CN104679006A

CN104679006A - Automatic tracking recognition indicating system and indicating method thereof

Info

Publication number: CN104679006A
Application number: CN201510093010.9A
Authority: CN
Inventors: 鲍驭浩; 鲍旭东
Original assignee: Individual
Current assignee: Individual
Priority date: 2015-03-02
Filing date: 2015-03-02
Publication date: 2015-06-03
Anticipated expiration: 2035-03-02
Also published as: CN104679006B

Abstract

The invention relates to an automatic tracking recognition indicating system. The automatic tracking recognition indicating system comprises an indication block unit for providing indication information for a mobile device, an indication block detection unit for detecting the indication information on the indication block unit, and a controller for providing route indication for the mobile device. The automatic tracking recognition indicating system is simple in structure and high in recognition processing speed. The invention further relates to an indicating method of the automatic tracking recognition indicating system. By the indicating method, the mobile device can be indicated to rapidly and accurately reach any specified target workstation position in tracking routes with various complexity degrees.

Description

A kind of automatic tracking identification indication mechanism and indicating means thereof

Technical field

The present invention relates to automatic tracking control technology field, particularly the identification indication mechanism of automatic tracking pahtfinder hard, the invention still further relates to a kind of indicating means of this automatic tracking identification indication mechanism.

Background technology

Intelligent mobile device automatic tracking moves conventional tracking mode to be had: GPS navigation, electromagnetic induction navigates, inertial navigation, vision guided navigation, prefabricated coodinate navigation, photoelectric reflection navigates, tape navigation etc., these navigation all cannot to such as large supermarket's shelf, precision navigation tracking is carried out in the complicated places such as integrated mill workspace, because the navigation path that these places arrive each station is very complicated, there is a lot of cross spider, turning guide marking, sometimes arriving a station needs through more than 10 crossings, turn more than 10 curvedly could to arrive, there is left-hand rotation at each crossing, turn right, to keep straight on three kinds of way selection, can be accomplished these, often system is very complicated, expensive, also therefore a lot of intelligent mobile device cannot large-scale popularization.

As the Chinese utility model patent " the Intelligent self-tracking trolley control system based on photoelectric sensor " of Authorization Notice No. CN201853137U (application number is 201020622590.9), from tracking trolley control system, photoelectric sensor and speech recognition technology are combined disclosed in it, with reflective infrared photoelectric sensor acquisition approach information, according to direction of motion and the speed of the position adjustment dolly of black line in routing information, instruction in its routing information is complete not in detail, the difficulty of dolly from tracking can be increased, be difficult to the accurate optimization navigation of complex course.

Application publication number is the Chinese invention patent application " the unmanned road Identification system based on optical navigation " of CN103226354A (application number is 201310062879.8), unmanned road Identification system disclosed in it needs to use vision module and image processing module to coordinate road Identification module to control, the information processing a large amount of images is needed in its system work process, corresponding processing speed can reduce greatly, simultaneously owing to contain much information and complicated, high to the requirement of hardware, substantially increase its use cost.

Summary of the invention

First technical matters to be solved by this invention provides for above-mentioned prior art that a kind of system architecture is simple, identifying processing fireballing automatic tracking identification indication mechanism.

Second technical matters to be solved by this invention provides a kind of indicating means utilizing automatic tracking identification indication mechanism quick and precisely can arrive arbitrary named place of destination at the tracking path of various complexity instruction mobile device for above-mentioned prior art.

The present invention solves the technical scheme that above-mentioned first technical matters adopt: a kind of automatic tracking identification indication mechanism, for providing path to indicate to mobile device, is characterized in that: comprise

Indicator dog unit, is arranged on tracking path, for providing indication information to mobile device;

Indicator dog detecting unit, described indicator dog detecting unit is arranged on mobile device, the indication information of aforementioned indicator dog unit can be detected;

Controller, is connected with described indicator dog detecting unit and mobile device, according to the indication information that indicator dog detecting unit detects, after computing, provides path to indicate to mobile device.

In order to realize the use in complicated tracking path, according to the tracking path of differing complexity, described indicator dog unit includes different types of indicator dog, and described indicator dog detecting unit can obtain corresponding working direction, deceleration distance and/or turn to indication information from described different types of indicator dog;

Described automatic tracking identification indication mechanism also includes the instruction coding unit be connected with described controller communication, store the tracking path code of each aiming station in described instruction coding unit, include in each tracking path code arrive in the tracking path of this aiming station from starting point, the turn around parameters of the sum of various indicator dogs that needs detect and the indicator dog of needs.

In order to indicating target station position clearly, described indicator dog unit comprises:

Major trunk roads indicator dog, described major trunk roads indicator dog is arranged on major trunk roads in tracking path and proceeds to the crossing of by-path, provides indication information for giving the movement of mobile device on the major trunk roads in tracking path;

By-path indicator dog, described by-path indicator dog is arranged on by-path in tracking path and proceeds to the crossing that by-path and by-path proceed to major trunk roads, provides indication information for giving the movement of mobile device on the by-path in tracking path;

Station node indicator dog, described station node indicator dog is separately positioned on the nearest crossing of tracking path mid-range objectives station, provides indication information for giving mobile device near aiming station;

Aiming station stops indicator dog, and described aiming station stops indicator dog being arranged on aiming station position, provides indication information for arriving aiming station position to mobile device;

Starting point stops indicator dog, and described starting point stops indicator dog being arranged on the return path in tracking path, and is arranged at start position, provides indication information for arriving start position to mobile device.

Indicate aiming station accurately to facilitate, in described instruction coding unit, the tracking path code of each aiming station comprises at least one group and is used to indicate the target set of data arriving this aiming station from starting point;

Described target set of data comprises:

Major trunk roads designation data position, store in described major trunk roads designation data position from starting point arrive in the tracking path of aiming station need through the total amount of major trunk roads indicator dog;

By-path designation data position, store in described by-path designation data position from starting point arrive in the tracking path of aiming station need through the total amount of by-path indicator dog;

Station node designation data position, store in described station node designation data position from starting point arrive in the tracking path of aiming station need through the total amount of station node indicator dog;

First by-path indicator dog position wherein in tracking path does not need to turn, by-path designation data position is stored in data " 0 ";

Described major trunk roads indicator dog is separately positioned on leftward position or the right positions at major trunk roads crossing, tracking path, detect for indicator dog detecting unit thus obtain corresponding turn left to or turn right to turn to indication information; Or also include major trunk roads direction indicating data position in described target set of data, store in described major trunk roads direction indicating data position arrive in the tracking path of aiming station from starting point, the turn around parameters of last major trunk roads indicator dog position;

Described by-path indicator dog is separately positioned on tracking path by-path crossing leftward position or right positions, detect for indicator dog detecting unit thus obtain corresponding turn left to or turn right to turn to indication information; Or also include by-path direction indicating data position in described target set of data, store in described by-path direction indicating data position arrive in the tracking path of aiming station from starting point, first by-path indicator dog position of process and the turn around parameters of last by-path indicator dog position;

Described station node indicator dog is separately positioned on leftward position or the right positions at the nearest crossing of tracking path mid-range objectives station, detect for indicator dog detecting unit thus obtain corresponding turn left to or turn right to turn to indication information; Or also include station node direction designation data position in described target set of data, store in described station node direction designation data position arrive in the tracking path of aiming station from starting point, last station node location is to the turn around parameters of aiming station position.

As improvement, in described instruction coding unit, the tracking path code of each aiming station also comprises one group and is used to indicate and arrives the return data group of starting point from aiming station, store in described return data group arrive in the tracking path of starting point from aiming station, turn around parameters that each by-path indicator dog (12) position is corresponding.

Preferably, described indicator dog detecting unit comprise scrambler, demoder and respectively left and right be arranged on two groups of infrared ray sensor collection battle arrays bottom mobile device;

Described different types of indicator dog is set to be detected by infrared ray sensor collection battle array and the reflective color lump distinguished respectively.

The present invention solves the technical scheme that above-mentioned second technical matters adopt: a kind of indicating means of automatic tracking identification indication mechanism as the aforementioned: comprise the steps:

Step one, the indication information that can provide according to planning and the various indicator dog in tracking path, at each crossing of major trunk roads, each crossing of by-path, station node, aiming station, starting point relevant position corresponding indicator dog is set respectively;

Step 2, facilities according to tracking path and each indicator dog, encode to described instruction coding unit, thus form the tracking path code of each aiming station;

Step 3, tracking path code according to each aiming station in described instruction coding unit, initialization is when the tracking path code of time aiming station in the controller, is about to when time aiming station target set of data is accordingly deposited in controller;

Step 4, startup mobile device, in the tracking path that mobile device is advanced to aiming station, described indicator dog detecting unit is utilized to detect the indicator dog of Zhong Ge crossing, tracking path setting, and self-indication block is detected the indication information got be sent in described controller, described controller receives the indication information of indicator dog detecting unit transmission and carries out stored counts to the quantity of various indicator dog, and the data in the cumulative data of various indicator dog and target set of data are compared by described controller simultaneously;

Described controller sends the instruction control command of craspedodrome until the stored counts of major trunk roads indicator dog equals the data in target set of data on major trunk roads designation data position to mobile device, now, described indicator dog detecting unit sends the working direction obtained on last major trunk roads indicator dog, deceleration distance indication information to controller;

Described indicator dog detecting unit obtains it according to the setting position of last the major trunk roads indicator dog detected and turns to indication information and send this direction information to described controller, thus controller according to obtain working direction, deceleration distance, turn to indication information to mobile device send instruction control command, mobile device according to controller instruction control slow down stop after proceeding to by-path again; Or described controller reads the turn around parameters that stores in major trunk roads direction indicating data position thus obtains and turns to indication information, and according to obtain working direction, deceleration distance, turn to indication information to mobile device send instruction control command, mobile device according to controller instruction control slow down stop after proceeding to by-path again;

When the data on by-path designation data position in target set of data are " 0 ", then controller sends the instruction control command of craspedodrome until the stored counts of station node indicator dog equals the data in target set of data on station node designation data position to mobile device, now, described indicator dog detecting unit sends the working direction obtained on last station node indicator dog, deceleration distance indication information to controller;

Described indicator dog detecting unit obtains it according to the setting position of last the station node indicator dog detected and turns to indication information and send this direction information to described controller, thus controller according to obtain working direction, deceleration distance, turn to indication information to mobile device send instruction control command, mobile device according to controller instruction control slow down stop after turning to aiming station position again; Or described controller reads the turn around parameters that stores in station node direction designation data position thus obtains and turns to indication information, and according to obtain working direction, deceleration distance, turn to indication information to mobile device send instruction control command, mobile device according to controller instruction control slow down stop after turning to aiming station position again;

Described controller controls mobile device and keeps straight on to aiming station position until described indicator dog detecting unit detects that aiming station stops indicator dog, described indicator dog detecting unit is by the deceleration distance stopping from aiming station indicator dog obtains and stop indication information sending controller to, controller sends instruction control command according to indication information to mobile device, thus makes mobile device slow down and finally stop on aiming station;

When the data in the second data bit in target set of data are not " 0 ", then controller sends the instruction control command of craspedodrome until indicator dog detecting unit detects first by-path indicator dog to mobile device, and described indicator dog detecting unit sends the working direction obtained on first by-path indicator dog, deceleration distance indication information to controller;

Described indicator dog detecting unit obtains it according to the setting position of detect first by-path indicator dog and turns to indication information and send this direction information to described controller, thus controller according to obtain working direction, deceleration distance, turn to indication information to mobile device send instruction control command, mobile device according to controller instruction control slow down stop after turning to movement again; Or described controller reads the turn around parameters of first the by-path indicator dog position stored in by-path direction indicating data position thus acquisition turns to indication information, and according to obtain working direction, deceleration distance, turn to indication information to mobile device send instruction control command, mobile device according to controller instruction control slow down stop after turning to movement again;

After mobile device turns to according to instruction control command, keep keeping straight on until the stored counts of by-path indicator dog that indicator dog detecting unit detects equals the data in target set of data on by-path designation data position under the instruction of controller controls, described indicator dog detecting unit sends the working direction obtained on last by-path indicator dog, deceleration distance indication information to controller;

Described indicator dog detecting unit obtains it according to the setting position of last the by-path indicator dog detected and turns to indication information and send this direction information to described controller, thus controller according to obtain working direction, deceleration distance, turn to indication information to mobile device send instruction control command, mobile device according to controller instruction control slow down stop after turning to movement again; Or described controller reads the turn around parameters of last the by-path indicator dog position stored in by-path direction indicating data position thus acquisition turns to indication information, and according to obtain working direction, deceleration distance, turn to indication information to mobile device send instruction control command, mobile device according to controller instruction control slow down stop after turning to movement again;

After mobile device turns to according to instruction control command, keep keeping straight on until the stored counts of station node indicator dog that indicator dog detecting unit detects equals the data in target set of data on station node designation data position under the instruction of controller controls, now, described indicator dog detecting unit sends the working direction obtained on last station node indicator dog, deceleration distance indication information to controller;

Described indicator dog detecting unit obtains it according to the setting position of last the station node indicator dog detected and turns to indication information and send this direction information to described controller, thus controller according to obtain working direction, deceleration distance, turn to indication information to mobile device send instruction control command, mobile device according to controller instruction control slow down stop after turning to movement again; Or described controller reads the turn around parameters that stores in station node direction designation data position thus obtains and turns to indication information, and according to obtain working direction, deceleration distance, turn to indication information to mobile device send instruction control command, mobile device according to controller instruction control slow down stop after turning to aiming station position again;

Step 5, mobile device return to origin after aiming station is finished the work, in return course, described indicator dog detecting unit to detect in tracking path from aiming station to the by-path indicator dog on the return path of starting point, thus obtains working direction on return path on each by-path indicator dog, deceleration distance indication information send controller to;

Described indicator dog detecting unit is according to the setting position of each by-path indicator dog detected, to obtain turning to indication information and sending this direction information to described controller of each by-path indicator dog position, thus controller according to the working direction, the deceleration distance that obtain, turn to indication information to send instruction control command to mobile device, mobile device according to the instruction of controller control each by-path indicator dog position slow down stop after turning to movement again; Or described controller reads turn around parameters corresponding to each by-path indicator dog of storing in return data group thus obtains and turns to indication information, and according to obtain working direction, deceleration distance, turn to indication information to mobile device send instruction control command, mobile device according to controller instruction control slow down stop after turning to movement again;

Described controller instruction controls mobile device and finally proceeds on the major trunk roads of return path in tracking path, and turns back to starting point smoothly;

After step 6, described indicator dog detecting unit detect that starting point stops indicator dog, send the deceleration distance stopping from starting point indicator dog obtains and stopping indication information to controller, controller sends instruction control command according to indication information to mobile device, thus makes mobile device slow down and finally stop at start position;

Step 7, remove counting in described controller and when time tracking path code, and wait for and enter step 3.

Preferably, in described step 2, according to the facilities of tracking path and each indicator dog, add up and arrive from starting point quantity, by-path indicator dog quantity, the station node indicator dog quantity that optimal path in the tracking path of each target location needs the major trunk roads indicator dog of process, determine the turn around parameters that each indicator dog position of needs is corresponding simultaneously, thus corresponding data inserted respectively in each data bit of the target set of data of each aiming station, and then form the tracking path code of each aiming station.

Compared with prior art, the invention has the advantages that:

(1) structure of this automatic tracking identification indication mechanism is simple, easy standardization large-scale production.General Intelligent tracking mobile device, rely on the indicator dog unit had in this automatic tracking identification indication mechanism and the tracking path indicating coding unit, when without the need to accurately arriving aiming station when adjustment programme, and in the course of work, data handling procedure is simple.This automatic tracking identification indication mechanism is widely applicable, highly versatile, and low cost of manufacture, is easy to promote the use of, and can effectively increase work efficiency.

(2) this automatic tracking identification indication mechanism adopts indicator dog unit, carries out indicia point to each crossing, aiming station point, starting point.Indicate coding unit can carry out tracking path code to each aiming station simultaneously, thus realize indicating the concrete plan in tracking path.The sensing of each aiming station in then can realizing to various pahtfinder hard place by indicator dog unit, thus for quick and precisely guiding mobile device to arrive aiming station and the basis that initial initial point provides strong can being returned to smoothly.

(3) indicating means of this automatic tracking identification indication mechanism can indicate mobile device quick and precisely to arrive arbitrary named place of destination, operate very simple, as long as initialization is when the tracking path code of time aiming station, after starting mobile device, mobile device just independently arrives aiming station fast and accurately.In addition, in tracking path code, itself optimized the tracking path of mobile device, namely the indicating means of this automatic tracking identification indication mechanism can optimize instruct mobile device arrive aiming station.

(4) indicating means of this automatic tracking identification indication mechanism can be applicable to various different tracking mode, the tracking instruction in Various Complex path can be provided, can be used for the occasions such as the unmanned transport of goods under the unmanned transport of large supermarket's kinds of goods, the unmanned transport of integrated mill's material, the unmanned transport of logistics company object sorting, rugged surroundings, be widely used, there is good economic benefit and social benefit.

Accompanying drawing explanation

Fig. 1 is the structured flowchart of automatic tracking identification indication mechanism in the embodiment of the present invention.

Fig. 2 is the process flow diagram of the indicating means of automatic tracking identification indication mechanism in the embodiment of the present invention.

Fig. 3 is the schematic diagram of tracking path and tracking path code in the embodiment of the present invention one.

Fig. 4 is the schematic diagram of tracking path and tracking path code in the embodiment of the present invention two.

Embodiment

Below in conjunction with accompanying drawing embodiment, the present invention is described in further detail.

Embodiment one

As shown in Figure 1, the automatic tracking identification indication mechanism in the present embodiment, comprises indicator dog unit 1, indicator dog detecting unit 2, instruction coding unit 3 and controller 4.

Wherein indicator dog unit 1 comprises different types of indicator dog, and in the present embodiment, indicator dog unit 1 comprises major trunk roads indicator dog 11, by-path indicator dog 12, station node indicator dog 13, aiming station stopping indicator dog 14 and starting point and stops indicator dog 15.Various different types of indicator dog be arranged respectively to difform, block detecting unit 2 can be instructed to detect and the reflective color lump distinguished.

Indicator dog detecting unit 2 is arranged on mobile device, can detect different types of indicator dog and can therefrom obtain corresponding working direction, deceleration distance and/or turn to indication information.Indicator dog detecting unit 2 in the present embodiment comprises scrambler, demoder and installs the two group infrared ray sensor collection battle arrays of left and right bottom mobile device respectively, two groups of infrared ray sensor collection battle arrays lay respectively at mobile device base plate center line both sides, and often organize in infrared ray sensor collection battle array eight infrared ray sensors including word order.Scrambler is modulated each infrared sensor in use, and demoder is decoded to the infrared light received, thus prevents each infrared ray sensor in infrared ray sensor collection battle array from mutually disturbing.

In the process that mobile device advances, infrared ray sensor collection battle array induction color lump reflection ray detects, and reflective color lump and ground in the face of emission of light intensity of light reflection different, the light be radiated on reflective color lump is higher than being radiated at ground light intensity of light reflection, most of Infrared of irradiating thereon absorbs by ground, corresponding infrared sensor is made to be in cut-off state, and the light reflection meeting infrared sensor be radiated on reflective color lump, thus corresponding infrared sensor is in conducting state.So can according to the number of the infrared ray sensor number of conducting state and the infrared ray sensor of cut-off state in infrared sensor collection battle array, determine the width of reflective color lump in tracking path, length and shape, thus judge this reflective color lump is as which kind of indicator dog, the indication information in indicator dog can also be obtained simultaneously.

The major trunk roads indicator dog 11 of the present embodiment is separately positioned on major trunk roads crossing, tracking path and is positioned on the ground on the left of major trunk roads center line or on the ground on right side, detect for indicator dog detecting unit 2 thus obtain corresponding turn left to or turn right to turn to indication information, namely when major trunk roads indicator dog 11 is arranged on the leftward position at major trunk roads crossing, tracking path, in indicator dog detecting unit 2, the infrared ray sensor collection battle array in left side detects that namely this major trunk roads indicator dog 11 obtains left steering indication information, and send this left steering indication information to controller 4, namely controller 4 controls mobile device and turns left.When major trunk roads indicator dog 11 is arranged on the right positions at major trunk roads crossing, tracking path, in indicator dog detecting unit 2, the infrared ray sensor collection battle array on right side detects that namely this major trunk roads indicator dog 11 obtains rear steering indication information, and send this right turn indication information to controller 4, namely controller 4 controls mobile device and turns right, then the setting position of major trunk roads indicator dog 11 can turn to indication information for mobile device provides.By-path indicator dog 12 in the present embodiment is separately positioned on by-path crossing, tracking path and is positioned on the ground on the left of by-path center line or on the ground on right side, detect for indicator dog detecting unit 2 thus obtain corresponding turn left to or turn right to turn to indication information, its application principle is identical with major trunk roads indicator dog 11.

Major trunk roads indicator dog 11 in the present embodiment is set to the reflective color lump of right-angle triangle, one right-angle side of the reflective color lump of this right-angle triangle as major trunk roads indicator dog 11 is basically parallel to the center line of major trunk roads and this right-angle side aligns with the by-path center line proceeded to of its instruction foremost, and the acute angle of its front end points to the working direction in tracking path.And the length being parallel to the right-angle side of major trunk roads center line provides deceleration distance information for mobile device, namely self-indication block detecting unit 2 detects that the base of the reflective color lump of this right-angle triangle starts to can't detect, controller 4 controls mobile device to carry out slowing down and the stopping foremost of the lucky reflective color lump at this right-angle triangle, and namely control mobile device stops at the position that the reflective color lump with this right-angle triangle indicates the by-path center line proceeded to align.Be the width of seven infrared ray sensors of indicator dog detecting unit 2 middle infrared (Mid-IR) sensor collection battle array as the base width of the reflective color lump of the right-angle triangle of major trunk roads indicator dog 11 in the present embodiment, namely when indicator dog detecting unit 2 detects major trunk roads indicator dog 11, seven photoelectric tubes in the infrared ray sensor collection battle array of side cover the base of major trunk roads indicator dog 11, along with the advance of mobile device, detect that indicator dog reduces to gradually from the photoelectric tube covering of seven infrared ray sensors and can't detect indicator dog, thus the deceleration distance information obtained in major trunk roads indicator dog 11 is seven grades of deceleration indication informations.

By-path indicator dog 12 in the present embodiment is set to the reflective color lump of right-angle triangle equally, only each edge lengths of right-angle triangle is different from major trunk roads indicator dog 11, thus provides the indicator dog classification and different deceleration distance information that are different from major trunk roads indicator dog 11.One right-angle side of the reflective color lump of this right-angle triangle as by-path indicator dog 12 is basically parallel to the center line of by-path and the center line of the by-path proceeded to its instruction foremost or major trunk roads aligns, and the acute angle of its front end points to the working direction in tracking path.The instruction usage of the reflective color lump of this right-angle triangle as by-path indicator dog 12 to mobile device is identical.Be the width of five infrared ray sensors of indicator dog detecting unit 2 middle infrared (Mid-IR) sensor collection battle array as the give out light base width of color lump of the right-angle triangle of by-path left-hand rotation indicator dog 121 in the present embodiment, namely when indicator dog detecting unit 2 detects by-path indicator dog 12, five photoelectric tubes in the infrared ray sensor collection battle array of side cover the base of by-path indicator dog 12, along with the advance of mobile device, detect that indicator dog reduces to gradually from the photoelectric tube covering of five infrared ray sensors and can't detect indicator dog, thus the deceleration distance information obtained in by-path indicator dog 12 is Pyatyi deceleration indication information.

The ground that station node indicator dog 13 in the present embodiment is separately positioned on the crossing that distance objective station is nearest on tracking path is arranged on tracking path center line, and namely each crossing of aiming station that turns to is provided with station node indicator dog 13.Station node indicator dog 13 in the present embodiment is set to the reflective color lump of isosceles triangle, and the working direction in tracking path is pointed on the summit of the reflective color lump of this isosceles triangle and the center line in the tracking path of this summit and aiming station to be proceeded to aligns.This height as the reflective color lump of the isosceles triangle of station node indicator dog 13 represents the deceleration distance of station node indicator dog 13, namely self-indication block detecting unit 2 detects that the base of the reflective color lump of this isosceles triangle starts to can't detect, controller 4 controls mobile device to carry out slowing down and the stopping of the lucky vertex position at the reflective color lump of this isosceles triangle, namely controls mobile device and stops at the position aligned with the center line in the tracking path of aiming station to be proceeded to.In the present embodiment, the base width of station node indicator dog 13 is the width of ten infrared ray sensors of indicator dog detecting unit 2 middle infrared (Mid-IR) sensor collection battle array, namely when indicator dog detecting unit 2 detects station node indicator dog 13, the base respectively having five photoelectric tube covering station node indicator dogs 13 in the infrared ray sensor collection battle array of both sides, along with the advance of mobile device, detect that indicator dog reduces to gradually from the photoelectric tube covering of five infrared ray sensors and can't detect indicator dog, thus the deceleration distance information obtained in station node indicator dog 13 is Pyatyi deceleration indication information.

Aiming station in the present embodiment stops indicator dog 14 to be arranged on the ground of aiming station position, this aiming station stops indicator dog 14 to be set to the reflective color lump of isosceles triangle equally, only each length of side of the reflective color lump of isosceles triangle is different from station node indicator dog 13, thus provides the indicator dog classification and different deceleration distance information that are different from station node indicator dog 13.This stops the summit of the reflective color lump of isosceles triangle of indicator dog 14 to point to the working direction in tracking path as aiming station, and its summit can indicate mobile device to stop at the working position of aiming station just.Be the width of six infrared ray sensors of indicator dog detecting unit 2 middle infrared (Mid-IR) sensor collection battle array as the base width of the reflective color lump of isosceles triangle of station stopping indicator dog 14 in the present embodiment, namely when indicator dog detecting unit 2 detects station stopping indicator dog 14, three the photoelectric tube covering station that respectively have in the infrared ray sensor collection battle array of both sides stop the base of indicator dog 14, along with the advance of mobile device, detect that indicator dog reduces to gradually from the photoelectric tube covering of three infrared ray sensors and can't detect indicator dog, thus the deceleration distance information obtained in station stopping indicator dog 14 is three grades of deceleration indication informations.

Starting point in the present embodiment stops indicator dog 15 to be arranged on the return path in tracking path, and is arranged on the ground of start position.In the present embodiment, starting point stops indicator dog 15 to be set to the reflective color lump of isosceles triangle equally, its length of side stops the length of side of the reflective color lump of the isosceles triangle of indicator dog 14 all different from as station node indicator dog 13 with as aiming station, thus provides the indicator dog classification and different deceleration distance information that are different from station node indicator dog 13 and aiming station stopping indicator dog 14.This stops the summit of the reflective color lump of isosceles triangle of indicator dog 15 to point to the working direction in tracking path as starting point, and this summit can indicate mobile device to stop at start position just.Be the width of 14 infrared ray sensors of indicator dog detecting unit 2 middle infrared (Mid-IR) sensor collection battle array as the base width of the reflective color lump of isosceles triangle of starting point stopping indicator dog 15 in the present embodiment, namely when indicator dog detecting unit 2 detects starting point stopping indicator dog 15, seven photoelectric tubes that respectively have in the infrared ray sensor collection battle array of both sides cover the base of starting point stopping indicator dog 15, along with the advance of mobile device, detect that indicator dog reduces to gradually from the photoelectric tube covering of seven infrared ray sensors and can't detect indicator dog, thus the deceleration distance information obtained in starting point stopping indicator dog 15 is seven grades of deceleration indication informations.

In the process of mobile device movement, if after the infrared ray sensor collection battle array be arranged on the left of mobile device base plate center line detects and there is reflective color lump on the left of major trunk roads center line or by-path center line, the each infrared ray sensor in the infrared ray sensor collection battle array in left side is made to be in conducting and cut-off state according to certain rule, obtain width and the shape information of reflective color lump simultaneously, and then mate with the width of corresponding indicator dog and shape, thus judge the kind of this indicator dog, obtain the indication information on indicator dog simultaneously.The each infrared ray sensor be arranged in the infrared ray sensor collection battle array on the right side of mobile device base plate center line is then all in cut-off state, so namely obtains the left steering information on this indicator dog.Indicator dog detecting unit 2 is detected after the indication information got sends controller 4 to, namely controller 4 sends corresponding deceleration according to control information to mobile device stops and the instruction control command of turning left, thus mobile device is turned left to movement after information deceleration stopping as indicated again.

In like manner, in the process of mobile device movement, if after the infrared ray sensor collection battle array be arranged on the right side of mobile device base plate center line detects and there is reflective color lump on the right side of major trunk roads center line or by-path center line, the each infrared ray sensor in the infrared ray sensor collection battle array on right side is made to be in conducting and cut-off state according to certain rule, obtain width and the shape information of reflective color lump simultaneously, and then mate with the width of corresponding indicator dog and shape, thus judge the kind of this indicator dog, obtain the indication information on indicator dog simultaneously.The each infrared ray sensor be arranged in the infrared ray sensor collection battle array on the left of mobile device base plate center line is then all in cut-off state, so namely obtains the right turn information on this indicator dog.Indicator dog detecting unit 2 is detected after the indication information got sends controller 4 to, namely controller 4 sends corresponding deceleration according to control information to mobile device stops and the instruction control command of turning right, thus mobile device is turned right to movement after information deceleration stopping as indicated again.

Store the tracking path code of each aiming station in instruction coding unit 3, include in each tracking path code arrive in the tracking path of this aiming station from starting point, the turn around parameters of the sum of various indicator dogs that needs detect and the indicator dog of needs.Namely the tracking path drawing set for, carries out h coding for each aiming station thus forms tracking path code and be stored in instruction coding unit 3.

Aiming station is indicated accurately in order to facilitate, controller is facilitated to calculate, indicate the tracking path code of each aiming station in coding unit 3 to comprise at least one group and be used to indicate the target set of data arriving this aiming station from starting point, according to the differing complexity in tracking path, this automatic tracking identification indication mechanism can also arrange other indicator dogs multiple except the present embodiment, also can arrange the data group of polytype instruction mobile device movement.

Target set of data in the present embodiment comprises four data bit, these four data be respectively store from starting point arrive in the tracking path of aiming station need through the major trunk roads designation data position of major trunk roads indicator dog 11 total amount, store from starting point arrive in the tracking path of aiming station need through the by-path designation data position of by-path indicator dog 12 total amount, store from starting point arrive in the tracking path of aiming station need through the station node designation data position of station node indicator dog 13 total amount, store and to arrive before aiming station last station node location to the station node direction designation data position of the turn around parameters of aiming station position from starting point.Wherein major trunk roads designation data position is placed on first, and by-path designation data position is placed on second, and station node designation data position is placed on the 3rd, and station node direction designation data position is placed on the 4th.Define data " 6 " in the present embodiment for left steering parameter, definition data " 8 " is right turn parameter.

First by-path indicator dog 12 position wherein in tracking path does not need to turn, by by-path indicator dog Data Position stored in data " 0 ".

The complexity different according to tracking path, the data bit number in this target set of data also can increase and decrease, specifically can accurately indicate mobile device tracking to be as the criterion according to the increase and decrease of indicator dog.

Controller 4 respectively with indicator dog detecting unit 2, indicate coding unit 3, mobile device communications is connected, for the treatment of indicator dog detecting unit 2 and instruction coding unit 3 information and send instruction control command to mobile device.According to different designs, this controller 4 can be arranged in mobile device central controller, also can independent external setting, can process the information in indicator dog detecting unit 2 and instruction coding unit 3, moves be as the criterion can control mobile device.

Above-mentioned automatic tracking identification indication mechanism cost is low, practical, is specially adapted to the complicated place such as supermarket large supermarket shelf, integrated mill workspace and uses.

Aforesaid automatic tracking identification indication mechanism can also coordinate tracking system to use, and on the tracking path of tracking system and the basis of tracking method, for tracking system provides indication information, thus improves the smart degree of tracking speed and tracking.

In order to the indicating means of automatic tracking identification indication mechanism in description the present embodiment clearly, tracking path shown in composition graphs 3, the indicating means that tracking path code is the aiming station of " 6338 " is described in detail, in tracking path shown in Fig. 3, major trunk roads are surrounded on the surrounding setting of by-path, but in the present embodiment, the indicating means of automatic tracking identification indication mechanism is not limited to this kind of tracking path.

As shown in Figure 2, in the present embodiment, the indicating means of automatic tracking identification indication mechanism comprises the steps:

Step one, the indication information that can provide according to planning and each indicator dog in tracking path, at each crossing of major trunk roads, each crossing of by-path, station node, aiming station, these positions of starting point place corresponding indicator dog respectively.

Namely the crossing of left-hand rotation is needed at tracking path major trunk roads, major trunk roads indicator dog 11 is arranged on this crossing and is positioned on the ground on the left of major trunk roads center line, and major trunk roads indicator dog 11 points to working direction, the crossing of turning right is needed at tracking path major trunk roads, major trunk roads indicator dog 11 is arranged this crossing and is positioned at major trunk roads center line right positions, and major trunk roads indicator dog 11 points to working direction.

The crossing of left-hand rotation is needed at tracking path by-path, by-path indicator dog 12 is arranged on this crossing and is positioned on the ground on the left of by-path center line, and by-path indicator dog 12 points to working direction, the crossing of turning right is needed at tracking path by-path, by-path indicator dog 12 is arranged this crossing and is positioned at by-path center line right positions, and by-path indicator dog 12 points to working direction.

Station node indicator dog 13 is separately positioned on the nearest ground, crossing of each distance objective station on tracking path, and station node indicator dog 13 points to working direction, stopped by aiming station indicator dog 14 to be arranged on the ground of each aiming station position, starting point stopped indicator dog 15 to be arranged on the ground of start position.

Step 2, facilities according to tracking path and each indicator dog, encode to instruction coding unit 3, thus form the tracking path code of each aiming station.

Namely according to the facilities of tracking path and each indicator dog, add up from starting point arrive in the tracking path of each target location optimum need through major trunk roads indicator dog 11 quantity, by-path indicator dog 12 quantity, station node indicator dog 13 quantity, determine that nearest station node indicator dog 13 position of distance objective station turns to the turn around parameters of aiming station simultaneously, and then each data bit corresponding data be filled in target set of data corresponding to each aiming station, thus form the tracking path code of each aiming station.

If tracking path code in the present embodiment is the aiming station of " 6338 ", representative is in the traveling process of mobile device, the quantity needing the major trunk roads indicator dog 11 detected is six, the quantity needing the by-path indicator dog 12 detected is three, the quantity needing the station node indicator dog 13 detected is three, the turn around parameters of aiming station is " 8 ", and namely in the end station node indicator dog 13 place needs to turn right, and so namely forms the tracking path code " 6338 " that this aiming station is complete.

Step 3, in controller 4, initialization is when the tracking path code of time aiming station, and the tracking path code " 6338 " by aiming station in the present embodiment is input to controller 4 so that controller 4 calculates in the course of the work.

Step 4, startup mobile device, according to different design needs, in the present embodiment, mobile device can move to the homeposition on major trunk roads according to the instruction of indicator dog, or moves to the homeposition of major trunk roads by the steering order preset in controller 4, and then straight forward.

At mobile device in the tracking path of advancing to aiming station, indicator dog detecting unit 2 is utilized to detect the indicator dog of Zhong Ge crossing, tracking path setting, and the indication information comprised in the indicator dog detected is sent in controller 4, controller 4 receives the indication information of indicator dog detecting unit 2 transmission and carries out stored counts to the quantity of various indicator dog, the data in the cumulative data of various indicator dog and target set of data is compared with Time Controller 4.

In the present embodiment, controller 4 sends the instruction control command of craspedodrome until equal the data " 6 " in target set of data on major trunk roads designation data position to the stored counts of major trunk roads indicator dog 11 quantity to mobile device.Namely according in the traveling process of tracking path, the kind of this indicator dog can be judged after indicator dog detecting unit 2 often detects the base of major trunk roads indicator dog 11, controller 4 obtains the indicator dog kind of information that indicator dog detecting unit 2 transmits immediately, stored counts is carried out to major trunk roads indicator dog 11 simultaneously, and then compare with the data on major trunk roads designation data position.When data do not wait, then controller 4 indicates and controls mobile device craspedodrome, and major trunk roads indicator dog 11 informational influence that can not transmit by indicator dog detecting unit 2.And after indicator dog detecting unit 2 detects the signal on the 6th major trunk roads indicator dog 11 base, then the stored counts of controller 4 pairs of major trunk roads indicator dogs 11 reaches six, and now indicator dog detecting unit 2 sends the working direction obtained on the 6th major trunk roads indicator dog 11, deceleration distance indication information to controller 4.

The 6th the major trunk roads indicator dog 11 that the infrared ray sensor collection battle array being simultaneously arranged on mobile device bottom left in indicator dog detecting unit 2 detects, namely the 6th major trunk roads indicator dog 11 is arranged on major trunk roads center line leftward position, thus indicator dog detecting unit 2 obtains left steering indication information from the 6th major trunk roads indicator dog 11 and sends controller 4 to.Controller 4 sends instruction control command according to the working direction obtained, deceleration distance, left steering indication information to mobile device, mobile device controls to carry out seven grades according to the instruction of controller 4 and slows down and stop, to be instructed piece of detecting unit 2 to the reflective color lump as the 6th major trunk roads indicator dog 11 detection is complete foremost time, controller 4 controls mobile device just to be stopped.Then mobile device is turned left in the by-path entering tracking path in the control of controller 4 again.

When the data on by-path designation data position in target set of data are " 0 ", then controller 4 sends the instruction control command of craspedodrome until the stored counts of station node indicator dog 13 equals the data in target set of data on station node designation data position to mobile device, and indicator dog detecting unit 2 sends the working direction obtained on last station node indicator dog 13, deceleration distance indication information to controller 4 simultaneously.Controller 4 reads the turn around parameters that stores in station node direction designation data position thus obtains and turns to indication information, and according to obtain working direction, deceleration distance, turn to indication information to mobile device send instruction control command, mobile device according to controller 4 instruction control slow down stop after turning to aiming station position again.Controller 4 controls mobile device and keeps straight on to aiming station position until described indicator dog detecting unit 2 detects that aiming station stops indicator dog 14, indicator dog detecting unit 2 is by the deceleration distance stopping from aiming station indicator dog 14 obtains and stop indication information sending controller 4 to, controller 4 sends instruction control command according to indication information to mobile device, thus makes mobile device slow down and finally stop on aiming station.This situation can be specifically the situation of " 6038 " see tracking path code in Fig. 3.

When the data on by-path designation data position in target set of data are not " 0 ", then controller 4 sends the instruction control command of craspedodrome until indicator dog detecting unit 2 detects first by-path indicator dog 12 to mobile device, indicator dog detecting unit 2 sends the working direction, the deceleration distance indication information that obtain on first by-path indicator dog 12 to controller 4, becomes one after adding one with the stored counts of Time Controller 4 pairs of by-path indicator dogs 12.

In the present embodiment, first by-path indicator dog 12 that the infrared ray sensor collection battle array being arranged on mobile device bottom left in indicator dog detecting unit 2 detects, namely first by-path indicator dog 12 is arranged on by-path center line leftward position, thus indicator dog detecting unit 2 obtains left steering indication information from first by-path indicator dog 12 and sends controller 4 to.Controller 4 according to obtain working direction, deceleration distance, turn to indication information to mobile device send instruction control command, mobile device according to controller 4 instruction control carry out Pyatyi slow down stop after turning left again to movement.

After mobile device turns left according to instruction control command, keep keeping straight on until the stored counts of by-path indicator dog 12 that indicator dog detecting unit 2 detects equals the data " 3 " in target set of data on by-path designation data position under the instruction of controller 4 controls.In the process of namely advancing at mobile device, indicator dog detecting unit 2 detects again second by-path indicator dog 12 successively, the stored count of this Time Controller 4 pairs of by-path indicator dogs 12 adds one, namely two are reached to the stored count of by-path indicator dog 12, compare with the data " 3 " in the second data bit, be less than the data " 3 " on by-path designation data position, then controller 4 indicates and controls mobile device continuation craspedodrome.When indicator dog detecting unit 2 detects the 3rd by-path indicator dog 12, reach three after the stored count of controller 4 pairs of by-path indicator dogs 12 adds one, compare with the data " 3 " on by-path designation data position, two numerical value are equal.Now indicator dog detecting unit 2 sends the working direction obtained on the 3rd by-path indicator dog 12, deceleration distance indication information to controller 4.

The 3rd the by-path indicator dog 12 that the infrared ray sensor collection battle array being arranged on right side bottom mobile device in indicator dog detecting unit 2 detects, namely the 3rd by-path indicator dog 12 is arranged on by-path center line right positions, thus indicator dog detecting unit 2 obtains right turn indication information from the 3rd by-path indicator dog 12 and sends controller 4 to.Controller 4 according to obtain working direction, deceleration distance, turn to indication information to mobile device send instruction control command, mobile device according to controller 4 instruction control carry out Pyatyi slow down stop after turning right again to movement.

Mobile device is after according to instruction, control command turns to, and keeps keeping straight on until the stored counts of station node indicator dog 13 that indicator dog detecting unit 2 detects equals the data " 3 " in target set of data on station node designation data position under the instruction of controller 4 controls.Indicator dog detecting unit 2 sends the working direction obtained on the 3rd station node indicator dog 13, deceleration distance indication information to controller 4.

Controller 4 reads the turn around parameters " 8 " stored in station node direction designation data position, thus the right turn indication information obtained the 3rd station node indicator dog 13 position, and according to obtain working direction, deceleration distance, turn to indication information to mobile device send instruction control command, mobile device according to controller 4 instruction control carry out three grades slow down stop after turning right again to aiming station position.

Controller 4 controls mobile device and keeps straight on to aiming station position until indicator dog detecting unit 2 detects that aiming station stops indicator dog 14, indicator dog detecting unit 2 is by the deceleration distance stopping from aiming station indicator dog 14 obtains and stop indication information sending controller 4 to, controller 4 sends instruction control command according to indication information to mobile device, thus makes mobile device carry out three grades of decelerations and finally stop on aiming station.

Step 5, mobile device return to origin after aiming station is finished the work, in return course, indicator dog detecting unit 2 to detect in tracking path from aiming station to each by-path indicator dog 12 on the return path of starting point, thus obtains working direction on return path on each by-path indicator dog 12, deceleration distance indication information send controller 4 to.

Indicator dog detecting unit 2 is according to the setting position of each by-path indicator dog 12 detected, obtain turning to indication information and sending this direction information to described controller 4 in each by-path indicator dog 12 position, thus controller 4 in each by-path indicator dog 12 position according to obtain working direction, deceleration distance, indication information is turned to send instruction control command to mobile device, mobile device controls to carry out in each by-path indicator dog 12 position stopping after Pyatyi is slowed down according to the instruction of controller 4, and then turn to movement, finally proceed on the major trunk roads of return path in tracking path, mobile device turns back to starting point smoothly according to the control command that returns preset in controller 4 again.

In the present embodiment, in mobile device return course, forward information on first by-path indicator dog 12 that indicator dog detecting unit 2 detects and Pyatyi deceleration distance information, simultaneously because the infrared ray sensor collection battle array on right side in indicator dog detecting unit 2 detects this first by-path indicator dog 12, namely this first by-path indicator dog 12 is arranged on the ground on the right side of by-path center line, thus the direction information that indicator dog detecting unit 2 obtains this first by-path indicator dog 12 position is right turn indication information, then controller 4 control mobile device carry out Pyatyi slow down stop after, carry out right-hand rotation again to enter in next by-path.

After mobile device is turned right, controller 4 controls mobile device to be continued to keep straight on.Indicator dog detecting unit 2 detects second indicator dog 12 thereupon, simultaneously because the infrared ray sensor collection battle array in left side in indicator dog detecting unit 2 detects this second by-path indicator dog 12, thus the direction information that indicator dog detecting unit 2 obtains this second by-path indicator dog 12 position is left steering indication information, then controller 4 controls mobile device and carries out after Pyatyi slows down and stop, then turning left.Namely mobile device enters on the major trunk roads of tracking path return path after turning left, and mobile device turns back to starting point smoothly thereupon.Mobile device, can from the major trunk roads return to origin of return path under the instruction of indicator dog according to different designing requirements, also can according to the major trunk roads return to origin of the steering order preset in controller 4 from return path.

After step 6, indicator dog detecting unit 2 detect that starting point stops indicator dog 15, send the seven grades of deceleration distance indication informations stopping from starting point indicator dog 15 obtains and stopping indication information to controller 4, controller 4 sends instruction control command according to indication information to mobile device, thus after making mobile device carry out seven grades of decelerations, finally stop at start position, so just complete once complete tracking instruction.

Counting in step 7, removing controller 4 and tracking path code that ought be secondary, and wait enters step 3.

Embodiment two

This enforcement is distinguished as with embodiment one: the major trunk roads indicator dog 11 in the present embodiment is arranged on each crossing of major trunk roads, and is arranged on major trunk roads center line.Major trunk roads indicator dog 11 is set to the reflective color lump of isosceles triangle, and the working direction in tracking path is pointed on the summit of the reflective color lump of this isosceles triangle and this summit and by-path center line to be proceeded to align.The height of the reflective color lump of this isosceles triangle as major trunk roads indicator dog 11 represents the deceleration distance of major trunk roads indicator dog 11, namely self-indication block detecting unit 2 detects that the base of the reflective color lump of this isosceles triangle starts to can't detect, controller 4 controls mobile device to carry out slowing down and the stopping of the lucky vertex position at the reflective color lump of this isosceles triangle, namely controls mobile device and stops at the position aligned with by-path center line to be proceeded to.In the present embodiment, the base width of major trunk roads indicator dog 11 is the width of 12 infrared ray sensors of indicator dog detecting unit 2 middle infrared (Mid-IR) sensor collection battle array, namely when indicator dog detecting unit 2 detects major trunk roads indicator dog 11, six photoelectric tubes that respectively have in the infrared ray sensor collection battle array of both sides cover the base of major trunk roads indicator dog 11, along with the advance of mobile device, detect that indicator dog reduces to gradually from the photoelectric tube covering of six infrared ray sensors and can't detect indicator dog, thus the deceleration distance information obtained in major trunk roads indicator dog 11 is six grades of deceleration indication informations.

Also include major trunk roads direction indicating data position in target set of data, store in this major trunk roads direction indicating data position arrive in the tracking path of aiming station from starting point, the turn around parameters of last major trunk roads indicator dog 11 position.

Then the indicating means of corresponding automatic tracking identification indication mechanism is then distinguished to some extent.Tracking path shown in the present embodiment composition graphs 4, carries out comparative illustration to the indicating means that tracking path code is the aiming station of " 26016 ".Return for what turn back to starting point process from aiming station the surrounding that major trunk roads are surrounded on by-path in tracking path shown in Fig. 4, pass in by-path for the major trunk roads that set out arriving aiming station from starting point.

Step one, the indication information that can provide according to planning and each indicator dog in tracking path, at each crossing of major trunk roads, each crossing of by-path, station node, aiming station, these positions of starting point place major trunk roads indicator dog 11 respectively accordingly, by-path indicator dog 12, station node indicator dog 13, aiming station stop indicator dog 14.

Step 2, facilities according to tracking path and each indicator dog, instruction coding unit 3 is encoded, thus form the tracking path code of each aiming station, respectively just to each aiming station, the major trunk roads designation data position in its corresponding target set of data, major trunk roads direction indicating data position, by-path designation data position, station node designation data position, station node direction designation data fill out corresponding data in position respectively.Major trunk roads designation data position in the present embodiment, major trunk roads direction indicating data position, by-path designation data position, station node designation data position, station node direction designation data position are arranged in order in order.

Step 3, in controller 4, initialization is when the tracking path code of time aiming station, and the tracking path code " 26016 " by aiming station in the present embodiment is input to controller 4, so that controller 4 calculates in the course of the work.

Step 4, startup mobile device, controller 4 controls mobile device and keeps straight on, indicator dog detecting unit 2 detects the indicator dog that Zhong Ge crossing, tracking path is arranged simultaneously, the major trunk roads indicator dog 11 that first indicator dog detecting unit 2 detects on major trunk roads also and between controller 4 carries out communication, major trunk roads indicator dog 11 quantity that controller 4 pairs of indicator dog detecting units 2 detect carries out stored counts, compares with the data in major trunk roads designation data position simultaneously.When the counting of controller 4 pairs of major trunk roads indicator dog 11 quantity reaches data " 2 " in major trunk roads designation data position, indicator dog detecting unit 2 sends the working direction obtained on second major trunk roads indicator dog 11, deceleration distance indication information to controller 4.Read the turn around parameters stored in major trunk roads direction indicating data position with Time Controller 4, in major trunk roads direction indicating data position, data provide left steering indication information for " 6 " for controller 4.Controller 4 sends instruction control command according to the working direction obtained, deceleration distance, left steering indication information to mobile device, and mobile device controls to carry out six grades according to the instruction of controller 4 and slows down and stop, and then turns left to enter in the by-path in tracking path.

Controller 4 data read on by-path designation data position are " 0 ", then controller 4 sends the instruction control command of craspedodrome until the stored counts of station node indicator dog 13 equals the data " 1 " in target set of data on station node designation data position to mobile device, and namely indicator dog detecting unit 2 sends the working direction that detect first station node indicator dog 13 obtains, deceleration distance indication information to controller 4.Simultaneously, controller 4 reads the turn around parameters " 6 " stored in station node direction designation data position, thus obtain left steering indication information, and then controller 4 according to obtain working direction, deceleration distance, turn to indication information to mobile device send instruction control command, after mobile device controls to carry out Pyatyi deceleration stopping according to the instruction of controller 4, then turn left to moving to aiming station position.

Indicator dog detecting unit 2 is according to the setting position of each by-path indicator dog 12 detected, obtain turning to indication information and sending this direction information to described controller 4 in each by-path indicator dog 12 position, thus controller 4 in each by-path indicator dog 12 position according to obtain working direction, deceleration distance, indication information is turned to send instruction control command to mobile device, mobile device controls to carry out in each by-path indicator dog 12 position stopping after Pyatyi is slowed down according to the instruction of controller 4, and then turn to movement, finally proceed on the major trunk roads of return path in tracking path, thus turn back to starting point smoothly.Mobile device, can from the major trunk roads return to origin of return path under the instruction of indicator dog according to different designing requirements, also can according to the major trunk roads return to origin of the steering order preset in controller 4 from return path.

Claims

1. an automatic tracking identification indication mechanism, for providing path to indicate to mobile device, is characterized in that: comprise

Indicator dog unit (1), is arranged on tracking path, for providing indication information to mobile device;

Indicator dog detecting unit (2), described indicator dog detecting unit (2) is arranged on mobile device, the indication information of aforementioned indicator dog unit (1) can be detected;

Controller (4), is connected with described indicator dog detecting unit (2) and mobile device, according to the indication information that indicator dog detecting unit (2) detects, provides path to indicate to mobile device.

2. automatic tracking identification indication mechanism according to claim 1, it is characterized in that: according to the tracking path of differing complexity, described indicator dog unit (1) includes different types of indicator dog, and described indicator dog detecting unit (2) can obtain corresponding working direction, deceleration distance and/or turn to indication information from described different types of indicator dog;

Described automatic tracking identification indication mechanism also includes the instruction coding unit (3) be connected with described controller (4) communication, store the tracking path code of each aiming station in described instruction coding unit (3), include in each tracking path code arrive in the tracking path of this aiming station from starting point, the turn around parameters of the sum of various indicator dogs that needs detect and the indicator dog of needs.

3. automatic tracking identification indication mechanism according to claim 2, is characterized in that: described indicator dog unit (1) comprising:

Major trunk roads indicator dog (11), described major trunk roads indicator dog (11) is arranged on major trunk roads in tracking path and proceeds to the crossing of by-path, provides indication information for giving the movement of mobile device on the major trunk roads in tracking path;

By-path indicator dog (12), described by-path indicator dog (12) is arranged on by-path in tracking path and proceeds to the crossing that by-path and by-path proceed to major trunk roads, provides indication information for giving the movement of mobile device on the by-path in tracking path;

Station node indicator dog (13), described station node indicator dog (13) is separately positioned on the nearest crossing of tracking path mid-range objectives station, provides indication information for giving mobile device near aiming station;

Aiming station stops indicator dog (14), and described aiming station stops indicator dog (14) to be arranged on aiming station position, provides indication information for arriving aiming station position to mobile device;

Starting point stops indicator dog (15), and described starting point stops indicator dog (15) to be arranged on the return path in tracking path, and is arranged at start position, provides indication information for arriving start position to mobile device.

4. automatic tracking identification indication mechanism according to claim 3, is characterized in that: in described instruction coding unit, the tracking path code of each aiming station comprises at least one group and is used to indicate the target set of data arriving this aiming station from starting point;

Described target set of data comprises:

Described major trunk roads indicator dog (11) is separately positioned on leftward position or the right positions at major trunk roads crossing, tracking path, detect for indicator dog detecting unit (2) thus obtain corresponding turn left to or turn right to turn to indication information; Or also include major trunk roads direction indicating data position in described target set of data, store in described major trunk roads direction indicating data position arrive in the tracking path of aiming station from starting point, the turn around parameters of last major trunk roads indicator dog (11) position;

Described by-path indicator dog (12) is separately positioned on tracking path by-path crossing leftward position or right positions, detect for indicator dog detecting unit (2) thus obtain corresponding turn left to or turn right to turn to indication information; Or also include by-path direction indicating data position in described target set of data, store in described by-path direction indicating data position arrive in the tracking path of aiming station from starting point, first by-path indicator dog (12) position of process and the turn around parameters of last by-path indicator dog (12) position;

Described station node indicator dog (13) is separately positioned on leftward position or the right positions at the nearest crossing of tracking path mid-range objectives station, detect for indicator dog detecting unit (2) thus obtain corresponding turn left to or turn right to turn to indication information; Or also include station node direction designation data position in described target set of data, store in described station node direction designation data position arrive in the tracking path of aiming station from starting point, last station node location is to the turn around parameters of aiming station position.

5. automatic tracking identification indication mechanism according to claim 4, it is characterized in that: in described instruction coding unit, the tracking path code of each aiming station also comprises one group and is used to indicate and arrives the return data group of starting point from aiming station, store in described return data group arrive in the tracking path of starting point from aiming station, turn around parameters that each by-path indicator dog (12) position is corresponding.

6. the automatic tracking identification indication mechanism according to the arbitrary claim of claim 2 ~ 5, is characterized in that: described indicator dog detecting unit (2) comprise scrambler, demoder and respectively left and right be arranged on two groups of infrared ray sensor collection battle arrays bottom mobile device;

7. the indicating means of the automatic tracking identification indication mechanism as described in a claim as arbitrary in claim 2 ~ 5: comprise the steps:

Step 2, facilities according to tracking path and each indicator dog, encode to described instruction coding unit (3), thus form the tracking path code of each aiming station;

Step 3, tracking path code according to each aiming station in described instruction coding unit (3), in described controller (4), initialization is when the tracking path code of time aiming station, is about to when time aiming station target set of data is accordingly deposited in controller (4);

Step 4, start mobile device, in the tracking path that mobile device is advanced to aiming station, described indicator dog detecting unit (2) is utilized to detect the indicator dog of Zhong Ge crossing, tracking path setting, and self-indication block is detected the indication information got and be sent in described controller (4), now, the indication information that described controller (4) reception indicator dog detecting unit (2) transmits also carries out stored counts to the quantity of various indicator dog, data in the cumulative data of various indicator dog and target set of data are compared by described controller (4) simultaneously,

Described controller (4) sends the instruction control command of craspedodrome until the stored counts of major trunk roads indicator dog (11) equals the data in target set of data on major trunk roads designation data position to mobile device, now, described indicator dog detecting unit (2) sends the working direction above obtained from last major trunk roads indicator dog (11), deceleration distance indication information to controller (4);

Described indicator dog detecting unit (2) obtains it according to the setting position of last the major trunk roads indicator dog (11) detected and turns to indication information and send this direction information to described controller (4), thus controller (4) according to obtain working direction, deceleration distance, turn to indication information to mobile device send instruction control command, mobile device according to controller (4) instruction control slow down stop after proceeding to by-path again; Or described controller (4) reads in major trunk roads direction indicating data position the turn around parameters that stores thus obtains and turns to indication information, and according to obtain working direction, deceleration distance, turn to indication information to mobile device send instruction control command, mobile device according to controller (4) instruction control slow down stop after proceeding to by-path again;

When the data on by-path designation data position in target set of data are " 0 ", then controller (4) sends the instruction control command of craspedodrome until the stored counts of station node indicator dog (13) equals the data in target set of data on station node designation data position to mobile device, now, described indicator dog detecting unit (2) sends the working direction above obtained from last station node indicator dog (13), deceleration distance indication information to controller (4);

Described indicator dog detecting unit (2) obtains it according to the setting position of last the station node indicator dog (13) detected and turns to indication information and send this direction information to described controller (4), thus controller (4) according to obtain working direction, deceleration distance, turn to indication information to mobile device send instruction control command, mobile device according to controller (4) instruction control slow down stop after turning to aiming station position again; Or described controller (4) reads in station node direction designation data position the turn around parameters that stores thus obtains and turns to indication information, and according to obtain working direction, deceleration distance, turn to indication information to mobile device send instruction control command, mobile device according to controller (4) instruction control slow down stop after turning to aiming station position again;

Described controller (4) controls mobile device and keeps straight on to aiming station position until described indicator dog detecting unit (2) detects that aiming station stops indicator dog (14), now, described indicator dog detecting unit (2) sends controller (4) by stopping the upper deceleration distance obtained of indicator dog (14) from aiming station to stopping indication information, controller (4) sends instruction control command according to indication information to mobile device, thus makes mobile device slow down and finally stop on aiming station;

When the data in the second data bit in target set of data are not " 0 ", then controller (4) sends the instruction control command of craspedodrome until indicator dog detecting unit (2) detects first by-path indicator dog (12) to mobile device, now, described indicator dog detecting unit (2) sends the working direction above obtained from first by-path indicator dog (12), deceleration distance indication information to controller (4);

Described indicator dog detecting unit (2) obtains it according to the setting position of first the by-path indicator dog (12) detected and turns to indication information and send this direction information to described controller (4), thus controller (4) according to obtain working direction, deceleration distance, turn to indication information to mobile device send instruction control command, mobile device according to controller (4) instruction control slow down stop after turning to movement again; Or described controller (4) reads the turn around parameters of first by-path indicator dog (12) position stored in by-path direction indicating data position thus acquisition turns to indication information, and according to obtain working direction, deceleration distance, turn to indication information to mobile device send instruction control command, mobile device according to controller (4) instruction control slow down stop after turning to movement again;

After mobile device turns to according to instruction control command, control lower to keep craspedodrome until the stored counts of by-path indicator dog (12) that indicator dog detecting unit (2) detects equals the data in target set of data on by-path designation data position in the instruction of controller (4), now, described indicator dog detecting unit (2) sends the working direction above obtained from last by-path indicator dog (12), deceleration distance indication information to controller (4);

Described indicator dog detecting unit (2) obtains it according to the setting position of last the by-path indicator dog (12) detected and turns to indication information and send this direction information to described controller (4), thus controller (4) according to obtain working direction, deceleration distance, turn to indication information to mobile device send instruction control command, mobile device according to controller (4) instruction control slow down stop after turning to movement again; Or described controller (4) reads the turn around parameters of last by-path indicator dog (12) position stored in by-path direction indicating data position thus acquisition turns to indication information, and according to obtain working direction, deceleration distance, turn to indication information to mobile device send instruction control command, mobile device according to controller (4) instruction control slow down stop after turning to movement again;

After mobile device turns to according to instruction control command, control lower to keep craspedodrome until the stored counts of station node indicator dog (13) that indicator dog detecting unit (2) detects equals the data in target set of data on station node designation data position in the instruction of controller (4), now, described indicator dog detecting unit (2) sends the working direction above obtained from last station node indicator dog (13), deceleration distance indication information to controller (4);

Described indicator dog detecting unit (2) obtains it according to the setting position of last the station node indicator dog (13) detected and turns to indication information and send this direction information to described controller (4), thus controller (4) according to obtain working direction, deceleration distance, turn to indication information to mobile device send instruction control command, mobile device according to controller (4) instruction control slow down stop after turning to movement again; Or described controller (4) reads in station node direction designation data position the turn around parameters that stores thus obtains and turns to indication information, and according to obtain working direction, deceleration distance, turn to indication information to mobile device send instruction control command, mobile device according to controller (4) instruction control slow down stop after turning to aiming station position again;

Step 5, mobile device return to origin after aiming station is finished the work, in return course, described indicator dog detecting unit (2) to be detected in tracking path from aiming station to the by-path indicator dog (12) on the return path of starting point, thus obtains working direction on return path on each by-path indicator dog (12), deceleration distance indication information send controller (4) to;

Described indicator dog detecting unit (2) is according to the setting position of each by-path indicator dog (12) detected, to obtain turning to indication information and sending this direction information to described controller (4) of each by-path indicator dog (12) position, thus controller (4) according to the working direction, the deceleration distance that obtain, turn to indication information to send instruction control command to mobile device, mobile device according to the instruction of controller (4) control each by-path indicator dog (12) position slow down stop after turning to movement again; Or described controller (4) reads the turn around parameters of each by-path indicator dog (12) correspondence stored in return data group thus acquisition turns to indication information, and according to obtain working direction, deceleration distance, turn to indication information to mobile device send instruction control command, mobile device according to controller (4) instruction control slow down stop after turning to movement again;

Described controller (4) instruction controls mobile device and finally proceeds on the major trunk roads of return path in tracking path, and turns back to starting point;

After step 6, described indicator dog detecting unit (2) detect that starting point stops indicator dog (15), controller (4) is sent to stopping indication information by stopping the upper deceleration distance obtained of indicator dog (15) from starting point, controller (4) sends instruction control command according to indication information to mobile device, thus makes mobile device slow down and finally stop at start position;

Step 7, remove counting in described controller (4) and when time tracking path code, and wait for and enter step 3.

8. the indicating means of automatic tracking identification indication mechanism according to claim 6, it is characterized in that: in described step 2, according to the facilities of tracking path and each indicator dog, add up and arrive from starting point the quantity that optimal path in the tracking path of each target location needs the major trunk roads indicator dog (11) of process, by-path indicator dog (12) quantity, station node indicator dog (13) quantity, determine the turn around parameters that each indicator dog position of needs is corresponding simultaneously, thus corresponding data are inserted respectively in each data bit of the target set of data of each aiming station, and then form the tracking path code of each aiming station.