CN115328135B - Scribing robot calibration and scribing method and device, electronic equipment and scribing robot - Google Patents
Scribing robot calibration and scribing method and device, electronic equipment and scribing robot Download PDFInfo
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- G—PHYSICS
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- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0276—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle
- G05D1/0278—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle using satellite positioning signals, e.g. GPS
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0276—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle
Abstract
The application provides a scribing robot calibration and scribing method, a scribing device, electronic equipment and a scribing robot, wherein the method mainly comprises the steps of collecting the current vehicle body position and the current vehicle body course angle of the scribing robot; determining a target segment in a preset travelling route according to the current vehicle body position, and determining a transverse deviation value of the scribing robot compared with the target segment; determining a course angle deviation value of the scribing robot compared with the target segment according to the current vehicle body course angle and the end point position of the target segment; and calibrating the advancing direction of the scribing robot based on the transverse deviation value and the course angle deviation value. Therefore, the high-precision control of the scribing robot can be realized with lower hardware cost.
Description
Technical Field
The embodiment of the application relates to the technical field of control systems, in particular to a scribing robot, a scribing method and a scribing device, electronic equipment and a scribing robot.
Background
The marking vehicle is widely applied to various items needing to be marked, such as road marking, parking lot marking, airport lofting and pre-marking, basketball court football field marking and the like. At present, the marking equipment for marking is mainly divided into a hand-push type marking vehicle and a riding type marking vehicle. Both the two marking vehicles are driven by manpower assistance, and have higher professional technical requirements on operators. Because professional technical operating personnel are in short supply, and general operating personnel hardly guarantee the speed and the precision of operation, consequently through the mode of manpower marking off, reduced the efficiency of construction, increased the cost of construction. In addition, when the road needs traffic control or partial closure, the mode of artifical marking off has increased on-the-spot constructor's safety risk. The traditional line marking vehicle has low intelligent degree and cannot avoid the problem of line marking precision caused by manual operation.
Based on the problems, the invention discloses a full-automatic road marking system and a full-automatic road marking method in China, and the patent No. CN114296118A discloses a full-automatic road marking system, which uses a high-precision positioning unit to realize the positioning of a riding type marking vehicle, calculates the deviation according to the positioning of an electronic marking line and the current marking vehicle, generates steering decision information based on the deviation, controls the steering of the marking vehicle by combining the marking effect identified by an AI visual identification and analysis unit, and outputs the switching value of a blanking valve body control unit in real time to finish the marking process. Because the deviation needs to be calculated and the scribing quality needs to be identified by using a visual identification technology, the invention has large calculation amount and higher hardware cost. In addition, the invention cannot ensure the scribing accuracy because only the lateral deviation is considered and the course deviation is not considered.
Disclosure of Invention
In view of the above, the present application provides a scribing robot calibration and scribing method, apparatus, electronic device, storage medium and scribing robot to at least partially solve the problems in the prior art.
According to a first aspect of embodiments of the present application, there is provided a scribing robot calibration method, including: collecting a current vehicle body position and a current vehicle body course angle of the scribing robot; determining a target segment in a preset travelling route according to the current vehicle body position, and determining a transverse deviation value of the scribing robot compared with the target segment; determining a course angle deviation value of the scribing robot compared with the target segment according to the current vehicle body course angle and the end point position of the target segment; and calibrating the advancing direction of the scribing robot based on the transverse deviation value and the course angle deviation value.
According to a second aspect of embodiments of the present application, there is provided a scribing method of a scribing robot, including: determining a starting point and an end point of a preset scribing path; responding to a detection result that the scribing robot reaches the starting point of the preset scribing path, and starting a scribing task of the scribing robot; collecting the current vehicle body position and the current vehicle body course angle of the line marking robot in the advancing process of the line marking robot; determining a lateral deviation value and a course angle deviation value of the scribing robot compared with the preset scribing path according to the current vehicle body position and the current vehicle body course angle by using the method of the first aspect, and calibrating the traveling direction of the scribing robot; and responding to a detection result that the scribing robot reaches the end point of the preset scribing path, and finishing the scribing task of the scribing robot.
According to a third aspect of embodiments of the present application, there is provided a scribing robot calibration device, including: the acquisition module is used for acquiring the current vehicle body position and the current vehicle body course angle of the marking robot; the calculation module is used for determining a target segment in a preset travelling route according to the current vehicle body position, determining a transverse deviation value of the scribing robot compared with the target segment, and determining a course angle deviation value of the scribing robot compared with the target segment according to the current vehicle body course angle and the end point position of the target segment; and the calibration module is used for calibrating the advancing direction of the scribing robot based on the transverse deviation value and the course angle deviation value.
According to a fourth aspect of embodiments of the present application, there is provided a scribing robot comprising a controller for performing: collecting a current vehicle body position and a current vehicle body course angle of the scribing robot; determining a target segment in a preset travelling route according to the current vehicle body position, and determining a transverse deviation value of the scribing robot compared with the target segment; determining a course angle deviation value of the scribing robot compared with the target segment according to the current vehicle body course angle and the end point position of the target segment; and calibrating the advancing direction of the scribing robot based on the transverse deviation value and the course angle deviation value.
According to a fifth aspect of embodiments herein, there is provided an electronic device comprising: a processor; and a memory storing a program; wherein the program comprises instructions which, when executed by the processor, cause the processor to perform the method of the first aspect or to perform the method of the second aspect.
According to a sixth aspect of embodiments herein, there is provided a non-transitory computer readable storage medium having stored thereon computer instructions for causing a computer to perform the method of the first aspect or the method of the second aspect.
According to the calibration scheme of the scribing robot, the transverse deviation and the course deviation of the scribing robot are determined by using the high-precision positioning system, the control algorithm is designed based on vehicle kinematics, the point searching, straight line and curve tracking control of the scribing robot is further realized, and the high-precision control of the scribing robot can be realized with lower hardware cost.
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In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings needed to be used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments described in the embodiments of the present application, and other drawings can be obtained by those skilled in the art according to the drawings.
Fig. 1 is a process flow diagram of a scribing robot calibration method according to an exemplary embodiment of the present application.
Fig. 2 is a process flow diagram of a scribing robot calibration method according to another exemplary embodiment of the present application.
Fig. 3 is a process flow diagram of a scribing method of a scribing robot according to an exemplary embodiment of the present application.
Fig. 4 is a block diagram of a scribing robot calibration apparatus according to an exemplary embodiment of the present application.
Detailed Description
In order to make those skilled in the art better understand the technical solutions in the embodiments of the present application, 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 shall fall within the scope of the protection of the embodiments in the present application.
Specific embodiments of the present application will be described in detail below with reference to the accompanying drawings.
Fig. 1 is a process flow diagram of a scribing robot calibration method according to an exemplary embodiment of the present application. As shown in the figure, the present embodiment mainly includes the following steps:
and S102, collecting the current vehicle body position and the current vehicle body course angle of the line drawing robot.
In this embodiment, the line drawing robot may be used to perform intelligent line drawing on the ground such as a road, a sports field, and the like. In practical applications, the scribing robot may be designed as a two-wheeled trolley.
Optionally, a navigation system, a gyroscope and a control motor are mounted on the scribing robot.
The navigation system (GNSS) may include, but is not limited to, one of a beidou system, a global positioning system, a galileo system, a glonass system, for acquiring the current body position of the line drawing robot.
The gyroscope is used for acquiring current angular velocity data of the scribing robot, and in the embodiment, the Z axis of the gyroscope points to the zenith axis of the scribing robot (vehicle body).
The control motor can control the rotating speed of two wheels of the scribing robot so as to enable the scribing robot to execute differential motion, and further control the traveling direction of the scribing robot.
Optionally, the scribing robot may be driven to move along a preset traveling route, and coordinate data of the navigation system and angular velocity data of the gyroscope may be acquired in real time during movement of the scribing robot.
Alternatively, the current body position of the line marking robot may be determined from the coordinate data of the navigation system.
For example, the current body position of the scribing robot is determined from the two-dimensional coordinate data or the three-dimensional coordinate data of the navigation system.
In this embodiment, the current speed of the line drawing robot may also be obtained according to the navigation system.
Optionally, a current body heading angle of the line marking robot is determined according to the coordinate data of the navigation system and the angular velocity data of the gyroscope.
In this embodiment, the coordinate data of the navigation system and the angular velocity data of the gyroscope may be substituted into a preset conversion formula to determine the current car body heading angle of the scribing robot.
The specific calculation method for the current vehicle body heading angle is the prior art in the field, for example, refer to "estimation of the heading angle of the low-speed intelligent electric vehicle based on satellite navigation/inertial unit loose coupling, xiong Lu, etc., the university of peer (science edition), vol.48, no. 4, 2020 and No. 4 months", which is not described herein again.
And step S104, determining a target segment in the preset travelling route according to the current vehicle body position, and determining a transverse deviation value of the scribing robot compared with the target segment.
Optionally, a target point closest to the current vehicle body position in the preset travelling route may be determined according to the current vehicle body position of the scribing robot, and a target segment including the target point in the preset travelling route may be determined according to the target point.
For example, the preset travel route may include, but is not limited to: one of a straight line route, a broken line route, and a curved line route.
In the present embodiment, the target segment is a linear segment in the predetermined travel route.
Alternatively, the lateral deviation value of the scribing robot compared to the target segment may be determined based on the linear distance between the current vehicle body position and the target segment.
In this embodiment, the lateral deviation value includes one of a positive value and a negative value for identifying a lateral deviation direction of the scribing robot with respect to the target segment, wherein the lateral deviation direction is determined based on a traveling direction of the scribing robot.
For example, based on the traveling direction of the scribing robot, the lateral offset value of the target segment located on the left side of the traveling center axis of the scribing robot is defined as a negative value, and the lateral offset value of the target segment located on the right side of the traveling center axis of the scribing robot is defined as a positive value.
And S106, determining a course angle deviation value of the scribing robot compared with the target segment according to the current vehicle body course angle and the end point position of the target segment.
Optionally, a segmented heading angle of the target segment may be determined according to the coordinates of the two end points of the target segment, and a heading angle deviation value of the scribing robot compared to the target segment may be determined according to the vehicle body heading angle and the segmented heading angle.
In this embodiment, when the preset traveling route is a polygonal route or a curved route, the sectional heading angles of the target sections in the preset traveling route are different from each other.
In this embodiment, the current car body heading angle of the scribing robot and the segment heading angle of the target segment are both between 0 ° and 360 °.
Alternatively, a first coordinate difference value of the target segment with respect to the north direction of the earth and a second coordinate difference value of the target segment with respect to the east direction of the earth may be determined according to the two endpoint coordinates of the target segment, an angle value of the target segment with respect to the east direction of the earth (the angle value ranges from-180 ° to +180 °) may be determined by using an arctan function according to the first coordinate difference value and the second coordinate difference value, and then a conversion process may be performed according to the angle value of the target segment with respect to the east direction of the earth, so as to obtain a segment heading angle (the segment heading angle ranges from 0 ° to 360 °) of the target segment with respect to the north direction of the earth (for example, based on a north-east coordinate machine).
And S108, calibrating the advancing direction of the scribing robot based on the transverse deviation value and the course angle deviation value.
Alternatively, the target speeds of the left wheel and the right wheel of the scribing robot can be determined based on the lateral deviation value and the heading angle deviation value, and the traveling direction of the scribing robot can be calibrated according to the target speeds of the left wheel and the right wheel of the scribing robot by utilizing the control motor.
In summary, the calibration method for the scribing robot provided in this embodiment can calibrate the traveling direction of the scribing robot in real time based on the preset traveling path, so as to improve the scribing control accuracy of the scribing robot, reduce the cost, and reduce the labor intensity.
Fig. 2 shows a process flow chart of a scribing robot calibration method according to another exemplary embodiment of the present embodiment, which shows a specific implementation of the above step S108. As shown in the figure, the present embodiment mainly includes the following steps:
and S202, determining the corrected angular speed of the scribing robot according to the transverse deviation value and the course angle deviation value.
Alternatively, the corrected angular velocity of the scribing robot may be determined based on the lateral deviation value, the heading angular deviation value, the wheelbase of the scribing robot, the current velocity of the scribing robot, and the forward-looking distance of the scribing robot using a corrected angular velocity conversion formula.
In this embodiment, the formula for converting the correction angular velocity is expressed as:
wherein L is wb Indicating the wheelbase of the line marking robot, V the current speed of the line marking robot, d e Indicates a lateral deviation value of the scribing robot,
Representing a course angle deviation value of the scribing robot; l d Showing the front-looking distance of the line marking robot.
In the present embodiment, the forward-looking distance is between 0.2 and 1.0 meter.
And step S204, determining the left wheel correction speed and the right wheel correction speed of the scribing robot according to the corrected angular speed of the scribing robot.
Alternatively, the left wheel correction speed and the right wheel correction speed of the scribing robot may be determined according to the correction angular speed of the scribing robot, the wheel distance between the left wheel and the right wheel of the scribing robot, and the current speed of the scribing robot by using a correction wheel speed conversion formula.
In this embodiment, the modified wheel speed conversion formula is expressed as:
wherein, V r Indicates the right wheel correcting speed, V, of the scribing robot l The left wheel correction speed of the scribing robot is shown, and L is the scribing machineThe track width between the left and right human wheels.
And step S206, determining the target speed of the left wheel and the target speed of the right wheel of the line drawing robot according to the correction speed of the left wheel and the correction speed of the right wheel of the line drawing robot.
Alternatively, a target wheel speed conversion formula may be used to determine a target speed of the left wheel of the line marking robot based on the corrected speed of the left wheel of the line marking robot and the tire radius of the left wheel, and to determine a target speed of the right wheel of the line marking robot based on the corrected speed of the right wheel of the line marking robot and the tire radius of the right wheel.
In the present embodiment, the target wheel speed conversion formula is expressed as:
n r ＝V r /r w ·60/2π
n l ＝V l /r w ·60/2π
wherein n is r Indicating the target speed of the right wheel of the scribing robot, n l Indicating the target speed of the left wheel of the scribing robot, r w Indicating the tire radius of the left or right wheel.
And S208, calibrating the traveling direction of the scribing robot according to the left wheel target speed and the right wheel target speed of the scribing robot by using the control motor.
Specifically, the control motor may be used to control the scribing robot to perform differential motion according to a left wheel target speed and a right wheel target speed of the scribing robot, so as to calibrate a traveling direction of the scribing robot.
In summary, in the embodiment, the left wheel target speed and the right wheel target speed of the scribing robot are determined based on the lateral deviation value and the course angle deviation value between the scribing robot and the preset traveling route, so that the scribing robot can accurately move along the preset traveling route, and the control accuracy of the scribing robot is improved.
Fig. 3 shows a process flow chart of the scribing method by the scribing robot of the exemplary embodiment of the present embodiment. As shown in the figure, the present embodiment mainly includes the following steps:
in step S302, the start point position and the end point position of the preset scribing path are determined.
Step S304, in response to the detection result that the scribing robot reaches the starting position of the preset scribing path, starting to execute the scribing task of the scribing robot.
Specifically, when the marking robot is identified to reach the starting point position of the preset marking path, the marking task of the marking robot is started to be executed.
And S306, collecting the current vehicle body position and the current vehicle body course angle of the scribing robot.
As to the specific implementation of this step, reference may be made to the description of step S102.
And S308, determining a transverse deviation value and a course angle deviation value of the scribing robot compared with a preset scribing path according to the current vehicle body position and the current vehicle body course angle, and calibrating the traveling direction of the scribing robot.
With regard to the specific implementation of this step, reference may be made to the description of step S104 and step S108.
Step S310, determining whether the scribing robot reaches the end position of the preset traveling route, if yes, performing step S312, and if not, returning to step S306.
In step S312, the scribing robot finishes the scribing task.
Specifically, when it is determined that the scribing robot reaches the end position of the preset traveling route, it indicates that the scribing task of the scribing robot is completed, that is, the scribing task of the scribing robot is finished.
In summary, the scribing method of the scribing robot provided in this embodiment can improve the scribing accuracy of the scribing robot and reduce the labor cost.
Fig. 4 shows a block diagram of a scribing robot calibration apparatus according to an exemplary embodiment of the present application. As shown in the figure, the present embodiment mainly includes: an acquisition module 402, a calculation module 404, and a calibration module 406.
And the acquisition module 402 is used for acquiring the current vehicle body position and the current vehicle body course angle of the line drawing robot.
A calculating module 404, configured to determine a target segment in a preset traveling route according to the current vehicle body position, determine a lateral deviation value of the scribing robot compared with the target segment, and determine a course angle deviation value of the scribing robot compared with the target segment according to the current vehicle body course angle and an end point position of the target segment.
And the calibration module 406 is configured to calibrate the traveling direction of the scribing robot based on the lateral deviation value and the heading angle deviation value.
Optionally, a navigation system and a gyroscope are arranged on the line drawing robot, and the acquisition module 402 is further configured to acquire coordinate data of the navigation system and angular velocity data of the gyroscope in real time during the moving process of the line drawing robot along the preset traveling route; and determining the current vehicle body position of the line drawing robot according to the coordinate data of the navigation system, and determining the current vehicle body course angle of the line drawing robot according to the coordinate data of the navigation system and the angular speed data of the gyroscope.
Optionally, the navigation system comprises at least one of a beidou system, a global positioning system, a galileo system, a glonass system.
Optionally, the calculation module 404 is further configured to: determining a target point which is closest to the current vehicle body position in the preset advancing route according to the current vehicle body position of the scribing robot; and determining a target section containing the target point in the preset travelling route according to the target point.
Optionally, the preset travel route comprises at least one of a straight route, a broken route and a curved route; the target segment is a linear segment in the preset travel route.
Optionally, the calculation module 404 is further configured to: determining a lateral deviation value of the scribing robot compared with the target segment according to the linear distance between the current vehicle body position and the target segment; wherein the lateral deviation value comprises one of a positive value and a negative value identifying a lateral deviation direction of the scribing robot relative to the target segment, the lateral deviation direction being determined based on a direction of travel of the scribing robot.
Optionally, the calculation module 404 is further configured to: determining a sectional course angle of the target section according to the coordinates of the two end points of the target section; and determining the course angle deviation value of the scribing robot compared with the target segment according to the vehicle body course angle and the segment course angle.
Optionally, the calculation module 404 is further configured to: according to the coordinates of the two end points of the target segment, determining a first coordinate difference value of the target segment relative to the direction of the north of the earth and a second coordinate difference value of the target segment relative to the direction of the east of the earth; determining an angle value of the target segment relative to the east-righting direction of the earth by utilizing an arctan function according to the first coordinate difference value and the second coordinate difference value; performing conversion processing according to the angle value of the target segment relative to the direction of the true east of the earth to obtain a segment heading angle of the target segment relative to the direction of the true north of the earth; wherein the current vehicle body heading angle and the segmented heading angle are between 0 degree and 360 degrees.
Optionally, the calibration module 406 is further configured to: determining a correction angular speed of the scribing robot according to the transverse deviation value and the course angle deviation value; determining a left wheel correction speed and a right wheel correction speed of the scribing robot according to the correction angular speed of the scribing robot; determining a left wheel target speed and a right wheel target speed of the scribing robot according to the left wheel correction speed and the right wheel correction speed of the scribing robot; and calibrating the traveling direction of the scribing robot according to the target speed of the left wheel and the target speed of the right wheel of the scribing robot by using a control motor.
Optionally, the calibration module 406 is further configured to: and determining the corrected angular speed of the scribing robot according to the transverse deviation value, the course angular deviation value, the wheelbase of the scribing robot, the current speed of the scribing robot and the forward-looking distance of the scribing robot by using a corrected angular speed conversion formula.
The correction angular velocity conversion formula is expressed as:
wherein, L is wb Representing a wheelbase of the line marking robot, the V representing a current speed of the line marking robot, the d e Representing a lateral deviation value of the scribing robot, the
Representing a course angle deviation value of the scribing robot; the above-mentioned d Representing a forward-looking distance of the line marking robot; wherein the forward-looking distance is between 0.2 and 1.0 meter.
Optionally, the calibration module 406 is further configured to: determining a left wheel correction speed and a right wheel correction speed of the scribing robot according to the correction angular speed of the scribing robot, the wheel distance between a left wheel and a right wheel of the scribing robot and the current speed of the scribing robot by using a correction wheel speed conversion formula;
the modified wheel speed conversion formula is expressed as:
wherein, the V r Indicating a right wheel correction speed of the scribing robot, the V l A left wheel correction speed of the line marking robot is indicated, and the L represents a wheel track between a left wheel and a right wheel of the line marking robot.
Optionally, the calibration module 406 is further configured to: determining a left wheel target speed of the scribing robot according to a left wheel correction speed of the scribing robot and a tire radius of a left wheel by using a target wheel speed conversion formula, and determining a right wheel target speed of the scribing robot according to a right wheel correction speed of the scribing robot and the tire radius of the right wheel;
the target wheel speed conversion formula is expressed as:
n r ＝V r /r w ·60/2π
n l ＝V l /r w ·60/2π
wherein, said n r Representing a target speed of a right wheel of the line marking robot, n l Representing a target speed of a left wheel of the line marking robot, r w Represents a tire radius of the left wheel or the right wheel.
Another embodiment of the present application further provides a scribing method of a scribing robot, including a controller configured to perform: collecting a current vehicle body position and a current vehicle body course angle of the scribing robot; determining a target segment in a preset travelling route according to the current vehicle body position, and determining a transverse deviation value of the scribing robot compared with the target segment; determining a course angle deviation value of the scribing robot compared with the target segment according to the current vehicle body course angle and the end point position of the target segment; and calibrating the advancing direction of the scribing robot based on the transverse deviation value and the course angle deviation value.
Another embodiment of the present application further provides an electronic device, including: a processor; and a memory storing a program; wherein the program comprises instructions which, when executed by the processor, cause the processor to perform the method of each of the above described scribing robot calibration method embodiments, or the scribing method embodiment of the above described scribing robot.
Another embodiment of the present application further provides a non-transitory computer readable storage medium storing computer instructions for causing a computer to perform the method of the scribing robot calibration method embodiments or the scribing method embodiment of the scribing robot.
Finally, it should be noted that: the above embodiments are only used for illustrating the technical solutions of the embodiments of the present application, and are not limited thereto; although the present application has been described in detail with reference to the foregoing embodiments, it should 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 application.
Claims (16)
1. A scribing robot calibration method, comprising:
collecting a current vehicle body position and a current vehicle body course angle of the scribing robot;
determining a target segment in a preset travelling route according to the current vehicle body position, and determining a transverse deviation value of the scribing robot compared with the target segment;
determining a course angle deviation value of the scribing robot compared with the target segment according to the current vehicle body course angle and the end point position of the target segment;
calibrating the advancing direction of the scribing robot based on the transverse deviation value and the course angle deviation value;
the calibrating the traveling direction of the scribing robot based on the lateral deviation value and the course angle deviation value comprises:
determining a corrected angular speed of the scribing robot according to the transverse deviation value and the course angle deviation value; the corrected angular speed is determined according to the transverse deviation value, the course angular deviation value, the wheelbase of the scribing robot, the current speed of the scribing robot and the forward-looking distance of the scribing robot;
determining a left wheel correction speed and a right wheel correction speed of the scribing robot according to the correction angular speed of the scribing robot;
determining a left wheel target speed and a right wheel target speed of the scribing robot according to the left wheel correction speed and the right wheel correction speed of the scribing robot;
and calibrating the traveling direction of the scribing robot according to the target speed of the left wheel and the target speed of the right wheel of the scribing robot by using a control motor.
2. The method of claim 1, wherein a navigation system and a gyroscope are provided on the scribing robot;
wherein, gather line drawing robot's current automobile body position, current automobile body course angle, include:
acquiring coordinate data of the navigation system and angular velocity data of the gyroscope in real time in the process that the scribing robot moves along the preset travelling route;
and determining the current vehicle body position of the line drawing robot according to the coordinate data of the navigation system, and determining the current vehicle body course angle of the line drawing robot according to the coordinate data of the navigation system and the angular speed data of the gyroscope.
3. The method of claim 2, wherein the navigation system comprises at least one of a beidou system, a global positioning system, a galileo system, a glonass system.
4. The method according to any one of claims 1 to 3, wherein said determining a target segment in a preset travel route according to said current body position comprises:
determining a target point which is closest to the current vehicle body position in the preset advancing route according to the current vehicle body position of the scribing robot;
and determining a target section containing the target point in the preset travelling route according to the target point.
5. The method of claim 4,
the preset traveling route at least comprises one of a straight line route, a broken line route and a curve route;
the target segment is a linear segment in the preset traveling route.
6. The method of claim 4, wherein determining lateral deviation values of the scribing robot compared to the target segment comprises:
determining a lateral deviation value of the scribing robot compared with the target segment according to the linear distance between the current vehicle body position and the target segment;
wherein the lateral deviation value comprises one of a positive value and a negative value identifying a lateral deviation direction of the scribing robot relative to the target segment, the lateral deviation direction being determined based on a direction of travel of the scribing robot.
7. The method of claim 4, wherein determining a heading angle deviation value of the line marking robot as compared to the target segment based on the current body heading angle and the end point position of the target segment comprises:
determining a sectional course angle of the target section according to the coordinates of the two end points of the target section;
and determining the course angle deviation value of the scribing robot compared with the target segment according to the vehicle body course angle and the segment course angle.
8. The method of claim 7, wherein determining a segment heading angle of the target segment based on two endpoint coordinates of the target segment comprises:
according to the coordinates of the two end points of the target segment, determining a first coordinate difference value of the target segment relative to the direction of the north of the earth and a second coordinate difference value of the target segment relative to the direction of the east of the earth;
determining an angle value of the target segment relative to the east-righting direction of the earth by utilizing an arctan function according to the first coordinate difference value and the second coordinate difference value;
performing conversion processing according to the angle value of the target segment relative to the direction of the true east of the earth to obtain a segment heading angle of the target segment relative to the direction of the true north of the earth;
wherein the current vehicle body heading angle and the segmented heading angle are between 0 degree and 360 degrees.
9. The method of claim 1, wherein determining a corrected angular velocity of the scribing robot based on the lateral bias value and the heading angular bias value comprises:
determining the corrected angular velocity of the scribing robot according to the transverse deviation value, the course angular deviation value, the wheelbase of the scribing robot, the current velocity of the scribing robot and the forward-looking distance of the scribing robot by using a corrected angular velocity conversion formula;
the correction angular velocity conversion formula is expressed as:
wherein, L is wb Representing a wheelbase of the line marking robot, the V representing a current speed of the line marking robot, the d e Representing a lateral deviation value of the scribing robot, the
Representing a course angle deviation value of the scribing robot; the above-mentioned d Representing a forward-looking distance of the line marking robot;
wherein the forward looking distance is between 0.2 and 1.0 meter.
10. The method according to claim 9, wherein determining a left wheel correction speed and a right wheel correction speed of the scribing robot from the corrected angular velocity of the scribing robot comprises:
determining a left wheel correction speed and a right wheel correction speed of the scribing robot according to the correction angular speed of the scribing robot, the wheel distance between a left wheel and a right wheel of the scribing robot and the current speed of the scribing robot by using a correction wheel speed conversion formula;
the modified wheel speed conversion formula is expressed as:
wherein, the V r Indicating a right wheel correction speed of the scribing robot, the V l The left wheel correction speed of the line drawing robot is shown, and the L is the wheel track between the left wheel and the right wheel of the line drawing robot.
11. The method of claim 10, wherein determining the left wheel target speed and the right wheel target speed of the line marking robot from the left wheel corrected speed and the right wheel corrected speed of the line marking robot comprises:
determining a left wheel target speed of the scribing robot according to a left wheel correction speed of the scribing robot and a tire radius of a left wheel by using a target wheel speed conversion formula, and determining a right wheel target speed of the scribing robot according to a right wheel correction speed of the scribing robot and the tire radius of the right wheel;
the target wheel speed conversion formula is expressed as:
n r ＝V r /r w ·60/2π
n l ＝V l /r w ·60/2π
wherein, said n r Representing a target speed of a right wheel of the line marking robot, n l Representing a target speed of a left wheel of the line marking robot, r w Represents a tire radius of the left wheel or the right wheel.
12. A line marking method of a line marking robot, comprising:
determining a starting point and an end point of a preset scribing path;
responding to a detection result that the scribing robot reaches the starting point of the preset scribing path, and starting a scribing task of the scribing robot;
collecting the current vehicle body position and the current vehicle body course angle of the line marking robot in the advancing process of the line marking robot;
determining a lateral deviation value and a heading angle deviation value of the scribing robot from the preset scribing path and calibrating a traveling direction of the scribing robot based on the current vehicle body position and the current vehicle body heading angle by using the method of any one of claims 1 to 11;
and responding to a detection result that the scribing robot reaches the end point of the preset scribing path, and finishing the scribing task of the scribing robot.
13. A scribing robot calibration device, comprising:
the acquisition module is used for acquiring the current vehicle body position and the current vehicle body course angle of the marking robot;
the calculation module is used for determining a target segment in a preset travelling route according to the current vehicle body position, determining a transverse deviation value of the scribing robot compared with the target segment, and determining a course angle deviation value of the scribing robot compared with the target segment according to the current vehicle body course angle and the end point position of the target segment;
the calibration module is used for determining the corrected angular speed of the scribing robot according to the transverse deviation value and the course angle deviation value; the corrected angular speed is determined according to the transverse deviation value, the course angular deviation value, the wheelbase of the scribing robot, the current speed of the scribing robot and the forward-looking distance of the scribing robot; determining a left wheel correction speed and a right wheel correction speed of the scribing robot according to the correction angular speed of the scribing robot; determining a left wheel target speed and a right wheel target speed of the scribing robot according to the left wheel correction speed and the right wheel correction speed of the scribing robot; and calibrating the traveling direction of the scribing robot according to the target speed of the left wheel and the target speed of the right wheel of the scribing robot by using a control motor.
14. A line striping robot comprising a controller for performing:
collecting the current vehicle body position and the current vehicle body course angle of the marking robot;
determining a target segment in a preset travelling route according to the current vehicle body position, and determining a transverse deviation value of the scribing robot compared with the target segment;
determining a course angle deviation value of the scribing robot compared with the target segment according to the current vehicle body course angle and the end point position of the target segment;
calibrating the advancing direction of the scribing robot based on the transverse deviation value and the course angle deviation value;
the calibrating the traveling direction of the scribing robot based on the lateral deviation value and the course angle deviation value comprises:
determining a corrected angular speed of the scribing robot according to the transverse deviation value and the course angle deviation value; the corrected angular speed is determined according to the transverse deviation value, the course angular deviation value, the wheelbase of the scribing robot, the current speed of the scribing robot and the forward-looking distance of the scribing robot;
determining a left wheel correction speed and a right wheel correction speed of the scribing robot according to the correction angular speed of the scribing robot;
determining a left wheel target speed and a right wheel target speed of the scribing robot according to the left wheel correction speed and the right wheel correction speed of the scribing robot;
and calibrating the traveling direction of the scribing robot according to the target speed of the left wheel and the target speed of the right wheel of the scribing robot by using a control motor.
15. An electronic device, comprising:
a processor; and
a memory storing a program;
wherein the program comprises instructions which, when executed by the processor, cause the processor to perform the method of any one of claims 1-11 or to perform the method of claim 12.
16. A non-transitory computer readable storage medium having stored thereon computer instructions for causing a computer to perform the method of any one of claims 1-11 or to perform the method of claim 12.
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