CN113184423A - Control method of automatic guided vehicle, automatic guided vehicle and cargo handling system - Google Patents
Control method of automatic guided vehicle, automatic guided vehicle and cargo handling system Download PDFInfo
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- CN113184423A CN113184423A CN202110243317.8A CN202110243317A CN113184423A CN 113184423 A CN113184423 A CN 113184423A CN 202110243317 A CN202110243317 A CN 202110243317A CN 113184423 A CN113184423 A CN 113184423A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
- B65G1/02—Storage devices
- B65G1/04—Storage devices mechanical
- B65G1/0492—Storage devices mechanical with cars adapted to travel in storage aisles
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06Q—INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES; SYSTEMS OR METHODS SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES, NOT OTHERWISE PROVIDED FOR
- G06Q10/00—Administration; Management
- G06Q10/08—Logistics, e.g. warehousing, loading or distribution; Inventory or stock management
Abstract
The invention discloses a control method of an automatic guided vehicle, which comprises the following steps: acquiring the next position of the automatic guided vehicle; determining whether the next position is a turning point; if the next position is a non-steering point, controlling the automatic guided vehicle to pass through the next position in a straight line; and if the next position is a steering point, controlling the automatic guided vehicle to steer at the next position. The invention provides a self-adaptive arc turning decision logic, which dynamically selects which mode to use to move through a turning point according to a real-time state. In addition, an arc turning waiting strategy is provided, the probability of using arc turning in a congestion area is improved, and the overall operation efficiency of the system is improved.
Description
The scheme is a divisional application of Chinese patent application with the patent application number of 201910256998.4, the invention name of which is 'control method of automatic guided vehicle, automatic guided vehicle and cargo handling system' filed on 4/1/2019.
Technical Field
The invention relates to the field of intelligent warehousing, in particular to a control method of an automatic guided vehicle, the automatic guided vehicle and a cargo handling system.
Background
Along with the rapid development of the e-commerce industry in China, diversified demands are met in each link of logistics, a parcel sorting system consisting of sorting robots is produced at the same time, and the system has the flexibility of instant response and distribution while guaranteeing high parcel sorting efficiency. In the current logistics warehousing field, Automatic Guided Vehicles (AGVs) have been increasingly used to replace or supplement manual labor. The automatic guided vehicle can automatically receive the object conveying task, reaches the first position under the control of a program, acquires the object, then travels to the second position, unloads the object, and continues to execute other tasks.
Most of the existing parcel sorting systems divide a field into rectangular cells and establish a rectangular coordinate system, and after a robot receives a task of moving to a specified point, the robot calculates a moving path, then executes a plurality of moving instructions along the path to pass through the cells and finally stops at the cells where a destination is located.
The existing automatic transportation unit motion control mostly only comprises two actions of linear movement and in-situ rotation, and when passing through a turning point, the existing automatic transportation unit decelerates and stops, then rotates in situ to change the direction, and finally accelerates to move along a new direction. The time consumed for bending is long, if the moving path of the robot has a plurality of turning points, the average moving speed of the robot is greatly reduced, and in addition, the deceleration of one robot can cause the deceleration of the subsequent robots, so that the overall efficiency of the system is reduced.
The statements in the background section are merely prior art as they are known to the inventors and do not, of course, represent prior art in the field.
Disclosure of Invention
In view of this, the present invention provides a method for controlling an automatic guided vehicle, including: acquiring the current position and the next position of the automatic guided vehicle; determining whether the next position is a turning point; if the next position is a non-steering point, controlling the automatic guided vehicle to pass through the next position in a straight line; and if the next position is a steering point, controlling the automatic guided vehicle to steer at the next position.
According to one aspect of the invention, the step of controlling the automatic guided vehicle to turn at the next position comprises: judging whether the next position meets U-shaped steering conditions or not, and if so, controlling the automatic guided vehicle to turn through the next position in a U-shaped arc line; otherwise, judging whether the next position meets arc turning conditions or not, and if so, controlling the automatic guided vehicle to pass through the next position in a right-angle arc turning mode; and if the next position does not meet the arc turning condition, controlling the automatic guided vehicle to pass through the next position in a right-angle turning mode.
According to an aspect of the present invention, the control method further comprises: and acquiring a next position of the next position, judging whether the next position is available, and waiting until the next position becomes available when the next position is unavailable.
According to an aspect of the present invention, the control method further comprises: and if the next position is a turning point, acquiring the next position of the next position, judging whether the next position is available, and when the next position is unavailable, waiting until the next position becomes available, and controlling the automatic guided vehicle to pass through the next position in a U-shaped arc line or right-angle arc line mode.
According to one aspect of the invention, the step of controlling the automatic guided vehicle to turn at the next position comprises:
receiving a starting coordinate x _ start, a starting coordinate y _ start and an end coordinate x _ target, a starting coordinate y _ start and an end coordinate y _ target;
planning a track of the automatic guided vehicle from the starting point coordinate to the end point coordinate, wherein the path of the track comprises a straight line segment and an arc line segment which are connected, and no speed jump exists at the junction of the straight line segment and the arc line segment in the track by a motion mechanism of the automatic guided vehicle; and
and controlling the automatic guided vehicle to move according to the planned track.
According to one aspect of the invention, further comprising receiving a linear velocity V, wherein the step of planning the trajectory comprises:
calculating a plurality of characteristic time points;
calculating the acceleration and the angular acceleration of the automatic guided vehicle according to the characteristic time points; and
and calculating the track according to the acceleration and the angular acceleration.
According to an aspect of the invention, the plurality of characteristic time points comprises 16 characteristic time points T0-T15,
T0＝1；
T1＝AccMax/Jerk/ts+T0；
T2＝vMax/AccMax/ts+T0；
T3＝T2+T1-T0；
T4＝T3+floor((x_target-0.8305)/vMax/ts+0.5)；
T5＝omgAccMax/omgJerk/ts+T4；
T6＝omgMax/omgAccMax/ts+T4；
T7＝T6+T5-T0；
T8＝targetOmg/omgMax/ts+T4；
T9＝T8+T5-T4；
T10＝T8+T6-T4；
T11＝T8+T7-T4；
T12＝T11+1+floor((y_target-0.8305)/vMax/ts+0.5)；
T13＝T4+T1-T0；
T14＝T4+T2-T0；
T15＝T4+T3-T0；
wherein ts is a sampling period, the maximum track speed vMax is the linear speed V, AccMax is the maximum track acceleration value, Jerk is the maximum track Jerk value, omgMax is the maximum arc speed, omgmaxmax is the maximum arc angular acceleration, omgJerk is the maximum arc Jerk, targetOmg is the arc radian, and floor is an integer function.
According to one aspect of the invention, the maximum Jerk value AccMax ═ vMax 5, the maximum Jerk value Jerk ═ AccMax/ts/10; the arc maximum angular velocity omgMax is 50/180 × pi; the maximum arc angular acceleration omgcacmax is omgMax 2; the maximum arc angular acceleration omgJerk is omgAccMax/ts/20; targetOmg 0.5 pi is a 90 degree arc.
According to one aspect of the invention, the step of calculating the acceleration and angular acceleration of the automated guided vehicle comprises: according to the current time t and the last time accn-1Iterative computation of the acceleration acc at the current momentnAccording to the current time t and the last time angleaccn-1Iterative computation of angular acceleration angleacc at the current momentn，
According to one aspect of the invention, the step of calculating a trajectory comprises: according to the acceleration and the angular acceleration, the track is calculated by the following formula:
wherein theta isnFor automatically guiding the orientation angle of the vehicle, xnAbscissa, y, of the trajectory of the automated guided vehiclenIs the ordinate of the trajectory of the automated guided vehicle.
The present invention also provides an automatic guided vehicle comprising: a vehicle body; a motor mounted on the vehicle body; a traveling device coupled with and driven by the motor; and a control device provided on the vehicle body and configured to execute the control method as described above.
The present invention also provides a cargo handling system comprising: a coordinate unit; an automatic guided vehicle; a control unit in communication with the automated guided vehicle and controlling the automated guided vehicle to move in the coordinate unit and configured to perform the control method as described above.
The present invention also provides a computer-readable storage medium comprising computer-executable instructions stored thereon which, when executed by a processor, implement the control method as described above.
The invention provides a self-adaptive arc turning decision logic, which dynamically selects which mode to use to move through a turning point according to a real-time state. In addition, an arc turning waiting strategy is provided, the probability of using arc turning in a congestion area is improved, and the overall operation efficiency of the system is improved. The invention provides various optimization schemes and control logics for the movement of the robot near the turning point, reduces the turning time of the robot and improves the overall efficiency of the system.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate an embodiment of the invention and, together with the description, serve to explain the invention and not to limit the invention. In the drawings:
fig. 1 shows a case where an automatic guided vehicle moves straight;
FIG. 2 shows the case of the straight-line movement steering of the automatic guided vehicle
FIG. 3 illustrates the case of a right angle arc turn of an automated guided vehicle;
FIG. 4 illustrates the case of U-arc steering of the automated guided vehicle;
FIG. 5 illustrates a method of controlling an automated guided vehicle according to one embodiment of the present invention;
fig. 6 illustrates a control method of an automatic guided vehicle according to a preferred embodiment of the present invention;
FIG. 7 illustrates an automatic guided vehicle according to another aspect of the present invention;
FIG. 8 illustrates a cargo handling system according to another aspect of the present invention;
FIG. 9 illustrates a computer program product arranged in accordance with at least some embodiments of the invention;
FIG. 10 illustrates an existing arc planning scheme;
fig. 11 shows the case of a speed jump of the left and right wheels of the robot before and after entering the arc;
fig. 12 illustrates a motion control method of a robot according to an embodiment of the present invention;
fig. 13 illustrates the principle and effect of the motion control method of the present invention;
fig. 14 illustrates accelerations of left and right wheels or motors of the robot obtained according to the motion control method of fig. 12;
15a-15b illustrate the calculated trajectory of the robot in accordance with a preferred embodiment of the present invention;
FIG. 16 shows velocity profiles of the left and right wheels of the robot obtained from FIGS. 15a-15 b;
FIG. 17 illustrates a 180 degree arc turn;
FIG. 18 illustrates an automated warehousing system according to one embodiment of the present invention; and
FIG. 19 illustrates a computer program product arranged in accordance with at least some embodiments of the invention.
Detailed Description
In the following, only certain exemplary embodiments are briefly described. As those skilled in the art will recognize, the described embodiments may be modified in various different ways, all without departing from the spirit or scope of the present invention. Accordingly, the drawings and description are to be regarded as illustrative in nature, and not as restrictive.
In the description of the present invention, it is to be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", and the like, indicate orientations and positional relationships based on those shown in the drawings, and are used only for convenience of description and simplicity of description, and do not indicate or imply that the device or element being referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus, should not be considered as limiting the present invention. Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, features defined as "first", "second", may explicitly or implicitly include one or more of the described features. In the description of the present invention, "a plurality" means two or more unless specifically defined otherwise.
In the description of the present invention, it should be noted that unless otherwise explicitly stated or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, e.g., as meaning either a fixed connection, a removable connection, or an integral connection, either mechanically, electrically, or in communication with each other; either directly or indirectly through intervening media, either internally or in any other relationship. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.
In the present invention, unless otherwise expressly stated or limited, "above" or "below" a first feature means that the first and second features are in direct contact, or that the first and second features are not in direct contact but are in contact with each other via another feature therebetween. Also, the first feature being "on," "above" and "over" the second feature includes the first feature being directly on and obliquely above the second feature, or merely indicating that the first feature is at a higher level than the second feature. A first feature being "under," "below," and "beneath" a second feature includes the first feature being directly above and obliquely above the second feature, or simply meaning that the first feature is at a lesser level than the second feature.
The following disclosure provides many different embodiments or examples for implementing different features of the invention. To simplify the disclosure of the present invention, the components and arrangements of specific examples are described below. Of course, they are merely examples and are not intended to limit the present invention. Furthermore, the present invention may repeat reference numerals and/or letters in the various examples, such repetition is for the purpose of simplicity and clarity and does not in itself dictate a relationship between the various embodiments and/or configurations discussed. In addition, the present invention provides examples of various specific processes and materials, but one of ordinary skill in the art may recognize applications of other processes and/or uses of other materials.
The preferred embodiments of the present invention will be described in conjunction with the accompanying drawings, and it will be understood that they are described herein for the purpose of illustration and explanation and not limitation.
One aspect of the present invention provides an arc movement scheme and a motion control logic including the arc movement scheme, so as to improve the overall operation efficiency of an automatic transport unit.
In most existing intelligent warehouse or parcel sorting robot systems, the whole field is modeled and divided into a form of cells. The unit cells are equal in size and can be square or rectangular. And establishing a grid coordinate system in units of cells in the field. The center of the unit is provided with a two-dimensional code for a robot or an automatic guided vehicle walking on the two-dimensional code to position. Usually, starting from any cell, only four cells in front, back, left and right directly adjacent to the cell can be reached, and four cells on the diagonal line cannot be directly reached. A schematic view of a similar cellular divided field can be seen in fig. 1.
When the sorting robot or the automatic guided vehicle travels on the cell, the movement modes of the sorting robot or the automatic guided vehicle are generally four types: the straight line moves, the straight line moves and turns, the right-angle arc turns, and the U-shaped arc turns. Each is generally described below.
Fig. 1 shows a case where the automatic guided vehicle moves straight. As shown in fig. 1, in the cell coordinate system, the automated guided vehicle is in a cell (1,1), and to reach the cell (1,3), it will pass the cell (1,2) in a straight-line movement. The black dots therein schematically show the centers of the cells.
Fig. 2 shows a case where the automatic guided vehicle turns straight (quarter turn). As shown in fig. 2, the automated guided vehicle is currently in cell (1,1), which is to reach cell (2, 2). For this reason, the automated guided vehicle needs to move straight to the center point of the cell (1,2) and stop at a reduced speed, rotate in place to change the direction by 90 degrees, and finally move at an increased speed in a new direction and reach the cell (2, 2).
Fig. 3 shows the case of the automatic guided vehicle turning in a right-angled arc. Wherein the automatic guided vehicle needs to pass through the (1,2) point from the (1,1) point to the (2,2) point. The automatic guided vehicle needs to travel upwards for a distance of half a cell, then rotate 90 degrees along a clockwise arc by taking half of the side length of the cell as a radius, and finally move rightwards for half a cell to reach a target point.
Fig. 4 shows the case of U-shaped arc steering of the automatic guided vehicle. Wherein, the robot needs to pass through the (1,1) point and the (1,2) point to the (2,1) point from the (1,1) point according to the motion schematic diagram when the automatic guided vehicle continuously passes through two turning points. The robot needs to firstly drive one cell upwards to reach the center of (1,2), then rotate 180 degrees along an arc in the clockwise direction by taking one half of the side length of the cell as a radius to reach the center of the cell (2,2), and finally drive one cell downwards to reach the target point (2, 1).
Fig. 5 illustrates a method 100 for controlling an automated guided vehicle according to one embodiment of the invention. As shown in fig. 5, the control method 100 includes:
in step S101, a next position of the automatic guided vehicle is acquired. For example, the cell where the current automatic guided vehicle is located is (1,1), and the next position of the automatic guided vehicle is obtained to be the cell (1,2) according to the current traveling direction or according to a path planned in advance by the control system.
In step S102, it is determined whether the next position is a turning point. For example, in the process of planning the path of the automatic guided vehicle, in the moving route found by the path planning, the cell with the changed advancing direction is the turning point. For example, for a given starting point and end point, the path planning recursively finds a moving route that can reach the cell at the end point, starting from the cell at the starting point, and proceeding along the cell in one of the four directions, i.e., up, down, left, and right.
In step S103, if the next position is a non-steering point, the automatic guided vehicle is controlled to pass through the next position in a straight line.
In step S104, if the next position is a turning point, the automatic guided vehicle is controlled to turn at the next position, such as straight-line movement turning, right-angle arc turning or U-shaped arc turning, according to the specific requirements of turning.
A control method 200 of the automatic guided vehicle according to a preferred embodiment of the present invention is described below with reference to fig. 6.
Steps S201, S202, and S203 in fig. 6 are similar to steps S101, S102, and S103 in fig. 5, and are not described again here.
In step S202, if it is determined that the next position (next cell) is the turning point, it is determined whether various types of turning operations can be performed according to the feature of the next position.
In step S204, it is determined whether the next position satisfies the U-turn condition. If the U-turn condition is satisfied, the flow proceeds to step S205, and the automatic guided vehicle is controlled to pass through the next position in a U-turn manner. The manner of U-turn is shown in FIG. 4 and will not be described herein. If the U-turn condition is not satisfied, processing proceeds to step S206 where it is determined whether the next position satisfies the arc turn condition. If the curve turning condition is satisfied, the process proceeds to step S207, and the AGV is controlled to pass through the next position or cell in the form of a right-angle curve.
If the next position does not satisfy both the U-turn condition and the curve turn condition, the process proceeds to step S208, and the automatic guided vehicle is controlled to pass the next position in a quarter turn.
In step S209, it is determined whether the next position is the end point of the conveyance task. If it is the end point, the process proceeds to step S211, and the whole process ends. Otherwise, go to step S210, iterate the next position as the current position, and continue the whole process 200.
According to an embodiment of the present invention, taking fig. 3 as an example, the conditions for turning the right-angle arc include:
a) the turning point (1,2) is not the end point of the path;
b) the steering points (1,2) and the point (1,1) before the steering points and the point (2,2) after the steering points have no special task;
c) the cells of the above 3 points and the cells inside the arc (i.e. 4 cells in fig. 3) are not occupied by other robots.
The condition a is required because the end point of the right-angle arc turning is the 3 rd point (2,2), and the arc turning is applicable only when the end point of the path is at (2,2) and the point behind the end point; condition b) is required if the robot needs to stop at the turning point and points before and after the turning point to perform other tasks, and the arc turn cannot be stopped halfway; the actual movement track of the arc turning deviates from the original path, the inner cell has the possibility of collision if the robot exists, and the condition c) is the special treatment of the arc turning during the calculation of the collision control. The specific explanation is as follows.
The trajectory that the right angle pitch arc turned corresponds 3 cells of original path, and 2 nd cell is the turning point wherein, because can define the terminal point of path as the turning point (conveniently split into many straightway to the path segmentation calculation) when route planning, can not pitch arc turn if meet the terminal point nature when judging whether need pitch arc turn. Since the quarter-turn is an inseparable action, i.e. without stopping at the turning point, and without moving straight on 3 cells of the arc trajectory, it is not possible to perform an arc turn if other tasks need to be performed. In addition, the actual moving track of the arc turning deviates from the track of the original path planned by the path, the body of the automatic guiding vehicle partially enters the cell on the inner side of the arc when the automatic guiding vehicle actually moves, and if other automatic guiding vehicles or equipment exist in the cell on the inner side of the arc, collision can be generated possibly, so that the arc turning cannot be performed at the turning point. The above 3 points are the most basic conditions to be considered for judging whether the curve turning can be performed, and in an actual scene, other limiting conditions may be considered, and the curve turning can be performed safely only if the limiting conditions are met, otherwise, only the turning point can be passed by using a straight-line moving turning mode.
According to an embodiment of the present invention, taking fig. 4 as an example, the basic conditions for turning the U-shaped arc include:
a) there are two successive turning points (1,2) and (2,2), which are adjacent;
b) the second turning point (2,2) is not an end point;
c) clockwise or counterclockwise rotation at both turning points;
d) both turning points (1,2) and (2,2) and their preceding (1,1) and succeeding (2,1) points have no special task;
e) the cell of the above 4 points and the two cells outside the turning point (i.e. the 6 cells in fig. 2) are not occupied by other robots.
If there is only one turning point, then a quarter turn should be performed, whereas a U-turn is an optimization of the path of movement for two consecutive turns; the condition b is required because the end point of the right-angle arc turning is the 4 th point (2,1), and the end point of the path is (2,1) and the point behind the end point of the path to be suitable for the arc turning; condition d) is required if the robot needs to stop at the turning point and points before and after the turning point to perform other tasks, and the arc turn cannot stop in the middle; the actual movement track of the arc turning deviates from the original path, the inner cell has the possibility of collision if the robot exists, and the condition e) is the special treatment of the arc turning during the calculation of the collision control.
The U-turn corresponds to 4 cells on the original path, with turning points in the 2 nd and 3 rd cells. Similar to a quarter turn, this special turning point, the end of the path, needs to be excluded. A U-turn can be seen as a combination of two consecutive arc turns, where the direction of the nose of the automatically guided vehicle will be rotated by 90 ° at each turn point, and there are two cases, one where the clock direction of rotation is the same (both clockwise or both counterclockwise), where the direction of the nose is rotated by 180 ° compared to the front of the turn after two turn points, and the second where the clock direction of rotation is opposite at two turn points, and where the direction of the nose is the same after two turns as before the turn. The U-turn in the present invention is the first case, and therefore, when determining whether or not the U-turn is performed, in addition to two consecutive turning points, a request is made for the direction of turning. Similar to a quarter-turn, no other task can be performed by the 4 points traversed by the U-turn. Similar to the quarter-turn, the trajectory of the U-turn also deviates from the trajectory of the original straight path, as shown in fig. 4, requiring a check of the two cells outside the two turning points for the presence of other automatic guided vehicles or devices. The above 5 points are the most basic conditions to be considered for judging whether the U-shaped turning can be performed, other limiting conditions may be considered in an actual scene, the U-shaped turning can be safely performed only if the limiting conditions are met, and if the U-shaped turning cannot be performed, the two turning points can be respectively judged whether the conditions of the right-angle arc turning are met, so that the turning efficiency can be improved.
In the invention, the robot needs to apply for occupying cells to the background, each cell can be occupied by only one robot at the same time, and the background logically avoids collision between the robots during moving by controlling the occupation of the cells. The inventor of the present application found that in the turn logic, if the next point of the turning point is occupied by other robots or the automatic guided vehicle, the automatic guided vehicle selects "straight line movement + turning" if the verification is failed when the arc turning is enabled. If two robots A and B need to pass through the same turning point, the robot A reaches the turning point first and then reaches a point behind the turning point, and at the moment, the robot B can only apply for a cell where the turning point is located and cannot apply for a cell behind the turning point, so that the robot B can select linear movement and rotation. In the case of relatively congested local areas, this phenomenon may result in almost all robots not selecting an arc turn when turning, but degenerating to a straight line + turning, and the time for passing through the turning point is longer, which aggravates the degree of congestion.
Therefore, according to a preferred embodiment of the present invention, an arc turning waiting step is added to the control process, that is, when the cell (next position) at a point after the turning point is applied by the automatic guided vehicle fails, a timer is added to the automatic guided vehicle, and the cell is repeatedly applied until the application is successful, that is, the next position becomes available before the timer is over.
The arc turning strategy can enable the robot to turn by using the arc when turning under the condition that the machine in the congestion area is not blocked, so that the average passing speed is improved. If a plurality of turning points exist near the working point which needs to stop to execute other tasks, when the strategy is not used, the time for turning away is extremely long, and congestion is basically and certainly caused, and the probability of congestion can be obviously reduced by using the strategy, so that the production efficiency is improved.
Fig. 7 illustrates an automatic guided vehicle 50 according to another aspect of the present invention. The internal components of the automatic guided vehicle 50 are shown, while the housing and the like are omitted for clarity. As shown in fig. 7, the automatic guided vehicle 50 includes: a vehicle body 6; a motor (not shown) mounted on the vehicle body; a traveling device 1 coupled with and driven by the motor; a control device 4 provided on the vehicle body and configured to execute the control method 100 or 200 as described above.
The traveling device 1 may include, for example, small wheels, crawler belts, and the like, and is mounted on the vehicle body 6 and driven by a motor. A decelerator may be included between the motor and the traveling device, for example, to amplify the driving force and reduce the rotation speed.
Fig. 8 illustrates a cargo handling system 300 according to another aspect of the present invention, comprising: a coordinate unit 301; an automatic guided vehicle 302; a control unit 303 in communication with the automated guided vehicle and controlling the automated guided vehicle to move in the coordinate unit and configured to perform the control method 100 or 200 as described above.
According to one embodiment of the invention, the cargo handling system 300 may include a plurality of automated guided vehicles 302, and the control unit 303 may be configured to perform a unified planning of the handling tasks and the handling paths of the plurality of automated guided vehicles. Of course, the automated guided vehicle 302 may also have its own control unit.
The invention also relates to a computer-readable storage medium comprising computer-executable instructions stored thereon which, when executed by a processor, implement the control method 100 or 200 as described above.
Fig. 9 is a block diagram of a computer program product 500 arranged in accordance with at least some embodiments of the invention. The signal bearing medium 502 may be embodied as or include a computer readable medium 506, a computer recordable medium 508, a computer communication medium 510, or a combination thereof, that stores programming instructions 504 that may configure a processing unit to perform all or some of the processes previously described. The instructions may include, for example, one or more executable instructions for causing one or more processors to: acquiring the next position of the automatic guided vehicle; determining whether the next position is a turning point; if the next position is a non-steering point, controlling the automatic guided vehicle to pass through the next position in a straight line; and if the next position is a steering point, controlling the automatic guided vehicle to steer at the next position.
The invention provides a self-adaptive arc turning decision logic, which dynamically selects which mode to use to move through a turning point according to a real-time state. In addition, an arc turning waiting strategy is provided, the probability of using arc turning in a congestion area is improved, and the overall operation efficiency of the system is improved.
A motion control method according to a second aspect of the present invention is described below with reference to fig. 10-19.
The existing arc planning is mostly carried out based on a mode that an arc or an elliptic arc is connected with a straight line, however, the arc and the straight line are connected with an angular speed to jump, so that the control precision is easily reduced, and even the control precision is unstable, so that the control precision is easy to slip. Usually, the linear velocity is greatly reduced, so that the angular velocity jump can be reduced to a certain extent, but the efficiency is affected, and the stability is still insufficient. Fig. 10 shows such a scheme. Wherein the linear velocity is v and the angular velocity is 0 at the moment before the robot enters the arc line. And at the moment of entering the arc line, the angular velocity is the linear velocity v/the arc radius r. That is, when the robot starts the circular arc trajectory motion, the angular velocity jumps from 0 to v/r, and there is a jump corresponding to the velocity of the driving wheel, which may cause unstable control and excessive control deviation. Fig. 11 shows the severe speed jumps that occur on the left and right wheels of the robot before and after entering the arc. Some companies propose an arc turning method, which is based on a mode of connecting circular arcs or elliptical arcs with straight lines, and when the circular arcs or the elliptical arcs are connected, jump exists in angular speed, so that the control precision is easily reduced, and even the circular arcs or the elliptical arcs are unstable, and slip is caused.
Fig. 12 illustrates a method 600 for motion control of a robot, in accordance with one embodiment of the present invention. As shown in fig. 10, the motion control method 600 includes:
in step S601, the start coordinates x _ start, y _ start and the end coordinates x _ target, y _ target are received. The start point coordinates and the end point coordinates may be coordinates in a physical coordinate system or may be coordinates in a logical coordinate system. The physical coordinate system is an actual distance coordinate system in the two-dimensional XY direction. The logical coordinate system is a coordinate system set according to business practice. For example, but not by way of limitation, the logical coordinate system and the physical coordinate system may differ, for example, in that the logical coordinate system is generally described as an integer, such as (1,2), (5,10), and the coordinate system direction does not necessarily coincide with the physical coordinate system, and the distance unit of the logical coordinate system is not necessarily a common physical unit, but is defined as an actual operation requirement. Therefore, the logical position and the physical position may be completely consistent, or may have a certain conversion relationship. Under the concept of the present invention, the position parameters in the logical coordinate system are not limited to integers but may also be decimal. These are all within the scope of the present invention. If the physical coordinate system or the logical coordinate system of the site is established in advance, the physical coordinate system or the logical coordinate system can be obtained from a corresponding file or a database. The following description is given by taking a physical coordinate system as an example.
In step S602, a trajectory of the automated guided vehicle from the start coordinate to the end coordinate is planned, where a path of the trajectory includes a straight line segment and an arc segment that are joined, where in the trajectory, there is no transition in speed of a motion mechanism of the automated guided vehicle at a junction of the straight line segment and the arc segment.
The movement mechanism of the robot comprises, for example, at least two sets of wheels, one set of which is located inside the trajectory and one set of which is located outside the trajectory. That is, at least one set of wheels is located on the left side and at least one set of wheels is located on the right side, as viewed in the direction of movement of the robot. According to step S602, no speed jump occurs between the inner wheel and the outer wheel of the robot before and after the intersection of the straight line segment and the arc segment in the planned trajectory.
In the present invention, the expression "no speed jump" means that there is no significant change in the linear speed and/or the angular speed of the robot motion mechanism before and after entering the arc segment from the straight segment, for example, with reference to the speed V1 before entering the arc segment, the speed V2 after entering the arc segment has a change rate of no more than 20%, or no more than 10%, or no more than 5% relative to V1, and it can be considered that there is no significant change in the speed.
In the present invention, the "trajectory" of the robot includes at least a speed plan of the robot in addition to the path curve of the robot. And preferably includes velocity, angular velocity, X-direction and Y-direction displacement curves of the robot.
In step S603, the automatic guided vehicle is controlled to move according to the planned trajectory.
Fig. 13 illustrates the principles and effects of the motion control method 600 of the present invention. In step S602 of the method 600, the planning of the motion makes no speed jump at the boundary between the straight line segment and the arc segment of the path curve, which is beneficial to reducing the control deviation and reducing the impact. In contrast, the trajectory obtained by the motion control method shown in fig. 11 has a significant jump in speed when the two-wheeled robot enters and leaves the arc. This is considered to be disadvantageous, and may affect the control deviation, resulting in a shock.
A method of planning a trajectory of the automated guided vehicle from the start point coordinates to the end point coordinates according to a preferred embodiment of the present invention is described below.
The motion control method 600 further comprises receiving a linear velocity V, which is the velocity at which the robot reaches the end coordinate from the start coordinate at a constant velocity. Wherein the step S602 of planning a trajectory includes:
in step S6021, a plurality of characteristic time points are calculated. The plurality of characteristic time points are located on a time period from the start point coordinate to the end point coordinate, including both ends.
In step S6022, the acceleration and the angular acceleration of the automatically guided vehicle are calculated from the plurality of characteristic time points.
In step S6023, the trajectory is calculated from the acceleration and the angular acceleration.
According to a preferred embodiment of the present invention, the plurality of characteristic time points in step S6021 includes 16 characteristic time points T0-T15, respectively calculated as follows (in ts):
T0＝1；
T1＝AccMax/Jerk/ts+T0；
T2＝vMax/AccMax/ts+T0；
T3＝T2+T1-T0；
T4＝T3+floor((x_target-0.8305)/vMax/ts+0.5)；
T5＝omgAccMax/omgJerk/ts+T4；
T6＝omgMax/omgAccMax/ts+T4；
T7＝T6+T5-AT0；
T8＝targetOmg/omgMax/ts+T4；
T9＝T8+T5-T4；
T10＝T8+T6-T4；
T11＝T8+T7-T4；
T12＝T11+1+floor((y_target-0.8305)/vMax/ts+0.5)；
T13＝T4+T1-T0；
T14＝T4+T2-T0；
T15＝T4+T3-T0；
wherein ts is a sampling period, the maximum trajectory speed vMax is the linear speed V, AccMax is the maximum trajectory acceleration value, Jerk is the maximum trajectory Jerk value, omgMax is the maximum arc angular velocity, omgmaxmax is the maximum arc angular acceleration, omgJerk is the maximum arc Jerk, targetOmg is the arc radian, and floor is a rounding function, for example, rounding down.
Wherein according to a preferred embodiment of the invention, the maximum Jerk value of the trajectory, AccMax ═ vMax 5 and Jerk value of the trajectory, AccMax/ts/10; the arc maximum angular velocity omgMax is 50/180 × pi; the maximum arc angular acceleration omgcacmax is omgMax 2; the maximum arc angular acceleration omgJerk is omgAccMax/ts/20; targetOmg 0.5 pi is a 90 degree arc. The input signals of the modules are input into the modules according to requirements, wherein AccMax, Jerk, omgMax, omgAccMax and omgJerk can be constants or can not be limited to fixed values.
Wherein the step of calculating the acceleration and angular acceleration of the robot according to a preferred embodiment of the present invention comprises: according to the current time t and the last time accn-1Iterative computation of the acceleration acc at the current momentnAccording to the current time t and the last time angleaccn-1Iterative computation of angular acceleration angleacc at the current momentnThe specific calculation method is as follows:
wherein according to a preferred embodiment of the invention the movement mechanism of the robot comprises at least two sets of wheels, wherein one set of wheels is located inside said trajectory and wherein one set of wheels is located outside said trajectory. That is, at least one set of wheels is located on the left side and at least one set of wheels is located on the right side, as viewed in the direction of movement of the robot. Fig. 14 is the acceleration of the left and right wheels or the left and right motors calculated according to the above formula.
Wherein according to a preferred embodiment of the present invention, the step of calculating the trajectory comprises: according to the acceleration and the angular acceleration, the track is calculated by the following formula:
wherein theta isnIs the angle value, i.e., the angle of the AGV orientation at a certain time. Agv include, for example, position X, Y and orientation angle theta. The planned trajectory is X, Y, thetanThe relationship to time.
Fig. 15a-15b show the calculated trajectory according to the above formula. Where fig. 15a shows the X-coordinate and Y-direction coordinate trajectories, and fig. 15b shows the X-direction displacement over time and the Y-direction displacement over time.
From fig. 15b, based on the obtained trajectory, a velocity profile of the left and right wheels of the robot can be obtained, as shown in fig. 16. It can be seen that there is no jump in the speed of either the left or right wheel when entering the arc.
The above description is given by taking an example of a 90-degree arc where targetOmg is 0.5 × pi. It is possible to set up according to specific requirements, for example, let targetOmg be 0.5 × pi, i.e. to make a turn in a 180 degree arc, as shown in fig. 17.
In the above embodiment, third order is calculated, i.e., highest to maximum jerk value and maximum angular jerk value. In practice, to achieve finer motion control, the higher order, i.e., maximum jerk value and maximum angular velocity value, may be calculated. These are all within the scope of the present invention.
The invention also relates to a motion control device for a robot, comprising:
a unit that receives a start coordinate x _ start, a start coordinate y _ start, and an end coordinate x _ target, a start coordinate y _ target;
means for planning a trajectory of the automated guided vehicle from the start point coordinates to the end point coordinates, wherein a path of the trajectory comprises joined straight and arc segments, wherein in the trajectory, there is no jump in speed of a motion mechanism of the automated guided vehicle at a junction of the straight and arc segments; and
and the unit is used for controlling the automatic guided vehicle to move according to the planned track.
Fig. 18 illustrates an automated warehousing system 700 according to one embodiment of the invention. As shown in fig. 18, the automated warehousing system 700 includes: one or more automatic guided vehicles 701 and a control unit 702, the control unit 702 being in communication with the automatic guided vehicle 701 and configured to perform the motion control method 600 as described above. The control unit 702 and the automated guided vehicle may communicate wirelessly, for example, by connecting to communicate in various ways such as 2G, GPRS, EDGE, 3G, 4G, 5G, WIFI, bluetooth, ZIGBEE, and the like.
Fig. 19 shows a block diagram of a computer program product 800 according to the invention. The signal bearing medium 802 may be embodied as or include a computer readable medium 806, a computer recordable medium 808, a computer communications medium 810, or a combination thereof, which stores programming instructions 804 that can configure a processing unit to perform all or some of the processes previously described. The instructions may include, for example, one or more executable instructions for causing one or more processors to: receiving a starting coordinate x _ start, a starting coordinate y _ start and an end coordinate x _ target, a starting coordinate y _ start and an end coordinate y _ target; planning a track of the automatic guided vehicle from the starting point coordinate to the end point coordinate, wherein the path of the track comprises a straight line segment and an arc line segment which are connected, and no speed jump exists at the junction of the straight line segment and the arc line segment in the track by a motion mechanism of the automatic guided vehicle; and controlling the automatic guided vehicle to move according to the planned track.
The embodiment of the invention provides a planning method of a class of arc tracks, the tracks are continuous and do not jump in time, and the stability and the precision of motion control are high. In the arc track, the linear velocity of the mass center of the robot is fixed, and the curve of the angular velocity track is S-shaped and smooth along with time. In the arc track, the speed track curve of the driving wheel of the robot is S-shaped and smooth. The arc track can realize 90-degree smooth turning and 180-degree U-shaped turning in a grid coordinate system.
Differential AGVs may employ a smooth transition of left and right wheel speeds. The discrete interval does not jump a large range from the start time to the end time.
It will be appreciated by those skilled in the art that the motion control method 600 of the second aspect of the present invention may be applied to the control methods 100 and 200 of the automated guided vehicle of the first aspect of the present invention. For example, in the control method 100, if the next position is a turning point, the automatic guided vehicle is controlled to turn at the next position in step S104. For example, a start point and an end point of a turn may be input, a trajectory plan of the turn may be performed by motion control method 600, and a trajectory of the automated guided vehicle from the start point coordinate to the end point coordinate may be planned, where a path of the trajectory includes a straight line segment and an arc line segment that are joined, where there is no transition in velocity of a motion mechanism of the automated guided vehicle at a junction of the straight line segment and the arc line segment in the trajectory.
Or in fig. 6, in step S207 and/or S205, planning a trajectory of the turn by using the motion control method 600, and planning a trajectory of the automated guided vehicle from the start coordinate to the end coordinate, where a path of the trajectory includes a straight line segment and an arc line segment that are connected, where in the trajectory, there is no transition of speed at a junction of the straight line segment and the arc line segment in the motion mechanism of the automated guided vehicle.
Taking a quarter-turn as an example, for example, in fig. 3, the start point of the turn may be cell (1,1) (or corresponding physical coordinates) and the end point of the turn may be cell (2,2) (or corresponding physical coordinates). Taking a U-turn as an example, in fig. 4, for example, the starting point of the turn may be cell (1,1) or (1,2) (or their corresponding physical coordinates), and the focus of the turn may be cell (2,2) or (2,1) (or their corresponding physical coordinates).
While the foregoing detailed description has set forth various examples of the devices and/or processes via the use of block diagrams, flowcharts, and/or examples, such block diagrams, flowcharts, and/or examples contain one or more functions and/or operations, it will be appreciated by those skilled in the art that each function and/or operation within such block diagrams, flowcharts, or examples can be implemented, individually and/or collectively, by a wide range of hardware, software, firmware, or virtually any combination thereof. In one example, portions of the subject matter described herein may be implemented via an Application Specific Integrated Circuit (ASIC), a Field Programmable Gate Array (FPGA), a Digital Signal Processor (DSP), or other integrated form. However, those skilled in the art will appreciate that some aspects of the examples disclosed herein, in whole or in part, can be equivalently implemented in integrated circuits, as one or more computer programs running on one or more computers (e.g., as one or more programs running on one or more computer systems), as one or more programs running on one or more processors (e.g., as one or more programs running on one or more microprocessors), as firmware, or as virtually any combination thereof, and that designing the circuitry and/or writing the code for the software and/or firmware would be well within the skill of one of skill in the art in light of this disclosure. For example, if the user determines that speed and accuracy are important, the user may select the host hardware and/or firmware vehicle; if flexibility is important, the user can select the main software implementation; alternatively, or in addition, the user may select some combination of hardware, software, and/or firmware.
In addition, those skilled in the art will appreciate that the mechanisms of the subject matter described herein are capable of being distributed as a program product in a variety of forms, and that an illustrative example of the subject matter described herein applies regardless of the particular type of signal bearing media used to actually carry out the distribution. Examples of signal bearing media include, but are not limited to, the following: recordable type media such as floppy disks, hard disk drives, Compact Disks (CDs), Digital Video Disks (DVDs), digital tape, computer memory, etc.; and a transmission type medium such as a digital and/or an analog communication medium (e.g., a fiber optic cable, a waveguide, a wired communications link, a wireless communication link, etc.).
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.
Finally, it should be noted that: although the present invention has been described in detail with reference to the foregoing embodiments, it will be apparent to those skilled in the art that changes may be made in the embodiments and/or equivalents thereof without departing from the spirit and scope of the invention. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (13)
1. A method of controlling an automated guided vehicle, comprising:
acquiring the next position of the automatic guided vehicle;
determining whether the next position is a turning point;
if the next position is a non-steering point, controlling the automatic guided vehicle to pass through the next position in a straight line; and
and if the next position is a steering point, controlling the automatic guided vehicle to steer at the next position.
2. The control method of claim 1, wherein the step of controlling the automated guided vehicle to turn at the next location comprises:
judging whether the next position meets U-shaped steering conditions or not, and if so, controlling the automatic guided vehicle to turn through the next position in a U-shaped arc line; otherwise, judging whether the next position meets arc turning conditions or not, and if so, controlling the automatic guided vehicle to pass through the next position in a right-angle arc turning mode; and if the next position does not meet the arc turning condition, controlling the automatic guided vehicle to pass through the next position in a right-angle turning mode.
3. The control method according to claim 1 or 2, characterized by further comprising: and acquiring a next position of the next position, judging whether the next position is available, and waiting until the next position becomes available when the next position is unavailable.
4. The control method according to claim 2, characterized by further comprising: and if the next position is a turning point, acquiring the next position of the next position, judging whether the next position is available, and when the next position is unavailable, waiting until the next position becomes available, and controlling the automatic guided vehicle to pass through the next position in a U-shaped arc line or right-angle arc line mode.
5. The control method according to claim 1 or 2, wherein the step of controlling the automatic guided vehicle to turn at the next position includes:
receiving a starting coordinate x _ start, a starting coordinate y _ start and an end coordinate x _ target, a starting coordinate y _ start and an end coordinate y _ target;
planning a track of the automatic guided vehicle from the starting point coordinate to the end point coordinate, wherein the path of the track comprises a straight line segment and an arc line segment which are connected, and no speed jump exists at the junction of the straight line segment and the arc line segment in the track by a motion mechanism of the automatic guided vehicle; and
and controlling the automatic guided vehicle to move according to the planned track.
6. The control method of claim 5, further comprising receiving a linear velocity V, wherein the step of planning a trajectory comprises:
calculating a plurality of characteristic time points;
calculating the acceleration and the angular acceleration of the automatic guided vehicle according to the characteristic time points; and
and calculating the track according to the acceleration and the angular acceleration.
7. The control method according to claim 5, wherein the plurality of characteristic time points includes 16 characteristic time points T0-T15,
T0＝1；
T1＝AccMax/Jerk/ts+T0；
T2＝vMax/AccMax/ts+T0；
T3＝T2+T1-T0；
T4＝T3+floor((x_target-0.8305)/vMax/ts+0.5)；
T5＝omgAccMax/omgJerk/ts+T4；
T6＝omgMax/omgAccMax/ts+T4；
T7＝T6+T5-T0；
T8＝targetOmg/omgMax/ts+T4；
T9＝T8+T5-T4；
T10＝T8+T6-T4；
T11＝T8+T7-T4；
T12＝T11+1+floor((y_target-0.8305)/vMax/ts+0.5)；
T13＝T4+T1-T0；
T14＝T4+T2-T0；
T15＝T4+T3-T0；
wherein ts is a sampling period, the maximum track speed vMax is the linear speed V, AccMax is the maximum track acceleration value, Jerk is the maximum track Jerk value, omgMax is the maximum arc speed, omgmaxmax is the maximum arc angular acceleration, omgJerk is the maximum arc Jerk, targetOmg is the arc radian, and floor is an integer function.
8. The control method according to claim 7, characterized in that the trajectory maximum acceleration value AccMax ═ vMax 5, the trajectory maximum Jerk value Jerk ═ AccMax/ts/10; the arc maximum angular velocity omgMax is 50/180 × pi; the maximum arc angular acceleration omgcacmax is omgMax 2; the maximum arc angular acceleration omgJerk is omgAccMax/ts/20; targetOmg 0.5 pi is a 90 degree arc.
9. The control method according to claim 7 or 8, wherein the step of calculating the acceleration and the angular acceleration of the automated guided vehicle includes: according to the current time t and the last time accn-1Iterative computation of the acceleration acc at the current momentnAccording to the current time t and the last time angleaccn-1Iterative computation of angular acceleration angleacc at the current momentn，
10. The control method according to claim 9, wherein the step of calculating a trajectory includes: according to the acceleration and the angular acceleration, the track is calculated by the following formula:
wherein theta isnFor automatically guiding the orientation angle of the vehicle, xnAbscissa, y, of the trajectory of the automated guided vehiclenIs the ordinate of the trajectory of the automated guided vehicle.
11. An automated guided vehicle comprising:
a vehicle body;
a motor mounted on the vehicle body;
a traveling device coupled with and driven by the motor;
a control device provided on the vehicle body and configured to execute the control method according to any one of claims 1 to 10.
12. A cargo handling system comprising:
a coordinate unit;
an automatic guided vehicle;
a control unit in communication with the automated guided vehicle and controlling movement of the automated guided vehicle in the coordinate unit and configured to perform the control method of any of claims 1-10.
13. A computer-readable storage medium comprising computer-executable instructions stored thereon which, when executed by a processor, implement the control method of any one of claims 1-10.
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| CN110989634B (en) * | 2019-12-31 | 2022-11-11 | 苏州极智嘉机器人有限公司 | Robot turning control method, device, computer equipment and storage medium |
| CN111061278B (en) * | 2019-12-31 | 2022-12-30 | 苏州极智嘉机器人有限公司 | Path planning method and device, computer equipment and storage medium |
| CN111470243A (en) * | 2020-03-30 | 2020-07-31 | 无锡顺达智能自动化工程股份有限公司 | Storage robot curve walking algorithm and implementation method |
| CN112050813B (en) * | 2020-08-08 | 2022-08-02 | 浙江科聪控制技术有限公司 | Laser navigation system for anti-riot one-zone mobile robot |
| CN112799296A (en) * | 2021-01-04 | 2021-05-14 | 中钞长城金融设备控股有限公司 | Control system and control method of intelligent stacking machine |
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| CN109928129B (en) | 2021-03-23 |
| CN109928129A (en) | 2019-06-25 |
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