CN113341968A - Accurate parking system and method for multi-axis flat car - Google Patents
Accurate parking system and method for multi-axis flat car Download PDFInfo
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Abstract
The invention discloses a system and a method for accurately parking a multi-axis flat car, which comprises the following steps: the starting module is used for starting the multi-axis flat car, loading and reading a global map containing coordinate information; a path acquisition module which determines a movement path of the multi-axis flat car according to an initial point and a stop point of the multi-axis flat car and generates a track; the driving module is used for controlling the multi-axis flat car to run according to the track generated by the path acquisition module; the track tracking control module is used for positioning and adjusting the actual position of the multi-axis flat car in real time when the multi-axis flat car advances; the visual perception module is used for identifying the infrared road signs installed at the stopping points and transmitting the identified information to the embedded upper computer; and the embedded upper computer is used for positioning the multi-axis flat car and planning a track when the multi-axis flat car is accurately parked according to the information identified by the visual perception module, and controlling a driving module of the multi-axis flat car to finish the accurate parking.
Description
Technical Field
The invention relates to the field of path planning and positioning of mobile robots, in particular to a system and a method for accurately parking a multi-axis flat car based on infrared road signs.
Background
With the development of the intelligent manufacturing field, the multi-axis flat car is widely applied to various large-scale engineering transportation environments, is a main device for transporting a segmented hull in a shipyard, is also suitable for transporting super-large-scale concrete prefabricated members in a steel mill and a highway, needs to be frequently parked, and has extremely important influence on the completion degree of tasks due to parking precision.
For the multi-axis flat car to finish the parking task, a plurality of different solutions exist currently, each solution has some defects, some solutions need to lay a magnetic strip on the road surface in advance, and the guidance is realized by sensing signals of the magnetic strip, but the magnetic strip is easy to damage, and the magnetic strip needs to be laid again when the path is changed. Some schemes need to install auxiliary equipment such as sensors near the stopping point, but cause the multiaxis flatbed to not accomplish accurate stopping due to the reason of sensor self, and this scheme makes the multiaxis flatbed travel the shortest path and reaches near the stopping point through path planning to near the stopping point installation infrared road sign realizes the positioning of multiaxis flatbed near the stopping point, further realizes the accurate stopping of multiaxis flatbed.
Disclosure of Invention
The invention aims to solve the problems in the prior art and provides a method for accurately parking a multi-axis flat car based on an infrared road sign.
The technical scheme adopted by the invention is as follows:
the invention provides a multi-axis flat car accurate parking system which comprises an on-board device and an infrared road sign, wherein the infrared road sign is installed at a parking point, and the on-board device comprises a starting module, a path acquisition module, a driving module, a steering module, a track tracking control module, a visual perception module and an embedded upper computer;
the starting module is used for starting the multi-axis flat car, loading and reading a global map containing coordinate information;
the path acquisition module determines the moving path of the multi-axis flat car according to the initial point and the stop point of the multi-axis flat car;
the driving module is used for controlling the multi-axis flat car to run according to the track generated by the path acquisition module;
the steering module is used for acquiring path information, judging a steering mode, analyzing an expected corner of each wheel train according to a multi-axis flatbed steering kinematics model established by an embedded upper computer, receiving a latest actual wheel train corner through a CAN (controller area network) bus, obtaining control quantity output of each loop by using closed-loop control, and sending a corresponding output instruction to each node, so that each wheel train is controlled to reach the expected corner, the rotation of each combined wheel according to a preset angle in the steering process is ensured, and the coordination among the combined wheels is kept consistent;
the multi-axis flat car has multiple steering modes such as splay steering, conventional steering and center turning in the driving process;
the track tracking control module is used for positioning the actual position of the multi-axis flat car in real time when the multi-axis flat car advances, and adjusting the pose of the flat car when the deviation between the actual position and the target position is greater than a set threshold value so that the flat car gradually returns to the target path;
the visual perception module is arranged at the front part of the multi-axis flat car body, identifies the infrared road sign arranged at a stopping point and transmits the identified information to the embedded upper computer;
the embedded upper computer is used for loading a train steering kinematics model of the vehicle, finishing positioning the multi-axis flat car and planning a track when the multi-axis flat car is accurately parked according to the information identified by the visual perception module, and controlling a driving module of the multi-axis flat car to finish the accurate parking.
Preferably, the visual perception module consists of a camera and an image information processing card, the camera is used for collecting environmental information in front of the multi-axis flat car, and the camera is installed below the front part of the multi-axis flat car body and is provided with an optical filter for accurately identifying infrared light; the image information processing card is used for receiving the environmental information transmitted by the camera, identifying the information of the infrared road sign in front of the parking spot parking space by the environmental information shot by the camera, and transmitting the information to the embedded upper computer.
In a second aspect, the invention further provides a method for accurately parking a multi-axis flat car based on an infrared road sign, which comprises the following steps:
step 1: acquiring a global map, an initial point and a stop point, and adding the initial point and the stop point into the global map;
step 2: planning a shortest path required from an initial point to a stopping point;
and step 3: driving along the shortest path and acquiring the current positioning information in real time;
and 4, step 4: when the vehicle reaches the position near the stop point, the vehicle decelerates, the infrared road signs are identified, the relative position and posture of the multi-axis flat car and the infrared road signs are calculated by the upper computer according to the image information of the infrared road signs, the vehicle body adjustment of the multi-axis flat car is further completed, and the stop of the target point is realized.
The invention has the following beneficial effects:
according to the invention, the accurate parking task of the multi-axis flat car is realized through the trajectory planning and the autonomous positioning of the multi-axis flat car and the recognition of the infrared road signs, and the multi-axis flat car has higher parking accuracy; by means of trajectory planning and motion modeling of the virtual multi-axis flat car, the multi-axis flat car can be parked more smoothly, and parking accuracy is improved.
Drawings
FIG. 1 is a system block diagram;
FIG. 2 is a general flow chart;
FIG. 3 is a steering module control schematic;
FIG. 4(a) is a figure of a splayed turning kinematic model of a multi-axis flatbed;
FIG. 4(b) is a diagram of a conventional kinematic model of a multi-axis flatbed;
FIG. 4(c) is a diagram of a multi-axis flatbed center turning kinematics model;
FIG. 5 is a flow chart of a precise docking based on a visual perception module;
FIG. 6 is a flow chart of the motion control of the multi-axis flatbed;
fig. 7 is a schematic diagram of the accurate parking motion track of the multi-axis flatbed.
Detailed Description
The invention is further described below in conjunction with the appended drawings and detailed description for better understanding.
As shown in fig. 1, the accurate parking system of the multi-axis flat car of the present invention comprises a vehicle-mounted device and an infrared road sign, wherein the infrared road sign is installed at a parking point, and the vehicle-mounted device comprises a starting module, a path obtaining module, a driving module, a steering module, a trajectory tracking control module and a visual perception module;
the starting module is used for starting the multi-axis flat car, loading and reading a global map containing coordinate information;
the path obtaining module determines the moving path of the multi-axis flat car according to the initial point and the stop point of the multi-axis flat car;
the driving module is used for controlling the multi-axis flat car to run according to the track generated by the path acquisition module;
the steering module is used for acquiring path information, judging a steering mode, analyzing an expected corner of each wheel train according to a multi-axis flat car steering kinematics model established by an embedded upper computer, receiving a latest actual wheel train corner through a CAN (controller area network) bus, obtaining control quantity output of each loop by using closed-loop control, and sending a corresponding output instruction to each node, so that each wheel train is controlled to reach the expected corner, the rotation of each combined wheel according to a preset angle in the steering process is ensured, and the coordination among the combined wheels is kept consistent;
the multi-axis flat car has multiple steering modes such as splay steering, conventional steering and center turning in the driving process;
the track tracking control module is used for positioning the actual position of the multi-axis flat car in real time when the multi-axis flat car advances, and adjusting the pose of the flat car when the deviation between the actual position and the target position is greater than a set threshold value so that the flat car gradually returns to the target path;
the visual perception module is arranged at the front part of the multi-axis flat car body, identifies the infrared road sign arranged at a stopping point and transmits the identified information to the embedded upper computer;
the embedded upper computer is used for loading a train steering kinematics model of the vehicle, positioning the multi-axis flat car and planning a track when the multi-axis flat car is accurately parked according to the information identified by the visual perception module, and controlling a driving module of the multi-axis flat car to finish the accurate parking.
The method comprises the steps of firstly starting a multi-axis flat car through a starting module, loading and reading a global map with coordinate information, determining a moving path of the multi-axis flat car through a path acquisition module according to an initial point and a stop point of the multi-axis flat car, controlling the multi-axis flat car to run according to a track generated by the path acquisition module through a driving module, acquiring path information through a steering module in the running process, judging a steering mode, analyzing an expected corner of each gear train according to a multi-axis flat car steering kinematics model established by an embedded upper computer, receiving a latest actual gear train corner through a CAN bus, obtaining control quantity output of each loop through closed-loop control, and sending a corresponding output instruction to each node so as to control each gear train to reach the expected corner; and then the track tracking control module carries out real-time positioning on the actual position of the multi-axis flat car, and when the deviation between the actual position and the target position is greater than a threshold value, the track tracking control module adjusts the pose of the flat car so that the flat car gradually returns to the target path. The infrared road sign is installed in front of a parking spot parking place, the visual perception module is installed on the front portion of the multi-axis flat car body, when the multi-axis flat car moves to a position near the parking spot, the multi-axis flat car decelerates and the infrared road sign is searched by the visual perception module through in-situ rotation, after the infrared road sign is searched, image position information of the infrared road sign is obtained through calculation, and the recognized information is transmitted to an embedded upper computer of the multi-axis flat car. The embedded upper computer of the multi-axis flat car calculates the relative position of the multi-axis flat car and the infrared road signs, realizes the motion planning of the multi-axis flat car, and controls the multi-axis flat car to realize accurate parking by the driving module.
Preferably, the visual perception module consists of a camera and an image information processing card, the camera is used for collecting environmental information in front of the multi-axis flatbed, and the camera is installed below the front part of the multi-axis flatbed body and is provided with an optical filter for accurately identifying infrared light; the image information processing card is used for receiving the environment information transmitted by the camera and further completing the processing of the image information.
Preferably, the infrared road sign is in the shape of an isosceles right triangle, the side length of two sides of the infrared road sign is 50cm, and infrared light-emitting diodes are mounted at three vertexes of the infrared road sign.
As shown in fig. 2, 3 and 5, the method for accurately parking a multi-axis flatbed includes the following specific steps:
step 1.1: and starting the multi-axis flat car by the starting module, determining the overall operation information, and rasterizing the overall operation scene to obtain an overall grid map.
Step 1.2: acquiring initial positioning information (X) of multi-axis flat car under global map coordinate system0，Y0，θ0) And target waypoint information and stored in the database.
Step 2.1 in the global grid map of step 1.1, the shortest path from the initial position to the vicinity of the target stop point is calculated by the path obtaining module through the shortest path algorithm.
In the present embodiment, an a-x algorithm is used as the shortest path algorithm. The specific implementation process of the algorithm is as follows:
the A-algorithm combines heuristic search and breadth-first algorithm, and is the most effective direct search algorithm for solving the optimal path in a static environment. And A, the algorithm selects a search direction to expand from the starting point to the periphery through a cost function F (n), calculates the cost value of each peripheral node through a heuristic function H (n), selects the minimum cost value as the next expansion point, repeats the process until the end point is reached, and generates a path from the starting point to the end point. In the searching process, because each node on the path is the node with the minimum cost, the obtained path cost is minimum.
The cost function of the a-algorithm is:
F(n)＝G(n)+H(n)
wherein, f (n) is an evaluation function of the current node, g (n) is an actual path cost from the starting point to the current node, and h (n) is a minimum estimated cost from the current node to the target point.
The abscissa of the starting point is xiThe ordinate of the starting point is yiThe abscissa of the end point is xnEnd point ordinate is yn。
Step 3.1: the multi-axis flat car walks according to the shortest path planned in the step 2 under the control of the driving module, in the steering process, path information is collected through the steering module, the steering mode is judged, the expected angle of each wheel is calculated according to a multi-axis flat car steering mathematical model established by the embedded upper computer, the latest actual turning angle of each wheel is received through the CAN bus, the control quantity output of each loop is obtained through closed-loop control, and corresponding output instructions are sent to each node, so that each wheel train is controlled to reach the expected turning angle.
In the multi-axis flatbed steering kinematics model diagram, taking splay steering of the multi-axis flatbed as an example, a point P where a vertical line of each wheel intersects with a steering center line is marked as a steering point of the multi-axis flatbed. The steering angle of each right wheel is aiSteering angle of each left wheel is betaiThe distance from the turning point P to the central line of the flat car is R, the distances between the wheel shafts in the two groups of wheel shafts 1, 2 and 3 and 4, 5 and 6 are equal, and S is set1And the distance between 3 and 4 two wheel shafts is S2And establishing a mathematical model of the deflection angle by taking the right rotation example of the multi-axis flat car:
when i is 1, 2, 3 axles
So that there are
When i is 4, 5, 6 axles
a7-i＝-ai
β7-i＝-βi
In the closed-loop control, the embedded upper computer calculates the steering target value theta of each wheel set through a multi-axis flatbed steering mathematical model0And then the actual steering deflection angle theta fed back by the angular displacement sensor of each wheel grouptComparing, calculating the error epsilon of the steering angle, transmitting the error epsilon as an output signal to a proportional amplifier to obtain a current signal I, controlling an electro-hydraulic proportional valve by using the current signal I, converting the change of the opening of the electro-hydraulic proportional valve into a flow Q to output, further controlling the movement of a hydraulic oil cylinder, and realizing that each wheel is steered to a steering target value theta0And further realize the cooperative work among all wheel groups.
And 3.2, acquiring the positioning information of the multi-axis flat car in real time by the track tracking control module, and when the deviation between the actual position and the target position is greater than a threshold value, adjusting the pose of the flat car by the track tracking control module to enable the flat car to gradually return to the target path.
The track tracking control module in the embodiment adopts a track pushing algorithm to realize the real-time positioning of the multi-axis flat car, and the specific implementation process of the algorithm is as follows:
the basic idea of dead reckoning is to use a certain point on the earth surface as the origin of a local coordinate system, calculate the relative position of the moving object at the next moment according to the speed direction variation and the speed of the moving object at the current moment, and continuously repeat the process, so as to calculate the motion trajectory of the moving object.
Let tiThe moving object being located at a known point P at a momenti(xi，yi)，θiRepresents tiAt the moment, the moving object is at point PiThe heading of the time. (wherein i is more than or equal to 0 and more than or equal to n).
From this, if t is known0Position P of moving object at time0(x0，y0) And t0The magnitude and direction of the velocity at any time after the time, t can be deduced0At any time t after the momentiPosition P of moving objecti(xi，yi)。
Step 4.1: collecting environmental information in front of the multi-axis flat car through a visual perception module, and processing image information to obtain position information of the infrared road sign in an image;
step 4.2: the position information of the infrared road signs in the images is sent to an embedded upper computer, and the embedded upper computer calculates the relative position and posture of the multi-axis flat car and the infrared road signs through a point perspective problem analysis method;
the pose calculation method of the multi-axis flat car relative to the infrared road sign comprises the following steps:
step S1: a world coordinate system is established on the infrared road sign, the position information of the infrared road sign under the coordinate system is obtained through measurement, the camera is fixed on the front part of the multi-axis platform body, and meanwhile, the internal parameters of the camera are calibrated;
the internal parameter matrix of the camera is as follows:
fu、fvthe focal lengths in u and v directions respectively, gamma is a parameter of skewness of two coordinate axes of the image, and u is0、v0Are respectively the main pointsThe image coordinates of (a).
Step S2: calculating external parameters of the camera by using a perspective n-point problem (PnP) analysis method;
wherein the extrinsic parameter matrix of the camera is:
Step S3: and calibrating a transformation matrix of a coordinate system of the multi-axis flat car and a coordinate system of the camera, and calculating according to internal and external parameters of the camera to obtain the pose of the multi-axis flat car in a world coordinate system.
Step 4.3: according to the path planning during the accurate parking, the driving module controls the multi-axis flat car to move, and the accurate parking is completed by utilizing a closed-loop control algorithm.
As shown in fig. 6 and 7, the method for controlling the accurate parking motion of the multi-axis flatbed concretely comprises the following steps:
step A1: assume that the body length of the multi-axis flat bed vehicle is L1Width of vehicle body is L2The initial coordinate of the point A is (x)A yA θA)TAnd the coordinates of the point B can be calculated through the geometrical relation.
Wherein the coordinates of the point B are:
suppose that at time t, the coordinate of the multi-axis flat car is (x)t yt θt)TThe feedback error of the closed loop system can be obtained by calculation.
Wherein the closed loop feedback error is:
ex＝xt-xB
ey＝yt-yB
according to the closed loop feedback error e ═ ex ey et)TThe multi-axis flat car is controlled to move from A to B in a closed-loop mode through the driving module, and the multi-axis flat car gradually approaches to a parking space in the process.
Step A2: after the multi-axis flat car reaches the point B, the car body is adjusted to enable the pose of the car body to be (x)B yB θB)T。
Wherein theta isBComprises the following steps:
step A3: the initial position of a virtual multi-axis flat car is at a point C, the virtual multi-axis flat car runs at a constant speed to a point D along a straight line CD, the position information of the virtual multi-axis flat car at each moment is calculated and collected, the feedback error between the position information of the virtual multi-axis flat car and the position information of the current multi-axis flat car is calculated by utilizing the position information of the virtual multi-axis flat car, the flat car is controlled by a driving module to move towards the point D stably, and x is gradually reducedWFeedback error of direction.
Step A4: when the multi-axis flat car moves to the point D, the visual perception module identifies the infrared road signs again to obtain the current position information of the multi-axis flat car, so that the accumulated error caused by dead reckoning for real-time positioning is eliminated.
The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (9)
1. The accurate parking system of the multi-axis flat car is characterized by comprising a vehicle-mounted device and an infrared road sign, wherein the infrared road sign is installed at a parking point; a path planning module which determines a moving path according to an initial point and a stop point of the multi-axis flat car; the driving module is used for controlling the multi-axis flat car to run according to the track generated by the path acquisition module; the track tracking control module is used for positioning and adjusting the actual position of the multi-axis flat car in real time when the multi-axis flat car advances; the visual perception module is used for identifying the infrared road signs installed at the stopping points and transmitting the identified information to the embedded upper computer; and the embedded upper computer is used for loading the train steering kinematics model of the vehicle, finishing positioning the multi-axis flat car and planning a track when the multi-axis flat car is accurately parked according to the information identified by the visual perception module, and controlling a driving module of the multi-axis flat car to finish the accurate parking.
2. The multi-axis flat car accurate parking system according to claim 1, wherein the vehicle-mounted device further comprises a steering module for collecting the path information, judging a steering mode, analyzing an expected rotation angle of each wheel train according to a multi-axis flat car steering kinematic model established by the embedded upper computer, receiving a latest actual wheel train rotation angle through the bus, obtaining control quantity output of each loop by using closed-loop control, and sending a corresponding output instruction to each node.
3. The system for precisely docking a multi-axis flatbed as claimed in claim 1, wherein the vision sensing module comprises a camera for collecting environmental information in front of the multi-axis flatbed, an image information processing device, and a filter installed under a front portion of the multi-axis flatbed body for accurately recognizing infrared light; the image information processing device is used for receiving the environmental information transmitted by the camera, identifying the information of the infrared road sign in front of the parking spot parking space by the environmental information shot by the camera, and transmitting the information to the embedded upper computer.
4. The method for accurately parking the multi-axis flat car is characterized by comprising the following steps of:
step 1: acquiring a global map, an initial point and a stop point, and adding the initial point and the stop point into the global map;
step 2: planning a shortest path required from an initial point to a stopping point;
and step 3: driving along the shortest path and acquiring the current positioning information in real time;
and 4, step 4: when the vehicle reaches the position near the stop point, the vehicle decelerates, the infrared road signs are identified, the relative position and posture of the multi-axis flat car and the infrared road signs are calculated by the upper computer according to the image information of the infrared road signs, the vehicle body adjustment of the multi-axis flat car is further completed, and the stop of the target point is realized.
5. The method for accurately parking a multi-axis flat car according to claim 4, wherein the global grid map is obtained by rasterizing the global map in step 1, and initial positioning information of the multi-axis flat car and target parking point information are obtained from the global grid map and stored in the database.
6. The method for precisely docking a multi-axis flat car according to claim 5, wherein in the step 2, the shortest path from the initial position to the vicinity of the target docking point is calculated by the path acquisition module through a shortest path algorithm in the global grid map.
7. The method as claimed in claim 4, wherein in step 3, the multi-axis flat car travels along the shortest route planned in step 2 under the control of the driving module, and during the steering process, the steering module collects the route information, determines the steering mode, calculates the expected angle of each wheel according to the mathematical model of the multi-axis flat car steering established by the embedded upper computer, receives the latest actual turning angle of each wheel through the bus, and then obtains the control output of each loop by using the closed-loop control, and sends the corresponding output instruction to each node, thereby controlling each wheel train to reach the expected turning angle.
8. The method of claim 4, wherein the tracking control module obtains the positioning information of the multi-axis flatbed in real time in step 3, and adjusts the pose of the flatbed to gradually return the flatbed to the target path when the deviation between the actual position and the target position is greater than a threshold value.
9. The method for accurately parking a multi-axis flat car as claimed in claim 4, wherein in step 3, the pose of the multi-axis flat car with respect to the infrared road markers is calculated as follows:
step S1, a world coordinate system is established on the infrared road sign, the position information of the infrared road sign under the coordinate system is obtained through measurement, the camera is fixed on the front part of the multi-axis platform body, and meanwhile, the internal parameters of the camera are calibrated;
step S2: calculating external parameters of the camera by using a perspective n-point problem analysis method;
and step S3, calibrating a transformation matrix of the coordinate system of the multi-axis flat car and the coordinate system of the camera, and calculating the pose of the multi-axis flat car in the world coordinate system according to the internal and external parameters of the camera.
Priority Applications (3)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110608144.5A CN113341968A (en) | 2021-06-01 | 2021-06-01 | Accurate parking system and method for multi-axis flat car |
| PCT/CN2021/098375 WO2022252220A1 (en) | 2021-06-01 | 2021-06-04 | Precise stopping system and method for multi-axis flatbed vehicle |
| AU2021448614A AU2021448614A1 (en) | 2021-06-01 | 2021-06-04 | Precise stopping system and method for multi-axis flatbed vehicle |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110608144.5A CN113341968A (en) | 2021-06-01 | 2021-06-01 | Accurate parking system and method for multi-axis flat car |
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| CN113341968A true CN113341968A (en) | 2021-09-03 |
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| CN114633801A (en) * | 2022-04-22 | 2022-06-17 | 武汉科技大学 | Automatic tunnel walking deviation rectifying system and method for girder transporting vehicle |
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| CN118412776A (en) * | 2024-04-28 | 2024-07-30 | 南京电力设计研究院有限公司 | Automatic platform of taking one's place of GIS combined electrical apparatus |
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| AU2021448614A9 (en) | 2024-06-20 |
| AU2021448614A1 (en) | 2023-06-15 |
| WO2022252220A1 (en) | 2022-12-08 |
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