CN107422728B - Logistics robot lateral deviation control method and logistics robot - Google Patents

Logistics robot lateral deviation control method and logistics robot Download PDF

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Publication number
CN107422728B
CN107422728B CN201710399255.3A CN201710399255A CN107422728B CN 107422728 B CN107422728 B CN 107422728B CN 201710399255 A CN201710399255 A CN 201710399255A CN 107422728 B CN107422728 B CN 107422728B
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agv
deviation
logistics robot
speed
angle
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CN107422728A (en
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袁瑞萍
郝岩
董婷婷
李园园
李俊韬
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Beijing Wuzi University
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Beijing Wuzi University
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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
    • G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
    • 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
    • G05B11/00—Automatic controllers
    • G05B11/01—Automatic controllers electric
    • G05B11/36—Automatic controllers electric with provision for obtaining particular characteristics, e.g. proportional, integral, differential
    • G05B11/42—Automatic controllers electric with provision for obtaining particular characteristics, e.g. proportional, integral, differential for obtaining a characteristic which is both proportional and time-dependent, e.g. P. I., P. I. D.
    • 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

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  • Engineering & Computer Science (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Electromagnetism (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)

Abstract

The embodiment of the application provides a method for controlling horizontal deviation of a logistics robot and the logistics robot, wherein the method comprises the following steps: initializing the position of the logistics robot at the starting point of the two-dimensional bar code; when the logistics robot works, judging whether the logistics robot reaches a landmark point or not by using a camera or a code disc; according to whether the logistics robot reaches a landmark point or not, calculating course deviation and transverse deviation of the logistics robot by using a dynamic single-point pre-aiming method; calculating the angle deviation of the logistics robot according to the course deviation and the transverse deviation of the logistics robot; and adjusting the left and right wheel rotating speeds of the logistics robot through proportional-integral-derivative PID control according to the angle deviation and the speed of the logistics robot, so as to control the transverse deviation of the logistics robot. The technical scheme improves the guidance precision of the logistics robot.

Description

Logistics robot lateral deviation control method and logistics robot
Technical Field
The application relates to the technical field of logistics robots, in particular to a logistics robot lateral deviation control method and a logistics robot.
Background
An automatic guided vehicle (Automated Guided Vehicle) is an AGV for short, which is equipped with an automatic guiding device at a work site, can travel along a prescribed guiding path, has safety protection and various transfer functions, and belongs to a wheeled mobile robot. The AGV based on the identification of the landmarks by the vision or other sensors obtains the information of the landmarks on the ground through the vehicle-mounted sensor to guide the AGV to travel along a preset track, and meanwhile, the gesture of the AGV is dynamically adjusted by utilizing the data collected by the encoder and the gyroscope in the traveling process, but the lateral deviation control of the AGV in the straight traveling process is still a difficult problem.
Disclosure of Invention
The embodiment of the application provides a horizontal deviation control method of a logistics robot and the logistics robot, so as to improve the guidance precision of the logistics robot.
In one aspect, an embodiment of the present application provides a method for controlling lateral deviation of a logistics robot, where the method includes:
initializing the position of the logistics robot at the starting point of the two-dimensional bar code;
when the logistics robot works, judging whether the logistics robot reaches a landmark point or not by using a camera or a code disc;
according to whether the logistics robot reaches a landmark point or not, calculating course deviation and transverse deviation of the logistics robot by using a dynamic single-point pre-aiming method;
calculating the angle deviation of the logistics robot according to the course deviation and the transverse deviation of the logistics robot;
and adjusting the left and right wheel rotating speeds of the logistics robot through proportional-integral-derivative PID control according to the angle deviation and the speed of the logistics robot, so as to control the transverse deviation of the logistics robot.
In another aspect, an embodiment of the present application provides a logistic robot, including: the camera is arranged at the bottom of the logistics robot, connected with the central processing unit and used for collecting the position information of the two-dimensional bar code points on the ground; the code disc is connected with the central processing unit and is used for calculating the driving distance and judging whether the distance D between the driving distance and the bar code point is equal or not;
the central processing unit is used for initializing the position of the logistics robot at the starting point of the two-dimensional bar code; when the logistics robot works, judging whether the logistics robot reaches a landmark point by utilizing the camera or the code disc;
the central processing unit is used for calculating the course deviation and the transverse deviation of the logistics robot by using a dynamic single-point pre-aiming method according to whether the logistics robot reaches a landmark point or not; calculating the angle deviation of the logistics robot according to the course deviation and the transverse deviation of the logistics robot; and adjusting the left and right wheel rotating speeds of the logistics robot through proportional-integral-derivative PID control according to the angle deviation and the speed of the logistics robot, so as to control the transverse deviation of the logistics robot.
The technical scheme has the following beneficial effects: 1. the two-dimensional bar code camera is adopted, so that the precision is high; 2. the AGV driving deviation information processing is realized by combining the two-dimensional bar code point route, and the processing method is simple and accurate; 3. the AGV lateral deviation control is realized by PID control, and the AGV lateral deviation control is easy to realize by adopting a simple module.
Drawings
In order to more clearly illustrate the embodiments of the application or the technical solutions in the prior art, the drawings that are required in the embodiments or the description of the prior art will be briefly described, it being obvious that the drawings in the following description are only some embodiments of the application, and that other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
FIG. 1 is a flow chart of a method for controlling horizontal deflection of a logistics robot according to an embodiment of the present application;
FIG. 2 is a schematic structural diagram of a logistic robot according to an embodiment of the present application;
fig. 3 is an overall flowchart of an application example AGV cross bias control method of the present application;
fig. 4 is a schematic structural diagram of an embodiment of an AGV bias control system according to an embodiment of the present application;
fig. 5 is a schematic structural view of one embodiment of an AGV cross-bias control device according to an embodiment of the present application;
FIG. 6 is a schematic diagram of a motion model of an AGV controlled and regulated by an AGV bias control method according to an embodiment of the present application;
FIG. 7 is a schematic diagram of an AGV initialization reference for an embodiment of the present application.
Detailed Description
The following description of the embodiments of the present application will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present application, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the application without making any inventive effort, are intended to be within the scope of the application.
As shown in fig. 1, a flow chart of a method for controlling lateral deviation of a logistics robot according to an embodiment of the present application is shown, where the method includes:
101. initializing the position of the logistics robot at the starting point of the two-dimensional bar code;
102. when the logistics robot works, judging whether the logistics robot reaches a landmark point or not by using a camera or a code disc;
103. according to whether the logistics robot reaches a landmark point or not, calculating course deviation and transverse deviation of the logistics robot by using a dynamic single-point pre-aiming method;
104. calculating the angle deviation of the logistics robot according to the course deviation and the transverse deviation of the logistics robot;
105. and adjusting the left and right wheel rotating speeds of the logistics robot through proportional-integral-derivative PID control according to the angle deviation and the speed of the logistics robot, so as to control the transverse deviation of the logistics robot.
Preferably, the logistics robot comprises an automated guided vehicle AGV.
Preferably, the initializing the position of the logistics robot at the starting point of the two-dimensional bar code specifically includes: and detecting the two-dimensional bar code point landmark and the initial position error at the initial point of the AGV two-dimensional bar code, and correcting the course deviation of the AGV.
Preferably, when the AGV works, whether the distance D between the AGV and the bar code point is equal is judged by detecting the code wheel data of the AGV, or whether the logistics robot reaches the landmark point is judged by detecting whether the AGV receives the two-dimensional bar code information or not through a camera;
calculating course deviation and transverse deviation of the logistics robot by using a dynamic single-point pre-aiming method according to whether the logistics robot reaches a landmark point or not; calculating the angle deviation of the logistics robot according to the course deviation and the transverse deviation of the logistics robot; comprising the following steps:
according to the AGV lateral deviation, pre-aiming the next two-dimensional bar code point at the current position, dynamically calculating the AGV angle deviation, and specifically comprising: when the AGV does not reach a certain landmark point, the AGV runs on a path between landmark points, and the current course deviation and the transverse deviation of the AGV are calculated by collecting the running distance of the left and right wheels of the AGV from the last two-dimensional bar code point, so that the angle deviation of the AGV is calculated according to the course deviation and the transverse deviation of the AGV; judging whether the two-dimensional bar code information is acquired or not under the condition that the AGV reaches a certain landmark point: if so, directly acquiring the course deviation and the transverse deviation of the AGV by acquiring the two-dimensional bar code information, and further calculating the angle deviation of the AGV; if not, calculating according to the condition that the AGV does not reach a certain landmark state.
Preferably, the controlling the horizontal deviation of the logistics robot by adjusting the left and right wheel speeds of the logistics robot through proportional-integral-derivative PID control according to the angular deviation and the speed of the logistics robot comprises:
and adjusting the input voltage of the left and right wheel motors of the AGV through linear addition control of two PIDs, namely a speed PID and an angle PID:
the speed PID is used for outputting the input voltage value of the motor of the left wheel and the right wheel of the AGV speed through the current rotation speed difference of the left wheel and the right wheel of the AGV and setting the target speed of the AGV as control input;
the angle PID is used for outputting the input voltage values of the motors of the left wheel and the right wheel of the AGV angle through the control input of the current angle deviation of the AGV and the control of the angle PID;
the AGV speed left and right wheel motor input voltage value and the AGV angle left and right wheel motor input voltage value are linearly added to obtain a final AGV left and right wheel motor input voltage adjustment value, and the AGV is controlled to walk, so that the AGV is controlled to transversely deviate.
Corresponding to the above method embodiment, as shown in fig. 2, a schematic structural diagram of a logistics robot according to an embodiment of the present application is shown, where the logistics robot includes: the camera 21 is disposed at the bottom of the logistics robot 20, connected to a central processing unit (not shown in fig. 2, located inside the logistics robot 20), and configured to collect position information of two-dimensional barcode points on the ground; the code disc is connected with the central processing unit and is used for calculating the driving distance and judging whether the distance D between the driving distance and the bar code point is equal or not;
the central processing unit is used for initializing the position of the logistics robot 20 at the starting point of the two-dimensional bar code; when the logistics robot 20 works, judging whether the logistics robot reaches a landmark point or not by utilizing a camera 21 or a code disc;
the central processing unit is configured to calculate a heading deviation and a lateral deviation of the logistics robot 20 according to whether the logistics robot 20 reaches a landmark point or not by using a dynamic single-point pre-aiming method; calculating the angle deviation of the logistics robot 20 according to the course deviation and the transverse deviation of the logistics robot 20; according to the angular deviation and the speed of the logistics robot 20, the rotation speed of the left wheel 23 and the right wheel 23 of the logistics robot 20 is regulated through proportional-integral-derivative PID control, so that the logistics robot 20 is controlled to transversely deviate.
Preferably, the logistics robot 20 comprises an automated guided vehicle AGV.
Preferably, the central processing unit is specifically configured to detect a two-dimensional barcode point landmark and an initial position error at an initial point of the two-dimensional barcode of the AGV, and correct a heading deviation of the AGV.
Preferably, the code wheel 21 is specifically configured to determine whether the distance D between the code wheel and the barcode point is equal by detecting code wheel data of the AGV when the AGV is in operation, or the camera is specifically configured to determine whether the logistics robot reaches the landmark point by detecting whether the AGV receives the two-dimensional barcode information when the AGV is in operation;
the central processing unit is specifically configured to pre-aim a next two-dimensional bar code point at a current position according to the lateral deviation of the AGV, and dynamically calculate the angular deviation of the AGV, and specifically includes: when the AGV does not reach a certain landmark point, the AGV runs on a path between landmark points, and the current course deviation and the transverse deviation of the AGV are calculated by collecting the running distance of the left and right wheels of the AGV from the last two-dimensional bar code point, so that the angle deviation of the AGV is calculated according to the course deviation and the transverse deviation of the AGV; judging whether the two-dimensional bar code information is acquired or not under the condition that the AGV reaches a certain landmark point: if so, directly acquiring the course deviation and the transverse deviation of the AGV by acquiring the two-dimensional bar code information, and further calculating the angle deviation of the AGV; if not, calculating according to the condition that the AGV does not reach a certain landmark state.
Preferably, the central processing unit is specifically configured to adjust the input voltages of the left and right wheel motors of the AGV through linear addition control of two PIDs, namely a speed PID and an angle PID: the central processing unit includes:
the speed PID control module is used for outputting the input voltage value of the motor of the left wheel and the right wheel of the AGV speed through speed PID control by using the current left wheel and the right wheel speed difference of the AGV and setting the target speed of the AGV as control input;
the angle PID control module is used for outputting the input voltage values of the left wheel motor and the right wheel motor of the AGV angle through the control input of the current angle deviation of the AGV and the angle PID control;
the calculation module is used for obtaining the final AGV left and right wheel motor input voltage adjustment value after the AGV speed left and right wheel motor input voltage value and the AGV angle left and right wheel motor input voltage value are linearly added, controlling the traveling of the AGV, and controlling the AGV to transversely deviate.
The technical scheme provided by the embodiment of the application has the following beneficial effects: 1. the two-dimensional bar code camera is adopted, so that the precision is high; 2. the AGV driving deviation information processing is realized by combining the two-dimensional bar code point route, and the processing method is simple and accurate; 3. the AGV lateral deviation control is realized by PID control, and the AGV lateral deviation control is easy to realize by adopting a simple module.
The following details of the embodiments of the present application are described by using an application example to automatically guide a transport vehicle AGV by a logistics robot:
the AGV driving control is a control technology integrating control, data processing, data acquisition and the like, the transverse deviation control is an AGV driving control technology through a control technology for controlling the rotation speed and the direction of wheels, the two-dimension code landmark is pre-aimed through the control of the speed of two driving wheels of the AGV, the transverse deviation control of the AGV is realized, the acquisition and the processing of the transverse deviation control quantity are real-time, the transverse deviation control device of the AGV is simple and easy to realize, and a novel transverse deviation control method and device of the AGV can be provided.
The application example of the application provides a method and a device for controlling the horizontal deviation of an AGV, which can collect and process the horizontal deviation error by using a pre-aiming two-dimensional code landmark and control the horizontal deviation of the AGV in real time, has the advantages of simplicity and good instantaneity, and mainly comprises the following steps in the implementation process, as shown in figure 1, a specific detailed flow chart is shown in figure 3, and the structure involved in the implementation process of the method is shown in figure 4, and comprises the following steps: AGV301, position appearance information acquisition unit 302, rotational speed information acquisition unit 303, AGV cross deflection controlling means 304, landmark information acquisition unit 305, landmark 306, the AGV cross deflection controlling means 304 that this method involved in the implementation process, its structure is like figure 5, mainly includes: an information acquisition processing module 501, a central processing module 502, a power management module 503, a communication module 504 and a motor control module 505. Initializing the position by the AGV at the starting point; firstly judging whether the AGV reaches a landmark point on a running path; if the AGV acquires the two-dimensional code information, the current course angle and the transverse deviation of the AGV can be directly acquired, and the angle deviation of the AGV is calculated according to the current course angle and the transverse deviation; if the AGV does not reach the landmark point, namely two-dimensional code information is not acquired, the AGV calculates the current course angle and the transverse deviation of the AGV through code wheel data and gyroscope data, and calculates the angle deviation of the AGV according to a dynamic single-point pre-aiming method; adjusting the rotating speeds of left and right wheels of the AGV through PID control, and dynamically adjusting the running course and the transverse deviation of the AGV; and (5) when the adjustment period is finished, re-entering the next adjustment process. The specific embodiments of the method proposed in this patent are described as follows:
after the AGV301 is started, step one, namely, AGV position initialization is performed;
the AGV301 detects whether a two-dimensional bar code of a starting point exists at the starting bar code point through the landmark information acquisition unit 305, if not, the initialization fails; if yes, the two-dimensional bar code is detected, and the landmark information acquisition unit 305 outputs the current transverse deviation of the AGV and the heading deviation of the AGV; judging whether the course deviation of the AGV is within an error allowable range, if not, adjusting the course of the AGV to be within the error allowable range in situ; if yes, the initialization is successful.
After the initialization of the AGV301 is completed, the communication module 504 receives an upper computer instruction to drive along a preset path, and in the driving process, whether the AGV301 reaches a code point is firstly judged; executing the second step;
the state of an AGV during travel is two:
(1) The AGV does not reach a certain landmark point, but runs on a path between landmark points;
(2) The AGV reaches a certain landmark point, namely a two-dimensional bar code point.
The conditions for judging the state of the AGV are two:
condition one: the accumulated pulse number of the left wheel and the right wheel of the AGV from the last bar code point is acquired through the rotating speed information acquisition unit 303, and whether the distance travelled by the AGV301 reaches the fixed distance D between the bar code points is further calculated;
the travel distance calculation formula is as follows:
S L ，S R the running distance of the left wheel and the right wheel of the AGV are respectively Q L ，Q R The number of accumulated pulses of the left wheel code wheel and the right wheel code wheel of the AGV is respectively calculated, Q is the number of fixed pulses sent by the wheel code wheel of the AGV, R is the wheel diameter of the AGV, and S is the driving distance of the AGV.
Condition II: by detecting whether the landmark information acquisition unit 305 has data output;
the relation between the first condition and the second condition is a logical OR, namely, if only one condition is yes, the AGV is considered to reach the next bar code point and is in a second state; after judging, executing the third step; calculating the angle deviation of the AGV according to a dynamic single-point pre-aiming method;
in the state, the AGV runs on the path between landmark points, the running distance of the left and right wheels of the AGV from the last code point is acquired by the rotating speed information acquisition unit 303, the current course deviation and the transverse deviation of the AGV are calculated, and then the angle deviation of the AGV is calculated; the calculation formula is as follows:
the transverse deviation and the course of the AGV are regulated to be positive by the right deviation;
referring to time T2 in fig. 6:
wherein ,in order to calculate the course change quantity of the AGV at the time T1 to the time T2 according to the code wheel data, L is the distance between the left wheel and the right wheel of the AGV, and beta is calculated by the code wheel data et2 For the AGV course angle at the time T2 estimated by the code wheel data, beta t1 The course angle beta of the AGV at the moment T1 gt2 AGV course angle obtained by a gyroscope at time T2, KF is a Kalman filter, and beta is t2 For passing through beta et2， β gt2 feed And (5) carrying out linear Kalman filtering estimation to obtain an optimal estimated value of the AGV course.
Referring to FIG. 7, the AGV pre-aims the next barcode point by using a dynamic single point pre-aiming method, and calculates the AGV angle deviation θ at time T2 t2 ：
wherein ,SLt2 ，S Rt2 Respectively the distance travelled by the left and right wheels of the AGV from t1 to t2, S i The distance traveled by the AGV in the ith period after the AGV leaves the last bar code point.
(2) In the second state, it is first determined whether the two-dimensional barcode information is acquired by the data output of the landmark information acquisition unit 305.
If so, directly acquiring the course deviation and the transverse deviation of the AGV by acquiring the two-dimensional bar code information, and further calculating the angle deviation of the AGV; a computing process such as state one; if not, calculating according to the state one.
And step four, regulating the rotating speeds of the left wheel and the right wheel of the AGV through PID control, and returning to the step two. Assuming that the current AGV is in the ith period after leaving a certain code point; adjusting the input voltage of the motors of the left wheel and the right wheel of the AGV through PID linear addition control of a speed PID and an angle PID by adopting PID control; the speed PID is used for outputting the input voltage value of the motors of the left wheel and the right wheel of the AGV through the current rotation speed difference of the left wheel and the right wheel of the AGV and setting the target speed of the AGV as control input; the angle PID is used for outputting the input voltage adjustment quantity of the left and right wheel motors of the AGV through the control input of the current angle deviation of the AGV and the angle PID control; and obtaining the final AGV left and right wheel motor input voltage adjustment quantity by linearly adding the speed PID and the AGV left and right wheel motor input voltage adjustment quantity output by the angle PID, and controlling the traveling of the AGV.
The detailed calculation process is as follows:
speed PID formula:
angle PID formula:
wherein ：VLti For the speed of the left wheel of the AGV at time ti, S Lti For the distance between ti and the last time of the left wheel, V Rti For the speed of the right wheel of the AGV at time ti, S Rti V is the distance travelled by the right wheel between time ti and the previous time ti For the speed of the AGV at time ti, V set A command is sent to the AGV for the upper computer to set the speed,vol is the difference between the speed set by the AGV at time ti and the current speed vti The voltage value K is adjusted for the AGV left and right wheel motors with speed PID output at time ti v ，I v ，D v Respectively, proportional coefficient, integral coefficient, differential coefficient, vol in speed PID θti The voltage value Vol is adjusted for the AGV left and right wheel motors output by the angle PID at the time ti Lti ，Vol Rti The final input voltage values of the wheel motors are respectively about the moment ti of the AGV.
And after the voltage of the AGV motor is determined, the gesture and the horizontal deviation of the AGV are adjusted, the second step is continuously executed, the process is circulated, and the gesture and the horizontal deviation of the AGV are dynamically adjusted by using a dynamic single-point pre-aiming method in the running process of the AGV.
The technical scheme has the following beneficial effects: 1. the two-dimensional bar code camera is adopted, so that the precision is high; 2. the AGV driving deviation information processing is realized by combining the two-dimensional bar code point route, and the processing method is simple and accurate; 3. the AGV lateral deviation control is realized by PID control, and the AGV lateral deviation control is easy to realize by adopting a simple module.
It should be understood that the specific order or hierarchy of steps in the processes disclosed are examples of exemplary approaches. Based on design preferences, it is understood that the specific order or hierarchy of steps in the processes may be rearranged without departing from the scope of the present disclosure. The accompanying method claims present elements of the various steps in a sample order, and are not meant to be limited to the specific order or hierarchy presented.
In the foregoing detailed description, various features are grouped together in a single embodiment for the purpose of streamlining the disclosure. This method of disclosure is not to be interpreted as reflecting an intention that the claimed embodiments of the subject matter require more features than are expressly recited in each claim. Rather, as the following claims reflect, application lies in less than all features of a single disclosed embodiment. Thus the following claims are hereby expressly incorporated into this detailed description, with each claim standing on its own as a separate preferred embodiment of this application.
The previous description of the disclosed embodiments is provided to enable any person skilled in the art to make or use the present application. As will be apparent to those skilled in the art; various modifications to these embodiments will be readily apparent, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the disclosure. Thus, the present disclosure is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.
The foregoing description includes examples of one or more embodiments. It is, of course, not possible to describe every conceivable combination of components or methodologies for purposes of describing the aforementioned embodiments, but one of ordinary skill in the art may recognize that many further combinations and permutations of various embodiments are possible. Accordingly, the embodiments described herein are intended to embrace all such alterations, modifications and variations that fall within the scope of the appended claims. Furthermore, as used in the specification or claims, the term "comprising" is intended to be inclusive in a manner similar to the term "comprising," as interpreted when employed as a transitional word in a claim. Furthermore, any use of the term "or" in the specification of the claims is intended to mean "non-exclusive or".
Those of skill in the art will further appreciate that the various illustrative logical blocks (illustrative logical block), units, and steps described in connection with the embodiments of the application may be implemented by electronic hardware, computer software, or combinations of both. To clearly illustrate this interchangeability of hardware and software, various illustrative components (illustrative components), elements, and steps have been described above generally in terms of their functionality. Whether such functionality is implemented as hardware or software depends upon the particular application and design requirements of the overall system. Those skilled in the art may implement the described functionality in varying ways for each particular application, but such implementation is not to be understood as beyond the scope of the embodiments of the present application.
The various illustrative logical blocks or units described in the embodiments of the application may be implemented or performed with a general purpose processor, a digital signal processor, an Application Specific Integrated Circuit (ASIC), a field programmable gate array or other programmable logic device, discrete gate or transistor logic, discrete hardware components, or any combination thereof designed to perform the functions described. A general purpose processor may be a microprocessor, but in the alternative, the general purpose processor may be any conventional processor, controller, microcontroller, or state machine. A processor may also be implemented as a combination of computing devices, e.g., a digital signal processor and a microprocessor, a plurality of microprocessors, one or more microprocessors in conjunction with a digital signal processor core, or any other similar configuration.
The steps of a method or algorithm described in connection with the embodiments disclosed herein may be embodied directly in hardware, in a software module executed by a processor, or in a combination of the two. A software module may be stored in RAM memory, flash memory, ROM memory, EPROM memory, EEPROM memory, registers, hard disk, a removable disk, a CD-ROM, or any other form of storage medium known in the art. In an example, a storage medium may be coupled to the processor such that the processor can read information from, and write information to, the storage medium. In the alternative, the storage medium may be integral to the processor. The processor and the storage medium may reside in an ASIC, which may reside in a user terminal. In the alternative, the processor and the storage medium may reside as distinct components in a user terminal.
In one or more exemplary designs, the above-described functions of embodiments of the present application may be implemented in hardware, software, firmware, or any combination of the three. If implemented in software, the functions may be stored on a computer-readable medium or transmitted as one or more instructions or code on the computer-readable medium. Computer readable media includes both computer storage media and communication media that facilitate transfer of computer programs from one place to another. A storage media may be any available media that can be accessed by a general purpose or special purpose computer. For example, such computer-readable media may include, but is not limited to, RAM, ROM, EEPROM, CD-ROM or other optical disk storage, magnetic disk storage or other magnetic storage devices, or any other medium that may be used to carry or store program code in the form of instructions or data structures and other data structures that may be read by a general or special purpose computer, or a general or special purpose processor. Further, any connection is properly termed a computer-readable medium, e.g., if the software is transmitted from a website, server, or other remote source via a coaxial cable, fiber optic cable, twisted pair, digital Subscriber Line (DSL), or wireless such as infrared, radio, and microwave, and is also included in the definition of computer-readable medium. The disks (disks) and disks (disks) include compact disks, laser disks, optical disks, DVDs, floppy disks, and blu-ray discs where disks usually reproduce data magnetically, while disks usually reproduce data optically with lasers. Combinations of the above may also be included within the computer-readable media.
The foregoing description of the embodiments has been provided for the purpose of illustrating the general principles of the application, and is not meant to limit the scope of the application, but to limit the application to the particular embodiments, and any modifications, equivalents, improvements, etc. that fall within the spirit and principles of the application are intended to be included within the scope of the application.

Claims (6)

1. A method for controlling horizontal deflection of a logistics robot is characterized by comprising the following steps:
initializing the position of the logistics robot at the starting point of the two-dimensional bar code;
when the logistics robot works, judging whether the logistics robot reaches a landmark point or not by using a camera or a code disc;
according to whether the logistics robot reaches a landmark point or not, calculating course deviation and transverse deviation of the logistics robot by using a dynamic single-point pre-aiming method;
calculating the angle deviation of the logistics robot according to the course deviation and the transverse deviation of the logistics robot;
according to the angular deviation and the speed of the logistics robot, the rotation speeds of the left wheel and the right wheel of the logistics robot are regulated through proportional-integral-derivative PID control, so that the logistics robot is controlled to transversely deviate;
the logistics robot comprises an automatic guided vehicle AGV;
and adjusting the left and right wheel speeds of the logistics robot through proportional-integral-derivative PID control according to the angular deviation and the speed of the logistics robot, so as to control the logistics robot to transversely deviate, wherein the method comprises the following steps of:
and adjusting the input voltage of the left and right wheel motors of the AGV through linear addition control of two PIDs, namely a speed PID and an angle PID:
the speed PID is used for outputting the input voltage value of the motor of the left wheel and the right wheel of the AGV speed through the current rotation speed difference of the left wheel and the right wheel of the AGV and setting the target speed of the AGV as control input;
the angle PID is used for outputting the input voltage values of the motors of the left wheel and the right wheel of the AGV angle through the control input of the current angle deviation of the AGV and the control of the angle PID;
the AGV speed left and right wheel motor input voltage value and the AGV angle left and right wheel motor input voltage value are linearly added to obtain a final AGV left and right wheel motor input voltage adjustment value, and the travel of the AGV is controlled, so that the transverse deviation of the AGV is controlled;
the calculation process is as follows:
speed PID formula:
angle PID formula:
wherein ：VLti For the speed of the left wheel of the AGV at time ti, S Lti For the distance between ti and the last time of the left wheel, V Rti For the speed of the right wheel of the AGV at time ti, S Rti V is the distance travelled by the right wheel between time ti and the previous time ti For the speed of the AGV at time ti, V set A command is sent to the AGV for the upper computer to set the speed,vol is the difference between the speed set by the AGV at time ti and the current speed vti The voltage value K is adjusted for the AGV left and right wheel motors with speed PID output at time ti v ，I v ，D v Respectively, proportional coefficient, integral coefficient, differential coefficient, vol in speed PID θti The voltage value Vol is adjusted for the AGV left and right wheel motors output by the angle PID at the time ti Lti ，Vol Rti The final input voltage values of the left wheel motor and the right wheel motor of the AGV at the time ti are respectively obtained;
when the AGV runs on the path between landmark points in the state, the running distance of the left and right wheels of the AGV from the last code point is acquired by a rotating speed information acquisition unit (303), the current course deviation and the transverse deviation of the AGV are calculated, and then the angle deviation of the AGV is calculated; the calculation formula is as follows:
the transverse deviation and the course of the AGV are regulated to be positive by the right deviation;
time T2:
β t2 ＝KF(β et2 ，β gt2 ) Wherein->In order to calculate the course change quantity of the AGV at the time T1 to the time T2 according to the code wheel data, L is the distance between the left wheel and the right wheel of the AGV, and beta is calculated by the code wheel data et2 For the AGV course angle at the time T2 estimated by the code wheel data, beta t1 The course angle beta of the AGV at the moment T1 gt2 AGV course angle obtained by a gyroscope at time T2, KF is a Kalman filter, and beta is t2 For passing through beta et2 ,β gt2 Performing linear Kalman filtering estimation to obtain an optimal estimated value of the AGV course;
by adopting a dynamic single-point pre-aiming method, the AGV pre-aims at the next bar code point, and calculates the angle deviation theta of the AGV at the moment T2 t2 ：
θ t2 ＝β t2 -α t2 ，
wherein ,SLt2 ，S Rt2 Respectively the distance travelled by the left and right wheels of the AGV from t1 to t2, S i The distance traveled by the AGV in the ith period after the AGV leaves the last bar code point.
2. The method for controlling horizontal deflection of a logistics robot according to claim 1, wherein the initializing the position of the logistics robot at the starting point of the two-dimensional bar code specifically comprises:
and detecting the two-dimensional bar code point landmark and the initial position error at the initial point of the AGV two-dimensional bar code, and correcting the course deviation of the AGV.
3. The logistic robot lateral deviation control method of claim 1, wherein when the AGV works, whether the distance D between the AGV and a bar code point is equal is judged by detecting code wheel data of the AGV, or whether the logistic robot reaches a landmark point is judged by detecting whether the AGV receives two-dimensional bar code information or not through a camera;
calculating course deviation and transverse deviation of the logistics robot by using a dynamic single-point pre-aiming method according to whether the logistics robot reaches a landmark point or not; calculating the angle deviation of the logistics robot according to the course deviation and the transverse deviation of the logistics robot; comprising the following steps:
according to the AGV lateral deviation, pre-aiming the next two-dimensional bar code point at the current position, dynamically calculating the AGV angle deviation, and specifically comprising: when the AGV does not reach a certain landmark point, the AGV runs on a path between landmark points, and the current course deviation and the transverse deviation of the AGV are calculated by collecting the running distance of the left and right wheels of the AGV from the last two-dimensional bar code point, so that the angle deviation of the AGV is calculated according to the course deviation and the transverse deviation of the AGV; judging whether the two-dimensional bar code information is acquired or not under the condition that the AGV reaches a certain landmark point: if so, directly acquiring the course deviation and the transverse deviation of the AGV by acquiring the two-dimensional bar code information, and further calculating the angle deviation of the AGV; if not, calculating according to the condition that the AGV does not reach a certain landmark state.
4. A logistics robot, characterized in that it comprises: the camera is arranged at the bottom of the logistics robot, connected with the central processing unit and used for collecting the position information of the two-dimensional bar code points on the ground; the code disc is connected with the central processing unit and is used for calculating the driving distance and judging whether the distance D between the driving distance and the bar code point is equal or not;
the central processing unit is used for initializing the position of the logistics robot at the starting point of the two-dimensional bar code; when the logistics robot works, judging whether the logistics robot reaches a landmark point by utilizing the camera or the code disc;
the central processing unit is used for calculating the course deviation and the transverse deviation of the logistics robot by using a dynamic single-point pre-aiming method according to whether the logistics robot reaches a landmark point or not; calculating the angle deviation of the logistics robot according to the course deviation and the transverse deviation of the logistics robot; according to the angular deviation and the speed of the logistics robot, the rotation speeds of the left wheel and the right wheel of the logistics robot are regulated through proportional-integral-derivative PID control, so that the logistics robot is controlled to transversely deviate;
the logistics robot comprises an automatic guided vehicle AGV;
the central processing unit is specifically used for adjusting the input voltage of the left wheel motor and the right wheel motor of the AGV through linear addition control of two PIDs of a speed PID and an angle PID: the central processing unit includes:
the speed PID control module is used for outputting the input voltage value of the motor of the left wheel and the right wheel of the AGV speed through speed PID control by using the current left wheel and the right wheel speed difference of the AGV and setting the target speed of the AGV as control input;
the angle PID control module is used for outputting the input voltage values of the left wheel motor and the right wheel motor of the AGV angle through the control input of the current angle deviation of the AGV and the angle PID control;
the calculation module is used for obtaining a final AGV left and right wheel motor input voltage adjustment value by linearly adding the AGV speed left and right wheel motor input voltage value and the AGV angle left and right wheel motor input voltage value, and controlling the traveling of the AGV so as to control the transverse deviation of the AGV;
the calculation process is as follows:
speed PID formula:
angle PID formula:
wherein ：VLti For the speed of the left wheel of the AGV at time ti, S Lti For the distance between ti and the last time of the left wheel, V Rti For the speed of the right wheel of the AGV at time ti, S Rti V is the distance travelled by the right wheel between time ti and the previous time ti For the speed of the AGV at time ti, V set A command is sent to the AGV for the upper computer to set the speed,vol is the difference between the speed set by the AGV at time ti and the current speed vti The voltage value K is adjusted for the AGV left and right wheel motors with speed PID output at time ti v ，I v ，D v Respectively, proportional coefficient, integral coefficient, differential coefficient, vol in speed PID θti The voltage value Vol is adjusted for the AGV left and right wheel motors output by the angle PID at the time ti Lti ，Vol Rti The final input voltage values of the left wheel motor and the right wheel motor of the AGV at the time ti are respectively obtained;
when the AGV runs on the path between landmark points in the state, the running distance of the left and right wheels of the AGV from the last code point is acquired by a rotating speed information acquisition unit (303), the current course deviation and the transverse deviation of the AGV are calculated, and then the angle deviation of the AGV is calculated; the calculation formula is as follows:
the transverse deviation and the course of the AGV are regulated to be positive by the right deviation;
time T2:
β t2 ＝KF(β et2 ，β gt2 )，
wherein ,for the AGV course change quantity at the time T1 to time T2 calculated by the code wheel data, L is the left AGVDistance between right wheels, beta et2 For the AGV course angle at the time T2 estimated by the code wheel data, beta t1 The course angle beta of the AGV at the moment T1 gt2 AGV course angle obtained by a gyroscope at time T2, KF is a Kalman filter, and beta is t2 For passing through beta et2 ,β gt2 Performing linear Kalman filtering estimation to obtain an optimal estimated value of the AGV course;
by adopting a dynamic single-point pre-aiming method, the AGV pre-aims at the next bar code point, and calculates the angle deviation theta of the AGV at the moment T2 t2 ：
θ t2 ＝β t2 -α t2 ，
wherein ,SLt2 ，S Rt2 Respectively the distance travelled by the left and right wheels of the AGV from t1 to t2, S i The distance traveled by the AGV in the ith period after the AGV leaves the last bar code point.
5. The logistics robot of claim 4, wherein,
the central processing unit is specifically used for detecting two-dimensional bar code point landmarks and initial position errors at the initial point of the AGV two-dimensional bar code and correcting the course deviation of the AGV.
6. The logistics robot of claim 4, wherein,
the code wheel is specifically used for judging whether the distance D between the code wheel and the bar code point is equal or not by detecting code wheel data of the AGV when the AGV works, or the camera is specifically used for judging whether the logistics robot reaches the landmark point or not by detecting whether the AGV receives the two-dimensional bar code information or not when the AGV works;
the central processing unit is specifically configured to pre-aim a next two-dimensional bar code point at a current position according to the lateral deviation of the AGV, and dynamically calculate the angular deviation of the AGV, and specifically includes: when the AGV does not reach a certain landmark point, the AGV runs on a path between landmark points, and the current course deviation and the transverse deviation of the AGV are calculated by collecting the running distance of the left and right wheels of the AGV from the last two-dimensional bar code point, so that the angle deviation of the AGV is calculated according to the course deviation and the transverse deviation of the AGV; judging whether the two-dimensional bar code information is acquired or not under the condition that the AGV reaches a certain landmark point: if so, directly acquiring the course deviation and the transverse deviation of the AGV by acquiring the two-dimensional bar code information, and further calculating the angle deviation of the AGV; if not, calculating according to the condition that the AGV does not reach a certain landmark state.
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