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Turning control method, device and system of unmanned mobile device and storage medium

A technology of turning control and moving device, applied in control/adjustment system, non-electric variable control, two-dimensional position/channel control and other directions, which can solve the problems of long time, complicated process and action, which will affect production efficiency, etc.

Active Publication Date: 2020-11-20
国以贤智能科技(上海)股份有限公司
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

Obviously, the process of turning the unmanned mobile device through this scheme is complicated and takes a long time, especially for the unmanned mobile device with the characteristics of large load and large inertia, which will affect the production efficiency

Method used

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  • Turning control method, device and system of unmanned mobile device and storage medium
  • Turning control method, device and system of unmanned mobile device and storage medium
  • Turning control method, device and system of unmanned mobile device and storage medium

Examples

Experimental program
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Effect test

Embodiment 1

[0034] figure 1 It is a flow chart of a turning control method for an unmanned mobile device provided by Embodiment 1 of the present invention. This embodiment is applicable to the situation of turning control of an unmanned mobile device based on optical navigation, and the method can be executed by a turning control device , the device may be implemented in software and / or hardware. The device can be configured in an unmanned mobile device. Such as figure 1 As shown, the method includes:

[0035] Step S110, when a turning command is received, acquire the position coordinates and attitude angle of the target point.

[0036] Specifically, when the turning controller receives the turning instruction, it acquires the position coordinates and attitude angle of the target point from its own memory, and starts to enter the turning control process. Wherein, the turning instruction may be sent to the turning controller by the scheduling system, for instructing the turning control...

Embodiment 2

[0050] figure 2 It is a flow chart of a turning control method for an unmanned mobile device provided in Embodiment 2 of the present invention. This embodiment is optimized on the basis of the above embodiments, as shown in figure 2 As shown, the method includes:

[0051] Step S210, when a turning command is received, acquire the position coordinates and attitude angle of the target point.

[0052] Step S220 , according to the acquired steering wheel speed and steering wheel angle, calculate the position coordinates and attitude angles of the vehicle body at each moment in the turning process in real time.

[0053] Step S230, input the position coordinates of the target point and the position coordinates of the vehicle body at each time into the first proportional-integral control model, and obtain the position control amount at each time outputted by the first proportional-integral control model.

[0054] Specifically, the turning controller inputs the position coordinate...

Embodiment 3

[0073] Figure 4 It is a flow chart of a method for real-time calculation of the position coordinates and attitude angles of the vehicle body at various moments in the turning process provided by Embodiment 3 of the present invention. This embodiment is optimized on the basis of the above-mentioned embodiments, as Figure 4 As shown, according to the obtained steering wheel speed and steering wheel angle, the real-time calculation of the attitude angle of the vehicle body at each moment in the turning process can be implemented in the following ways:

[0074] Step S221, acquiring the initial attitude angle of the vehicle body when receiving the turning instruction.

[0075] Specifically, when the turning controller receives the turning instruction, it acquires the attitude angle of the vehicle body at the current moment as the initial attitude angle.

[0076] Step S222 , according to the wheelbase of the vehicle body, the steering wheel speed and the steering wheel angle at e...

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Abstract

The embodiment of the invention discloses a turning control method, device and system of an unmanned mobile device and a storage medium. The method comprises the steps that when a turning instructionis received, acquiring the position coordinate and the posture angle of a target point; according to the obtained steering wheel speed and steering wheel angle, calculating position coordinates and attitude angles of the vehicle body at each moment in the turning process in real time; determining the position control quantity of each moment according to the position coordinates of the target pointand the position coordinates of the vehicle body at each moment, and determining the attitude control quantity of each moment according to the attitude angle of the target point and the attitude angle of the vehicle body at each moment; and according to the position control quantity and the attitude control quantity, determining the output control quantity of each moment, sending the output control quantity of each moment to a driver, and indicating the driver to drive the vehicle body to turn in motion according to the output control quantity. By calculating the position coordinates and theattitude angle of the vehicle body in real time, the position coordinates and the attitude angle are respectively controlled, the turning time is shortened, and the turning efficiency is improved.

Description

technical field [0001] Embodiments of the present invention relate to motion control technology, and in particular to a turning control method, device, system and storage medium of an unmanned mobile device. Background technique [0002] Unmanned mobile devices operating in the logistics and warehousing industry inevitably need to make turns in addition to moving in a straight line. [0003] At present, in the optical-based navigation scheme of unmanned mobile devices, the color ribbon image is recognized by the camera installed on the vehicle by painting or pasting the ribbon on the driving path, and the acquired ribbon image signal is simply processed. Obtain the deviation of the device relative to the ribbon, and then realize the guidance. However, this solution is only effective for straight-line paths, and it is more difficult to identify and process curved ribbons, and the guidance reliability is poor, and the accuracy is low, which cannot meet the requirements of acc...

Claims

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Application Information

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IPC IPC(8): G05D1/02
CPCG05D1/0246G05D1/0221G05D1/0276
Inventor 沙学东梁书田谢勇贺松余涛张笑天石太平
Owner 国以贤智能科技(上海)股份有限公司
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