AGV trolley, a chassis running control method, a chassis running control system and a chassis running control device, which can inhibit slipping of a chassis head direction and reduce the requirements on chassis control calculation and storage performance.
In order to achieve the above object, the present invention provides a chassis operation control method, including:
acquiring the vehicle head closing speed C z Chassis reference speeds x, y, z and chassis feedback speed gyro_w;
obtaining a first chassis feedback credibility coefficient K according to the chassis reference speeds x, y and z 1 ；
According to the vehicle closing speed C z And the chassis feedback speed gyro_w obtains a second chassis feedback reliability coefficient K 2 ；
According to C z _fb＝K 1 *C z +K 2 * The gyro_w is calculated to obtain a chassis feedback speed Cz_fb;
and controlling the chassis to run according to the chassis reference speeds x, y and z and the chassis feedback speed Cz_fb.
Optionally, the first chassis feedback credibility coefficient K is obtained according to the chassis reference speeds x, y and z 1 Comprises the steps of:
respectively calculating the chassis speed increment dv according to the chassis reference speeds x, y and z x 、dv y 、dv z ；
According to the chassis speed increment dv x 、dv y 、dv z Calculating chassis increment coefficient dv t ；
According to the chassis increment coefficient dv t Obtaining the feedback credibility coefficient K of the first chassis 1 。
Optionally, the step of controlling the speed C according to the vehicle engagement speed z And the chassis feedback speed gyro_w obtains a second chassis feedback reliability coefficient K 2 Comprises the steps of:
calculating the vehicle closing speed C z And the error dC of the chassis feedback speed gyro_w z ；
According to the error dC z Obtaining the feedback credibility coefficient K of the second chassis 2 。
Optionally, the step of controlling the chassis operation according to the chassis reference speeds x, y, z and the chassis feedback speed cz_fb includes:
calculating a chassis headstock speed error e according to the chassis reference speeds x, y and z and the chassis feedback speed Cz_fb rr ；
According to the chassis headstock speed error e rr Calculating chassis control speed U o ；
Controlling the speed U according to the chassis o Calculation ofFirst speed of decomposition V of first wheel on chassis lref And a second speed of decomposition V of the second wheel rref ；
According to the first decomposition speed V lref And the second decomposition rate V rref And respectively controlling the running of two wheels on the chassis.
The invention also provides a chassis operation control system, comprising:
a speed acquisition module: for obtaining the vehicle closing speed C z Chassis reference speeds x, y, z and chassis feedback speed gyro_w;
the first chassis feedback credibility coefficient acquisition module: for obtaining a first chassis feedback credibility coefficient K according to the chassis reference speeds x, y and z 1 ；
The second chassis feedback credibility coefficient acquisition module: for following the vehicle closing speed C z And the chassis feedback speed gyro_w obtains a second chassis feedback reliability coefficient K 2 ；
The operation module: for according to C z _fb＝K 1 *C z +K 2 * The gyro_w is calculated to obtain a chassis feedback speed Cz_fb;
the chassis control module: for controlling chassis operation based on the chassis reference speeds x, y, z and the chassis feedback speed cz_fb.
Optionally, the speed acquisition module includes:
the headstock closing speed acquisition unit: for obtaining the vehicle closing speed C z ；
Chassis reference speed acquisition unit: the method comprises the steps of acquiring chassis reference speeds x, y and z;
chassis feedback speed acquisition unit: for obtaining the chassis feedback speed gyro_w.
Optionally, the first chassis feedback reliability coefficient obtaining module includes:
a first calculation unit: for calculating the chassis speed increment dv according to the chassis reference speeds x, y and z x 、dv y 、dv z ；
A second calculation unit: for according toThe chassis speed increment dv x 、dv y 、dv z Calculating chassis increment coefficient dv t ；
The first chassis feedback credibility coefficient acquisition unit: for increasing the coefficient dv according to the chassis t Obtaining the feedback credibility coefficient K of the first chassis 1 。
Optionally, the second chassis feedback reliability coefficient obtaining module includes:
a third calculation unit: for calculating the vehicle closing speed C z And the error dC of the chassis feedback speed gyro_w z ；
The second chassis feedback credibility coefficient acquisition unit: for according to said error dC z Obtaining the feedback credibility coefficient K of the second chassis 2 。
The invention also provides a chassis operation control device, which comprises:
a memory for storing a computer program;
and the processor is used for realizing the steps of the chassis operation control method when executing the computer program.
The invention also provides an AGV, which comprises the chassis operation control device.
With respect to the background art, the chassis operation control method provided by the embodiment of the invention includes: acquiring the vehicle head closing speed C z The chassis reference speeds x, y and z and the chassis feedback speed gyro_w, and obtaining a first chassis feedback credibility coefficient K according to the chassis reference speeds x, y and z 1 According to the vehicle engaging speed C z Obtaining a second chassis feedback reliability coefficient K by the chassis feedback speed gyro_w 2 The method comprises the steps of carrying out a first treatment on the surface of the According to C z _fb＝K 1 *C z +K 2 * And the gyro_w is calculated to obtain a chassis feedback speed Cz_fb, and the chassis operation is controlled according to the chassis reference speeds x, y and z and the chassis feedback speed Cz_fb. It can be seen that the chassis operation control method is based on the vehicle speed C z The chassis reference speeds x, y, z and the chassis feedback speed gyro_w can obtain two reliability coefficients for the chassis feedback, and can be further based on the two reliability coefficientsAnd finally, controlling the chassis to slip according to the chassis reference speeds x, y and z and the chassis feedback speed Cz_fb, thereby ensuring the stability and reliability of the operation of the chassis. Obviously, for the situation that the chassis has slipping when running at a higher speed, the slipping of the chassis can be restrained by the control method of the chassis running, so that the stability and the reliability of the chassis running are improved to a certain extent; meanwhile, compared with the method for controlling the chassis to run through a series of high-precision sensors and through a plurality of judging steps in the prior art, the chassis running control method provided by the application is realized without detecting and feeding back through the additional high-precision sensors and without judging processes, and can realize stable control of the chassis running, so that the requirements on the chassis control calculation and storage performance can be reduced, and the production cost can be reduced to a certain extent.
The invention also provides a chassis operation control system, a chassis operation control device and an AGV trolley, which have the advantages that the chassis operation control system, the chassis operation control device and the AGV trolley are not repeated here.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings that are required to be used in the embodiments or the description of the prior art will be briefly described below, and it is obvious that the drawings in the following description are only embodiments of the present invention, and that other drawings can be obtained according to the provided drawings without inventive effort for a person skilled in the art.
Fig. 1 is a flowchart of a chassis operation control method according to an embodiment of the present invention.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
The present invention will be further described in detail below with reference to the drawings and detailed description for the purpose of enabling those skilled in the art to better understand the aspects of the present invention.
Referring to fig. 1, fig. 1 is a flowchart of a chassis operation control method according to an embodiment of the present invention.
Referring to fig. 1 of the specification, the chassis operation control method provided by the embodiment of the invention includes:
s1: acquiring the vehicle head closing speed C z Chassis reference speeds x, y, z and chassis feedback speed gyro_w;
s2: obtaining a first chassis feedback credibility coefficient K according to the chassis reference speeds x, y and z 1 ；
S3: according to the closing speed C of the vehicle head z Obtaining a second chassis feedback reliability coefficient K by the chassis feedback speed gyro_w 2 ；
S4: according to C z _fb＝K 1 *C z +K 2 * The gyro_w is calculated to obtain a chassis feedback speed Cz_fb;
s5: chassis operation is controlled based on chassis reference speeds x, y, z and chassis feedback speed cz_fb.
The vehicle head closing speed is a speed obtained by combining the speed of the left wheel and the speed of the right wheel on the chassis, and is recorded as Cz; the chassis reference speed refers to the speed X of the chassis in the X-axis direction, the speed Y of the chassis in the Y-axis direction and the speed Z of the chassis in the Z-axis direction; the chassis feedback speed gyro_w refers to a chassis speed fed back in real time through a gyroscope (Z-axis gyroscope).
It can be seen that the chassis operation control method is based on the vehicle speed C z The chassis reference speeds x, y and z and the chassis feedback speed gyro_w can obtain two reliability coefficients aiming at the chassis feedback, the chassis feedback speed Cz_fb can be further obtained according to the two reliability coefficients, and finally the chassis slip can be controlled according to the chassis reference speeds x, y and z and the chassis feedback speed Cz_fb, so that the stability and reliability of the running of the chassis are ensured. Obviously, the control method of the chassis operation can be used for the situation that the chassis has skidding when running at a faster speedSo as to inhibit the slipping of the chassis and improve the running stability and reliability of the chassis to a certain extent.
Compared with the method for controlling the chassis to run through a series of high-precision sensors and through a plurality of judging steps in the prior art, the chassis running control method provided by the application is realized without detecting and feeding back through the extra high-precision sensors and without judging processes, and can realize stable control of the chassis running, so that the requirements on the chassis control calculation and storage performance can be reduced, and the production cost can be reduced to a certain extent.
Aiming at the step S1, acquiring the vehicle head closing speed Cz, namely taking the simplest two-wheel differential chassis as a control model, and combining the speeds of the left wheel and the right wheel as the vehicle head closing speed; acquiring chassis reference speeds, namely acquiring reference speeds x, y and z in the three-axis direction of the chassis X, Y, Z through a chassis controller; acquiring the chassis feedback speed gyro_w refers to the heading speed fed back by a Z-axis gyroscope preset on the chassis.
Specifically, the method for acquiring the vehicle steering speed comprises the following steps: setting the speed of the left wheel on the chassis as Vl, the speed of the right wheel as Vr, the distance between the two wheels as L, and then according toAnd calculating the vehicle closing speed Cz. Of course, according to actual needs, when the chassis has two (four) sets of wheels, the combined speeds of the two sets of wheels can be calculated respectively through the formula, and then the combined speed of the vehicle is obtained by calculating the average value of the two sets of data.
Aiming at step S2, a first chassis feedback credibility coefficient K is obtained according to the chassis reference speeds x, y and z 1 Comprises the steps of:
the first step, respectively calculating the chassis speed increment dv according to the chassis reference speeds x, y and z x 、dv y 、dv z ；
Second, according to the chassis speed increment dv x 、dv y 、dv z Calculating chassis increment coefficient dv t ；
Third step, according to the chassisIncrement coefficient dv t Obtaining a first chassis feedback credibility coefficient K 1 . Specifically, the chassis reference speed issued by the chassis controller for the first time is recorded as x 1 、y 1 、z 1 The chassis reference speed issued by the chassis controller for the second time is x 2 、y 2 、z 2 According to the following:
dv x ＝abs(x 2 -x 1 )；
dv y ＝abs(y 2 -y 1 )；
dv z ＝abs(z 2 -z 1 )；
thereby calculating the chassis speed increment dv x 、dv y 、dv z 。
And then according to the following steps:
dv t ＝dv x +dv y +dv z ；
calculating to obtain chassis increment coefficient dv t 。
Further, by chassis increment factor dv t The first chassis feedback reliability coefficient K can be obtained by looking up a table 1 . It should be noted that the simplest table lookup method is selected to find the corresponding coefficient value, and the data in the table is derived from the data calibrated by the previous user, so that the method is real and reliable. Of course, this may not be extended in any way here.
Aiming at the step S3, according to the vehicle closing speed C z Obtaining a second chassis feedback reliability coefficient K by the chassis feedback speed gyro_w 2 Comprises the steps of: first, calculate the vehicle closing speed C z Error dC from chassis feedback speed gyro_w z The method comprises the steps of carrying out a first treatment on the surface of the Then according to the error dC z Obtaining a second chassis feedback credibility coefficient K 2 。
Specifically, according to the formula:
dC z ＝abs(gyro_w-C z )
calculating to obtain an error dC of the vehicle head closing speed and the chassis feedback speed z 。
Further, the error dC of the vehicle closing speed and the chassis feedback speed is utilized z Can look up a table to obtain a corresponding second chassis feedback reliability coefficient K 2 . The simplest table lookup method is selected to search the corresponding coefficient value, and the data in the table is derived from the data calibrated by the early user, so that the method is real and reliable.
For step S5, the step of controlling chassis operation according to the chassis reference speeds x, y, z and the chassis feedback speed cz_fb includes:
first, calculating a chassis headstock speed error e according to a chassis reference speed z and a chassis feedback speed Cz_fb rr ；
Second, according to the speed error e of the chassis headstock rr Calculating chassis control speed U o ；
Third step, controlling the speed U according to the chassis o Calculating a first speed of decomposition V of a first wheel on the chassis lref And a second speed of decomposition V of the second wheel rref
Fourth step, according to the first decomposition rate V lref And a second decomposition rate V rref And respectively controlling the running of two wheels on the chassis.
More specifically, various closed-loop control schemes can be selected for controlling the chassis operation, and in the embodiment of the invention, the simplest PID controller is selected for control:
through error calculation:
e rr ＝z-Cz_fb；
wherein e rr Is the error of the speed of the chassis headstock;
the proportion control coefficient of the PID controller is K p The integral coefficient is K i And a differential coefficient of K d ；
According toCalculating chassis control speed U o 。
Generally, the velocity resolution operation may be performed by a velocity resolution module/unit in the chassis controller. Specifically, according to V lref ＝x-U o * L/2 calculation of first speed of decomposition V of first wheel on chassis lref The method comprises the steps of carrying out a first treatment on the surface of the According to V rref ＝x+U o * L/2 calculation of the speed of decomposition V of the second wheel on the chassis rref ；
Wherein V is lref For the reference speed of the first wheel (left wheel) on the chassis, V rref For the reference speed of the second wheel (right wheel), X is the reference speed of the chassis in the X-axis direction, L is the distance between the first wheel and the second wheel, U o The speed is controlled for the chassis.
It should be noted that the above-mentioned speed decomposing process is designed by using a two-wheel differential chassis as a control model, and the speed decomposing process can be adjusted according to different chassis models, i.e. different speed decomposing methods are designed according to different chassis models, for example, when the chassis has two (four) groups of wheels, the decomposing speeds of the two groups of wheels can be calculated respectively through the above-mentioned formulas.
The embodiment of the invention also provides a chassis operation control system, which comprises:
a speed acquisition module: for obtaining the vehicle closing speed C z Chassis reference speeds x, y, z and chassis feedback speed gyro_w;
the first chassis feedback credibility coefficient acquisition module: for obtaining a first chassis feedback confidence coefficient K according to the chassis reference speeds x, y and z 1 ；
The second chassis feedback credibility coefficient acquisition module: for engaging speed C according to the vehicle z Obtaining a second chassis feedback reliability coefficient K by the chassis feedback speed gyro_w 2 ；
The operation module: for according to C z _fb＝K 1 *C z +K 2 * The gyro_w is calculated to obtain a chassis feedback speed Cz_fb;
the chassis control module: for controlling chassis operation based on chassis reference speeds x, y, z and chassis feedback speed cz_fb.
Further, the speed acquisition module includes:
the headstock closing speed acquisition unit: for obtaining the vehicle closing speed C z ；
Chassis reference speed acquisition unit: the method is used for acquiring chassis reference speeds x, y and z;
chassis feedback speed acquisition unit: for obtaining the chassis feedback speed gyro_w.
In addition, the first chassis feedback reliability coefficient obtaining module includes:
a first calculation unit: for calculating chassis speed increment dv based on chassis reference speeds x, y, z, respectively x、 dv y 、dv z ；
A second calculation unit: for increasing dv in accordance with chassis speed x 、dv y 、dv z Calculating chassis increment coefficient dv t ；
The first chassis feedback credibility coefficient acquisition unit: for making use of the chassis increment factor dv t Obtaining a first chassis feedback credibility coefficient K 1 。
Furthermore, the second chassis feedback reliability coefficient obtaining module includes:
a third calculation unit: for calculating the vehicle closing speed C z Error dC from chassis feedback speed gyro_w z ；
The second chassis feedback credibility coefficient acquisition unit: for according to the error dC z Obtaining a second chassis feedback credibility coefficient K 2 。
The embodiment of the invention also provides a chassis operation control device, which comprises:
a memory for storing a computer program;
and the processor is used for realizing the steps of the chassis operation control method when executing the computer program.
Specifically, the memory includes a nonvolatile storage medium and an internal memory. The non-volatile storage medium stores an operating system and computer readable instructions, and the internal memory provides an environment for the operating system and the execution of the computer readable instructions in the non-volatile storage medium. The processor may be a central processing unit (Central Processing Unit, CPU), controller, microcontroller, microprocessor or other data processing chip in some embodiments to provide computing and control capabilities for the chassis operation control device.
On the basis of the above embodiment, as a preferred embodiment, the chassis operation control device further includes:
the input interface is connected with the processor and used for acquiring the externally imported computer programs, parameters and instructions, and the externally imported computer programs, parameters and instructions are controlled by the processor and stored in the memory. The input interface may be coupled to an input device for receiving parameters or instructions manually entered by a user. The input device can be a touch layer covered on a display screen, can also be a key, a track ball or a touch pad arranged on a terminal shell, and can also be a keyboard, a touch pad or a mouse, etc.
And the display unit is connected with the processor and used for displaying the data processed by the processor and a visual user interface. The display unit may be an LED display, a liquid crystal display, a touch-control type liquid crystal display, an OLED (Organic Light-Emitting Diode) touch device, or the like.
And the network port is connected with the processor and used for carrying out communication connection with external terminal equipment. The communication technology adopted by the communication connection can be a wired communication technology or a wireless communication technology, such as a mobile high definition link technology (MHL), a Universal Serial Bus (USB), a High Definition Multimedia Interface (HDMI), a wireless fidelity technology (WiFi), a Bluetooth communication technology with low power consumption, a communication technology based on IEEE802.11s, and the like.
It will be appreciated by those skilled in the art that the chassis operation control device may include fewer or more components than those described above, or may combine certain components, or may be a different arrangement of components.
The present application also provides a computer-readable storage medium, which may include: a U-disk, a removable hard disk, a Read-Only Memory (ROM), a random access Memory (Random Access Memory, RAM), a magnetic disk, or an optical disk, or other various media capable of storing program codes. The storage medium has stored thereon a computer program which, when executed by a processor, implements the steps of the chassis operation control method provided by the above embodiments.
The AGV provided by the invention comprises the chassis operation control device described in the specific embodiment; other parts of the AGV cart may be referred to in the art and are not developed herein.
It should be noted that in this specification relational terms such as first and second are used solely to distinguish one entity from another entity without necessarily requiring or implying any actual such relationship or order between such entities.
The chassis operation control method, the chassis operation control system, the chassis operation control device and the AGV provided by the invention are described in detail. The principles and embodiments of the present invention have been described herein with reference to specific examples, the description of which is intended only to facilitate an understanding of the inventive arrangements and their core ideas. It should be noted that it will be apparent to those skilled in the art that various modifications and adaptations of the invention can be made without departing from the principles of the invention and these modifications and adaptations are intended to be within the scope of the invention as defined in the following claims.
Claims (5)
1. A chassis operation control method, comprising:
acquiring the vehicle head closing speed C z The system comprises chassis reference speeds X, Y and Z and a first chassis feedback speed gyro_w, wherein the chassis reference speed X refers to the speed of the chassis in the X-axis direction, the chassis reference speed Y refers to the speed of the chassis in the Y-axis direction, and the chassis reference speed Z refers to the speed of the chassis in the Z-axis direction;
obtaining a first chassis feedback credibility coefficient K according to the chassis reference speeds x, y and z 1 ；
According to the vehicle closing speed C z And the first chassis feedback speed gyro_w obtains a second chassis feedback credibility coefficient K 2 ；
According to C z _fb＝K 1 *C z +K 2 * The gyro_w is calculated to obtain a second chassis feedback speed Cz_fb;
controlling chassis operation according to the chassis reference speeds x, y, z and the second chassis feedback speed cz_fb;
said obtaining a first chassis from said chassis reference speeds x, y, zFeedback confidence coefficient K 1 Comprises the steps of:
respectively calculating the chassis speed increment dv according to the chassis reference speeds x, y and z x 、dv y 、dv z Wherein the chassis speed increment dv x Refers to the speed increment of the chassis in the X-axis direction, and the speed increment dv of the chassis y Refers to the speed increment of the chassis in the Y-axis direction and the speed increment dv of the chassis z The speed increment of the chassis in the Z-axis direction is referred;
according to the chassis speed increment dv x 、dv y 、dv z Calculating chassis increment coefficient dv t ；
According to the chassis increment coefficient dv t Obtaining the feedback credibility coefficient K of the first chassis 1 ；
The chassis speed increment dv is calculated according to the chassis reference speeds x, y and z x 、dv y 、dv z Comprises the steps of:
acquiring chassis reference speed x issued by a chassis controller for the first time 1 、y 1 、z 1 The chassis reference speed issued by the chassis controller for the second time is x 2 、y 2 、z 2 ；
According to dv x ＝abs(x 2 -x 1 )、dv y ＝abs(y 2 -y 1 )、dv z ＝abs(z 2 -z 1 ) Respectively calculating to obtain the chassis speed increment dv x 、dv y 、dv z ；
Said increasing dv according to said chassis speed x 、dv y 、dv z Calculating chassis increment coefficient dv t Specifically, the method comprises the following steps: according to dv t ＝dv x +dv y +dv z Calculating to obtain chassis increment coefficient dv t ；
Said base plate increment coefficient dv t Obtaining the feedback credibility coefficient K of the first chassis 1 Specifically, the method comprises the following steps: by said chassis increment factor dv t Obtaining the feedback credibility coefficient K of the first chassis by looking up a table 1 ；
The saidAccording to the vehicle closing speed C z And the first chassis feedback speed gyro_w obtains a second chassis feedback credibility coefficient K 2 Comprises the steps of:
calculating the vehicle closing speed C z And an error dC of the first chassis feedback speed gyro_w z ；
According to the error dC z Obtaining the feedback credibility coefficient K of the second chassis 2 ；
Said calculating said vehicle closing speed C z And an error dC of the first chassis feedback speed gyro_w z Specifically, the method comprises the following steps: according to formula dC z ＝abs(gyro_w-C z ) Calculating to obtain an error dC of the vehicle head closing speed and the first chassis feedback speed z ；
Said error dC is based on z Obtaining the feedback credibility coefficient K of the second chassis 2 Specifically, the method comprises the following steps: error dC through headstock speed and first chassis feedback speed z Obtaining a corresponding second chassis feedback credibility coefficient K by looking up a table 2 。
2. The chassis operation control method according to claim 1, wherein the step of controlling the chassis operation according to the chassis reference speeds x, y, z and the second chassis feedback speed cz_fb comprises:
calculating a chassis headstock speed error e according to the chassis reference speeds x, y and z and the second chassis feedback speed Cz_fb rr ；
According to the chassis headstock speed error e rr Calculating chassis control speed U o ；
Controlling the speed U according to the chassis o Calculating a first speed of decomposition V of a first wheel on the chassis lref And a second speed of decomposition V of the second wheel rref ；
According to the first decomposition speed V lref And the second decomposition rate V rref And respectively controlling the running of two wheels on the chassis.
3. A chassis operation control system employing the chassis operation control method according to any one of the preceding claims 1 to 2, characterized by comprising:
a speed acquisition module: for obtaining the vehicle closing speed C z The system comprises chassis reference speeds X, Y and Z and a first chassis feedback speed gyro_w, wherein the chassis reference speed X refers to the speed of the chassis in the X-axis direction, the chassis reference speed Y refers to the speed of the chassis in the Y-axis direction, and the chassis reference speed Z refers to the speed of the chassis in the Z-axis direction;
the first chassis feedback credibility coefficient acquisition module: for obtaining a first chassis feedback credibility coefficient K according to the chassis reference speeds x, y and z 1 ；
The second chassis feedback credibility coefficient acquisition module: for following the vehicle closing speed C z And the first chassis feedback speed gyro_w obtains a second chassis feedback credibility coefficient K 2 ；
The operation module: for according to C z _fb＝K 1 *C z +K 2 * The gyro_w is calculated to obtain a second chassis feedback speed Cz_fb;
the chassis control module: for controlling chassis operation based on the chassis reference speeds x, y, z and the second chassis feedback speed cz_fb;
the speed acquisition module includes:
the headstock closing speed acquisition unit: for obtaining the vehicle closing speed C z ；
Chassis reference speed acquisition unit: the method comprises the steps of acquiring chassis reference speeds x, y and z;
chassis feedback speed acquisition unit: the first chassis feedback speed gyro_w is used for acquiring the first chassis feedback speed gyro_w;
the first chassis feedback reliability coefficient acquisition module comprises:
a first calculation unit: for calculating the chassis speed increment dv according to the chassis reference speeds x, y and z x 、dv y 、dv z Wherein the chassis speed increment dv x Refers to the speed increment of the chassis in the X-axis direction, and the speed increment dv of the chassis y Refers to the speed increment of the chassis in the Y-axis direction and the speed of the chassisDegree increment dv z The speed increment of the chassis in the Z-axis direction is referred;
a second calculation unit: for increasing dv in accordance with said chassis speed x 、dv y 、dv z Calculating chassis increment coefficient dv t ；
The first chassis feedback credibility coefficient acquisition unit: for increasing the coefficient dv according to the chassis t Obtaining the feedback credibility coefficient K of the first chassis 1 ；
The second chassis feedback reliability coefficient obtaining module comprises:
a third calculation unit: for calculating the vehicle closing speed C z And an error dC of the first chassis feedback speed gyro_w z ；
The second chassis feedback credibility coefficient acquisition unit: for according to said error dC z Obtaining the feedback credibility coefficient K of the second chassis 2 。
4. A chassis operation control device, comprising:
a memory for storing a computer program;
processor for implementing the steps of the chassis operation control method according to any one of claims 1 to 2 when executing the computer program.
5. An AGV cart comprising the chassis operation control device according to claim 4.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011209693.7A CN112256036B (en) | 2020-11-03 | 2020-11-03 | Chassis operation control method, system and device and AGV trolley |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011209693.7A CN112256036B (en) | 2020-11-03 | 2020-11-03 | Chassis operation control method, system and device and AGV trolley |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN112256036A CN112256036A (en) | 2021-01-22 |
| CN112256036B true CN112256036B (en) | 2024-02-06 |
Family
ID=74267994
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202011209693.7A Active CN112256036B (en) | 2020-11-03 | 2020-11-03 | Chassis operation control method, system and device and AGV trolley |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN112256036B (en) |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112945230B (en) * | 2021-01-26 | 2022-03-25 | 腾讯科技（深圳）有限公司 | Vehicle driving state identification method and device, computer equipment and storage medium |
Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110001399A (en) * | 2019-04-30 | 2019-07-12 | 谭则胜 | A kind of constant-speed-cruise control method and control system |
| CN111506054A (en) * | 2019-01-31 | 2020-08-07 | 上海制驰智能科技有限公司 | Automatic guiding method for chassis of 4WID-4WIS robot |
Family Cites Families (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2013231414A (en) * | 2012-05-01 | 2013-11-14 | Horiba Ltd | Speed controller and program for speed control device |
| CN106909155B (en) * | 2017-03-28 | 2019-07-30 | 北京京东尚科信息技术有限公司 | Automated guided vehicle control method, device and automated guided vehicle |
-
2020
- 2020-11-03 CN CN202011209693.7A patent/CN112256036B/en active Active
Patent Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111506054A (en) * | 2019-01-31 | 2020-08-07 | 上海制驰智能科技有限公司 | Automatic guiding method for chassis of 4WID-4WIS robot |
| CN110001399A (en) * | 2019-04-30 | 2019-07-12 | 谭则胜 | A kind of constant-speed-cruise control method and control system |
Non-Patent Citations (3)
| Title |
|---|
| PID算法在汽车底盘测功机中的应用与实现;丁月华;郑志伟;;微型电脑应用(09);全文 * |
| 基于主动前轮转向横摆角速度反馈控制的研究;张红党;商高高;;机械设计与制造(04);全文 * |
| 基于舵角信息的航向修正和横漂速度估计算法研究;董大琼;陈永冰;;舰船电子工程(08);全文 * |
Also Published As
| Publication number | Publication date |
|---|---|
| CN112256036A (en) | 2021-01-22 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| Low et al. | GPS-based path following control for a car-like wheeled mobile robot with skidding and slipping | |
| WO2020253854A1 (en) | Mobile robot posture angle calculation method | |
| Low et al. | GPS-based tracking control for a car-like wheeled mobile robot with skidding and slipping | |
| CN108762219B (en) | Single steering wheel AGV point-stabilized control method and device | |
| CN104811588B (en) | A kind of boat-carrying based on gyroscope is surely as control method | |
| TWI584157B (en) | Mobile devices and methods for determining orientation information thereof | |
| CN110850895B (en) | Path tracking method, device, equipment and storage medium | |
| CN110058288B (en) | Course error correction method and system for unmanned aerial vehicle INS/GNSS combined navigation system | |
| CN109238310A (en) | A kind of pair of MEMS sensor carries out the method and device of temperature-compensating | |
| CN112256036B (en) | Chassis operation control method, system and device and AGV trolley | |
| CN112254741A (en) | Method for detecting abnormality of mileage sensor, self-moving robot, and storage medium | |
| CN109164819B (en) | Backstepping self-adaptive sliding mode large-angle attitude maneuver control method of rigid-body spacecraft | |
| CN112256035B (en) | Chassis drift control method, system and device and AGV trolley | |
| CN113183975A (en) | Control method, device, equipment and storage medium for automatic driving vehicle | |
| CN106468563A (en) | A kind of airborne Magnetic Sensor online calibration method | |
| CN101634907A (en) | Air mouse and control method thereof | |
| JP2013180659A (en) | Vehicle attitude control device | |
| CN116080682A (en) | Automatic driving vehicle transverse control method oriented to complex road environment | |
| CN110162068A (en) | A kind of control method of self-balance robot | |
| CN112550443B (en) | Steering control method, device, equipment and storage medium | |
| CN110636468B (en) | Road condition detection method, system, storage medium and vehicle machine | |
| CN111912403B (en) | Forklift positioning method and forklift | |
| CN114413791B (en) | Method, system and device for detecting steering wheel zero deflection angle of steering wheel type forklift | |
| WO2023241050A1 (en) | Vehicle lateral control method and system, and vehicle | |
| CN108860137A (en) | Control method, device and the intelligent vehicle of unstability vehicle |
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 | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |