CN112498352A - Control method for omnidirectional traction of air floatation platform - Google Patents
Control method for omnidirectional traction of air floatation platform Download PDFInfo
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- CN112498352A CN112498352A CN202011370764.1A CN202011370764A CN112498352A CN 112498352 A CN112498352 A CN 112498352A CN 202011370764 A CN202011370764 A CN 202011370764A CN 112498352 A CN112498352 A CN 112498352A
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- 238000000034 method Methods 0.000 title claims abstract description 17
- 238000000354 decomposition reaction Methods 0.000 claims abstract description 5
- 238000010586 diagram Methods 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
- B60W30/18—Propelling the vehicle
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60B—VEHICLE WHEELS; CASTORS; AXLES FOR WHEELS OR CASTORS; INCREASING WHEEL ADHESION
- B60B19/00—Wheels not otherwise provided for or having characteristics specified in one of the subgroups of this group
- B60B19/12—Roller-type wheels
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- Mechanical Engineering (AREA)
- Automation & Control Theory (AREA)
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Abstract
The embodiment of the invention provides a control method for omnidirectional traction of an air floatation platform, wherein N driving units are arranged at the bottom of the air floatation platform; acquiring a motion parameter of the air floatation platform as a control model through a control system arranged on the air floatation platform; acquiring the position and attitude parameters of each drive unit in the N drive units through a control system arranged on the air floatation platform; obtaining the motion parameters of each driving unit by a control system according to the speed vector decomposition and the translation and rotation relation of a coordinate system by utilizing the motion parameters of the air floating platform and the position and attitude parameters of each driving unit; the method is a mode of combining the Mecanum wheels and the air floating platform, fully exerts the advantages of omnidirectional transportation of the Mecanum wheels and high load of the air floating platform, and improves the motion precision and efficiency.
Description
Technical Field
The invention relates to the technical field of AGV control, in particular to a control method for omnidirectional traction of an air floatation platform.
Background
In the aspect of transportation of some big heavy load AGV, the air supporting platform has very big advantage, however pneumatic drive's mode leads to the air supporting platform can't realize accurate motion, and positioning accuracy is low, can't satisfy some occasions that the motion precision is high, under the condition that increases steering wheel and universal wheel, can increase the accuracy nature of motion, but in the motion process, complex operation, the switching-over is long, efficient height.
Disclosure of Invention
The embodiment of the invention aims to provide a control method, which is a mode of combining Mecanum wheels and an air floatation platform, fully exerts the advantages of omnidirectional transportation of the Mecanum wheels and high load of the air floatation platform, and improves the motion precision and efficiency.
In order to achieve the above object, an embodiment of the present invention provides a control method for omnidirectional towing of an air floating platform,
arranging N driving units at the bottom of the air floatation platform;
acquiring a motion parameter of the air floatation platform as a control model through a control system arranged on the air floatation platform;
acquiring the position and attitude parameters of each drive unit in the N drive units through a control system arranged on the air floatation platform;
obtaining the motion parameters of each driving unit by a control system according to the speed vector decomposition and the translation and rotation relation of a coordinate system by utilizing the motion parameters of the air floating platform and the position and attitude parameters of each driving unit;
and the control system controls the motion track of each driving unit according to the motion parameters of each driving unit, so that the air floatation platform moves according to a preset track.
Optionally, the positions of the N driving units set in the above step are distributed randomly.
Optionally, each of the N driving units set in the above step is composed of four mecanum wheel sets.
Optionally, the motion parameter of the air floating platform in the above step is (V)x VyOmega) is adopted, the center of the air floatation platform is taken as the origin of a reference system, wherein V isxThe air floating platform moves at a speed of left and right, and is positive to the right, VyThe forward speed of the air floating platform is positive, omega is the rotation speed of the air floating platform, the counterclockwise direction is positive, and the rotation center is (x)c yc)。
Optionally, in the above step, the position and posture parameters of each of the N driving units are: (x)nyn θn) Wherein x isn ynAs a position deviation parameter, thetanIs the attitude offset parameter.
Optionally, the motion parameters of each driving unit in the above steps are:
according to the invention, Mecanum wheels are combined with an air floating platform, the air floating platform is regarded as a large AGV, the air floating platform is used as a main bearing module, and the Mecanum wheels are used as a main driving module. Four Mecanum wheels are a wheel set and serve as a wheel set of the whole air floatation platform, so that each wheel set can realize real-time and rapid omnidirectional motion and does not need reversing waiting. The motion of the air floating platform in any direction can be converted into the motion of each Mecanum wheel group in real time, and the air floating platform is driven to realize efficient omnidirectional motion.
Compared with the prior art, the invention has the beneficial effects that:
1. the motion precision is high, and the form is various, and every drive unit all drives with high accuracy servo driver, and the motion precision is high, and the motion form is various.
2. The omnidirectional movement is efficient, and four Mecanum wheels are in a group, and the movement in each direction is realized through movement combination without reversing waiting.
Additional features and advantages of embodiments of the invention will be set forth in the detailed description which follows.
Drawings
The accompanying drawings, which are included to provide a further understanding of the embodiments of the invention and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description serve to explain the embodiments of the invention without limiting the embodiments of the invention. In the drawings:
FIG. 1 is a diagram of steps of a control method for omnidirectional traction of an air-bearing platform;
FIG. 2 is a diagram of an omnidirectional transportation system of an air floating platform.
Description of the reference numerals
1 air-floating platform 2 driving unit 3 air-floating module
Detailed Description
The following detailed description of embodiments of the invention refers to the accompanying drawings. It should be understood that the detailed description and specific examples, while indicating embodiments of the invention, are given by way of illustration and explanation only, not limitation.
The embodiment of the invention provides a control method for omnidirectional traction of an air floatation platform, and as shown in fig. 1, an air floatation module 3 is arranged at the bottom of the air floatation platform 1;
Acquiring a motion parameter of the air floating platform 1 as a control model through a control system arranged on the air floating platform 1;
acquiring the position and attitude parameters of each drive unit in the N drive units 2 through a control system arranged on the air floatation platform 1; the MCU in the control system obtains the position parameter of each drive unit in the N drive units through preset parameters, and then calculates the attitude parameter of each drive unit 2 through the DSP.
Obtaining the motion parameters of each driving unit by a control system according to the speed vector decomposition and the translation and rotation relation of a coordinate system by utilizing the motion parameters of the air floating platform 1 and the position and attitude parameters of each driving unit 2; and the control system carries out vector decomposition of speed and translation and rotation relation of a coordinate system on the motion parameters of the air floating platform 1 and the position and attitude parameters of each driving unit through cooperative operation to obtain the motion parameters of each driving unit.
And the control system controls the motion track of each driving unit according to the motion parameters of each driving unit 2, so that the air floating platform 1 moves according to a preset track. And the control system acquires enough information in the previous step and controls the motion track of the driving unit by using the MCU and the driving chip.
Optionally, the positions of the N driving units 2 set in the above step are distributed randomly. The positions of the N driving units may be determined according to the shape and area of the air floating platform, and may not be a diamond shape, but may also be distributed in a triangular shape, a square shape, or any other shape.
Optionally, each of the N driving units 2 set in the above step is composed of four mecanum wheel sets. The Mecanum wheel has compact structure and flexible movement, and is a very successful omnidirectional wheel.
Optionally, the motion parameter of the air floating platform 1 in the above step is (V)x Vyω) with the center of the air bearing platform 11 as the origin of the reference system, wherein VxThe air floating platform moves at a speed of left and right, and is positive to the right, VyThe forward speed of the air floating platform 1 is positive, omega is the rotation speed of the air floating platform 1, the counterclockwise direction is positive, and the rotation center is (x)c yc). The center of the air floating platform 1 is the position of the center of gravity, and the parameter is preset in the MCU of the control system.
Optionally, in the above step, the position and posture parameters of each of the N driving units 2 are: (x)nyn θn) Wherein x isn ynAs a position deviation parameter, thetanIs the attitude offset parameter. The position and attitude parameters of each drive unit are also preset in the MCU of the control system.
Optionally, the motion parameters of each driving unit in the above steps are:
because of the omnidirectional movement advantage of the Mecanum wheel set, the course angle is not required to be calculated, and the (V) is calculatedx,n Vy,nωn) The rotating speed of each wheel in the Mecanum wheel set can be calculated in real time, waiting is not needed in the reversing process, excessive curves are not needed, and real-time and efficient omnidirectional motion can be achieved.
According to the invention, Mecanum wheels are combined with an air floating platform 1, the air floating platform is regarded as a large AGV, the air floating platform 1 is used as a main bearing module, and the Mecanum wheels are used as a main driving module. Four Mecanum wheels are a wheel set and serve as a wheel set of the whole air floatation platform, so that each wheel set can realize real-time and rapid omnidirectional motion and does not need reversing waiting. The motion of the air floating platform 1 in any direction can be converted into the motion of each Mecanum wheel group in real time, and the air floating platform 1 is driven to realize efficient omnidirectional motion.
Although the embodiments of the present invention have been described in detail with reference to the accompanying drawings, the embodiments of the present invention are not limited to the details of the above embodiments, and various simple modifications can be made to the technical solutions of the embodiments of the present invention within the technical idea of the embodiments of the present invention, and the simple modifications all belong to the protection scope of the embodiments of the present invention.
It should be noted that the various features described in the above embodiments may be combined in any suitable manner without departing from the scope of the invention. In order to avoid unnecessary repetition, the embodiments of the present invention do not describe every possible combination.
In addition, any combination of various different implementation manners of the embodiments of the present invention is also possible, and the embodiments of the present invention should be considered as disclosed in the embodiments of the present invention as long as the combination does not depart from the spirit of the embodiments of the present invention.
Claims (6)
1. A control method for omnidirectional traction of an air floatation platform is characterized by comprising the following steps:
s1) arranging N driving units at the bottom of the air floatation platform;
s2) acquiring the motion parameters of the air floatation platform through a control system arranged on the air floatation platform to be a control model;
s3) acquiring the position and attitude parameters of each drive unit in the N drive units through a control system arranged on the air floatation platform;
s4) obtaining the motion parameters of each driving unit by a control system according to the speed vector decomposition and the translation and rotation relation of a coordinate system by utilizing the motion parameters of the air floatation platform and the position and attitude parameters of each driving unit;
s5) the control system controls the motion track of each driving unit according to the motion parameters of each driving unit, so that the air floating platform moves according to the preset track.
2. The control method according to claim 1, wherein the positions of the N drive units set in step S1) are arbitrarily distributed.
3. The control method according to claim 1, wherein each of the N drive units provided in step S1) is composed of four mecanum wheel sets.
4. The control method as claimed in claim 1, wherein the motion parameter of the air-bearing platform in the step S2) is (V)x VyOmega) is adopted, the center of the air floatation platform is taken as the origin of a reference system, wherein V isxThe air floating platform moves at a speed of left and right, and is positive to the right, VyThe forward speed of the air floating platform is positive, omega is the rotation speed of the air floating platform, the counterclockwise direction is positive, and the rotation center is (x)c yc)。
5. The control method according to claim 1, wherein the position and posture parameters of each of the N drive units in the step S3) are: (x)n yn θn) Wherein x isn ynAs a position deviation parameter, thetanIs the attitude offset parameter.
6. The control method according to claim 1, wherein the motion parameters of each of the driving units in the step S4) are:
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2020110764322 | 2020-10-10 | ||
| CN202011076432 | 2020-10-10 |
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| CN112498352A true CN112498352A (en) | 2021-03-16 |
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Citations (7)
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| CN103303391A (en) * | 2013-06-25 | 2013-09-18 | 西北工业大学 | Moving platform based on air cushions and Mecanum wheels, |
| CN103640496A (en) * | 2013-07-01 | 2014-03-19 | 常熟理工学院 | 8 Mecanum wheel heavy-load synergy drive omni-directional mobile platform |
| CN106394715A (en) * | 2016-12-02 | 2017-02-15 | 河海大学常州校区 | Omnidirectional moving wheel type robot platform and control method |
| CN206374860U (en) * | 2017-01-13 | 2017-08-04 | 中国人民解放军镇江船艇学院 | Heavy-duty vehicle cabin internal shift device |
| CN108454315A (en) * | 2017-02-20 | 2018-08-28 | 纳博特斯克有限公司 | The driving device of conveying trolley |
| CN110469758A (en) * | 2019-08-15 | 2019-11-19 | 燕山大学 | Super large carries omnidirectional's delivery posture adjustment platform and ground surface self-adaption Omni-mobile unit |
| CN111744797A (en) * | 2019-03-27 | 2020-10-09 | 菜鸟智能物流控股有限公司 | Universal objective table and distribution system of logistics objects |
-
2020
- 2020-11-30 CN CN202011370764.1A patent/CN112498352A/en active Pending
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103303391A (en) * | 2013-06-25 | 2013-09-18 | 西北工业大学 | Moving platform based on air cushions and Mecanum wheels, |
| CN103640496A (en) * | 2013-07-01 | 2014-03-19 | 常熟理工学院 | 8 Mecanum wheel heavy-load synergy drive omni-directional mobile platform |
| CN106394715A (en) * | 2016-12-02 | 2017-02-15 | 河海大学常州校区 | Omnidirectional moving wheel type robot platform and control method |
| CN206374860U (en) * | 2017-01-13 | 2017-08-04 | 中国人民解放军镇江船艇学院 | Heavy-duty vehicle cabin internal shift device |
| CN108454315A (en) * | 2017-02-20 | 2018-08-28 | 纳博特斯克有限公司 | The driving device of conveying trolley |
| CN111744797A (en) * | 2019-03-27 | 2020-10-09 | 菜鸟智能物流控股有限公司 | Universal objective table and distribution system of logistics objects |
| CN110469758A (en) * | 2019-08-15 | 2019-11-19 | 燕山大学 | Super large carries omnidirectional's delivery posture adjustment platform and ground surface self-adaption Omni-mobile unit |
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Application publication date: 20210316 |