CN112286204A - Control method and device of automatic guiding device, processor and electronic equipment - Google Patents
Control method and device of automatic guiding device, processor and electronic equipment Download PDFInfo
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0212—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
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0214—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory in accordance with safety or protection criteria, e.g. avoiding hazardous areas
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0221—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory involving a learning process
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0276—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 discloses a control method and device of an automatic guiding device, a processor and electronic equipment. Wherein, the method comprises the following steps: determining deviation information of an automatic guiding device when detecting that a running path of the automatic guiding device in the running process deviates from a target path, wherein the automatic guiding device comprises a first driving wheel and a second driving wheel; determining a travel speed relationship between at least two of the first drive wheel, the second drive wheel, and the automatic guidance device based on an inter-wheel distance value and the offset information, wherein the inter-wheel distance value is a distance value between the first drive wheel and the second drive wheel; and controlling the automatic guiding device to run according to the running speed relation until the running path of the automatic guiding device is consistent with the target path. The invention solves the technical problem that differential speed correction cannot be effectively realized in the process of adopting two-dimensional code inertial navigation by the automatic driving guided vehicle in the prior art.
Description
Technical Field
The invention relates to the field of automatic guiding device control, in particular to a control method and device of an automatic guiding device, a processor and electronic equipment.
Background
The automatic driving guided vehicle mainly comprises tape navigation, laser navigation, two-dimensional code inertial navigation and other navigation modes, wherein the two-dimensional code inertial navigation is a navigation mode which is most applied to the automatic driving guided vehicle at present due to low cost and flexible path deployment.
In the process of two-dimensional code inertial navigation, due to the fact that the flatness of the service ground of the guided vehicle is insufficient, transmission data inside the vehicle body is lost, and abrasion of wheels can cause the vehicle body to deviate from the original route in the running process, and further a derailment accident occurs, in the process of two-dimensional code inertial navigation, differential speed correction needs to be carried out on the automatic driving guided vehicle, so that the automatic driving guided vehicle is controlled to run according to the original route.
In view of the above problems, no effective solution has been proposed.
Disclosure of Invention
The embodiment of the invention provides a control method and device of an automatic guiding device, a processor and electronic equipment, and at least solves the technical problem that differential speed correction cannot be effectively realized in the process of adopting two-dimensional code inertial navigation by an automatic driving guiding vehicle in the prior art.
According to an aspect of an embodiment of the present invention, there is provided a control method of an automated guidance apparatus, including: determining deviation information of an automatic guiding device when detecting that a running path of the automatic guiding device in the running process deviates from a target path, wherein the automatic guiding device comprises a first driving wheel and a second driving wheel; determining a travel speed relationship between at least two of the first drive wheel, the second drive wheel, and the automatic guidance device based on an inter-wheel distance value and the offset information, wherein the inter-wheel distance value is a distance value between the first drive wheel and the second drive wheel; and controlling the automatic guiding device to run according to the running speed relation until the running path of the automatic guiding device is consistent with the target path.
Optionally, detecting whether the travel path deviates from the target path by the following method includes: detecting whether an identifier of the automatic guiding device acquires identification code information, wherein the identification code information carries first position information of the identification code in the target path; if the identifier acquires the identification code information, judging whether the distance value between the automatic guide device and the target path is greater than or equal to a deviation threshold value or not according to the identification code information, and if so, determining that the automatic guide device deviates from the target path; and if the identifier does not acquire the identification code information, determining that the automatic guiding device deviates from the target path.
Optionally, determining the offset information of the automatic guidance device includes: acquiring the first position information carried in the identification code information; positioning the current position of the automatic guiding device to obtain second position information; and calculating an offset distance value and an offset angle value of the automatic guiding device based on the first position information and the second position information.
Optionally, determining a travel speed relationship between at least two of the first driving wheel, the second driving wheel, and the automatic guidance device according to the inter-wheel distance value and the offset information includes: calculating according to the offset distance value and the offset angle value to obtain a first deviation correction parameter and a second deviation correction parameter; and determining the driving speed relational expression according to the wheel distance value, the first deviation correction parameter and the second deviation correction parameter.
Optionally, the first deviation correcting parameter and the second deviation correcting parameter are calculated by the following formula: z is m2+n2；
Wherein z is the offset distance value, θ2The deviation angle value m is the first deviation correction parameter, and n is the first deviation correction parameter.
Optionally, the travel speed relation includes: a relational expression between a first traveling speed of the first drive wheel and a second traveling speed of the second drive wheel; determining the driving speed relation as follows according to the wheel distance value, the first deviation correction parameter and the second deviation correction parameter:
wherein v is1Is the first running speed, v2B is the wheel-to-wheel distance value, which is the second running speed.
Optionally, the travel speed relation includes: a relational expression between a first traveling speed of the first drive wheel and a second traveling speed of the second drive wheel; determining the driving speed relation as follows according to the wheel distance value, the first deviation correction parameter and the second deviation correction parameter:
wherein v is1Is the first running speed, v2B is the value of the distance between the wheels, b is the second running speed1The distance value between the identifier of the automatic guiding device and the first driving wheel.
Optionally, the travel speed relation includes: a relational expression between a first travel speed of the first drive wheel and a current travel speed of the automatic guide device, and a relational expression between a second travel speed of the second drive wheel and the current travel speed of the automatic guide device; determining the driving speed relation as follows according to the wheel distance value, the first deviation correction parameter and the second deviation correction parameter:
wherein v is the current running speed, v1Is the first running speed, v2B is the wheel-to-wheel distance value, which is the second running speed.
Optionally, the travel speed relation includes: a relational expression between a first travel speed of the first drive wheel and a current travel speed of the automatic guide device, and a relational expression between a second travel speed of the second drive wheel and the current travel speed of the automatic guide device; determining the driving speed relation as follows according to the wheel distance value, the first deviation correction parameter and the second deviation correction parameter:
wherein v is the current running speed, v1Is the first running speed, v2B is the value of the distance between the wheels, b is the second running speed1The distance value between the identifier of the automatic guiding device and the first driving wheel.
According to another aspect of the embodiments of the present invention, there is also provided a control device of an automatic guidance device, including: the automatic guiding device comprises a detection module, a control module and a control module, wherein the detection module is used for determining the deviation information of the automatic guiding device when detecting that a running path of the automatic guiding device in the running process deviates from a target path, and the automatic guiding device comprises a first driving wheel and a second driving wheel; a determining module, configured to determine a driving speed relationship between at least two of the first driving wheel, the second driving wheel, and the automatic guiding device according to an inter-wheel distance value and the offset information, where the inter-wheel distance value is a distance value between the first driving wheel and the second driving wheel; and the control module is used for controlling the automatic guiding device to run according to the running speed relation until the running path of the automatic guiding device is consistent with the target path.
According to another aspect of the embodiments of the present invention, there is also provided a non-volatile storage medium storing a plurality of instructions, the instructions being adapted to be loaded by a processor and to execute any one of the above control methods of an automatic guidance device.
According to another aspect of the embodiments of the present invention, there is also provided a processor for a travel program, wherein the program is configured to execute any one of the above control methods of an automatic guidance device while traveling.
According to another aspect of the embodiments of the present invention, there is also provided an electronic device, including a memory in which a computer program is stored, and a processor configured to run the computer program to execute any one of the above control methods of an automatic guidance apparatus.
In the embodiment of the invention, when the deviation of the running path of the automatic guiding device in the running process from the target path is detected, the deviation information of the automatic guiding device is determined, wherein the automatic guiding device comprises a first driving wheel and a second driving wheel; determining a travel speed relationship between at least two of the first drive wheel, the second drive wheel, and the automatic guidance device based on an inter-wheel distance value and the offset information, wherein the inter-wheel distance value is a distance value between the first drive wheel and the second drive wheel; and controlling the automatic guiding device to run according to the running speed relation until the running path of the automatic guiding device is consistent with the target path, so that the purpose of effectively realizing differential speed correction in the process of adopting two-dimensional code inertial navigation by the automatic driving guiding vehicle is achieved, the technical effect of improving the running stability of the automatic driving guiding vehicle is realized, and the technical problem that the differential speed correction cannot be effectively realized in the process of adopting two-dimensional code inertial navigation by the automatic driving guiding vehicle in the prior art is solved.
Drawings
The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this application, illustrate embodiment(s) of the invention and together with the description serve to explain the invention without limiting the invention. In the drawings:
fig. 1 is a flowchart of a control method of an automated guidance device according to an embodiment of the present invention;
FIG. 2 is a flow chart of an alternative method of controlling an automated guidance device according to an embodiment of the present invention;
FIG. 3 is a flow chart of an alternative method of controlling an automated guidance device according to an embodiment of the present invention;
fig. 4 is a schematic structural diagram of a control device of an automatic guiding device according to an embodiment of the invention.
Detailed Description
In order to make the technical solutions of the present invention better understood, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
It should be noted that the terms "first," "second," and the like in the description and claims of the present invention and in the drawings described above are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used is interchangeable under appropriate circumstances such that the embodiments of the invention described herein are capable of operation in sequences other than those illustrated or described herein. Furthermore, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed, but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.
Example 1
In accordance with an embodiment of the present invention, there is provided an embodiment of a method for controlling an automated guidance device, wherein the steps illustrated in the flowchart of the figure may be performed in a computer system, such as a set of computer-executable instructions, and wherein, although a logical order is illustrated in the flowchart, in some cases, the steps illustrated or described may be performed in an order different than that illustrated.
Fig. 1 is a flowchart of a control method of an automated guidance device according to an embodiment of the present invention, as shown in fig. 1, the method including the steps of:
step S102, when detecting that a running path of an automatic guiding device in the running process deviates from a target path, determining deviation information of the automatic guiding device, wherein the automatic guiding device comprises a first driving wheel and a second driving wheel;
step S104, determining a traveling speed relationship between at least two of the first driving wheel, the second driving wheel and the automatic guiding device according to an inter-wheel distance value and the offset information, wherein the inter-wheel distance value is a distance value between the first driving wheel and the second driving wheel;
and step S106, controlling the automatic guiding device to run according to the running speed relation until the running path of the automatic guiding device is consistent with the target path.
In the embodiment of the invention, when the deviation of the running path of the automatic guiding device in the running process from the target path is detected, the deviation information of the automatic guiding device is determined, wherein the automatic guiding device comprises a first driving wheel and a second driving wheel; determining a travel speed relationship between at least two of the first drive wheel, the second drive wheel, and the automatic guidance device based on an inter-wheel distance value and the offset information, wherein the inter-wheel distance value is a distance value between the first drive wheel and the second drive wheel; and controlling the automatic guiding device to run according to the running speed relation until the running path of the automatic guiding device is consistent with the target path, so that the purpose of effectively realizing differential speed correction in the process of adopting two-dimensional code inertial navigation by the automatic driving guiding vehicle is achieved, the technical effect of improving the running stability of the automatic driving guiding vehicle is realized, and the technical problem that the differential speed correction cannot be effectively realized in the process of adopting two-dimensional code inertial navigation by the automatic driving guiding vehicle in the prior art is solved.
Optionally, the automatic guiding device is an automatic guided vehicle, that is, an unmanned automated vehicle powered by a battery and equipped with safety guards and various auxiliary mechanisms, and is also referred to as an automatic guided vehicle or an AGV cart. Optionally, the automated guided vehicle in the embodiment of the present application may adopt an automated guidance device that performs navigation in an identification code inertial navigation (e.g., two-dimensional code inertial navigation) manner.
The two-dimension code inertial navigation is to lay two-dimension code stickers or two-dimension code cards on the driving path of the automated guided vehicle, for example, a code scanner arranged in the automated guided vehicle is used for recognizing and reading two-dimension codes on the driving path, because the two-dimension codes on different driving paths are different, namely, the two-dimension code information acquired by the code scanner is different, namely, the automated guided vehicle is controlled by recognizing different two-dimension codes.
In the embodiment of the application, the code scanner identifies the two-dimensional code on the ground and sends the read two-dimensional code information to the controller, the controller processes the information to obtain the position two-dimensional offset of the guided vehicle relative to the two-dimensional code, and the controller respectively controls the first driving speed of the first driving wheel and the second driving speed of the second driving wheel, so that the linear motion and the curvilinear motion of the whole guided vehicle are automatically controlled.
As an alternative embodiment, it may be possible to monitor whether a travel path of the automatic guidance device during travel deviates from a target path, and when it is detected that the travel path of the automatic guidance device during travel deviates from the target path, determine deviation information of the automatic guidance device, and determine a travel speed relationship between at least two of the first driving wheel, the second driving wheel, and the automatic guidance device by using an inter-wheel distance value and the deviation information; and controlling the automatic guiding device to run according to the running speed relation until the running path of the automatic guiding device is consistent with the target path.
Wherein, the automatic guiding device comprises a first driving wheel and a second driving wheel; the inter-wheel distance value is a distance value between the first drive wheel and the second drive wheel.
It should be noted that, due to insufficient ground flatness, data transmission loss inside a vehicle body, wheel abrasion and the like, a running path of the automatic guiding device deviates from a target path in the running process, the embodiment of the application provides a differential speed deviation correction algorithm and method for a two-dimensional code inertial navigation guiding vehicle, deviation correction is realized by controlling two driving wheels of the automatic guiding device to form a speed difference, and the running direction is consistent with the direction of the target path when the deviation correction is finished, so that stable transition is realized; moreover, in the implementation of the application, the deflection amplitude of the vehicle body can be reduced by using the deviation-rectifying corner as an acute angle, the deviation is automatically rectified in real time, the operation of the guide vehicle is stable, and the operation stability of the automatic driving guide vehicle is improved.
In an alternative embodiment, fig. 2 is a flowchart of a control method of an alternative automatic guidance device according to an embodiment of the present invention, and as shown in fig. 2, detecting whether the travel path deviates from the target path includes:
step S202, detecting whether an identifier of the automatic guiding device acquires identification code information, wherein the identification code information carries first position information of the identification code in the target path;
step S204, if the identifier obtains the identification code information, judging whether the distance value between the automatic guide device and the target path is larger than or equal to a deviation threshold value according to the identification code information, and if so, determining that the automatic guide device deviates from the target path;
in step S206, if the identifier does not acquire the identification code information, it is determined that the automatic guidance device deviates from the target route.
Optionally, the automatic guiding device identifies the position of the two-dimensional code through the barcode scanner, and transmits the identified identification code information to the controller, and the controller analyzes and judges whether the traveling path deviates from the target path, that is, judges whether the automatic guiding device is derailed, and controls the automatic guiding device to operate stably if the traveling path does not derail, and determines offset information of the automatic guiding device if the derailed path is judged.
For example, it may be detected whether an identifier of the automatic guidance device acquires identification code information, and if the identification code information is not acquired, it may be determined that the automatic guidance device deviates from the target path, and if the identifier acquires the identification code information but a distance value between the automatic guidance device and the target path is greater than or equal to a deviation threshold value (e.g., 100mm), it may still be determined that the automatic guidance device deviates from the target path, otherwise it may be determined that the automatic guidance device does not deviate from the target path.
In an alternative embodiment, fig. 3 is a flowchart of an alternative method for controlling an automatic guidance device according to an embodiment of the present invention, and as shown in fig. 3, determining offset information of the automatic guidance device includes:
step S302, obtaining the first position information carried in the identification code information;
step S304, positioning the current position of the automatic guiding device to obtain second position information;
step S306, calculating an offset distance value and an offset angle value of the automatic guiding device based on the first position information and the second position information.
Optionally, the identification code information carries first position information of any position in the target path, and then the current position of the automatic guiding device is located to obtain second position information, and the offset distance value and the offset angle value of the automatic guiding device can be obtained by judging a distance value between the first position information and the second position information and judging an angle value between the first position information and the second position information.
In an alternative embodiment, determining a travel speed relationship between at least two of the first drive wheel, the second drive wheel, and the automatic guidance device based on the wheel-to-wheel distance value and the offset information includes:
step S402, calculating according to the offset distance value and the offset angle value to obtain a first deviation correction parameter and a second deviation correction parameter;
step S404, determining the driving speed relation according to the wheel distance value, the first deviation correction parameter and the second deviation correction parameter.
In an alternative embodiment, the first deviation correction parameter and the second deviation correction parameter are calculated by the following formulas:
z＝m2+n2；
wherein z is the offset distance value, θ2The deviation angle value m is the first deviation correction parameter, and n is the first deviation correction parameter.
In an alternative embodiment, the driving speed relationship includes: a relational expression between a first traveling speed of the first drive wheel and a second traveling speed of the second drive wheel; determining the driving speed relation as follows according to the wheel distance value, the first deviation correction parameter and the second deviation correction parameter:
wherein v is1Is the first running speed, v2B is the wheel-to-wheel distance value, which is the second running speed.
In an alternative embodiment, the driving speed relationship includes: a relational expression between a first traveling speed of the first drive wheel and a second traveling speed of the second drive wheel; determining the driving speed relation as follows according to the wheel distance value, the first deviation correction parameter and the second deviation correction parameter:
wherein v is1Is the first running speed, v2B is the value of the distance between the wheels, b is the second running speed1The distance value between the identifier of the automatic guiding device and the first driving wheel.
In an alternative embodiment, the driving speed relationship includes: a relational expression between a first travel speed of the first drive wheel and a current travel speed of the automatic guide device, and a relational expression between a second travel speed of the second drive wheel and the current travel speed of the automatic guide device; determining the driving speed relation as follows according to the wheel distance value, the first deviation correction parameter and the second deviation correction parameter:
wherein v is the current running speed, v1Is the first running speed, v2B is the wheel-to-wheel distance value, which is the second running speed.
In an alternative embodiment, the driving speed relationship includes: a relational expression between a first travel speed of the first drive wheel and a current travel speed of the automatic guide device, and a relational expression between a second travel speed of the second drive wheel and the current travel speed of the automatic guide device; determining the driving speed relation as follows according to the wheel distance value, the first deviation correction parameter and the second deviation correction parameter:
wherein v is the current running speed, v1Is the first running speed, v2B is the value of the distance between the wheels, b is the second running speed1The distance value between the identifier of the automatic guiding device and the first driving wheel.
As an alternative embodiment, in the process of controlling the automatic guiding device to perform differential speed deviation correction, the controller may determine to use different driving speed relations to control the automatic guiding device to travel according to actual conditions, such as the driving wheel requiring deviation correction, and the acquired parameter information of the driving wheel, until the travel path of the automatic guiding device is consistent with the target path.
Example 2
According to an embodiment of the present invention, there is also provided an apparatus embodiment for implementing the control method of the automatic guiding apparatus, fig. 4 is a schematic structural diagram of a control apparatus of an automatic guiding apparatus according to an embodiment of the present invention, and as shown in fig. 4, the control apparatus of an automatic guiding apparatus includes: a detection module 400, a determination module 402, and a control module 406, wherein:
a detection module 400, configured to determine offset information of an automatic guiding device when detecting that a traveling path of the automatic guiding device during traveling deviates from a target path, where the automatic guiding device includes a first driving wheel and a second driving wheel; a determining module 402, configured to determine a driving speed relationship between at least two of the first driving wheel, the second driving wheel and the automatic guiding device according to an inter-wheel distance value and the offset information, where the inter-wheel distance value is a distance value between the first driving wheel and the second driving wheel; and a control module 406, configured to control the automatic guiding device to travel according to the travel speed relationship until a travel path of the automatic guiding device is consistent with the target path.
It should be noted that the above modules may be implemented by software or hardware, for example, for the latter, the following may be implemented: the modules can be located in the same processor; alternatively, the modules may be located in different processors in any combination.
It should be noted here that the detection module 400, the determination module 402 and the control module 406 correspond to steps S102 to S106 in embodiment 1, and the modules are the same as the examples and application scenarios realized by the corresponding steps, but are not limited to the disclosure in embodiment 1. It should be noted that the above modules may be run in a computer terminal as part of the apparatus.
It should be noted that, reference may be made to the relevant description in embodiment 1 for alternative or preferred embodiments of this embodiment, and details are not described here again.
The control device of the automatic guiding device may further include a processor and a memory, and the detection module 400, the determination module 402, the control module 406, and the like are all stored in the memory as program units, and the processor executes the program units stored in the memory to implement corresponding functions.
The processor comprises a kernel, and the kernel calls a corresponding program unit from the memory, wherein one or more than one kernel can be arranged. The memory may include volatile memory in a computer readable medium, Random Access Memory (RAM) and/or nonvolatile memory such as Read Only Memory (ROM) or flash memory (flash RAM), and the memory includes at least one memory chip.
According to an embodiment of the present application, there is also provided an embodiment of a non-volatile storage medium. Optionally, in this embodiment, the non-volatile storage medium includes a stored program, and the device in which the non-volatile storage medium is located is controlled to execute the control method of any one of the automatic guidance devices when the program runs.
Optionally, in this embodiment, the nonvolatile storage medium may be located in any one of a group of computer terminals in a computer network, or in any one of a group of mobile terminals, and the nonvolatile storage medium includes a stored program.
Alternatively, an apparatus that controls the nonvolatile storage medium while the program is traveling performs the following functions: determining deviation information of an automatic guiding device when detecting that a running path of the automatic guiding device in the running process deviates from a target path, wherein the automatic guiding device comprises a first driving wheel and a second driving wheel; determining a travel speed relationship between at least two of the first drive wheel, the second drive wheel, and the automatic guidance device based on an inter-wheel distance value and the offset information, wherein the inter-wheel distance value is a distance value between the first drive wheel and the second drive wheel; and controlling the automatic guiding device to run according to the running speed relation until the running path of the automatic guiding device is consistent with the target path.
According to an embodiment of the present application, there is also provided an embodiment of a processor. Alternatively, in this embodiment, the processor is used in a running program, wherein the program executes the control method of any one of the automatic guidance devices during running.
According to an embodiment of the present application, there is also provided an embodiment of an electronic device, including a memory and a processor, where the memory stores a computer program, and the processor is configured to run the computer program to execute any one of the above control methods of an automatic guidance apparatus.
According to an embodiment of the application, there is also provided an embodiment of a computer program product, which, when being executed on a data processing device, is adapted to execute a program initializing the steps of the control method of the automatic guiding apparatus of any of the above.
The above-mentioned serial numbers of the embodiments of the present invention are merely for description and do not represent the merits of the embodiments.
In the above embodiments of the present invention, the descriptions of the respective embodiments have respective emphasis, and for parts that are not described in detail in a certain embodiment, reference may be made to related descriptions of other embodiments.
In the embodiments provided in the present application, it should be understood that the disclosed technology can be implemented in other ways. The above-described embodiments of the apparatus are merely illustrative, and for example, the above-described division of the units may be a logical division, and in actual implementation, there may be another division, for example, multiple units or components may be combined or may be integrated into another system, or some features may be omitted, or not executed. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection through some interfaces, units or modules, and may be in an electrical or other form.
The units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of the embodiment.
In addition, functional units in the embodiments of the present invention may be integrated into one processing unit, or each unit may exist alone physically, or two or more units are integrated into one unit. The integrated unit can be realized in a form of hardware, and can also be realized in a form of a software functional unit.
The integrated unit may be stored in a computer-readable nonvolatile storage medium if it is implemented in the form of a software functional unit and sold or used as a separate product. 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 non-volatile storage medium and includes instructions for causing a computer device (which may be a personal computer, a server, or a network device) to perform all or part of the steps of the above methods according to the embodiments of the present invention. And the aforementioned nonvolatile storage medium includes: a U-disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a removable hard disk, a magnetic or optical disk, and other various media capable of storing program codes.
The foregoing is only a preferred embodiment of the present invention, and it should be noted that, for those skilled in the art, various modifications and decorations can be made without departing from the principle of the present invention, and these modifications and decorations should also be regarded as the protection scope of the present invention.
Claims (13)
1. A method of controlling an automated guided apparatus, comprising:
determining deviation information of an automatic guiding device when detecting that a running path of the automatic guiding device in the running process deviates from a target path, wherein the automatic guiding device comprises a first driving wheel and a second driving wheel;
determining a travel speed relationship between at least two of the first drive wheel, the second drive wheel, and the automatic guidance device based on an inter-wheel distance value and the offset information, wherein the inter-wheel distance value is a distance value between the first drive wheel and the second drive wheel;
and controlling the automatic guiding device to run according to the running speed relation until the running path of the automatic guiding device is consistent with the target path.
2. The method of claim 1, wherein detecting whether the travel path deviates from the target path comprises:
detecting whether an identifier of the automatic guiding device acquires identification code information, wherein the identification code information carries first position information of the identification code in the target path;
if the identifier acquires the identification code information, judging whether the distance value between the automatic guide device and the target path is greater than or equal to a deviation threshold value or not according to the identification code information, and if so, determining that the automatic guide device deviates from the target path;
and if the identifier does not acquire the identification code information, determining that the automatic guiding device deviates from the target path.
3. The method of claim 2, wherein determining offset information for the automated guidance device comprises:
acquiring the first position information carried in the identification code information;
positioning the current position of the automatic guiding device to obtain second position information;
and calculating an offset distance value and an offset angle value of the automatic guiding device based on the first position information and the second position information.
4. The method of claim 3, wherein determining a travel speed relationship between at least two of the first drive wheel, the second drive wheel, and the automated guidance device as a function of the inter-wheel distance value and the offset information comprises:
calculating according to the offset distance value and the offset angle value to obtain a first deviation correction parameter and a second deviation correction parameter;
and determining the driving speed relational expression according to the distance value between the wheels, the first deviation correction parameter and the second deviation correction parameter.
5. The method of claim 4, wherein the first deviation correction parameter and the second deviation correction parameter are calculated by the following equations:
z＝m2+n2；
wherein z is the offset distance value, θ2And the deviation angle value is m, m is the first deviation correction parameter, and n is the first deviation correction parameter.
6. The method of claim 5, wherein the travel speed relationship comprises: a relational expression between a first traveling speed of the first drive wheel and a second traveling speed of the second drive wheel; according to the distance value between the wheels, the first deviation correction parameter and the second deviation correction parameter, determining the driving speed relational expression as follows:
wherein v is1Is said first running speed, v2B is the second travel speed, b is the wheel-to-wheel distance value.
7. The method of claim 5, wherein the travel speed relationship comprises: a relational expression between a first traveling speed of the first drive wheel and a second traveling speed of the second drive wheel; according to the distance value between the wheels, the first deviation correction parameter and the second deviation correction parameter, determining the driving speed relational expression as follows:
wherein v is1Is said first running speed, v2Is the second running speed, b is the value of the distance between the wheels, b1Is a distance value between an identifier of the automated guidance device and the first drive wheel.
8. The method of claim 5, wherein the travel speed relationship comprises: a relational expression between a first travel speed of the first drive wheel and a current travel speed of the automatic guide device, and a relational expression between a second travel speed of the second drive wheel and the current travel speed of the automatic guide device; according to the distance value between the wheels, the first deviation correction parameter and the second deviation correction parameter, determining the driving speed relational expression as follows:
wherein v is the current running speed, v1Is said first running speed, v2B is the second travel speed, b is the wheel-to-wheel distance value.
9. The method of claim 5, wherein the travel speed relationship comprises: a relational expression between a first travel speed of the first drive wheel and a current travel speed of the automatic guide device, and a relational expression between a second travel speed of the second drive wheel and the current travel speed of the automatic guide device; according to the distance value between the wheels, the first deviation correction parameter and the second deviation correction parameter, determining the driving speed relational expression as follows:
wherein v is the current running speed, v1Is said first running speed, v2Is the second running speed, b is the value of the distance between the wheels, b1Is a distance value between an identifier of the automated guidance device and the first drive wheel.
10. A control device for an automated guided apparatus, comprising:
the automatic guiding device comprises a detection module, a control module and a control module, wherein the detection module is used for determining the deviation information of the automatic guiding device when detecting that the running path of the automatic guiding device in the running process deviates from a target path, and the automatic guiding device comprises a first driving wheel and a second driving wheel;
a determining module, configured to determine a driving speed relationship between at least two of the first driving wheel, the second driving wheel, and the automatic guiding device according to an inter-wheel distance value and the offset information, where the inter-wheel distance value is a distance value between the first driving wheel and the second driving wheel;
and the control module is used for controlling the automatic guiding device to run according to the running speed relation until the running path of the automatic guiding device is consistent with the target path.
11. A non-volatile storage medium storing a plurality of instructions adapted to be loaded by a processor and to perform the method of controlling an automated guidance apparatus of any one of claims 1 to 9.
12. A processor, characterized in that the processor is used in a travel program, wherein the program is arranged to execute the method of controlling an automated guidance device according to any one of claims 1 to 9 while traveling.
13. An electronic device comprising a memory and a processor, wherein the memory has stored therein a computer program, and wherein the processor is configured to run the computer program to perform the method of controlling an automated guidance apparatus of any one of claims 1 to 9.
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| CN202011257851.6A CN112286204A (en) | 2020-11-11 | 2020-11-11 | Control method and device of automatic guiding device, processor and electronic equipment |
| PCT/CN2021/106980 WO2022100134A1 (en) | 2020-11-11 | 2021-07-19 | Control method and apparatus for automatic guidance apparatus, and processor and electronic device |
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