CN117250888A - Double-vehicle linkage control method and double-vehicle linkage control device - Google Patents

Double-vehicle linkage control method and double-vehicle linkage control device Download PDF

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Publication number
CN117250888A
CN117250888A CN202311096817.9A CN202311096817A CN117250888A CN 117250888 A CN117250888 A CN 117250888A CN 202311096817 A CN202311096817 A CN 202311096817A CN 117250888 A CN117250888 A CN 117250888A
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CN
China
Prior art keywords
vehicle body
vehicle
pose information
speed
running speed
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Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Pending
Application number
CN202311096817.9A
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Chinese (zh)
Inventor
王作昌
李大伟
文孟成
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Fairyland Technology Wuhan Co Ltd
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Fairyland Technology Wuhan Co Ltd
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Publication date
Application filed by Fairyland Technology Wuhan Co Ltd filed Critical Fairyland Technology Wuhan Co Ltd
Priority to CN202311096817.9A priority Critical patent/CN117250888A/en
Publication of CN117250888A publication Critical patent/CN117250888A/en
Pending legal-status Critical Current

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    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B19/00—Programme-control systems
    • G05B19/02—Programme-control systems electric
    • G05B19/04—Programme control other than numerical control, i.e. in sequence controllers or logic controllers
    • G05B19/042—Programme control other than numerical control, i.e. in sequence controllers or logic controllers using digital processors
    • G05B19/0423—Input/output
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/20—Pc systems
    • G05B2219/25—Pc structure of the system
    • G05B2219/25257—Microcontroller

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  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Engineering & Computer Science (AREA)
  • Automation & Control Theory (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)

Abstract

The invention relates to a double-vehicle linkage control method and a double-vehicle linkage control device, wherein the control method comprises the steps of obtaining first pose information of a first vehicle body and obtaining second pose information of a second vehicle body; calculating the preset speed of the second vehicle body according to the first pose information and the second pose information; and sending the preset speed to the second vehicle body, and adjusting and controlling the real-time running speed of the second vehicle body according to the preset speed to realize the linkage of the first vehicle body and the second vehicle body. The control method can enable the front vehicle to normally control, the rear vehicle only controls the speed of the rear vehicle according to the sensor data, unified pose between the two vehicles is achieved, the requirement of the two vehicles on a network by linkage is reduced, the linkage stability is improved, the mode is not limited by a navigation mode, and the method is applicable to both laser navigation and magnetic navigation.

Description

Double-vehicle linkage control method and double-vehicle linkage control device
Technical Field
The invention relates to the technical field of engineering machinery, in particular to a double-vehicle linkage control method and a double-vehicle linkage control device.
Background
At present, in intelligent logistics production line, two or more vehicles are often required to cooperatively operate due to the size or weight of a transported object, so as to realize normal transportation work of the transported object, however, in the past double-vehicle and multi-vehicle operation control schemes, the adopted control scheme is mainly based on software control and is generally divided into two types:
the first type of control right of the vehicle body is given to a dispatching system based on a low-delay network such as a 5G network, double vehicles or multiple vehicles are uniformly controlled by a dispatching brain, and synchronous operation among the vehicle bodies is realized, but the mode excessively depends on the network, the requirement of WiFi is difficult to meet at present, and the 5G construction cost is high.
The second type is based on sensor control between the vehicle bodies, such as a laser scanning sensor, and in the double-vehicle linkage process, a rear vehicle scans the outline of a front vehicle so as to acquire the posture of the front vehicle, and the rear vehicle follows the front vehicle to make a response adjustment, so that the posture of the front vehicle is kept consistent, the distance is controlled within a certain range, but the mode is limited by the precision of the laser scanning sensor, and the integral follow-up precision is also limited.
Therefore, in order to solve the above-mentioned drawbacks, the present invention proposes a new two-vehicle linkage control method and a two-vehicle linkage control device, which are simpler, but not dependent on the network, and have lower cost.
Disclosure of Invention
Based on the expression, the invention provides a double-vehicle linkage control method and a double-vehicle linkage control device, which are used for solving the technical problems that double-vehicle linkage in the prior art depends on a network and is high in cost.
The technical scheme for solving the technical problems is as follows:
in a first aspect, the present invention provides a dual-vehicle linkage control method, including:
acquiring first pose information of a first vehicle body and second pose information of a second vehicle body;
calculating the preset speed of the second vehicle body according to the first pose information and the second pose information;
and sending the preset speed to the second vehicle body, and adjusting and controlling the real-time running speed of the second vehicle body according to the preset speed to realize the linkage of the first vehicle body and the second vehicle body.
On the basis of the technical scheme, the invention can be improved as follows.
Further, the acquiring the second pose information of the second vehicle body specifically includes:
the rotary encoder is arranged on a second slewing bearing, and the rotary encoder collects angle information of the second slewing bearing;
and installing a distance meter on the sliding platform, wherein the distance meter measures displacement data of the sliding platform.
Further, before the acquiring the first pose information of the first vehicle body and the second pose information of the second vehicle body, the method further includes:
the first slewing bearing is mounted on the first car body, and the second slewing bearing and the sliding platform are mounted on the second car body.
Further, adjusting and controlling the real-time running speed of the second vehicle body according to the preset speed includes:
calculating a deviation value in the running direction of the second vehicle body according to the second pose information of the second vehicle body;
and calculating the real-time running speed of the second vehicle body according to the deviation value and the running speed of the first vehicle body.
Further, adjusting and controlling the real-time running speed of the second vehicle body according to the preset speed, specifically including:
x＝(T 1 -T 0 )*cosA
V Back ＝x*P*V Demand
wherein A is the feedback angle of the second vehicle body;
T 0 setting a value for a zero point of the floating platform;
T 1 is the displacement value of the floating platform;
x is a deviation value in the running direction;
V Demand a constant running speed for the first vehicle body;
V Back is the real-time running speed of the second vehicle body.
Further, after calculating the real-time running speed of the second vehicle body according to the deviation value and the running speed of the first vehicle body, the method further includes:
and taking the real-time running speed of the second vehicle body as the reference speed of the second vehicle body, and decomposing the running speed to each driving wheel according to chassis parameters so as to control the second vehicle body to keep synchronous with the first vehicle body according to the set speed.
In a second aspect, the present invention further provides a dual-vehicle linkage control device, including:
the acquisition module is used for acquiring first pose information of the first vehicle body and acquiring second pose information of the second vehicle body;
the control module is used for calculating the preset speed of the second vehicle body according to the first pose information and the second pose information;
and the execution module is used for sending the preset speed to the second vehicle body, adjusting and controlling the real-time running speed of the second vehicle body according to the preset speed, and realizing the linkage of the first vehicle body and the second vehicle body.
Compared with the prior art, the technical scheme of the application has the following beneficial technical effects:
according to the double-vehicle linkage control method and the double-vehicle linkage control device, the relative position information of the first vehicle body and the second vehicle body is detected, and the preset speed of the second vehicle body is calculated according to the pose information of the two vehicles, so that the second vehicle body can adjust the running speed in real time according to the relative position information, and linkage of the first vehicle body and the second vehicle body is realized. Compared with the prior art, the double-vehicle linkage control method has the following advantages:
the control method can enable the front vehicle to normally control, the rear vehicle only controls the speed of the rear vehicle according to the sensor data, unified pose between the two vehicles is achieved, the requirement of the two vehicles on a network by linkage is reduced, the linkage stability is improved, the mode is not limited by a navigation mode, and the method is applicable to both laser navigation and magnetic navigation.
Drawings
FIG. 1 is a schematic flow chart of a dual-vehicle linkage control method provided by an embodiment of the invention;
FIG. 2 is a schematic diagram of a device for controlling a dual-vehicle linkage according to an embodiment of the present invention;
FIG. 3 is a schematic diagram of motion trail simulation of a dual-vehicle according to an embodiment of the present invention;
fig. 4 is a schematic structural diagram of a dual-vehicle linkage control device according to an embodiment of the present invention;
in the drawings, the list of components represented by the various numbers is as follows:
1. a first vehicle body;
2. a second vehicle body;
3. a first slewing bearing;
4. a second slewing bearing;
5. a sliding platform.
Detailed Description
In order to facilitate an understanding of the present application, a more complete description of the present application will now be provided with reference to the relevant figures. Examples of the present application are given in the accompanying drawings. This application may, however, be embodied in many different forms and is not limited to the embodiments described herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete.
It should be noted that: the terms "first" and "second" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.
Embodiments of the present invention will be described in further detail with reference to the accompanying drawings and examples, which are provided to illustrate the present invention, but are not intended to limit the scope of the present invention.
In a first aspect, as shown in fig. 1, a dual-vehicle linkage control method provided by an embodiment of the present invention specifically includes:
step S101: and acquiring first pose information of the first vehicle body and second pose information of the second vehicle body.
The method for acquiring the second pose information of the second vehicle body specifically comprises the following steps:
and installing a rotary encoder on the second slewing bearing, and acquiring angle information of the second slewing bearing by the rotary encoder.
And installing a distance meter on the sliding platform, and measuring displacement data of the sliding platform by the distance meter.
In addition, before the first pose information of the first vehicle body is acquired and the second pose information of the second vehicle body is acquired, the method further comprises the steps of:
as shown in fig. 4, a first slewing bearing 3 is attached to a first vehicle body 1, and a second slewing bearing 4 and a slide platform 5 are attached to a second vehicle body 2. The sliding platform 5 is mounted on the second pivoting support 4, so that the direction of the rear car sliding platform is ensured to be parallel to the direction of the transported object.
The slewing bearing is additionally arranged on the front vehicle (the first vehicle body) for solving the problem that the front and rear vehicles can have inconsistent postures in the turning process when the two vehicles are in linkage operation; a slewing bearing and a sliding platform are added on a rear vehicle (a second vehicle body) for absorbing errors caused by control problems.
The first slewing bearing is rotatably arranged on the upper surface of the first vehicle body; the second slewing bearing is rotatably arranged on the upper surface of the second vehicle body, and the sliding platform is connected with the second slewing bearing through a connecting plate.
The rotation angle of the first slewing bearing is-30 degrees to +30 degrees.
The sliding platform comprises a mounting frame, a linear guide rail, an elastic piece and a mounting table; the mounting frame is arranged on the connecting plate, and the linear guide rail is arranged on the mounting frame; the elastic piece is connected with one end of the linear guide rail; the mounting table is arranged on the linear guide rail. In a specific example, the elastic member may be provided as a spring.
The rotary encoder is arranged on the second slewing bearing and used for detecting angle information of the second slewing bearing; the distance measuring device is arranged on the sliding platform and used for detecting displacement information of the sliding platform so as to measure the relative positions of the front and rear vehicles. In a specific example, the rangefinder is a pull wire encoder or a laser ranging sensor.
Step S102: and calculating the preset speed of the second vehicle body according to the first pose information and the second pose information.
Specifically, calculating a deviation value in the running direction of the second vehicle body according to second pose information of the second vehicle body;
and calculating the real-time running speed of the second vehicle body according to the deviation value and the running speed of the first vehicle body.
Fig. 3 is a schematic diagram of motion trail simulation of a dual vehicle according to an embodiment of the present invention.
The method specifically comprises the following steps:
x＝(T 1 -T 0 )*cosA
V Back ＝x*P*V Demand
wherein A is the feedback angle of the second vehicle body;
T 0 setting a value for a zero point of the floating platform;
T 1 is the displacement value of the floating platform;
x is a deviation value in the running direction;
V Demand a constant running speed for the first vehicle body;
V Back is the real-time running speed of the second vehicle body.
Step S103: and sending the preset speed to the second vehicle body, and adjusting and controlling the real-time running speed of the second vehicle body according to the preset speed to realize the linkage of the first vehicle body and the second vehicle body.
Further, the real-time running speed of the second vehicle body is used as the reference speed of the second vehicle body, and the running speed is decomposed onto each driving wheel according to the chassis parameters so as to control the second vehicle body to keep synchronous with the first vehicle body according to the set speed.
In summary, compared with the prior art, the double-vehicle linkage control method has the following advantages:
the control method can enable the front vehicle to normally control, the rear vehicle only controls the speed of the rear vehicle according to the sensor data, unified pose between the two vehicles is achieved, the requirement of the two vehicles on a network by linkage is reduced, the linkage stability is improved, the mode is not limited by a navigation mode, and the method is applicable to both laser navigation and magnetic navigation.
In a second aspect, as shown in fig. 2, the embodiment of the present invention further provides a dual-vehicle linkage control device, which includes an acquisition module 201, a control module 202, and an execution module 203.
The acquiring module 201 is configured to acquire first pose information of a first vehicle body and acquire second pose information of a second vehicle body.
The control module 202 is configured to calculate a preset speed of the second vehicle body according to the first pose information and the second pose information.
And the execution module 203 is configured to send the preset speed to the second vehicle body, adjust and control the real-time running speed of the second vehicle body according to the preset speed, and implement linkage between the first vehicle body and the second vehicle body.
Specifically, the adjusting and controlling the real-time running speed of the second vehicle body according to the preset speed includes: calculating a deviation value in the running direction of the second vehicle body according to the second pose information of the second vehicle body; and calculating the real-time running speed of the second vehicle body according to the deviation value and the running speed of the first vehicle body.
The method specifically comprises the following steps:
x＝(T 1 -T 0 )*cosA
V Back ＝x*P*V Demand
wherein A is the feedback angle of the second vehicle body;
T 0 setting a value for a zero point of the floating platform;
T 1 is the displacement value of the floating platform;
x is a deviation value in the running direction;
V Demand a constant running speed for the first vehicle body;
V Back is the real-time running speed of the second vehicle body.
Further, after calculating the real-time running speed of the second vehicle body from the deviation value and the running speed of the first vehicle body, it further includes:
and taking the real-time running speed of the second vehicle body as the reference speed of the second vehicle body, and decomposing the running speed to each driving wheel according to chassis parameters so as to control the second vehicle body to keep synchronous with the first vehicle body according to the set speed.
In the description of the present specification, the description with reference to the term "particular example" or "some examples" or the like means that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the embodiments of the invention. In this specification, schematic representations of the above terms are not necessarily directed to the same embodiment or example.
Finally, it should be noted that: the above embodiments are only for illustrating the technical solution of the present invention, and are not limiting; although the invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical scheme described in the foregoing embodiments can be modified or some technical features thereof can be replaced by equivalents; such modifications and substitutions do not depart from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims (7)

1. The double-vehicle linkage control method is characterized by comprising the following steps of:
acquiring first pose information of a first vehicle body and second pose information of a second vehicle body;
calculating the preset speed of the second vehicle body according to the first pose information and the second pose information;
and sending the preset speed to the second vehicle body, and adjusting and controlling the real-time running speed of the second vehicle body according to the preset speed to realize the linkage of the first vehicle body and the second vehicle body.
2. The method for controlling the linkage of two vehicles according to claim 1, wherein the step of obtaining the second pose information of the second vehicle body specifically comprises:
the rotary encoder is arranged on a second slewing bearing, and the rotary encoder collects angle information of the second slewing bearing;
and installing a distance meter on the sliding platform, wherein the distance meter measures displacement data of the sliding platform.
3. The two-vehicle linkage control method according to claim 2, characterized by further comprising, before the acquiring the first pose information of the first vehicle body and the second pose information of the second vehicle body:
the first slewing bearing is mounted on the first car body, and the second slewing bearing and the sliding platform are mounted on the second car body.
4. The two-vehicle linkage control method according to claim 2, wherein adjusting the second vehicle body to control the real-time running speed of the second vehicle body according to the preset speed includes:
calculating a deviation value in the running direction of the second vehicle body according to the second pose information of the second vehicle body;
and calculating the real-time running speed of the second vehicle body according to the deviation value and the running speed of the first vehicle body.
5. The two-vehicle linkage control method according to claim 4, wherein the adjusting the second vehicle body according to the preset speed controls the real-time running speed of the second vehicle body, specifically comprising:
x＝(T 1 -T 0 )*cosA
V Back ＝x*P*V Demand
wherein A is the feedback angle of the second vehicle body;
T 0 setting a value for a zero point of the floating platform;
T 1 is the displacement value of the floating platform;
x is a deviation value in the running direction;
V Demand a constant running speed for the first vehicle body;
V Back is the real-time running speed of the second vehicle body.
6. The two-vehicle linkage control method according to claim 4, further comprising, after calculating the real-time running speed of the second vehicle body from the deviation value and the running speed of the first vehicle body:
and taking the real-time running speed of the second vehicle body as the reference speed of the second vehicle body, and decomposing the running speed to each driving wheel according to chassis parameters so as to control the second vehicle body to keep synchronous with the first vehicle body according to the set speed.
7. A two-vehicle linkage control device, characterized by comprising:
the acquisition module is used for acquiring first pose information of the first vehicle body and acquiring second pose information of the second vehicle body;
the control module is used for calculating the preset speed of the second vehicle body according to the first pose information and the second pose information:
and the execution module is used for sending the preset speed to the second vehicle body, adjusting and controlling the real-time running speed of the second vehicle body according to the preset speed, and realizing the linkage of the first vehicle body and the second vehicle body.
CN202311096817.9A 2023-08-25 2023-08-25 Double-vehicle linkage control method and double-vehicle linkage control device Pending CN117250888A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN202311096817.9A CN117250888A (en) 2023-08-25 2023-08-25 Double-vehicle linkage control method and double-vehicle linkage control device

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN202311096817.9A CN117250888A (en) 2023-08-25 2023-08-25 Double-vehicle linkage control method and double-vehicle linkage control device

Publications (1)

Publication Number Publication Date
CN117250888A true CN117250888A (en) 2023-12-19

Family

ID=89132173

Family Applications (1)

Application Number Title Priority Date Filing Date
CN202311096817.9A Pending CN117250888A (en) 2023-08-25 2023-08-25 Double-vehicle linkage control method and double-vehicle linkage control device

Country Status (1)

Country Link
CN (1) CN117250888A (en)

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