CN106200648A - There is the intelligence cargo transport dolly of path memory function - Google Patents
There is the intelligence cargo transport dolly of path memory function Download PDFInfo
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- CN106200648A CN106200648A CN201610819694.0A CN201610819694A CN106200648A CN 106200648 A CN106200648 A CN 106200648A CN 201610819694 A CN201610819694 A CN 201610819694A CN 106200648 A CN106200648 A CN 106200648A
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- dolly
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- 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
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
- G05D1/0246—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using a video camera in combination with image processing means
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- 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
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- 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
- G05D1/0268—Control of position or course in two dimensions specially adapted to land vehicles using internal positioning means
- G05D1/027—Control of position or course in two dimensions specially adapted to land vehicles using internal positioning means comprising intertial navigation means, e.g. azimuth detector
Abstract
The present invention relates to a kind of intelligence cargo transport dolly with path memory function, including can be at manual mode, the trolley body run under any one operational mode in model of memory and automatic transportation pattern and the start and stop that described trolley body can be controlled, direct of travel and the remote control unit switched between three kinds of operational modes, described trolley body includes two power wheels being symmetrically arranged at front side and is located at a universal wheel of rear side: described trolley body is provided with main control module and the ultrasonic distance measuring module being connected with described main control module, photoelectric encoder, electronic compass, photographic head, motor module.The present invention can realize dolly remote manipulation, and dolly can be realized in the case of unmanned the intervention, under automatic transmission mode, goods is transported to terminal from starting point by the path identified and store, omnidistance without manual operation, and in the case of ground is without any mark, track, can realize the automatic transportation of goods.
Description
Technical field
The invention belongs to Intelligent transport dolly technical field, be specifically related to a kind of intelligence cargo transport with path memory function
Dolly.
Background technology
Current current Intelligent transport dolly must depend in actual moving process, some problems that can run into, such as dolly
Rely terrain representation thing to guide as advancing, construct loaded down with trivial details, be unfavorable for the transfer of production line, be difficult in adapt to outdoor environment, be difficult to
The outdoor rainy day, hydrops road surface is had to run.Additionally in the actual application of unmanned Intelligent transport dolly, it is limited to ground environment, life
Producing the impacts such as variation, the guidance technology of tradition " detection track " still suffers from many limitation.When environment in the open, or ground has long-pending
Water, iron filings, or when ground is not trimmed, the operation that this kind of guidance dolly cannot be good.
Summary of the invention
It is an object of the invention to solve above-mentioned technical problem and a kind of intelligence fortune with path memory function is provided
Goods dolly.
For achieving the above object, the present invention adopts the following technical scheme that
A kind of intelligence cargo transport dolly with path memory function, including at manual mode, model of memory and automatically transporting
Under any one operational mode in defeated pattern run trolley body and the start and stop of described trolley body, direct of travel can be controlled
And the remote control unit switched between three kinds of operational modes, described trolley body includes two power wheels being symmetrically arranged at front side
And it is located at a universal wheel of rear side: described trolley body is provided with:
Main control module and the ultrasonic distance measuring module being connected with described main control module, photoelectric encoder, electronic compass,
Photographic head, motor module；
Described ultrasonic distance measuring module, for detecting the distance between dolly and surrounding objects or when close to transportation terminal
Distance between detection dolly and post thing；
Described photoelectric encoder is for detecting the operation distance of dolly, and described electronic compass is for judging the row that dolly is current
Enter direction；
Described photographic head, for during at trolley travelling extremely away from transportation terminal preset distance, gathers post thing in the visual field
Image, to judge the relative distance between current dolly and post thing and angle；
Described motor module, for drive two power wheels of dolly linear motion be synchronized with the movement traveling and when turning
Make power wheel static and before another power wheel axle length be that radius of turn is turned；
Described main control module includes:
Path Recognition unit, identifies and stores the operating path of dolly under model of memory time, including travel distance,
Direct of travel and angle of turn；
Path clustering unit, under automatic transportation pattern, according to Path Recognition unit identification the dolly that stores
Operating path, controls the dolly operating path by memory and automatically runs to terminal from starting point.
Described main control module connects communication module, is used for realizing described main control module and ipc monitor device communication, by
Described ipc monitor device and dolly carry out man-machine interaction, obtain current trolley travelling state in real time, including trolley travelling position
Put, direction of advance, and to dolly send run control instruction.
Described Path Recognition unit includes:
Travel distance computing module, for every Preset Time gather once current dolly travel angle and advance away from
From, current dolly travel angle is averaged the traveling being designated as dolly within this time with the dolly travel angle gathered last time
Direction, then according to the direct of travel difference of front and back twice, calculates dolly travel distance within this time, then according to being somebody's turn to do
The operation angle parameter of travel distance and correspondence, utilizes triangle rule counting of carriers from the travel distance of origin-to-destination；
Direct of travel computing module, for counting of carriers in the traveling process of origin-to-destination in every section of Preset Time
The travel angle parameter that travel distance is corresponding.
The present invention can realize dolly remote manipulation, it is possible to realizes dolly in the case of unmanned the intervention, by identifying also
Goods is transported to terminal from starting point under automatic transmission mode by the path of storage, omnidistance without manual operation, and can be on ground
In the case of any mark, track, the automatic transportation of goods can be realized.
Accompanying drawing explanation
Fig. 1 illustrates the structural representation of the intelligence cargo transport dolly with path memory function of the present invention；
Fig. 2 illustrates the control flow schematic diagram of the present invention；
Fig. 3 goes out to show that dolly is run the pathway figure to D point by A point；
Fig. 4 illustrates the schematic diagram by running camber line counting of carriers travel distance；
Fig. 5 illustrates the schematic diagram being calculated travel path by dolly direct of travel and travel distance；
Fig. 6 show the dolly identified from starting point A to the operating path of terminal M；
Fig. 7 illustrates the schematic diagram that the travel path of dolly controls.
Detailed description of the invention
Below, in conjunction with example, substantive distinguishing features and the advantage of the present invention are further described, but the present invention not office
It is limited to listed embodiment.
Shown in Figure 1, a kind of intelligence cargo transport dolly with path memory function, including can be in manual mode, memory
The trolley body run under any one operational mode in pattern and automatic transportation pattern and described trolley body can be controlled
Start and stop, direct of travel and the remote control unit switched between three kinds of operational modes, described trolley body includes being symmetrically arranged at
Front side two power wheels and be located at rear side a universal wheel: described trolley body is provided with:
Main control module and the ultrasonic distance measuring module being connected with described main control module, photoelectric encoder, electronic compass,
Photographic head, motor module；
Described ultrasonic distance measuring module, for detecting the distance between dolly and surrounding objects or when close to transportation terminal
Distance between detection dolly and post thing；
Described photoelectric encoder is for detecting the operation distance of dolly, and described electronic compass is for judging the row that dolly is current
Enter direction；
Described photographic head, for during at trolley travelling extremely away from transportation terminal preset distance, gathers post thing in the visual field
Image, to judge the relative distance between current dolly and post thing and angle；
Described motor module, for drive two power wheels of dolly linear motion be synchronized with the movement traveling and when turning
Make power wheel static and before another power wheel axle length be that radius of turn is turned；
Described main control module includes:
Path Recognition unit, identifies and stores the operating path of dolly under model of memory time, including travel distance,
Direct of travel and angle of turn；
Path clustering unit, under automatic transportation pattern, according to Path Recognition unit identification the dolly that stores
Operating path, controls the dolly operating path by memory and automatically runs to terminal from starting point.
When by the collection information of described photoelectric encoder, electronic compass, described main control module judges that dolly will run
Time to terminal, i.e. when terminal predeterminable range, described photographic head finds the post thing in the visual field, and master control module judges is current
Relative angle between dolly and post thing, and adjust little according to current dolly with angle, the distance of post thing
The direct of travel of car.
In the present invention, this intelligence cargo transport dolly with path memory function has three kinds of operational modes, i.e. " manual mould
Formula ", " model of memory " and " automatic transportation pattern ", can be by remote control unit freely between these three pattern by operator
Switch at any time.
(1) manual mode.In a manual mode, dolly needs artificially to operate, and operator can pass through remote control mode control
The start-stop of dolly processed and direction of advance, complete the basic transport task of dolly by the way of remote control.Try hard to recommend with tradition people
Car mode is compared, and this pattern can save sizable manpower.Meanwhile, break down when dolly or transportation environment occur suddenly can not
Control change, such as, when industrial accident, outdoor natural disaster, can quickly change trolley travelling track, even serve as wireless remote control and rescue
Danger dolly.
(2) model of memory.Before entering this mode, should remote control travelling bogie the most in a manual mode, make trolley travelling
To shipping point of origin, when dolly enters model of memory, automatically its present position is designated as shipping point of origin, at model of memory
Under, control dolly by remote control unit, make dolly under manual operation, run to transportation terminal.In the process, dolly can be real
Time be identified judging to the path advanced, current location, and record preservation to memory card, in SD card, in order to automatic mold
Formula judges remember path and advance according to memory path.
(3) automatic transportation pattern.In such a mode, first, dolly is from storage card, as read this transport road in SD card
Footpath, the most memory based transportation route, from starting point autonomous operation to transportation terminal, whole process is without human intervention, nothing
Any mark need to be laid on ground to guide.If but without any transit route recorded in storage card, then cannot be introduced into
Automatic transportation pattern.Only can enter " manual mode " and " model of memory ".
When trolley travelling is neighbouring to terminal, main control module is automatically into terminal recognizer, by travelling bogie
Photographic head, identifies and is placed on the mark in final position, and by the range finding of ultrasonic distance measuring module from, it is judged that dolly and transport
The relative position (relative distance and relative angle) of terminal, and with this, trolley travelling direction is corrected, it is ensured that dolly can
Arrive at transport destination fast and accurately.
The operational flowchart of the present invention is as shown in Figure 2.After system electrification, start to initialize modules, initialized
Cheng Hou, waits that operator's remote control selects to enter " manual mode ", " model of memory " and " automatic transportation pattern ", three patterns
In, operator can control to exit present mode in real time.
In the present invention, described main control module is also associated with communication module, is used for realizing described main control module and supervises with host computer
Control device communication, is carried out man-machine interaction by described ipc monitor device and dolly, obtains current trolley travelling state, bag in real time
Include trolley travelling position, direction of advance, and send operation control instruction to dolly.
Through actual measurement, under automatic transportation pattern, within short distance 50M in transport, transport precision, up to 5-10CM, adds
After terminal identification system, transport precision, up to 1-3cm, fully meets transportation demand.
In the present invention, described remote control unit is communicated with trolley body by infrared transmission module, sends instruction, dolly
Body is provided with infrared receiving module, is connected with described main control module, carries out start and stop receiving the telecommand of remote control unit,
Turn to and the switching of pattern.
It should be noted that in the present invention, described ultrasonic distance measuring module is mainly used for obstacle detection, works as trolley travelling
When having other objects to stop in route, dolly is capable of identify that obstacle, and sends alarm, reminds operator, can be 5, point
It is not arranged on the front end of dolly, both sides, wherein can be respectively mounted two one, the front end of dolly in the both sides of dolly.Ultrasonic
Ripple range finder module can use US-100, when dolly is close to transportation terminal, measures dolly and mark by ultrasonic sensor
Distance between thing, corrects the error produced in transportation, makes dolly can arrive at the transportation terminal of setting the most accurately.
It should be noted that in the present invention, photoelectric encoder (test the speed optical code disk) is used for detecting the distance of trolley travelling, for
Two, being separately mounted on two power wheels, electronic compass is one, is used for judging the direct of travel that dolly is current.By light
Photoelectric coder, the data of electronic compass, common judgement current dolly position relative with transportation terminal and current dolly are with pre-
If the direct deviation of course, and adjust dolly travel direction as benchmark.
Described photographic head is to detect transportation terminal mark, is arranged on the front end of dolly.When single-chip microcomputer passes through photoelectricity
Encoder, the collection information of electronic compass are judged when dolly will run to terminal, the end in photographic head finds the visual field on car
Point mark, in the information by ultrasonic distance measuring module and electronic compass, it is judged that current dolly and post thing it
Between relative distance and relative angle, single-chip microcomputer adjusts with relative angle, the distance of post thing according to current dolly
Dolly direct of travel.
Described main control module uses single-chip microcomputer, and connects liquid crystal display screen, and this single-chip microcomputer can select En Zhi Pu company
Kinetis K60DN512 single-chip microcomputer (former Freescale company manufactures and designs).
Following table is the connection description in native system between K60 and other module.
In the present invention, the Path Recognition unit of described main control module, path clustering unit have path memory function
The core of Intelligent transport dolly.
Wherein, described Path Recognition unit includes: travel distance computing module, for every Preset Time gather once when
Front dolly travel angle and travel distance, average current dolly travel angle with the dolly travel angle gathered last time
It is designated as dolly direct of travel within this time, then according to the direct of travel difference of front and back twice, calculates dolly when this
Interior travel distance, then according to the operation angle parameter of this travel distance and correspondence, utilizes triangle rule counting of carriers certainly
The travel distance of origin-to-destination；Direct of travel computing module, for counting of carriers in the traveling process of origin-to-destination every
Travel angle parameter corresponding to travel distance in section Preset Time.
It is illustrated below the detailed process of Path Recognition and control.
In order to improve accuracy of identification, reduce identification error, in the present invention, dolly in transportation, use turn condition,
The mode that linear state separates is advanced, and keeps two wheel speed identical when i.e. advancing, and during turning, one wheel is static, turns partly
Footpath is fixing (i.e. axle length), does not haves other radius of turn.This is because in the poor area of road conditions, two wheels
Rotate, it is ensured that dolly carries out turning increasingly difficult with a fixing radius of turn, and makes the mode that a wheel is static simultaneously
Being more easy to realize, turning precision is the highest.
Thus can analyze and obtain, when linear running, two most important dollies are advanced and are controlled the row that parameter is exactly dolly
Enter distance and direct of travel.During turning, because radius of turn fixes (being front axle length), most important parameter is turning angle
Degree, the control key of main control module records these three data exactly: travel distance, direct of travel, angle of turn.
As it is shown on figure 3, below by from dolly by A point run to the process of D point illustrate the path memory of main control module with
And path clustering process；Dolly is when A point moves along a straight line to B point, and in the ideal situation, two power wheel rotating speeds are identical,
The complete linear running of omnidistance guarantee.Therefore only need to rely on photoelectric encoder data accumulation can differentiate trolley travelling distance, by electricity
Sub-compass can obtain trolley travelling angle, thus identifies the operating path of dolly.But in actual moving process, because of ground
Out-of-flatness, the nuance etc. of internal structure of motor, even if adding PID control, it is also not possible to ensures dolly linear running.Real
Border proves, directly as advance air line distance error, Lineside encoding unit detecting distance cannot be met demand.Therefore described master control mould
Block is provided with operating path recognition unit and path clustering unit, and the operating path for dolly remembers and memory based path is entered
Row is corrected and is controlled.When Path Recognition, specifically, when dolly is at linear running, gather the most current little garage every 500ms
Enter angle, and gather 500ms inner encoder numerical value.This dolly angle is averaged with the dolly angle gathered last time, note
For this car direct of travel in this 500ms.Because of the impossible complete synchronized rotation of dolly two-wheeled, therefore can be considered in this 500ms,
Dolly advance be one section of camber line M, as shown in Figure 4, by under facial, the air line distance that dolly is advanced in this 500ms can be obtained
L。
L=r2+r2-2×r×r×cosα； 4‐1
M=r × α； 4‐2
In formula, α is the direction difference of twice collection before and after 500ms, and r is radius of turn, formula 4-1,4-2 can obtain formula 4-3,
Dolly forward travel distance L in this 500ms can be calculated, as path distinguishing rule.So, the travel path of dolly and storage
Memory tracking error in tolerance interval.
The operating path that identifies and store is primarily under " automatic transportation pattern ", before dolly can be taken this as a foundation
Enter.Because being only divided into straight ahead during dolly advance, radii fixus turning two states, therefore in " automatic transportation pattern "
Under, as it is shown in figure 5, dolly straight running condition only needs the air line distance of A Yu B point, two parameters of the orientation angle of straight line AB.Aobvious
So can not by result that above-mentioned path differentiates directly as the traveling of dolly according to using.
As seen in figs. 5-6, it is assumed that dolly is when running to M point from A point, and the Path Recognition result of the travel path of dolly is such as
Shown in Fig. 6.First calculate air line distance and the angle of AC 2, calculated by Vector triangle.As it is shown in figure 5, AB, AC distance and
Angle parameter ang1, ang2 angle is recorded by Path Recognition algorithm, then be computed obtaining:
Angle3=180 °-(ang1-ang2)； 4-4
Ang5=arccos [(AB2+AC2-BC2)/(2×AB×BC)]； 4-6
Ang4=ang1-ang5； 4-7
Be can get the direction (i.e. ang4) of path AC, distance by formula 4-4 to 4-7, then reuse above formula,
Obtain the direction of path AD, distance, by that analogy, finally can obtain the air line distance of AM, direction.By the air line distance of AM,
Direction the two parameter preserves to SD card, can be used as the foundation that under " automatic transportation pattern ", dolly advances.
Angle of turn parameter is stored directly in SD card, only records the angle after turning, i.e. go out bending angle during storage.
Under " automatic transportation pattern ", dolly is diverted to this voluntarily and goes out bending angle.
Pass through above method, it is achieved that the identification to the travel path of dolly, conveniently carry out path clustering correction, the present invention
In, Path Recognition unit can obtain current dolly present position and direction, by the information of storage in SD card, including little garage
Enter direction, travel distance and angle of turn, can obtain the preferable advance route of dolly, the control of path clustering unit such as Fig. 7 institute
Showing, straight line CD is record dolly ideal advance route in SD card, and line segment AB is inclined between dolly and ideal advance route
Difference, angle ANG is the vehicle body error with preferable direction of advance of dolly, then length and angular error ANG according to line segment AB are carried out
PID closed loop control.Formula 4-8 be only P reconcile under Angle ambiguity parameter.
ERROR=AB × m+ANG × (1-m)； 4-8
In formula 4-8, ERROR is dolly global error, and m is correct algorithm cathetus deviation with angular deviation to controlling
Factor of influence, i.e., when m increases, range deviation is bigger on the impact of regulation control algolithm, and when m is less, the deviation of angle A NG is exchanged
The impact of joint control algolithm is bigger.
According to information above, the integration during PID controls, differentiation element can be added easily in control algolithm, it is achieved right
The control of the travel path of dolly is corrected, and just repeats no more at this.
The present invention compared with prior art, has the advantages that
1., in the case of unmanned the intervention, goods can be transported to terminal from starting point, omnidistance without manual operation.
2. in the case of ground is without any mark, track, can realize the transport of goods.
3. can be applicable to the multiple occasion of indoor and outdoor, remain to preferably realize transport at rainy day, dirt road.
4. can quickly change transportation route, the beneficially variation of factory and enterprise production line.
5. applied range, can be applied not only to the goods transport of factory, it is possible to be applied to outdoor multiple occasion, such as agriculture
Field, fishing ground, warehouse etc..
The above is only the preferred embodiment of the present invention, it is noted that for the ordinary skill people of the art
For Yuan, under the premise without departing from the principles of the invention, it is also possible to make some improvements and modifications, these improvements and modifications also should
It is considered as protection scope of the present invention.
Claims (3)
1. an intelligence cargo transport dolly with path memory function, it is characterised in that including can be at manual mode, model of memory
With under any one operational mode in automatic transportation pattern run trolley body and can control described trolley body start and stop,
Direct of travel and the remote control unit switched between three kinds of operational modes, described trolley body includes being symmetrically arranged at front side
Two power wheels and be located at rear side a universal wheel: described trolley body is provided with:
Main control module and the ultrasonic distance measuring module being connected with described main control module, photoelectric encoder, electronic compass, shooting
Head, motor module；
Described ultrasonic distance measuring module, for detecting the distance between dolly and surrounding objects or detecting when close to transportation terminal
Distance between dolly and post thing；
Described photoelectric encoder is for detecting the operation distance of dolly, and described electronic compass is for judging the traveling side that dolly is current
To；
Described photographic head, for during at trolley travelling extremely away from transportation terminal preset distance, gathers post object image in the visual field,
To judge the relative distance between current dolly and post thing and angle；
Described motor module, makes one when turning for driving two power wheels of dolly to be synchronized with the movement traveling at linear motion
Individual power wheel is static and another power wheel axle length in the past is that radius of turn is turned；
Described main control module includes:
Path Recognition unit, identifies and stores the operating path of dolly, including travel distance, traveling under model of memory time
Direction and angle of turn；
Path clustering unit, under automatic transportation pattern, according to Path Recognition unit identification the operation of dolly that stores
Path, controls the dolly operating path by memory and automatically runs to terminal from starting point.
The most according to claim 1, there is the intelligence cargo transport dolly of path memory function, it is characterised in that described main control module
Connect communication module, be used for realizing described main control module and ipc monitor device communication, by described ipc monitor device with
Dolly carries out man-machine interaction, obtains current trolley travelling state in real time, including trolley travelling position, direction of advance, and to dolly
Send and run control instruction.
The most according to claim 2, there is the intelligence cargo transport dolly of path memory function, it is characterised in that described Path Recognition
Unit includes:
Travel distance computing module, for gathering once current dolly travel angle and travel distance every Preset Time, will
Current dolly travel angle is averaged the direct of travel being designated as dolly within this time with the dolly travel angle gathered last time,
Then according to the direct of travel difference of front and back twice, dolly travel distance within this time is calculated, then according to this traveling
Distance and the operation angle parameter of correspondence, utilize triangle rule counting of carriers from the travel distance of origin-to-destination；
Direct of travel computing module, for counting of carriers traveling in every section of Preset Time in the traveling process of origin-to-destination
The travel angle parameter that distance is corresponding.
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| CN107544497A (en) * | 2017-09-07 | 2018-01-05 | 南京昱晟机器人科技有限公司 | A kind of autonomous operation machinery remote runs node control method |
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