CN116552261A - Cone barrel mobile robot and application thereof - Google Patents

Cone barrel mobile robot and application thereof Download PDF

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Publication number
CN116552261A
CN116552261A CN202310644400.5A CN202310644400A CN116552261A CN 116552261 A CN116552261 A CN 116552261A CN 202310644400 A CN202310644400 A CN 202310644400A CN 116552261 A CN116552261 A CN 116552261A
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China
Prior art keywords
driving
cone
path
mobile robot
target position
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CN116552261B (en
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靳引利
侯米娜
席天军
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Shaanxi Changrui Anchi Information Technology Group Co ltd
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Shaanxi Changrui Anchi Information Technology Group Co ltd
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    • E—FIXED CONSTRUCTIONS
    • E01—CONSTRUCTION OF ROADS, RAILWAYS, OR BRIDGES
    • E01F—ADDITIONAL WORK, SUCH AS EQUIPPING ROADS OR THE CONSTRUCTION OF PLATFORMS, HELICOPTER LANDING STAGES, SIGNS, SNOW FENCES, OR THE LIKE
    • E01F9/00—Arrangement of road signs or traffic signals; Arrangements for enforcing caution
    • E01F9/60—Upright bodies, e.g. marker posts or bollards; Supports for road signs
    • E01F9/70—Storing, transporting, placing or retrieving portable devices
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L15/00—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles
    • B60L15/20—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles for control of the vehicle or its driving motor to achieve a desired performance, e.g. speed, torque, programmed variation of speed
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D63/00—Motor vehicles or trailers not otherwise provided for
    • B62D63/02—Motor vehicles
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D63/00—Motor vehicles or trailers not otherwise provided for
    • B62D63/02—Motor vehicles
    • B62D63/04—Component parts or accessories

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  • Engineering & Computer Science (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Architecture (AREA)
  • Civil Engineering (AREA)
  • Structural Engineering (AREA)
  • Power Engineering (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)

Abstract

The present disclosure provides a cone barrel mobile robot and application thereof, the robot comprising: the device comprises a driving part, a cone body and a control system; the driving part is arranged at the bottom of the cone body; the control system is connected with the driving component, and is used for receiving the driving instruction and controlling the driving component to drive the cone body to reach the target position according to the driving instruction, and the driving instruction comprises: target position, travel route. The cone barrel mobile robot can greatly improve the processing efficiency of highway traffic accidents and the life safety guarantee of people, and can greatly improve the speed and accuracy of highway accident processing. When an accident happens, the cone barrel mobile robot can rapidly move to the accident site, the accident area is isolated, and the road is kept smooth. This avoids the risk of traffic jams and secondary accidents. The appearance of the cone barrel mobile robot also greatly reduces the safety risk of the human body caused by improper operation or slow action, and greatly reduces casualties and property loss.

Description

Cone barrel mobile robot and application thereof
Technical Field
The disclosure relates to the technical field of motor fault analysis, in particular to a cone barrel mobile robot and application thereof.
Background
The rapid development of modern society causes traffic flow to increase continuously, and simultaneously brings higher road safety risks. In particular, in expressways, traffic accidents are easy to occur due to high running speed of vehicles, casualties and property loss can be caused in severe cases, and even adverse effects on the whole society and economy can be caused.
At present, after accident occurs on expressway, the road needs to be guided or split by using the cone barrel, for example, the patent number is: the patent of CN201720809841.6 discloses a highway cone with offset center of gravity, which comprises a cone body and a chassis, wherein the cone body is arranged on the chassis, and the axial lead of the cone body and the disk lead of the chassis are staggered up and down.
However, in the actual use process, when an accident occurs on the expressway, a worker is required to place the cone at a preset place, or place the cone at the preset place through a cone retraction vehicle, for example, patent number CN202110655775.2 discloses a traffic cone storage mechanism for a traffic cone retraction vehicle, and relates to the field of automatic traffic cone retraction vehicle structures. The storage mechanism for the traffic cone retraction vehicle, which is provided by the utility model, has the advantages of exquisite structure, stable action, large storage capacity and small volume, can realize the vertical storage of the traffic cone, can reduce the space occupation rate of the storage mechanism, and is convenient for the subsequent grabbing and placing of the traffic cone. The storage mechanism comprises a square bin, wherein the square bin comprises square rails, chains, a chain driving mechanism and a plurality of cone barrel frames; the chain is contained in the return track and driven by the chain driving mechanism to circularly move along the return guide rail, the bottom of the cone barrel frame is connected to the chain, and the cone barrel frame comprises a centering frame which is matched with the inner wall of the traffic cone barrel. The advantages of simple structure, simple action, large capacity and the like are achieved by adopting the circulating chain transmission, and the capacity and the taking efficiency of the traffic cone drum retraction vehicle can be effectively improved.
However, in the above prior art means, people are required to operate the cone barrel, when the cone barrel is manually placed, a worker is required to place the cone barrel on a car, the car is driven to pull down a preset place and then place the cone barrel, and when the cone barrel is used for winding and unwinding, the worker is required to drive the winding and unwinding car to the preset place to place the cone barrel, so that the cone barrel is placed slowly, the cone barrel placement efficiency is low, and the safety risk of the worker is possibly caused by improper operation or slow action.
It should be noted that the information disclosed in the above background section is only for enhancing understanding of the background of the present disclosure and thus may include information that does not constitute prior art known to those of ordinary skill in the art.
Disclosure of Invention
The disclosure aims to provide a cone moving robot and application thereof, and further overcome the situations of low placement efficiency and safety risk in the existing highway cone placement process caused by the limitations and defects of related technologies at least to a certain extent.
Other features and advantages of the present disclosure will be apparent from the following detailed description, or may be learned in part by the practice of the disclosure.
The present disclosure provides a cone barrel mobile robot, comprising: the device comprises a driving part, a cone body and a control system;
the driving part is arranged at the bottom of the cone body;
the control system is connected with the driving component, the control system is used for receiving a driving instruction and controlling the driving component to drive the cone body to reach a target position according to the driving instruction, and the driving instruction comprises: target position, travel route.
Optionally, a sealing gasket is arranged at the connection position of the driving part and the cone body;
the cone body includes: flash lamp, cone barrel and connecting plate; the driving part includes: the device comprises a driving shell, a driving motor, rollers and a differential controller; the flash explosion lamp is arranged at the top of the cone, the bottom of the cone is fixed with the connecting plate, and the connecting plate is connected with the driving shell through the sealing gasket; the driving motor is arranged in the driving shell, the idler wheels are rotatably arranged on the driving shell, the differential controller is connected with the driving motor and used for changing the rolling speed of the idler wheels so as to enable the driving components to turn; the driving motor is in driving connection with the roller, and is used for driving the roller to rotate so as to drive the cone body to move; the control system is connected with the driving motor, and is used for driving the driving motor to move according to the driving instruction so as to drive the cone body to move to the target position.
Optionally, the control method of the control system includes:
determining a target position;
acquiring standby state information of the cone barrel robot; wherein the standby state information includes: the current position of the cone barrel moving robot and the electric quantity of the cone barrel moving robot;
planning a driving path based on the current position of the cone barrel mobile robot and the target position;
the control system receives the running path, drives the driving component to move along the running path according to the running path and reaches the target position.
Optionally, the step of determining the target location includes:
receiving a target position input by a user; and/or
And receiving the position of the place of occurrence, and taking the position of the place of occurrence as the target position.
Optionally, the step of planning the driving path based on the current position of the cone mobile robot and the target position includes:
and transmitting the current position and the target position into the navigation map by using the navigation map, and planning the navigation map to obtain the driving path.
Optionally, the step of driving the driving member to move along the travel path according to the travel path and reaching the target position includes:
Receiving the driving path, and controlling the driving part to move according to the driving path by utilizing a differential motion control system so as to reach the target position;
the control method of the differential motion control system comprises the following steps:
performing local path adjustment on the driving part when the driving part moves according to the planned path by using a DWA local path algorithm, so as to enable the driving part to move according to the adjusted path;
and controlling the steering of the driving component by using a PID algorithm, so that the driving component tracks the path after fine adjustment under a pureburst algorithm, and the driving component drives the cone barrel moving robot to move to a target position.
Optionally, the DWA local path algorithm includes:
acquiring barrier information, and constructing a DWA predicted track based on the barrier information;
selecting a track which is not collided with an obstacle from the DWA predicted tracks as an adjusted path, and enabling the driving component to move according to the adjusted path;
the method for generating the DWA predicted track comprises the following steps:
vs is defined as the set of linear and angular velocities of the driving element, i.e., the maximum range of search solutions for local paths by the DWA algorithm:
Vs＝{(v,ω)|v∈[vmin,vmax],ω∈[ωmin,ωmax]}
Definition Va is the linear and angular velocity of the driving member without collision with an obstacle, definitionAnd->For maximum linear deceleration and maximum angular deceleration of the driving member, distance (v, ω) is defined as the trajectory corresponding to velocity (v, ω)The nearest distance to the obstacle, yields:
narrowing dynamic window v c And w c Linear and angular speeds for the drive member; definition of the definitionAnd->The maximum linear acceleration and angular acceleration for the drive member are:
synthesizing the maximum speed constraint of the driving component, the collision-free constraint of the driving component and the obstacle and the motor torque constraint of the driving component, and obtaining a dynamic window set:
V＝V s ∩V a ∩V b
in the velocity vector space V, the continuous velocity vector space V is discretized according to the number of sampling points of the linear velocity and the angular velocity to obtain discrete sampling points (V, ω), and for each sampling point, an adjusted track of the driving component is given according to a kinematic equation of the driving component, a direction evaluation sub-function is introduced, and the direction evaluation sub-function is as follows:
wherein psi is GPS The direction of the next waypoint, ψ, required to drive the component i To plan the direction in which the end point of the path to be selected points, it is determined whether the direction of the driving member is in the direction of the next path point, if so, the cost is low, and if not The overall evaluation function after improvement is higher as follows:
Cost(v,ω)＝αObs(v,ω)+βDir(v,ω)+γGdist(v,ω)
wherein alpha, beta and gamma are coefficients, obs (v, omega) is the total cost of the track passing through the total grid, the track with the obstacle is directly abandoned, gdist (v, epsilon) is the distance from the track end point to the target point, the three sub functions are combined with the direction evaluation sub function, the weighted operation is carried out on the three sub functions to be used as the judgment standard for the optimal local path, and one path with the highest score is selected to be the adjusted path of the current driving component.
Optionally, in controlling the steering of the driving component by using the step PID algorithm, the control method includes:
configuring the PID controller with a deviation of a given quantity r (t) and an output quantity y (t), expressed as:
e(t)＝r(t)-y(t)
wherein e (t) is a control amount, r (t) is a given amount, and y (t) is an output amount;
the control algorithm of the PID controller is expressed as:
wherein K is P As a proportionality coefficient, ti is an integral time constant, and Td is a differential time constant;
by using time point K P Instead of the continuous amount of time t in the analog PID algorithm, the expression for deriving the discrete PID is:
wherein: k is a sampling sequence number, T is a sampling period, ki=KP/Ti, kd=KPTd, and e (k) -e (k-1) is a deviation signal between k time and (k-1);
ki and Kd are set to 0, and KP is set to a smaller value, so that the system can stably operate;
Gradually increasing KP value, stopping when the system generates constant amplitude oscillation (critical oscillation), and recording critical oscillation gain K and critical oscillation period T;
the calculated parameter values are as follows:
k p ＝0.6K；Ti＝0.5T；T d ＝0.125T。
optionally, the pureburst algorithm includes:
calculating the distance between two coordinate points according to the coordinate point of the current position of the cone mobile robot and the target coordinate point of the next moment on the path;
calculating a course angle of a coordinate point of the current position and the target coordinate point in a Cartesian coordinate system;
calculating a target rotating radian of the wheel based on the course angle, and moving the wheel to the target coordinate point position on the premise of keeping the target rotating radian;
the steering angle expression formula is:
wherein delta (t) is the steering angle; m is curvature; curvature at time M (t) t; l is the wheelbase of the drive component; alpha is an included angle between a vector formed by connecting a rear axle of the driving part and a target road point and a yaw angle of the vehicle; alpha (t) is an included angle between a vector formed by connecting a rear axle of the driving component at the moment t and a target road point and a yaw angle of the vehicle; l (L) d Is the forward looking distance.
In a second aspect, the application provides an application of the cone barrel mobile robot, which is characterized in that the cone barrel mobile robot is applied to highways, bridges, tunnels, toll stations, parking lots, communities and municipal roads.
The present disclosure provides a cone barrel mobile robot, comprising: the device comprises a driving part, a cone body and a control system; the driving part is arranged at the bottom of the cone body; the control system is connected with the driving component, the control system is used for receiving a driving instruction and controlling the driving component to drive the cone body to reach a target position according to the driving instruction, and the driving instruction comprises: target position, travel route. The cone barrel mobile robot is a very important technical innovation, can greatly improve the processing efficiency of highway traffic accidents and the life safety guarantee of people, and can greatly improve the speed and accuracy of highway accident processing. When an accident happens, the cone barrel mobile robot can rapidly move to the accident site, the accident area is isolated, and the road is kept smooth. This avoids the risk of traffic jams and secondary accidents. Meanwhile, the appearance of the cone barrel mobile robot also greatly reduces the safety risk of the human body caused by improper operation or slow action, and the casualties and property loss are greatly reduced.
It is to be understood that both the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the disclosure.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the disclosure and together with the description, serve to explain the principles of the disclosure. It will be apparent to those of ordinary skill in the art that the drawings in the following description are merely examples of the disclosure and that other drawings may be derived from them without undue effort.
Fig. 1 schematically illustrates a system architecture diagram of a cone-barrel moving robot in an exemplary embodiment of the present disclosure;
FIG. 2 schematically illustrates a physical diagram of a cone-barrel mobile robot in an exemplary embodiment of the present disclosure;
fig. 3 schematically illustrates a software system architecture diagram of a cone-barrel mobile robot in an exemplary embodiment of the present disclosure.
Fig. 4 schematically illustrates a control interface diagram of a cone-barrel moving robot in an exemplary embodiment of the present disclosure.
Detailed Description
Example embodiments will now be described more fully with reference to the accompanying drawings. However, the exemplary embodiments may be embodied in many forms and should not be construed as limited to the examples set forth herein; rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the concept of the example embodiments to those skilled in the art. The described features, structures, or characteristics may be combined in any suitable manner in one or more embodiments.
Furthermore, the drawings are merely schematic illustrations of the present disclosure and are not necessarily drawn to scale. The same reference numerals in the drawings denote the same or similar parts, and thus a repetitive description thereof will be omitted. Some of the block diagrams shown in the figures are functional entities and do not necessarily correspond to physically or logically separate entities. These functional entities may be implemented in software or in one or more hardware modules or integrated circuits or in different networks and/or processor devices and/or microcontroller devices.
The block diagrams depicted in the figures are merely functional entities and do not necessarily correspond to physically separate entities. That is, the functional entities may be implemented in software, or in one or more hardware modules or integrated circuits, or in different networks and/or processor devices and/or microcontroller devices.
The flow diagrams depicted in the figures are exemplary only, and do not necessarily include all of the elements and operations/steps, nor must they be performed in the order described. For example, some operations/steps may be decomposed, and some operations/steps may be combined or partially combined, so that the order of actual execution may be changed according to actual situations.
The present disclosure provides a cone barrel mobile robot, comprising: the device comprises a driving part, a cone body and a control system; the driving part is arranged at the bottom of the cone body; the control system is connected with the driving component, the control system is used for receiving a driving instruction and controlling the driving component to drive the cone body to reach a target position according to the driving instruction, and the driving instruction comprises: target position, travel route.
In this embodiment, referring to fig. 1, in order to implement the cone barrel moving robot project of the expressway, the following scheme will be used:
1. each station is equipped with 1 4/5G communication gateway and 3 cone barrel mobile robots.
2. The user can remotely control the cone barrel mobile robot through a remote client (supporting a computer/mobile phone/PAD end) to finish related operations.
3. The system requires the cone barrel mobile robot to be safe, stable, long in standby and low in cost, and the function expectations comprise remote (wide area) motion control, quick power exchange, expandable highway traffic other equipment, information feedback and the like.
4. In the design stage, the design of the structure, the power system, the control system, the sensor, the battery capable of being replaced quickly and the like of the cone barrel mobile robot is considered.
5. In the manufacturing stage, the cone barrel moving robot is manufactured strictly according to design specifications, including production, assembly and testing, and the quality production SOP standard is perfected so as to ensure the performance and quality of the cone barrel moving robot.
6. In the installation stage, the cone barrel mobile robot is installed and debugged on the expressway by a professional technician, so that the cone barrel mobile robot can normally operate and adapt to the use environment of the expressway.
In the use stage, the factors such as the operation and maintenance performance, the safety, the high efficiency and the reliability of the cone barrel mobile robot are prioritized. The user can control and monitor the cone mobile robot through the remote client to complete related operations, and a complete use guide and maintenance manual is provided for the user to ensure the correct operation and maintenance of the cone mobile robot.
In this embodiment, referring to fig. 2, fig. 2 is a physical diagram of a cone-barrel mobile robot, based on a four-wheel cone-barrel mobile robot platform, an integrated differential motion control system is supported to use WiFi or the like as an external communication interface, a storage battery and a flash control circuit are built in, and remote mobile control and remote flash control can be realized by matching with a 4G/5G gateway and a control protocol and an intelligent control algorithm thereof.
Specifically: parameters of the cone barrel mobile robot include: the external dimension is 360 multiplied by 750 (mm); the whole machine is made of the following materials: aluminum alloy (blast oxide black); the driving mode is as follows: double-motor four-wheel differential; a power system: a direct current speed reduction motor; ground clearance: 30mm; wheel diameter: 100mm cast aluminum rubber wheels; speed of movement: 0.2m/s; the weight of the whole machine is as follows: 13kg; battery type high power storage battery (capacity expandable) battery capacity: 12V24AH; cruising (standby): for 20 days; cruising (exercise): 24H; the battery is replaced in the cruising mode, so that replacement of a standby battery is supported; and (3) quick charging design: charging protection is supported, full power automatic stop, intelligent digital display and pulse repair are carried out; external interface: external equipment such as flash lamps, sound equipment and the like are supported; the method is suitable for terrain: non-smooth pavement such as cement, asphalt, etc.; control system-remote control; the control mode is as follows: 4g+wifi (prototype)/5g+wifi; characteristics: local area network direct control; communication distance: within the network coverage.
Furthermore, the communication of the cone mobile robot is realized by using a communication gateway, and the communication gateway adopts an industrial router to support a 4G/5G network of three domestic operators, thereby providing simple, efficient, safe and stable seamless network connection for the industrial control Internet of things industry. The device has rich interfaces and firm and reliable industrial-grade design, and fully meets the access control requirement of equipment in a cone mobile robot scene.
Specifically, the functional parameters of the communication gateway are as follows: an ethernet interface: hundred meganet ports 5; ground terminal: support; hardware size: 131×94×28; wireless connector: LET: SMA x 2 (external thread bore); WIFI: RP-SMA x 1 (external thread bore); the material technology comprises the following steps: SECC (galvanized steel sheet); working environment: working temperature and humidity: -10% -90% RH (non-condensing) at 20-70 ℃, storage temperature and humidity: -5% -90% rh (non-clotting) at 40-85 ℃; network parameters: LTE:4G full network communication; communicating 2G/3G/4G; moving by 2G/4G; telecommunication 4G; wireless communication: 4-mode 9-frequency, GSM: B3/B8, WCDMA: BAND1/8, LET-FDD: BAND1/3/5/8, LTE-TDD: BAND34/38/39/40/41 wireless standard 2.4G:150Mbps; a dual power supply mode; standard power supply: 54V/1.2A; 2-pin 5.08mm industrial terminal is powered by the terminal; DC wide voltage: 45V-57V.
In this embodiment, referring to fig. 3, the robot_n of the cone mobile ROBOT is connected to a gateway through WiFi, the gateway is connected to a control center network through 4G/5G, and the control center respectively controls the robot_n to perform motion control through a console page (web page). The console page can be accessed through a mobile phone/tablet/PC browser and controls the movement of the cone barrel mobile robot.
In this embodiment, see fig. 4, where the robot_n intelligent cone mobile ROBOT creates a WebSocket server by itself, and is configured to receive a dedicated control protocol of the cone mobile ROBOT sent from a control center (the control center creates a WebSocket client), analyze the specific movement behavior of the cone mobile ROBOT, and turn on a flash lamp as an alarm when the cone mobile ROBOT moves. Robot_n firmware (demonstration version) development involves cone mobile ROBOT motion control, peripheral (burst flash) control, wiFi network communication (WebSocket), control protocol 4 part. The development of the motion control of the cone barrel mobile robot relates to PCB hardware, motor drive, encoder, kinematic calculation, PID control algorithm and the like.
In this embodiment, the remote control protocol of the cone barrel mobile robot is as follows:
1. description of communication protocol: information transfer and control movement are carried out through topics of the MQTT;
(1) The cone mobile robot subscribes to topics: the name/cmd_rxd receives the control command;
(2) The cone barrel mobile robot issues topics: name/status txd to return cone mobile robot status information.
2. Control command format: the control command format received by the cone mobile robot is a character string format and comprises the following fields:
Setting the motion speed of the cone barrel mobile robot, wherein the input parameters of linear speed and angular speed are required, and the units are m/s and rad/s respectively.
"used 0" means that the explosion lamp of the cone-barrel mobile robot is turned off.
"used 1" means that the explosion lamp of the cone-barrel mobile robot is turned on.
"showbatt": query the battery level of the cone mobile robot.
For example, one example of a control command may be: "setvel0.20.3" means that the linear velocity of the moving robot for the cone is set to 0.2m/s and the angular velocity is set to 0.3rad/s.
3. Status information format: the state information returned by the cone mobile robot is in a character string format and comprises the following fields:
"BATT voltage value" is the battery voltage value of the cone mobile robot, the unit is V.
"ALERT1" low battery ALERT, which is sent when the cone mobile robot battery voltage is below 8.0V.
"LED1" is in the flash.
"LED0" means that the burst lamp has been turned off.
For example, one example of status information may be: "BATT11.5" means that the current battery voltage of the cone mobile robot is 11.5V.
4. Control command list: the following is a list of control commands supported by the cone mobile robot:
setting the motion speed of the cone moving robot, wherein the input parameters of the linear speed and the angular speed are required to be respectively m/s and rad/s.
"used 0" means that the explosion lamp of the cone-barrel mobile robot is turned off.
"used 1" means that the explosion lamp of the cone-barrel mobile robot is turned on.
"showbatt": query the battery level of the cone mobile robot.
As shown in fig. 4, a console of three cone barrel mobile robots appears on an operation panel, the moving direction of the cone barrel mobile robots can be controlled manually through buttons up, down, left and right, the cone barrel mobile robots can be controlled to start a flash lamp through a flash lamp button, and meanwhile, state information of the robots are also embodied on the operation interface, wherein the state information comprises battery electric quantity information and connection state information of the robots.
In the embodiment, the cone barrel mobile robot is a very important technical innovation, can greatly improve the processing efficiency of expressway traffic accidents and the life security guarantee of people, and can greatly improve the speed and accuracy of highway accident processing. When an accident happens, the cone barrel mobile robot can rapidly move to the accident site, the accident area is isolated, and the road is kept smooth. This avoids the risk of traffic jams and secondary accidents. Meanwhile, the appearance of the cone barrel mobile robot also greatly reduces the safety risk of the human body caused by improper operation or slow action, and the casualties and property loss are greatly reduced.
In one specific embodiment, a sealing gasket is arranged at the connecting position of the driving part and the cone body; the cone body includes: flash lamp, cone barrel and connecting plate; the driving part includes: the device comprises a driving shell, a driving motor, rollers and a differential controller; the flash explosion lamp is arranged at the top of the cone, the bottom of the cone is fixed with the connecting plate, and the connecting plate is connected with the driving shell through the sealing gasket; the driving motor is arranged in the driving shell, the idler wheels are rotatably arranged on the driving shell, the differential controller is connected with the driving motor and used for changing the rolling speed of the idler wheels so as to enable the driving components to turn; the driving motor is in driving connection with the roller, and is used for driving the roller to rotate so as to drive the cone body to move; the control system is connected with the driving motor, and is used for driving the driving motor to move according to the driving instruction so as to drive the cone body to move to the target position.
In this embodiment, the robot body is provided with the flash lamp for playing a role in warning, and of course, the robot body can also be provided with more sensors, such as a high-definition camera, a thermal imaging sensor, a GPS (global positioning system), an accelerometer and the like, so as to realize omnibearing monitoring and data collection, and the flash lamp is used as a beneficial supplement for a legal person of the comprehensive monitoring and sensing system on the road, so that the occurrence cause and responsibility of an accident can be more comprehensively known, and more perfect and accurate evidence support is provided for accident investigation and responsibility pursuit.
In the embodiment, the cone barrel mobile robot provided by the application is used as a supplement for the discovery capability of the current monitoring system, and the innovation of an emergency treatment link optimization mode is realized. The innovation points are as follows: the intelligent upgrade of the traditional cone barrel and the hardware upgrade increase the functions of the cone barrel mobile robot, such as network connection, remote control and the like; the cone barrel mobile robot supports the linkage function with the expressway monitoring platform with an application linkage solution in an emergency scene; the emergency response time of the accident is compressed through the use of the cone-barrel mobile robot, the accident scene is entered at the first time, and the occurrence of the secondary accident is avoided, so that the method is the most effective mode.
In one specific embodiment, the control method of the control system includes: step S110-step S140.
And S110, determining the target position.
In this embodiment, the source of determining the target position may be various, for example, the accident site and the accident photo are obtained through the highway camera, and for example, the user manually operates the cone barrel moving robot to reach the target position through the actual situation, so that the target position may be automatically set or manually set, for example, the operator may use the site of the cluster fog as the target position if the cluster fog appears on the highway, and the operator may use the position as the target position when the road surface is rainy and the accumulated water is easy to appear.
In this embodiment, the awl bucket mobile robot that this application provided can be applied to multiple scene, uses foretell awl bucket mobile robot in highway, bridge, tunnel, toll station, parking area, district, town road. Specifically, the cone barrel moving robot provided by the application can be used in any place where the cone barrel is required to be used.
S120, acquiring standby state information of the cone robot; wherein the standby state information includes: the current position of the cone barrel moving robot and the electric quantity of the cone barrel moving robot.
In this embodiment, in the remote operating system, standby state information of the cone barrel moving robots and real-time positions of each cone barrel moving robot are displayed in real time, when the cone barrel moving robot needs to be used at a target place, the remote control system obtains the cone barrel moving robot which does not currently execute tasks, wherein the cone barrel moving robot which does not execute tasks can be a robot which is charging or a robot which is fully charged and is idle and not delegated, and at this time, the system further does not execute electric quantity information of the cone barrel moving robot which does not execute tasks, so that the problem that the cone barrel moving robot is interrupted in task execution due to insufficient electric quantity is avoided.
And S130, planning a driving path based on the current position of the cone mobile robot and the target position.
In this embodiment, the route planning may be implemented by using an existing navigation map, and the starting position and the ending position are input into the navigation map, so that the navigation map may automatically generate the driving route.
And S140, the control system receives the running path, drives the driving component to move along the running path according to the running path, and reaches the target position.
In this embodiment, after the travel route is planned, the driving unit is driven to move to the target point according to the travel route by means of a kinematic solution, PID control, or the like.
In one embodiment, the step of determining the target location comprises:
receiving a target position input by a user; and/or receiving an event location, taking the location of the event location as the target location.
In this embodiment, the determination manner of the target position is not limited, and the source of determining the target position may be various, for example, the accident site and the accident photo are obtained through the highway camera, and for example, the user manually operates the robot to reach the target position through actual conditions, so that the target position may be automatically set or manually set, for example, the operator may use the location of the cluster fog as the target position if the cluster fog appears on the highway, such as a road surface position where water accumulation easily appears when the operator rains, and the operator may use the location as the target position.
In one specific embodiment, the step of planning a travel path based on the current position of the cone mobile robot and the target position includes: and transmitting the current position and the target position into the navigation map by using the navigation map, and planning the navigation map to obtain the driving path.
In one embodiment, the step of driving the driving member along the travel path in accordance with the travel path and reaching the target position includes:
receiving the driving path, and controlling the driving part to move according to the driving path by utilizing a differential motion control system so as to reach the target position;
the control method of the differential motion control system comprises the following steps:
performing local path adjustment on the driving part when the driving part moves according to the planned path by using a DWA local path algorithm, so as to enable the driving part to move according to the adjusted path;
specifically: the DWA local path algorithm includes:
acquiring barrier information, and constructing a DWA predicted track based on the barrier information;
selecting a track which is not collided with an obstacle from the DWA predicted tracks as an adjusted path, and enabling the driving component to move according to the adjusted path;
The method for generating the DWA predicted track comprises the following steps:
vs is defined as the set of linear and angular velocities of the driving element, i.e., the maximum range of search solutions for local paths by the DWA algorithm:
Vs＝{(v,ω)|v∈[vmin,vmax],ω∈[ωmin,ωmax]}
definition Va is the linear and angular velocity of the driving member without collision with an obstacle, definitionAnd->For maximum linear deceleration and maximum angular deceleration of the driving member, distance (v, ω) is defined as the trajectory corresponding to velocity (v, ω)The nearest distance to the obstacle, yields:
narrowing dynamic window v c And w c Linear and angular speeds for the drive member; definition of the definitionAnd->The maximum linear acceleration and angular acceleration for the drive member are:
synthesizing the maximum speed constraint of the driving component, the collision-free constraint of the driving component and the obstacle and the motor torque constraint of the driving component, and obtaining a dynamic window set:
V＝V s ∩V a ∩V b
in the velocity vector space V, the continuous velocity vector space V is discretized according to the number of sampling points of the linear velocity and the angular velocity to obtain discrete sampling points (V, ω), and for each sampling point, an adjusted track of the driving component is given according to a kinematic equation of the driving component, a direction evaluation sub-function is introduced, and the direction evaluation sub-function is as follows:
Wherein psi is GPS The direction of the next waypoint, ψ, required to drive the component i To plan the direction in which the end point of the path to be selected points, it is determined whether the direction of the driving member is in the direction of the next path point, if so, the cost is low, and if notThe overall evaluation function after improvement is higher as follows:
Cost(v,ω)＝αObs(v,ω)+βDir(v,ω)+γGdist(v,ω)
wherein alpha, beta and gamma are coefficients, obs (v, omega) is the total cost of the track passing through the total grid, the track with the obstacle is directly abandoned, gdist (v, epsilon) is the distance from the track end point to the target point, the three sub functions are combined with the direction evaluation sub function, the weighted operation is carried out on the three sub functions to be used as the judgment standard for the optimal local path, and one path with the highest score is selected to be the adjusted path of the current driving component.
And controlling the steering of the driving component by using a PID algorithm, so that the driving component tracks the path after fine adjustment under a pureburst algorithm, and the driving component drives the cone barrel moving robot to move to a target position.
Specifically, the PID algorithm includes:
configuring the PID controller with a deviation of a given quantity r (t) and an output quantity y (t), expressed as:
e(t)＝r(t)-y(t)
wherein e (t) is a control amount, r (t) is a given amount, and y (t) is an output amount;
The control algorithm of the PID controller is expressed as:
wherein K is P As a proportionality coefficient, ti is an integral time constant, and Td is a differential time constant;
by using time point K P Instead of the continuous amount of time t in the analog PID algorithm, the expression for deriving the discrete PID is:
/>
wherein: k is a sampling sequence number, T is a sampling period, ki=KP/Ti, kd=KPTd, and e (k) -e (k-1) is a deviation signal between k time and (k-1);
ki and Kd are set to 0, and KP is set to a smaller value, so that the system can stably operate;
gradually increasing KP value, stopping when the system generates constant amplitude oscillation (critical oscillation), and recording critical oscillation gain K and critical oscillation period T;
the calculated parameter values are as follows:
k p ＝0.6K；Ti＝0.5T；T d ＝0.125T。
in order to simulate the PID control algorithm, a simulation model can be built, and an AMESim simulation model of the steering control system is built on the basis of the simulation model; when the steering wheel is turned, the acting force between the ground and the wheel, i.e., rolling resistance and sliding friction resistance, generates a resistance moment, i.e., steering resistance moment, with respect to the kingpin axis. The size, form and structural parameters of the tire will greatly affect the steering resistance of the vehicle when a single wheel deflects. In the calculation, it is assumed that the tire-ground contact surface is a circle having a diameter equal to the tire width B, and the pressures P at the respective points of the contact surface are equal. Therefore, the steering resistance moment is equal to the sliding friction moment of the circle friction surface to the circle center, namely, the single-wheel deflection steering resistance moment ZM=phi·Z·B/3;
Wherein: phi is an adhesion coefficient, taking phi=0.7; b is the tire section width, b=0.29 m; z is the wheel load, zmax=55000N.
The maximum single-wheel steering resistance torque mzmax= 3721.67n·m under this condition was obtained by substituting each data into a formula, and was used as the load of the slewing bearing in the model. The method for loading the load moment comprises the following steps: when the angular speed of the steering wheel is positive, the resistance moment is-3721.67 N.m; when the steering wheel angular velocity is negative, the resistance moment is 3721.67 N.m. Based on the simulation results, each parameter in the PID algorithm is determined.
In one embodiment, the pureburst algorithm includes:
calculating the distance between two coordinate points according to the coordinate point of the current position of the cone mobile robot and the target coordinate point of the next moment on the path;
calculating a course angle of a coordinate point of the current position and the target coordinate point in a Cartesian coordinate system;
calculating a target rotating radian of the wheel based on the course angle, and moving the wheel to the target coordinate point position on the premise of keeping the target rotating radian;
the steering angle expression formula is:
wherein delta (t) is the steering angle; m is curvature; curvature at time M (t) t; l is the wheelbase of the drive component; alpha is an included angle between a vector formed by connecting a rear axle of the driving part and a target road point and a yaw angle of the vehicle; alpha (t) is an included angle between a vector formed by connecting a rear axle of the driving component at the moment t and a target road point and a yaw angle of the vehicle; l (L) d Is the forward looking distance.
In summary, the steering of the cone moving robot is controlled through the PID control algorithm, the cone moving robot is controlled to move according to the driving path through the purepursis algorithm, and obstacle avoidance is achieved through the DWA local path algorithm, so it can be understood that the cone moving robot provided by the application can move from the starting point to the target position according to the automatically generated path after the target position is input.
Furthermore, the above-described drawings are only schematic illustrations of processes included in the method according to the exemplary embodiment of the present invention, and are not intended to be limiting. It will be readily appreciated that the processes shown in the above figures do not indicate or limit the temporal order of these processes. In addition, it is also readily understood that these processes may be performed synchronously or asynchronously, for example, among a plurality of modules.
Other embodiments of the disclosure will be apparent to those skilled in the art from consideration of the specification and practice of the disclosure disclosed herein. This application is intended to cover any adaptations, uses, or adaptations of the disclosure following, in general, the principles of the disclosure and including such departures from the present disclosure as come within known or customary practice within the art to which the disclosure pertains. It is intended that the specification and examples be considered as exemplary only, with a true scope and spirit of the disclosure being indicated by the following claims.
It is to be understood that the present disclosure is not limited to the precise arrangements and instrumentalities shown in the drawings, and that various modifications and changes may be effected without departing from the scope thereof. The scope of the present disclosure is limited only by the appended claims.

Claims (10)

1. A cone barrel mobile robot, comprising: the device comprises a driving part, a cone body and a control system;
the driving part is arranged at the bottom of the cone body;
the control system is connected with the driving component, the control system is used for receiving a driving instruction and controlling the driving component to drive the cone body to reach a target position according to the driving instruction, and the driving instruction comprises: target position, travel route.
2. The awl barrel moving robot as claimed in claim 1, wherein a gasket is provided at a connection position of the driving part and the awl barrel body;
the cone body includes: flash lamp, cone barrel and connecting plate; the driving part includes: the device comprises a driving shell, a driving motor, rollers and a differential controller; the flash explosion lamp is arranged at the top of the cone, the bottom of the cone is fixed with the connecting plate, and the connecting plate is connected with the driving shell through the sealing gasket; the driving motor is arranged in the driving shell, the idler wheels are rotatably arranged on the driving shell, the differential controller is connected with the driving motor and used for changing the rolling speed of the idler wheels so as to enable the driving components to turn; the driving motor is in driving connection with the roller, and is used for driving the roller to rotate so as to drive the cone body to move; the control system is connected with the driving motor, and is used for driving the driving motor to move according to the driving instruction so as to drive the cone body to move to the target position.
3. The awl barrel moving robot of claim 1, wherein the control method of the control system comprises:
determining a target position;
acquiring standby state information of the cone barrel robot; wherein the standby state information includes: the current position of the cone barrel moving robot and the electric quantity of the cone barrel moving robot;
planning a driving path based on the current position of the cone barrel mobile robot and the target position;
the control system receives the running path, drives the driving component to move along the running path according to the running path and reaches the target position.
4. The awl barrel mobile robot of claim 3, wherein the step of determining the target position comprises:
receiving a target position input by a user; and/or
And receiving the position of the place of occurrence, and taking the position of the place of occurrence as the target position.
5. The awl barrel moving robot of claim 3, wherein the step of planning a travel path based on a current position of the awl barrel moving robot and the target position comprises:
and transmitting the current position and the target position into the navigation map by using the navigation map, and planning the navigation map to obtain the driving path.
6. A cone drum moving robot according to claim 3, wherein the driving of the driving member along the travel path in accordance with the travel path and reaching the target position comprises:
receiving the driving path, and controlling the driving part to move according to the driving path by utilizing a differential motion control system so as to reach the target position;
the control method of the differential motion control system comprises the following steps:
performing local path adjustment on the driving part when the driving part moves according to the planned path by using a DWA local path algorithm, so as to enable the driving part to move according to the adjusted path;
and controlling the steering of the driving component by using a PID algorithm, so that the driving component tracks the path after fine adjustment under a pureburst algorithm, and the driving component drives the cone barrel moving robot to move to a target position.
7. The cone mobile robot of claim 6, wherein the DWA local path algorithm comprises:
acquiring barrier information, and constructing a DWA predicted track based on the barrier information;
selecting a track which is not collided with an obstacle from the DWA predicted tracks as an adjusted path, and enabling the driving component to move according to the adjusted path;
The method for generating the DWA predicted track comprises the following steps:
vs is defined as the set of linear and angular velocities of the driving element, i.e., the maximum range of search solutions for local paths by the DWA algorithm:
Vs＝{(v,ω)|v∈[vmin,vmax],ω∈[ωmin,ωmax]}
definition Va is the linear and angular velocity of the driving member without collision with an obstacle, definitionAnd->Distance (v, ω) is defined as the Distance closest to the obstacle on the trajectory corresponding to the velocity (v, ω) for the maximum linear deceleration and the maximum angular deceleration of the driving member, to obtain:
narrowing dynamic window v c And w c Linear and angular speeds for the drive member; definition of the definitionAnd->The maximum linear acceleration and angular acceleration for the drive member are:
synthesizing the maximum speed constraint of the driving component, the collision-free constraint of the driving component and the obstacle and the motor torque constraint of the driving component, and obtaining a dynamic window set:
V＝V s ∩V a ∩V b
in the velocity vector space V, the continuous velocity vector space V is discretized according to the number of sampling points of the linear velocity and the angular velocity to obtain discrete sampling points (V, ω), and for each sampling point, an adjusted track of the driving component is given according to a kinematic equation of the driving component, a direction evaluation sub-function is introduced, and the direction evaluation sub-function is as follows:
Wherein psi is GPS The direction of the next waypoint, ψ, required to drive the component i To plan the direction in which the end point of the path to be selected points, it is determined whether the direction of the driving member is in the direction of the next path point, if so, the cost is low, if not, the cost is high, and the overall evaluation after improvement is performedThe function is as follows:
Cost(v,ω)＝αObs(v,ω)+βDir(v,ω)+γGdist(v,ω)
wherein alpha, beta and gamma are coefficients, obs (v, omega) is the total cost of the track passing through the total grid, the track with the obstacle is directly abandoned, gdist (v, epsilon) is the distance from the track end point to the target point, the three sub functions are combined with the direction evaluation sub function, the weighted operation is carried out on the three sub functions to be used as the judgment standard for the optimal local path, and one path with the highest score is selected to be the adjusted path of the current driving component.
8. The robot as claimed in claim 6, wherein in controlling the steering of the driving part by the PID algorithm, the control method comprises:
configuring the PID controller with a deviation of a given quantity r (t) and an output quantity y (t), expressed as:
e(t)＝r(t)-y(t)
wherein e (t) is a control amount, r (t) is a given amount, and y (t) is an output amount;
the control algorithm of the PID controller is expressed as:
Wherein K is P As a proportionality coefficient, ti is an integral time constant, and Td is a differential time constant;
by using time point K P Instead of the continuous amount of time t in the analog PID algorithm, the expression for deriving the discrete PID is:
wherein: k is a sampling sequence number, T is a sampling period, ki=KP/Ti, kd=KPTd, and e (k) -e (k-1) is a deviation signal between k time and (k-1);
ki and Kd are set to 0, and KP is set to a smaller value, so that the system can stably operate;
gradually increasing KP value, stopping when the system oscillates in constant amplitude, and recording critical oscillation gain K and critical oscillation period T;
the calculated parameter values are as follows:
k p ＝0.6K；Ti＝0.5T；T d ＝0.125T。
9. the awl barrel mobile robot of claim 6, wherein the pureburst algorithm comprises:
calculating the distance between two coordinate points according to the coordinate point of the current position of the cone mobile robot and the target coordinate point of the next moment on the path;
calculating a course angle of a coordinate point of the current position and the target coordinate point in a Cartesian coordinate system;
calculating a target rotating radian of the wheel based on the course angle, and moving the wheel to the target coordinate point position on the premise of keeping the target rotating radian;
the steering angle expression formula is:
Wherein delta (t) is the steering angle; m is curvature; curvature at time M (t) t; l is the wheelbase of the drive component; alpha is an included angle between a vector formed by connecting a rear axle of the driving part and a target road point and a yaw angle of the vehicle; alpha (t) is an included angle between a vector formed by connecting a rear axle of the driving component at the moment t and a target road point and a yaw angle of the vehicle; l (L) d Is the forward looking distance.
10. Use of a cone drum mobile robot according to any of claims 1-9 in highways, bridges, tunnels, toll stations, parking lots, cells, municipal roads.
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