CN114840000A - Method, device, equipment and medium for controlling chassis motion of differential wheel set - Google Patents
Method, device, equipment and medium for controlling chassis motion of differential wheel set Download PDFInfo
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- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
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- G—PHYSICS
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- G05D1/02—Control of position or course in two dimensions
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- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
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Abstract
The application discloses a method, a device, equipment and a medium for controlling the motion of a chassis of a differential wheel set, and relates to the technical field of motion control of the chassis of the differential wheel set. The method is applied to the AGV and comprises the following steps: determining a motion path of a chassis of the differential wheel set; and controlling the chassis of the differential wheel set to move at the overall speed and the overall angular speed according to the motion path, wherein the overall speed and the overall angular speed of the chassis of the differential wheel set are speed vectors of the differential wheel sets obtained according to the rigid body kinematics relationship. The problems that power generated on a single wheel in each set of differential wheel set jumps at any time, suddenly rises and falls and does not have stability are solved, meanwhile, due to the control method of the steering wheel, the steering wheel cannot spin in place, and compared with the control method of the steering wheel, the differential wheel set can spin in place, so that the problem that a large rotating space is occupied is solved.
Description
Technical Field
The present disclosure relates to the field of motion control technologies for chassis of differential wheel sets, and in particular, to a method, an apparatus, a device, and a medium for controlling motion of a chassis of a differential wheel set.
Background
With the development of science and technology and society, Automatic Guided Vehicles (AGVs) are rapidly developed and widely used. The automated guided vehicle generally employs four pairs of differential wheel set chassis. Each set of differential wheel set generally comprises two single wheels, and each single wheel comprises a motor for realizing the control and the movement of the differential wheel set. The existing chassis of the differential wheel set only controls the movement of a single wheel in each set of differential wheel set, and does not consider the overall chassis of the differential wheel set. Meanwhile, the existing control method of the steering wheel can only control the steering wheel to move in a mode of firstly moving straight and then moving transversely when the steering wheel rotates, and the moving mode causes the steering wheel to occupy larger rotating space when the steering wheel rotates.
In view of the above, it would be an endeavor of those skilled in the art to find a way to control the chassis motion of a differential gear set without using a remote control or a gear shifter.
Disclosure of Invention
The application aims to provide a method, a device, equipment and a medium for controlling chassis movement of a differential wheel set, which are used for automatically controlling the movement of an AGV, so that the problems of poor adaptability, unstable work, short service life and increase of the labor intensity of a driver caused by the use of a remote control or a gear shifter are solved.
In order to solve the above technical problem, the present application provides a method for controlling chassis motion of a differential wheel set, which is applied to an AGV, and comprises:
determining a motion path of a chassis of the differential wheel set;
and controlling the chassis of the differential wheel set to move at the integral speed and the integral angular speed according to the motion path, wherein the integral speed and the integral angular speed of the chassis of the differential wheel set are speed vectors of each differential wheel set obtained according to the rigid body kinematics relationship.
Preferably, controlling the chassis of the differential wheel set to move at the overall speed and the overall angular velocity according to the movement path comprises:
determining the linear velocity and the steering angle of the overall velocity and the overall angular velocity in each differential wheel set according to the relation between the linear velocity and the angular velocity of the rigid body;
determining the linear speed of each single wheel of each differential wheel set according to the linear speed and the steering angle of the differential wheel set;
and obtaining the linear speed and the steering angle of each differential wheel set according to the linear speed of each single wheel so as to realize that the chassis of the differential wheel set moves at the integral speed and the integral angular speed according to the movement path.
Preferably, deriving the linear speed and steering angle of each differential wheel set from the linear speed of each individual wheel comprises:
acquiring a half-length value and a half-width value of a rectangle formed by the positions of the differential wheel sets;
and determining the linear speed of each differential wheel set and the steering angle of each differential wheel set according to the half-length value, the half-width value and the rigid body kinematic relationship.
Preferably, after determining the linear velocity of each differential wheel set and the steering angle of each differential wheel set according to the half-length value, the half-width value and the rigid-body kinematic relationship, the method further comprises:
acquiring the current linear speed and the current steering angle of each differential wheel set;
determining an angle difference value according to the steering angle and the current steering angle;
determining the current steering angular speed according to the angle difference by using PI feedback control;
the linear velocity of each individual wheel in each differential wheel set is determined from the linear velocity of each differential wheel set and the current steering angular velocity.
Preferably, after controlling the chassis of the differential wheel set to move at the overall speed and the overall angular speed according to the movement path, the method further comprises the following steps:
acquiring longitudinal position deviation, transverse position deviation and angle deviation of a chassis of a differential wheel set, wherein the transverse position deviation is a distance difference value representing the actual position of the chassis of the differential wheel set in the motion direction and the motion path, the longitudinal position deviation is a distance difference value representing the actual position of the chassis of the differential wheel set in the motion normal direction and the motion path, and the angle deviation is an included angle between the current motion direction of the chassis of the differential wheel set and the motion path direction;
determining a deviation correcting speed and a deviation correcting angular speed according to the longitudinal position deviation, the transverse position deviation and the angle deviation;
and carrying out deviation rectification treatment on the chassis of the differential wheel set according to the deviation rectification speed and the deviation rectification angular speed.
Preferably, after controlling the chassis of the differential wheel set to move at the overall speed and the overall angular speed according to the movement path, the method further comprises the following steps:
the speed vector of each differential wheel set is adjusted based on the overall speed and the overall angular velocity, and the speed of each individual wheel in each differential wheel set is configured.
Preferably, after controlling the chassis of the differential wheel set to move at the overall speed and the overall angular speed according to the movement path, before adjusting the speed vector of each differential wheel set according to the overall speed and the overall angular speed and configuring the speed of each individual wheel in each differential wheel set, the method further comprises:
obtaining the power of each single wheel in each differential wheel set, and obtaining the average power in each differential wheel set;
and obtaining the integral average power of the differential wheel sets according to the average power in each differential wheel set so as to realize power balance.
Preferably, adjusting the velocity vector of each differential wheel set based on the overall velocity and the overall angular velocity, and configuring the velocity of each individual wheel of each differential wheel set comprises:
determining the power deviation of the differential wheel set according to the overall average power and the average power;
determining the power deviation of each single wheel according to the power deviation and the overall average power;
determining the movement speed of the differential wheel set after power equalization according to PID feedback control and power deviation;
the speed of each differential wheel set and the speed of each individual wheel in each differential wheel set is adjusted in accordance with the speed of movement.
Preferably, when the differential wheel set chassis is in the in-situ rotation state, the method further comprises:
acquiring a target angle and a feedback angle of a differential wheel set;
determining a difference value between the target angle and the feedback angle;
judging whether the difference value is larger than a preset angle threshold value or not;
if so, reducing the overall speed until the difference value is not greater than the preset angle threshold value, and moving at the overall speed again;
if not, controlling the chassis of the differential wheel set to move at the integral speed.
In order to solve the above technical problem, the present application further provides an apparatus for controlling chassis motion of a differential wheel set, where the method for controlling chassis motion of a differential wheel set includes:
the determining module is used for determining a motion path of a chassis of the differential wheel set;
and the control module is used for controlling the chassis of the differential wheel set to move at the integral speed and the integral angular speed according to the movement path, wherein the integral speed and the integral angular speed of the chassis of the differential wheel set are speed vectors of each differential wheel set obtained according to rigid body kinematics relationship.
In order to solve the above technical problem, the present application further provides an apparatus for controlling chassis motion of a differential gear set, comprising:
a memory for storing a computer program;
a processor for implementing the steps of the above-described method of controlling chassis motion of a differential wheel set when executing a computer program.
In order to solve the above technical problem, the present application further provides a computer readable storage medium, on which a computer program is stored, and the computer program, when executed by a processor, implements the steps of the above method for controlling chassis motion of a differential wheel set.
The method for controlling the chassis of the differential wheel set to move is applied to the AGV and comprises the following steps: determining a motion path of a chassis of the differential wheel set; controlling the chassis of the differential wheel set to move at an overall speed and an overall angular speed according to a movement path, wherein the overall speed is the vector sum of the movement speeds of the differential wheel sets, and the overall angular speed is the vector sum of the angular speeds of the differential wheel sets; the method has the advantages that the speed of each differential wheel set and the speed of each single wheel in each differential wheel set are adjusted according to the overall speed and the overall angular speed, and the automatic control of the AGV movement through the method is achieved, so that the problems that the power generated on the single wheel in each set of differential wheel set jumps at any time, suddenly rises and falls and does not have stability are solved.
The application also provides a device for controlling the chassis of the differential wheel set to move, and the effect is the same as the effect.
Drawings
In order to more clearly illustrate the embodiments of the present application, the drawings needed for the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present application, and that other drawings can be obtained by those skilled in the art without inventive effort.
FIG. 1 is a flow chart of a method of controlling chassis motion of a differential wheel set according to an embodiment of the present disclosure;
FIG. 2 is a block diagram of an apparatus for controlling chassis motion of a differential wheel set according to an embodiment of the present disclosure;
fig. 3 is a block diagram of an apparatus for controlling chassis motion of a differential wheel set according to an embodiment of the present disclosure.
Detailed Description
The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are only a part of the embodiments of the present application, and not all the embodiments. All other embodiments obtained by a person of ordinary skill in the art based on the embodiments in the present application without any creative effort belong to the protection scope of the present application.
The core of the application is to provide a method, a device, equipment and a medium for controlling the chassis of the differential wheel set to move, and the method, the device, the equipment and the medium can automatically control the motion of the AGV, so that the problems of poor adaptability, unstable work, short service life and increase of the labor intensity of a driver caused by the use of a remote control or a gear shifter are solved.
In order that those skilled in the art will better understand the disclosure, the following detailed description will be given with reference to the accompanying drawings.
Fig. 1 is a flowchart of a method for controlling chassis motion of a differential wheel set according to an embodiment of the present disclosure. As shown in fig. 1, the method for controlling the chassis motion of a differential wheel set, applied to an AGV, includes:
s10: a path of motion of the chassis of the differential wheel set is determined.
The path of motion of the chassis of the differential wheel set can take many forms, such as: linear motion, curvilinear motion, spinning in place, rotating about a point, straight and curved combinations, sharp turns, and the like. It is first determined what path the chassis of the differential wheel set is to move in order to determine its control. It can be understood that the movement path of the chassis of the differential wheel set may be one type, or may be a combination of two or more types, in this embodiment, the type and length of the movement path are not limited, and the implementation manner thereof may be determined according to a specific implementation scenario.
S11: and controlling the chassis of the differential wheel set to move at the overall speed and the overall angular speed according to the movement path.
When the chassis of the differential wheel set is in motion, it is first considered what speed the chassis must be moving in its entirety and what speed the angular velocity of its motion is when it is in the path that requires turning. Therefore, it is required that the overall speed and the overall angular speed be obtained by coupling the speed vectors of the respective differential wheel sets. The magnitude of the overall speed and the overall angular speed are determined, and the direction of the overall speed and the direction of the overall angular speed can be known at the same time.
Wherein, after controlling differential wheel group chassis according to the motion route with whole speed and whole angular velocity motion, still include:
the speed vector of each differential wheel set is adjusted based on the overall speed and the overall angular velocity, and the speed of each individual wheel in each differential wheel set is configured.
Because this application is applied to the AGV, its own wheelset also is differential wheelset. For example, a chassis of a differential wheel set is provided with 4 pairs of differential wheel sets, and each differential wheel set is provided with two wheels. When there are two wheels in each differential wheel set, it means that there are two motors corresponding to the wheels, and the motors are used to control the moving speed of the wheels. The differential speed is that in one differential wheel set, the two wheels have different moving speeds in the moving process, so that a speed difference is generated between the wheels of one wheel set, the change of the steering angle of the differential wheel set relative to a vehicle body and the linear speed of the wheel set is realized, and the chassis of the whole differential wheel set moves according to various moving paths.
And determining the y direction of the chassis of the differential wheel set according to the right hand rule by taking the movement right front of the chassis of the differential wheel set as the x direction. Carrying out vector decomposition on the overall speed in all directions to obtain V x And V y . Wherein, V x For the speed of movement, V, of the chassis of the differential wheel set in the x direction y The moving speed of the chassis of the differential wheel set in the y direction.
On the basis of the above-described embodiment, as a more preferable embodiment, the controlling the chassis of the differential wheel set to move at the overall speed and the overall angular velocity in accordance with the movement path includes:
determining the linear velocity and the steering angle of the overall velocity and the overall angular velocity in each differential wheel set according to the relation between the linear velocity and the angular velocity of the rigid body;
determining the linear speed of each single wheel of each differential wheel set according to the linear speed and the steering angle of the differential wheel set;
and obtaining the linear speed and the steering angle of each differential wheel set according to the linear speed of each single wheel so as to realize that the chassis of the differential wheel set moves at the integral speed and the integral angular speed according to the movement path.
Adding the vector component of the overall velocity to the vector component of the relative velocity determined by the overall angular velocity, wherein the first differential wheel set obtains the following parameters:
the second differential wheel set receives the following parameters:
the third differential wheel set receives the following parameters:
the fourth differential wheel set yields the following parameters:
wherein, V 1 The speed of movement, V, of the first differential wheel set 2 The speed of movement of the second differential gear set, V 3 The speed of movement of the third differential gear set, V 4 The movement speed of the fourth differential wheel set;
the configuration angle for the first differential gear set,
for the configuration angle of the second differential wheel set,
the angle of disposition of the third differential wheel set,
the angle of the fourth differential wheel set. Obtaining the linear velocity and the steering angle of each differential wheel set according to the linear velocity of each single wheel comprises:
acquiring a half-length value L and a half-width value H of a rectangle formed by the positions of the differential wheel sets;
and determining the linear speed of each differential wheel set and the steering angle of each differential wheel set according to the half-length value, the half-width value and the rigid body kinematic relationship. Wherein the content of the first and second substances,
the moving speed of the first differential wheel set in the x direction,
the moving speed of the first differential wheel set in the y direction;
the moving speed of the second differential wheel set in the x direction,
the moving speed of the second differential wheel set in the y direction;
the moving speed of the third differential wheel set in the x direction,
the moving speed of the third differential wheel set in the y direction;
the moving speed of the fourth differential wheel set in the x direction,
the moving speed of the fourth differential wheel set in the y direction.
On the basis of the above-described embodiment, as a more preferable embodiment, after determining the linear velocity of each differential wheel set and the steering angle of each differential wheel set based on the half-length value and the half-width value and the rigid-body kinematic relationship, the method further includes:
acquiring the current linear speed and the current steering angle of each differential wheel set;
determining an angle difference value according to the steering angle and the current steering angle;
determining the current steering angular speed according to the angle difference by using PI feedback control;
the linear velocity of each individual wheel in each differential wheel set is determined from the linear velocity of each differential wheel set and the current steering angular velocity.
Recording the current wheel set speed as v and the current angle as v
Let the target speed of the single wheel moving along the moving path mentioned in the above embodiment be denoted as v' and the current angle be denoted as v
Difference in angle
Is the included angle between the current motion direction and the motion path direction of the differential wheel set. By using PI feedback control, the following parameters are obtained:
V＝v'
where ω is the current angular velocity and P and I are the corresponding control parameters. The speed of each individual wheel is calculated from the speed of each differential wheel set and the current angular velocity as follows,
V temp ＝ω*0.5*d
V L ＝(V i -V temp )*factor
V R ＝(V i +V temp )*factor
wherein, V temp Half of the differential speed of two wheels, V i For the speed of each differential wheel set, d is the distance between two individual wheels, and factor is the conversion dimension from the linear speed of the wheels to the rotational speed of the motorThe unit of the rotational speed is rpm, factor is 60/(radius 2 pi), and radius is the wheel radius.
On the basis of the above embodiment, as a more preferable embodiment, after controlling the chassis of the differential wheel set to move at the overall speed and the overall angular velocity according to the movement path, the method further includes:
acquiring longitudinal position deviation, transverse position deviation and angle deviation of a chassis of a differential wheel set, wherein the transverse position deviation is a distance difference value representing the actual position of the chassis of the differential wheel set in the motion direction and the motion path, the longitudinal position deviation is a distance difference value representing the actual position of the chassis of the differential wheel set in the motion normal direction and the motion path, and the angle deviation is an included angle between the current motion direction of the chassis of the differential wheel set and the motion path direction;
determining a deviation correcting speed and a deviation correcting angular speed according to the longitudinal position deviation, the transverse position deviation and the angular deviation in the following mode;
k v ＝|V x |
wherein, P y Proportional coefficient for transverse deviation control, I y Integral coefficient, y, for lateral deviation correction control err Is a transverse error of the transverse deviation rectifying control,
is a proportionality coefficient for the angle deviation rectifying control,
is an integral coefficient of the angle deviation rectifying control,
for angular error of angular deviation correction control, k v To correctBias coefficient, pair k v The upper limit and the lower limit are set, the range of the upper limit and the lower limit is (0.2, 1.0), thus the rectification effect can be still achieved when the speed is too low, the rectification is not too large when the speed is higher, and the values of the upper limit and the lower limit are generally selected according to the control precision requirement. Wherein, according to | V x Is conditional when | set a lower limit, when | V x |<0.1，k v Doubled, | V x |<0.01，k v Increasing by a factor of two.
And carrying out deviation rectification treatment on the chassis of the differential wheel set according to the deviation rectification speed and the deviation rectification angular speed.
On the basis of the above embodiment, as a more preferable embodiment, before adjusting the speed vector of each differential wheel set according to the overall speed and the overall angular velocity and configuring the speed of each individual wheel in each differential wheel set after controlling the chassis of the differential wheel set to move according to the movement path at the overall speed and the overall angular velocity, the method further includes:
the power of each single wheel in each differential wheel set is obtained, and the average power in each differential wheel set is obtained.
The power of the motor for controlling the movement speed of the single wheel is the power of the single wheel, and the power is obtained through the formula P i ＝n i ·A i And (4) calculating. Average power in the group is recorded as
And is
And obtaining the integral average power of the differential wheel sets according to the average power in each differential wheel set so as to realize power balance. The overall average power is recorded as
And is
Wherein adjusting the velocity vector of each differential wheel set based on the overall velocity and the overall angular velocity, and configuring the velocity of each individual wheel in each differential wheel set comprises:
determining the power deviation of the differential wheel set according to the overall average power and the average power;
determining the power deviation of each single wheel according to the power deviation and the overall average power;
determining the movement speed of the differential wheel set after power equalization according to PID feedback control and power deviation; this velocity is expressed by the following equation:
v＝v+v err ＝v+P·P err -I·∫P err
wherein, P i Is the motor power, n i As the motor speed, A i Is current, v is the feedforward speed of the motor, P is the proportionality coefficient, and I is the integral coefficient. Considering that the power balance is carried out without greatly influencing the motor speed, the influence on the motion of the chassis of the differential wheel set is avoided, therefore, the value of P is generally not more than 0.02, and the value of I is generally not more than 0.01.
The speed of each differential wheel set and the speed of each individual wheel in each differential wheel set is adjusted in accordance with the speed of movement.
Further, on the basis of the above-mentioned embodiment, as a more preferable embodiment, when the differential gear set chassis is in the in-situ rotation state, the method further includes:
acquiring a target angle and a feedback angle of a differential wheel set;
determining a difference value between the target angle and the feedback angle;
judging whether the difference value is larger than a preset angle threshold value or not;
if so, reducing the overall speed until the difference value is not greater than the preset angle threshold value, and moving at the overall speed again;
if not, controlling the chassis of the differential wheel set to move at the integral speed.
It should be noted that the above steps can also be applied to the case where the wheels are slipping or floating between the differential wheel sets. Specifically, the running state of the chassis of the differential wheel set is switched between the straight traverse and the rotation. At the moment, the four wheel sets are required to be adjusted in position in an angle mode, and then the chassis of the differential wheel set can start to move. For example, the chassis of the differential wheel set is switched from straight running to transverse running, the speed of four wheel sets needs to be rotated to 90 degrees, and due to slipping, only one wheel set can not be rotated to a target angle, the chassis of the differential wheel set is allowed to move at a small speed of the whole vehicle, namely crawling is performed, and meanwhile, the slipping wheel set is adjusted while walking until the chassis of the differential wheel set leaves the current uneven ground position, the slipping wheel set is restored to a normal angle, and the chassis of the differential wheel set can restore to a normal running speed.
In the above embodiments, the method for controlling the chassis motion of the differential wheel set is described in detail, and the present application also provides corresponding embodiments of the device for controlling the chassis motion of the differential wheel set. Fig. 2 is a structural diagram of an apparatus for controlling chassis motion of a differential wheel set according to an embodiment of the present disclosure. As shown in fig. 2, the present application also provides an apparatus for controlling the motion of a chassis of a differential wheel set, comprising:
a determination module 20 for determining a movement path of a chassis of a differential wheel set;
and the control module 21 is configured to control the chassis of the differential wheel set to move at an overall speed and an overall angular speed according to a motion path, where the overall speed and the overall angular speed of the chassis of the differential wheel set are speed vectors of each differential wheel set obtained according to a rigid-body kinematic relationship.
Since the embodiments of the apparatus portion and the method portion correspond to each other, please refer to the description of the embodiments of the method portion for the embodiments of the apparatus portion, which is not repeated here.
Fig. 3 is a block diagram of an apparatus for controlling chassis motion of a differential wheel set according to an embodiment of the present disclosure. On the basis of the above-described embodiment, as shown in fig. 3, the present application can also be applied to an apparatus for controlling the motion of a chassis of a differential wheel set, comprising:
a memory 30 for storing a computer program;
a processor 31 for implementing the steps of the method of controlling the chassis motion of a differential wheel set as mentioned in the above embodiments when executing the computer program.
The device for controlling the chassis motion of the differential wheel set provided by the embodiment may include, but is not limited to, a smart phone, a tablet computer, a notebook computer, a desktop computer, or the like.
The processor may include one or more processing cores, such as a 4-core processor, an 8-core processor, and so on. The processor may be implemented in at least one hardware form of Digital Signal Processing (DSP), Field-Programmable Gate Array (FPGA), and Programmable Logic Array (PLA). The processor may also include a main processor and a coprocessor, where the main processor is a processor for Processing data in an awake state, and is also called a Central Processing Unit (CPU); a coprocessor is a low power processor for processing data in a standby state. In some embodiments, the processor may be integrated with a Graphics Processing Unit (GPU) that is responsible for rendering and drawing the content that the display screen needs to display. In some embodiments, the processor may further include an Artificial Intelligence (AI) processor for processing computational operations related to machine learning.
The memory may include one or more computer-readable storage media, which may be non-transitory. The memory may also include high speed random access memory, as well as non-volatile memory, such as one or more magnetic disk storage devices, flash memory storage devices. In this embodiment, the memory is at least used for storing a computer program, wherein the computer program is loaded and executed by the processor to implement the relevant steps of the method for controlling chassis motion of a differential wheel set disclosed in any of the above embodiments. In addition, the resources stored by the memory may also include an operating system, data and the like, and the storage mode may be a transient storage mode or a permanent storage mode. Operating system 202 may include, among others, Windows, Unix, Linux, and the like. The data may include, but is not limited to, methods of controlling chassis movement of the differential wheel set, etc.
In some embodiments, the apparatus for controlling chassis motion of a differential wheel set may further include a display screen, an input/output interface, a communication interface, a power source, and a communication bus.
It will be appreciated by those skilled in the art that the configurations shown in the above embodiments do not constitute a limitation of the apparatus for controlling the chassis motion of a differential wheel set and may include more or less components than those mentioned in the above embodiments.
The device for controlling the chassis of the differential wheel set provided by the embodiment of the application comprises a memory and a processor, wherein the processor can realize the method for controlling the chassis of the differential wheel set to move when executing the program stored in the memory.
Finally, the application also provides a corresponding embodiment of the computer readable storage medium. The computer-readable storage medium has stored thereon a computer program which, when being executed by a processor, carries out the steps as set forth in the above-mentioned method embodiments.
It is to be understood that if the method in the above embodiments is implemented in the form of software functional units and sold or used as a stand-alone product, it can be stored in a computer readable storage medium. Based on such understanding, the technical solutions of the present application may be embodied in the form of a software product, which is stored in a storage medium and executes all or part of the steps of the methods described in the embodiments of the present application, or all or part of the technical solutions. And the aforementioned storage medium includes: various media capable of storing program codes, such as a usb disk, a removable hard disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk, or an optical disk.
The method, apparatus, device and medium for controlling chassis motion of a differential wheel set provided herein have been described in detail. The embodiments are described in a progressive manner in the specification, each embodiment focuses on differences from other embodiments, and the same and similar parts among the embodiments are referred to each other. The device disclosed by the embodiment corresponds to the method disclosed by the embodiment, so that the description is simple, and the relevant points can be referred to the method part for description. It should be noted that, for those skilled in the art, it is possible to make several improvements and modifications to the present application without departing from the principle of the present application, and such improvements and modifications also fall within the scope of the claims of the present application.
It is further noted that, in the present specification, relational terms such as first and second, and the like are used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other identical elements in a process, method, article, or apparatus that comprises the element.
Claims (12)
1. A method of controlling chassis movement of a differential wheel assembly for use with an AGV, comprising:
determining a motion path of a chassis of the differential wheel set;
and controlling the chassis of the differential wheel set to move at an overall speed and an overall angular speed according to the movement path, wherein the overall speed and the overall angular speed of the chassis of the differential wheel set are speed vectors of each differential wheel set obtained according to rigid body kinematics relationship.
2. The method of controlling chassis movement of a differential wheel set as defined in claim 1 wherein said controlling said chassis movement of said differential wheel set at a global velocity and a global angular velocity according to said path of movement comprises:
determining the linear velocity and the steering angle of the overall velocity and the overall angular velocity in each differential wheel set according to the relation between the linear velocity and the angular velocity of the rigid body;
determining the linear velocity of each single wheel of each differential wheel set according to the linear velocity and the steering angle of the differential wheel set;
and obtaining the linear speed and the steering angle of each differential wheel set according to the linear speed of each single wheel so as to realize that the chassis of the differential wheel set moves at the integral speed and the integral angular speed according to the movement path.
3. A method of controlling chassis motion of a differential wheel set as recited in claim 2 wherein said deriving a linear velocity and a steering angle for each of said differential wheel sets based on a linear velocity of each of said individual wheels comprises:
acquiring a half-length value and a half-width value of a rectangle formed by the positions of the differential wheel sets;
and determining the linear speed of each differential wheel set and the steering angle of each differential wheel set according to the half-length value, the half-width value and the rigid body kinematic relationship.
4. A method of controlling chassis motion of a differential wheel set as claimed in claim 3 further comprising, after said determining said linear velocity of each said differential wheel set and said steering angle of each said differential wheel set from said half-length and said half-width values and said rigid-body kinematic relationship:
acquiring the current linear speed and the current steering angle of each differential wheel set;
determining an angle difference value according to the steering angle and the current steering angle;
determining the current steering angular speed according to the angle difference by using PI feedback control;
determining a linear velocity of each of the individual wheels of each of the differential wheel sets based on the linear velocity and the current steering angular velocity of each of the differential wheel sets.
5. The method of controlling the motion of a chassis of a differential wheel set as defined in claim 1, further comprising, after said controlling said chassis of a differential wheel set to move at a global velocity and a global angular velocity according to said motion path:
acquiring a longitudinal position deviation, a transverse position deviation and an angle deviation of the chassis of the differential wheel set, wherein the transverse position deviation is a distance difference value representing the actual position of the chassis of the differential wheel set in the motion direction and the motion path, the longitudinal position deviation is a distance difference value representing the actual position of the chassis of the differential wheel set in the motion normal direction and the motion path, and the angle deviation is an included angle between the current motion direction of the chassis of the differential wheel set and the motion path direction;
determining a deviation correcting speed and a deviation correcting angular speed according to the longitudinal position deviation, the transverse position deviation and the angular deviation;
and carrying out deviation rectification treatment on the chassis of the differential wheel set according to the deviation rectification speed and the deviation rectification angular speed.
6. The method of controlling the motion of a chassis of a differential wheel set as defined in claim 1, further comprising, after said controlling said chassis of a differential wheel set to move at a global velocity and a global angular velocity according to said motion path:
adjusting a velocity vector of each of the differential wheel sets based on the overall velocity and the overall angular velocity, and configuring a velocity of each individual wheel of each of the differential wheel sets.
7. The method of controlling movement of a chassis of differential wheel sets as defined in claim 1 further comprising, after said controlling said chassis of differential wheel sets to move in accordance with said path of movement at a global velocity and a global angular velocity, prior to said adjusting a velocity vector of each of said differential wheel sets based on said global velocity and said global angular velocity and configuring a velocity of each individual wheel of each of said differential wheel sets:
obtaining the power of each single wheel in each differential wheel set, and obtaining the average power in each differential wheel set;
and obtaining the integral average power of the differential wheel sets according to the average power in each differential wheel set so as to realize power balance.
8. The method of controlling chassis motion of differential wheel sets as defined in claim 7 wherein said adjusting a velocity vector of each of said differential wheel sets based on said overall velocity and said overall angular velocity and configuring the velocity of each individual wheel of each of said differential wheel sets comprises:
determining a power deviation of the differential wheel set according to the overall average power and the average power;
determining a power determination power deviation of each of said individual wheels based on said power deviation of said differential wheel set and said overall average power;
determining the movement speed of the differential wheel set after the power balance is carried out according to PID feedback control and the power deviation;
adjusting a speed of each of the differential wheel sets and a speed of each of the individual wheels in each of the differential wheel sets in accordance with the movement speed.
9. The method of controlling chassis movement of a differential wheel set as defined in claim 1 further comprising, when said differential wheel set chassis is in a pivot state:
acquiring a target angle and a feedback angle of the differential wheel set;
determining a difference between the target angle and the feedback angle;
judging whether the difference value is larger than a preset angle threshold value or not;
if so, reducing the overall speed until the difference value is not greater than the preset angle threshold value, and moving at the overall speed again;
if not, controlling the chassis of the differential wheel set to move at the integral speed.
10. An apparatus for controlling the motion of a chassis of a differential wheel set according to any one of claims 1 to 9, comprising:
the determining module is used for determining a motion path of a chassis of the differential wheel set;
and the control module is used for controlling the chassis of the differential wheel set to move at an overall speed and an overall angular speed according to the motion path, wherein the overall speed and the overall angular speed of the chassis of the differential wheel set are speed vectors of all the differential wheel sets obtained according to rigid body kinematics relationship.
11. An apparatus for controlling chassis motion of a differential wheel assembly, comprising:
a memory for storing a computer program;
a processor for implementing the steps of the method of controlling chassis motion of a differential wheel set as claimed in any one of claims 1 to 9 when executing said computer program.
12. A computer-readable storage medium, having stored thereon a computer program which, when being executed by a processor, carries out the steps of the method of controlling chassis motion of a differential wheel set according to any one of claims 1 to 9.
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| CN202210606102.2A CN114840000A (en) | 2022-05-31 | 2022-05-31 | Method, device, equipment and medium for controlling chassis motion of differential wheel set |
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| CN202210606102.2A CN114840000A (en) | 2022-05-31 | 2022-05-31 | Method, device, equipment and medium for controlling chassis motion of differential wheel set |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115202371A (en) * | 2022-09-19 | 2022-10-18 | 深圳市凯之成智能装备有限公司 | Motion control method of flat plate cleaning robot and related device |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115202371A (en) * | 2022-09-19 | 2022-10-18 | 深圳市凯之成智能装备有限公司 | Motion control method of flat plate cleaning robot and related device |
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