CN112363515A - Mecanum wheel type AGV parking method based on visual positioning - Google Patents

Mecanum wheel type AGV parking method based on visual positioning Download PDF

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CN112363515A
CN112363515A CN202110045367.5A CN202110045367A CN112363515A CN 112363515 A CN112363515 A CN 112363515A CN 202110045367 A CN202110045367 A CN 202110045367A CN 112363515 A CN112363515 A CN 112363515A
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agv
speed
pose
reference object
dimensional code
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CN112363515B (en
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刘颖
陈显宝
陈龙
田洪峰
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Shanghai Smartstate Technology Co ltd
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Shanghai Smartstate Technology Co ltd
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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
    • G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
    • G05D1/0234—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using optical markers or beacons
    • 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
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06K—GRAPHICAL DATA READING; PRESENTATION OF DATA; RECORD CARRIERS; HANDLING RECORD CARRIERS
    • G06K7/00—Methods or arrangements for sensing record carriers, e.g. for reading patterns
    • G06K7/10—Methods or arrangements for sensing record carriers, e.g. for reading patterns by electromagnetic radiation, e.g. optical sensing; by corpuscular radiation
    • G06K7/14—Methods or arrangements for sensing record carriers, e.g. for reading patterns by electromagnetic radiation, e.g. optical sensing; by corpuscular radiation using light without selection of wavelength, e.g. sensing reflected white light
    • G06K7/1404—Methods for optical code recognition
    • G06K7/1408—Methods for optical code recognition the method being specifically adapted for the type of code
    • G06K7/1417—2D bar codes
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06K—GRAPHICAL DATA READING; PRESENTATION OF DATA; RECORD CARRIERS; HANDLING RECORD CARRIERS
    • G06K7/00—Methods or arrangements for sensing record carriers, e.g. for reading patterns
    • G06K7/10—Methods or arrangements for sensing record carriers, e.g. for reading patterns by electromagnetic radiation, e.g. optical sensing; by corpuscular radiation
    • G06K7/14—Methods or arrangements for sensing record carriers, e.g. for reading patterns by electromagnetic radiation, e.g. optical sensing; by corpuscular radiation using light without selection of wavelength, e.g. sensing reflected white light
    • G06K7/1404—Methods for optical code recognition
    • G06K7/1439—Methods for optical code recognition including a method step for retrieval of the optical code
    • G06K7/1456—Methods for optical code recognition including a method step for retrieval of the optical code determining the orientation of the optical code with respect to the reader and correcting therefore

Abstract

The invention provides a Mecanum wheel type AGV parking method based on visual positioning, which comprises the steps of S1, setting reference object two-dimensional codes of all work positions in a walking planning path of an AGV, and setting the centers of the two-dimensional codes of the reference objects right above the work positions; s2, calibrating the reference object two-dimensional codes of the working positions, and acquiring the target poses of the reference object two-dimensional codes; s3, acquiring the current pose of the AGV by the recognition camera on the AGV at fixed time intervals, and calculating pose deviation; s4, calculating the pose deviation through the vision secondary positioning algorithm software, and adjusting the traveling speed of the AGV; and S5, repeating the steps S3 and S4 until the AGV travels to the next working position, reducing the traveling speed of the AGV to zero and stopping until the traveling speed of the AGV is right below the two-dimensional code of the reference object. The Mecanum wheel type AGV parking method realizes accurate parking of the Mecanum wheel type AGV by fusing the characteristics of accurate positioning, quick identification and strong error correction of visual images.

Description

Mecanum wheel type AGV parking method based on visual positioning
Technical Field
The invention belongs to the technical field of logistics automation, relates to an AGV parking technology, and particularly relates to a Mecanum wheel type AGV parking method based on visual positioning.
Background
Agvs (automated Guided vehicles), i.e., automated Guided vehicles or automated Guided vehicles, are vehicles that can travel along a predetermined guide path and have safety protection and various transfer functions, such as: the industrial application does not need a driver's carrier, and the traveling route and behavior can be controlled by a computer or set up by an electromagnetic rail.
Generally, the travel of an AGV is guided by navigation, which stops when the AGV travels to a work station, and travels to the next work station after loading and unloading goods at the work station. Wherein, AGV's accurate off-position is very important, and it can realize the accurate loading and unloading of goods on the AGV, also can avoid AGV operation process because of the unstable risk that drops of goods. The conventional method for controlling the parking position of the AGV is single, and generally comprises the following two modes: the method has the advantages that firstly, the positioning and stopping method based on the odometer integrates the traveling mileage of the left wheel and the right wheel of the AGV, so that the AGV stops at the working position, but the positioning mode has the problem of accumulated errors, and the AGV cannot be ensured to timely and stably stop at the working position; and secondly, the positioning and parking method based on laser scanning scans the surrounding outline through a laser sensor and matches the outline with a given map, so that parking of the AGV is realized.
In view of the above, there is a need for an improved method of positioning an AGV to improve and ensure the positioning accuracy of the AGV.
Disclosure of Invention
The invention provides a vision positioning-based Mecanum wheel type AGV parking method which is designed by the invention and realizes accurate parking of a Mecanum wheel type AGV by fusing the characteristics of accurate positioning, quick identification and strong error correction of a vision image.
The technical scheme for realizing the purpose of the invention is as follows: a Mecanum wheel type AGV parking method based on visual positioning comprises the following steps:
s1, setting a reference object two-dimensional code of each work position in the walking planning path of the AGV, wherein the center of the reference object two-dimensional code is positioned at the central position right above each work position;
s2, calibrating the reference object two-dimensional codes of the working positions, and acquiring the target poses of the reference object two-dimensional codes;
s3, the AGV walks to the beginning of the distance Y from the next working position, an identification camera on the AGV photographs the two-dimensional code of the reference object, the current pose of the AGV is obtained at fixed time intervals, and the pose deviation between the current pose and the target pose is calculated;
s4, in the step S3, when the reference two-dimensional code is photographed and recognized once, the vision secondary positioning algorithm software calculates the pose deviation obtained by recognizing the reference two-dimensional code by the recognition camera each time, and adjusts the walking speed of the AGV; the walking speed adjustment comprises the steps of sequentially dividing the pose deviation into a plurality of sections, and calculating the walking speed of the AGV of each section of the pose deviation;
and S5, repeating the steps S3 and S4 until the AGV travels to the next working position, reducing the traveling speed of the AGV to zero and stopping until the traveling speed of the AGV is right below the two-dimensional code of the reference object.
In step S1, the reference object two-dimensional code is a matrix-structured two-dimensional code.
According to the invention, the center position of the two-dimensional code of the reference object is aligned with the center of the working position, so that the accuracy of the pose deviation between the current pose and the target pose can be improved, and the AGV can be accurately and timely stopped when walking to the working position within an error range. Meanwhile, the two-dimensional code with the matrix structure can ensure that the AGV can accurately identify the two-dimensional code of the reference object in any pose.
The principle of the Mecanum wheel type AGV parking method is as follows: the method comprises the steps of setting reference two-dimensional codes (matrix structure two-dimensional codes) under each working position of a walking planning path, calibrating the reference two-dimensional codes to obtain a target pose, starting when an AGV walks to a distance Y from a next working position until the AGV walks to the position under the next working position, continuously obtaining the current pose of the AGV, and calculating pose deviation between the current pose and the target pose through vision secondary positioning algorithm software, so that the walking speed of the AGV is adjusted in real time (namely, when the pose deviation changes from large to small, the speed of the AGV starts from zero, gradually accelerates, then keeps walking at a constant speed, and then gradually decreases to the position under the reference two-dimensional codes until the AGV walks to the working positions, and then accurately stops). The Mecanum wheel type AGV parking method based on visual positioning has the advantage of high parking precision.
Further, the matrix structure two-dimensional code is fixed on the reference aluminum plate, and the matrix structure two-dimensional code includes 2 at least two-dimensional codes.
Preferably, adjacent two-dimensional codes in the matrix structure two-dimensional codes have a distance therebetween.
As an improvement to the reference object two-dimensional codes, 9 two-dimensional codes of each reference object two-dimensional code form a square matrix structure.
Wherein, step S2 includes the following steps:
s201, the AGV travels to the two-dimension code of the reference object of each working position;
s202, opening visual positioning software of a PLC (programmable logic controller) and connecting the visual positioning software with a vehicle-mounted visual camera on the AGV in a wired or wireless manner;
s203, adjusting the exposure value and the focal length of the vehicle-mounted vision camera to enable the image received by the vision positioning software to be in the optimal state;
s204, sequentially photographing each two-dimension code of the reference object two-dimension code by using a vehicle-mounted vision camera and storing pictures;
and S205, sending the stored pictures to visual positioning software for calibration, and completing the calibration of the two-dimensional code of the reference object.
Wherein, step S3 includes the following steps:
s301, the AGV walks to a distance Y away from the next working position until the AGV walks to a position right below the next working position, and the vehicle-mounted vision camera photographs the two-dimensional code of the reference object at fixed time intervals;
s302, and S301Inputting the middle picture into the PLC, and determining the current pose S of the AGV at the current photographing time0、S1、S2、……、Sn；
S303, calculating pose deviation between the current pose and the target pose in the PLC;
and S304, sending the pose deviation to the vision secondary positioning algorithm software through a TCP/IP protocol.
In one embodiment of the invention, the visual secondary positioning algorithm software of step S4 is provided with a pose deviation-based velocity planning algorithm module.
In an embodiment of the present invention, as an improvement to the speed planning algorithm module, the speed planning algorithm module is an S-shaped speed curve planning algorithm module, and a maximum speed V is preset in the S-shaped speed curve planning algorithm modulemaxMaximum acceleration amaxJerk J, jerk J refers to the rate of change of acceleration, i.e., the third derivative of the position vector with respect to time.
The method for adjusting the traveling speed of the AGV in step S4 includes: the pose deviation is input into a speed planning algorithm module, and the walking of the AGV is calculated through a speed planning algorithm
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Converting the angular velocities into the angular velocities of 4 Mecanum wheels of the AGV through an inverse kinematics equation, and communicating the angular velocities through CANopenAnd the command is issued to the motor driver so as to drive the incremental servo motor to rotate and adjust the traveling speed of the AGV.
Furthermore, after the pose deviation is obtained, the traveling speed of the AGV in the pose deviation needs to be calculated through speed planning, so that the pose deviation is reduced, starting and stopping of the servo motor are smooth, the situation that the rotating speed of the servo motor suddenly changes is avoided, and the AGV can stably move. The AGV traveling speed calculation method comprises the following steps: and dividing the pose deviation into at least 4 sections, and calculating the traveling speed of the AGV in each section of the pose deviation through a speed planning algorithm. The traveling speed of the AGV is an accelerated traveling speed increased by an accelerated speed, an accelerated traveling speed reduced by the accelerated speed, a decelerated traveling speed reduced by the accelerated speed and a decelerated traveling speed increased by the accelerated speed in sequence from the first section of pose deviation to the fourth section of pose deviation.
Compared with the prior art, the invention has the beneficial effects that: the method comprises the steps of setting a reference object two-dimensional code on a working position of a walking planning path, calibrating the reference object two-dimensional code to obtain a target pose, continuously obtaining the current pose of the AGV in the process that the AGV walks from one working position to the next working position, and calculating the pose deviation between the current pose and the target pose through vision secondary positioning algorithm software, so that the walking speed of the AGV is adjusted in real time (namely, in the process that the pose deviation changes from large to small, the speed of the AGV starts from zero, gradually accelerates to walk firstly, then keeps walking at a constant speed, and then gradually decreases to the position right below the reference object two-dimensional code of the working position until the AGV walks to the working position, and then accurately stops). The Mecanum wheel type AGV parking method based on visual positioning has the advantage of high parking precision.
Drawings
In order to more clearly illustrate the technical solution of the embodiment of the present invention, the drawings used in the description of the embodiment will be briefly introduced below. It should be apparent that the drawings in the following description are only for illustrating the embodiments of the present invention or technical solutions in the prior art more clearly, and that other drawings can be obtained by those skilled in the art without any inventive work.
FIG. 1 is a flow chart of a vision positioning based Mecanum wheel type AGV parking method of the present invention;
FIG. 2 is a schematic diagram of a Sudoku matrix two-dimensional code of a reference object two-dimensional code according to the present invention;
fig. 3 is a diagram illustrating the travel control of the AGV according to the present invention.
Detailed Description
The invention will be further described with reference to specific embodiments, and the advantages and features of the invention will become apparent as the description proceeds. These examples are illustrative only and do not limit the scope of the present invention in any way. It will be understood by those skilled in the art that various changes in form and details may be made therein without departing from the spirit and scope of the invention, and that such changes and modifications may be made without departing from the spirit and scope of the invention.
In the description of the present embodiments, it is to be understood that the terms "center", "longitudinal", "lateral", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc. indicate orientations or positional relationships based on those shown in the drawings, and are only for convenience of describing the present invention and simplifying the description, but do not indicate or imply that the device or element referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus, should not be construed as limiting the present invention.
Furthermore, the terms "first," "second," "third," and the like are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicit to a number of indicated technical features. Thus, a feature defined as "first," "second," etc. may explicitly or implicitly include one or more of that feature. In the description of the invention, the meaning of "a plurality" is two or more unless otherwise specified.
Referring to fig. 1, the present embodiment provides a method for parking a mecanum wheel type AGV based on visual positioning, and in the present embodiment, the method for parking a mecanum wheel type AGV includes the following steps:
and S1, setting the reference object two-dimensional codes of the work positions in the walking planning path of the AGV, wherein the centers of the reference object two-dimensional codes are positioned at the central position right above each work position.
In step S1, the reference object two-dimensional code is a matrix-structured two-dimensional code.
Specifically, in the step, the center position of the reference object two-dimensional code is aligned with the center of the working position, so that the accuracy of pose deviation between the current pose and the target pose can be improved, and the AGV can accurately and timely stop when walking to the working position within an error range.
Further, the matrix structure two-dimensional code is fixed on the reference aluminum plate and comprises at least 2 two-dimensional codes.
Furthermore, adjacent two-dimensional codes in each matrix structure two-dimensional code have a space therebetween.
And S2, calibrating the reference object two-dimensional codes of the working positions, and acquiring the target poses of the reference object two-dimensional codes.
Specifically, the step S2 includes the following steps:
s201, the AGV travels to the two-dimension code of the reference object of each working position;
s202, opening visual positioning software of a PLC (programmable logic controller) and connecting the visual positioning software with a vehicle-mounted visual camera on the AGV in a wired or wireless manner;
s203, adjusting the exposure value and the focal length of the vehicle-mounted vision camera to enable the image received by the vision positioning software to be in the optimal state;
s204, sequentially photographing each two-dimension code of the reference object two-dimension code by using a vehicle-mounted vision camera and storing pictures;
and S205, sending the stored pictures to visual positioning software for calibration, and completing the calibration of the two-dimensional code of the reference object.
And S3, the AGV walks to the next working position by a distance Y, the recognition camera on the AGV photographs the two-dimensional code of the reference object at fixed time intervals, the current pose of the AGV is obtained, and the pose deviation between the current pose and the target pose is calculated.
Specifically, the step S3 includes the following steps:
s301, the AGV walks to a distance Y from the next working position, and a vehicle-mounted vision camera on the AGV photographs the two-dimensional code of the reference object at a fixed time interval S;
s302, inputting the picture in the S301 into a PLC (programmable logic controller), and determining the current pose S of the AGV at the current picture taking time0、S1、S2、……、Sn；
S303, calculating pose deviation between the current pose and the target pose in the PLC;
and S304, sending the pose deviation to the vision secondary positioning algorithm software through a TCP/IP protocol.
S4, in the step S3, the vision secondary positioning algorithm software calculates the pose deviation obtained by recognizing the reference two-dimensional code each time by the recognition camera every time when the reference two-dimensional code is recognized once, and adjusts the walking speed of the AGV. The walking speed adjustment is to divide the pose deviation into a plurality of segments in sequence and calculate the AGV walking speed of each segment of pose deviation.
Specifically, the visual secondary positioning algorithm software of step S4 is provided with a speed planning algorithm module based on pose deviation.
Further, the speed planning algorithm module is an S-shaped speed curve planning algorithm module, and a maximum speed V is preset in the S-shaped speed curve planning algorithm modulemaxMaximum acceleration amaxAnd jerk J. Jerk J refers to the rate of change of acceleration, i.e., the third derivative of the position vector with respect to time.
The method for adjusting the traveling speed of the AGV in step S4 includes: the pose deviation is input into a speed planning algorithm module, and the walking of the AGV is calculated through a speed planning algorithm
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And converting the angular speed into the angular speed of 4 Mecanum wheels of the AGV through an inverse kinematics equation, and issuing an angular speed instruction to a motor driver through CANopen communication, so that the incremental servo motor is driven to rotate, and the traveling speed of the AGV is adjusted.
Specifically, the AGV traveling speed calculation method comprises the following steps: and dividing the pose deviation into at least 4 sections, and calculating the traveling speed of the AGV in each section of the pose deviation through a speed planning algorithm. The traveling speed of the AGV is an accelerated traveling speed increased by an accelerated speed, an accelerated traveling speed reduced by the accelerated speed, a decelerated traveling speed reduced by the accelerated speed and a decelerated traveling speed increased by the accelerated speed in sequence from the first section of pose deviation to the fourth section of pose deviation. In this step, the pose deviation may also be divided into 6 segments, and when the pose deviation is divided into 6 segments, the traveling speed of the AGV is sequentially an accelerated traveling speed at which acceleration increases, a uniformly accelerated traveling speed, an accelerated traveling speed at which acceleration decreases, a decelerated traveling speed at which acceleration decreases, a uniformly decelerated traveling speed, and a decelerated traveling speed at which acceleration increases, from the first-segment pose deviation to the sixth-segment pose deviation. The pose deviation obtained after each photographing is calculated, the pose deviation is preferably divided into 7 segments, and when the pose deviation is divided into 7 segments, the traveling speed of the AGV is divided into an acceleration traveling speed increased by the acceleration, a uniformly accelerated traveling speed, an acceleration traveling speed reduced by the acceleration, a uniform traveling speed, a deceleration traveling speed reduced by the acceleration, a uniformly decelerated traveling speed and a deceleration traveling speed increased by the acceleration from the first segment pose deviation to the seventh segment pose deviation in sequence.
And S5, repeating the steps S3 and S4 until the AGV travels to the next working position, reducing the traveling speed of the AGV to zero and stopping until the traveling speed of the AGV is right below the two-dimensional code of the reference object.
According to the invention, the center position of the two-dimensional code of the reference object is aligned with the center of the working position, so that the accuracy of the pose deviation between the current pose and the target pose can be improved, and the AGV can be accurately and timely stopped when walking to the working position within an error range. Meanwhile, the two-dimensional code with the matrix structure can ensure that the AGV can accurately identify the two-dimensional code of the reference object in any pose.
The principle of the Mecanum wheel type AGV parking method is as follows: the method comprises the steps of setting reference two-dimensional codes (matrix structure two-dimensional codes) under each working position of a walking planning path, calibrating the reference two-dimensional codes to obtain a target pose, starting when an AGV walks to a distance Y from a next working position until the AGV walks to the position under the next working position, continuously obtaining the current pose of the AGV, and calculating pose deviation between the current pose and the target pose through vision secondary positioning algorithm software, so that the walking speed of the AGV is adjusted in real time (namely, when the pose deviation changes from large to small, the speed of the AGV starts from zero, gradually accelerates, then keeps walking at a constant speed, and then gradually decreases to the position under the reference two-dimensional codes until the AGV walks to the working positions, and then accurately stops). The Mecanum wheel type AGV parking method based on visual positioning has the advantage of high parking precision.
The method for parking a Mecanum wheel type AGV based on visual positioning is described in detail by walking the AGV from a previous work station to a next work station and parking the AGV according to the specific embodiment as follows:
1.1 the reference object two-dimensional code is arranged under the working position in the walking planning path of the AGV. Specifically, a reference aluminum plate printed with a nine-grid-matrix two-dimensional code is fixed right above a working position, 9 two-dimensional codes in the nine-grid-matrix two-dimensional code (i.e., a reference object two-dimensional code) are distributed as shown in fig. 2, and the distance between every two-dimensional codes is 16 mm. It should be noted here that the number of the two-dimensional codes of the reference object two-dimensional code can be set at will, and the two-dimensional code is set according to the distance from one working position to the next working position of the walking planned path, so that the AGV is ensured to be capable of acquiring any one two-dimensional code on the reference object two-dimensional code in real time by the vehicle-mounted vision camera in the walking process.
1.2 install visual positioning software In-Sight Explorer 5.6.0 In the notebook computer (i.e. PLC controller), and connect the notebook computer with the vehicle-mounted visual camera on the AGV through the network cable.
1.3, moving the AGV position to enable the camera to be positioned right above the two-dimensional code of the Sudoku matrix, then opening a live video in the visual positioning software, and adjusting the exposure value and the focal length to enable the image to be in the optimal state.
And 1.4, the vehicle-mounted vision camera shoots and stores each two-dimensional code in the nine-square-grid matrix two-dimensional code and sends the two-dimensional code to vision positioning software. Specifically, the photographing sequence of the 9 two-dimensional codes of the nine-square grid matrix two-dimensional code is described as follows: numbering the positions of the two-dimensional codes on the nine-square grid matrix two-dimensional codes, moving an AGV according to a digital sequence during photographing as shown in FIG. 2, photographing once every time the AGV moves, and recording pixel coordinates and actual coordinates in a spreadsheet of visual positioning software; the distance between adjacent two-dimensional code is 16mm, if from 1 number to No. 2 two-dimensional code then need the AGV move 16mm in Y positive direction, and from No. 2 to No. 3 two-dimensional code then need the AGV move 16mm in X positive direction, analogizes with so on.
And 1.5, dragging the pictures of the 9 two-dimensional codes into visual positioning software, calibrating and storing the shot pictures of the 9 two-dimensional codes, completing the calibration of the nine-grid matrix two-dimensional codes, and acquiring a parameter S of the target pose of the nine-grid matrix two-dimensional codes.
The AGV runs from the previous work station to the next work station and stops the position as follows:
and when the AGV travels to a position 10m away from the next working position between adjacent working positions, the nine-square-grid matrix two-dimensional code starts to be identified, the current pose of the AGV is obtained, and the pose deviation between the current pose and the target pose is calculated. For the recognized pose deviation, the speed plan of the AGV running in the pose deviation is divided into seven segments for explanation (it needs to be explained that the division of the number of the running speed plan segments of the AGV in the pose deviation between the adjacent working positions can be according to the adjacent working positionsThe distance between them is adjusted), the maximum speed v of the AGVmaxIs 1m/s, the highest acceleration amaxTaken as an example for desperation at 0.5m/s, jerk J is taken as 0.3 m/s.
Firstly, calculating the AGV operation time of each of seven segments of the AGV operation speed plan in the pose deviation.
1.1 first segment of operating time t1：
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1.2 second run time t2：
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1.3 third run time t3：
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;
1.4 fourth run time t4：
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;
1.5 fifth run time t5：
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;
1.6 sixth run time t6：
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;
1.7 seventh run time t7：
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。
Secondly, when the visual camera on the AGV recognizes the Sudoku matrix two-dimensional code, the image is taken once every 50ms (the interval time can be flexibly set according to different planned paths), and the pose deviation S of the current position is obtainedaAnd adjusting the traveling speed of the AGV in real time. The details are as followsThe following steps:
inputting the obtained two-dimensional code picture into a PLC controller, obtaining the current pose and calculating the pose deviation, and recalculating the speed of each section in the pose deviation in the vision secondary positioning algorithm software
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2.2 calculating the Current pose S in the PLC controlleriPose deviation S from target pose Sa。
And 2.3, sending the pose deviation to vision secondary positioning algorithm software through a TCP/IP protocol.
2.4 calculating the pose deviation through the vision secondary positioning algorithm software, and adjusting the traveling speed of the AGV, which comprises the following steps:
2.4.1 the traveling speed of the first section in the AGV traveling process is calculated by an S-shaped speed curve planning algorithm module, and the traveling speed of the AGV is as follows:
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。
the traveling speed of the second stage in the traveling process of the AGV is calculated by an S-shaped speed curve planning algorithm module, and the traveling speed of the AGV is as follows:
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。
the traveling speed of the third section in the traveling process of the AGV is calculated by an S-shaped speed curve planning algorithm module, and the traveling speed of the AGV is as follows:
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the traveling speed of the fourth segment in the traveling process of the AGV is calculated by an S-shaped speed curve planning algorithm module, and the traveling speed of the AGV is as follows:
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。
the traveling speed of the AGV in the fifth section in the traveling process is calculated by an S-shaped speed curve planning algorithm module, and the traveling speed of the AGV is as follows:
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。
the traveling speed of the AGV in the sixth section is calculated by an S-shaped speed curve planning algorithm module and is as follows:
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。
the traveling speed of the seventh segment in the traveling process of the AGV, namely when the time of the seventh segment is ended, the AGV stops to the position right below the working position, and the traveling speed of the AGV is calculated through an S-shaped speed curve planning algorithm module and is as follows:
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。
in the process of AGV walking, the S-shaped speed curve planning algorithm module calculates the walking speed of the AGV to obtain the AGV speed values and the distance values in each time period, the AGV speed values and the distance values are converted into the angular speeds of four Mecanum wheels of the AGV through an inverse kinematics equation of the AGV, and an angular speed instruction is issued to a motor driver through CANopen communication, so that the incremental servo motor is driven to rotate, the vehicle body is finally moved and finally accurately stopped right below a working position, and the walking control process of the AGV is shown in figure 3.
The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents, improvements and the like that fall within the spirit and principle of the present invention are intended to be included therein.
Furthermore, it should be understood that although the present description refers to embodiments, not every embodiment may contain only a single embodiment, and such description is for clarity only, and those skilled in the art should integrate the description, and the embodiments may be combined as appropriate to form other embodiments understood by those skilled in the art.

Claims (10)

1. A Mecanum wheel type AGV parking method based on visual positioning is characterized in that: the method comprises the following steps:
s1, setting a reference object two-dimensional code of each work position in the walking planning path of the AGV, wherein the center of the reference object two-dimensional code is positioned at the central position right above each work position;
s2, calibrating the reference object two-dimensional codes of the working positions, and acquiring the target poses of the reference object two-dimensional codes;
s3, the AGV walks to the beginning of the distance Y from the next working position, the recognition camera on the AGV photographs the two-dimensional code of the reference object at fixed time intervals, the current pose of the AGV is obtained, and the pose deviation between the current pose and the target pose is calculated;
s4, in the step S3, when the reference two-dimensional code is photographed and recognized once, the vision secondary positioning algorithm software calculates the pose deviation obtained by recognizing the reference two-dimensional code by the recognition camera each time, and adjusts the walking speed of the AGV; the walking speed adjustment comprises the steps of sequentially dividing the pose deviation into a plurality of sections, and calculating the walking speed of the AGV of each section of the pose deviation;
s5, repeating the steps S3 and S4 until the AGV travels to the next working position, reducing the traveling speed of the AGV to zero and stopping until the traveling speed of the AGV is right below the two-dimensional code of the reference object;
in step S1, the reference object two-dimensional code is a matrix-structured two-dimensional code.
2. A method of parking a mecanum wheeled AGV according to claim 1, wherein: the matrix structure two-dimensional code is fixed on a reference aluminum plate, and the matrix structure two-dimensional code comprises at least 2 two-dimensional codes.
3. A method of parking a mecanum wheeled AGV according to claim 2, wherein: and spaces are reserved between adjacent two-dimensional codes in the matrix structure two-dimensional codes.
4. A method of parking a mecanum wheeled AGV according to claim 2 or 3, characterised in that: the two-dimensional codes of each reference object two-dimensional code are 9, and the 9 two-dimensional codes form a square matrix structure.
5. A Mecanum wheel AGV parking method as in claim 4, wherein: step S2 includes the following steps:
s201, the AGV travels to the two-dimension code of the reference object of each working position;
s202, opening visual positioning software of a PLC (programmable logic controller) and connecting the visual positioning software with a vehicle-mounted visual camera on the AGV in a wired or wireless manner;
s203, adjusting the exposure value and the focal length of the vehicle-mounted vision camera to enable the image received by the vision positioning software to be in the optimal state;
s204, sequentially photographing each two-dimension code of the reference object two-dimension code by using a vehicle-mounted vision camera and storing pictures;
and S205, sending the stored pictures to visual positioning software for calibration, and completing the calibration of the two-dimensional code of the reference object.
6. A Mecanum wheel AGV parking method as in claims 1 or 5, wherein: step S3 includes the following steps:
s301, the AGV walks to a distance Y away from the next working position until the AGV walks to a position right below the next working position, and the vehicle-mounted vision camera photographs the two-dimensional code of the reference object at fixed time intervals;
s302, inputting the picture in the S301 into a PLC (programmable logic controller), and determining the current pose S of the AGV at the current picture taking time0、S1、S2、……、Sn；
S303, calculating pose deviation between the current pose and the target pose in the PLC;
and S304, sending the pose deviation to the vision secondary positioning algorithm software through a TCP/IP protocol.
7. A method of parking a mecanum wheeled AGV according to claim 1, wherein: in step S4, the vision secondary positioning algorithm software is provided with a pose deviation-based speed planning algorithm module.
8. A method of parking a mecanum wheeled AGV according to claim 7, wherein: the speed planning algorithm module is an S-shaped speed curve planning algorithm module, and a maximum speed V is preset in the S-shaped speed curve planning algorithm modulemaxMaximum acceleration amaxAnd jerk J.
9. A method of parking a mcanum wheel AGV according to claim 7 or 8, characterised in that: the method for adjusting the traveling speed of the AGV in step S4 includes: the pose deviation is input into a speed planning algorithm module, and the walking of the AGV is calculated through a speed planning algorithm
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、
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、
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Will be
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、
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、
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And converting the angular speed into the angular speed of 4 Mecanum wheels of the AGV through an inverse kinematics equation, and issuing an angular speed instruction to a motor driver through CANopen communication, so that the incremental servo motor is driven to rotate, and the traveling speed of the AGV is adjusted.
10. A method of parking a mecanum wheeled AGV according to claim 9, wherein: the AGV traveling speed calculation method comprises the following steps: dividing the pose deviation into at least 4 segments, and calculating the traveling speed of the AGV in each segment of pose deviation through a speed planning algorithm;
the traveling speed of the AGV is an accelerated traveling speed increased by an accelerated speed, an accelerated traveling speed reduced by the accelerated speed, a decelerated traveling speed reduced by the accelerated speed and a decelerated traveling speed increased by the accelerated speed in sequence from the first section of pose deviation to the fourth section of pose deviation.
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