WO2021093410A1 - Procédé et dispositif de commande de véhicule, et support de stockage lisible par ordinateur - Google Patents

Procédé et dispositif de commande de véhicule, et support de stockage lisible par ordinateur Download PDF

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Publication number
WO2021093410A1
WO2021093410A1 PCT/CN2020/111456 CN2020111456W WO2021093410A1 WO 2021093410 A1 WO2021093410 A1 WO 2021093410A1 CN 2020111456 W CN2020111456 W CN 2020111456W WO 2021093410 A1 WO2021093410 A1 WO 2021093410A1
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WIPO (PCT)
Prior art keywords
vehicle
destination point
storage location
coordinates
straight line
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PCT/CN2020/111456
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English (en)
Chinese (zh)
Inventor
赵健章
刘瑞超
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深圳创维数字技术有限公司
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Publication of WO2021093410A1 publication Critical patent/WO2021093410A1/fr

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Classifications

    • 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
    • B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
    • B60W40/10—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to vehicle motion
    • 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
    • B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
    • G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
    • 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
    • B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
    • B60W2050/0001—Details of the control system
    • B60W2050/0019—Control system elements or transfer functions
    • B60W2050/0028—Mathematical models, e.g. for simulation
    • B60W2050/0031—Mathematical model of the vehicle
    • B60W2050/0034—Multiple-track, 2D vehicle model, e.g. four-wheel model

Definitions

  • This application relates to the field of intelligent navigation technology, and in particular to a vehicle control method, device, and computer-readable storage medium.
  • SLAM Simultaneous Localization and Mapping, real-time positioning and map construction
  • SLAM includes two major functions: positioning and mapping.
  • the main function of mapping is to understand the surrounding environment and establish the corresponding relationship between the surrounding environment and space; the main function of positioning is to judge the position of the car body on the map based on the built map, so as to obtain the information in the environment.
  • lidar is an active detection sensor that does not depend on external light conditions and has high-precision ranging information. Therefore, the SLAM method based on lidar is still the most widely used method in the robot SLAM method, and in ROS (Robot Operating System, robot software platform) SLAM applications have also been very extensive.
  • the positioning of the navigation target point is carried out by means of lidar, and its accuracy depends on the linearity of the lidar.
  • lidar because it is difficult for lidar to maintain good linearity in a large spatial range, it is easy to cause the positioning deviation of the SLAM forklift after reaching the destination point, that is, the positioning accuracy of the destination point is poor, which causes the forklift to be unable to accurately stop at the destination point of the storage location. , Which in turn leads to a waste of time for the forklift to adjust its posture in the next step.
  • the main purpose of this application is to provide a vehicle control method, device, and computer-readable storage medium, aiming to solve the problem of poor target point positioning accuracy in the existing SLAM positioning, which causes the vehicle to be unable to park accurately.
  • the present application provides a vehicle control method, and the vehicle control method includes:
  • the ground image is acquired based on the camera device installed on the body of the vehicle, and the linear equation of the ground identification line is acquired according to the ground image, which is recorded as the first linear equation;
  • the driving data corresponding to the vehicle reaching the destination point of the storage location is calculated based on the relative position information, and the vehicle is controlled to travel to the destination point of the storage location according to the driving data.
  • the present application also provides a vehicle control device, the vehicle control device comprising: a memory, a processor, and a control of the vehicle that is stored in the memory and can run on the processor A program, when the control program of the vehicle is executed by the processor, realizes the steps of the control method of the vehicle as described above.
  • the present application also provides a computer-readable storage medium having a vehicle control program stored on the computer-readable storage medium, and when the vehicle control program is executed by a processor, the above-mentioned The steps of the vehicle control method.
  • the present application provides a vehicle control method, device, and computer-readable storage medium.
  • a navigation destination point near the navigation point of the storage location when the vehicle is detected to reach the navigation destination point, based on the camera device installed on the vehicle body Obtain the ground image, and obtain the straight line equation of the ground marking line according to the ground image, and record it as the first straight line equation; then, according to the first straight line equation and the preset warehouse location offset distance, determine the current pose and library of the vehicle
  • the relative position information between the location destination points; and based on the relative location information, the driving data corresponding to the vehicle reaching the destination point of the storage location is calculated, and the vehicle is controlled to travel to the destination destination point of the storage location according to the driving data.
  • FIG. 1 is a schematic diagram of a structure of a vehicle control device in a hardware operating environment involved in a solution of an embodiment of the application;
  • FIG. 3 is a schematic diagram of an application scenario involved in the vehicle control method of this application.
  • FIG. 5 is a schematic flowchart of a second embodiment of a vehicle control method according to this application.
  • FIG. 6 is a schematic flowchart of a sixth embodiment of a vehicle control method according to this application.
  • FIG. 7 is a schematic diagram of a posture before and after the rotation of the AGV involved in the control method of the vehicle of this application.
  • FIG. 1 is a schematic structural diagram of a vehicle control device in a hardware operating environment involved in a solution of an embodiment of the application.
  • the vehicle control device may include: a processor 1001, such as a CPU (Central Processing Unit, central processing unit), communication bus 1002, user interface 1003, network interface 1004, and memory 1005.
  • the communication bus 1002 is used to implement connection and communication between these components.
  • the user interface 1003 may include a display screen (Display) and an input unit such as a keyboard (Keyboard), and the optional user interface 1003 may also include a standard wired interface and a wireless interface.
  • the network interface 1004 may optionally include a standard wired interface and a wireless interface (such as Wireless-Fidelity, Wi-Fi interface).
  • the memory 1005 can be a high-speed RAM memory or a stable memory (non-volatile memory), such as disk storage.
  • the memory 1005 may also be a storage device independent of the aforementioned processor 1001.
  • control device of the vehicle shown in FIG. 1 does not constitute a limitation on the control device of the vehicle, and may include more or less components than those shown in the figure, or combine certain components, or different components.
  • the layout of the components does not constitute a limitation on the control device of the vehicle, and may include more or less components than those shown in the figure, or combine certain components, or different components. The layout of the components.
  • the memory 1005 which is a computer storage medium, may include an operating system, a network communication module, a user interface module, and a vehicle control program.
  • the network interface 1004 is mainly used to connect to a background server and perform data communication with the background server;
  • the user interface 1003 is mainly used to connect to a client and perform data communication with the client;
  • the processor 1001 It can be used to call the control program of the vehicle stored in the memory 1005.
  • the vehicle control device includes a memory 1005, a processor 1001, and a vehicle control program that is stored on the memory 1005 and can run on the processor 1001, wherein the processor 1001 calls the memory 1005
  • the vehicle control program is stored in the storage device, the vehicle control method provided in the embodiment of the present application is executed.
  • This application provides a vehicle control method.
  • Fig. 2 is a schematic flowchart of a first embodiment of a vehicle control method according to this application.
  • the vehicle control method includes:
  • Step S10 when it is detected that the vehicle reaches the navigation destination point, the ground image is acquired based on the camera device installed on the body of the vehicle, and the linear equation of the ground marking line is acquired according to the ground image, which is recorded as the first linear equation ;
  • the vehicle control method further includes:
  • Step A Obtain the coordinates of the destination point of the storage location in the preset real-time positioning and map construction SLAM map, and determine the coordinates of the navigation destination point corresponding to the destination point of the storage location according to the coordinates of the destination point of the storage location;
  • Step B Based on the coordinates of the navigation destination point and the preset SLAM map, control the vehicle to travel to the navigation destination point.
  • the vehicle control method can be applied in a storage scenario, and goods are transported by AGV (Automated Guided Vehicle).
  • AGV Automated Guided Vehicle
  • the AGV trolley may be a transport vehicle with safety protection and various transfer functions, such as a SLAM (Simultaneous Localization and Mapping, instant positioning and map construction) forklift.
  • SLAM Simultaneous Localization and Mapping, instant positioning and map construction
  • a forklift is used as an example for illustration.
  • this figure 3 is a schematic diagram of the application scenario of a ground-stack warehouse, where 1.1-1.3 represent the SLAM forklift terminal; 2.1, the pallet cargo; 2.2, the identification line of the ground-stack warehouse (wherein, the warehouse
  • the ground marking line in is essentially tape pasted on the ground, usually composed of diamond-shaped blocks in two colors spaced apart, such as black diamond-shaped blocks with yellow diamond-shaped blocks, black diamond-shaped blocks with white diamond-shaped blocks, etc., which can be convenient for manual labor. (Place the pallets according to the position of the machine operation); 2.3, the warehouse wall; 2.4, the warehouse aisle; 3, the destination point of the storage location; 4, the line of direct entry from the destination point of the storage location.
  • the error of the SLAM positioning of lidar can only be within the approximate range of +/-20cm.
  • forklifts usually The location of the destination point needs a positioning accuracy within 5cm, and in some places it even needs to be within 2cm. Only relying on the edge of the natural environment detected by the lidar for positioning cannot meet the needs of the scene. Therefore, in this embodiment, a fast and high-precision target point positioning function is realized by means of visual assisted positioning.
  • the coordinates of the destination point A are (a, b), and the coordinates of the navigation destination point can be set as (a+20, b+20); then, based on the coordinates of the navigation destination point and the preset SLAM map, control the vehicle to navigate Point of purpose.
  • the ground image is acquired based on the camera device installed on the vehicle body, and the linear equation of the ground marking line is acquired according to the ground image, which is recorded as The first linear equation.
  • the vehicle when the vehicle reaches the navigation destination, its current actual position is point B in Figure 4, and the destination point of the storage location is point A in Figure 4.
  • the ground can be obtained according to the camera device installed on the vehicle body Image, and then obtain the linear equation 1 (l1 in Figure 4) and the linear equation 2 (l2 in Figure 4) corresponding to the ground marking line.
  • the straight line equation of the ground marking line is constructed by taking the current pose of the vehicle as the origin of coordinates, the opposite direction of the fork arm of the vehicle as the positive direction of the y-axis, and the right direction of the y-axis as the positive direction of the x-axis. Calculated in a two-dimensional rectangular coordinate system.
  • Step S20 Determine the relative position information between the current pose of the vehicle and the destination point of the storage location according to the first straight line equation and the preset storage location opening offset distance;
  • the relative position information between the current pose of the vehicle and the destination point of the storage location is determined according to the first straight line equation and the preset offset distance of the storage location.
  • the relative position information includes the first coordinates of the destination point of the storage location
  • the preset offset distance of the storage location port includes the preset distance between the destination point of the storage location and the storage location (L 1 in Figure 4) and the preset distance between the destination point of the storage location and the storage location.
  • the relative position information acquisition process is: first take the current position of the vehicle as the origin of the coordinates, and use the fork arm of the vehicle as the origin of the coordinates.
  • the opposite direction is the positive direction of the y-axis
  • the right direction of the y-axis is the positive direction of the x-axis to construct a two-dimensional rectangular coordinate system
  • calculate the intersection point between the ground markings in the two-dimensional rectangular coordinate The coordinates of the intersection in the system, and calculate the attitude angle of the vehicle; then according to the coordinates of the intersection, the attitude angle of the vehicle, and the preset offset distance of the warehouse location, the coordinates of the warehouse location destination point in the two-dimensional rectangular coordinate system are determined.
  • the first coordinate of the destination point of the location For the specific execution process, refer to the following second embodiment, which will not be repeated here.
  • step S30 the driving data corresponding to the vehicle reaching the destination point of the storage location is calculated based on the relative position information, and the vehicle is controlled to travel to the destination point of the storage location according to the driving data.
  • the driving data includes the first rotation angle and the moving distance.
  • the relative position information is based on the current position of the vehicle as the origin of the coordinates and the opposite direction of the fork arm of the vehicle as the y axis, in the two-dimensional rectangular coordinate system constructed.
  • the coordinates corresponding to the destination point of the location that is, the first coordinate of the destination point of the location
  • the first rotation angle corresponding to the vehicle reaching the destination point of the storage location is calculated; when calculating the moving distance, only the distance between the first coordinate of the destination point of the storage location and the coordinate origin is calculated, and the vehicle can reach the storage location.
  • the moving distance corresponding to the destination point The specific calculation process can refer to the following third embodiment. After the driving data is calculated, the vehicle is first controlled to perform a rotation operation at the first rotation angle to obtain the vehicle after the attitude transition, and then the vehicle after the attitude transition is controlled to travel to the destination point of the storage location according to the moving distance.
  • the embodiment of the application provides a method for controlling a vehicle.
  • a navigation destination point near the navigation point of a storage location when it is detected that the vehicle reaches the navigation destination point, the ground is acquired based on the camera device installed on the vehicle body.
  • Image and obtain the straight line equation of the ground marking line according to the ground image, and record it as the first straight line equation; then, according to the first straight line equation and the preset storage location opening offset distance, determine the current pose and storage location purpose of the vehicle
  • the relative position information between the points; and based on the relative position information, the driving data corresponding to the vehicle reaching the destination point of the storage location is calculated, and the vehicle is controlled to travel to the destination point of the storage location according to the driving data.
  • visual aided positioning can be achieved to compensate for the poor positioning accuracy of the target point of the lidar, and the accuracy of the target point positioning can be improved, from the original positioning accuracy of +/-5 ⁇ +/-15cm to +/ -3cm, so that the vehicle will be parked accurately in front of the pallet location, which is convenient for the accurate operation of the vehicle in and out of the pallet location in the next step.
  • the improvement of the positioning accuracy of the destination point of the storage location there is no need for the vehicle to adjust the posture after reaching the destination point of the storage location, thereby saving time wasted by adjusting the posture and improving the work efficiency of the vehicle.
  • the relative position information includes the first coordinates of the destination point of the storage location
  • step S20 includes:
  • Step S21 using the current position of the vehicle as the origin of coordinates, the opposite direction of the fork arm of the vehicle as the positive direction of the y-axis, and the right direction of the y-axis as the positive direction of the x-axis to construct a two-dimensional rectangular coordinate system;
  • the current position of the vehicle is taken as the origin of coordinates
  • the opposite direction of the fork arm of the vehicle is taken as the positive direction of the y axis
  • the right direction of the y axis is taken as the positive direction of the x axis to construct a two-dimensional rectangular coordinate system.
  • the center of the rear wheel of the forklift can be used as the origin of coordinates
  • the opposite direction of the fork arm of the forklift is the positive direction of the y-axis
  • the right direction of the y-axis is x Axis positive direction
  • Step S22 based on the first straight line equation, calculate the intersection coordinates of the intersection between the ground marking lines in the two-dimensional rectangular coordinate system, and calculate the posture angle of the vehicle;
  • the intersection coordinates of the intersection between the ground marking lines in the two-dimensional rectangular coordinate system are calculated, and the posture angle of the vehicle is calculated.
  • the two ground identification lines ie the line l1 and the line l2 can be calculated.
  • Step S23 Determine the coordinates of the destination point of the storage location in the two-dimensional rectangular coordinate system according to the coordinates of the intersection, the attitude angle of the vehicle, and the offset distance of the preset storage location, which is recorded as the library The first coordinate of the destination point.
  • the preset location offset distance includes the preset distance between the destination point of the location and the location (L 1 in Figure 4) and the preset distance between the destination point of the location and the ground marking line (L 2 in Figure 4).
  • L 1 is generally set to be 0.5 times or more of the vehicle width (denoted as W 1 ).
  • the relative position information between the current pose of the vehicle and the destination point of the storage location can be calculated, so as to facilitate the subsequent acquisition of the first rotation angle and movement distance corresponding to the vehicle's arrival at the destination point of the storage location based on the relative position information.
  • the driving data includes a first rotation angle and a moving distance
  • the step of "calculating the driving data corresponding to the vehicle reaching the destination point of the storage location based on the relative position information" includes:
  • Step a1 calculating the slope of the straight line formed by the first coordinates of the destination point of the storage location and the origin of the coordinates, and calculating the first rotation angle corresponding to the vehicle reaching the destination point of the storage location according to the slope;
  • Step a2 Calculate the distance between the first coordinate of the destination point of the storage location and the origin of the coordinates, and obtain the movement distance corresponding to the vehicle to the destination point of the storage location.
  • the slope of the straight line formed by the first coordinate of the destination point of the storage location and the coordinate origin is calculated, and the first rotation angle corresponding to the vehicle reaching the destination point of the storage location is calculated according to the slope.
  • the first rotation angle w tan -1
  • tan -1
  • step a1 and step a2 are in no particular order.
  • the step of "controlling the vehicle to travel to the destination point of the storage location according to the driving data" includes:
  • Step a3 controlling the vehicle to perform a rotation operation at the first rotation angle in the driving data to obtain a vehicle with a posture transition;
  • Step a4 controlling the vehicle after the posture transition to drive to the destination point of the storage location according to the moving distance in the driving data.
  • the vehicle after the driving data is acquired, where the driving data includes a first rotation angle and a moving distance, the vehicle can be controlled to perform a rotation operation at the first rotation angle in the driving data to obtain a vehicle with a posture transition. Then, the vehicle after the control attitude transition is driven to the destination point of the storage location according to the moving distance in the driving data.
  • step a3 includes:
  • Step a31 during the rotation process, obtain the straight line equation of the ground marking line in real time, and record it as the second straight line equation;
  • Step a32 Calculate the PID rotation control amount in real time according to the slope corresponding to the second linear equation and the proportional-integral-derivative PID algorithm, and control the vehicle to perform a rotation operation according to the PID rotation control amount until the driving data is reached The first angle of rotation in;
  • the straight line equation of the ground marking line is obtained in real time, which is recorded as the second straight line equation.
  • the method of obtaining the second straight line equation is consistent with that of the first straight line equation. You can refer to The above-mentioned embodiments will not be repeated here.
  • the second straight line equation is the straight line equation corresponding to the straight line l1 in FIG. 4 in real time during the rotation process.
  • the PID rotation control amount is calculated in real time, and the vehicle is controlled to rotate according to the PID rotation control amount until the first rotation angle in the driving data is reached.
  • PID algorithm is a closed-loop control algorithm.
  • Closed-loop control is a control method that corrects according to the output feedback of the control object. It corrects according to the quota or standard when the deviation between the actual and the plan is measured.
  • PID is the abbreviation of Proportion, Integral, and Differential, which respectively represent three control algorithms. The combination of these three algorithms can effectively correct the deviation of the controlled object so that it can reach a stable state.
  • step a4 includes:
  • Step a41 in the process of moving, obtain the real-time distance between the intersection of the ground marking line and the vehicle after the posture transition;
  • Step a42 Calculate the PID movement control amount in real time according to the real-time distance and the PID algorithm, and control the vehicle after the attitude transition to move according to the PID movement control amount until the movement distance in the driving data is reached, Drive to the destination point of the storage location.
  • the movement can also be controlled based on the PID algorithm.
  • the real-time distance between the intersection of the ground marking line and the vehicle after the posture transition is obtained; wherein, the method for obtaining the intersection of the ground marking line can refer to the second embodiment described above.
  • the PID algorithm is used to calculate the PID rotation control quantity and the PID movement control quantity in real time, which can realize the real-time high-precision control of vehicles (such as forklifts) under complex conditions such as unsatisfactory environment and incomplete influencing factors.
  • vehicles such as forklifts
  • the completion of operations such as rotation and movement can further control the vehicle to park on the coordinates of the destination point of the storage location more accurately.
  • the step of "acquiring a ground image based on the camera device installed on the body of the vehicle, and obtaining a straight line equation of the ground identification line according to the ground image" includes:
  • Step b1 acquiring a ground image based on the camera device installed on the body of the vehicle, and identifying the centroid position of each target element corresponding to the ground marking line in the ground image;
  • Step b2 Determine the target data coordinates corresponding to each target element according to the centroid position of each target element, and generate a straight line equation of the ground marking line according to the target data coordinates.
  • the ground image is acquired based on the camera device installed on the body of the vehicle, and the centroid position of each target element corresponding to the ground target line in the ground image is identified. Specifically, first extract each target element from the ground image (black diamond blocks can be selected as the target element in the ground image); then obtain the initial contour of each target element, and then call OpenCV (open source computer vision library) for calculation
  • OpenCV open source computer vision library
  • the preset function of the center of mass position transmits the initial contour of each target element to the preset function.
  • the coordinate value is output.
  • the coordinate value is the center of mass coordinate of each target element in the ground image. .
  • Call the preset radius value and set the circular area corresponding to each target element with the center of mass coordinate as the center of the circle.
  • the circular area is the position of the center of mass of the target element in the ground image.
  • the installation parameters of the stereo camera After identifying the centroid position of each target element, combine the installation parameters of the stereo camera to perform polar coordinate conversion on the centroid coordinates representing the centroid position to obtain the depth data coordinates of each target element, which can be fitted to generate the ground marking line according to the depth data coordinates.
  • Linear equation Specifically, the circular area as the center of mass of the target element is used as the preset range interval, and the depth data coordinates of each target element are all based on the preset range interval to find points adjacent to it. Whenever the front and back or left and right points are found, the three points are removed and saved in an array as the target coordinate data of each depth data coordinate. After finding the target coordinate data for each depth data coordinate, the target coordinate data is then transformed into the coordinate system.
  • the target coordinate data is established with the location of the camera as the coordinate origin, for the convenience of subsequent calculation processing, the target The coordinate data is converted into the corresponding coordinate data in the two-dimensional rectangular coordinate system constructed with the center of the rear wheel of the vehicle as the coordinate origin, and then the least square method is used to generate the target coordinate data after the coordinate system conversion into a straight line equation.
  • the equation is the straight line equation corresponding to the ground marking line in the ground image.
  • the ground image can be acquired based on the camera device installed on the vehicle body, and then the linear equation corresponding to the ground marking line can be acquired based on the ground image, which can facilitate the subsequent determination of relative position information and formal data based on the linear equation, thereby Through the way of visual aided positioning, it realizes the function of fast and high-precision target point positioning.
  • the vehicle control method further includes:
  • Step S40 after the vehicle has traveled to the destination point of the storage location, obtain the straight line equation of the ground marking line, which is recorded as the third straight line equation;
  • step S50 a second rotation angle is calculated according to the third straight line equation, and the vehicle is controlled to perform a rotation operation at the second rotation angle.
  • the straight line equation of the ground marking line is obtained again, which is recorded as the third straight line equation.
  • the third straight line equation is obtained in the same manner as the first straight line equation. Consistent, please refer to the above-mentioned embodiment, which will not be repeated here. Among them, as shown in Figure 7(A), the third straight line equation is the straight line equation corresponding to the ground marking line l1.
  • the second rotation angle is calculated according to the third straight line equation.
  • the center of the current rear wheel of the vehicle (such as a SLAM forklift) is used as the coordinate origin, and the fork arm of the vehicle is pointed in the opposite direction It is the positive direction of the y-axis, and the right side of the y-axis is the positive direction of the x-axis to construct a two-dimensional rectangular coordinate system.
  • the slope of the third straight-line equation calculate the distance between the ground marking line and the y-axis corresponding to the third straight-line equation
  • the included angle is the second rotation angle.
  • the vehicle is controlled to perform a rotation operation at the second rotation angle to control the vehicle to be parallel to the ground marking line corresponding to the third straight line equation.
  • the posture of the vehicle as shown in FIG. 7(A) is rotated to the posture as shown in FIG. 7(B).
  • the PID closed-loop control system can be used to control the rotation of the vehicle, so as to control the vehicle to park on the coordinates of the destination point of the storage location with a more accurate posture.
  • the specific implementation The process is similar to the foregoing embodiment, and will not be repeated here.
  • the PID closed-loop control system can also control the vehicle to make minor jitter adjustments near the destination point of the storage location, so as to park at the destination point coordinates of the storage location more accurately, and further improve the destination point of the storage location. positioning accuracy.
  • the straight line equation (third straight line equation) of the ground marking line can be obtained to determine the second rotation angle, and then control the vehicle to rotate to the parallel position according to the second rotation angle. This facilitates operations such as fork picking or stacking of goods in the next step.
  • the present application also provides a computer-readable storage medium that stores a control program of a vehicle on the computer-readable storage medium.
  • the control program of the vehicle is executed by a processor, the control program of the vehicle as described in any of the above embodiments is realized. Steps of the control method.
  • the technical solution of this application essentially or the part that contributes to the existing technology can be embodied in the form of a software product, and the computer software product is stored in a storage medium (such as ROM/RAM) as described above. , Magnetic disks, optical disks), including several instructions to make a terminal device (which can be a mobile phone, a computer, a server, an air conditioner, or a network device, etc.) execute the method described in each embodiment of the present application.
  • a terminal device which can be a mobile phone, a computer, a server, an air conditioner, or a network device, etc.

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

Abstract

L'invention concerne un procédé et un dispositif de commande de véhicule, ainsi qu'un support de stockage lisible par ordinateur, consistant : à obtenir, lors de la détection du fait qu'un véhicule arrive à un point de destination de navigation, une image du sol en fonction d'un dispositif photographique monté sur la carrosserie du véhicule, à obtenir une équation de ligne droite d'une ligne d'identification du sol en fonction de l'image du sol, et à la désigner comme première équation de ligne droite ; à déterminer, en fonction de la première équation de ligne droite et d'une distance de décalage de port de position de stockage prédéfinie, des informations de position relative de la position courante du véhicule et d'un point de destination de position de stockage ; et à calculer, en fonction des informations de position relative, des données de déplacement correspondant au véhicule arrivant au point de destination de position de stockage, et à commander, en fonction des données de déplacement, le déplacement du véhicule vers le point de destination de position de stockage. La présente invention permet ainsi de résoudre problème selon lequel un véhicule ne peut pas se garer avec précision en raison d'une mauvaise précision de localisation d'un point de destination dans la localisation par SLAM existante.
PCT/CN2020/111456 2019-11-12 2020-08-26 Procédé et dispositif de commande de véhicule, et support de stockage lisible par ordinateur WO2021093410A1 (fr)

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