CN112462787B - Industrial transfer electric transport vehicle control system and control method - Google Patents
Industrial transfer electric transport vehicle control system and control method Download PDFInfo
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0255—Control of position or course in two dimensions specially adapted to land vehicles using acoustic signals, e.g. ultra-sonic singals
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- G05D1/02—Control of position or course in two dimensions
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- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
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- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
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- G05D1/0223—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory involving speed control of the vehicle
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- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
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- G05D1/0257—Control of position or course in two dimensions specially adapted to land vehicles using a radar
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0276—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle
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Abstract
A control system and a control method for an industrial transfer electric transport vehicle relate to industrial production. The application aims to solve the problem that the existing control transfer electric transport vehicle is complex in running mode. According to the application, two angle sensors, 8 groups of ultrasonic radars and a control terminal are arranged on a converting electric transport vehicle, the control terminal collects information such as feedback data of the angle sensors and the ultrasonic radars, and the like, and analyzes working environment to control the action of the vehicle body. It is used for controlling the electric transport vehicle of the transfer work to travel.
Description
Technical Field
The application relates to a control of driving of an electric transport vehicle for transfer work, belonging to the field of industrial production.
Background
Along with the increase of industrial materials, the materials are transported by adopting a transfer electric transport vehicle in the warehouse, so that the time for transporting the materials is saved, the complexity for transporting the materials is reduced, and the labor force is reduced. The existing technology of tracking rail vehicles is adopted to control the transfer electric transport vehicle to run, painting or rubberizing treatment is needed on the workshop floor, so that the transfer electric transport vehicle runs along the paved route in a tracking way, the paving area is large, materials are wasted, and the control mode is complex.
Disclosure of Invention
The application aims to solve the problem that the existing control transfer electric transport vehicle is complex in running mode. The control system and the control method for the industrial transfer electric transport vehicle are provided.
The industrial transfer electric transport vehicle control system comprises two angle sensors 1, 8 groups of ultrasonic radars 2, a control terminal 3, a visual interface 4 and a CAN bus 5,
the two angle sensors 1 are respectively positioned on the front wheel corner transmission mechanism and the rear wheel corner transmission mechanism of the rotary electric transport vehicle, and the two angle sensors 1 are respectively used for detecting the rotation angle of the inner corner motor of the front wheel corner transmission mechanism and the rotation angle of the inner corner motor of the rear wheel corner transmission mechanism;
the front end, the rear end, the left end and the right end of the transfer electric transport vehicle are respectively provided with 2 groups of ultrasonic radars 2,8 groups of ultrasonic radars 2 are respectively used for measuring 8 boundary distances, and the 8 boundary distances are respectively: 2 distances from the front end of the transfer electric transport vehicle to the front end boundary, 2 distances from the rear end of the transfer electric transport vehicle to the rear end boundary, 2 distances from the left end of the transfer electric transport vehicle to the left end boundary and 2 distances from the right end of the transfer electric transport vehicle to the right end boundary;
the control terminal 3 is simultaneously connected with the two angle sensors 1 and the 8 groups of ultrasonic radars 2 through the CAN bus 5,
the control terminal 3 is used for controlling the electric transport vehicle to run according to an internally set route, acquiring the motion angle detected by the two angle sensors 1 and 8 boundary distances measured by the 8 groups of ultrasonic radars 2 through the CAN bus 5 in the running process, and obtaining the steering angle of the electric transport vehicle by adopting a fuzzy algorithm according to the distances of the 2 groups of ultrasonic radars 2 arranged at each end of the electric transport vehicle and the measured difference value of the 2 boundary distances, and controlling the electric transport vehicle to run in a steering way according to the steering angle;
when the fact that all the 8 boundary distances reach the preset distance is detected, controlling the transfer electric transport vehicle to stop;
when the fact that 2 distances from the front end to the front end boundary of the transfer electric transport vehicle are all larger than the preset distance is detected, controlling the transfer electric transport vehicle to run in a straight line;
when detecting that 2 distances from the left end to the left end of the transfer electric transport vehicle are different, wherein 1 boundary distance is larger than a preset distance, or 2 distances from the right end to the right end of the transfer electric transport vehicle are different, wherein 1 boundary distance is larger than a preset distance, controlling the transfer electric transport vehicle to turn to the left end or the right end of the transfer electric transport vehicle which is larger than the preset distance, and driving;
and the visual interface 4 is used for displaying the running state of the transfer electric transport vehicle.
Preferably, a fuzzy algorithm is adopted to obtain the steering angle of the electric transport vehicle according to the distance between 2 groups of ultrasonic radars 2 arranged at each end of the electric transport vehicle and the difference value between 2 boundary distances measured, and the steering angle is specifically as follows:
let 2 ultrasonic radar's of the right-hand member of transfer electric transport vechicle distance be C,2 boundary distances in transfer electric transport vechicle right-hand member are R1 and R2 respectively, and 2 boundary distances's difference is: r1-r2=x, X >0,
calculating a left rotation angle a of the electric transport vehicle by using a trigonometric function, wherein the left rotation angle a is as follows:
preferably, the control terminal 3 is further configured to control the rotation speed of the 4 servo hub motors on the electric transport vehicle through the CAN bus 5, so as to control the running speed of the electric transport vehicle, and receive the rotation speed of the 4 servo hub motors in real time.
Preferably, the system further comprises a remote control receiver 6,
and the remote control receiver 6 is connected with the control terminal 3 and is used for controlling the running state of the transfer electric transport vehicle through the control terminal 3.
Preferably, the driving state includes a driving speed, steering of the four wheels of the electric transportation vehicle, steering angle and steering speed of the four wheels of the electric transportation vehicle.
Preferably, the control terminal 3 is realized by a singlechip with the model MB96F,
the running speed is 0m/s-10m/s.
A method for controlling an industrial transfer electric transport vehicle, the method comprising the steps of:
step 1, respectively detecting the rotation angle of an inner corner motor of a front wheel steering angle transmission mechanism and the rotation angle of an inner corner motor of a rear wheel steering angle transmission mechanism by adopting two angle sensors 1, and respectively detecting 2 distances from the front end of a transfer electric transport vehicle to the front end boundary, 2 distances from the rear end of the transfer electric transport vehicle to the rear end boundary, 2 distances from the left end of the transfer electric transport vehicle to the left end boundary and 2 distances from the right end of the transfer electric transport vehicle to the right end boundary by adopting 8 groups of ultrasonic radars 2;
step 2, the control terminal 3 controls the transfer electric transport vehicle to run according to an internally set route, in the running process, the angles detected by the two angle sensors 1 and 8 boundary distances measured by 8 groups of ultrasonic radars 2 are collected through the CAN bus 5, a fuzzy algorithm is adopted to obtain the steering angle of the transfer electric transport vehicle according to the distances of the 2 groups of ultrasonic radars 2 arranged at each end of the transfer electric transport vehicle and the difference value of the measured 2 boundary distances, and the transfer electric transport vehicle is controlled to run in a steering way according to the steering angle; when the fact that all the 8 boundary distances reach the preset distance is detected, controlling the transfer electric transport vehicle to stop; when the fact that 2 distances from the front end to the front end boundary of the transfer electric transport vehicle are all larger than the preset distance is detected, controlling the transfer electric transport vehicle to run in a straight line; when detecting that 2 distances from the left end to the left end of the transfer electric transport vehicle are different, wherein 1 boundary distance is larger than a preset distance, or 2 distances from the right end to the right end of the transfer electric transport vehicle are different, wherein 1 boundary distance is larger than a preset distance, controlling the transfer electric transport vehicle to turn to the left end or the right end of the transfer electric transport vehicle which is larger than the preset distance, and driving;
and 3, displaying the running state of the transfer electric transport vehicle by adopting the visual interface 4.
Preferably, a fuzzy algorithm is adopted to obtain the steering angle of the electric transport vehicle according to the distance between 2 groups of ultrasonic radars 2 arranged at each end of the electric transport vehicle and the difference value between 2 boundary distances measured, and the steering angle is specifically as follows:
let 2 ultrasonic radar's of the right-hand member of transfer electric transport vechicle distance be C,2 boundary distances in transfer electric transport vechicle right-hand member are R1 and R2 respectively, and 2 boundary distances's difference is: r1-r2=x, X >0,
calculating a left rotation angle a of the electric transport vehicle by using a trigonometric function, wherein the left rotation angle a is as follows:
preferably, the method further comprises step 4,
and 4, controlling the running state of the transfer electric transport vehicle by adopting a remote control receiver 6 through the control terminal 3.
Preferably, the driving state includes a driving speed, steering of the four wheels of the electric transportation vehicle, steering angle and steering speed of the four wheels of the electric transportation vehicle.
The beneficial effects of the application are as follows:
the application is suitable for controlling the functions of the material transportation vehicle body in the industrial environment, so that the vehicle body can transport goods materials according to a fixed route or control the motion of the vehicle body through a remote controller in human intervention, and can adapt to various working environments and control requirements.
According to the application, two angle sensors, 8 groups of ultrasonic radars and a control terminal are arranged on a converting electric transport vehicle, the control terminal collects information such as feedback data of the angle sensors and the ultrasonic radars, and the like, and analyzes working environment to control the action of the vehicle body.
When the electric transport vehicle for transfer works transports goods materials according to a fixed route, the electric transport vehicle automatically turns when encountering a boundary (obstacle) until reaching the end of the fixed route. The application can also adopt a remote control receiver (remote controller) to control the transfer electric transport vehicle to run, thereby achieving the purpose of transporting materials. Therefore, the present application can realize automatic steering and remote control steering. The control mode is simple and various.
The application has the advantages that:
1. the control terminal is internally provided with an automatic mode, the track is formulated without programming, and the control terminal can start running immediately after the boundary is manually planned, so that the control terminal is convenient and quick and has high degree of freedom. Compared with the existing tracking railcar technology, the car body track planning can be easily constructed by adopting the opaque plastic adhesive tape matched with the upright post, and the measuring range of the ultrasonic radar is a radial measuring range. Only one and stable distance measurement value can be obtained by the measured boundary medium, and a reliable data source is provided for the control terminal. Therefore, the painting or rubberizing treatment is not required on the workshop floor, the materials are simple and easy to obtain, and the production cleanliness of the workshop is not affected. In the automatic transportation mode, a worker only needs to put materials into the vehicle, and clicks a start key on a visual interface, and the vehicle body can carry the transported materials to find a transportation end point. When the materials are exchanged after the vehicle body is stopped, the start key is pressed again, the vehicle body conveys the materials in the opposite direction to return to the starting point, and the process is repeated. Compared with the fixed traditional conveying belt material conveying mode, the conveying belt has low cost and higher flexibility. Has considerable prospect in industrial transportation.
2. The remote control receiver integrates all controls, corresponding to a mobile console. The control terminal is controlled by the corresponding remote controller preferentially, and can be switched into a remote control transportation mode at any time under the automatic transportation mode, and is manually taken over. The potential safety hazard and control faults can be effectively prevented, and the reliability and safety performance of the controller system can be effectively improved. The remote control receiver can randomly adjust the running speed of the car body within the speed controllable range, and the highest running speed can reach 10m/s. The steering system has front wheel steering control and four-wheel steering mode, and in the four-wheel steering mode, the vehicle body can achieve transverse walking effect, and the steering system is suitable for various plane vehicle body motion control modes. Under the condition that an operator does not want to arrange a walking track, the remote controller can be used for manually controlling the vehicle body to transport materials, and the adaptability to complex and varied road conditions is stronger.
3. The key parameters of the automatic transportation mode can be set through the visual control interface of the vehicle body, and the key parameters comprise the identification precision of 8 groups of ultrasonic radars, dangerous distance setting, automatic running speed, steering speed and the like. Visual, convenient and interface friendly, and convenient for engineers to debug. Before setting parameters, an operator password is input, and the parameters are only authorized to be modified, otherwise, the starting of the automatic transportation mode can be controlled, and the key parameters are emphasized to be modified by personnel with debugging qualification.
4. An automatic route deviation correcting fuzzy algorithm is built in, and route deviation in the transportation process is automatically corrected. The car body can stably run according to the planned route of the formulator. The algorithm has a certain fuzzy range, and is matched with the running speed of the vehicle body to set, and parameters of the range can be set on a human-computer interface. The parameter can be understood as the sensitivity of the vehicle body to the change reaction of the ultrasonic radar data in short, the vehicle speed is low, the range can be reduced, the sensitivity of the ultrasonic radar is high, the system reaction speed is slow, the control precision of the vehicle body to the position is high, the running is more stable, and the vehicle body can not swing continuously. When the speed of the vehicle is high, the range is enlarged, the sensitivity of the ultrasonic radar is low, and the reaction speed of the system is high, so that the condition that the angle needs to be changed suddenly due to high speed is prevented.
Drawings
FIG. 1 is a schematic diagram of a control system of an industrial transfer electric transport vehicle;
FIG. 2 (a) is a view showing a scenario for controlling the straight running of the electric transport vehicle, FIG. 2 (b) is a view showing a scenario for controlling the steering running of the electric transport vehicle, FIG. 2 (c) is a view showing a scenario for controlling the parking of the electric transport vehicle,
Detailed Description
The first embodiment is as follows: referring to fig. 1, the control system of the industrial converting electric transport vehicle according to the present embodiment comprises two angle sensors 1, 8 groups of ultrasonic radars 2, a control terminal 3, a visual interface 4 and a CAN bus 5,
the two angle sensors 1 are respectively positioned on the front wheel corner transmission mechanism and the rear wheel corner transmission mechanism of the rotary electric transport vehicle, and the two angle sensors 1 are respectively used for detecting the rotation angle of the inner corner motor of the front wheel corner transmission mechanism and the rotation angle of the inner corner motor of the rear wheel corner transmission mechanism;
the front end, the rear end, the left end and the right end of the transfer electric transport vehicle are respectively provided with 2 groups of ultrasonic radars 2,8 groups of ultrasonic radars 2 are respectively used for measuring 8 boundary distances, and the 8 boundary distances are respectively: 2 distances from the front end of the transfer electric transport vehicle to the front end boundary, 2 distances from the rear end of the transfer electric transport vehicle to the rear end boundary, 2 distances from the left end of the transfer electric transport vehicle to the left end boundary and 2 distances from the right end of the transfer electric transport vehicle to the right end boundary;
the control terminal 3 is simultaneously connected with the two angle sensors 1 and the 8 groups of ultrasonic radars 2 through the CAN bus 5,
the control terminal 3 is used for controlling the electric transport vehicle to run according to an internally set route, acquiring the motion angle detected by the two angle sensors 1 and 8 boundary distances measured by the 8 groups of ultrasonic radars 2 through the CAN bus 5 in the running process, and obtaining the steering angle of the electric transport vehicle by adopting a fuzzy algorithm according to the distances of the 2 groups of ultrasonic radars 2 arranged at each end of the electric transport vehicle and the measured difference value of the 2 boundary distances, and controlling the electric transport vehicle to run in a steering way according to the steering angle;
when the fact that all the 8 boundary distances reach the preset distance is detected, controlling the transfer electric transport vehicle to stop;
when the fact that 2 distances from the front end to the front end boundary of the transfer electric transport vehicle are all larger than the preset distance is detected, controlling the transfer electric transport vehicle to run in a straight line;
when detecting that 2 distances from the left end to the left end of the transfer electric transport vehicle are different, wherein 1 boundary distance is larger than a preset distance, or 2 distances from the right end to the right end of the transfer electric transport vehicle are different, wherein 1 boundary distance is larger than a preset distance, controlling the transfer electric transport vehicle to turn to the left end or the right end of the transfer electric transport vehicle which is larger than the preset distance, and driving;
and the visual interface 4 is used for displaying the running state of the transfer electric transport vehicle.
In this embodiment, the existing electric transport vehicle for transfer has two corner transmission mechanisms, each corner transmission mechanism includes a corner motor, and bears steering control, the maximum steering angle is 90 °, and the two mechanisms are respectively set in front of and behind the vehicle, and can respectively perform corner motion by frequency signal control.
The existing transfer electric transport vehicle is also provided with 4 servo hub motors to bear more than 200kg of driving load.
8 groups of ultrasonic radars are responsible for working environment safety and route exploration, and an industrial visual control interface: setting key parameters and adjusting system states. The application is developed based on the Fuji through MB96F (16 bit) singlechip hardware development environment, and utilizes the vehicle body CAN bus technology to collect most control information of the vehicle body. As a main body of the vehicle body control, four groups of hub motors and two groups of corner motors are required to be controlled in motion at the same time. Meanwhile, information such as remote control receivers, angle sensors and radar feedback data is collected, and the working environment is analyzed to control the action of the vehicle body.
The main hardware of the application mainly surrounds the MB96F (16 bit) singlechip hardware development environment, and the main design modules are as follows:
(1) RS232 communication module: and the control information is used for updating the program of the singlechip, receiving the control information sent by the remote control receiver, and sending a conversion signal to the singlechip.
(2) The square wave waveform generation module: providing a frequency waveform signal and a direction signal for the angle stepper motor.
(3) And a power supply module: the controller is powered, converting 7V-32 VDC power into 5V system power.
(4) CAN communication module: as a main information communication carrier, receiving feedback state information of each vehicle body module, for the controller to receive, and sending instructions of the controller to each vehicle body module.
The system control of the application is mainly divided into two modes:
automatic transportation mode: default to front-wheel steering mode, the maximum front-wheel steering angle is 45 °. Its system control priority is lower than the remote transport mode. The mode mainly depends on the environment detection capability of the ultrasonic radar, is matched with a manually set route, and automatically operates according to a specified route. According to the distance information fed back by the ultrasonic radar in all directions, the system judges the current position of the vehicle body and judges whether to continue transportation or not. Several forward operating conditions are shown in fig. 2. Reverse travel logic is opposite to forward travel logic.
And (3) straight line running: FL, FR collect the numerical value to be infinity, straight run at this moment, collect and compare L1, L2, R1, R2 value at the same time in real time, adopt the fuzzy algorithm, can continue to travel as long as L group and R group numerical value are higher than the dangerous distance, if any group reaches the dangerous value and another group does not reach, turn to and does not reach the group direction and revise, in order to guarantee the car body will not contact with boundary, L1 and L2, R1 and R2 will also make the difference each otherThe value is used for calculating the course offset to ensure the forward running of the car body and achieve the aim of correcting the course (for example, R1-R2=X, and X)>0, the installation distance of the two ultrasonic radars on the right side is C, and the correction angle can be calculated through a trigonometric functionThe head of the vehicle is deviated left and corrected right by an angle a DEG).
Steering and running: when the vehicle runs into a turning place, the radar on one side is always infinite, and taking fig. 2 as an example, the ultrasonic R1 measuring distance is infinite, the turning direction is already determined, the vehicle turns right, and the turning direction returns to 0 degrees until the vehicle meets the straight running condition, and the vehicle starts to run straight.
And (3) parking: FL, FR, L1, L2, R1, R2 all have measured values and no infinite values appear, FL and FR have entered the dangerous range, the vehicle body is immediately parked, and reverse travel can be started if the rear ultrasonic radar measured value is infinite. And if the starting instruction is not obtained, standing by in situ.
(2) Remote control mode of transportation: the mode is a manual control mode, the system priority is highest, and the remote controller can be started to take over the control right of the vehicle body at any time in an automatic transportation mode. When the mode works, the car body action is completely controlled by the remote controller, and the logic limitation of the automatic transportation mode does not exist. The operator can switch the front wheel steering mode and the four-wheel steering mode, and adjust different speed gears to control.
The second embodiment is as follows: referring to fig. 2 for specifically describing the present embodiment, the present embodiment is a control system for an industrial electric transportation vehicle according to the first embodiment, in the present embodiment, a fuzzy algorithm is adopted to obtain a steering angle of the electric transportation vehicle according to a distance between 2 groups of ultrasonic radars 2 and a measured difference between 2 boundary distances, where the distances are set at each end of the electric transportation vehicle, and specifically is:
let 2 ultrasonic radar's of the right-hand member of transfer electric transport vechicle distance be C,2 boundary distances in transfer electric transport vechicle right-hand member are R1 and R2 respectively, and 2 boundary distances's difference is: r1-r2=x, X >0,
calculating a left rotation angle a of the electric transport vehicle by using a trigonometric function, wherein the left rotation angle a is as follows:
and a third specific embodiment: the present embodiment is further described with respect to the control system for an industrial transfer electric transport vehicle according to the first embodiment, where the control terminal 3 is further configured to control the running speed of the transfer electric transport vehicle by controlling the rotational speeds of the 4 servo hub motors of the transfer electric transport vehicle through the CAN bus 5, and receive the rotational speeds of the 4 servo hub motors in real time.
The specific embodiment IV is as follows: the control system of the industrial transfer electric transport vehicle according to the first embodiment is further described in this embodiment, the system further includes a remote control receiver 6,
and the remote control receiver 6 is connected with the control terminal 3 and is used for controlling the running state of the transfer electric transport vehicle through the control terminal 3.
Fifth embodiment: the present embodiment is a control system for an industrial electric transportation vehicle according to the fourth embodiment, wherein the driving state includes a driving speed, a steering direction of four wheels of the electric transportation vehicle, a steering angle of four wheels of the electric transportation vehicle, and a steering speed.
Specific embodiment six: the control system of the industrial transfer electric transport vehicle described in the fifth embodiment is further described in this embodiment, the control terminal 3 is implemented by using a single-chip microcomputer with a model number of MB96F,
the running speed is 0m/s-10m/s.
Seventh embodiment: referring to fig. 1, the present embodiment specifically describes a method for controlling an industrial electric transportation vehicle, the method comprising the steps of:
step 1, respectively detecting the rotation angle of an inner corner motor of a front wheel steering angle transmission mechanism and the rotation angle of an inner corner motor of a rear wheel steering angle transmission mechanism by adopting two angle sensors 1, and respectively detecting 2 distances from the front end of a transfer electric transport vehicle to the front end boundary, 2 distances from the rear end of the transfer electric transport vehicle to the rear end boundary, 2 distances from the left end of the transfer electric transport vehicle to the left end boundary and 2 distances from the right end of the transfer electric transport vehicle to the right end boundary by adopting 8 groups of ultrasonic radars 2;
step 2, the control terminal 3 controls the transfer electric transport vehicle to run according to an internally set route, in the running process, the angles detected by the two angle sensors 1 and 8 boundary distances measured by 8 groups of ultrasonic radars 2 are collected through the CAN bus 5, a fuzzy algorithm is adopted to obtain the steering angle of the transfer electric transport vehicle according to the distances of the 2 groups of ultrasonic radars 2 arranged at each end of the transfer electric transport vehicle and the difference value of the measured 2 boundary distances, and the transfer electric transport vehicle is controlled to run in a steering way according to the steering angle; when the fact that all the 8 boundary distances reach the preset distance is detected, controlling the transfer electric transport vehicle to stop; when the fact that 2 distances from the front end to the front end boundary of the transfer electric transport vehicle are all larger than the preset distance is detected, controlling the transfer electric transport vehicle to run in a straight line; when detecting that 2 distances from the left end to the left end of the transfer electric transport vehicle are different, wherein 1 boundary distance is larger than a preset distance, or 2 distances from the right end to the right end of the transfer electric transport vehicle are different, wherein 1 boundary distance is larger than a preset distance, controlling the transfer electric transport vehicle to turn to the left end or the right end of the transfer electric transport vehicle which is larger than the preset distance, and driving;
and 3, displaying the running state of the transfer electric transport vehicle by adopting the visual interface 4.
Eighth embodiment: the present embodiment further describes a control method of an industrial electric transportation vehicle according to the seventh embodiment, in the present embodiment, a fuzzy algorithm is adopted to obtain a steering angle of the electric transportation vehicle according to a distance between 2 groups of ultrasonic radars 2 and a difference between 2 measured boundary distances, where the distances are set at each end of the electric transportation vehicle, and specifically the steering angle is:
let 2 ultrasonic radar's of the right-hand member of transfer electric transport vechicle distance be C,2 boundary distances in transfer electric transport vechicle right-hand member are R1 and R2 respectively, and 2 boundary distances's difference is: r1-r2=x, X >0,
calculating a left rotation angle a of the electric transport vehicle by using a trigonometric function, wherein the left rotation angle a is as follows:
detailed description nine: the control method of the industrial transfer electric transport vehicle according to the seventh embodiment is further described in this embodiment, where the method further includes step 4,
and 4, controlling the running state of the transfer electric transport vehicle by adopting a remote control receiver 6 through the control terminal 3.
Detailed description ten: the present embodiment is a method for controlling an industrial electric transportation vehicle according to the seventh embodiment, wherein the driving state includes a driving speed, a steering direction of four wheels of the electric transportation vehicle, a steering angle of four wheels of the electric transportation vehicle, and a steering speed.
Claims (10)
1. The industrial transfer electric transport vehicle control system is characterized by comprising two angle sensors (1), 8 groups of ultrasonic radars (2), a control terminal (3), a visual interface (4) and a CAN bus (5),
the two angle sensors (1) are respectively positioned on the front wheel corner transmission mechanism and the rear wheel corner transmission mechanism of the rotary electric transport vehicle, and the two angle sensors (1) are respectively used for detecting the rotation angle of the inner corner motor of the front wheel corner transmission mechanism and the rotation angle of the inner corner motor of the rear wheel corner transmission mechanism;
the front end, the rear end, the left end and the right end of the transfer electric transport vehicle are respectively provided with 2 groups of ultrasonic radars (2), 8 groups of ultrasonic radars (2) are respectively used for measuring 8 boundary distances, and the 8 boundary distances are respectively: 2 distances from the front end of the transfer electric transport vehicle to the front end boundary, 2 distances from the rear end of the transfer electric transport vehicle to the rear end boundary, 2 distances from the left end of the transfer electric transport vehicle to the left end boundary and 2 distances from the right end of the transfer electric transport vehicle to the right end boundary;
the control terminal (3) is simultaneously connected with the two angle sensors (1) and the 8 groups of ultrasonic radars (2) through the CAN bus (5),
the control terminal (3) is used for controlling the electric transport vehicle to run according to an internally set route, acquiring the rotation angle detected by the two angle sensors (1) and 8 boundary distances measured by the 8 groups of ultrasonic radars (2) through the CAN bus (5) in the running process, and obtaining the steering angle of the electric transport vehicle by adopting a fuzzy algorithm according to the distances of the 2 groups of ultrasonic radars (2) arranged at each end of the electric transport vehicle and the measured difference value of the 2 boundary distances, and controlling the electric transport vehicle to steer according to the steering angle;
and (3) parking: FL, FR, L1, L2, R1 and R2 all have measured values and have no infinite value, FL and FR enter a dangerous range, the vehicle body immediately stops, if the measured value of the rear ultrasonic radar is infinite and can start to travel reversely, the vehicle stands by in situ if a starting instruction is not obtained, R1 and R2 are 2 boundary distances at the right end of the transfer electric vehicle, L1 and L2 are 2 boundary distances at the left end of the transfer electric vehicle, and FL and FR are 2 boundary distances at the front end of the transfer electric vehicle;
when the fact that 2 distances from the front end to the front end boundary of the transfer electric transport vehicle are all larger than the preset distance is detected, controlling the transfer electric transport vehicle to run in a straight line;
when detecting that 2 distances from the left end to the left end of the transfer electric transport vehicle are different, wherein 1 boundary distance is larger than a preset distance, or 2 distances from the right end to the right end of the transfer electric transport vehicle are different, wherein 1 boundary distance is larger than a preset distance, controlling the transfer electric transport vehicle to turn to the left end or the right end of the transfer electric transport vehicle which is larger than the preset distance, and driving;
and the visual interface (4) is used for displaying the running state of the transfer electric transport vehicle.
2. The control system of an industrial electric transport vehicle according to claim 1, wherein the steering angle of the electric transport vehicle is obtained by using a fuzzy algorithm according to the distances of 2 groups of ultrasonic radars (2) arranged at each end of the electric transport vehicle and the measured difference values of 2 boundary distances, and specifically comprises:
let the distance of 2 groups of ultrasonic radar (2) in right-hand member of the electric transport vechicle of transfer industry be C, the difference of 2 boundary distances is: r1-r2=x, X >0,
calculating a left rotation angle a of the electric transport vehicle by using a trigonometric function, wherein the left rotation angle a is as follows:
3. the control system of the industrial transfer electric transport vehicle according to claim 1, wherein the control terminal (3) is further configured to control the running speed of the transfer electric transport vehicle by controlling the rotation speeds of the 4 servo hub motors of the transfer electric transport vehicle through the CAN bus (5), and receive the rotation speeds of the 4 servo hub motors in real time.
4. An industrial electric transport vehicle control system according to claim 1, characterized in that the system further comprises a remote control receiver (6),
and the remote control receiver (6) is connected with the control terminal (3) and is used for controlling the running state of the transfer electric transport vehicle through the control terminal (3).
5. The industrial truck control system of claim 4 wherein the travel condition comprises travel speed, steering of the four wheels of the truck, steering angle and steering speed of the four wheels of the truck.
6. The industrial transfer electric vehicle control system of claim 5, wherein,
the control terminal (3) is realized by adopting a singlechip with the model of MB96F,
the running speed is 0m/s-10m/s.
7. The control method of the industrial transfer electric transport vehicle is characterized by comprising the following steps of:
step 1, respectively detecting the rotation angle of an inner corner motor of a front wheel steering angle transmission mechanism and the rotation angle of an inner corner motor of a rear wheel steering angle transmission mechanism by adopting two angle sensors (1), and respectively detecting 2 distances from the front end to the front end boundary of a transfer electric transport vehicle, 2 distances from the rear end to the rear end boundary of the transfer electric transport vehicle, 2 distances from the left end to the left end boundary of the transfer electric transport vehicle and 2 distances from the right end to the right end boundary of the transfer electric transport vehicle by adopting 8 groups of ultrasonic radars (2);
step 2, a control terminal (3) controls the transfer electric transport vehicle to run according to an internally set route, in the running process, the angles detected by two angle sensors (1) and 8 boundary distances measured by 8 groups of ultrasonic radars (2) are collected through a CAN bus (5), a fuzzy algorithm is adopted to obtain the steering angle of the transfer electric transport vehicle according to the distances of 2 groups of ultrasonic radars (2) arranged at each end of the transfer electric transport vehicle and the difference value of the measured 2 boundary distances, and the transfer electric transport vehicle is controlled to run according to the steering angle; and (3) parking: FL, FR, L1, L2, R1 and R2 all have measured values and have no infinite value, FL and FR enter a dangerous range, the vehicle body immediately stops, if the measured value of the rear ultrasonic radar is infinite and can start to travel reversely, the vehicle stands by in situ if a starting instruction is not obtained, R1 and R2 are 2 boundary distances at the right end of the transfer electric vehicle, L1 and L2 are 2 boundary distances at the left end of the transfer electric vehicle, and FL and FR are 2 boundary distances at the front end of the transfer electric vehicle; when the fact that 2 distances from the front end to the front end boundary of the transfer electric transport vehicle are all larger than the preset distance is detected, controlling the transfer electric transport vehicle to run in a straight line; when detecting that 2 distances from the left end to the left end of the transfer electric transport vehicle are different, wherein 1 boundary distance is larger than a preset distance, or 2 distances from the right end to the right end of the transfer electric transport vehicle are different, wherein 1 boundary distance is larger than a preset distance, controlling the transfer electric transport vehicle to turn to the left end or the right end of the transfer electric transport vehicle which is larger than the preset distance, and driving;
and 3, displaying the running state of the transfer electric transport vehicle by adopting a visual interface (4).
8. The control method of an industrial electric transport vehicle according to claim 7, wherein a fuzzy algorithm is adopted to obtain the steering angle of the electric transport vehicle according to the distances of 2 groups of ultrasonic radars (2) arranged at each end of the electric transport vehicle and the measured difference value of 2 boundary distances, and the method is specifically as follows:
let the distance of 2 groups of ultrasonic radar (2) in right-hand member of the electric transport vechicle of transfer industry be C, the difference of 2 boundary distances is: r1-r2=x, X >0,
calculating a left rotation angle a of the electric transport vehicle by using a trigonometric function, wherein the left rotation angle a is as follows:
9. the method for controlling an industrial electric truck according to claim 7, further comprising step 4,
and 4, controlling the running state of the transfer electric transport vehicle by adopting a remote control receiver (6) through a control terminal (3).
10. The method according to claim 7, wherein the traveling state includes a traveling speed, steering of four wheels of the electric transportation vehicle, steering angle of four wheels of the electric transportation vehicle, and steering speed.
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