CN113184423B - 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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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 a mode to be used 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 based on patent application number 201910256998.4 filed on 1 4 months of 2019 and named as an automatic guiding vehicle control method, an automatic guiding vehicle and a cargo handling system.
Technical Field
The invention relates to the field of intelligent storage, in particular to a control method of an automatic guiding vehicle, the automatic guiding vehicle and a cargo handling system.
Background
Along with the high-speed development of the electronic commerce industry in China, various demands are also met in various links of logistics, and a package sorting system consisting of sorting robots is generated, so that the system has instant response and distributed flexibility while guaranteeing high package sorting efficiency. In the current logistics warehouse area, automatic Guided Vehicles (AGVs) have been increasingly used to replace or supplement manual labor. The automatic guiding vehicle can automatically receive the object carrying task, reaches a first position under the control of a program, acquires an object, then walks to a 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, a robot calculates a moving path after receiving a task of moving to a designated point, then executes a plurality of moving instructions along the path to pass through the cells, and finally stops at the cell 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 the existing automatic transportation unit motion control can firstly decelerate and stop when passing through a turning point, then change the direction by in-situ rotation and finally accelerate to move along the new direction. The method has the advantages that the time consumption for overbending is long, if a plurality of turning points exist on the moving path of the robot, the average moving speed of the robot can be greatly reduced, in addition, the subsequent robots can be reduced due to the reduction of the speed of one robot, and the overall efficiency of the system is reduced.
The matters in the background section are only those known to the inventors and do not, of course, represent prior art in the field.
Disclosure of Invention
In view of the above, the present invention provides a control method of an automatic guided vehicle, comprising: 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 steer in the next position comprises: judging whether the next position meets a U-shaped steering condition, and if so, controlling the automatic guided vehicle to turn in a U-shaped arc line to pass through the next position; otherwise, judging whether the next position meets an arc turning condition, and if so, controlling the automatic guiding 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 one aspect of the present invention, the control method further includes: 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 one aspect of the present invention, the control method further includes: and if the next position is a turning point, acquiring a 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 a right-angle arc line mode.
According to one aspect of the invention, the step of controlling the automatic guided vehicle to steer in the next position comprises:
receiving starting point coordinates x_start and y_start and end point coordinates x_target and y_target;
planning a track from the starting point coordinate to the ending point coordinate of the automatic guided vehicle, wherein a path of the track comprises a straight line segment and an arc line segment which are connected, and in the track, a movement mechanism of the automatic guided vehicle does not have speed jump at the junction of the straight line segment and the arc line segment; and
And controlling the automatic guided vehicle to move according to the planned track.
According to one aspect of the invention, the method further comprises 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 one aspect of the invention, 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, a track maximum speed vmax=a linear speed V, accMax is a track maximum acceleration value, jerk is a track maximum Jerk value, omgMax is an arc maximum angular velocity, omgcacmax is an arc maximum angular acceleration, omgJerk is an arc maximum angular Jerk, targetOmg is an arc radian, and floor is a rounding function.
According to one aspect of the invention, the maximum acceleration value accmax=vmax 5, the maximum Jerk value jerk=accmax/ts/10; arc maximum angular velocity omgmax=50/180×pi; arc maximum angular acceleration omgcacmax=omgcmax×2; arc maximum angular jerk omgjerk=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 t moment and the last moment acc n-1 Iterative calculation of the acceleration acc at the present moment n According to the current t moment and the previous moment angleacc n-1 Iterative calculation of angular acceleration angleacc at the present moment n ，
According to one aspect of the invention, the step of calculating the trajectory comprises: according to the acceleration and the angular acceleration, the track is calculated by using the following formula:
wherein theta is theta n To automatically guide the orientation angle of the vehicle, x n For automatically guiding the abscissa of the track of the vehicle, y n Is the ordinate of the trajectory of the auto-guided vehicle.
The present invention also provides a method for automatically guiding a 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 as described above.
The present invention also provides a cargo handling system comprising: a coordinate unit; automatically guiding the vehicle; and a control unit which communicates with the automated guided vehicle and controls the automated guided vehicle to move in the coordinate unit and is 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 a mode to be used 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 consumption of the robot and improves the overall efficiency of the system.
Drawings
The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description serve to explain the invention. In the drawings:
fig. 1 shows a case where an automatic guided vehicle moves straight;
FIG. 2 shows the case of linear motion steering of an automatic guided vehicle
FIG. 3 illustrates an automatic guided vehicle steering at right angles;
FIG. 4 illustrates the steering of an automated guided vehicle U-arc;
FIG. 5 illustrates a control method of an automated guided vehicle according to one embodiment of the invention;
FIG. 6 illustrates a control method of an automated guided vehicle according to a preferred embodiment of the present invention;
FIG. 7 illustrates an automated guided vehicle according to another aspect of the invention;
FIG. 8 illustrates a cargo handling system according to another aspect of the invention;
FIG. 9 illustrates a computer program product arranged in accordance with at least some embodiments of the invention;
FIG. 10 illustrates a prior art arc planning scheme;
FIG. 11 shows the case of speed jumps 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 acceleration of left and right wheels or left and right motors of the robot obtained according to the motion control method of fig. 12;
15a-15b illustrate trajectories of robots calculated according to a preferred embodiment of the present invention;
FIG. 16 shows velocity profiles of left and right wheels of the robot obtained according to 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 invention; and
Fig. 19 illustrates a computer program product arranged in accordance with at least some embodiments of the invention.
Detailed Description
Hereinafter, only certain exemplary embodiments are briefly described. As will be recognized by those of skill in the pertinent art, the described embodiments may be modified in various different ways 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 should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", etc. indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings are merely for convenience in describing the present invention and simplifying the description, and do not indicate or imply that the devices or elements referred to must have a specific orientation, be configured and operated in a specific orientation, and thus should not be construed as limiting the present invention. Furthermore, the terms "first," "second," and the like, are used for descriptive purposes only and are not to be construed as indicating or implying a relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defining "a first" or "a second" may explicitly or implicitly include one or more of the described features. In the description of the present invention, the meaning of "a plurality" is two or more, unless explicitly defined otherwise.
In the description of the present invention, it should be noted that, unless explicitly specified and limited otherwise, the terms "mounted," "connected," and "connected" are to be construed broadly, and may be fixedly connected, detachably connected, or integrally connected, and may be mechanically connected, electrically connected, or may communicate with each other, for example; can be directly connected or indirectly connected through an intermediate medium, and can be communicated with the inside of two elements or the interaction relationship of the two elements. The specific meaning of the above terms in the present invention can be understood by those of ordinary skill in the art according to the specific circumstances.
In the present invention, unless expressly stated or limited otherwise, a first feature "above" or "below" a second feature may include both the first and second features being in direct contact, as well as the first and second features not being in direct contact but being in contact with each other through additional features therebetween. Moreover, a first feature being "above," "over" and "on" a second feature includes the first feature being directly above and obliquely above the second feature, or simply indicating that the first feature is higher in level than the second feature. The first feature being "under", "below" and "beneath" the second feature includes the first feature being directly above and obliquely above the second feature, or simply indicating that the first feature is less level than the second feature.
The following disclosure provides many different embodiments, or examples, for implementing different features of the invention. In order to simplify the present disclosure, components and arrangements of specific examples are described below. They are, of course, merely examples and are not intended to limit the invention. Furthermore, the present invention may repeat reference numerals and/or letters in the various examples, which are for the purpose of brevity and clarity, and which do not themselves indicate the relationship between the various embodiments and/or arrangements discussed. In addition, the present invention provides examples of various specific processes and materials, but one of ordinary skill in the art will recognize the application of other processes and/or the use of other materials.
The preferred embodiments of the present invention will be described below with reference to the accompanying drawings, it being understood that the preferred embodiments described herein are for illustration and explanation of the present invention only, and are not intended to limit the present invention.
One aspect of the present invention provides an arc movement scheme and motion control logic incorporating the same that improves the overall operational efficiency of an automatic transport unit.
In most existing intelligent warehouse or parcel sorting robot systems, the entire field is modeled to be divided into cells. The size of each cell is equal, and the cells can be square or rectangular. A grid coordinate system in units of cells is established in the venue. The center of the cell may be provided with a two-dimensional code for positioning by a robot or an automated guided vehicle traveling thereon. Generally, from any one cell, only four cells in front, back, left and right, which are directly adjacent to the cell, cannot be directly reached. A schematic diagram of a similar cell-divided site can be seen from fig. 1.
When the sorting robot or the automatic guiding vehicle travels on the unit cell, the following four movement modes are generally adopted: and (3) linearly moving, linearly moving and steering, steering by a right-angle arc line and steering by a U-shaped arc line. The description is approximately given 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 will pass through the cell (1, 2) in a linear manner as soon as it reaches the cell (1, 3). Wherein the black dots schematically show the center of the cell.
Fig. 2 shows a case where the automatic guided vehicle is linearly moved to steer (right angle 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 purpose, 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 in an accelerated manner in a new direction and reach the cell (2, 2).
Fig. 3 shows the case of an automatic guided vehicle steering at right angles. Wherein the automated guided vehicle needs to pass from point (1, 1) to point (2, 2) through point (1, 2). The automatic guided vehicle needs to travel upwards by a distance of half a cell, then rotates by 90 degrees along an arc in a clockwise direction by taking half of the side length of the cell as a radius, and finally moves half of the cell to the right to reach a target point.
Fig. 4 shows the case of an automatic guided vehicle U-arc steering. Wherein, the motion diagram when the automatic guided vehicle continuously passes through two turning points, the robot needs to pass through the (1, 2) point and the (2, 2) point from the (1, 1) point to the (2, 1) point. The robot needs to travel one cell upward to reach the center of (1, 2), then rotate 180 degrees in an arc clockwise by taking half of the side length of the cell as a radius to reach the center of the cell (2, 2), and finally travel one cell downward to reach the target point (2, 1).
Fig. 5 illustrates a control method 100 of 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 automated guided vehicle is located is (1, 1), and the next position of the automated guided vehicle is obtained as the cell (1, 2) according to the current traveling direction or according to the 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 path planning process of the automatic guided vehicle, in the moving route found by the path planning, the unit cell with the changed advancing direction is the turning point. For example, for a given starting point and end point, starting from the cell where the starting point is located, the path planning proceeds along the cell in one of the four directions of up, down, left and right, and a moving route which can reach the cell where the end point is located is found out recursively.
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, for example, straight-line movement turning, right-angle arc turning or U-arc turning, according to the specific requirement of turning.
A control method 200 of an automatic guided vehicle according to a preferred embodiment of the present invention will be described 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 here.
In step S202, if it is determined that the next position (next cell) is a turning point, it is determined whether various types of turning operations can be performed according to the characteristics of the next position.
In step S204, it is determined whether the next position satisfies a U-turn condition. If the U-turn condition is satisfied, the process proceeds to step S205, where the automatic guided vehicle is controlled to pass through the next position in a U-turn manner. The manner of turning the U-shape is shown in FIG. 4 and will not be described in detail herein. If the U-turn condition is not satisfied, then proceed to step S206 to determine if the next location satisfies the arc turn condition. If the arc turning condition is satisfied, the process proceeds to step S207, where the automatic guided vehicle AGV is controlled to pass through the next position or cell in a right-angle arc manner.
If the next position does not satisfy either the U-turn condition or the arc turning condition, then it proceeds to step S208 where the automated 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 entire process ends. Otherwise, proceeding to step S210, the next position is iterated to the current position, continuing the entire process 200.
Taking fig. 3 as an example, the conditions for steering right-angle arcs include, for example:
a) The turning points (1, 2) are not path end points;
b) The steering points (1, 2) and the front point (1, 1) and the rear point (2, 2) of the steering points have no special tasks;
c) The above 3 point cells and the arc inside cells (i.e., the 4 cells in fig. 3) are not occupied by other robots.
Since the end point of the right-angle arc turning is the 3 rd point (2, 2), and the point which is the end point of the path and is the following point of the (2, 2) is suitable for arc turning, the condition a) is needed; if the robot needs to stop at the turning point and the points before and after the turning point to execute other tasks, but the arc turning cannot stop halfway, the condition b) is needed; the actual movement track of the arc turning deviates from the original path, the inner cell is likely to collide if a robot exists, and the condition c) is a special treatment of the arc turning in the calculation of collision control. The specific explanation is as follows.
The track of the right-angle curve turning corresponds to 3 cells of the original path, wherein the 2 nd cell is a turning point, and the end point of the path is defined as the turning point (the path is conveniently split into a plurality of straight line segments to be calculated in a segmentation mode) when the path is planned, and if the end point is encountered when judging whether the curve turning is needed, the curve turning cannot be naturally performed. Since a right angle arc turn is an undetachable action, i.e., does not stop at the turning point and does not move straight across the 3 cells of the arc, if other tasks are to be performed, then the arc turn cannot be performed. In addition, the actual moving track of the arc turning deviates from the track of the original path planned by the path, when the automatic guided vehicle moves actually, the vehicle body can partially enter the cell on the inner side of the arc, and if other automatic guided vehicles or equipment exist on the cell on the inner side of the arc, collision can occur, so that the arc turning cannot be performed at the turning point. The above 3 points are several most basic situations to be considered for judging whether the arc turning can be performed, and other limiting conditions may be considered in the actual scene, and the arc turning can be safely performed only if the limiting conditions are met, otherwise, the steering point can be passed only by using a linear movement steering mode.
Taking fig. 4 as an example, basic conditions of U-shaped arc turning include, for example:
a) There are two consecutive turning points (1, 2) and (2, 2), which are adjacent;
b) The second turning point (2, 2) is not the end point;
c) At both turning points, either clockwise or counterclockwise;
d) Both turning points (1, 2) and (2, 2) and their preceding (1, 1) and following (2, 1) points have no special task;
e) The above 4-point cells, both 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 right-angle arc turn should be performed, while a U-turn is an optimization of the path of travel for two successive turns; since the end point of the right-angle arc turning is the 4 th point (2, 1), the end point of the path should be applicable to the arc turning at the (2, 1) and the following points, so the condition b) is needed; if the robot needs to stop at the turning point and the points before and after the turning point to execute other tasks, but the arc turning cannot stop halfway, the condition d) is needed; the actual movement track of the arc turning deviates from the original path, the inner cell is likely to collide if a robot exists, and the condition e) is a special treatment of the arc turning in the calculation of 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, a special turning point, the end point of the path, needs to be excluded. The U-turn can be seen as a combination of two successive arc turns, where the direction of the headstock of the automatic guided vehicle is rotated 90 ° each time a turning point is passed, whereas there are two cases, one in which the direction of the rotating headstock is the same (both clockwise and both anticlockwise), and after two turning points the headstock direction is rotated 180 ° compared to before the turning, and the second in which the direction of the rotating headstock is opposite after two turning points, and after two turning the headstock direction is the same as before the turning. The U-turn described in the present invention is the first case, and therefore, in judging whether or not the U-turn is the U-turn, there is a requirement for the direction of the steering in addition to the requirement for two consecutive steering points. Similar to a right-angle arc turn, no other task can be performed at the 4 points through which the U-turn passes. Similar to a right-angle arc turn, the U-turn is also off-track from the original straight path, as shown in fig. 4, requiring a check of the two cells outside the two steering points for other automated guided vehicles or equipment. The above 5 points are several most basic situations that need to be considered for judging whether the U-shaped turning can be performed, and other limiting conditions possibly need to be considered in the actual scene, and the U-shaped turning can be safely performed only if the limiting conditions are met, if the U-shaped turning can not be performed, whether the right-angle arc turning conditions are met can be respectively judged for the two turning points, and the turning efficiency can be improved.
In the invention, the robots need to apply for occupying cells to the background, each cell can only be occupied by one robot at the same time, and the background logically avoids collision generated during movement between the robots by controlling the occupation of the cells. The inventor of the present application found that in the turning logic, if the next point to the turning point is occupied by another robot or an automatic guided vehicle, the check is determined to be failed when the arc turning is enabled, and the automatic guided vehicle selects "straight line movement+turning". Assuming that two robots a and B both 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, at this time, the robot B can only apply for the cell where the turning point is located, but cannot apply for the cell where the turning point is behind, so that the robot B can select linear movement+rotation. In the case of a relatively congested area, this phenomenon may result in almost all robots turning without selecting an arc turn, but instead degrading to straight + steering, with longer transit times through the steering point, exacerbating the degree of congestion.
Thus, according to a preferred embodiment of the present invention, the step of waiting for an arc turn is added during control, i.e. when the cell of a point (next position) after the application of the turning point by the automated guided vehicle fails, a timer is added to the automated guided vehicle, and the application of the cell is repeated until the application is successful, i.e. the next position becomes available, until 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 rate is improved. If a plurality of turning points exist near the working point where other tasks need to be stopped for execution, when the strategy is not used, the turning time is extremely long, basically congestion can be caused, and when the strategy is used, the probability of congestion can be obviously reduced, and the production efficiency is improved.
Fig. 7 illustrates an automated guided vehicle 50 according to another aspect of the invention. The interior components of the automated guided vehicle 50 are shown, while their outer 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 travelling device 1 coupled to 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 travelling device 1 may comprise, for example, small wheels, tracks or the like, mounted on the vehicle body 6, driven by a motor. A speed reducer may be provided between the motor and the traveling device, for example, and the speed reducer amplifies the driving force to reduce the rotational speed.
Fig. 8 illustrates a cargo handling system 300 according to another aspect of the invention, comprising: a coordinate unit 301; an automatic guided vehicle 302; a control unit 303 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 100 or 200 as described above.
According to one embodiment of the present invention, a plurality of automated guided vehicles 302 may be included in the cargo handling system 300, and the control unit 303 performs 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 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 implemented 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 configure a processing unit to perform all or some of the previously described processes. 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 a mode to be used 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 arcs or elliptical arcs are connected with straight lines, however, the arcs and the straight lines are connected with each other in a jumping mode on angular speed, and control accuracy is easy to reduce and even slipping is caused due to instability. The method for greatly reducing the linear speed is usually adopted for connection, so that the angular speed 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 robot has a linear velocity v and an angular velocity 0 immediately before entering the arc. The moment of entering the arc, the angular velocity is the linear velocity v/the radius r of the arc. That is, when the robot starts to move along the circular arc track, the angular speed changes from 0 to v/r, and a jump corresponding to the speed of the driving wheel is generated, so that unstable control is easily caused, and the control deviation is excessive. Fig. 11 shows the severe speed jumps that occur for the left and right wheels of the robot before and after entering the arc. Some companies propose an arc turning method, which is performed based on a mode that circular arcs or elliptical arcs are connected in a straight line, and jump exists in angular speed during connection, so that control accuracy is easily reduced, and even slipping is caused due to instability.
Fig. 12 illustrates a method 600 of controlling movement of a robot according to an embodiment of the present invention. As shown in fig. 10, the motion control method 600 includes:
in step S601, start point coordinates x_start, y_start, and end point 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 coordinates in a logical coordinate system. The physical coordinate system is the actual two-dimensional XY-direction distance coordinate system. The logical coordinate system is a coordinate system set according to the actual condition of the service. By way of example and not limitation, logical and physical coordinate systems may differ, for example, in that logical coordinate systems are generally described in terms of integers, such as (1, 2), (5, 10), and coordinate system orientations do not necessarily coincide with physical coordinate systems, and distance units of logical coordinate systems are not necessarily common physical units, but are defined in actual job requirements. Therefore, the logical position and the physical position may be completely identical, or may have a certain conversion relationship. Under the concept of the present invention, the position parameter in the logical coordinate system is not limited to an integer, but may be a 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 acquired from a corresponding file or database. The following description will take a physical coordinate system as an example.
In step S602, a trajectory of the automatic guided vehicle from the start point coordinate to the end point coordinate is planned, wherein a path of the trajectory includes a straight line segment and an arc segment that are joined, wherein in the trajectory, a movement mechanism of the automatic guided vehicle has no jump in speed at a junction of the straight line segment and the arc segment.
The movement mechanism of the robot for example comprises at least two sets of wheels, one set of wheels being located on the inside of the track and one set of wheels being located on the outside of the track. 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 when viewed in the direction of movement of the robot. According to step S602, the speed jump does not occur between the inner wheel and the outer wheel of the robot in the planned trajectory before and after the junction of the straight line segment and the arc segment.
In the present invention, the meaning of "no jump in speed" is that the linear speed and/or angular speed of the robot motion mechanism before and after entering the arc from the straight line segment does not change significantly, for example, the speed V1 before entering the arc is taken as a reference, the speed V2 after entering the arc does not change significantly with respect to the speed V1 by more than 20%, or by more than 10%, or by more than 5%.
In the present invention, the "trajectory" of the robot includes at least the speed plan of the robot in addition to the path curve of the robot. And preferably includes displacement curves for the speed, angular velocity, X-direction and Y-direction of the robot.
In step S603, the automatic guided vehicle is controlled to move according to the planned trajectory.
Fig. 13 illustrates the principle and effect of the motion control method 600 of the present invention. In step S602 of method 600, the motion is planned such that there is no speed jump at the junction of 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, the speed of the two-wheeled robot makes a distinct jump when entering and when exiting the arc. This is considered to be disadvantageous, and affects the control deviation, resulting in 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 includes receiving a linear velocity V, V being a velocity at which the robot reaches the end point coordinates from the start point coordinates at a uniform velocity. Wherein the step S602 of planning a trajectory includes:
In step S6021, a plurality of feature time points are calculated. The plurality of feature time points are located on a time period from the start point coordinates to the end point coordinates, including both ends.
In step S6022, the acceleration and the angular acceleration of the automated 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 to T15, which are 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；
where ts is a sampling period, a maximum track speed vmax=a linear speed V, accMax is a maximum track acceleration value, jerk is a maximum track Jerk value, omgMax is an arc maximum angular speed, omgcacmax is an arc maximum angular acceleration, omgJerk is an arc maximum angular Jerk, targetOmg is an arc radian, and floor is a rounding function, for example, rounding down.
Wherein according to a preferred embodiment of the present invention, the maximum acceleration value accmax=vmax 5, the maximum Jerk value jerk=accmax/ts/10; arc maximum angular velocity omgmax=50/180×pi; arc maximum angular acceleration omgcacmax=omgcmax×2; arc maximum angular jerk omgjerk=omgaccmax/ts/20; targetomg=0.5 pi is a 90 degree arc. The acmax, jerk, omgMax, omgacmax, omgJerk may be a constant or a fixed value thereof may not be limited, and may be input as a module according to need.
Wherein according to a preferred embodiment of the present invention, the step of calculating the acceleration and angular acceleration of the robot comprises: according to the current t moment and the last moment acc n-1 Iterative calculation of the acceleration acc at the present moment n According to the current t moment and the previous moment angleacc n-1 Iterative calculation of angular acceleration angleacc at the present moment n The specific calculation mode 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, one set of wheels being located on the inside of the track and one set of wheels being located on the outside of the track. 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 when 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 invention the step of calculating the trajectory comprises: according to the acceleration and the angular acceleration, the track is calculated by using the following formula:
wherein theta is theta n Is the angle value, i.e., the angle of orientation of the AGV at a certain point in time. Agv states at a certain moment include, for example, position X, Y and orientation angle theta. The planned track is X, Y, theta n Relationship to time.
Fig. 15a-15b show trajectories calculated according to the above formula. Wherein fig. 15a shows the coordinate trace of the X-coordinate and the Y-direction, and fig. 15b shows the displacement of the X-direction with time and the displacement of the Y-direction with time.
According to fig. 15b, based on the obtained trajectory, a speed profile of the left and right wheels of the robot can be obtained, as shown in fig. 16. It can be seen from the figure that no jump in speed occurs between the left and right wheels on entering the arc.
The above description is given taking targetomg=0.5 pi, i.e. 90 degree arc as an example. The turning may be set according to specific requirements, for example, with targetomg=0.5 pi, i.e. in a 180 degree arc, as shown in fig. 17.
The above embodiment calculates the third order, i.e., the highest calculated maximum jerk value and maximum angular jerk value. In practice, to achieve finer motion control, higher orders, 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 start coordinates x_start, y_start and end coordinates x_target, y_target;
A unit for planning a track from the starting point coordinate to the ending point coordinate of the automatic guiding vehicle, wherein a path of the track comprises a straight line segment and an arc segment which are connected, and a movement mechanism of the automatic guiding vehicle does not have speed jump at the junction of the straight line segment and the arc segment in the track; and
and 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 warehouse system 700 includes: one or more automated guided vehicles 701 and a control unit 702, the control unit 702 being in communication with the automated guided vehicles 701 and configured to perform the motion control method 600 as described above. The control unit 702 may communicate with the automated guided vehicle wirelessly, such as by way of various means such as 2G, GPRS, EDGE, 3G, 4G, 5G, WIFI, bluetooth, ZIGBEE, etc.
Fig. 19 shows a block diagram of a computer program product 800 according to the invention. The signal bearing medium 802 may be implemented as or include a computer readable medium 806, a computer recordable medium 808, a computer communication medium 810, or a combination thereof, that stores programming instructions 804 that configure a processing unit to perform all or some of the previously described processes. The instructions may include, for example, one or more executable instructions for causing one or more processors to: receiving starting point coordinates x_start and y_start and end point coordinates x_target and y_target; planning a track from the starting point coordinate to the ending point coordinate of the automatic guided vehicle, wherein a path of the track comprises a straight line segment and an arc line segment which are connected, and in the track, a movement mechanism of the automatic guided vehicle does not have speed jump at the junction of the straight line segment and the arc line segment; and controlling the automatic guided vehicle to move according to the planned track.
The embodiment of the invention provides a planning method for an arc track, wherein the track is continuous in time and does not jump, and the stability and the precision of motion control are high. In the arc track, the linear speed of the mass center of the robot is fixed, and the curve of the angular speed track is S-shaped and smooth along with time. In the arc track, the speed track curve of the robot driving wheel 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.
The differential AGV can adopt the smooth transition of the left wheel speed and the right wheel speed. The discrete interval does not jump widely from the start time to the end time.
Those skilled in the art will appreciate 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 automatic 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 of the automated guided vehicle from the start point coordinates to the end point coordinates may be planned by the motion control method 600, wherein a path of the trajectory includes a straight line segment and an arc segment that are joined, wherein in the trajectory, a motion mechanism of the automated guided vehicle has no speed transitions at a junction of the straight line segment and the arc segment.
Or in fig. 6, in step S207 and/or S205, a trajectory planning of the turn is performed by the motion control method 600, and a trajectory of the automatic guided vehicle from the start point coordinate to the end point coordinate is planned, wherein a path of the trajectory includes a straight line segment and an arc segment that are connected, and wherein in the trajectory, a motion mechanism of the automatic guided vehicle has no speed jump at a junction of the straight line segment and the arc segment.
Taking a quarter-arc turn as an example, for example, in fig. 3, the start of the turn may be cell (1, 1) (or corresponding physical coordinates) and the end of the turn may be cell (2, 2) (or corresponding physical coordinates). Taking a U-turn as an example, for example, in fig. 4, the start 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, and it will be understood 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 primary hardware and/or firmware medium; if flexibility is important, the user may select a main software implementation; or, alternatively, 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 media such as a floppy disk, a hard disk drive, compact Discs (CDs), digital Video Discs (DVDs), digital tapes, computer memory, etc.; and transmission media such as digital and/or analog communication media (e.g., fiber optic cables, waveguides, wired communication links, wireless communication links, etc.).
The foregoing description of the preferred embodiments of the invention is not intended to be limiting, but rather is intended to cover all modifications, equivalents, alternatives, and improvements that fall within the spirit and scope of the invention.
Finally, it should be noted that: the foregoing description is only a preferred embodiment of the present invention, and the present invention is not limited thereto, but it is to be understood that modifications and equivalents of some of the technical features described in the foregoing embodiments may be made by those skilled in the art, although the present invention has been described in detail with reference to the foregoing embodiments. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (11)
1. A control method of an automatic guided vehicle, comprising:
acquiring the next position of the automatic guided vehicle according to a pre-planned path;
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, wherein the step of controlling the automatic guided vehicle to steer at the next position comprises the following steps of: judging whether the next position meets a U-shaped steering condition, and if so, controlling the automatic guided vehicle to turn in a U-shaped arc line to pass through the next position; otherwise, judging whether the next position meets an arc turning condition, and if so, controlling the automatic guiding vehicle to pass through the next position in a right-angle arc turning mode; 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; and
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.
2. The control method according to claim 1, characterized by further comprising: and if the next position is a turning point, acquiring a 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 a right-angle arc line mode.
3. The control method according to claim 1, characterized in that the step of controlling the automatic guided vehicle to steer at the next position includes:
receiving starting point coordinates x_start and y_start and end point coordinates x_target and y_target;
planning a track from the starting point coordinate to the ending point coordinate of the automatic guided vehicle, wherein a path of the track comprises a straight line segment and an arc line segment which are connected, and in the track, a movement mechanism of the automatic guided vehicle does not have speed jump at the junction of the straight line segment and the arc line segment; and
and controlling the automatic guided vehicle to move according to the track.
4. A control method according to claim 3, further comprising receiving a linear velocity V, wherein the step of planning a trajectory of the automated guided vehicle from the start point coordinates to the end point coordinates 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.
5. The control method according to claim 4, wherein the plurality of characteristic time points includes 16 characteristic time points T0 to 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, a track maximum speed vmax=a linear speed V, accMax is a track maximum acceleration value, jerk is a track maximum Jerk value, omgMax is an arc maximum angular velocity, omgcacmax is an arc maximum angular acceleration, omgJerk is an arc maximum angular Jerk, targetOmg is an arc radian, and floor is a rounding function.
6. The control method according to claim 5, characterized in that the maximum acceleration value accmax=vmax x 5, the maximum Jerk value jerk=accmax/ts/10; arc maximum angular velocity omgmax=50/180×pi; arc maximum angular acceleration omgcacmax=omgcmax×2; arc maximum angular jerk omgjerk=omgaccmax/ts/20; targetomg=0.5 pi is a 90 degree arc.
7. The control method according to claim 5 or 6, characterized in that,the step of calculating the acceleration and angular acceleration of the automated guided vehicle comprises: according to the current t moment and the last moment acc n-1 Iterative calculation of the acceleration acc at the present moment n According to the current t moment and the previous moment angleacc n-1 Iterative calculation of angular acceleration angleacc at the present moment n ，
8. The control method according to claim 7, characterized in that the step of calculating the trajectory includes: according to the acceleration and the angular acceleration, the track is calculated by using the following formula:
wherein theta is theta n To automatically guide the orientation angle of the vehicle, x n For automatically guiding the abscissa of the track of the vehicle, y n Is the ordinate of the trajectory of the auto-guided vehicle.
9. 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;
control means provided on the vehicle body and configured to execute the control method according to any one of claims 1 to 8.
10. A cargo handling system, comprising:
a coordinate unit;
automatically guiding the 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 one of claims 1-8.
11. A computer readable storage medium comprising computer executable instructions stored thereon, which when executed by a processor implement the control method of any of claims 1-8.
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| 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 |
| 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 |
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| CN112882476A (en) * | 2021-01-26 | 2021-06-01 | 佛山市光华智能设备有限公司 | Control method and control device for controlling AGV body steering |
| CN118458208B (en) * | 2024-07-12 | 2024-09-03 | 成都思越智能装备股份有限公司 | Roadway stacker turning control method, device, equipment and storage medium |
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| CN113184423A (en) | 2021-07-30 |
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