CN107329474A - Intelligent carriage control method - Google Patents
Intelligent carriage control method Download PDFInfo
- Publication number
- CN107329474A CN107329474A CN201710617126.7A CN201710617126A CN107329474A CN 107329474 A CN107329474 A CN 107329474A CN 201710617126 A CN201710617126 A CN 201710617126A CN 107329474 A CN107329474 A CN 107329474A
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- intelligent carriage
- identification point
- display screen
- control terminal
- touch display
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- 238000000034 method Methods 0.000 title claims abstract description 23
- 238000005070 sampling Methods 0.000 claims description 15
- 230000005540 biological transmission Effects 0.000 claims description 3
- 230000001105 regulatory effect Effects 0.000 claims description 3
- 238000000465 moulding Methods 0.000 claims 1
- 230000006870 function Effects 0.000 description 12
- 230000004888 barrier function Effects 0.000 description 9
- 238000010586 diagram Methods 0.000 description 6
- 230000011664 signaling Effects 0.000 description 3
- 230000036632 reaction speed Effects 0.000 description 2
- 238000012163 sequencing technique Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 239000003973 paint Substances 0.000 description 1
Classifications
-
- 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
-
- 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
- G05D1/0011—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots associated with a remote control arrangement
- G05D1/0016—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots associated with a remote control arrangement characterised by the operator's input device
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- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- Aviation & Aerospace Engineering (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Computing Systems (AREA)
- Mathematical Physics (AREA)
- Theoretical Computer Science (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The invention discloses intelligent carriage control method, including control terminal and intelligent carriage with touch display screen, the touch display screen has the function of drawing figure line, information transfer is carried out between control terminal and intelligent carriage by way of being wirelessly transferred, intelligent carriage is moved according to the track drawn in real time in touch display screen.The intelligent carriage of the present invention is moved according to the track drawn in real time in touch display screen, is easy to change the movement locus of intelligent carriage, is easy to the actual use of intelligent carriage.
Description
Technical field
It is particularly a kind of to be entered according to the track drawn in real time in touch display screen the present invention relates to a kind of dolly control method
The mobile intelligent carriage control method of row.
Background technology
Intelligent carriage, as modern new invention, is later developing direction, he can exist according to pattern set in advance
Automatically operated in one environment, it is not necessary to artificial management, can be applied to the purposes of Scientific Exploration etc..Intelligent carriage can
Display time, speed, mileage, with automatic tracking, seek light, barrier avoiding function in real time, program-controlled travel speed, are accurately positioned and stop
Car, the function such as remote transmission image.Intelligent carriage can be divided into three parts --- Sensor section, controller part, actuator
Part.Present university learn and participate in intelligent vehicle contest and the player of robot competition it is most of be all first learning intelligence dolly
Introduction study is carried out, current intelligent carriage is main based on Bluetooth of mobile phone control and ground black line tracking, is so changing intelligence
It is cumbersome when the movement locus of energy dolly, it is not easy to the actual use of intelligent carriage.
The content of the invention
To solve the above problems, it is an object of the invention to provide a kind of intelligent carriage control method, one kind is according to touch
The intelligent carriage control method that the track drawn in real time on display screen is moved, is easy to change the movement locus of intelligent carriage,
It is easy to the actual use of intelligent carriage.
The present invention solves the technical scheme that is used of its problem：Intelligent carriage control method, including shown with touching
The control terminal and intelligent carriage of screen, the touch display screen have a function of drawing figure line, control terminal and intelligent carriage it
Between information transfer is carried out by way of being wirelessly transferred, intelligent carriage is moved according to the track drawn in real time in touch display screen
It is dynamic.
Further, real-time track is when forming, and control terminal is every in one section of identical time sampling real-time track
The point formed is as identification point, and each identification point has a coordinate corresponding thereto, and control terminal is by identification point
Coordinate is sent to intelligent carriage, direction and the numerical value of speed that intelligent carriage is regulated the speed according to the coordinate of identification point.
Further, control terminal is ranked up according to the sampling order of identification point to identification point, the identification point row first sampled
It is one group, first identification point and second according to the adjacent identification point of the sequence each two before the identification point of post-sampling
Individual identification point is first group, and second identification point and the 3rd identification point are second group, the 3rd identification point and the 4th mark
Point is the 3rd group, remaining the like, each group of slope is calculated, intelligence is adjusted according to the slope variation between adjacent sets
The direction of the speed of dolly, if more than the corresponding angle of than first group slope of the corresponding angle of second group of slope once, intelligence
The direction rotate counterclockwise of the speed of dolly once, the corresponding angle few one of than first group slope of the corresponding angle of second group of slope
Degree, then the direction of the speed of intelligent carriage turns clockwise once, remaining situation the like.
Further, control terminal is ranked up according to the sampling order of identification point to identification point, the identification point row first sampled
Before the identification point of post-sampling, intelligent carriage be moved to from first identification point the numerical value of the speed of second identification point by
The distance of first identification point and second identification point determines that the numerical value of speed of the intelligent carriage between two identification points is equal to this
The distance between two identification points are multiplied by a proportionality coefficient, and the proportionality coefficient is adjusted according to practical application, identification point with
The distance between identification point refers to the air line distance calculated according to the coordinate of identification point.
Further, control terminal only sends a mark point coordinates every time, and intelligent carriage is sended over according to control terminal
Mark point coordinates move, intelligent carriage moves target and completed with backward control terminal send feedback information every time, control
Terminal is connected to the coordinate that feedback information sends next identification point with backward intelligent carriage.Of the invention so set avoids intelligence
The trouble that the sequencing of coordinate is identified dolly, can effectively improve the reaction speed of intelligent carriage.
Further, including setting-out tracking pattern, three kinds of mode of operations of ordinary control mode and ground tracking pattern, picture is opened
During line tracking pattern, intelligent carriage is moved according to the track drawn in real time in touch display screen.
Further, setting-out tracking pattern has two kinds of mode of operations, and the first mode of operation is real-time in touch display screen
Track is while draw, and intelligent carriage according to the real-time track in touch display screen while move；Second of mode of operation is to touch to show
After real-time track in display screen is painted, intelligent carriage is moved further according to the real-time track in touch display screen.
Further, ordinary control mode start when, control terminal to intelligent carriage transmit control instruction, intelligent carriage according to
Control instruction is moved, the control instruction include instruction upwards, to giving an order, instruction to the left, instruction to the right, halt instruction, open
Begin to instruct.
Further, touch display screen enters tracking mode page when tracking pattern in ground starts, and tracking mode page is followed
Mark mode switch, makes dolly start tracking or terminates tracking.
Further, intelligent carriage is provided with the infrared drivings of LM339 to provide infrared obstacle avoidance, and infrared tracking work(for dolly
Energy.
The beneficial effects of the invention are as follows：The present invention is intelligent carriage control method, and intelligent carriage of the invention is according to touch
The track drawn in real time on display screen is moved, and is easy to change the movement locus of intelligent carriage, is easy to the reality of intelligent carriage
Use.
Brief description of the drawings
The invention will be further described with example below in conjunction with the accompanying drawings.
Fig. 1 is the hardware block diagram of the present invention；
Fig. 2 is the program flow diagram of the present invention；
Fig. 3 is the mode page selection schematic diagram of the present invention.
Embodiment
Fig. 1 is the hardware block diagram of the present invention, and Fig. 2 is the program flow diagram of the present invention, and Fig. 3 is the mode page of the present invention
Face selects schematic diagram, as shown in Figure 1 to Figure 3, and the present invention is intelligent carriage control method, including the control with touch display screen
Terminal 3 and intelligent carriage, the touch display screen have the function of drawing figure line, pass through between control terminal 3 and intelligent carriage
The mode being wirelessly transferred carries out information transfer, and intelligent carriage is moved according to the track drawn in real time in touch display screen.It is real
When track formed when, control terminal 3 is every the point formed in one section of identical time sampling real-time track
As identification point, each identification point has coordinate corresponding thereto, and it is small that the coordinate of identification point is sent to intelligence by control terminal 3
Car, direction and the numerical value of speed that intelligent carriage is regulated the speed according to the coordinate of identification point.Control terminal 3 is according to identification point
Sampling order is ranked up to identification point, and the identification point first sampled is come before the identification point of post-sampling, every according to the sequence
Two adjacent identification points are one group, and first identification point and second identification point are first group, second identification point and the 3rd
Individual identification point is second group, and the 3rd identification point and the 4th identification point are the 3rd group, remaining the like, calculate each group
Slope, the direction of the speed of intelligent carriage is adjusted according to the slope variation between adjacent sets, if second group of slope correspondence
The corresponding angle of than first group slope of angle more than once, then the direction rotate counterclockwise of the speed of intelligent carriage once, second
The corresponding angle of corresponding than the first group slope of angle of group slope is few once, then the direction of the speed of intelligent carriage turns clockwise
Once, remaining situation.
Specifically, control terminal 3 of the invention is ranked up according to the sampling order of identification point to identification point, is first sampled
Identification point come before the identification point of post-sampling, intelligent carriage is moved to the speed of second identification point from first identification point
The numerical value of degree determines by the distance of first identification point and second identification point, speed of the intelligent carriage between two identification points
Numerical value is equal to the distance between the two identification points and is multiplied by a proportionality coefficient, and the proportionality coefficient is adjusted according to practical application
Whole, the distance between identification point and identification point refer to the air line distance calculated according to the coordinate of identification point.Control terminal 3 is every
Secondary sends a mark point coordinates, and the mark point coordinates that intelligent carriage is sended over according to control terminal 3 is moved, intelligence
Dolly moves target and completed with the backward send feedback information of control terminal 3 every time, and control terminal 3 is connected to feedback information with backward intelligence
Energy dolly sends the coordinate of next identification point.It is of the invention that the sequencing progress for avoiding intelligent carriage to coordinate is so set
The trouble of identification, can effectively improve the reaction speed of intelligent carriage.Including setting-out tracking pattern, ordinary control mode and ground
Three kinds of mode of operations of tracking pattern, when opening setting-out tracking pattern, intelligent carriage is according to the rail drawn in real time in touch display screen
Mark is moved.Setting-out tracking pattern has two kinds of mode of operations, and the first mode of operation is the real-time track in touch display screen
While drawing, intelligent carriage according to the real-time track in touch display screen while move；Second of mode of operation is touch display screen
On real-time track paint after, intelligent carriage further according in touch display screen real-time track move.Ordinary control mode is opened
When dynamic, control terminal 3 transmits control instruction to intelligent carriage, and intelligent carriage is moved according to control instruction, the control instruction bag
Include instruction upwards, to giving an order, instruction, to the right instruction, halt instruction, sign on to the left.Touched when ground tracking pattern starts
Display screen is touched into tracking mode page, tracking mode page has tracking mode switch 2, dolly is started tracking or is terminated to follow
Mark.Intelligent carriage is provided with the infrared drivings of LM339 to provide infrared obstacle avoidance, and infrared tracking function for dolly.
It is preferred that, intelligent carriage includes power supply 1, switch 2, bluetooth module 4, single-chip microcomputer 5, the drive module 6 of motor 8, infrared
Avoidance module 7 and motor 8.The intelligent carriage of the present invention is to control carriage walking so that single-chip microcomputer 5 is MCU, for convenience
Introduction dolly, has selected the general dolly car mould with universal wheel and two motors 8 as the car mould of current intelligent carriage.
L298N two-way H bridge drive and control of electric machine motor 8, the infrared drivings of LM339 to provide infrared obstacle avoidance, and infrared tracking for dolly
Function.HC05 bluetooth modules 4 are the bluetooth module 4 that dolly communicates, while the walking for mobile phone Bluetooth control dolly of arranging in pairs or groups also has
Setting-out tracks and ground tracks function.The I/O port of each several part sensor and single-chip microcomputer 5 is initialized first, specifically bluetooth
The signaling interface of module 4 is initialized, the initialization of the signaling interface of 8 drive module of motor 6, infrared tracking signaling interface initialization.Initially
After change is carried out, app selects to run the pattern after trolley travelling pattern, selection mode.In addition, in app setting-out tracking patterns
Barrier avoiding function is added, dolly stops if barrier is run into.The model STC89C52 of single-chip microcomputer 5, power supply 1 passes through switch 2
It is connected with single-chip microcomputer 5.Control terminal 3 is connected by Bluetooth signal with single-chip microcomputer 5.
It is preferred that, app information is waited first, using serial ports and bluetooth connection, receives the model selection letter sent from app
Breath.And enter corresponding modes code.
App setting-out tracking patterns：Receive and start after walking information, (one group two) are a unit with two groups of coordinates,
The selection of speed is compared and carried out according to the length of an above coordinate to the slope of two groups of coordinates, and the driving to dolly is entered
Row control, controlled motor 8 forms different speed, while according to two velometer feedback control dollies in the process of walking askew
Phenomenon is turned round, error of the dolly in walking is reduced.Feeding back to app after the walking for completing a unit again allows it to send next list
The coordinate of position, until the walking of whole figure terminates, and receives the ending message sent by app, the rear row for stopping dolly
Walk.When dolly runs into barrier in the process of walking, stop dolly and continue to run with, it is to avoid dolly knocks barrier.
Ordinary control mode：Receive from app transmissions up and down and after speed governing or Stop message, make corresponding dynamic
Make and along with the operation of avoidance.Realize that simple fine control compensate for setting-out tracking mode error larger, and speed is difficult to
The shortcoming of control.
Ground tracking pattern：After the information for receiving the tracking mode key opening that app is sent, dolly will be in tracking track
Upper carry out tracking.
App can possess 4 pages, respectively the model selection page, app setting-out trackings mode page, ordinary control mode
The page, ground tracking mode page.The model selection page provides the button of three jump page.And bluetooth is detected, is carried out blue
Tooth data cube computation.Three control model pages are respectively：
App setting-out tracking mode pages face：Comprising a core drawing board, function has acquisition to touch screen coordinate, draws figure
Line, obtains coordinate, while possessing several buttons as control, including cls, selection trolley travelling pattern etc..In setting-out
In walking function, there are two patterns, a pattern is that i.e. picture is walked, another pattern is then to need button to confirm ability starting row
Walk.Because the speed that the app coordinates obtained can be slided according to finger obtains varying number and apart from different coordinates, so dolly
Speed it is associated with the speed that finger is slided, slide it is faster, small vehicle speed is faster.
The ordinary control mode page：Common operation is carried out to dolly, comprising simple operations button is waited up and down, to small
Car carries out simple remote control.
Ground tracking mode page：The start button and stop button of tracking pattern are had into the page, dolly is driven
Begin or terminate tracking.
The specific control flow of the present invention comprises the following steps：
S1, starts；
S2, system initialization；
S3, judges which kind of pattern entered；
S4, is controlled according to corresponding pattern to intelligent carriage；
S5, dolly is moved according to control instruction；
S6, judges whether to run into barrier, is, goes to step S7, otherwise goes to step S5；
S7, dolly stops movement.
Relatively existing technology, the present invention is to draw route as track route using the hand in app, and is sent to by algorithm small
MCU on car is so that dolly can be walked according to the route drawn by us exactly.Because the route that you draw exists
Obstacle is had during possibility in actual conditions, so we add barrier avoiding function herein, when dolly runs into barrier when walking
Thing is hindered to stop immediately, in case dolly collides.According to conventional trajectory Car, our the maximum bright spots of this works are match
Road has been moved on mobile phone, and we can design racing track ourselves, and additionally provide barrier avoiding function, thus without being spread again on ground
On the racing track that tracks, and we can be with arbitrarily devised racing track.Speed that app can also be slided by finger is got not
With the coordinate of quantity, the faster coordinate of slip is fewer, therefore, and dolly can go to control speed by the distance of coordinate.Thus
The speed of travel that dolly is controlled according to the sliding speed of finger can be realized.And add existing Bluetooth control and ground is sought
Mark technology, is made that set setting-out, control, and track Trinitarian intelligent app dollies.
It is described above, simply presently preferred embodiments of the present invention, the invention is not limited in above-mentioned embodiment, as long as
It reaches the technique effect of the present invention with identical means, should all belong to protection scope of the present invention.
Claims (10)
1. intelligent carriage control method, it is characterised in that：It is described including control terminal and intelligent carriage with touch display screen
Touch display screen has the function of drawing figure line, enters row information between control terminal and intelligent carriage by way of being wirelessly transferred
Transmission, intelligent carriage is moved according to the track drawn in real time in touch display screen.
2. intelligent carriage control method according to claim 1, it is characterised in that：Real-time track is when forming, control
Terminal processed is every the point formed in one section of identical time sampling real-time track as identification point, and each identification point is equal
There is coordinate corresponding thereto, the coordinate of identification point is sent to intelligent carriage by control terminal, and intelligent carriage is according to identification point
Coordinate is come the direction regulated the speed and the numerical value of speed.
3. intelligent carriage control method according to claim 2, it is characterised in that：Control terminal is according to the sampling of identification point
Order is ranked up to identification point, and the identification point first sampled is come before the identification point of post-sampling, according to the sequence each two
Adjacent identification point is one group, and first identification point and second identification point are first group, second identification point and the 3rd mark
It is second group to know point, and the 3rd identification point and the 4th identification point are the 3rd group, remaining the like, calculate each group oblique
Rate, the direction of the speed of intelligent carriage is adjusted according to the slope variation between adjacent sets.
4. intelligent carriage control method according to claim 2, it is characterised in that：Control terminal is according to the sampling of identification point
Order is ranked up to identification point, and the identification point first sampled is come before the identification point of post-sampling, and intelligent carriage is from first
The numerical value that identification point is moved to the speed of second identification point is determined by the distance of first identification point and second identification point.
5. according to any described intelligent carriage control method of claim 2 to 4, it is characterised in that：Control terminal is only sent out every time
A mark point coordinates is sent, the mark point coordinates that intelligent carriage is sended over according to control terminal is moved, and intelligent carriage is every
Secondary mobile target is completed with backward control terminal send feedback information, and control terminal is connected to feedback information and sent out with backward intelligent carriage
Go out the coordinate of next identification point.
6. intelligent carriage control method according to claim 1, it is characterised in that：Including setting-out tracking pattern, common control
Three kinds of mode of operations of molding formula and ground tracking pattern, when opening setting-out tracking pattern, intelligent carriage is according in touch display screen
The track drawn in real time is moved.
7. intelligent carriage control method according to claim 6, it is characterised in that：Setting-out tracking pattern has two kinds of Working moulds
Formula, the first mode of operation is the real-time track in touch display screen while picture, intelligent carriage is while according in touch display screen
Real-time track movement；Second of mode of operation be after real-time track in touch display screen is painted, intelligent carriage further according to
Real-time track movement in touch display screen.
8. intelligent carriage control method according to claim 6, it is characterised in that：When ordinary control mode starts, control
Terminal transmits control instruction to intelligent carriage, and intelligent carriage moves according to control instruction, the control instruction include instruction upwards,
To giving an order, instruction, to the right instruction, halt instruction, sign on to the left.
9. intelligent carriage control method according to claim 6, it is characterised in that：Touched when ground tracking pattern starts aobvious
Display screen enters tracking mode page, and tracking mode page has tracking mode switch, dolly is started tracking or terminates tracking.
10. intelligent carriage control method according to claim 1, it is characterised in that：It is infrared that intelligent carriage is provided with LM339
Driving provides infrared obstacle avoidance, and infrared tracking function for dolly.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710617126.7A CN107329474B (en) | 2017-07-26 | 2017-07-26 | Intelligent trolley control method |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710617126.7A CN107329474B (en) | 2017-07-26 | 2017-07-26 | Intelligent trolley control method |
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| CN107329474A true CN107329474A (en) | 2017-11-07 |
| CN107329474B CN107329474B (en) | 2020-05-12 |
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ID=60200088
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| CN201710617126.7A Active CN107329474B (en) | 2017-07-26 | 2017-07-26 | Intelligent trolley control method |
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Cited By (7)
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| CN109782765A (en) * | 2019-01-22 | 2019-05-21 | 南京晓庄学院 | A kind of trolley driving path correcting system and its correcting method |
| CN110333718A (en) * | 2019-06-28 | 2019-10-15 | 苏州上善知源汽车电子有限公司 | The safe driving method of long-range control vehicle |
| CN110426048A (en) * | 2019-09-02 | 2019-11-08 | 福建工程学院 | A kind of vision trolley localization method based on the local ken |
| CN110888427A (en) * | 2019-06-27 | 2020-03-17 | 武汉纺织大学 | Automatic traveling trolley control system with track memory function and control method thereof |
| CN112440882A (en) * | 2019-09-04 | 2021-03-05 | 戴姆勒股份公司 | Automobile luggage compartment article placing system and method and automobile comprising system |
| CN112866923A (en) * | 2021-01-27 | 2021-05-28 | 南京天擎汽车电子有限公司 | Vehicle control method based on positioning, vehicle control function configuration method and device |
| CN115227953A (en) * | 2022-07-15 | 2022-10-25 | 施慧 | Medicine smearing device for smearing medicine on whole body of dermatology department |
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| CN110888427A (en) * | 2019-06-27 | 2020-03-17 | 武汉纺织大学 | Automatic traveling trolley control system with track memory function and control method thereof |
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| CN112440882A (en) * | 2019-09-04 | 2021-03-05 | 戴姆勒股份公司 | Automobile luggage compartment article placing system and method and automobile comprising system |
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| CN112866923A (en) * | 2021-01-27 | 2021-05-28 | 南京天擎汽车电子有限公司 | Vehicle control method based on positioning, vehicle control function configuration method and device |
| CN115227953A (en) * | 2022-07-15 | 2022-10-25 | 施慧 | Medicine smearing device for smearing medicine on whole body of dermatology department |
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