CN106627841A - Steering control system and method of container automatic guiding trolley - Google Patents
Steering control system and method of container automatic guiding trolley Download PDFInfo
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- CN106627841A CN106627841A CN201710081060.4A CN201710081060A CN106627841A CN 106627841 A CN106627841 A CN 106627841A CN 201710081060 A CN201710081060 A CN 201710081060A CN 106627841 A CN106627841 A CN 106627841A
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- 238000000034 method Methods 0.000 title claims abstract description 19
- 230000009471 action Effects 0.000 claims abstract description 10
- 239000003921 oil Substances 0.000 claims description 6
- 238000003909 pattern recognition Methods 0.000 claims description 4
- 239000010720 hydraulic oil Substances 0.000 claims description 3
- 230000006855 networking Effects 0.000 claims description 3
- 238000013461 design Methods 0.000 abstract description 12
- 238000004891 communication Methods 0.000 abstract description 4
- 238000004364 calculation method Methods 0.000 abstract description 3
- 230000008901 benefit Effects 0.000 abstract description 2
- 238000002054 transplantation Methods 0.000 abstract 1
- 238000003860 storage Methods 0.000 description 12
- 230000006870 function Effects 0.000 description 9
- 238000005516 engineering process Methods 0.000 description 5
- 230000008569 process Effects 0.000 description 4
- 241000208340 Araliaceae Species 0.000 description 2
- 235000005035 Panax pseudoginseng ssp. pseudoginseng Nutrition 0.000 description 2
- 235000003140 Panax quinquefolius Nutrition 0.000 description 2
- 238000004422 calculation algorithm Methods 0.000 description 2
- 238000006243 chemical reaction Methods 0.000 description 2
- 238000004590 computer program Methods 0.000 description 2
- 238000011161 development Methods 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 239000000835 fiber Substances 0.000 description 2
- 235000008434 ginseng Nutrition 0.000 description 2
- 238000012545 processing Methods 0.000 description 2
- 241001518079 Plantago minuta Species 0.000 description 1
- SAZUGELZHZOXHB-UHFFFAOYSA-N acecarbromal Chemical compound CCC(Br)(CC)C(=O)NC(=O)NC(C)=O SAZUGELZHZOXHB-UHFFFAOYSA-N 0.000 description 1
- 238000013459 approach Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 239000003638 chemical reducing agent Substances 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 238000003745 diagnosis Methods 0.000 description 1
- 239000002283 diesel fuel Substances 0.000 description 1
- 230000014759 maintenance of location Effects 0.000 description 1
- 239000000203 mixture Substances 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012544 monitoring process Methods 0.000 description 1
- 230000003287 optical effect Effects 0.000 description 1
- 238000004088 simulation Methods 0.000 description 1
Classifications
-
- 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
- B62D6/00—Arrangements for automatically controlling steering depending on driving conditions sensed and responded to, e.g. control circuits
- B62D6/008—Control of feed-back to the steering input member, e.g. simulating road feel in steer-by-wire applications
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- 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
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0214—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory in accordance with safety or protection criteria, e.g. avoiding hazardous areas
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- 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
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0223—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory involving speed control of the vehicle
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- 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
- G05D1/0234—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using optical markers or beacons
- G05D1/0236—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using optical markers or beacons in combination with a laser
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- 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
- G05D1/0242—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using non-visible light signals, e.g. IR or UV signals
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- 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
- G05D1/0259—Control of position or course in two dimensions specially adapted to land vehicles using magnetic or electromagnetic means
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- 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
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- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- Remote Sensing (AREA)
- Aviation & Aerospace Engineering (AREA)
- Radar, Positioning & Navigation (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Electromagnetism (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Optics & Photonics (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
- Steering Control In Accordance With Driving Conditions (AREA)
Abstract
The invention discloses a steering control system and method of container automatic guiding trolley. According to the trolley, the manual and automatic interfaces are integrated, and can be switched conveniently. The trolley has the advantages of being strong in transplantation availability, convenient and simple in manual mode, and compliant with actual habit. A layered design and modeling design make a system have a strong adaptability, be capable of accepting diversified chassis modes. The technical scheme is that the system comprises a navigation controller, a remote control handle, a steering encoder, a vehicle controller and a control bus network. Under the automatic control mode the navigation controller breaks down the system commands into concrete action commands to achieve the automatic control of a trolley. Under the manual control mode, the remote control handle enables an operator to control the vehicle manually. The steering encoder checks the actual steering angle of trolley wheels, and uses the steering angle data as the feedback to form a closed loop. The vehicle controller determines the steering angle through the recognition and calculation of the automatic control mode and operation control mode, and controls axle steering and wheel steering of the trolley based the acquired steering angle. The control bus network facilitates the data communication among different components of the steering control system.
Description
Technical field
The present invention relates to Vehicular turn control technology, more particularly to course changing control is carried out to container automatically guiding trolley
System.
Background technology
With the development of automatic dock technology, the automation of horizontal transportation system starts development, and corresponding container is certainly
The products such as dynamic pilot trolley also arise at the historic moment.This container pilot trolley, chassis form has various, there is conventional truck vehicle bridge shape
Formula, also there is independent steering form.This dolly at ordinary times mainly based on automatic operating, but at some in particular cases
It is easy to artificial operation.In this context, need to need to consider as a whole when to automatically guiding trolley programming, can
Meet automation mechanized operation demand, also easily manual manipulation mode；Various chassis forms should be merged, it is unified manual again
Be automatically brought into operation custom.
The content of the invention
The brief overview of one or more aspects given below is providing to the basic comprehension in terms of these.This general introduction is not
The extensive overview of all aspects for contemplating, and it is also non-to be both not intended to identify the key or decisive key element of all aspects
Attempt to define the scope in terms of any or all.Its unique purpose is to provide the one of one or more aspects in simplified form
A little concepts think the sequence of more detailed description given later.
It is an object of the invention to solve above-mentioned technical problem, there is provided a kind of steering control of container automatically guiding trolley
System and method processed, unify manually, from mobile interface, and easy switching, transplantability is strong；Manual mode simple operation, meets actual habit
It is used；Hierarchical design and modeled design cause the strong adaptability of system, can receive various chassis patterns.
The technical scheme is that：Present invention is disclosed a kind of steering control system of container automatically guiding trolley,
System includes：
Navigation controller, specific action command is decomposed under automatic steer mode by system command, is realized to vehicle
Automatic manipulation；
Remote-control handle, realizes manual manipulation of the operating personnel to vehicle under manual manipulation pattern；
Encoder is turned to, the actual rotational angle of the wheel of dolly is detected and is formed closed loop as feedback data；
Automobile controller, by the identification and calculating to automatic steer mode and manipulation control model steering angle is determined
And accordingly the vehicle bridge of manipulation dolly is turned to and wheel steering；
Controlling bus networking, the data of each component of steering control system by controlling bus real-time performance each other
Communication.
One embodiment of the steering control system of container automatically guiding trolley of the invention, steering control system is also
Including：
Hydraulic steering system, comprising hydraulic oil pump motor, oil pump, magnetic valve, proportioning valve, for vehicle driving system is provided
Dynamic, parking braking and the function of steering.
One embodiment of the steering control system of container automatically guiding trolley of the invention, steering control system is also
Including：
Motor driven systems, comprising motor driver, motor, motor encoder.
One embodiment of the steering control system of container automatically guiding trolley of the invention, automobile controller bag
Include：
Pattern recognition module, identification is currently at automatic steer mode or manual manipulation pattern；
Encoder feedback module is turned to, the number of vehicle bridge turn around parameters is processed as according to the actual rotational angle of the car wheel for detecting
Value；
General course changing control module, the steering data provided according to the navigation controller under automatic steer mode or manual
The steering data that remote-control handle under steer mode is provided, are converted into vehicle bridge turn around parameters and wheel steering parameter；
Actual steering control module, it is on the one hand given using the vehicle bridge turn around parameters of dolly as control, encode with reference to turning to
The corresponding numerical value of feedback module, calculates the operating parameter that vehicle bridge is turned to, on the other hand vehicle bridge turn around parameters, the car based on dolly
The corresponding numerical value of wheel turn around parameters, dolly chassis form and steering encoder feedback module, calculates the manipulation ginseng of wheel steering
Number.
One embodiment of the steering control system of container automatically guiding trolley of the invention, container is guided automatically
The chassis of dolly is the framework of Ackermann steering vehicle bridge.
Present invention further teaches a kind of rotating direction control method of container automatically guiding trolley, method includes：
Identification is currently at automatic steer mode or manual manipulation pattern；
Remote control under the steering data provided according to the navigation controller under automatic steer mode or manual manipulation pattern
The steering data that handle is provided, are vehicle bridge turn around parameters and wheel steering parameter based on general course changing control model conversation；
On the one hand it is given using the vehicle bridge turn around parameters of dolly as control, vehicle bridge is calculated by actual steering Controlling model and is turned
To operating parameter, on the other hand based on the vehicle bridge turn around parameters of dolly, wheel steering parameter, dolly chassis form, by reality
Border course changing control model calculates the operating parameter of wheel steering, wherein the actual rotational angle of the car wheel for detecting is processed as
Feedback closed loop of the numerical value of the vehicle bridge turn around parameters of dolly as actual steering Controlling model.
One embodiment of the rotating direction control method of container automatically guiding trolley of the invention, container is guided automatically
The chassis of dolly is the framework of Ackermann steering vehicle bridge.
Present invention contrast prior art has following beneficial effect：The steering control system of the present invention is led to by setting up one
Course changing control module, unification is automatically brought into operation and manually operated interface, and then according to the reality of container automatically guiding trolley
Border structure sets up corresponding actual steering control module, matches with general course changing control module, moreover it is possible to safe and reliable control
Steering component.Additionally, manually operated various customs are organized into corresponding pattern by the present invention so as to and course changing control module
Interface Matching.
Description of the drawings
Fig. 1 shows the system configuration of the embodiment of the steering control system of the container automatically guiding trolley of the present invention
Figure.
Fig. 2 shows the flow chart for implementing course changing control to container automatically guiding trolley of the present invention.
Fig. 3 shows the structural representation of the vehicle bridge form of container automatically guiding trolley.
Fig. 4 shows the schematic diagram for setting up actual steering Controlling model.
Fig. 5 A to 5H show the schematic diagram that the operating mode of manual mode collects.
Specific embodiment
After the detailed description of embodiment of the disclosure is read in conjunction with the following drawings, better understood when the present invention's
Features described above and advantage.In the accompanying drawings, each component is not necessarily drawn to scale, and with similar correlation properties or feature
Component may have same or like reference.
Vehicle power source in container automatically guiding trolley is mainly dolly and provides energy source, generally pure electric form
(battery), pure diesel oil form and mixed dynamic (diesel engine and battery) three kinds of forms.
Vehicle chassis in container automatically guiding trolley determines wheel number, position and the operator scheme of vehicle,
It is the basis for setting up actual control module, such as the axle structure shown in Fig. 3 is determined and possess after Plantago minuta two vehicle bridge, often
Group vehicle bridge is made up of two wheels, and axle structure (cannot realize the functions such as transverse shifting, pivot stud) must is fulfilled for during steering,
And vehicle bridge possesses differential speed reducer, left and right wheel speed can be allocated voluntarily, as long as so tandem axle is converted to when model is set up
Central angle, wheel speed front-rear axle is consistent.If converted to if independent steering form, in addition to conventional steering pattern, also
Pivot stud and transverse mode can be realized, but model calculates complicated, needs the angle for calculating each wheel, also to control to turn
To synchronism, vehicle wheel rotational speed is also calculated, should be noted the problem of the switching in some vehicle wheel rotation directions during pivot stud.
In general, the chassis of container automatically guiding trolley adopts Ackermann steering vehicle bridge, as shown in figure 3, car in front and back
Bridge is to be symmetrically installed in opposite directions, and tandem axle can be turned to, but the left and right wheels of single vehicle bridge are turned to and constrained by vehicle bridge, turn to rule
Rule approaches Ackermann angle rule.
Fig. 1 shows the system configuration of the embodiment of the steering control system of the container automatically guiding trolley of the present invention.
As shown in figure 1, the steering control system of the present embodiment includes：Navigation controller 1, remote-control handle 2, multiple steering encoder (this
Be four steering encoders 31～34) in embodiment, automobile controller 4 and controlling bus network 5.
System command is decomposed into specific action command by navigation controller 1 under automatic steer mode, is realized to vehicle
Automatic manipulation.Remote-control handle 2 realizes manual manipulation of the operating personnel to vehicle under manual manipulation pattern.
Automobile controller 4 is by the identification to automatic steer mode and manipulation control model and calculates determination steering angle
And vehicle bridge steering and the wheel steering of dolly are manipulated accordingly, and implementing monitoring diagnosis is carried out to each vehicle arrangement with support vehicles
Peace congruous function.
The actual rotational angle of the wheel of four detection dollies of steering encoder 31～34, with automobile controller 4 as master element,
All kinds of magnetic valves of hydraulic steering system 6 and oil cylinder are control element, and steering encoder 31～34 is feedback element, constitutes closed loop control
System processed.According to each class model, the real data of the feedback of angle-position encoder 31～34 can also calculate data and be verified with model,
Lift system security, moreover it is possible to according to actual steering angle, the meter of each vehicle wheel vehicle speeds is carried out to the vehicle of independent steering form
Calculate.
The function at controlling bus networking 5 be steering control system each component by controlling bus real-time performance mutually it
Between data communication.
Additionally, coordinating steering to also need to hydraulic steering system 6 and motor driven systems 7.Wherein hydraulic steering system 6 is included
Hydraulic oil pump motor, oil pump, magnetic valve, proportioning valve, for the work(that vehicle provides service brake, parking braking and steering
Energy.Motor driven systems 7 include motor driver, motor, motor encoder.
Automobile controller 4 is further included：Pattern recognition module 41, steering encoder feedback module 42, general course changing control
Module 43, actual steering control module 44.
Pattern recognition module 41, identification is currently at automatic steer mode or manual manipulation pattern.
Encoder feedback module 42 is turned to, vehicle bridge turn around parameters are processed as according to the actual rotational angle of the car wheel for detecting
Numerical value.Specifically, it is that analog signal to detecting is standardized, analog data is changed into corresponding angle
Data, are further processed into vehicle bridge turn around parameters (numerical value of front-rear axle center corner).
General course changing control module 43, according under automatic steer mode navigation nonshared control unit provide steering data or
The steering data that remote-control handle under person's manual manipulation pattern is provided, are converted into vehicle bridge turn around parameters and wheel steering parameter.
For automatic steer mode, turned into front-rear axle center by Ackermann steering theoretical conversion according to automation track
The angle and vehicle speed data at angle.
It is directly the steering data that remote-control handle is provided to be converted into front-rear axle center corner for manual manipulation pattern
Angle and vehicle speed data.The difficult point of manual manipulation pattern is that the design of AGV is not distinguished end to end in fact, so manually
All it is to come fixed with the operating habit of driver during operation, typically all driver trails the traveling of AGV travel directions, so how to do
The unification of good driver operation coordinate and bicycle coordinate system, feels nature, smoothly when being driver operation, be design this operating mode just
Inner feelings, will meet the standardization of handle input signal in routine interface design, wish on the outgoing interface and navigation interface class
Type is consistent.
Fig. 5 A to 5H show that the operating mode of manual mode collects signal, are divided into eight kinds of operating modes moving forward and travel backward
Eight kinds of operating modes.
1) as shown in Figure 5A, operator is only turned to towards headstock station at vehicle side using propons, and back axle is not involved in turning
To.
2) as shown in Figure 5 B, operator towards headstock station at vehicle side, only using rear-axle steering, propons be not involved in turn
To.
3) as shown in Figure 5 C, operator towards headstock station at vehicle side, front-rear axle be involved in turn to (front-rear axle turn to
It is in opposite direction) so that vehicle obtains min. turning radius.
4) as shown in Figure 5 D, operator towards headstock station at vehicle side, front-rear axle be involved in turn to (front-rear axle turn to
Direction is identical) so that vehicle can realize diagonal (being also crab row mode).
5) as shown in fig. 5e, operator is only turned to towards tailstock station at vehicle side using propons, and back axle is not involved in turning
To.
6) as illustrated in figure 5f, operator towards tailstock station at vehicle side, only using rear-axle steering, propons be not involved in turn
To.
7) as depicted in fig. 5g, operator towards tailstock station at vehicle side, front-rear axle be involved in turn to (front-rear axle turn to
It is in opposite direction) so that vehicle obtains min. turning radius.
8) as illustrated in fig. 5h, operator towards tailstock station at vehicle side, front-rear axle be involved in turn to (front-rear axle turn to
Direction is identical) so that vehicle can realize diagonal (being also crab row mode).
General course changing control module 43 has used general course changing control model, based on the design of Ackermann steering vehicle bridge, will
The steering form of car has been divided into three levels：Car load is turned to, vehicle bridge turns to (central angle of two wheels shown in Fig. 3), wheel
Turn to.Some vehicles do not have vehicle bridge, that is, wheel independent steering may not have vehicle bridge steering.Unified general steering control
Car load turn around parameters are exactly decomposed into vehicle bridge turn around parameters or wheel steering parameter by simulation, several by Ackermann steering
What, with reference to required radius of turn, calculates each and turns to axle center and give and determine or be converted on each wheel again,
Real needs are depending on vehicle chassis composition.
Actual steering control module 44, it is on the one hand given using the vehicle bridge turn around parameters of dolly as control, compile with reference to turning to
Code feedback module corresponding numerical value, calculate vehicle bridge turn to operating parameter, on the other hand based on the vehicle bridge turn around parameters of dolly,
The corresponding numerical value of wheel steering parameter, dolly chassis form and steering encoder feedback module, calculates the manipulation of wheel steering
Parameter.
Actual steering control module 44 is also based on the actual steering Controlling model of Ackermam vehicle bridge to set up, Ackermam
Trapezoidal and coordinate system definition according to model as shown in figure 4, recommend to obtain following two conclusion：
Ackermann steering trapezoidal characteristic one：Central angle is constantly equal to the half of both sides corner sum, actual steering Controlling model with
When axle center is virtual controlling point, the characteristic is exactly the core of whole Controlling model.
Ackermann steering trapezoidal characteristic two：According to structure can calculate left side corner, between center corner, right corner
Relation, after the relational expression that three mutually converts is obtained, calculate the data at each angle.Main Function is as follows：
According to above-mentioned formula：1) it is known that left and right wheels relation, plays together angle checking effect and lift security；2) may be used
To calculate all left side angles, right side angle, the relation of angle according to above-mentioned formula, can be by the side of fitting data
Formula simplifies the calculating of above-mentioned model checking；3) encoder redundancy can be realized by calculating when meeting an urgent need, i.e., when a certain vehicle bridge
After side encoder breaks down, central angle angle can be obtained by calculating calculation, emergency processing is carried out with this.
In the calculating process of the operating parameter turned to vehicle bridge, with the axle center corner of general course changing control module 43
It is given for control, and the feedback for turning to encoder is calculated by actual steering Controlling model, form PID closed loop (Proportion
Integral Derivative, PID control parameter) need parameter.Again to before and after and back axle according to respective control
It is given to carry out PID calculating with feedback, control proportioning valve finally according to PID calculated values so that oil cylinder as requested realize turning by action
To.
In the calculating process to the operating parameter of wheel steering, according to actual steering Controlling model and chassis form, match somebody with somebody
Close steering demand to calculate the rotating speed that each driver should export (vehicle bridge form mainly keeps self-consistentency, independent steering
Pattern then needs the length velocity relation for calculating each wheel), corresponding driver (cooperation steering angle) is driven according to speed preset.
Additionally, on the basis of the steering control system of above-mentioned container automatically guiding trolley, present invention further teaches
The rotating direction control method of the relevant container automatically guiding trolley realized in this system, as shown in Fig. 2 rotating direction control method
Be implemented as follows.
First, identification is currently at automatic steer mode or manual manipulation pattern.
If automatic steer mode, then the steering number for being provided according to the navigation nonshared control unit under automatic steer mode
According to, according to automation track by Ackermann steering theoretical conversion into front-rear axle center corner angle and vehicle speed number
According to.It is directly the steering data that remote-control handle is provided to be converted into the angle of front-rear axle center corner if manual manipulation pattern
Degree and vehicle speed data.
The difficult point of manual manipulation pattern is that the design of AGV is not distinguished end to end in fact, thus be all when manually operated with
The operating habit of driver comes fixed, and typically all driver trails the traveling of AGV travel directions, so how to carry out driver operation seat
The unification of mark and bicycle coordinate system, feels nature, smoothly when being driver operation, be the original intention for designing this operating mode, connects in program
The standardization of handle input signal is met in mouth design, is wished on the outgoing interface consistent with navigation interface type.
Fig. 5 A to 5H show that the operating mode of manual mode collects signal, are divided into eight kinds of operating modes moving forward and travel backward
Eight kinds of operating modes.
1) as shown in Figure 5A, operator is only turned to towards headstock station at vehicle side using propons, and back axle is not involved in turning
To.
2) as shown in Figure 5 B, operator towards headstock station at vehicle side, only using rear-axle steering, propons be not involved in turn
To.
3) as shown in Figure 5 C, operator towards headstock station at vehicle side, front-rear axle be involved in turn to (front-rear axle turn to
It is in opposite direction) so that vehicle obtains min. turning radius.
4) as shown in Figure 5 D, operator towards headstock station at vehicle side, front-rear axle be involved in turn to (front-rear axle turn to
Direction is identical) so that vehicle can realize diagonal (being also crab row mode).
5) as shown in fig. 5e, operator is only turned to towards tailstock station at vehicle side using propons, and back axle is not involved in turning
To.
6) as illustrated in figure 5f, operator towards tailstock station at vehicle side, only using rear-axle steering, propons be not involved in turn
To.
7) as depicted in fig. 5g, operator towards tailstock station at vehicle side, front-rear axle be involved in turn to (front-rear axle turn to
It is in opposite direction) so that vehicle obtains min. turning radius.
8) as illustrated in fig. 5h, operator towards tailstock station at vehicle side, front-rear axle be involved in turn to (front-rear axle turn to
Direction is identical) so that vehicle can realize diagonal (being also crab row mode).
Then, it is on the one hand given using the vehicle bridge turn around parameters of dolly as control, with reference to the right of steering encoder feedback module
The numerical value answered, calculate vehicle bridge turn to operating parameter, on the other hand based on the vehicle bridge turn around parameters of dolly, wheel steering parameter,
The corresponding numerical value of dolly chassis form and steering encoder feedback module, calculates the operating parameter of wheel steering.Therein turn
The numerical value of vehicle bridge turn around parameters is processed as according to the actual rotational angle of the car wheel for detecting to encoder feedback module.It is concrete and
Speech, is that the analog signal to detecting is standardized, and analog data changed into corresponding angle-data, then enters one
Step is processed into vehicle bridge turn around parameters (numerical value of front-rear axle center corner) according to actual steering Controlling model.
The step for actual steering control module be also based on the actual steering Controlling model of Ackermam vehicle bridge to set up
, Ackermam is trapezoidal and definition of coordinate system according to model as shown in figure 4, recommend to obtain following two conclusion：
Ackermann steering trapezoidal characteristic one：Central angle is constantly equal to the half of both sides corner sum, actual steering Controlling model with
When axle center is virtual controlling point, the characteristic is exactly the core of whole Controlling model.
Ackermann steering trapezoidal characteristic two：According to structure can calculate left side corner, between center corner, right corner
Relation, after the relational expression that three mutually converts is obtained, calculate the data at each angle.Main Function is as follows：
According to above-mentioned formula：1) it is known that left and right wheels relation, plays together angle checking effect and lift security；2) may be used
To calculate all left side angles, right side angle, the relation of angle according to above-mentioned formula, can be by the side of fitting data
Formula simplifies the calculating of above-mentioned model checking；3) encoder redundancy can be realized by calculating when meeting an urgent need, i.e., when a certain vehicle bridge
After side encoder breaks down, central angle angle can be obtained by calculating calculation, emergency processing is carried out with this.
In the calculating process of the operating parameter turned to vehicle bridge, turned with the axle center that general course changing control model is obtained
Angle is given for control, and the feedback for turning to encoder is calculated by actual steering Controlling model, forms the ginseng that PID closed loops need
Number.Give according to respective control and carry out PID calculating with feedback with back axle to before and after again, finally according to PID calculated value control ratios
Example valve so that oil cylinder as requested realize turning to by action.
In the calculating process to the operating parameter of wheel steering, according to actual steering Controlling model and chassis form, match somebody with somebody
Close steering demand to calculate the rotating speed that each driver should export (vehicle bridge form mainly keeps self-consistentency, independent steering
Pattern then needs the length velocity relation for calculating each wheel), corresponding driver (cooperation steering angle) is driven according to speed preset.
Although for make explanation simplify said method is illustrated and is described as a series of actions, it should be understood that and understand,
These methods are not limited by the order of action, because according to one or more embodiments, some actions can occur in different order
And/or with from it is depicted and described herein or not shown herein and describe but it will be appreciated by those skilled in the art that other
Action concomitantly occurs.
Those skilled in the art will further appreciate that, the various illustratives described with reference to the embodiments described herein
Logic plate, module, circuit and algorithm steps are capable of achieving as electronic hardware, computer software or combination of the two.For clear
Chu ground explains this interchangeability of hardware and software, various illustrative components, frame, module, circuit and step be above with
Its functional form makees vague generalization description.Such feature be implemented as hardware or software depend on concrete application and
Put on the design constraint of total system.Technical staff for every kind of application-specific can be realized with different modes it is described
Feature, but such realize that decision-making should not be interpreted to cause departing from the scope of the present invention.
Various illustrative logic plates, module and circuit with reference to presently disclosed embodiment description can use general place
Reason device, digital signal processor (DSP), special IC (ASIC), field programmable gate array (FPGA) or other can compile
Journey logical device, discrete door or transistor logic, discrete nextport hardware component NextPort or its be designed to carry out function described herein
Any combinations are realizing or perform.General processor can be microprocessor, but in alternative, the processor can be appointed
What conventional processor, controller, microcontroller or state machine.Processor is also implemented as the combination of computing device, example
The one or more microprocessors that cooperate with DSP core with the combination of microprocessor, multi-microprocessor such as DSP or it is any its
His such configuration.
The step of method described with reference to embodiment disclosed herein or algorithm, can be embodied directly in hardware, in by processor
Embody in the software module of execution or in combination of the two.Software module can reside in RAM memory, flash memory, ROM and deposit
Reservoir, eprom memory, eeprom memory, register, hard disk, removable disk, CD-ROM or known in the art appoint
In the storage medium of what other forms.Exemplary storage medium is coupled to processor so that the processor can be from/to the storage
Medium reads and writes information.In alternative, storage medium can be integrated into processor.Processor and storage medium can
In residing in ASIC.ASIC can reside in user terminal.In alternative, processor and storage medium can be used as discrete sets
Part is resident in the user terminal.
In one or more exemplary embodiments, described function can be in hardware, software, firmware or its any combinations
Middle realization.If being embodied as computer program in software, each function can be used as the instruction of one or more bars or generation
Code storage on a computer-readable medium or mat its transmitted.Computer-readable medium includes computer-readable storage medium and communication
Both media, it includes any medium for facilitating computer program to shift from one place to another.Storage medium can be can quilt
Any usable medium that computer is accessed.It is non-limiting as an example, such computer-readable medium may include RAM, ROM,
EEPROM, CD-ROM or other optical disc storages, disk storage or other magnetic storage apparatus can be used to carry or store instruction
Or the desirable program code and any other medium that can be accessed by a computer of data structure form.Any connection is also by by rights
Referred to as computer-readable medium.For example, if software is to use coaxial cable, fiber optic cables, twisted-pair feeder, digital subscriber line
Or the wireless technology of such as infrared, radio and microwave etc is passed from web site, server or other remote sources (DSL)
Send, then the coaxial cable, fiber optic cables, twisted-pair feeder, DSL or such as infrared, radio and microwave etc is wireless
Technology is just included among the definition of medium.Disk (disk) as used herein and dish (disc) include compact disc
(CD), laser disc, laser disc, digital versatile disc (DVD), floppy disk and blu-ray disc, which disk (disk) is often reproduced in the way of magnetic
Data, and dish (disc) laser reproduce data optically.Combinations of the above should also be included in computer-readable medium
In the range of.
It is for so that any person skilled in the art all can make or using this public affairs to provide of this disclosure being previously described
Open.Various modifications of this disclosure all will be apparent for a person skilled in the art, and as defined herein general
Suitable principle can be applied to spirit or scope of other variants without departing from the disclosure.Thus, the disclosure is not intended to be limited
Due to example described herein and design, but should be awarded and principle disclosed herein and novel features phase one
The widest scope of cause.
Claims (7)
1. a kind of steering control system of container automatically guiding trolley, it is characterised in that system includes：
Navigation controller, specific action command is decomposed under automatic steer mode by system command, realize to vehicle from
Dynamic manipulation；
Remote-control handle, realizes manual manipulation of the operating personnel to vehicle under manual manipulation pattern；
Encoder is turned to, the actual rotational angle of the wheel of dolly is detected and is formed closed loop as feedback data；
Automobile controller, by the identification and calculating to automatic steer mode and manipulation control model steering angle and evidence are determined
The vehicle bridge of this manipulation dolly is turned to and wheel steering；
Controlling bus networking, the data of each component of steering control system by controlling bus real-time performance each other are led to
Letter.
2. the steering control system of container automatically guiding trolley according to claim 1, it is characterised in that course changing control
System also includes：
Hydraulic steering system, comprising hydraulic oil pump motor, oil pump, magnetic valve, proportioning valve, for vehicle provide service brake,
Parking braking and the function of steering.
3. the steering control system of container automatically guiding trolley according to claim 1, it is characterised in that course changing control
System also includes：
Motor driven systems, comprising motor driver, motor, motor encoder.
4. the steering control system of container automatically guiding trolley according to claim 1, it is characterised in that automobile-used control
Device includes：
Pattern recognition module, identification is currently at automatic steer mode or manual manipulation pattern；
Encoder feedback module is turned to, the numerical value of vehicle bridge turn around parameters is processed as according to the actual rotational angle of the car wheel for detecting；
General course changing control module, the steering data provided according to the navigation controller under automatic steer mode or manual manipulation
The steering data that remote-control handle under pattern is provided, are converted into vehicle bridge turn around parameters and wheel steering parameter；
Actual steering control module, it is on the one hand given using the vehicle bridge turn around parameters of dolly as control, with reference to steering encoder feedback
The corresponding numerical value of module, calculates the operating parameter that vehicle bridge is turned to, and is on the other hand turned based on the vehicle bridge turn around parameters of dolly, wheel
To the corresponding numerical value of parameter, dolly chassis form and steering encoder feedback module, the operating parameter of wheel steering is calculated.
5. the steering control system of container automatically guiding trolley according to any one of claim 1 to 4, its feature exists
In the chassis of container automatically guiding trolley is the framework of Ackermann steering vehicle bridge.
6. a kind of rotating direction control method of container automatically guiding trolley, it is characterised in that method includes：
Identification is currently at automatic steer mode or manual manipulation pattern；
Remote-control handle under the steering data provided according to the navigation controller under automatic steer mode or manual manipulation pattern
The steering data of offer, are vehicle bridge turn around parameters and wheel steering parameter based on general course changing control model conversation；
On the one hand it is given using the vehicle bridge turn around parameters of dolly as control, calculate what vehicle bridge was turned to by actual steering Controlling model
Operating parameter, on the other hand based on the vehicle bridge turn around parameters of dolly, wheel steering parameter, dolly chassis form, is turned by actual
The operating parameter of wheel steering is calculated to Controlling model, wherein the actual rotational angle of the car wheel for detecting is processed as into dolly
Vehicle bridge turn around parameters numerical value as actual steering Controlling model feedback closed loop.
7. the rotating direction control method of container automatically guiding trolley according to claim 6, it is characterised in that container from
The chassis of dynamic pilot trolley is the framework of Ackermann steering vehicle bridge.
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| CN201710081060.4A CN106627841B (en) | 2017-02-15 | 2017-02-15 | The steering control system and method for container automatically guiding trolley |
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| CN201710081060.4A CN106627841B (en) | 2017-02-15 | 2017-02-15 | The steering control system and method for container automatically guiding trolley |
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| CN112896364A (en) * | 2021-02-08 | 2021-06-04 | 西安优艾智合机器人科技有限公司 | Driving device for automatic guided vehicle, automatic guided vehicle and robot |
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| CN106627841B (en) | 2019-06-14 |
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