CN105786001A - Intelligent control method for trolley - Google Patents
Intelligent control method for trolley Download PDFInfo
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- CN105786001A CN105786001A CN201610292149.0A CN201610292149A CN105786001A CN 105786001 A CN105786001 A CN 105786001A CN 201610292149 A CN201610292149 A CN 201610292149A CN 105786001 A CN105786001 A CN 105786001A
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- 238000000034 method Methods 0.000 title claims abstract description 24
- 238000001514 detection method Methods 0.000 claims description 37
- 230000004888 barrier function Effects 0.000 claims description 27
- 238000002604 ultrasonography Methods 0.000 claims description 3
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0255—Control of position or course in two dimensions specially adapted to land vehicles using acoustic signals, e.g. ultra-sonic singals
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- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Acoustics & Sound (AREA)
- Aviation & Aerospace Engineering (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The invention discloses an intelligent control method for a trolley. The intelligent control method comprises the steps that a. in a manual mode, the vehicle is controlled to be driven to a terminal point from a start point according to a planned path; and position information of the vehicle in the vehicle driving process is recorded and a first driving rule is generated, wherein the position information of the vehicle includes coordinate information in the vehicle driving process, a steering wheel turning angle in the vehicle driving process and driving distance of the vehicle under the corresponding steering wheel turning angle; and b. an automatic mode is started, and the vehicle is driven according to the first driving rule recorded under the manual mode. Target drone distance can be adjusted anytime according to training items, and moving paths can be rapidly changed so that multidirectional movement modes of straight lines and curves can be realized, and the modernized training requirements of multiple items can be met.
Description
Technical field
The present invention relates to automation field, be specifically related to the intelligent control method of a kind of dolly.
Background technology
At present, the known unmanned target driving skills art that controls, the unmanned target car navigation mode that controls has magnetic, figure graticule to navigate, satellite, numerical map navigation etc..Magnetic navigation target car is to utilize the magnetic beacon being laid in advance on road to realize navigation, and figure graticule navigation target car is that the graticule utilizing hard on road surface realizes navigation, and satellite, numerical map navigation target car is to utilize satellite fix and numerical map to realize navigation.Time unmanned, target car utilizes above-mentioned navigation mode to control travel route, utilizes the equipment such as video collector, radar sensor, airborne laser range finder that the traffic of vehicle periphery, obstacle situation are detected, thus completing the unmanned of target car.But adopting magnetic navigation according to this technical scheme, the unmanned target car of figure graticule navigation need to dispose magnetic, figure graticule, and sudden inspiration cannot be altered as desired travel route in advance；Although satellite, numerical map navigation target car sudden inspiration can change travel route, but the restriction owing to being updated by numerical map ratio and data, it is impossible to realize in the wild the on-demand traveling of complex road condition route under environment on the spot.
Summary of the invention
In view of this, it is an object of the invention to provide the intelligent control method of a kind of dolly.
It is an object of the invention to be achieved through the following technical solutions: the intelligent control method of a kind of dolly, including
A. artificial mode, controls vehicle and is walked to terminal by programme path by starting point；The positional information of the vehicle simultaneously recorded vehicle in the process of moving also generates the first traveling rule, and the positional information of described vehicle includes the distance that steering wheel angle in the coordinate information in vehicle travel process, vehicle travel process, vehicle travel under correspondence direction dish corner；
B. opening automatic mode, vehicle travels rule lines according under artificial mode the first of record and sails.
Preferably, the real-time position information of collection vehicle, and by vehicle real-time position information compared with the vehicle position information of record, obtain the second deviation of the distance that the vehicle of distance that current steering wheel angle and first deviation of steering wheel angle of record, Current vehicle travel under current steering wheel angle and record travels under correspondence direction dish corner；When the first deviation exceedes threshold value, reduce steering wheel angle, when the second deviation exceedes threshold value, increase or reduce vehicle traveling under corresponding corner from, jointly control vehicle by the first deviation and the second deviation, make vehicle travel rule lines by the first of record and sail.
Preferably, described intelligent carriage adopts the first detection of obstacles instrument being symmetrically mounted on headstock both sides and the second detection of obstacles instrument to carry out obstacle detection；When vehicle travels in automatic mode and barrier detected, vehicle travels by the second traveling rule, and described Second Rule is:
S1., when the first detection of obstacles instrument detects barrier prior to the second detection of obstacles instrument, the directional steering of the second detection of obstacles instrument is partial to by vehicle until the first detection of obstacles instrument can't detect barrier, now vehicle forward；
S2. when vehicle movement certain distance, vehicle is replied and is turned forward direction and carry out ultrasound examination, if the first detection of obstacles instrument detects barrier, then vehicle is partial to the directional steering of the second detection of obstacles instrument until the first detection of obstacles instrument can't detect barrier, now moves before vehicle；
S3. step S1～S2 is repeated, until the first detection of obstacles instrument can't detect barrier and direction of traffic is returned to direction when barrier just being detected,
S4. recording coordinate and the vehicle distance L1 from barrier of now vehicle, after former direction replied by the vehicle in step S3, vehicle travels to impact point；Described impact point is positioned at the front of vehicle and is L1 with the distance of barrier；
After vehicle drives to impact point, make current vehicle location information consistent with the positional information of this vehicle under artificial mode, and then vehicle travels rule lines by first and sails.
The invention has the beneficial effects as follows:
The present invention is not only able to adjust at any time target drone distance according to training program, and can quickly change mobile route, it is achieved the Multidirectional motion pattern such as straight line, curve, to meet the training requirement of modernization, multidisciplinary.
Detailed description of the invention
Below the preferred embodiments of the present invention are described in detail.
A kind of intelligent control method of dolly, including
A. artificial mode, controls vehicle and is walked to terminal by programme path by starting point；The positional information of the vehicle simultaneously recorded vehicle in the process of moving also generates the first traveling rule, the positional information of described vehicle includes the distance that steering wheel angle in the coordinate information in vehicle travel process, vehicle travel process, vehicle travel under correspondence direction dish corner, and described first travels the path that rule is the actual enforcement of vehicle adds steering wheel angle threshold value, the vehicle threshold value of operating range under correspondence direction dish corner.
B. opening automatic mode, vehicle travels rule lines according under artificial mode the first of record and sails.
In automatic mode, the real-time position information of collection vehicle, and by vehicle real-time position information compared with the vehicle position information of record, obtain the second deviation of the distance that the vehicle of distance that current steering wheel angle and first deviation of steering wheel angle of record, Current vehicle travel under current steering wheel angle and record travels under correspondence direction dish corner；When the first deviation exceedes threshold value, reduce steering wheel angle, when the second deviation exceedes threshold value, increase or reduce vehicle traveling under corresponding corner from, jointly control vehicle by the first deviation and the second deviation, make vehicle travel rule lines by the first of record and sail.
Described intelligent carriage adopts the first detection of obstacles instrument being symmetrically mounted on headstock both sides and the second detection of obstacles instrument to carry out obstacle detection；When vehicle travels in automatic mode and barrier detected, vehicle travels by the second traveling rule, and described Second Rule is:
S1., when the first detection of obstacles instrument detects barrier prior to the second detection of obstacles instrument, the directional steering of the second detection of obstacles instrument is partial to by vehicle until the first detection of obstacles instrument can't detect barrier, now vehicle forward；
S2. when vehicle movement certain distance, vehicle is replied and is turned forward direction and carry out ultrasound examination, if the first detection of obstacles instrument detects barrier, then vehicle is partial to the directional steering of the second detection of obstacles instrument until the first detection of obstacles instrument can't detect barrier, now moves before vehicle；
S3. step S1～S2 is repeated, until the first detection of obstacles instrument can't detect barrier and direction of traffic is returned to direction when barrier just being detected,
S4. recording coordinate and the vehicle distance L1 from barrier of now vehicle, after former direction replied by the vehicle in step S3, vehicle travels to impact point；Described impact point is positioned at the front of vehicle and is L1 with the distance of barrier；
After vehicle drives to impact point, make current vehicle location information consistent with the positional information of this vehicle under artificial mode, and then vehicle travels rule lines by first and sails.
In the present embodiment, detection of obstacles instrument is supersonic reflectoscope, first supersonic reflectoscope and the second supersonic reflectoscope are symmetrically installed on headstock both sides, and the detection line that detection line and the second supersonic reflectoscope that the first supersonic reflectoscope sends sends becomes a sector.
The driving mode of the present invention is divided into 3 kinds: pilot steering pattern, study driving model and unmanned autonomous driving pattern, wherein first two pattern constitutes aforesaid artificial mode, and unmanned autonomous driving pattern has enough become unmanned autonomous driving pattern.
1, pilot steering pattern:
The effect of pilot steering pattern is: pilot steering vehicle is to the starting point that need to learn route.
2, study driving model:
The operation principle of study driving model is:
In starting point, manually vehicle is placed in study driving model, the controller of vehicle, automatically gathers and remember the information such as Current vehicle steering angle, headstock direction, body gesture, position；Pilot steering vehicle start travels, controller constantly gathers and remembers the parameters such as the distance that vehicle headstock direction, body gesture, position, throttle, braking, speed and vehicle travel under correspondence direction dish corner, the like, until the parameter such as terminal the distance that the headstock direction of memory, body gesture, position, throttle, braking, speed, vehicle in study driving procedure travelled under correspondence direction dish corner stores.
3, unmanned autonomous driving pattern
The operation principle of unmanned autonomous driving pattern is:
In starting point, vehicle is placed in autonomous driving pattern, remote control starts, and controller is called in and learnt route (turn to the steering angle of machine, headstock direction, body gesture, position, throttle, braking, speed, operating range etc. to travel, control parameter) and start obstacle detection.When meeting obstacle, automatic obstacle-avoiding.Controlling vehicle by learning route, autonomous driving is to terminal.
What finally illustrate is, preferred embodiment above is only in order to illustrate technical scheme and unrestricted, although the present invention being described in detail by above preferred embodiment, but skilled artisan would appreciate that, in the form and details it can be made various change, without departing from claims of the present invention limited range.
Claims (3)
1. the intelligent control method of a dolly, it is characterised in that: include
A. artificial mode, controls vehicle and is walked to terminal by programme path by starting point；The positional information of the vehicle simultaneously recorded vehicle in the process of moving also generates the first traveling rule, and the positional information of described vehicle includes the distance that steering wheel angle in the coordinate information in vehicle travel process, vehicle travel process, vehicle travel under correspondence direction dish corner；
B. opening automatic mode, vehicle travels rule lines according under artificial mode the first of record and sails.
2. the intelligent control method of dolly according to claim 1, it is characterized in that: in automatic mode, the real-time position information of collection vehicle, and by vehicle real-time position information compared with the vehicle position information of record, obtain the second deviation of the distance that the vehicle of distance that current steering wheel angle and first deviation of steering wheel angle of record, Current vehicle travel under current steering wheel angle and record travels under correspondence direction dish corner；When the first deviation exceedes threshold value, reduce steering wheel angle, when the second deviation exceedes threshold value, increase or reduce vehicle traveling under corresponding corner from, jointly control vehicle by the first deviation and the second deviation, make vehicle travel rule lines by the first of record and sail.
3. the intelligent control method of dolly according to claim 1, it is characterised in that: described intelligent carriage adopts the first detection of obstacles instrument being symmetrically mounted on headstock both sides and the second detection of obstacles instrument to carry out obstacle detection；When vehicle travels in automatic mode and barrier detected, vehicle travels by the second traveling rule, and described Second Rule is:
S1., when the first detection of obstacles instrument detects barrier prior to the second detection of obstacles instrument, the directional steering of the second detection of obstacles instrument is partial to by vehicle until the first detection of obstacles instrument can't detect barrier, now vehicle forward；
S2. when vehicle movement certain distance, vehicle is replied and is turned forward direction and carry out ultrasound examination, if the first detection of obstacles instrument detects barrier, then vehicle is partial to the directional steering of the second detection of obstacles instrument until the first detection of obstacles instrument can't detect barrier, now moves before vehicle；
S3. step S1～S2 is repeated, until the first detection of obstacles instrument can't detect barrier and direction of traffic is returned to direction when barrier just being detected,
S4. recording coordinate and the vehicle distance L1 from barrier of now vehicle, after former direction replied by the vehicle in step S3, vehicle travels to impact point；Described impact point is positioned at the front of vehicle and is L1 with the distance of barrier；
After vehicle drives to impact point, make current vehicle location information consistent with the positional information of this vehicle under artificial mode, and then vehicle travels rule lines by first and sails.
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| CN201610292149.0A CN105786001B (en) | 2016-05-05 | 2016-05-05 | A kind of intelligent control method of trolley |
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| CN201610292149.0A CN105786001B (en) | 2016-05-05 | 2016-05-05 | A kind of intelligent control method of trolley |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN110109454A (en) * | 2019-04-18 | 2019-08-09 | 福建信息职业技术学院 | A kind of intelligent carriage motion profile clone method |
| CN110187709A (en) * | 2019-06-11 | 2019-08-30 | 北京百度网讯科技有限公司 | Travel processing method, equipment and storage medium |
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| CN105786001B (en) | 2018-07-27 |
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Address after: 400000 9-2, unit 1, building 2, No. 53, Gangcheng West Road, Jiangbei District, Chongqing Patentee after: CHONGQING WEIJUE TECHNOLOGY CO., LTD. Address before: 400035 Chongqing Shapingba District Lin Yuan 1 No. 7 Institute of communication factory Patentee before: CHONGQING WEIJUE TECHNOLOGY CO., LTD. |