CN113204242B - Reconfigurable unmanned vehicle three-section type butt joint control method - Google Patents
Reconfigurable unmanned vehicle three-section type butt joint control method Download PDFInfo
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- CN113204242B CN113204242B CN202110754757.XA CN202110754757A CN113204242B CN 113204242 B CN113204242 B CN 113204242B CN 202110754757 A CN202110754757 A CN 202110754757A CN 113204242 B CN113204242 B CN 113204242B
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- 210000001503 joint Anatomy 0.000 title claims abstract description 133
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- 238000003032 molecular docking Methods 0.000 claims abstract description 214
- 230000007246 mechanism Effects 0.000 claims abstract description 73
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- 238000013459 approach Methods 0.000 claims description 20
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0225—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory involving docking at a fixed facility, e.g. base station or loading bay
Abstract
The invention provides a reconfigurable unmanned vehicle three-section type docking control method, which divides a docking process of an unmanned vehicle unit into a far-end approaching stage, a near-end capturing stage and a flexible docking stage, and can enable the unmanned vehicle unit to rapidly realize autonomous dynamic docking under a complex ground environment. In the far-end approaching stage, a far-end approaching track real-time planning algorithm considering steering mode switching is adopted to plan an approaching track with short required time, and the butt joint efficiency is improved; in the near-end capturing stage, the switching time from the far-end approaching stage to the flexible docking stage is determined, the problem that the stage switching is difficult to determine in the docking process of the reconfigurable unmanned vehicle is solved, and the docking efficiency of the reconfigurable unmanned vehicle is remarkably improved. In the flexible docking stage, a flexible docking process comprising a vision sensor, a laser ranging sensor, a force sensor and other multi-sensor sensing systems is designed based on a six-degree-of-freedom flexible docking mechanism, and the accuracy and stability of the flexible docking stage are improved.
Description
Technical Field
The invention relates to an unmanned vehicle reconstruction method, in particular to a reconfigurable unmanned vehicle three-section type butt joint control method, and belongs to the technical field of unmanned vehicles.
Background
The unmanned vehicle can independently execute functional tasks such as logistics, transportation, distribution, patrol, public transportation, retail, cleaning, connection, rescue and the like, and is a core element for future intelligent transportation and smart city construction. It is expected that most tasks will be completed by unmanned vehicles instead of human beings in future transportation and travel and human life, and vehicles will be evolved from traditional vehicles into intelligent carriers for performing functional tasks, and have great influence on the development of human society. Compared with the traditional intelligent networked automobile, the unmanned automobile aims at executing functional tasks, does not have a human driving mechanism, subverts the basic design concept of the traditional automobile centered on human, and has innovative and flexible configuration, and revolutionary changes of basic characteristics such as system architecture and the like. Therefore, the fundamental theory and key technology of the unmanned vehicle must realize original breakthrough, is a brand new challenge brought by the era of intelligent vehicles, and is a research hotspot in the international and domestic fields.
With the continuous expansion of the connotation of intelligent transportation and smart cities in the future, the development of unmanned vehicles faces major challenges of complex and variable execution tasks, three-dimensional and multidimensional running environments, continuous expansion of functional requirements, single limitation of carrier configuration and the like. Obviously, the traditional unmanned vehicle with a fixed configuration has difficulty in meeting the challenges and cannot meet the requirements of the intelligent transportation and the smart city for a novel intelligent vehicle in the future. The reconfigurable unmanned vehicle technology thoroughly breaks through the form constraint of the traditional fixed configuration unmanned vehicle, can independently realize complex functions such as function reconfiguration, topology reconfiguration and the like, realizes independent combination, butt joint and disintegration among multiple unmanned vehicle units, comprehensively expands the function task execution boundary of the unmanned vehicle, and is expected to become a subversive innovation technology in the future. How to enable the unmanned vehicle units to be accurately butted under the complex ground environment is a key technology which needs to be solved firstly by the reconfigurable unmanned vehicle.
Disclosure of Invention
In view of the above, the invention provides a reconfigurable unmanned vehicle three-stage docking control method, which divides a docking process of an unmanned vehicle unit into a far-end approaching stage, a near-end capturing stage and a flexible docking stage, and can enable the unmanned vehicle unit to rapidly realize autonomous dynamic docking under a complex ground environment.
The reconfigurable unmanned vehicle three-section type butt joint control method specifically comprises the following steps:
the reconfigurable unmanned vehicle is provided with more than two unmanned vehicle units; the reconstruction of the unmanned vehicle is realized by more than two unmanned vehicle units through butt joint;
each unmanned vehicle unit is provided with a docking mechanism for realizing docking, each docking mechanism comprises a movable end and a fixed end, and during docking, the movable end of the docking mechanism on one unmanned vehicle unit is docked with the fixed end of the docking mechanism on the other unmanned vehicle unit; when the two unmanned vehicle units are butted, the unmanned vehicle unit for providing the movable end of the butting structure is an active butting vehicle, and the unmanned vehicle unit for providing the fixed end of the butting structure is a passive butting vehicle;
the three-section topology reconstruction method divides the butt joint process of two unmanned vehicle units into three stages, which are respectively as follows: a far-end approaching stage, a near-end capturing stage and a butt joint stage;
after receiving a docking instruction, the two unmanned vehicle units enter a far-end approach stage, and in the far-end approach stage, the two unmanned vehicle units are converged to a set target position; when two unmanned vehicle units travel to a set distance at intervals, entering a near-end capturing stage;
a near-end capturing stage, wherein the active docking car judges the switching time from a far-end approaching stage to a docking stage in real time by taking the motion range of the movable end of the docking mechanism as a constraint condition, and enters the docking stage when the motion range of the movable end of the docking mechanism meets the set constraint condition;
and in the docking stage, the active docking vehicle controls the movable end of the docking mechanism to be docked with the fixed end of the docking mechanism of the passive docking vehicle, so that the two unmanned vehicle units complete topology reconstruction.
As a preferred mode of the present invention, in the far-end approach phase, a far-end approach trajectory real-time planning algorithm considering steering mode switching is adopted to calculate the far-end approach trajectory:
the docking instruction comprises a set target position, and the unmanned vehicle unit receiving the docking instruction firstly obtains a shortest path under the algorithm as an initial approaching track through a track planning algorithm; then optimizing the initial approaching track by selecting a steering mode to obtain a far-end approaching track;
the steering mode is selected according to different working conditions, namely the modes of double-axle steering, crab steering and pivot steering of the unmanned vehicle unit adopting the independent steering technology are selected: wherein the dual axle steering mode is suitable for long distance and long time working conditions; the crab-type steering mode is suitable for the working condition of quick lane change; the pivot steering mode is suitable for the turning working condition in a narrow area.
As a preferred mode of the present invention, in the remote approach stage, in a process that two unmanned vehicle units approach to a set target position, the active docking vehicle calculates a distance between itself and the passive docking vehicle in real time:
if the distance between the two unmanned vehicle units reaches a set distance value before the target position is reached, sequentially entering a near-end capturing stage and a butt joint stage, and moving towards the target position after the butt joint is completed;
if one unmanned vehicle unit reaches the target position first, the unmanned vehicle unit stops at the target position, when the other unmanned vehicle unit runs to the position with the set distance from the unmanned vehicle unit, the unmanned vehicle unit enters a near-end capturing stage and a butt-joint stage in sequence, and butt-joint is completed at the set target position.
As a preferred aspect of the present invention, in the near-end capturing phase, the determination process of the active docking car for switching the timing from the far-end approaching phase to the docking phase is as follows:
the active butt-joint vehicle firstly carries out attitude judgment, and the constraint conditions of the attitude judgment are as follows:
-γ Dlim ≤γ C ≤+γ Dlim
wherein:γ C capturing a self course angle in a judging coordinate system for the active docking car at the near end;γ Dlim the limit direction-seeking angle is an included angle between a butt joint plane of the passive butt joint vehicle and a transverse plane of the active butt joint vehicle; the near-end capturing and distinguishing coordinate system is a coordinate system which takes the positioning center of the passive docking car as the origin of coordinates, the longitudinal direction of the passive docking car is the x direction, and the transverse direction of the passive docking car is the y direction;
if the course angle of the active docking vehicle meets the constraint condition, entering position judgment; if not, the active opposite-direction receiving vehicle carries out course adjustment until the course angle of the active opposite-direction receiving vehicle meets the constraint condition;
the constraint conditions for the position judgment are as follows:
-X
lim
-X
i1
-L
r
-X
i2
-L
f
cos(γ
C
)≤X
C
≤+X
lim
-X
i1
-L
r
-X
i2
-L
f
cos(γ
C
)
-Y
lim
-L
r
-X
i2
-L
f
sin(γ
C
)≤Y
C
≤+Y
lim
-L
r
-X
i2
-L
f
sin(γ
C
)
wherein: (X C，Y C) Capturing the coordinates of the positioning center of the active docking car in the near-end judging coordinate system;X lim ，Y lim for the active butt-joint vehicle upper butt-joint structure movable endLongitudinal and lateral limit travel distances;X i1 the longitudinal length of the movable end of the docking mechanism on the active docking car is defined;X i2 the longitudinal length of the fixed end of the docking mechanism on the passive docking car is shown;L f ，L r the distances from the front end surface and the rear end surface of the body of the passive butt joint vehicle to the positioning center of the body of the passive butt joint vehicle are respectively;
if the position of the active docking car meets the constraint condition of the position judgment, entering a docking stage; and if not, performing attitude adjustment on the active butt joint vehicle until the positioning center of the active butt joint vehicle meets the constraint condition of the position judgment.
In a preferred mode of the invention, in the docking stage, the movable end of the docking mechanism on the active docking vehicle and the fixed end of the docking mechanism on the passive docking vehicle are in flexible docking; namely, the butt joint mechanism is a flexible butt joint structure;
the flexible docking mechanism includes: the device comprises an active capture module, a locking module, a sensing module and a control module; the active capture module adopts a six-degree-of-freedom platform, the fixed end of the six-degree-of-freedom platform is fixedly connected with the unmanned vehicle unit, and the movable end of the six-degree-of-freedom platform is provided with a locking core; the six-degree-of-freedom platform can drive the locking core to move along the transverse direction, the longitudinal direction, the vertical direction, the yaw direction, the rolling direction and the pitching direction so as to adjust the position and the posture of the locking core;
the locking module includes: a locking mechanism and a docking guide block; the butt joint guide block is fixedly connected with the unmanned vehicle unit; the butt joint guide block is provided with a butt joint guide hole matched with the locking core and used for accommodating the locking core; the locking mechanism is used for locking the position of the butted guide block and the locking core after being butted;
the sensing module is used for sensing the position and the posture of the locking core on the active capture module relative to the butt joint guide block on the locking module and sending the position and the posture to the control module; the control module controls the active capture module to adjust the position and the posture of the locking core relative to the butt joint guide block according to the sensing information of the sensing module, so that the locking core is inserted into the butt joint guide hole of the butt joint guide block when two unmanned vehicle units are in butt joint.
As a preferred mode of the present invention, the sensing module comprises a vision sensor mounted at the fixed end of the six-degree-of-freedom platform and more than two laser ranging sensors mounted at the end face of the movable end of the six-degree-of-freedom platform; the vision sensor and the more than two laser ranging sensors are respectively connected with the control module and used for sending detected signals to the control module;
an image recognition positioning plate matched with the vision sensor is arranged on the butt joint guide block, and the vision sensor obtains the position of the butt joint guide block relative to the locking core through recognition of the image recognition positioning plate;
the butt joint guide block is provided with a laser sensor detection board used for being matched with the laser ranging sensors, more than two laser ranging sensors are distributed at intervals along the circumferential direction, the control module obtains an included angle between the axis of the locking core and the axis of the butt joint guide block according to distance information between the detection board of the laser sensor and the distance information detected by the more than two laser ranging sensors respectively, and the control module adjusts the posture of the locking core so that the butt joint guide block is coaxial with the locking core.
As a preferred mode of the present invention, when two unmanned vehicle units are docked, the vision sensor on the active capture module of the active docking vehicle acquires the position information of the image recognition positioning plate on the locking module of the passive docking vehicle and feeds the position information back to the control module, and the control module adjusts the position of the locking core at first step according to the position information transmitted by the vision sensor, so that the relative position of the locking core and the docking guide block meets the set docking position requirement;
after preliminary adjustment, the control module on the active butt joint vehicle adjusts the posture of the locking core to eliminate the calculated included angle between the axis of the locking core and the axis of the butt joint guide block according to the distance information between the detection plate of the laser sensor on the locking module and the detection information detected by the laser ranging sensor, so that the axes of the locking core and the butt joint guide block are overlapped;
then the control module on the active docking vehicle controls the active capturing module to insert the locking core into the docking guide block; and finally, locking the active capture module and the locking module through a locking mechanism.
As a preferable mode of the present invention, the sensing module further includes two or more force sensors; more than two force sensors are arranged on the end face of the movable end of the six-degree-of-freedom platform and are distributed at intervals along the circumferential direction; the force sensor is connected with the control module;
when the two unmanned vehicle units are in butt joint, the force sensor is in contact with the butt joint surface of the butt joint guide block, and the stress of the butt joint surface of the butt joint guide block and the butt joint surface of the locking core is fed back to the control module.
Has the advantages that:
the docking control method divides the docking process of the unmanned vehicle unit into a far-end approaching stage, a near-end capturing stage and a flexible docking stage: in the far-end approaching stage, two unmanned vehicle units to be butted autonomously travel along the planned approaching track until the distance between the two vehicles is set, and a far-end approaching track real-time planning algorithm considering steering mode switching is provided aiming at the stage so as to plan the approaching track with short required time and improve the butting efficiency.
In a near-end capturing stage, a judging method for determining the switching time from a far-end approaching stage to a flexible docking stage in the reconfigurable unmanned vehicle topology reconfiguration process is provided, the judging method solves the problem that the stage switching is difficult to determine in the reconfigurable unmanned vehicle docking process, and the docking efficiency of the reconfigurable unmanned vehicle is remarkably improved.
In the flexible docking stage, a six-degree-of-freedom flexible docking mechanism is adopted, and a flexible docking process comprising a vision sensor, a laser ranging sensor, a force sensor and other multi-sensor sensing systems is designed on the basis of the six-degree-of-freedom flexible docking mechanism, so that the accuracy and the stability of the flexible docking stage are improved.
Drawings
FIG. 1 is a schematic diagram illustrating the adjustment of the attitude of an actively docked vehicle during a near-end capture phase;
FIG. 2 is a schematic structural diagram of an active capture module of the flexible docking mechanism employed in the docking stage;
fig. 3 is a schematic structural diagram of a flexible docking mechanism locking module adopted in a docking stage.
Wherein: the device comprises a vision sensor 1, an electrically driven linear actuator 2, a base 3, a laser ranging sensor 4, a force sensor 5, a locking core 6, a locking pin actuator 7, a butt joint guide block 8, an image recognition positioning plate 9, a laser sensor detection plate 10 and a locking core connecting plate 11.
Detailed Description
The invention is described in detail below by way of example with reference to the accompanying drawings.
Example 1:
in order to solve the problem of accurate control of the reconfigurable unmanned vehicle topology reconfiguration docking process, the embodiment provides a reconfigurable unmanned vehicle three-section type docking control method, which can meet the complex control requirement of the reconfigurable unmanned vehicle autonomous topology reconfiguration.
The reconfigurable unmanned vehicle is provided with more than two unmanned vehicle units, each unmanned vehicle unit is an unmanned vehicle with two wheels, and the two wheels have independent steering functions. When more than two unmanned vehicle units are required to work together, the more than two unmanned vehicle units are in end-to-end butt joint according to actual use requirements, and reconstruction of the unmanned vehicle is achieved. Each unmanned vehicle unit is provided with a docking mechanism for realizing docking, the docking mechanism comprises a movable end and a fixed end, the movable end of the docking mechanism is arranged at the front end of the unmanned vehicle unit, and the fixed end is arranged at the rear end of the unmanned vehicle unit; when in butt joint, the movable end of the butt joint mechanism on one unmanned vehicle unit is in butt joint with the fixed end of the butt joint mechanism on the other unmanned vehicle unit.
For convenience of description, when the two unmanned vehicle units are butted, the unmanned vehicle unit positioned at the rear for providing the movable end of the butting mechanism is an active butting vehicle, and the unmanned vehicle unit positioned at the front for providing the fixed end of the butting mechanism is a passive butting vehicle. After receiving an external docking instruction, the two unmanned vehicle units are converged to a specified position and are docked, and the three-section topology reconstruction method is used for controlling the docking process and ensuring accurate docking of the two unmanned vehicle units.
The three-section topology reconstruction method divides the butt joint process of two unmanned vehicle units into three stages, which are respectively as follows: the remote end is close to stage, near-end and is caught stage and butt joint stage, through the control to three stages, realizes the accurate control to unmanned vehicle unit butt joint process.
After the two unmanned vehicle units receive the docking instruction, the remote approach stage is started:
the two unmanned vehicle units receive the docking instruction, the docking instruction includes a set target position (and an active docking vehicle and a passive docking vehicle are designated in the docking instruction), and the two unmanned vehicle units receiving the docking instruction are converged with the target position which is quickly approached by track tracking through track planning. And aiming at the stage, a far-end approaching track real-time planning algorithm considering steering mode switching is provided, and two unmanned vehicle units plan a far-end approaching track with shorter required time according to the algorithm. The specific implementation process of the remote approach trajectory real-time planning algorithm comprises the following steps:
the unmanned vehicle unit receiving the docking instruction firstly obtains a shortest path under a conventional path planning algorithm (such as an A star algorithm) as an initial approach path; and then optimizing the initial approach track by selecting a steering mode to obtain a shorter approach time path, and taking the path as a far-end approach track.
The selection of the steering mode is to select the double-axle steering mode, the crab-type steering mode and the pivot steering mode of the unmanned vehicle unit adopting the independent steering technology according to different working conditions (namely, the steering mode is switched): the double-axle steering mode has strong stability and is suitable for working conditions of long distance, long time and the like; the crab steering mode can change the position of the vehicle under the condition of not changing the direction of the vehicle head, and is suitable for working conditions such as rapid lane change and the like; the pivot steering can change the direction of the vehicle head under the condition of not changing the position of the vehicle, and is suitable for working conditions such as head dropping in narrow areas. Selecting different steering modes for different operating conditions may reduce the time required for the distal end approach procedure.
And after the unmanned vehicle unit obtains the far-end approaching track considering the switching of the steering mode, tracking the track according to the obtained far-end approaching track, and further quickly approaching the set target position.
In the approaching process, the active docking vehicle obtains the position coordinates of the passive docking vehicle in real time according to workshop communication, so as to obtain the distance between the active docking vehicle and the passive docking vehicle, if the distance between two unmanned vehicle units before reaching the target position reaches a set distance value, the active docking vehicle enters a near-end capturing stage and a docking stage in sequence, and moves to the target position after docking is completed; if one unmanned vehicle unit reaches the target position first, the unmanned vehicle unit stops at the target position, when the other unmanned vehicle unit runs to the position with the set distance from the unmanned vehicle unit, the unmanned vehicle unit enters a near-end capturing stage and a butt-joint stage in sequence, and butt-joint is completed at the set target position.
And the active docking vehicle in the near-end capturing stage adopts a near-end capturing and judging method to determine the switching time from the far-end approaching stage to the docking stage in the topology reconstruction process. The near-end capturing discrimination method comprises the following steps: and when the two judgment conditions are simultaneously met, the two unmanned vehicle units to be butted can complete the switching from the far-end approaching stage to the butting stage, namely the two unmanned vehicle units to be butted reach the butting time, and the movable end and the fixed end of the butting mechanism can be butted.
And a near-end capturing stage, wherein the butt joint opportunity of the butt joint vehicle is actively judged in real time, and the judgment is to obtain the switching opportunity from the far-end approaching stage to the butt joint stage by taking the motion range of the movable end of the butt joint mechanism as a constraint condition in a near-end capturing and judging coordinate system. The near-end capturing and distinguishing coordinate system is established by taking a positioning center of the passive docking car (the positioning center is a set position, generally a centroid position of the passive docking car) as an origin of coordinates, wherein the x direction of the near-end capturing and distinguishing coordinate system is the longitudinal direction of the passive docking car, and the y direction of the near-end capturing and distinguishing coordinate system is the transverse direction of the passive docking car. The external docking instruction received by the active docking vehicle comprises absolute coordinates of a passive docking vehicle positioning center needing to be docked with the active docking vehicle in a world reference system.
During the approach process from the active butt joint vehicle to the passive butt joint vehicle, firstly, the attitude judgment is carried out, and the active butt joint vehicle and the passive butt joint vehicle are driven to approach each otherThe moving butt joint vehicle obtains the self course angle in the near-end capturing and distinguishing coordinate system through sensors such as an inertial sensor (IMU) and a GPSγ C Defining the included angle between the butt-joint plane of the passive butt-joint vehicle and the transverse plane of the active butt-joint vehicleγ D For the direction-finding angle, as shown in FIG. 1, in the near-end capturing discrimination coordinate system, the heading angle of the vehicle itself is actively dockedγ C Angle with direction findingγ D Equal, the movable end of the docking mechanism is required to be in the docking range and have a direction-finding angleγ D The set attitude constraint condition is required to be met, and the heading angle of the active docking vehicle isγ C Angle with direction findingγ D Equality, i.e. need to judgeγ C Whether the following set posture constraint conditions are satisfied:
-γ Dlim ≤γ C ≤+γ Dlim
wherein:γ Dlim is the limit steering angle.
If the vehicle is actively docked, the self course angle of the vehicleγ C If the attitude constraint condition is met, entering position judgment; if not, the heading of the butt joint vehicle is actively adjusted until the heading angle of the butt joint vehicle meets the attitude constraint condition.
After the active docking vehicle completes the attitude judgment, based on the course angle meeting the attitude constraint conditionγ C And (4) judging the position:
the active docking vehicle obtains the absolute coordinates of the self vehicle and the passive docking vehicle under a world reference system through GPS and vehicle-to-vehicle communication, and determines the positioning center coordinate of the active docking vehicle in a near-end capturing and distinguishing coordinate system taking the positioning center of the passive docking vehicle as the origin of coordinates through the relative position relationship of the two vehicles (the step (a)X C，Y C) (typically the active docking vehicle centroid coordinates). To make the movable end of the docking mechanism within the docking range, the coordinates of the positioning center of the active docking vehicle need to be determined (X C，Y C) Whether the following position constraint conditions are satisfied:
-X
lim
-X
i1
-L
r
-X
i2
-L
f
cos(γ
C
)≤X
C
≤+X
lim
-X
i1
-L
r
-X
i2
-L
f
cos(γ
C
)
-Y
lim
-L
r
-X
i2
-L
f
sin(γ
C
)≤Y
C
≤+Y
lim
-L
r
-X
i2
-L
f
sin(γ
C
)
wherein:X lim ，Y lim respectively representing the longitudinal and transverse limit movement distances of the movable end of the butt joint structure on the active butt joint vehicle;X i1 indicating the longitudinal length of the movable end of the docking mechanism,X i2 the longitudinal length of the fixed end of the docking mechanism is shown;L f ，L r respectively before passive dockingThe end face and the rear end face are spaced from the positioning center thereof by a distance (the distance does not include the length of the docking mechanism), and in fig. 1, (b) isX D1,Y D1) Showing the coordinates of the movable end of the docking mechanism and the center of the connecting end face of the vehicle body of the active docking mechanism in a near-end capturing and judging coordinate system (a)X D2,Y D2) And the coordinates of the fixed end of the docking mechanism and the center of the connecting end face of the vehicle body of the passive docking vehicle in the near-end capturing and distinguishing coordinate system are represented.
The position constraint conditions form a position envelope area of the active docking vehicle, if the positioning center of the active docking vehicle is within an envelope range, the docking condition is met, and a docking stage can be entered; if the position of the vehicle is not in the envelope curve, the vehicle posture of the vehicle is actively adjusted until the positioning center coordinate of the vehicle meets the position constraint condition.
And when the active docking vehicle meets the docking condition, entering a docking stage, and controlling the active docking vehicle to control the movable end of the docking mechanism to be in high-precision docking with the fixed end of the docking mechanism of the passive docking vehicle so as to enable the two unmanned vehicle units to complete topology reconstruction.
Example 2:
on the basis of the embodiment 1, in the docking stage, the movable end of the docking mechanism on the active docking vehicle and the fixed end of the docking mechanism on the passive docking vehicle are subjected to high-precision flexible docking.
On hardware, a six-degree-of-freedom flexible docking mechanism shown in fig. 2 and 3 is adopted; in software, the flexible docking process is controlled based on a multi-sensor sensing system such as a visual sensor, a laser ranging sensor and a force sensor, so that the accuracy and the stability of the flexible docking stage are improved.
Specifically, the method comprises the following steps: flexible docking mechanism includes: the device comprises an active capture module, a locking module, a sensing module and a control module; the active capturing module is a movable end of the docking mechanism, and the locking module is a fixed end of the docking mechanism.
As shown in fig. 2, the active capture module includes: an electrically driven linear actuator 2, a base 3 and a lock core 6; the active capture module adopts a six-degree-of-freedom platform, the base 3 is used as a fixed end of the six-degree-of-freedom platform, and the base 3 is fixedly connected with a vehicle body of the unmanned vehicle unit; the locking core 6 is fixed in the middle of the locking core connecting plate 11, and three groups of pin holes are uniformly distributed on the outer circumferential surface of the locking core 6 at intervals along the circumferential direction.
Every two six electric-driven linear actuators 2 form a group, three groups of electric-driven linear actuators 2 are uniformly distributed on the base 3 at intervals along the circumferential direction, and the other ends of the two electric-driven linear actuators 2 in each group are respectively hinged with the locking core connecting plate 11; namely, the fixed end of the electric drive linear actuator 2 is hinged with the base 3, and the actuating end is hinged with the locking core connecting plate 11. And a locking core connecting plate 11 connected with a locking core 6 is used as a movable end of the six-degree-of-freedom platform. By controlling the extension and retraction of the six electric-driven linear actuators 2, the postures of the active capture module in the transverse, longitudinal, vertical, yaw, roll and pitch directions can be adjusted.
When the flexible docking mechanism is docked, the control module controls the six electric-driven linear actuators 2 to move according to the expected position, so that the motion of the movable end of the platform in six freedom directions (transverse, longitudinal, vertical, yaw, roll and pitch) in a Cartesian coordinate system is realized, and finally the locking core 6 on the movable end of the platform is dynamically controlled to be aligned with the docking guide block 8 on the locking module in a high-precision mode, so that the docking action is completed.
The sensing module is arranged on the active capture module and comprises a vision sensor 1 arranged on a base 3, three laser ranging sensors 4 and three force sensors 5 arranged on a connecting plate of a locking core 6; wherein the vision sensor 1 is positioned right above the base 3, and the image acquisition direction of the vision sensor 1 faces to the movable end of the six-degree-of-freedom platform; the three laser ranging sensors 4 are uniformly distributed at intervals along the circumferential direction of the locking core connecting plate 11; the three force sensors 5 are arranged on the end face of the end of the locking core connecting plate 11 where the locking core 6 is located and are uniformly distributed at intervals along the circumferential direction; preferably, the three force sensors 5 and the three laser distance measuring sensors 4 are offset with respect to one another. And each sensor in the sensing module is respectively connected with the control module and used for sending the detected signal to the control module.
As shown in fig. 3, the locking module includes: the device comprises a locking mechanism, an image recognition positioning plate 9, a butt joint guide block 8 and a laser sensor detection plate 10; wherein the butt joint guide block 8 is fixedly connected with the vehicle body of the unmanned vehicle unit through a bracket; the docking guide block 8 is centrally provided with a docking guide hole for cooperating with the locking core 6 for accommodating the locking core 6. The laser sensor detection plate 10 is arranged on the outer circumference of the middle part of the butt joint guide block 8, and divides the butt joint guide block 8 into two parts along the axial direction, wherein one part is used for butt joint with the active capture module, and the other part is used for installing a locking mechanism.
The locking mechanism is used for realizing the position locking after the butt joint of the butt joint guide block 8 and the locking core 6, and adopts a locking pin and a locking pin actuator 7. Specifically, three locking pin actuators 7 are uniformly distributed on the outer circumference of the butt joint guide block 8 at intervals along the circumferential direction, the actuating end of each locking pin actuator 7 is provided with locking pins which are in one-to-one correspondence with pin holes on the locking core 6, and in order to ensure that the locking pins can be smoothly inserted into the corresponding pin holes, a spring is arranged inside each locking pin; initially, the locking pin actuator 7 pulls the locking pin to compress the spring, so that the spring is in a compressed state and the locking pin is not pushed out; after the locking core 6 enters the butt joint guide hole in the butt joint guide block 8, the locking pin actuator 7 releases force, the locking core 6 is rotated through the six-degree-of-freedom platform, when the locking core 6 rotates to the pin hole and corresponds to the locking pin in position, the locking pin automatically extends out under the action of the restoring force of the spring and enters the pin hole, and therefore locking between the butt joint guide block 8 and the locking core 6 is achieved. An image recognition positioning plate 9 is connected to one of the locking pin actuators 7; preferably, the image recognition positioning plate 9 is located at a position right above the docking guide block 8, and corresponds to the position of the vision sensor on the base 3.
The image recognition positioning plate 9 is used for being matched with the vision sensor 1, and the vision sensor 1 can obtain the relative position information of the image recognition positioning plate 9 on the unmanned vehicle unit where the locking module is located based on a position area recognition algorithm and an edge line recognition algorithm and sends the relative position information to the control module; the control module adjusts the position of the locking core 6 on the six-degree-of-freedom platform according to the position, so that the locking core 6 and the butt joint guide block 8 reach an expected relative position, and the accurate butt joint requirement is met.
The laser sensor detection plate 10 is used for being matched with the three laser ranging sensors 4; when the active capture module is in butt joint with the locking module, the control module establishes a two-plane parallel mathematical model according to distance information between the three laser ranging sensors 4 and the laser sensor detection plate 10 on the locking module, calculates an included angle between the axis of the locking core 6 and the axis of the guide block 5, then controls the locking core 6 on the six-freedom-degree platform to move to eliminate the included angle, enables the butt joint guide block 8 and the locking core 6 to be coaxial, and ensures that the locking core 6 can be accurately inserted into the butt joint guide block 8 during butt joint.
In addition, during butt joint, the force sensors 5 are in contact with the plane where the butt joint guide block 8 on the locking module is located, the stress between the plane where the butt joint guide block 8 is located and the plane where the locking core 6 is located is fed back to the control module, and whether the two planes are parallel or not is judged according to the stress (if the two planes are parallel, the stress at the positions where the three force sensors 5 are located are the same). Meanwhile, a threshold value of the stress detected by the force sensors 5 is preset in the control module, and the threshold value indicates that the locking core 6 and the butt joint guide block 8 are in butt joint in place, namely when the stress fed back by the three force sensors 5 reaches the preset threshold value, the locking core 6 is inserted to reach a specified position. In addition, force sensor 5 still is used for detecting the stress sudden change that leads to because the unequally disturbance of ground when the butt joint, and when the sudden change appears in stress, control module in time controls the locking core 6 of six degrees of freedom platforms and adjusts, and the rocking that the unequally disturbance of ground arouses when avoiding the butt joint leads to the mechanism to damage.
The multi-sensor sensing module based on the vision sensor, the laser ranging sensor 4 and the force sensor 5 can ensure the accuracy and stability of the butt joint process. When the butt joint is started, the vision sensor 1 acquires the position information of the image recognition positioning plate 9 and feeds the position information back to the control module, and the relative position of the flexible butt joint mechanisms of the two unmanned vehicle units to be butt jointed is adjusted to initially meet the requirement required by the flexible butt joint; then, the laser ranging sensor 4 acquires distance information of the active capture module and the locking module of the two unmanned vehicle units to be butted, so that the movable end (the active capture module) and the fixed end (the locking module) of the flexible butting mechanism of the two unmanned vehicle units are kept parallel; when the movable end and the fixed end are aligned, the locking core 6 on the active capture module is slowly inserted into the butt joint guide block 8 of the locking module, and in the process, the force sensor 5 acquires stress information between the active capture module and the locking module during butt joint, so that deviation and collision caused by road jolt can be avoided during flexible butt joint.
In summary, the above description is only a preferred embodiment of the present invention, and is not intended to limit the scope of the present 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 (7)
1. The reconfigurable unmanned vehicle three-section type butt joint control method is characterized in that the reconfigurable unmanned vehicle is provided with more than two unmanned vehicle units; the reconstruction of the unmanned vehicle is realized by more than two unmanned vehicle units through butt joint;
each unmanned vehicle unit is provided with a docking mechanism for realizing docking, each docking mechanism comprises a movable end and a fixed end, and during docking, the movable end of the docking mechanism on one unmanned vehicle unit is docked with the fixed end of the docking mechanism on the other unmanned vehicle unit; when the two unmanned vehicle units are butted, the unmanned vehicle unit for providing the movable end of the butting structure is an active butting vehicle, and the unmanned vehicle unit for providing the fixed end of the butting structure is a passive butting vehicle;
the three-section type docking control method divides the docking process of two unmanned vehicle units into three stages, which are respectively: a far-end approaching stage, a near-end capturing stage and a butt joint stage;
after receiving the docking instruction, the two unmanned vehicle units enter a far-end approach stage; in the far-end approaching stage, the two unmanned vehicle units are converged to a set target position; when the two unmanned vehicle units travel to a set distance at intervals, entering a near-end capturing stage;
the active butt-joint vehicle judges the switching time from the near-end capturing stage to the butt-joint stage in real time by taking the motion range of the movable end of the butt-joint mechanism as a constraint condition, and enters the butt-joint stage when the motion range of the movable end of the butt-joint mechanism meets the set constraint condition;
in the docking stage, the active docking vehicle controls the movable end of the docking mechanism to dock with the fixed end of the docking mechanism of the passive docking vehicle, so that the two unmanned vehicle units complete topology reconstruction;
in the far-end approaching stage, a far-end approaching track real-time planning algorithm considering steering mode switching is adopted to calculate a far-end approaching track:
the docking instruction comprises a set target position, and the unmanned vehicle unit receiving the docking instruction firstly obtains a shortest path under the algorithm as an initial approaching track through a track planning algorithm; then optimizing the initial approaching track by selecting a steering mode to obtain a far-end approaching track;
the steering mode is selected according to different working conditions, namely the modes of double-axle steering, crab steering and pivot steering of the unmanned vehicle unit adopting the independent steering technology are selected: wherein the dual axle steering mode is suitable for long distance and long time working conditions; the crab-type steering mode is suitable for the working condition of quick lane change; the pivot steering mode is suitable for the turning working condition in a narrow area.
2. The reconfigurable unmanned vehicle three-stage docking control method of claim 1, wherein in the remote approach stage, the active docking vehicle calculates the distance between itself and the passive docking vehicle in real time in the process that two unmanned vehicle units approach to a set target position:
if the distance between the two unmanned vehicle units reaches a set distance value before reaching the target position, sequentially entering a near-end capturing stage and a butt joint stage, and moving towards the target position after the butt joint is completed;
if one unmanned vehicle unit reaches the target position first, the unmanned vehicle unit stops at the target position, when the other unmanned vehicle unit runs to the position with the set distance from the unmanned vehicle unit, the unmanned vehicle unit enters a near-end capturing stage and a butt-joint stage in sequence, and butt-joint is completed at the set target position.
3. The reconfigurable unmanned vehicle three-stage docking control method of claim 1, wherein in the near-end capture stage, the active docking vehicle is determined to switch the timing from a far-end approach stage to a docking stage by:
the active butt-joint vehicle firstly carries out attitude judgment, and the constraint conditions of the attitude judgment are as follows:
-γ Dlim ≤γ C ≤+γ Dlim
wherein:γ C capturing a self course angle in a judging coordinate system for the active docking car at the near end;γ Dlim the limit direction-seeking angle is an included angle between a butt joint plane of the passive butt joint vehicle and a transverse plane of the active butt joint vehicle; the near-end capturing and distinguishing coordinate system is a coordinate system which takes the positioning center of the passive docking car as the origin of coordinates, the longitudinal direction of the passive docking car is the x direction, and the transverse direction of the passive docking car is the y direction;
if the course angle of the active docking vehicle meets the constraint condition, entering position judgment; if not, the active opposite-direction receiving vehicle carries out course adjustment until the course angle of the active opposite-direction receiving vehicle meets the constraint condition;
the constraint conditions for the position judgment are as follows:
-X
lim
-X
i1
-L
r
-X
i2
-L
f
cos(γ
C
)≤X
C
≤+X
lim
-X
i1
-L
r
-X
i2
-L
f
cos(γ
C
)
-Y
lim
-L
r
-X
i2
-L
f
sin(γ
C
)≤Y
C
≤+Y
lim
-L
r
-X
i2
-L
f
sin(γ
C
)
wherein: (X C，Y C) Capturing the coordinates of the positioning center of the active docking car in the near-end judging coordinate system;X lim ，Y lim the longitudinal and transverse limit movement distances of the movable end of the butt joint structure on the active butt joint vehicle are set;X i1 the longitudinal length of the movable end of the docking mechanism on the active docking car is defined;X i2 the longitudinal length of the fixed end of the docking mechanism on the passive docking car is shown;L f ，L r the distances from the front end surface and the rear end surface of the body of the passive butt joint vehicle to the positioning center of the body of the passive butt joint vehicle are respectively;
if the position of the active docking car meets the constraint condition of the position judgment, entering a docking stage; and if not, performing attitude adjustment on the active butt joint vehicle until the positioning center of the active butt joint vehicle meets the constraint condition of the position judgment.
4. The reconfigurable unmanned vehicle three-stage docking control method of claim 1, wherein in the docking stage, a movable end of a docking mechanism on an active docking vehicle is flexibly docked with a fixed end of a docking mechanism on a passive docking vehicle; namely, the butt joint mechanism is a flexible butt joint mechanism;
the flexible docking mechanism includes: the device comprises an active capture module, a locking module, a sensing module and a control module; the active capture module adopts a six-degree-of-freedom platform, the fixed end of the six-degree-of-freedom platform is fixedly connected with the unmanned vehicle unit, and the movable end of the six-degree-of-freedom platform is provided with a locking core; the six-degree-of-freedom platform can drive the locking core to move along the transverse direction, the longitudinal direction, the vertical direction, the yaw direction, the rolling direction and the pitching direction so as to adjust the position and the posture of the locking core;
the locking module includes: a locking mechanism and a docking guide block; the butt joint guide block is fixedly connected with the unmanned vehicle unit; the butt joint guide block is provided with a butt joint guide hole matched with the locking core and used for accommodating the locking core; the locking mechanism is used for locking the position of the butted guide block and the locking core after being butted;
the sensing module is used for sensing the position and the posture of the locking core on the active capture module relative to the butt joint guide block on the locking module and sending the position and the posture to the control module; the control module controls the active capture module to adjust the position and the posture of the locking core relative to the butt joint guide block according to the sensing information of the sensing module, so that the locking core is inserted into the butt joint guide hole of the butt joint guide block when two unmanned vehicle units are in butt joint.
5. The reconfigurable unmanned aerial vehicle three-stage docking control method of claim 4, wherein the sensing module comprises a vision sensor mounted at a fixed end of the six-degree-of-freedom platform and two or more laser ranging sensors mounted at a movable end face of the six-degree-of-freedom platform; the vision sensor and the more than two laser ranging sensors are respectively connected with the control module and used for sending detected signals to the control module;
an image recognition positioning plate matched with the vision sensor is arranged on the butt joint guide block, and the vision sensor obtains the position of the butt joint guide block relative to the locking core through recognition of the image recognition positioning plate;
the butt joint guide block is provided with a laser sensor detection board used for being matched with the laser ranging sensors, more than two laser ranging sensors are distributed at intervals along the circumferential direction, the control module obtains an included angle between the axis of the locking core and the axis of the butt joint guide block according to distance information between the detection board of the laser sensor and the distance information detected by the more than two laser ranging sensors respectively, and the control module adjusts the posture of the locking core so that the butt joint guide block is coaxial with the locking core.
6. The reconfigurable unmanned vehicle three-stage type docking control method as claimed in claim 5, wherein in the docking stage, when two unmanned vehicle units are docked, a visual sensor on an active docking vehicle capturing module acquires position information of an image recognition positioning plate on a locking module of a passive docking vehicle and feeds the position information back to a control module, and the control module initially adjusts the position of a locking core according to the position information transmitted by the visual sensor, so that the relative position of the locking core and the docking guide block meets a set docking position requirement;
after preliminary adjustment, the control module on the active butt joint vehicle adjusts the posture of the locking core to eliminate the calculated included angle between the axis of the locking core and the axis of the butt joint guide block according to the distance information between the detection plate of the laser sensor on the locking module and the detection information detected by the laser ranging sensor, so that the axes of the locking core and the butt joint guide block are overlapped;
then the control module on the active docking vehicle controls the active capturing module to insert the locking core into the docking guide block; and finally, locking the active capture module and the locking module through a locking mechanism.
7. The reconfigurable unmanned-vehicle three-stage docking control method of claim 5, wherein the sensing module further comprises two or more force sensors; more than two force sensors are arranged on the end face of the movable end of the six-degree-of-freedom platform and are distributed at intervals along the circumferential direction; the force sensor is connected with the control module;
when the two unmanned vehicle units are in butt joint, the force sensor is in contact with the butt joint surface of the butt joint guide block, and the stress of the butt joint surface of the butt joint guide block and the butt joint surface of the locking core is fed back to the control module.
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