CN107272693B - Automatic docking system and method based on omnidirectional vehicle and assembly station - Google Patents
Automatic docking system and method based on omnidirectional vehicle and assembly station Download PDFInfo
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- G—PHYSICS
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- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, 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
- G05D1/0225—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory involving docking at a fixed facility, e.g. base station or loading bay
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- 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
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- G—PHYSICS
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- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
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- 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
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- 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
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Abstract
The invention relates to an automatic docking system and method based on an omnidirectional vehicle and an assembly station, and belongs to the technical field of automatic logistics and assembly. The invention has the following beneficial effects: 1) the laser displacement sensor is adopted to measure the front end attitude of the vehicle body in real time, the vehicle body movement is continuously adjusted to complete automatic butt joint, high-precision automatic butt joint can be realized, the control precision is controlled within 0.5mm, and compared with other butt joint schemes, the method is stable and reliable. 2) Compared with manual butt joint, the automatic butt joint time is short, the efficiency is high, the no-load butt joint time is less than 1 minute, and the full-load butt joint time is less than 2 minutes. 3) The laser displacement sensor has low cost, small volume and convenient installation. 4) The automatic assembling device is applied to automatic assembling production, improves the automation level and efficiency, and reduces the labor time.
Description
Technical Field
The invention relates to the technical field of automatic logistics and assembly, in particular to an automatic butt joint system and method based on an omnidirectional vehicle and an assembly station.
Background
The assembly production line is in the starting stage in domestic space flight product workshop, and product and spare part are transported and still are given first place to the manual work, if the small handcart is transported, the overhead traveling crane transports etc. need many people to operate and have certain danger, along with the continuous development of automatic assembly and logistics technique, the important component link that becomes automatic assembly is transported in intelligence commodity circulation, no longer need many people to transport in coordination, and product spare part is between different factory buildings, independently transports between the different stations. Therefore, the development of automatic assembly technology is one of the most important parts of intelligent manufacturing at present, and the assembly automatic detection technology, the assembly digital positioning technology and the assembly automatic transfer technology are the technical keys of automatic assembly.
At present, an automatic AGV transferring technology is mature, but a technology which is applied to assembly production and can automatically butt joint with stations at high precision and low cost has no mature case. There are several kinds of solutions at present with the automatic butt joint of station of AGV car carrying bracket, and the first scheme adopts the automatic butt joint of mechanical guide, AGV car bottom installation guide block, ground installation guiding hole to two uide pins of front end installation make AGV car guide block get into in the guiding hole through navigation auxiliary control, and this scheme shortcoming is that the construction degree of difficulty is big, and control accuracy relies on mechanical direction, can't guarantee that automobile body front end guide rail aligns with the station guide rail. The second scheme adopts high-precision measuring equipment such as a laser tracker or high-speed vision measurement to carry out automatic butt joint, and the precision of the second scheme meets the butt joint requirement, but has the defects of high cost and complex measurement.
Therefore, not only the research on the automatic docking technology needs to meet the technical requirements in terms of precision, but also factors such as cost, convenience in installation and the like are key for restricting the automatic assembly technology.
Disclosure of Invention
Technical problem to be solved
The technical problem to be solved by the invention is as follows: how to adopt low-cost realization high accuracy qxcomm technology car and assemble the automatic butt joint function of station.
(II) technical scheme
In order to solve the technical problem, the invention provides an automatic butt joint system based on an omnidirectional vehicle and an assembly station, which comprises a first laser displacement sensor, a second laser displacement sensor, a third laser displacement sensor, a vehicle body motion control system, an upper computer central control system and a vehicle body driving system, wherein the first laser displacement sensor and the second laser displacement sensor are respectively arranged on the omnidirectional vehicle and the assembly stationThe front end of the vehicle is provided with two sides, one side is provided, the detection direction is the advancing direction of the vehicle body, the third laser displacement sensor is arranged at the central position of the front end of the vehicle body, the detection direction is the transverse direction of the vehicle body, three baffles are arranged below the assembly station, and the distances from the first laser displacement sensor, the second laser displacement sensor and the third laser displacement sensor to the corresponding baffles are d respectively1、d2And d3The vehicle body motion control system is used for receiving distance information detected by the first, second and third laser displacement sensors and controlling the action of the four wheel motors in real time, the upper computer central control system is used for dispatching the omnidirectional vehicle to autonomously transfer and automatically butt joint, the vehicle body drive system comprises four servo drivers and four servo motors, the vehicle body motion control system is connected with the four servo drivers, the servo drivers are respectively connected with one servo motor in a one-to-one mode, the vehicle body motion control system sends motion instructions to the servo drivers, and the servo drivers drive the servo motors to rotate according to the instructions at given speed and direction.
Preferably, the system also comprises a butt joint overload alarm system which is used for acquiring the currents of the four servo motors in real time and transmitting current signals to the vehicle body motion controller, and when the vehicle body motion controller judges that the butt joint is overloaded according to the current signals, the vehicle body motion controller releases the motor to enable and automatically stops a butt joint motion program.
Preferably, the vehicle body motion control system receives distance information detected by the first, second and third laser displacement sensors through the wireless communication module.
The invention also provides a method for carrying out automatic butt joint based on the omnidirectional vehicle and the assembly station by using the system, which comprises the following steps:
the starting point and the terminal point of the omnidirectional vehicle are set through the upper computer central control system, the omnidirectional vehicle carries the frame to conduct autonomous navigation and transfer, when the omnidirectional vehicle reaches an assembly station area, the omnidirectional vehicle starts to decelerate, meanwhile, the automatic butt joint system monitors the front distance and the transverse distance in real time, and when the first laser displacement sensor and the second laser displacement sensor detect the front distance d1And d2When the distance is respectively 100mm, the vehicle body stops moving, starts to automatically butt joint with an assembly station, and the vehicle body movement control system is generalD is obtained by calculating the measured values of three laser displacement sensors1-d2Calculating to obtain delta d for the left and right deflection error of the front end of the vehicle body1＝d3-d4A left-right lateral offset error of the front end of the vehicle body, wherein d4Set 100mm in the transverse direction, and sum of Δ d and Δ d1PID control is respectively carried out as a measurement deviation value, and the principle is as follows: first, the vehicle body is subjected to in-situ attitude adjustment to adjust Δ d and Δ d1The value is controlled within +/-2 mm simultaneously, the in-situ adjustment is divided into rotation adjustment and transverse movement adjustment with the front end as the center, the adjustment sequences of the rotation adjustment and the transverse movement adjustment can be interchanged, and the rotation adjustment with the front end as the center is as follows: when Δ d>2mm or Δ d<Setting the front end center point of the frame as a turning origin for rotation at 2mm, presetting the value of the rear end wheel angular velocity of the vehicle body when the vehicle body rotates around the turning origin, and calculating the front end wheel angular velocity of the vehicle body when the vehicle body rotates around the turning origin according to the formula (1):
ωi/ωk＝(H-W-L)/(-(H+W+L)) (1)
wherein ω isiFor the front two wheel angular velocities, omegakThe angular speeds of two rear wheels, H is the distance from the center of the vehicle body to a rotation point, W is the transverse distance from the center of the vehicle body to the center of the wheel, and L is the longitudinal distance from the center of the vehicle body to the center of the wheel; the lateral movement is adjusted to: when Δ d1>2mm or Δ d1<At-2 mm, make the vehicle body advance at a speed vyWhen the vehicle body rotation angular velocity ω is 0, the left-right deviation error value Δ d is obtained1Carrying out a vehicle body transverse velocity vxAdjusting the transverse displacement of the vehicle body; the left-right transverse movement deviation and the left-right deflection deviation are less than 2mm through the in-situ adjustment; then, fuzzy PID adjustment of real-time attitude is performed while the vehicle body is moving forward to ensure Δ d and Δ d1Within + -0.5 mm, in which the forward speed v of the vehicle body is setyThe vehicle body rotation angular velocity omega is adjusted according to the value of delta d and is adjusted according to delta d when the value of delta d is 0.05m/s1Value of (d) to the transverse velocity v of the vehicle bodyxAnd (3) adjusting, wherein the wheel angular speed is calculated in real time in the adjusting process as shown in a formula (2):
wherein ω is1、ω2、ω3、ω4The angular velocities of the front left wheel, the front right wheel, the rear left wheel and the rear right wheel respectively, the radius of the wheel is r, and the front-rear distance from the center of the vehicle body to the center of the wheel is lyThe transverse distance from the center of the vehicle body to the center of the wheel is lxAdjusting the vehicle body attitude in real time through the angular velocity values of different wheels obtained through real-time calculation, and adjusting the vehicle body attitude to delta d and delta d1When the error is within +/-0.5 mm, the current angular velocity values of the four wheels are sent to a wheel driving system, and then the vehicle body is controlled to move; when the first laser displacement sensor and the second laser displacement sensor measure that the front distance is 70mm, the vehicle body decelerates and stops, the vehicle frame is in contact with the assembly station, and the automatic butt joint task is completed.
Preferably, the frame carried by the omnidirectional vehicle is a 7m frame.
(III) advantageous effects
The invention has the following beneficial effects:
1) the laser displacement sensor is adopted to measure the posture of the front end of the vehicle body in real time, the vehicle body movement is continuously adjusted to complete automatic butt joint, high-precision automatic butt joint can be achieved, the control precision is controlled within 0.5mm, the product can be guaranteed to pass through smoothly, and the laser displacement sensor is stable and reliable compared with other butt joint schemes.
2) Compared with manual butt joint, the automatic butt joint time is short, the efficiency is high, the no-load butt joint time is less than 1 minute, and the full-load butt joint time is less than 2 minutes.
3) The laser displacement sensor has low cost, small volume and convenient installation.
4) The automatic assembling device is applied to automatic assembling production, improves the automation level and efficiency, and reduces the labor time.
Drawings
FIG. 1 is a schematic diagram of an automated docking system of the present invention;
FIG. 2 is a schematic diagram of the automatic docking control system of the present invention;
fig. 3 is a control flow diagram of the present invention.
Detailed Description
In order to make the objects, contents, and advantages of the present invention clearer, the following detailed description of the embodiments of the present invention will be made in conjunction with the accompanying drawings and examples.
The automatic butt-joint scheme based on the omnidirectional vehicle and the assembly station can be applied to a digital pulsation production line and a digital flexible assembly workstation, is used as a component of intelligent logistics distribution, and can complete the movement of a 7m vehicle frame carried by the omnidirectional vehicle to an assembly station butt-joint area through navigation, perform attitude adjustment and perform automatic butt-joint with the assembly station.
The automatic butt joint system based on the omnidirectional vehicle and the assembly station is designed based on a Mecanum wheel omnidirectional vehicle platform, the platform can move freely in all directions, and 2.5t products can be carried by carrying a 7m vehicle frame. When the automatic butt joint is completed, the product can be moved from the frame to the assembly station through the support bracket; in order to ensure that the product can move smoothly, the left-right deflection error and the transverse error between the frame and the guide rail of the assembly station are less than +/-0.5 mm.
The assembly station is used for assembling parts and products, the guide rails are arranged above the assembly station, and a plurality of groups of brackets for supporting the products can move on the guide rails with power and can rotate the products.
The automatic butt joint system comprises a first laser displacement sensor, a second laser displacement sensor, a third laser displacement sensor, a vehicle body motion control system, an upper computer central control system and a vehicle body driving system, wherein the first laser displacement sensor and the second laser displacement sensor are arranged on two sides of the front end of a vehicle, the detection direction is the advancing direction of the vehicle body, the third laser displacement sensor is arranged at the central position of the front end of the vehicle body, the detection direction is the transverse direction of the vehicle body, three baffles are arranged below an assembly station, and the distances from the first laser displacement sensor, the second laser displacement sensor and the third laser displacement sensor to the baffles are d respectively when the first laser displacement sensor, the second laser1、d2And d3The vehicle body motion control system is used for receiving the distance information detected by the first, second and third laser displacement sensors and controlling the actions of the four wheel motors in real time, and the upper computer central control system comprises a main control interface and a non-main control interfaceThe line communication module is used for dispatching the omnidirectional vehicle to autonomously transfer and automatically butt, wherein the vehicle body driving system comprises four servo drivers and four servo motors, the vehicle body motion control system is connected with the four servo drivers, the servo drivers are respectively connected with one servo motor in a one-to-one mode, the vehicle body motion control system sends motion instructions to the servo drivers, and the servo drivers drive the servo motors to rotate according to the instructions and the given speed and direction.
The invention discloses an automatic butt joint method based on an omnidirectional vehicle and an assembly station, which comprises the following steps: the starting point and the terminal point of the omnidirectional vehicle are set through a master control interface of an upper computer central control system, the omnidirectional vehicle carries a 7m vehicle frame to conduct autonomous navigation and transfer, when the omnidirectional vehicle reaches an assembly station area, the omnidirectional vehicle starts to decelerate, meanwhile, an automatic butt joint system monitors the front distance and the transverse distance in real time, and when a first laser displacement sensor and a second laser displacement sensor detect the front distance d1And d2When the distance is 100mm, the vehicle body stops moving, automatic butt joint with an assembly station is started, the left and right transverse accuracy of the guide rail at the upper end of the vehicle body and the guide rail of the assembly station is +/-0.5 mm and the left and right deflection accuracy is +/-0.5 mm according to requirements, and the vehicle body motion control system calculates to obtain delta d-d through a measured value1-d2Is a lateral deflection error, Δ d, of the front end of the vehicle body1＝d3-d4Is a lateral offset error of the front end of the vehicle body, wherein d4Set 100mm in the transverse direction, and sum of Δ d and Δ d1PID control is respectively carried out as a measurement deviation value, and the principle of automatic butt joint control is as follows: first, the vehicle body is subjected to in-situ attitude adjustment to adjust Δ d and Δ d1The values are controlled within +/-2 mm simultaneously, the in-situ adjustment is divided into rotation adjustment taking the front end as the center and transverse movement adjustment, and the execution sequence of the two adjustment actions can be interchanged. Front end is used as center to rotate and adjust: when Δ d>2mm or Δ d<Setting the front end center point of the frame as a turning origin for rotation at 2mm, presetting the value of the rear end wheel angular velocity of the vehicle body when the vehicle body rotates around the turning origin, and calculating the front end wheel angular velocity of the vehicle body when the vehicle body rotates around the turning origin according to the formula (1):
ωi/ωk＝(H-W-L)/(-(H+W+L)) (1)
wherein ω isiFor the front two wheel angular velocities, omegakThe angular velocity of two rear wheels, H is the distance from the center of the vehicle body to the rotation point, W is the transverse distance from the center of the vehicle body to the center of the wheel, and L is the longitudinal distance from the center of the vehicle body to the center of the wheel. The ratio of the front wheel angular velocity to the rear wheel angular velocity is 0.374, and the front wheel angular velocity of the vehicle body is smaller than the rear wheel angular velocity, so that the front end swing amplitude of the vehicle body is small, and the deflection precision is easy to control; and (3) transverse movement adjustment: when Δ d1>2mm or Δ d1<At-2 mm, make the vehicle body advance at a speed vyWhen the vehicle body rotation angular velocity ω is 0, the left-right deviation error value Δ d is obtained1Carrying out a vehicle body transverse velocity vxAdjusting the transverse displacement of the vehicle body; the left-right transverse movement deviation and the left-right deflection deviation are finally ensured to be less than 2mm through the in-situ adjustment; secondly, the vehicle body moves forward slowly while performing fuzzy PID adjustment of real-time attitude to ensure Δ d and Δ d1Within + -0.5 mm, in which the forward speed v of the vehicle body is setyThe vehicle body rotation angular velocity omega is adjusted according to the value of delta d and is adjusted according to delta d when the value of delta d is 0.05m/s1Value of (d) to the transverse velocity v of the vehicle bodyxAnd (3) adjusting, wherein the wheel angular speed is calculated in real time (once every preset time) in the adjusting process as shown in a formula (2):
wherein ω is1、ω2、ω3、ω4The angular velocities of the front left wheel, the front right wheel, the rear left wheel and the rear right wheel respectively, the radius of the wheel is r, and the front-rear distance from the center of the vehicle body to the center of the wheel is lyThe transverse distance from the center of the vehicle body to the center of the wheel is lxAdjusting the vehicle body attitude in real time through the angular velocity values of different wheels obtained through real-time calculation, and adjusting the vehicle body attitude to delta d and delta d1When the error is within +/-0.5 mm, the current angular velocity values of the four wheels are sent to a wheel driving system, and then the vehicle body is controlled to move; when the first and second laser displacement sensors measure that the front distance is changed into 70mm, the vehicle body decelerates and stops, the guide rail on the vehicle frame contacts with the assembly station, and automatic alignment is completedAnd (6) receiving a task.
The invention relates to a general structure diagram of a butt joint system shown in figure 1, which comprises a first laser displacement sensor 1, a second laser displacement sensor 2 and a third laser displacement sensor 3, wherein 4 is a baffle, 5 is an (omnidirectional vehicle) frame, 6 is an assembly station, and 7 is a butt joint guide rail. The first, second and third laser displacement sensors 1, 2 and 3 are used for measuring the front and transverse distances and adjusting the postures according to the measured values; the baffle 4 comprises a front measuring baffle and a transverse measuring baffle, and the position can be freely and finely adjusted; a guide rail is arranged above the frame 5 and used for supporting the product bracket to move, and the length of the frame is 7 m.
FIG. 2 is a schematic diagram of an automatic docking control system, wherein an upper computer central control system sends an automatic docking command, three laser displacement sensors input distance values into a vehicle body motion controller through a wireless communication module, a magnetic stripe of the vehicle body motion controller performs a fuzzy PID control algorithm according to feedback values to calculate the angular velocities of the movement of four groups of wheels and sends control information to a wheel driving system to further control the motion of a vehicle body; meanwhile, the butt joint overload alarm system collects the current of the motor in real time and transmits a signal to the vehicle body motion controller, and when overload occurs after butt joint, the vehicle body motion controller releases the motor to enable, and the butt joint motion program is automatically stopped.
FIG. 3 is a control flow chart of an automatic docking system, wherein the automatic docking control link comprises in-situ low-precision adjustment and in-progress high-precision adjustment, the in-situ adjustment comprises transverse movement adjustment and front-end-centered rotation adjustment, and the control algorithm of the in-progress adjustment adopts fuzzy PID adjustment and can simultaneously adjust the left-right deflection angle and the left-right transverse offset of the vehicle body. The operation process is as follows:
the first step is as follows: starting a master control interface of the omnidirectional vehicle transfer system, wherein the master control interface is communicated with the omnidirectional vehicle; after the communication is successful, a docking station number is set, and a 'start navigation' button is started.
The second step is that: the omnidirectional vehicle automatically navigates and transfers according to a set route, and when the omnidirectional vehicle reaches a butt joint area, the omnidirectional vehicle starts to decelerate until the three laser displacement sensors have measured distance values, and then automatic butt joint is carried out.
The third step: firstly, the attitude of the vehicle body is adjusted in situ, so that the angle deviation value and the left-right value of the front end of the vehicle body are within the range of 2mm, secondly, the forward moving and the middle omni-directional adjustment are started, and the adjusting steps are shown in figure 3.
The fourth step: when the detection distances d1 and d2 are smaller than the set value of 70mm, the omnidirectional vehicle stops butting, and the vehicle body guide rail is aligned with the station guide rail.
The fifth step: and starting a product transferring command to a station, and carrying the product by the bracket on the station automatically transferred from the frame.
The above description is only a preferred embodiment of the present invention, and it should be noted that, for those skilled in the art, several modifications and variations can be made without departing from the technical principle of the present invention, and these modifications and variations should also be regarded as the protection scope of the present invention.
Claims (4)
1. A method for carrying out automatic butt joint based on an omnidirectional vehicle and an assembly station by utilizing an automatic butt joint system based on the omnidirectional vehicle and the assembly station is characterized in that the automatic butt joint system based on the omnidirectional vehicle and the assembly station comprises a first laser displacement sensor, a second laser displacement sensor, a third laser displacement sensor, a vehicle body motion control system, an upper computer central control system and a vehicle body driving system, wherein the first laser displacement sensor and the second laser displacement sensor are respectively arranged on two sides of the front end of the omnidirectional vehicle, one is arranged on one side, the detection direction is the vehicle body advancing direction, the third laser displacement sensor is arranged at the central position of the front end of the vehicle body, the detection direction is the vehicle body transverse direction, three baffles are arranged below the assembly station, and the distances from the first laser displacement sensor, the second laser displacement sensor and the third laser displacement sensor to the corresponding1、d2And d3The vehicle body motion control system is used for receiving distance information detected by the first, second and third laser displacement sensors and controlling the actions of the four wheel motors in real time, the upper computer central control system is used for dispatching the omnidirectional vehicle to autonomously transfer and automatically butt, the vehicle body driving system comprises four servo drivers and four servo motors, the vehicle body motion control system is connected with the four servo drivers, and the servo drivers are respectively connected with one servo motor in a one-to-one mannerThe vehicle body motion control system sends a motion command to the servo driver, and the servo driver drives the servo motor to rotate according to the command at a given speed and direction;
the method based on the automatic butt joint of the omnidirectional vehicle and the assembly station comprises the following steps:
the starting point and the terminal point of the omnidirectional vehicle are set through the upper computer central control system, the omnidirectional vehicle carries the frame to conduct autonomous navigation and transfer, when the omnidirectional vehicle reaches an assembly station area, the omnidirectional vehicle starts to decelerate, meanwhile, the automatic butt joint system monitors the front distance and the transverse distance in real time, and when the first laser displacement sensor and the second laser displacement sensor detect the front distance d1And d2When the distance is 100mm, the vehicle body stops moving and starts to be automatically butted with an assembly station, and a vehicle body movement control system calculates delta d through the measured values of three laser displacement sensors1-d2Calculating to obtain delta d for the left and right deflection error of the front end of the vehicle body1＝d3-d4A left-right lateral offset error of the front end of the vehicle body, wherein d4Set 100mm in the transverse direction, and sum of Δ d and Δ d1PID control is respectively carried out as a measurement deviation value, and the principle is as follows: first, the vehicle body is subjected to in-situ attitude adjustment to adjust Δ d and Δ d1The value is controlled within +/-2 mm simultaneously, the in-situ adjustment is divided into rotation adjustment and transverse movement adjustment with the front end as the center, the adjustment sequences of the rotation adjustment and the transverse movement adjustment can be interchanged, and the rotation adjustment with the front end as the center is as follows: when Δ d>2mm or Δ d<Setting the front end center point of the frame as a turning origin for rotation at 2mm, presetting the value of the rear end wheel angular velocity of the vehicle body when the vehicle body rotates around the turning origin, and calculating the front end wheel angular velocity of the vehicle body when the vehicle body rotates around the turning origin according to the formula (1):
ωi/ωk＝(H-W-L)/(-(H+W+L)) (1)
wherein ω isiFor the front two wheel angular velocities, omegakThe angular speeds of two rear wheels, H is the distance from the center of the vehicle body to a rotation point, W is the transverse distance from the center of the vehicle body to the center of the wheel, and L is the longitudinal distance from the center of the vehicle body to the center of the wheel; the lateral movement is adjusted to: when Δ d1>2mm or Δ d1<At-2 mm, make the vehicle body advance at a speed vyWhen the vehicle body rotation angular velocity ω is 0, and the vehicle body rotation angular velocity ω is deviated by the left-right lateral deviation error Δ d1Carrying out a vehicle body transverse velocity vxAdjusting the transverse displacement of the vehicle body; the left-right transverse offset error and the left-right deflection error are ensured to be less than 2mm by the in-situ adjustment; then, fuzzy PID adjustment of real-time attitude is performed while the vehicle body is moving forward to ensure Δ d and Δ d1Within + -0.5 mm, in which the forward speed v of the vehicle body is setyThe vehicle body rotation angular velocity omega is adjusted according to the value of delta d and is adjusted according to delta d when the value of delta d is 0.05m/s1Value of (d) to the transverse velocity v of the vehicle bodyxAnd (3) adjusting, wherein the wheel angular speed is calculated in real time in the adjusting process as shown in a formula (2):
wherein ω is1、ω2、ω3、ω4The angular velocities of the front left wheel, the front right wheel, the rear left wheel and the rear right wheel respectively, the radius of the wheel is r, and the front-rear distance from the center of the vehicle body to the center of the wheel is lyThe transverse distance from the center of the vehicle body to the center of the wheel is lxAdjusting the vehicle body attitude in real time through the angular velocity values of different wheels obtained through real-time calculation, and adjusting the vehicle body attitude to delta d and delta d1When the error is within +/-0.5 mm, the current angular velocity values of the four wheels are sent to a wheel driving system, and then the vehicle body is controlled to move; when the first laser displacement sensor and the second laser displacement sensor measure that the front distance is 70mm, the vehicle body decelerates and stops, the vehicle frame is in contact with the assembly station, and the automatic butt joint task is completed.
2. The method as claimed in claim 1, further comprising a butt-joint overload alarm system for collecting the currents of the four servo motors in real time and transmitting current signals to the car body motion controller, wherein when the car body motion controller judges that overload occurs after butt joint according to the current signals, the car body motion controller releases the motor enable and automatically stops the butt joint motion program.
3. The method according to claim 1 or 2, wherein the vehicle body motion control system receives the distance information detected by the first, second and third laser displacement sensors through a wireless communication module.
4. The method of claim 1, wherein the omni-directional vehicle carries a frame that is a 7m frame.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201710585406.4A CN107272693B (en) | 2017-07-18 | 2017-07-18 | Automatic docking system and method based on omnidirectional vehicle and assembly station |
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| CN201710585406.4A CN107272693B (en) | 2017-07-18 | 2017-07-18 | Automatic docking system and method based on omnidirectional vehicle and assembly station |
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| CN113093215B (en) * | 2021-04-01 | 2022-10-14 | 南京航空航天大学 | Mobile platform tracking method based on laser ranging |
| CN113417207A (en) * | 2021-06-24 | 2021-09-21 | 武汉武桥交通装备技术有限公司 | Automatic docking system and method |
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