CN114740861A - AGV zero correction method and system and AGV - Google Patents
AGV zero correction method and system and AGV Download PDFInfo
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- G05D1/02—Control of position or course in two dimensions
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Abstract
The invention provides an AGV zero correction method, an AGV zero correction system and an AGV trolley, and relates to the technical field of AGV zero correction, wherein the method comprises the following steps: acquiring an angular speed value of the AGV when executing a straight-going instruction; when the angular velocity value exceeds a preset angular velocity threshold value, adjusting the offset of the steering wheel to be adjusted on the basis of the angular velocity value until the angular velocity value acquired again is smaller than the angular velocity threshold value, wherein the steering wheel to be adjusted is any one of the first steering wheel and the second steering wheel; acquiring a transverse deviation speed value of the AGV; and when the transverse deviation speed value exceeds a preset speed threshold value, adjusting the deviation of the first steering wheel and the second steering wheel based on the transverse deviation speed value until the transverse deviation speed value acquired again is smaller than the speed threshold value. The method is used for solving the defect of low deviation correction precision caused by the fact that zero position deviation correction of the AGV is achieved through zero position adjustment of a single steering wheel in the prior art, and achieving whole-vehicle deviation correction of the AGV based on the double steering wheels, and the zero position calibration level of the AGV is effectively improved.
Description
Technical Field
The invention relates to the technical field of AGV zero correction, in particular to an AGV zero correction method, an AGV zero correction system and an AGV.
Background
An Automated Guided Vehicle (AGV) refers to a transport Vehicle that does not require an operator, is equipped with an electromagnetic or optical automatic guidance device, and can travel along a planned guidance path, and has safety protection and various transfer functions. The trolley generally adopts a storage battery as a power source, and an on-board controller arranged on the trolley controls the running of the vehicle and communicates with a superior system. The driving mode that present AGV adopted mainly has rudder wheel drive, differential drive etc..
Although the AGV trolley is convenient to use, zero offset of the AGV trolley can be caused due to mechanical assembly during machining of the AGV trolley body, inaccurate zero return in movement and the like, so that zero offset correction needs to be carried out on the AGV trolley, if zero offset correction is not carried out, the AGV trolley can generate inevitable offset due to errors of zero positions of steering wheels when a moving or turning command is sent, and therefore the pose needs to be corrected in real time in different amplitudes continuously, and the precision of real-time positioning is influenced. If the zero offset is large, the position and posture of the AGV cannot be timely adjusted due to control delay in an automatic control situation, so that the safety PLS is triggered, the AGV is emergently stopped, and in a manual control situation, safety accidents and the like are caused due to the fact that personnel predict the movement track and the actual in-out is large.
Disclosure of Invention
The invention provides an AGV zero correction method, an AGV zero correction system and an AGV, which are used for solving the defect of low correction precision caused by the fact that zero correction of the AGV is achieved through zero adjustment of a single steering wheel in the prior art, achieving whole-vehicle correction of the AGV based on double steering wheels, and effectively improving the zero correction level of the AGV.
The invention provides an AGV zero correction method, which is applied to a double-steering-wheel AGV driven by two steering wheels to move and comprises the following steps:
acquiring an angular speed value of the AGV when executing a straight-going instruction;
when the angular velocity value exceeds a preset angular velocity threshold value, adjusting the offset of a steering wheel to be adjusted based on the angular velocity value until the angular velocity value acquired again is smaller than the angular velocity threshold value, wherein the steering wheel to be adjusted is any one of a first steering wheel and a second steering wheel;
acquiring a transverse deviation speed value of the AGV;
when the lateral offset speed value exceeds a preset speed threshold value, adjusting the offset of the first steering wheel and the second steering wheel based on the lateral offset speed value until the obtained lateral offset speed value is smaller than the speed threshold value.
According to the AGV zero correction method, the adjusting of the offset of the steering wheel to be adjusted based on the angular velocity value comprises the following steps:
adjusting the offset of the steering wheel to be adjusted according to a preset first offset parameter on the basis of the angular velocity value;
judging whether the absolute value of the angular velocity value acquired after adjustment is smaller than the absolute value of the angular velocity value acquired before adjustment;
if so, continuing to adjust the offset of the steering wheel to be adjusted according to the adjustment direction of the first offset parameter;
if not, adjusting the offset of the steering wheel to be adjusted according to the opposite direction of the first offset parameter.
According to the AGV zero correction method, after the angular velocity value of the AGV executing the straight-going instruction is obtained, the method further comprises the following steps:
and when the angular speed value is smaller than a preset angular speed threshold value, directly acquiring the transverse deviation speed value of the AGV.
According to the AGV zero correction method, the adjusting the offset of the first steering wheel and the second steering wheel based on the lateral offset speed value comprises the following steps:
simultaneously adjusting the offset of the first and second steering wheels with the same offset amount based on the lateral offset speed value.
According to the AGV zero correction method, the method for simultaneously adjusting the offset of the first steering wheel and the offset of the second steering wheel by the same offset amount based on the lateral offset speed value comprises the following steps:
based on the transverse offset speed value, simultaneously offsetting the first steering wheel and the second steering wheel by a preset second offset parameter;
judging whether the absolute value of the transverse offset speed value acquired after adjustment is smaller than the absolute value of the transverse offset speed value acquired before adjustment;
if so, continuing to simultaneously adjust the offset of the first steering wheel and the second steering wheel according to the adjustment direction of the second offset parameter;
if not, adjusting the offset of the first steering wheel and the second steering wheel according to the opposite direction of the second offset parameter.
According to the AGV zero correction method, the step of acquiring the transverse offset speed value of the AGV comprises the following steps:
acquiring the real-time speed of the AGV in executing the straight-going instruction;
obtaining a longitudinal speed component of the first steering wheel and the second steering wheel along a target running direction of the AGV and a transverse speed component along the direction perpendicular to the target running direction based on the real-time speed;
and taking the transverse speed component as the transverse offset speed value of the AGV.
The invention also provides an AGV zero correction system, comprising:
the first acquisition module is used for acquiring the angular velocity value of the AGV when executing the straight-going instruction;
the first judgment processing module is used for adjusting the offset of a steering wheel to be adjusted based on the angular velocity value when the angular velocity value exceeds a preset angular velocity threshold value until the angular velocity value acquired again is smaller than the angular velocity threshold value, wherein the steering wheel to be adjusted is any one of a first steering wheel and a second steering wheel;
the second acquisition module is used for acquiring the transverse offset speed value of the AGV;
and the second judgment processing module is used for adjusting the offset of the first steering wheel and the second steering wheel based on the transverse offset speed value when the transverse offset speed value exceeds a preset speed threshold value until the transverse offset speed value acquired again is smaller than the speed threshold value.
The AGV zero correction system according to the present invention further comprises:
the monitoring module is used for monitoring the angular speed value and the real-time speed value of the AGV in a straight running process in real time;
and the analysis module is used for obtaining the transverse deviation speed value based on the real-time speed value.
The present invention also provides an AGV cart including an AGV zero correction system as described in any of the above.
The present invention further provides an electronic device, which includes a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor implements any one of the methods for AGV zero correction described above when executing the program.
According to the AGV zero correction method, the AGV zero correction system and the AGV trolley, firstly, when an angular velocity value of the AGV executing a straight-going instruction exceeds a preset angular velocity threshold value, based on the angular velocity value, the offset of any one of a first steering wheel and a second steering wheel is adjusted until the angular velocity value acquired again is smaller than the angular velocity threshold value, and then when a transverse offset velocity value of the AGV exceeds the preset velocity threshold value, based on the transverse offset velocity value, the offset of the first steering wheel and the second steering wheel is adjusted until the transverse offset velocity value acquired again is smaller than the velocity threshold value. The front and rear steering wheel offset angles are the same by adjusting one steering wheel, and the front and rear steering wheels are parallel to the AGV body direction by adjusting two steering wheels, so that the zero position of the AGV body is dynamically and specifically corrected, errors caused by inaccurate electrical zero return are effectively eliminated, and zero position errors caused by the steering wheel offset caused by machining errors and mechanical installation errors can be eliminated.
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In order to more clearly illustrate the present invention or the technical solutions in the prior art, the drawings used in the embodiments or the description of the prior art will be briefly introduced below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and other drawings can be obtained by those skilled in the art without creative efforts.
FIG. 1 is a schematic flow chart of an AGV zero correction method according to the present invention;
FIG. 2 is a simplified structural schematic diagram of an ideal zero position of a twin-rudder wheel AGV with the rudder wheels at the center line of the vehicle body;
FIG. 3 is a schematic diagram of a dual-rudder-wheel AGV with an offset pattern of right front wheel offset + left rear wheel offset;
FIG. 4 is a schematic diagram of a dual-rudder-wheel AGV with an offset pattern of front-wheel right-hand bias + rear-wheel right-hand bias;
FIG. 5 is a schematic diagram of a dual-rudder wheel AGV with an offset pattern of front wheel left offset + rear wheel left offset;
FIG. 6 is a schematic diagram of a dual-rudder-wheel AGV with an offset pattern of front-wheel left-bias + rear-wheel right-bias;
FIG. 7 is a schematic diagram illustrating a principle of performing kinematic analysis on two steering wheels of an AGV by using a vector method in an offset mode of right-hand deviation of front wheels and left-hand deviation of rear wheels as an example;
FIG. 8 is a second flowchart illustrating an AGV zero correction method according to the present invention;
FIG. 9 is a schematic diagram of an AGV zero correction system according to the present invention;
FIG. 10 is a schematic structural diagram of an electronic device provided by the present invention;
reference numerals:
1: a front steering wheel; 2: a rear steering wheel; 3: and a caster.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention clearer, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings, and it is obvious that the described embodiments are some, but not all embodiments of the present invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
It can be understood that, for the AGV driven by the steering wheel, the zero offset of the AGV may be caused due to the mechanical assembly during the processing of the car body and the inaccurate zero return in the movement, and when the zero offset exists, the AGV may generate inevitable offset due to the error of the steering wheel zero when sending a moving or turning command, so that the pose may be corrected in real time in different amplitudes continuously, and the accuracy of the real-time positioning may be affected. In the case of automatic control, if the zero offset is large, the position and posture of the AGV cannot be adjusted in time due to control delay, so that a safety alarm is triggered, and the AGV is stopped emergently, whereas in the case of manual control, safety accidents and the like are caused due to the fact that personnel predict the movement track and the actual in and out is large.
However, most of the current zero position correction methods for AGVs adopt zero position switches installed on steering wheels or zero return of a collision limit switch to adjust the zero position of the steering wheels, obviously, because respective zero position correction is performed based on each steering wheel, each steering wheel is independent of each other, and the uniformity among the steering wheels cannot be ensured under the influence of factors such as mechanical errors in installation, different zero position correction precision of each steering wheel, and the like.
Based on this, the embodiment of the invention provides a zero correction method applied to an AGV driven to move by a first steering wheel and a second steering wheel, which is characterized in that offset angles of the first steering wheel and the second steering wheel are the same by adjusting any one of the first steering wheel and the second steering wheel of the AGV, and then a calibration mechanism that the first steering wheel and the second steering wheel are adjusted simultaneously so that the steering wheels of the AGV are parallel to the direction of a vehicle body is realized.
It should be noted that the AGV zero-position correction method of the present invention is applicable to an AGV driven by at least two steering wheels, and it can be understood that when the AGV is driven by two or more steering wheels, the steering wheels are arranged on the AGV body in sequence relative to the front and the rear of the AGV body, so for an AGV driven by a plurality of steering wheels, based on the method of the embodiment of the present invention, the zero-position correction of an AGV driven by a plurality of steering wheels is realized by adopting an idea of firstly adjusting the offset of one or a group of steering wheels close to the front or the rear of the AGV and located on the same horizontal line, and then adjusting the offsets of all the steering wheels. Therefore, the first steering wheel and the second steering wheel referred to in the embodiments of the present invention are not specifically two steering wheels, and the first steering wheel or the second steering wheel may refer to one or more steering wheels.
Specifically, in order to facilitate understanding of the technical solution of the embodiment of the present invention, in the following embodiments of the present invention, a commonly used AGV with two steering wheels is taken as an example, and the AGV zero position correction method according to the embodiment of the present invention is explained in detail.
An AGV zero correction method according to the present invention is described below with reference to fig. 1 and 8, which is implemented by an upper computer of the AGV or software and/or hardware therein, as shown in fig. 1, and includes the following steps:
101. acquiring an angular speed value of the AGV when executing a straight-going instruction;
102. when the angular velocity value exceeds a preset angular velocity threshold value, adjusting the offset of a steering wheel to be adjusted based on the angular velocity value until the angular velocity value acquired again is smaller than the angular velocity threshold value, wherein the steering wheel to be adjusted is any one of a first steering wheel and a second steering wheel;
103. acquiring a transverse offset speed value of the AGV;
104. when the lateral offset speed value exceeds a preset speed threshold value, adjusting the offset of the first steering wheel and the second steering wheel based on the lateral offset speed value until the lateral offset speed value acquired again is smaller than the speed threshold value.
It should be noted that the AGV zero correction method according to the above embodiment of the present invention is obtained by performing a reverse estimation based on the AGV kinematic offset result. Thus, the kinematic offset results of the AGV are understood first.
Specifically, taking a double-steering-wheel structure AGV with a steering wheel at the center line of the vehicle body and a caster at the periphery of the vehicle body as an example, corresponding model simplification is performed, and then the ideal zero position of the double-steering-wheel AGV should be as shown in the simplified structure of the double-steering-wheel AGV of fig. 2, that is, the center lines of the front steering wheel 1 and the rear steering wheel 2 coincide with each other and coincide with the center line of the vehicle body. Under the condition, the AGV is controlled to move forwards or backwards, the AGV travels forwards or backwards along the central line of the vehicle body, and the vehicle head cannot deviate. It is understood that there are 4 patterns of front and rear wheel offset, namely, a pattern 1 of right offset of the front wheels + left offset of the rear wheels as shown in fig. 3, a pattern 2 of right offset of the front wheels + right offset of the rear wheels as shown in fig. 4, a pattern 3 of left offset of the front wheels + left offset of the rear wheels as shown in fig. 5, and a pattern 4 of left offset of the front wheels + right offset of the rear wheels as shown in fig. 6. Meanwhile, because the caster 3 is of a universal wheel structure, has no power and only plays a role in follow-up and supporting, the influence can be ignored in subsequent analysis.
More specifically, a vector method is adopted to perform kinematic analysis on two steering wheels of the AGV. Taking mode 1 as an example, assume that the front steering wheel 1 is offset theta to the right and the rear steering wheel 2 is offset phi to the left as shown in fig. 7. Front steering wheel 1 speed v1Then velocity v1Can be decomposed into v forward along the vehicle body1yAnd v along the vehicle body to the right1x(ii) a Rear steering wheel 2 speed v2Then velocity v2Can be decomposed into v forward along the vehicle body2yAnd v to the left along the vehicle body2x. Since the vehicle body is a rigid body, v1y＝v2y＝vyI.e. the vehicle body has a speed vyForward (y-direction) movement along the vehicle body. At this time, the front steering wheel 1 is rightward along the vehicle body v1x＝vyTan θ, v of rear steering wheel 2 to the left along the vehicle body2x＝vyTan phi. At the same time, since v1x，v2xThe directions of the steering wheels are opposite, so that the AGV has a rotating motion around a certain point between the two steering wheels as a circle center. Similarly, for mode 2, since v1x，v2xIn the same direction, the AGV has a v along the right side of the vehicle bodyx＝min(v1x，v2x) While there is one wheel centered around the other with a velocity of | v |1x-v2xA rotational movement of l. For mode 3, the AGV has a v to the left along the bodyx＝min(v1x，v2x) While there is a speed component of one wheel centered around the otherSize is | v1x-v2xA rotational movement of l. For mode 4, since v1x，v2xThe direction of the AGV is opposite, and the AGV has a rotating motion which takes a certain point in the middle of two wheels as the center of a circle.
For the above four offset patterns, it can be seen that when v is1x，v2xWhen equidirectional and the size is equal, the automobile body does not have rotary motion, only linear motion, and two helm deflection angle and direction are the same before and after this moment, is theta phi promptly. At the moment, if the upper computer simultaneously sends the same pulse to the front and rear steering wheels, the two steering wheels can increase or reduce the same angular displacement, and when the angular displacement of the steering wheels is-theta, the offset of the front and rear steering wheels can be completely eliminated, and at the moment, v is completely eliminated1x＝v 1x0, the AGV has only a forward speed v along the vehicle bodyy。
Further, except v1x，v2xIn the same direction and equal size, the rotary motion exists outside the occasion, at the moment, the front steering wheel 1 can be fixed, and the pulse corresponding to the displacement for adjusting the offset (theta-phi) of the rear steering wheel 2 is sent to the steering of the rear steering wheel 2, so that the offset of the two steering wheels reaches v1x，v2xThe same direction and size, the rotational movement of the AGVs is also overcome.
It can be understood that the angular velocity refers to the angle rotated by the object in unit time when the object rotates, so, when the AGV travels along the linear direction, if the AGV has a rotational motion due to zero offset, the angular velocity value of the AGV when traveling is not zero, so that when the AGV travels along the linear direction, based on the monitoring of the angular velocity of the AGV, it is determined whether the AGV has a rotational motion, that is, whether there is zero offset. Similarly, when the AGV travels along the straight line direction, if the AGV has the offset speed along the transverse direction, it can also be described that the AGV has zero offset, so when the AGV travels along the straight line direction, it can be determined whether the AGV has the offset in the direction based on the monitoring of the AGV transverse offset speed value, and at the same time, it can be understood that, for the AGV trolley installed with the inertial measurement unit IMU, the real-time speed and the angular speed of the AGV can be monitored in real time by the IMU, so the real-time zero offset correction can be performed on the AGV based on the monitoring of the angular speed and the transverse offset speed value, which is convenient and easy to implement.
Further, for an AGV cart without an IMU installed, the method according to the embodiment of the present invention may also be used to perform zero correction.
For example: the method comprises the steps of drawing a straight line or a grid on a moving road surface of an AGV to be subjected to zero-position correction in advance, placing the AGV at one end of the straight line or at a node of the grid, issuing a forward or backward straight-moving instruction to the AGV in zero position, observing a traveling track of the AGV in executing the straight-moving instruction, determining an angular velocity value of the AGV in executing the straight-moving instruction through deviation from the straight line or offset on the grid, and determining a real-time velocity of the AGV through a traveling distance and a traveling time of the AGV.
Based on the method, when the zero correction is carried out on the AGV, the offset of the steering wheel is adjusted based on the angular velocity firstly to overcome the rotation motion of the AGV, then the offset of the steering wheel is adjusted based on the transverse offset velocity value to overcome the offset of the AGV, and the zero correction of the AGV is realized in a step-by-step adjusting mode.
Namely: firstly, when an angular velocity value of an AGV which is acquired in real time in a straight running process exceeds a preset angular velocity threshold value, adjusting the offset of a steering wheel to be adjusted based on the angular velocity value until the angular velocity value which is acquired again is smaller than the angular velocity threshold value, and then adjusting the offset of two steering wheels based on the transverse offset velocity value when the transverse offset velocity value of the AGV exceeds the preset velocity threshold value until the acquired transverse offset velocity value is smaller than the velocity threshold value. It can be understood that, in an ideal state, when the AGV is moving straight, the angular velocity and the lateral offset velocity value should both be zero, but considering the factors such as assembly error and the use requirement of the AGV, the angular velocity and the lateral offset velocity may not be completely eliminated, and therefore, in the embodiment of the present invention, the preset angular velocity threshold value and the lateral offset velocity value are used as the basis for determining whether the AGV has a zero offset, so the sizes of the angular velocity threshold value and the lateral offset velocity value may be flexibly set according to the actual needs, and of course, when the angular velocity threshold value and the lateral offset velocity value are both zero, the zero calibration accuracy for the AGV is highest.
Specifically, the zero position of the AGV body with the double steering wheels is dynamically and specifically corrected by adjusting one steering wheel to enable the offset angles of the front steering wheel and the rear steering wheel to be the same, and then adjusting the two steering wheels to enable the front steering wheel and the rear steering wheel to be parallel to the direction of the AGV body, so that errors caused by inaccurate electrical zero return can be effectively eliminated, and meanwhile, zero position errors caused by steering wheel offset due to machining errors and mechanical installation errors can be eliminated.
As an embodiment of the present invention, the adjusting the offset of the steering wheel to be adjusted based on the angular velocity value includes:
adjusting the offset of the steering wheel to be adjusted according to a preset first offset parameter on the basis of the angular velocity value;
judging whether the absolute value of the angular velocity value acquired after adjustment is smaller than the absolute value of the angular velocity value acquired before adjustment;
if so, continuing to adjust the offset of the steering wheel to be adjusted according to the adjustment direction of the first offset parameter;
if not, adjusting the offset of the steering wheel to be adjusted according to the opposite direction of the first offset parameter.
Specifically, the upper computer issues a forward straight-ahead command at zero position, and v is the zero offset existing at this timex，vyAngular velocity ωzIn addition to vyNot all but 0, vxAnd omegazTwo terms are also present, not 0, in which case if ω iszThe rotation action of the AGV exceeds the bearable zero offset of the AGV due to the fact that the preset angular speed threshold value is exceededAnd therefore, by giving an offset instruction to the steering wheel to be adjusted, adjusting the offset of the steering wheel to be adjusted according to a preset first offset parameter, and then judging whether the absolute value of the angular velocity value after adjustment is smaller than the absolute value of the angular velocity value before adjustment, whether the purpose of reducing the zero offset of the AGV can be achieved according to the first offset parameter can be determined, namely when feasible, the offset of the steering wheel to be adjusted is continuously adjusted according to the adjustment direction of the first offset parameter, and when not feasible, the offset of the steering wheel to be adjusted is adjusted according to the direction opposite to the adjustment direction of the first offset parameter.
More specifically, the first offset parameter is a trial quantity for determining the adjustment direction, and is therefore set to be an offset amount toward a certain direction and relatively small, for example: the deviation amount of the front and rear steering wheels is 1 degree or 2 degrees or 1 degree or 2 degrees, so that the deviation amount of the front and rear steering wheels is identical in direction and size. Meanwhile, based on the setting of the preset first offset parameter, the trouble that zero correction can be carried out on the AGV based on the calculated offset is avoided, the deviation correction response speed of the AGV is higher, and dynamic real-time zero correction is realized.
Further, when the AGV is traveling straight, the target traveling direction with respect to the AGV can be adjusted to the left or right regardless of the rotational motion or the deviation to one side, and thus, the target traveling direction is adjusted to ωzWhen the angular velocity threshold is exceeded, taking the steering wheel to be adjusted as a rear steering wheel and the preset first offset parameter as a certain offset which is offset leftward as an example, the upper computer issues an offset angle instruction to the rear steering wheel, the rear steering wheel adjusts the offset of the rear steering wheel leftward according to the offset of the first offset parameter, and the angular velocity value obtained again at this time is omegaz’Then if 0＜|ωz’|＜|ωzTo say that the offset of the rear rudder wheel is adjusted to the left, the angular velocity can be reduced, that is, the rotation of the AGV is reduced, so that the rear rudder continues to be provided to the leftWheel offset angle up to | ωz’L is less than the angular velocity threshold. At this time, the offset of the front and rear steering wheels is the same, i.e. θ equals φ, and if 0, the same applies＜|ωz|＜|ωz’If the deviation amount of the rear steering wheel is adjusted leftwards to increase the angular velocity value and the rotating action of the AGV is enhanced, a deviation instruction to the right of the rear steering wheel is given to meet the requirement of 0＜|ωz’|＜|ωzL, up to | ωz’| is less than the angular velocity threshold.
As an embodiment of the present invention, after acquiring the angular velocity value of the AGV when executing the straight instruction, the method further includes:
and when the angular speed value is smaller than a preset angular speed threshold value, directly acquiring the transverse deviation speed value of the AGV.
Specifically, when the angular velocity value is smaller than the preset angular velocity threshold value, it is described that the AGV does not rotate, the offsets of the two steering wheels of the AGV are in the same direction and have the same size, or the AGV does not need to perform zero correction, so that the offset of the steering wheel to be adjusted does not need to be adjusted based on the angular velocity value at this time, the lateral offset velocity value of the AGV only needs to be directly acquired, and then whether the AGV needs to perform zero correction is judged.
As an embodiment of the present invention, the adjusting the offset of the first steering wheel and the second steering wheel based on the lateral offset speed value includes:
simultaneously adjusting the offset of the first and second steering wheels with the same offset amount based on the lateral offset speed value.
Specifically, when the AGV is moving straight, the angular velocity value is smaller than the angular velocity threshold value, and zero offset still exists, the lateral offset of the front and rear steering wheels of the AGV is the same and equal, so that the offset of the front and rear steering wheels is adjusted by the same offset, and the zero offset correction efficiency of the AGV can be improved.
As an embodiment of the present invention, the adjusting the offset of the first steering wheel and the second steering wheel simultaneously by the same offset amount based on the lateral offset speed value includes:
simultaneously adjusting the offset of the first steering wheel and the second steering wheel according to a preset second offset parameter based on the transverse offset speed value;
judging whether the absolute value of the transverse offset speed value acquired after adjustment is smaller than the absolute value of the transverse offset speed value acquired before adjustment;
if so, continuing to simultaneously adjust the offset of the first steering wheel and the second steering wheel according to the adjustment direction of the second offset parameter;
if not, adjusting the offset of the first steering wheel and the second steering wheel according to the opposite direction of the second offset parameter.
Specifically, the second offset parameter is a trial quantity for determining the adjustment direction for simultaneously adjusting the front steering wheel and the rear steering wheel, similar to the first offset parameter, and is therefore set to be an offset amount in a certain direction and relatively small, for example: the left deviation is 1 degree, 2 degrees and the like, so that after the front and rear steering wheels are adjusted according to the second deviation parameter, the correction direction of the transverse deviation of the AGV can be preliminarily determined, then the deviation amount of the front and rear steering wheels is gradually adjusted based on the determined correction direction, the transverse deviation speed value of the front and rear steering wheels is finally smaller than the preset speed threshold value, and the zero deviation correction of the AGV is realized. Meanwhile, based on the setting of the preset second offset parameter, the trouble that zero correction can be carried out on the AGV based on the calculated offset is avoided, the deviation correction response speed of the AGV is higher, and dynamic real-time zero correction is realized.
Further, at ωzWhen the value is smaller than the preset angular velocity threshold and the value of the lateral offset velocity exceeds the preset velocity threshold, taking a preset second offset parameter as a certain offset amount of leftward offset as an example, the same leftward offset amount is issued to the front and rear rudders according to the second offset parameter, after the front and rear rudders perform offset adjustment according to the second offset parameter, if a newly obtained value of the lateral offset velocity v is obtainedx’Satisfies 0＜|vx’|＜|vxIf the transverse offset of the AGV in the straight line can be reduced by the leftward offset, the front rudder and the rear rudder are continuously provided with the same offset amount leftwards until vxLess than a predetermined speed threshold, and if 0＜|vx|＜|vx’If the lateral deviation in the execution of the AGV is increased by the leftward deviation, the rightward deviation should be issued to the front and rear steering wheels simultaneously until 0 is satisfied＜|vx’|＜|vxAfter, vxIs less than the preset speed threshold value, and the AGV has only vyAnd one speed component is the same as the issued speed command and is adjusted.
As an embodiment of the present invention, the acquiring a lateral offset speed value of the AGV includes:
acquiring the real-time speed of the AGV when executing a straight-going instruction;
obtaining a longitudinal speed component of the two steering wheels along the target running direction of the AGV and a transverse speed component along the direction perpendicular to the target running direction based on the real-time speed;
and taking the transverse speed component as the transverse offset speed value of the AGV.
In particular, the real-time speed of the front steering wheel is v1Can be decomposed into v forward along the vehicle body1yAnd v to the right along the vehicle body1xReal-time speed of rear steering wheel is v2Can be decomposed into v forward along the vehicle body2yAnd v to the left along the vehicle body2xMeanwhile, since the vehicle body is a rigid body, v1y＝v2y＝vyWhen the offsets of the two steering wheels of the AGV are in the same direction and equal in size, v is1x＝v2x＝vxTherefore, the transverse speed component can be used as the transverse offset speed value of the AGV after obtaining the real-time speed of the AGV in a straight line, and obtaining the longitudinal speed component of the two steering wheels along the target running direction of the AGV and the transverse speed component along the direction perpendicular to the target running direction based on the real-time speed.
According to the above embodiment, taking the preset angular velocity threshold and the velocity threshold both being 0, and taking the steering wheel to be adjusted as the rear steering wheel as an example, it can be understood that, when the angular velocity threshold and the velocity threshold are not 0, the steering wheel should be a threshold range from negative to positive, so as to facilitate the comparison between the acquired angular velocity value or lateral offset velocity value and the preset threshold, and when the angular velocity threshold and the velocity threshold are both 0, it is more convenient to compare the absolute value of the acquired angular velocity value and the absolute value of the lateral offset velocity value with the angular velocity threshold and the velocity threshold, respectively, so that a specific flow of the zero AGV correction method of the present invention is shown in fig. 8, and includes the following steps:
801. starting;
802. issuing initial speed v to front and rear steering wheelsy；
803. Angular velocity value omega of AGV is obtainedz；
804. Judgment of omegazIs equal to 0; if not, go to step 805; if yes, go to step 810;
805. issuing an offset instruction to a rear steering wheel;
806. judging the angular velocity value omega obtained againz’Whether or not 0 is satisfied＜|ωz’|＜|ωzL, |; if yes, go to step 807; if not, go to step 809;
807. continuously sending an offset instruction in the same direction to the rear steering wheel;
808. judging the angular velocity value omega obtained againz”Is equal to 0; if yes, go to step 810; if not, go back to step 807;
809. after an offset instruction in the opposite direction is issued to the rear steering wheel, returning to step 806;
810. acquiring transverse offset speed value v of AGVx；
811. Judgment vxIs equal to 0; if not, go to step 812; if yes, go to step 817;
812. simultaneously sending the same offset instruction to the front steering wheel and the rear steering wheel;
813. judging the lateral deviation speed value v obtained againx’Whether or not 0 is satisfied＜|vx’|＜|vxL, |; if yes, go to step 814; if not, go to step 816;
814. continuously sending an offset instruction in the same direction to the front steering wheel and the rear steering wheel;
815. judging the lateral deviation velocity value v obtained againx”Is equal to 0; if yes, go to step 817; if not, return to step 814;
816. after the front steering wheel and the rear steering wheel are issued with the offset commands in opposite directions, the step 813 is returned;
817. and (6) ending.
The following describes an AGV zero-position correction system provided by the present invention, and an AGV zero-position correction system described below and an AGV zero-position correction method described above may be referred to in a mutually corresponding manner.
As shown in fig. 9, an AGV zero correction system according to an embodiment of the present invention includes: a first obtaining module 910, a first judging module 920, a second obtaining module 930, and a second judging module 940; wherein,
the first obtaining module 910 is configured to obtain an angular velocity value of the AGV when executing a straight instruction;
the first determining and processing module 920 is configured to, when the angular velocity value exceeds a preset angular velocity threshold, adjust an offset of a steering wheel to be adjusted based on the angular velocity value until the angular velocity value acquired again is smaller than the angular velocity threshold, where the steering wheel to be adjusted is any one of a first steering wheel and a second steering wheel;
the second obtaining module 930 is configured to obtain a lateral offset speed value of the AGV;
the second determination processing module 940 is configured to, when the lateral offset speed value exceeds a preset speed threshold, adjust the offset of the first steering wheel and the second steering wheel based on the lateral offset speed value until the lateral offset speed value acquired again is smaller than the speed threshold.
According to the AGV zero correction system, firstly, when an angular velocity value of an AGV executing a straight traveling instruction exceeds a preset angular velocity threshold value, based on the angular velocity value, the offset of any one of a first steering wheel and a second steering wheel is adjusted until the angular velocity value acquired again is smaller than the angular velocity threshold value, and then when a transverse offset velocity value of the AGV exceeds the preset velocity threshold value, based on the transverse offset velocity value, the offset of the first steering wheel and the second steering wheel is adjusted until the transverse offset velocity value acquired again is smaller than the velocity threshold value. The front and rear steering wheel offset angles are the same by adjusting any steering wheel, and then the front and rear steering wheels are parallel to the AGV body direction by adjusting all the steering wheels, so that the zero position of the AGV body is dynamically and specifically corrected, errors caused by inaccurate electrical zero return are effectively eliminated, and zero position errors caused by the steering wheel offset caused by machining errors and mechanical installation errors can be eliminated.
As an embodiment of the invention, the AGV zero correction system further comprises a monitoring module and an analysis module;
the monitoring module is used for monitoring an angular speed value and a real-time speed value of the AGV in real time when executing a straight-going instruction;
the analysis module is used for obtaining the transverse offset speed value based on the real-time speed value.
Preferably, the first judgment processing module further comprises an adjusting unit and a first judging unit;
the adjusting unit is used for adjusting the offset of the steering wheel to be adjusted according to a preset first offset parameter on the basis of the angular velocity value;
the first judging unit is used for judging whether the absolute value of the angular velocity value acquired after adjustment is smaller than the absolute value of the angular velocity value acquired before adjustment;
the adjusting unit is further configured to continue to adjust the offset of the steering wheel to be adjusted according to the adjustment direction of the first offset parameter when the absolute value of the angular velocity value acquired after adjustment is smaller than the absolute value of the angular velocity value acquired before adjustment; and when the absolute value of the angular velocity value acquired after adjustment is larger than the absolute value of the angular velocity value acquired before adjustment, adjusting the offset of the steering wheel to be adjusted according to the opposite direction of the first offset parameter.
Preferably, the second obtaining module is further configured to directly obtain the lateral offset speed value of the AGV when the angular speed value is smaller than a preset angular speed threshold.
Preferably, the second determination processing module is specifically configured to adjust the offset of the first steering wheel and the offset of the second steering wheel simultaneously by the same offset amount based on the lateral offset speed value.
Preferably, the second judgment processing module includes a second adjusting unit and a second judging unit;
the second adjusting unit is used for adjusting the offset of the first steering wheel and the second steering wheel simultaneously according to a preset second offset parameter on the basis of the transverse offset speed value;
the second judging unit is used for judging whether the absolute value of the lateral offset speed value acquired after adjustment is smaller than the absolute value of the lateral offset speed value acquired before adjustment;
the second adjusting unit is further configured to continue to simultaneously adjust the offsets of the first steering wheel and the second steering wheel according to the adjustment direction of the second offset parameter when the absolute value of the lateral offset velocity value obtained after adjustment is smaller than the absolute value of the lateral offset velocity value obtained before adjustment; and when the absolute value of the lateral offset velocity value acquired after adjustment is larger than the absolute value of the lateral offset velocity value acquired before adjustment, adjusting the offset of the first steering wheel and the second steering wheel according to the opposite direction of the second offset parameter.
Preferably, the second obtaining module is specifically configured to obtain a real-time speed of the AGV when executing the straight instruction; obtaining a longitudinal speed component of the first steering wheel and the second steering wheel along a target running direction of the AGV and a transverse speed component along the direction perpendicular to the target running direction based on the real-time speed; and using the transverse velocity component as the transverse offset velocity value of the AGV.
The invention also provides an AGV trolley comprising the AGV zero correction system.
Specifically, the AGV trolley including the AGV zero-position correction system of the present invention has all the advantages and technical effects of the AGV zero-position correction system, and details are not repeated herein.
Fig. 10 illustrates a physical structure diagram of an electronic device, and as shown in fig. 10, the electronic device may include: a processor (processor)110, a communication Interface (communication Interface)120, a memory (memory)130 and a communication bus 140, wherein the processor 110, the communication Interface 120 and the memory 130 are communicated with each other via the communication bus 140. The processor 110 may invoke logic instructions in the memory 130 to perform an AGV zero correction method comprising: acquiring an angular speed value of the AGV when executing a straight-going instruction; when the angular velocity value exceeds a preset angular velocity threshold value, adjusting the offset of a steering wheel to be adjusted based on the angular velocity value until the angular velocity value acquired again is smaller than the angular velocity threshold value, wherein the steering wheel to be adjusted is any one of a first steering wheel and a second steering wheel; acquiring a transverse deviation speed value of the AGV; when the lateral offset speed value exceeds a preset speed threshold value, adjusting the offset of the first steering wheel and the second steering wheel based on the lateral offset speed value until the lateral offset speed value acquired again is smaller than the speed threshold value.
In addition, the logic instructions in the memory 130 may be implemented in the form of software functional units and stored in a computer readable storage medium when the logic instructions are sold or used as independent products. Based on such understanding, the technical solution of the present invention or a part thereof which substantially contributes to the prior art may be embodied in the form of a software product, which is stored in a storage medium and includes several instructions for causing a computer device (which may be a personal computer, a server, or a network device) to execute all or part of the steps of the method according to the embodiments of the present invention. And the aforementioned storage medium includes: a U-disk, a removable hard disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk or an optical disk, and other various media capable of storing program codes.
In another aspect, the present invention also provides a computer program product comprising a computer program stored on a non-transitory computer readable storage medium, the computer program comprising program instructions which, when executed by a computer, enable the computer to perform a method for AGV zero correction provided by the above methods, the method comprising: acquiring an angular speed value of the AGV when executing a straight-going instruction; when the angular velocity value exceeds a preset angular velocity threshold value, adjusting the offset of a steering wheel to be adjusted based on the angular velocity value until the angular velocity value acquired again is smaller than the angular velocity threshold value, wherein the steering wheel to be adjusted is any one of a first steering wheel and a second steering wheel; acquiring a transverse deviation speed value of the AGV; when the lateral offset speed value exceeds a preset speed threshold value, adjusting the offset of the first steering wheel and the second steering wheel based on the lateral offset speed value until the lateral offset speed value acquired again is smaller than the speed threshold value.
In still another aspect, the present invention further provides a non-transitory computer readable storage medium, having stored thereon a computer program, which when executed by a processor, is capable of implementing an AGV zero correction method provided by the above methods, the method comprising: acquiring an angular speed value of the AGV when executing a straight-going instruction; when the angular velocity value exceeds a preset angular velocity threshold value, adjusting the offset of a steering wheel to be adjusted based on the angular velocity value until the angular velocity value acquired again is smaller than the angular velocity threshold value, wherein the steering wheel to be adjusted is any one of a first steering wheel and a second steering wheel; acquiring a transverse deviation speed value of the AGV; when the lateral offset speed value exceeds a preset speed threshold value, adjusting the offset of the first steering wheel and the second steering wheel based on the lateral offset speed value until the lateral offset speed value acquired again is smaller than the speed threshold value.
The above-described embodiments of the apparatus are merely illustrative, and the units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of the present embodiment. One of ordinary skill in the art can understand and implement it without inventive effort.
Through the above description of the embodiments, those skilled in the art will clearly understand that each embodiment can be implemented by software plus a necessary general hardware platform, and certainly can also be implemented by hardware. With this understanding in mind, the above-described technical solutions may be embodied in the form of a software product, which can be stored in a computer-readable storage medium such as ROM/RAM, magnetic disk, optical disk, etc., and includes instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) to execute the methods described in the embodiments or some parts of the embodiments.
Finally, it should be noted that: the above examples are only intended to illustrate the technical solution of the present invention, but not to limit it; although the present invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; and such modifications or substitutions do not depart from the spirit and scope of the corresponding technical solutions of the embodiments of the present invention.
Claims (10)
1. An AGV zero correction method is characterized by comprising the following steps:
acquiring an angular speed value of the AGV when executing a straight-going instruction;
when the angular velocity value exceeds a preset angular velocity threshold value, adjusting the offset of a steering wheel to be adjusted based on the angular velocity value until the angular velocity value acquired again is smaller than the angular velocity threshold value, wherein the steering wheel to be adjusted is any one of a first steering wheel and a second steering wheel;
acquiring a transverse deviation speed value of the AGV;
when the lateral offset speed value exceeds a preset speed threshold value, adjusting the offset of the first steering wheel and the second steering wheel based on the lateral offset speed value until the obtained lateral offset speed value is smaller than the speed threshold value.
2. The AGV zero correction method according to claim 1, wherein said adjusting the offset of the steering wheel to be adjusted based on the angular velocity value comprises:
adjusting the offset of the steering wheel to be adjusted according to a preset first offset parameter on the basis of the angular velocity value;
judging whether the absolute value of the angular velocity value acquired after adjustment is smaller than the absolute value of the angular velocity value acquired before adjustment;
if so, continuing to adjust the offset of the steering wheel to be adjusted according to the adjustment direction of the first offset parameter;
if not, adjusting the offset of the steering wheel to be adjusted according to the opposite direction of the first offset parameter.
3. The AGV zero correction method according to claim 1, wherein after obtaining the angular velocity value of the AGV executing the straight-going command, the method further comprises:
and when the angular velocity value is smaller than a preset angular velocity threshold value, directly acquiring the transverse deviation velocity value of the AGV.
4. The AGV zero correction method of claim 3 wherein said adjusting the offset of said first and second steerable wheels based on said lateral offset speed value comprises:
simultaneously adjusting the offset of the first and second steering wheels with the same offset amount based on the lateral offset speed value.
5. An AGV zero correction method as claimed in claim 4, wherein said adjusting the offset of said first and second steerable wheels simultaneously by the same offset amount based on said lateral offset speed value comprises:
simultaneously adjusting the offset of the first steering wheel and the second steering wheel according to a preset second offset parameter based on the transverse offset speed value;
judging whether the absolute value of the transverse offset speed value acquired after adjustment is smaller than the absolute value of the transverse offset speed value acquired before adjustment;
if so, continuing to simultaneously adjust the offset of the first steering wheel and the second steering wheel according to the adjustment direction of the second offset parameter;
if not, adjusting the offset of the first steering wheel and the second steering wheel according to the opposite direction of the second offset parameter.
6. The AGV zero correction method according to claim 1, wherein said obtaining a lateral offset speed value of the AGV comprises:
acquiring the real-time speed of the AGV in executing the straight-going instruction;
obtaining a longitudinal speed component of the first steering wheel and the second steering wheel along a target running direction of the AGV and a transverse speed component along the direction perpendicular to the target running direction based on the real-time speed;
and taking the transverse speed component as the transverse offset speed value of the AGV.
7. An AGV zero correction system, comprising:
the first acquisition module is used for acquiring the angular velocity value of the AGV when executing the straight-going instruction;
the first judgment processing module is used for adjusting the offset of a steering wheel to be adjusted based on the angular velocity value when the angular velocity value exceeds a preset angular velocity threshold value until the angular velocity value acquired again is smaller than the angular velocity threshold value, wherein the steering wheel to be adjusted is any one of a first steering wheel and a second steering wheel;
the second acquisition module is used for acquiring the transverse offset speed value of the AGV;
and the second judgment processing module is used for adjusting the offset of the first steering wheel and the second steering wheel based on the transverse offset speed value when the transverse offset speed value exceeds a preset speed threshold value until the transverse offset speed value acquired again is smaller than the speed threshold value.
8. The AGV zero correction system of claim 7 further comprising:
the monitoring module is used for monitoring the angular speed value and the real-time speed value of the AGV in a straight running process in real time;
and the analysis module is used for obtaining the transverse offset speed value based on the real-time speed value.
9. An AGV carriage comprising an AGV zero correction system according to claim 7 or 8.
10. An electronic device comprising a memory, a processor and a computer program stored on said memory and executable on said processor, wherein said processor when executing said program implements the AGV zero correction method of any one of claims 1 to 6.
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