CN115454053A - Automatic guided vehicle control method, system and device and computer equipment - Google Patents
Automatic guided vehicle control method, system and device and computer equipment Download PDFInfo
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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
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
- G05D1/0238—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using obstacle or wall sensors
- G05D1/024—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using obstacle or wall sensors in combination with a laser
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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 relates to an automatic guided vehicle control method, system, device and computer equipment, wherein the method comprises the following steps: receiving position data of the automatic guided vehicle sent by a terminal; the position data are obtained by the terminal based on initial position data obtained from a laser tracker, and the laser tracker is used for tracking the automatic guided vehicle and acquiring the initial position data of the automatic guided vehicle; acquiring attitude data of the automatic guided vehicle, which is acquired by a gyroscope; the gyroscope is arranged on the automatic guided vehicle; and determining the driving information of the automatic guided vehicle according to the position data and the posture data, wherein the driving information is used for guiding the automatic guided vehicle to drive to a target position. By adopting the method, the precise positioning of the automatic guided vehicle can be realized, and the stable and reliable intelligent operation of the trolley of the automatic guided vehicle is ensured.
Description
Technical Field
The present application relates to the field of automotive automation equipment technologies, and in particular, to a method, a system, an apparatus, a computer device, a storage medium, and a computer program product for controlling an automated guided vehicle.
Background
An Automated Guided Vehicle (AGV) is an unmanned Vehicle which uses a storage battery to provide power, navigates through a sensor and a non-contact guiding device, is used for equipment transportation and automatic assembly of a workshop, and is a key device of a modern automatic workshop and a logistics storage system.
At present, various methods for automatic guided vehicle navigation control are available, such as magnetic navigation, two-dimensional code navigation, laser navigation and the like, but the navigation methods need to rely on sensors, and researches find that the highest precision of the navigation methods is only +/-10 mm, and the requirements of high-precision positioning through an automatic guided vehicle cannot be met.
Disclosure of Invention
In view of the above, it is necessary to provide a method, a system, an apparatus, a computer device, a computer readable storage medium, and a computer program product for controlling an automated guided vehicle, which are directed to the technical problem that the above method cannot meet the requirement of high-precision positioning by the automated guided vehicle.
In a first aspect, the present application provides a method of automated guided vehicle control. The method comprises the following steps:
receiving position data of the automatic guided vehicle sent by a terminal; the position data are obtained by the terminal based on initial position data obtained from a laser tracker, and the laser tracker is used for tracking the automatic guided vehicle and collecting the initial position data of the automatic guided vehicle;
acquiring attitude data of the automatic guided vehicle, which is acquired by a gyroscope; the gyroscope is arranged on the automatic guided vehicle;
and determining the driving information of the automatic guided vehicle according to the position data and the posture data, wherein the driving information is used for guiding the automatic guided vehicle to drive to a target position.
In one embodiment, the determining the driving information of the automated guided vehicle according to the position data and the posture data includes:
acquiring target position data of the target position;
determining the running speed and the direction angle of each steering wheel of the automatic guided vehicle according to the position data, the attitude data and the target position data;
and determining the running speed and the direction angle of each steering wheel as the running information of the automatic guided vehicle.
In one embodiment, the automated guided vehicle is further provided with an auxiliary positioning device, and the auxiliary positioning device is used for positioning assistance at a plurality of preset positions, and the method further comprises:
acquiring the moving distance of the auxiliary positioning device in the process that the automatic guided vehicle runs from the previous position to the current position;
obtaining an attitude azimuth change angle of the automated guided vehicle when the automated guided vehicle travels from the previous position to the current position based on the previous position, the current position, and the travel distance;
and determining the driving information of the automatic guided vehicle from the current position to the next position according to the attitude and azimuth change angle, the current position and the next position.
In one embodiment, the obtaining an attitude and azimuth change angle of the automated guided vehicle when the automated guided vehicle travels from the previous position to the current position based on the previous position, the current position, and the movement distance includes:
obtaining the advancing distance of the automatic guided vehicle based on the previous position and the current position;
and processing the moving distance and the advancing distance of the automatic guided vehicle through a preset trigonometric function relation to obtain the attitude azimuth change angle.
In one embodiment, the determining the driving information of the automated guided vehicle from the current position to the next position according to the attitude and azimuth change angle, the current position and the next position includes:
determining the initial running speed and the initial direction angle of each steering wheel of the automatic guided vehicle according to the current position and the next position;
correcting the initial direction angle through the attitude and azimuth change angle to obtain a corrected direction angle;
and determining the initial running speed and the corrected direction angle of each steering wheel as running information of the automated guided vehicle from the current position to the next position.
In a second aspect, the present application further provides an automated guided vehicle control system. The system comprises an automatic guided vehicle, a controller, a terminal, a laser tracker and a gyroscope, wherein the gyroscope is arranged on the automatic guided vehicle; wherein:
the laser tracker is used for tracking the automatic guided vehicle and acquiring initial position data of the automatic guided vehicle;
the terminal is used for acquiring initial position data of the automatic guided vehicle from the laser tracker, acquiring position data of the automatic guided vehicle based on the initial position data, and sending the position data to the controller;
the gyroscope is used for acquiring attitude data of the automatic guided vehicle;
the controller is used for receiving the position data sent by the terminal and acquiring the attitude data from the gyroscope; and determining the driving information of the automatic guided vehicle according to the position data and the posture data, wherein the driving information is used for guiding the automatic guided vehicle to drive to a target position.
In one embodiment, the initial position data is the position data of the automatic guided vehicle in a coordinate system corresponding to the laser tracker;
and the terminal is also used for carrying out coordinate conversion on the initial position data through a coordinate conversion matrix to obtain position data of the automatic guided vehicle in a world coordinate system, and the position data is used as the position data of the automatic guided vehicle.
In a third aspect, the present application further provides an automated guided vehicle control apparatus. The device comprises:
the receiving module is used for receiving the position data of the automatic guided vehicle sent by the terminal; the position data are obtained by the terminal based on initial position data obtained from a laser tracker, and the laser tracker is used for tracking the automatic guided vehicle and acquiring the initial position data of the automatic guided vehicle;
the acquisition module is used for acquiring attitude data of the automatic guided vehicle acquired by a gyroscope; the gyroscope is arranged on the automatic guided vehicle;
and the determining module is used for determining the driving information of the automatic guided vehicle according to the position data and the posture data, and the driving information is used for guiding the automatic guided vehicle to drive to a target position.
In a fourth aspect, the present application further provides a computer device. The computer device comprises a memory storing a computer program and a processor implementing the following steps when executing the computer program:
receiving position data of the automatic guided vehicle sent by a terminal; the position data are obtained by the terminal based on initial position data obtained from a laser tracker, and the laser tracker is used for tracking the automatic guided vehicle and acquiring the initial position data of the automatic guided vehicle;
acquiring attitude data of the automatic guided vehicle, which is acquired by a gyroscope; the gyroscope is arranged on the automatic guided vehicle;
and determining the driving information of the automatic guided vehicle according to the position data and the posture data, wherein the driving information is used for guiding the automatic guided vehicle to drive to a target position.
In a fifth aspect, the present application further provides a computer-readable storage medium. The computer-readable storage medium having stored thereon a computer program which, when executed by a processor, performs the steps of:
receiving position data of the automatic guided vehicle sent by a terminal; the position data are obtained by the terminal based on initial position data obtained from a laser tracker, and the laser tracker is used for tracking the automatic guided vehicle and acquiring the initial position data of the automatic guided vehicle;
acquiring attitude data of the automatic guided vehicle, which is acquired by a gyroscope; the gyroscope is arranged on the automatic guided vehicle;
and determining the driving information of the automatic guided vehicle according to the position data and the posture data, wherein the driving information is used for guiding the automatic guided vehicle to drive to a target position.
In a sixth aspect, the present application further provides a computer program product. The computer program product comprising a computer program which when executed by a processor performs the steps of:
receiving position data of the automatic guided vehicle sent by a terminal; the position data are obtained by the terminal based on initial position data obtained from a laser tracker, and the laser tracker is used for tracking the automatic guided vehicle and collecting the initial position data of the automatic guided vehicle;
acquiring attitude data of the automatic guided vehicle, which is acquired by a gyroscope; the gyroscope is arranged on the automatic guided vehicle;
and determining the driving information of the automatic guided vehicle according to the position data and the posture data, wherein the driving information is used for guiding the automatic guided vehicle to drive to a target position.
According to the automatic guided vehicle control method, the system, the device, the computer equipment, the storage medium and the computer program product, the position data of the automatic guided vehicle is obtained through the laser tracker, the attitude data of the automatic guided vehicle is obtained through the gyroscope, and the control function of the real-time position and attitude of the automatic guided vehicle is realized through the position data and the attitude data together, so that the working efficiency and the positioning accuracy of intelligent walking of the automatic guided vehicle trolley can be improved.
Drawings
FIG. 1 is a diagram of an exemplary automated guided vehicle control method;
FIG. 2 is a schematic flow chart of a method for controlling an automated guided vehicle according to one embodiment;
FIG. 3 is a schematic view of a control model of the automated guided vehicle in one embodiment;
FIG. 4 is a schematic illustration of a process for positioning by an automated guided vehicle in one embodiment;
FIG. 5 is a flow chart illustrating automated guided vehicle positioning control in one embodiment;
FIG. 6 is a block diagram of the system control for the automated guided vehicle in one embodiment;
FIG. 7 is a block diagram of the automated guided vehicle control system in one embodiment;
FIG. 8 is a block diagram showing the construction of an automatic guided vehicle control apparatus according to an embodiment;
FIG. 9 is a diagram illustrating an internal structure of a computer device according to an embodiment.
Detailed Description
In order to make the objects, technical solutions and advantages of the present application more apparent, the present application is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the present application and are not intended to limit the present application.
It should be further noted that the user information (including but not limited to user device information, user personal information, etc.) and data (including but not limited to data for analysis, stored data, presented data, etc.) referred to in the present application are information and data authorized by the user or sufficiently authorized by each party.
The automatic guided vehicle control method provided by the embodiment of the application can be applied to the application environment shown in fig. 1. Wherein the terminal 102 communicates with the laser tracker 108 and the controller 110, respectively, via a network. The controller 110 communicates with the gyroscope 106 over a network. A gyroscope 106 is mounted on the automated guided vehicle 104. The automated guided vehicle may be composed of a mikan mother wheel or 4 steering wheels, the terminal 102 may be but is not limited to various personal computers, notebook computers, smart phones, tablet computers, internet of things devices and portable wearable devices, and the internet of things devices may be smart speakers, smart televisions, smart air conditioners, smart car-mounted devices, and the like. The portable wearable device can be a smart watch, a smart bracelet, a head-mounted device, and the like.
In an application scenario of the present application, the laser tracker 108 tracks the automated guided vehicle and acquires initial position data of the automated guided vehicle 104, the terminal 102 acquires the initial position data from the laser tracker 108, performs coordinate conversion on the initial position data to obtain position data of the automated guided vehicle 104, and sends the position data to the controller 110. The controller 110 receives the position data of the automated guided vehicle sent by the terminal 102, acquires the attitude data of the automated guided vehicle collected by the gyroscope 106, determines the driving information of the automated guided vehicle 104 according to the position data and the attitude data, and drives the automated guided vehicle 104 to the target position according to the driving information.
In one embodiment, as shown in fig. 2, an automated guided vehicle control method is provided, which is described by taking the method as an example applied to the controller 110 in fig. 1, and includes the following steps:
step S210, receiving position data of the automatic guided vehicle sent by the terminal; the position data are obtained by the terminal based on initial position data obtained from a laser tracker, and the laser tracker is used for tracking the automatic guided vehicle and collecting the initial position data of the automatic guided vehicle.
The laser tracker is a three-coordinate measuring instrument, has 3 dimensions, and can measure the coordinate values of the object in X, Y, Z in real time after a coordinate system is established.
And the initial position data is the position coordinates of the automatic guided vehicle in a coordinate system corresponding to the laser tracker.
The basic principle of operation of a laser tracker is to position a reflector at a target point, where laser light from a tracking head is directed onto the reflector and back to the tracking head, which adjusts the direction of the beam to target the target as it moves. Meanwhile, the return beam is received by the detection system and used for measuring and calculating the space position of the target. That is, the laser tracker functions to statically or dynamically track a point moving in space while determining the spatial coordinates of the target point.
In the specific implementation, the laser tracker can track the automatic guided vehicle, initial position data of the automatic guided vehicle in a coordinate system corresponding to the laser tracker is collected in real time and then stored in a memory, and the terminal reads the initial position data of the automatic guided vehicle collected by the laser tracker in real time, obtains position information of the automatic guided vehicle based on the initial position data, and sends the position data to the controller.
More specifically, since the position data acquired by the laser tracker is the position data in the coordinate system corresponding to the laser tracker, after the terminal acquires the initial position data of the automated guided vehicle, it is further required to perform coordinate conversion on the initial position data through the coordinate conversion matrix to obtain the position data of the automated guided vehicle in the world coordinate system (which may be a factory building coordinate system), and send the position data obtained through the conversion to the controller of the automated guided vehicle.
Step S220, acquiring attitude data of the automatic guided vehicle, which is acquired by a gyroscope; the gyroscope is arranged on the automatic guided vehicle.
Wherein the attitude data may be a rotation angle of the automated guided vehicle about the Z-axis.
Referring to fig. 3, a control model of an Automated Guided Vehicle (AGV) according to an exemplary embodiment is shown, in which a gyroscope is disposed on the AGV for acquiring attitude data of the AGV.
And step S230, determining the driving information of the automated guided vehicle according to the position data and the posture data, wherein the driving information is used for guiding the automated guided vehicle to drive to a target position.
The driving information may include a driving speed and a direction angle of each steering wheel of the automated guided vehicle.
The target position can be understood as the destination position of the automated guided vehicle.
In a specific implementation, referring to fig. 1 and 3, the automated guided vehicle may include 4 steering wheels, which are marked as a steering wheel a, a steering wheel B, a steering wheel C, and a steering wheel D, and before determining the running information of the automated guided vehicle, target position data of a target position is further acquired, and the position data and the attitude data of each steering wheel of the automated guided vehicle are calculated by using the target position as a running destination and combining the position data and the attitude data of the automated guided vehicle.
According to the control method of the automatic guided vehicle, the position data of the automatic guided vehicle is obtained through the laser tracker, the attitude data of the automatic guided vehicle is obtained through the gyroscope, and the control function of the real-time position and attitude of the automatic guided vehicle is realized through the position data and the attitude data together, so that the intelligent walking work efficiency and the positioning precision of the trolley of the automatic guided vehicle can be improved.
In an exemplary embodiment, the step S230 of determining the driving information of the automated guided vehicle according to the position data and the posture data includes:
step S2301, obtaining target position data of a target position;
step S2302, determining the running speed and the direction angle of each steering wheel of the automatic guided vehicle according to the position data, the attitude data and the target position data;
in step S2303, the running speed and the direction angle of each steering wheel are determined as the running information of the automated guided vehicle.
The target position data is position data in a world coordinate system. The world coordinate system is an absolute coordinate system, and can be understood as a coordinate system of the environment where the automatic guided vehicle is located.
The direction angle may represent an included angle between a target driving direction of the automated guided vehicle and a direction of the current vehicle.
In a specific implementation, because the steering angles of each steering wheel of the automated guided vehicle are different in the driving process and the speeds of each steering wheel of the automated guided vehicle are also possibly different, when the driving information of the automated guided vehicle is determined, the driving speed and the direction angle of each steering wheel of the automated guided vehicle need to be determined according to the position data, the attitude data and the target position data of the automated guided vehicle, the driving speed and the direction angle of each steering wheel are determined as the driving information of the automated guided vehicle, and each steering wheel of the automated guided vehicle is driven according to the driving speed and the direction angle corresponding to each steering wheel.
More specifically, the position data, the attitude data, and the target position data of the automated guided vehicle may be processed by a PID control algorithm (proportional), integral (integral), derivative (derivative)), so as to obtain the driving speed and the direction angle of each steering wheel of the automated guided vehicle.
In this embodiment, the running speed and the direction angle of each steering wheel of the automated guided vehicle are determined by the position data, the attitude data and the target position data, and are used as running information, so that each steering wheel of the automated guided vehicle has a corresponding running speed and a corresponding direction angle, thereby ensuring accurate control of the automated guided vehicle.
In an exemplary embodiment, the automated guided vehicle is further provided with an auxiliary positioning device, the auxiliary positioning device is used for positioning assistance at a plurality of preset positions, as shown in fig. 4, and the method further includes:
step S410, acquiring the moving distance of the auxiliary positioning device in the process that the automatic guided vehicle runs from the previous position to the current position;
step S420, obtaining an attitude azimuth change angle of the automatic guided vehicle from the previous position to the current position based on the previous position, the current position and the moving distance;
and step S430, determining the driving information of the automatic guided vehicle from the current position to the next position according to the attitude and azimuth change angle, the current position and the next position.
The attitude and azimuth change angle represents a change angle of a direction after the automated guided vehicle travels from one position to another position.
The auxiliary positioning device can be an auxiliary punching row frame and is used for punching in a plurality of preset positions.
In the concrete implementation, the navigation of the gyroscope has certain drift along with the accumulation of time, so that the navigation needs to be corrected by auxiliary positioning equipment.
More specifically, the former position of the automated guided vehicle is set to (X) 1 ，Y 1 ) Assuming that the moving distance of the automated guided vehicle in the X-axis direction through the auxiliary positioning device is L, the current position of the vehicle is obtained as (X) 2 ，Y 2 ). May be based on the previous position (X) 1 ，Y 1 ) The current position is (X) 2 ，Y 2 ) And the moving distance is L, the attitude and azimuth change angle of the automatic guided vehicle from the previous position to the current position is obtained through calculation, and the driving information of the automatic guided vehicle from the current position to the next position is further determined according to the attitude and azimuth change angle, the current position and the next position.
Further, in an exemplary embodiment, in step S420, obtaining an attitude and azimuth change angle of the automated guided vehicle traveling from the previous position to the current position based on the previous position, the current position, and the moving distance includes:
step S4201, obtaining the advancing distance of the automatic guided vehicle based on the previous position and the current position;
and step S4202, processing the moving distance and the advancing distance of the automatic guided vehicle through a preset trigonometric function relation to obtain a posture azimuth change angle.
In specific implementation, the attitude azimuth angle of the automatic guided vehicle can be calculated through a trigonometric function formula.
For example, the former position is still (X) 1 ，Y 1 ) The current position is (X) 2 ，Y 2 ) If the moving distance is L and the attitude and azimuth change angle is θ, the calculation relation of the attitude and azimuth change angle θ can be expressed as:
θ＝arctan(Y 2 -Y 1 )/L。
in an exemplary embodiment, in step S430, determining the driving information of the automated guided vehicle from the current position to the next position according to the attitude and azimuth change angle, the current position and the next position includes:
step S4301, determining the initial running speed and the initial direction angle of each steering wheel of the automatic guided vehicle according to the current position and the next position;
step S4302, correcting the initial direction angle through the attitude azimuth change angle to obtain a corrected direction angle;
and step S4303, determining the initial running speed and the corrected direction angle of each steering wheel as running information of the automatic guided vehicle running from the current position to the next position.
In a specific implementation, the next position is (X) 3 ，Y 3 ) Then the current position (X) is calculated by a PID control algorithm 2 ，Y 2 ) The next position is (X) 3 ，Y 3 ) And when the automatic guided vehicle runs to the next position from the current position according to the initial running speed and the corrected direction angle.
In the embodiment, the posture of the automatic guided vehicle is corrected through the moving distance of the auxiliary positioning device on the automatic guided vehicle in the process, so that the automatic guided vehicle is controlled more accurately and smoothly, a good result can be obtained through the self-adaptive PID control, the correction process is fast and smooth, and the correction algorithm has strong anti-interference performance and good robustness.
Referring to fig. 5, a flowchart of positioning control of an automated guided vehicle in an exemplary embodiment is shown, where the automated guided vehicle in this embodiment takes the example of performing auxiliary punching through an auxiliary punching row frame as an example, the automated guided vehicle receives the driving information and the target position coordinates sent by the controller, performs driving according to the driving information, detects the accuracy of the target position by comparing the current position coordinates with the target position coordinates when the target position is reached, and enters a punching process after the positioning is accurate, and performs punching through the auxiliary punching row frame. And if the positioning is not accurate, guiding the automatic guided vehicle to move to the target position based on the difference between the current position coordinate and the target position coordinate.
Referring to fig. 6, a flow chart of the system control for automated guided vehicles in an exemplary embodiment is shown. The upper diagram of fig. 6 is a speed control flow, specifically: after the target position coordinates are sent to an Automatic Guided Vehicle (AGV), the acceleration and deceleration of the AGV are controlled through the target position coordinates, so that the AGV reaches the target position, and in the process, a moving speed curve of the AGV can be calculated, wherein the plus and minus in the figure represent the difference value between the target position coordinates and the real-time position coordinates of the AGV. In the process, the controller of the automatic guided vehicle needs to judge the position in real time according to the target position coordinates, and when the target position is close to, the automatic guided vehicle is subjected to deceleration control.
The schematic diagram below fig. 6 is a process of attitude control, specifically: after the target position coordinates are sent to an Automatic Guided Vehicle (AGV), the posture of the AGV is controlled through the difference value between the target position coordinates and the real-time position coordinates of the AGV, so that the AGV reaches the target position. Wherein, A, B, C, D wheels in the figure represent four driving wheels of the automatic guided vehicle. The attitude control is used for maintaining the attitude angle of the automated guided vehicle itself during the movement of the automated guided vehicle to keep the vehicle body parallel and prevent the vehicle body from tilting.
According to the control method of the automatic guided vehicle, the position data collected by the laser tracker are read in real time through the terminal, the position data are sent to the controller after coordinate conversion is carried out, the controller carries out position PID operation, speed planning and automatic posture correction according to the current position data and target position data of the automatic guided vehicle, the final positioning error is controlled within +/-1 mm, and the positioning error can be adjusted freely as needed.
It should be understood that, although the steps in the flowcharts related to the embodiments as described above are sequentially displayed as indicated by arrows, the steps are not necessarily performed sequentially as indicated by the arrows. The steps are not performed in the exact order shown and described, and may be performed in other orders, unless explicitly stated otherwise. Moreover, at least a part of the steps in the flowcharts related to the embodiments described above may include multiple steps or multiple stages, which are not necessarily performed at the same time, but may be performed at different times, and the execution order of the steps or stages is not necessarily sequential, but may be rotated or alternated with other steps or at least a part of the steps or stages in other steps.
Based on the same inventive concept, an embodiment of the present application further provides an automated guided vehicle control system for implementing the above-mentioned automated guided vehicle control method, as shown in fig. 7, which is a block diagram of the automated guided vehicle control system, and the system includes an automated guided vehicle 710, a controller 720, a terminal 730, a laser tracker 740, and a gyroscope 750, where the gyroscope 750 is mounted on the automated guided vehicle 710; wherein:
a laser tracker 740 for tracking the automated guided vehicle 710 and collecting initial position data of the automated guided vehicle 710;
a terminal 730 for acquiring initial position data of the automated guided vehicle 710 from the laser tracker 740, obtaining position data of the automated guided vehicle 710 based on the initial position data, and transmitting the position data to the controller 720;
a gyroscope 750 for acquiring attitude data of the automated guided vehicle 710;
a controller 720, configured to receive the position data sent by the terminal 730, and obtain attitude data from the gyroscope 750; based on the position data and the attitude data, the travel information of the automated guided vehicle 710 is determined, and the automated guided vehicle 710 is caused to travel to the target position in accordance with the travel information.
In an exemplary embodiment, the initial position data is the position data of the automated guided vehicle 710 in the coordinate system corresponding to the laser tracker;
the terminal 730 is further configured to perform coordinate conversion on the initial position data through a coordinate conversion matrix to obtain position data of the automated guided vehicle 710 in a world coordinate system, where the position data is used as the position data of the automated guided vehicle 710.
According to the automatic guided vehicle control system provided by the embodiment, the high-precision laser tracker device and the gyroscope are adopted, the positioning data of the high-precision laser tracker device and the gyroscope are subjected to the self-adaptive PID control technology, the real-time position and posture control function in the motion process of the automatic guided vehicle is realized together, different factory building environments can be met, the laser reflector device and map modeling are not relied on, the positioning of the automatic guided vehicle can be realized quickly, the accurate positioning of the automatic guided vehicle is finally completed, the stable reliability of the intelligent operation of the automatic guided vehicle is ensured, and the working efficiency and the positioning precision of the intelligent walking of the automatic guided vehicle are improved.
Based on the same inventive concept, the embodiment of the application also provides an automatic guided vehicle control device for realizing the automatic guided vehicle control method. The implementation scheme for solving the problem provided by the device is similar to the implementation scheme recorded in the method, so specific limitations in one or more embodiments of the automatic guided vehicle control device provided below can be referred to the limitations on the automatic guided vehicle control method in the above, and details are not repeated herein.
In one embodiment, as shown in fig. 8, there is provided an automated guided vehicle control apparatus including: a receiving module 810, an obtaining module 820, and a determining module 830, wherein:
the receiving module 810 is configured to receive position data of the automated guided vehicle sent by the terminal; the position data are obtained by the terminal based on initial position data obtained from a laser tracker, and the laser tracker is used for tracking the automatic guided vehicle and collecting the initial position data of the automatic guided vehicle;
an obtaining module 820, configured to obtain attitude data of the automated guided vehicle collected by a gyroscope; the gyroscope is arranged on the automatic guided vehicle;
and a determining module 830, configured to determine, according to the position data and the posture data, driving information of the automated guided vehicle, where the driving information is used to guide the automated guided vehicle to drive to the target position.
In an embodiment, the determining module 830 is further configured to obtain target location data of a target location; determining the running speed and the direction angle of each steering wheel of the automatic guided vehicle according to the position data, the attitude data and the target position data; and determining the running speed and the direction angle of each steering wheel as the running information of the automatic guided vehicle.
In one embodiment, the automated guided vehicle is further provided with an auxiliary positioning device, the auxiliary positioning device is used for positioning assistance at a plurality of preset positions, and the device further comprises:
the distance acquisition module is used for acquiring the moving distance of the auxiliary positioning device in the process that the automatic guided vehicle runs from the previous position to the current position;
the angle determining module is used for obtaining an attitude azimuth change angle of the automatic guided vehicle from the previous position to the current position based on the previous position, the current position and the moving distance;
and the speed determining module is used for determining the driving information of the automatic guided vehicle from the current position to the next position according to the attitude and azimuth change angle, the current position and the next position.
In one embodiment, the angle determining module is further configured to obtain a forward distance of the automated guided vehicle based on the previous position and the current position; and processing the moving distance and the advancing distance of the automatic guided vehicle through a preset trigonometric function relation to obtain an attitude azimuth change angle.
In one embodiment, the speed determination module is further configured to determine an initial driving speed and an initial direction angle of each steering wheel of the automated guided vehicle according to the current position and the next position; correcting the initial direction angle through the attitude and azimuth change angle to obtain a corrected direction angle; and determining the initial running speed and the corrected direction angle of each steering wheel as running information of the automatic guided vehicle from the current position to the next position.
The modules in the automatic guided vehicle control device can be wholly or partially realized by software, hardware and a combination thereof. The modules can be embedded in a hardware form or independent from a processor in the computer device, and can also be stored in a memory in the computer device in a software form, so that the processor can call and execute operations corresponding to the modules.
In one embodiment, a computer device is provided, which may be a server, and its internal structure diagram may be as shown in fig. 9. The computer device includes a processor, a memory, and a network interface connected by a system bus. Wherein the processor of the computer device is configured to provide computing and control capabilities. The memory of the computer device includes a non-volatile storage medium and an internal memory. The non-volatile storage medium stores an operating system, a computer program, and a database. The internal memory provides an environment for the operation of an operating system and computer programs in the non-volatile storage medium. The database of the computer device is used for storing data in the control process of the automatic guided vehicle. The network interface of the computer device is used for communicating with an external terminal through a network connection. The computer program is executed by a processor to implement an automated guided vehicle control method.
Those skilled in the art will appreciate that the architecture shown in fig. 9 is merely a block diagram of some of the structures associated with the disclosed aspects and is not intended to limit the computing devices to which the disclosed aspects apply, as particular computing devices may include more or less components than those shown, or may combine certain components, or have a different arrangement of components.
In one embodiment, a computer device is further provided, which includes a memory and a processor, the memory stores a computer program, and the processor implements the steps of the above method embodiments when executing the computer program.
In an embodiment, a computer-readable storage medium is provided, on which a computer program is stored which, when being executed by a processor, carries out the steps of the above-mentioned method embodiments.
In an embodiment, a computer program product is provided, comprising a computer program which, when executed by a processor, carries out the steps in the method embodiments described above.
It will be understood by those skilled in the art that all or part of the processes of the methods of the embodiments described above can be implemented by hardware instructions of a computer program, which can be stored in a non-volatile computer-readable storage medium, and when executed, can include the processes of the embodiments of the methods described above. Any reference to memory, database, or other medium used in the embodiments provided herein may include at least one of non-volatile and volatile memory. The nonvolatile Memory may include Read-Only Memory (ROM), magnetic tape, floppy disk, flash Memory, optical Memory, high-density embedded nonvolatile Memory, resistive Random Access Memory (ReRAM), magnetic Random Access Memory (MRAM), ferroelectric Random Access Memory (FRAM), phase Change Memory (PCM), graphene Memory, and the like. Volatile Memory can include Random Access Memory (RAM), external cache Memory, and the like. By way of illustration and not limitation, RAM can take many forms, such as Static Random Access Memory (SRAM) or Dynamic Random Access Memory (DRAM), for example. The databases referred to in various embodiments provided herein may include at least one of relational and non-relational databases. The non-relational database may include, but is not limited to, a block chain based distributed database, and the like. The processors referred to in the embodiments provided herein may be general purpose processors, central processing units, graphics processors, digital signal processors, programmable logic devices, quantum computing based data processing logic devices, etc., without limitation.
The technical features of the above embodiments can be arbitrarily combined, and for the sake of brevity, all possible combinations of the technical features in the above embodiments are not described, but should be considered as the scope of the present specification as long as there is no contradiction between the combinations of the technical features.
The above-mentioned embodiments only express several embodiments of the present application, and the description thereof is more specific and detailed, but not construed as limiting the scope of the present application. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the concept of the present application, which falls within the scope of protection of the present application. Therefore, the protection scope of the present application should be subject to the appended claims.
Claims (11)
1. An automated guided vehicle control method, the method comprising:
receiving position data of the automatic guided vehicle sent by a terminal; the position data are obtained by the terminal based on initial position data obtained from a laser tracker, and the laser tracker is used for tracking the automatic guided vehicle and collecting the initial position data of the automatic guided vehicle;
acquiring attitude data of the automatic guided vehicle, which is acquired by a gyroscope; the gyroscope is arranged on the automatic guided vehicle;
and determining the driving information of the automatic guided vehicle according to the position data and the posture data, wherein the driving information is used for guiding the automatic guided vehicle to drive to a target position.
2. The method of claim 1, wherein determining the travel information for the automated guided vehicle based on the position data and the attitude data comprises:
acquiring target position data of the target position;
determining the running speed and the direction angle of each steering wheel of the automatic guided vehicle according to the position data, the attitude data and the target position data;
and determining the running speed and the direction angle of each steering wheel as the running information of the automatic guided vehicle.
3. The method of claim 1, wherein the automated guided vehicle further comprises an auxiliary positioning device for positioning assistance at a plurality of predetermined positions, the method further comprising:
acquiring the moving distance of the auxiliary positioning device in the process that the automatic guided vehicle runs from the previous position to the current position;
obtaining an attitude azimuth change angle of the automated guided vehicle when the automated guided vehicle travels from the previous position to the current position based on the previous position, the current position, and the travel distance;
and determining the driving information of the automatic guided vehicle from the current position to the next position according to the attitude and azimuth change angle, the current position and the next position.
4. The method of claim 3, wherein the deriving an attitude-azimuth-change angle of the automated guided vehicle traveling from the previous location to the current location based on the previous location, the current location, and the movement distance comprises:
obtaining the advancing distance of the automatic guided vehicle based on the previous position and the current position;
and processing the moving distance and the advancing distance of the automatic guided vehicle through a preset trigonometric function relation to obtain the attitude azimuth change angle.
5. The method of claim 3, wherein determining the travel information for the automated guided vehicle to travel from the current location to the next location based on the attitude-azimuth change angle, the current location, and the next location comprises:
determining the initial running speed and the initial direction angle of each steering wheel of the automatic guided vehicle according to the current position and the next position;
correcting the initial direction angle through the attitude and azimuth change angle to obtain a corrected direction angle;
and determining the initial running speed and the corrected direction angle of each steering wheel as running information of the automated guided vehicle from the current position to the next position.
6. An automated guided vehicle control system, characterized in that the system comprises an automated guided vehicle, a controller, a terminal, a laser tracker and a gyroscope, the gyroscope being mounted on the automated guided vehicle; wherein:
the laser tracker is used for tracking the automatic guided vehicle and acquiring initial position data of the automatic guided vehicle;
the terminal is used for acquiring initial position data of the automatic guided vehicle from the laser tracker, acquiring position data of the automatic guided vehicle based on the initial position data, and sending the position data to the controller;
the gyroscope is used for acquiring attitude data of the automatic guided vehicle;
the controller is used for receiving the position data sent by the terminal and acquiring the attitude data from the gyroscope; and determining the driving information of the automatic guided vehicle according to the position data and the posture data, wherein the driving information is used for guiding the automatic guided vehicle to drive to a target position.
7. The system of claim 6, wherein the initial position data is position data of the automated guided vehicle in a coordinate system corresponding to the laser tracker;
and the terminal is also used for carrying out coordinate conversion on the initial position data through a coordinate conversion matrix to obtain position data of the automatic guided vehicle in a world coordinate system, and the position data is used as the position data of the automatic guided vehicle.
8. An automated guided vehicle control apparatus, characterized in that the apparatus comprises:
the receiving module is used for receiving the position data of the automatic guided vehicle sent by the terminal; the position data are obtained by the terminal based on initial position data obtained from a laser tracker, and the laser tracker is used for tracking the automatic guided vehicle and acquiring the initial position data of the automatic guided vehicle;
the acquisition module is used for acquiring attitude data of the automatic guided vehicle acquired by a gyroscope; the gyroscope is arranged on the automatic guided vehicle;
and the determining module is used for determining the driving information of the automatic guided vehicle according to the position data and the posture data, and the driving information is used for guiding the automatic guided vehicle to drive to a target position.
9. A computer arrangement comprising a memory and a processor, the memory storing a computer program, characterized in that the processor, when executing the computer program, carries out the steps of the automated guided vehicle control method of any one of claims 1 to 5.
10. A computer-readable storage medium, on which a computer program is stored, which, when being executed by a processor, carries out the steps of the automated guided vehicle control method of any one of claims 1 to 5.
11. A computer program product comprising a computer program, characterized in that the computer program, when being executed by a processor, carries out the steps of the automated guided vehicle control method according to any one of claims 1 to 5.
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN116859920A (en) * | 2023-07-03 | 2023-10-10 | 广州明珞装备股份有限公司 | Precision compensation method and device, electronic equipment and punching system |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN116859920A (en) * | 2023-07-03 | 2023-10-10 | 广州明珞装备股份有限公司 | Precision compensation method and device, electronic equipment and punching system |
| CN116859920B (en) * | 2023-07-03 | 2024-03-26 | 广州明珞装备股份有限公司 | Precision compensation method and device, electronic equipment and punching system |
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