CN107894771A - A kind of dolly Omni-mobile control system and method - Google Patents
A kind of dolly Omni-mobile control system and method Download PDFInfo
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- CN107894771A CN107894771A CN201711246753.0A CN201711246753A CN107894771A CN 107894771 A CN107894771 A CN 107894771A CN 201711246753 A CN201711246753 A CN 201711246753A CN 107894771 A CN107894771 A CN 107894771A
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0276—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle
- G05D1/0278—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle using satellite positioning signals, e.g. GPS
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Abstract
The present invention discloses a kind of dolly Omni-mobile control system and method, the control system includes base station DGPS receivers, digital signal processor, and motor, photoelectric encoder, steering-engine and the movement station DGPS receivers being connected with digital signal processor.First pass through base station DGPS receivers and obtain Differential positioning data, dolly real time GPS information is then obtained by movement station DGPS receivers, dolly real time GPS information is then switched to the parameter of plane right-angle coordinate by the parameter of spheric coordinate system；Finally, using the desired trajectory of dolly as target, steering and the speed of car wheel is constantly adjusted, it is run by desired trajectory.Dolly Omni-mobile control system and method for the present invention, it is low with control accuracy to solve the problems, such as that existing control method Program can not be transplanted.
Description
Technical field
The present invention relates to a kind of dolly Omni-mobile control system and method, belong to vehicle testing field.
Background technology
ADAS vehicles refer to by real-time simulation machine analogue simulation road, traffic scene and sensor in ring test, by very
Real vehicle, which is placed in one, to be tested, and functional verification, the test of each scene simulation, the matching of vehicle electric-control system and connection can be achieved
Operation is closed, a kind of target dolly of Omni-mobile need to be used for the test, the dolly should possess Omni-mobile, max. speed
60km/h need to be reached, and dolly requires automatic running.
The control method of dolly automatic running has a lot, and conventional method is the core using a MCU as whole control system
The heart, the measurement data for the sensor being placed on car body is gathered, instruction is sent after calculating measurement data, controls the fortune of dolly
Action is made.This control method there is it is certain the drawbacks of, first, man-machine interaction is poor, it is impossible to transplant, when reset dolly
Driving path when, it is necessary to change parameter related to path in control system source code program；Second, the position of dolly is controlled
Precision processed is not high, and because the circuit design of sensor is the design based on analog circuit, there is time shift and temperature drift in itself for circuit
Phenomenon, so causing the measurement accuracy of sensor not high, and then influence the precision of control system.
In view of this, the present inventor is studied this, specially develops a kind of dolly Omni-mobile control system and side
Thus method, this case produce.
The content of the invention
It is an object of the invention to provide a kind of dolly Omni-mobile control system and method, for solving existing control method
Program can not transplant the problem of low with control accuracy.
To achieve these goals, solution of the invention is：
Dolly Omni-mobile control system, including base station DGPS receivers, digital signal processor, and and data signal
Processor connected motor, photoelectric encoder, steering-engine and movement station DGPS receivers；Wherein, the base station DGPS
Receiver is arranged in checkout area, and Differential positioning data, the movement station DGPS receivers peace are sent to digital signal processor
On dolly, dolly real time GPS information, the motor, photoelectric encoder and dolly are sent to digital signal processor
Wheel is connected, for driving car wheel and measurement vehicle wheel rotational speed, the steering-engine to be connected by connector with wheel, be used for
Control wheel steering；Digital signal processor is connected with host computer simultaneously, and trolley travelling parameter is set by host computer.
Preferably, the motor uses wheel hub motor, wheel hub motor is directly installed in dolly wheel hub, Ke Yizhi
Connect driving car wheel.
Preferably, the axle of the photoelectric encoder passes through opto-electronic conversion together with the axis connection of the motor
Geometry of machinery displacement on output shaft is converted into digital quantity, and feeds back to digital signal processor, measures dolly car in real time
The rotating speed of wheel.
Preferably, the steering-engine is a kind of driver of angle servo, by input the PWM ripples of distinct pulse widths come
Control steering wheel turns over different angles, so as to realize the power-assisted steering of car wheel.
Preferably, the digital signal processor uses dsp controller, motor, light are controlled by dsp controller
The work such as photoelectric coder, steering-engine.
Preferably, the movement station DGPS receivers, base station DGPS receivers use high accuracy positioning receiver, tool
Body can use the YC-L37A Big Dippeves/GNSS high accuracy positioning receivers.
Above-mentioned dolly Omni-mobile control system operation principle：Host computer is by the object run track of dolly, the speed of service
Digital signal processor is transferred to etc. parameter, digital signal processor is handled above-mentioned operational factor, and is sent corresponding
Instruct and correspondence is performed according to the instruction of digital signal processor to motor and steering-engine, motor and steering-engine
Action.The car wheel velocity information measured is fed back to digital signal processor by photoelectric encoder simultaneously, forms wheel
The closed-loop control of speed.The feedback of the information for the angle that steering-engine also simultaneously turns to car wheel to digital signal processor,
Form the closed-loop control of steering angle of wheel.Dolly completes to advance under the control of motor and backward movement, is turning to rudder
Go to action is completed under the control of machine.Digital signal processor is simultaneously according to base station DGPS receivers and movement station DGPS receivers
The positional information of transmission, planning dolly path, speed, the direction information of dolly are corrected, making it, according to target running orbit moves.
Omni-mobile control system of the present invention, has the following advantages that：
1st, the parameters such as moving of car track, speed are directly set by host computer, realize the planning to dolly arbitrary trajectory,
Meets the needs of automatic test；And when change running orbit, speed, without remodifying source code, settlement procedure can not
The defects of transplanting；
2nd, the precise location information sent by base station DGPS receivers and movement station DGPS receivers, and pass through numeral
Signal processor realizes speed closed-loop control with motor, photoelectric encoder, is realized with steering-engine and turns to closed-loop control, real
Existing small vehicle speed and the accurate amendment turned to, finally realize the accurate control of trolley travelling.
Dolly Omni-mobile control method, comprises the following steps：
1st, the method averaged repeatedly is measured by base station DGPS receivers and obtains precise position information, and by accurate position
Confidence breath is sent to digital signal processor；Real-time position information is obtained by base station DGPS receivers simultaneously, and is sent to number
Precise position information compared with real-time position information, is obtained Differential positioning by word signal processor, digital signal processor
Data；
2nd, dolly real time GPS information, including longitude and latitude are obtained by movement station DGPS receivers, altitude parameters, and will be upper
Real time GPS information data transmission is stated to digital signal processor；
3rd, the dolly real time GPS information of movement station DGPS receivers is subtracted Differential positioning data by digital signal processor,
And dolly real time GPS information is switched to the parameter of plane right-angle coordinate by the parameter of spheric coordinate system；
4th, digital signal processor constantly adjusts using the desired trajectory of dolly as target according to the current position of dolly
The steering of car wheel and speed, dolly is set to be run by desired trajectory.
Preferably, dolly real time GPS information is switched to plane right-angle coordinate by step 3) by the parameter of spheric coordinate system
Parameter, specific conversion formula is as follows：
X=(N+H) cos Bcos L
Y=(N+H) cos B sin L
Z=[N (1-e2)+H)sin B
In formula：
X-axis positive direction is the direction that the dolly in vehicle axis system advances,
Z axis positive direction is upward perpendicular to vehicle body,
Y-axis positive direction determines according to the right-hand rule,
B is the angle of pitch of target, and L is the azimuth of target；
A be ellipsoid major semiaxis, N be ellipsoid radius of curvature, a=6378.137km
E be ellipsoid the first eccentricity, b be ellipsoid semi-minor axis, b=6356.752314kkm
H is altitude value.
Preferably, the step 4 specifically includes following sub-step：
1), the information data that digital signal processor is sent according to base station DGPS receivers and movement station DGPS receivers,
Dolly path is planned, corrects speed, the corner information of dolly；
2), digital signal processor judges whether dolly reaches set destination node, if reaching, switches target section
Point, otherwise continues path planning；
3), judge whether dolly completes default track, if completing, terminate；Otherwise, control motion is continued executing with.
Above-mentioned dolly Omni-mobile control method, provided by base station DGPS receivers and movement station DGPS receivers accurate
Positional information, while the parameter of spheric coordinate system is switched to the parameter of plane rectangular coordinates, real time position school is carried out to dolly
Standard, reduce the error between dolly actual motion track and the target trajectory of setting so that dolly reaches the control of Centimeter Level
Precision processed.
The present invention is described in further detail below in conjunction with drawings and the specific embodiments.
Brief description of the drawings
Fig. 1 is the Omni-mobile control system schematic view of the mounting position of embodiment 1；
Fig. 2 is the Omni-mobile control system control principle drawing of embodiment 1；
Fig. 3 is the dolly Omni-mobile control method flow chart of embodiment 2.
Embodiment
Embodiment 1
As shown in Figure 1-2, dolly Omni-mobile control system, including base station DGPS receivers 1, movement station DGPS receivers
2nd, digital signal processor 3, motor 4, photoelectric encoder 5 and steering-engine 6.Wherein, the base station DGPS receivers 1 are made
For fixed base stations, certain in test site is placed on, by external connection wireless transport module, sends the data to digital letter
Number processor 3.Digital signal processor 3 by signal wire respectively with movement station DGPS receivers 2, motor 4, photoelectric coding
Device 5, steering-engine 6 connect.The movement station DGPS receivers 2 are arranged on dolly 8, the motor 4, photoelectric encoder
5 be arranged on car wheel 81 in, for drive car wheel and measurement vehicle wheel rotational speed, the steering-engine 6 by connector with
Wheel 81 is connected, for controlling wheel 81 to turn to；Digital signal processor 3 is connected with host computer 7 simultaneously, is set by host computer 7
Determine the operational factor of dolly 8.The dolly of the present embodiment has 4 wheels 81, is connected between wheel 81 by axletree 82.
In the present embodiment, the base station DGPS receivers 1 and movement station DGPS receivers 2 use YC-L37A northern
Bucket/GNSS high accuracy positioning receivers, it is the high-precision fixed bit-type receiver of the frequency of Samsung seven.DGPS equipment major parts connect for GPS
Receive antenna, data radio station.The effect of GPS receiving antenna is to receive the electromagnetic wave signal from gps satellite.The effect of data radio station
Be will it is parsed after data send out.4G modules built in the YC-L37A Big Dippeves/GNSS high accuracy positioning receivers can lead to
Cross connection CORS nets and carry out RTK resolvings, while current location information is passed back into User Defined server, realize to equipment
The application such as monitoring and scheduling.
The digital signal processor 3 uses dsp controller, and motor 4, photoelectric coding are controlled by dsp controller
The work such as device 5, steering-engine 6.The TMS320F28335 type processors of TI companies can be specifically used, it is a
TMS320C28X series Floating-point DSP controllers.High with precision, cost is low, small power consumption, and performance is high, and peripheral hardware integrated level is high, data
And program storage amount is big, A/D changes the features such as more accurate quick.TMS320F28335 has 150MHz high speed processing energy
Power, possessing 32 floating point processing units, 6 DMA channels support ADC, McBSP and EMIF, and the PWM for having up to 18 tunnels is exported, its
In have 6 tunnels be the distinctive higher precisions of TI PWM export (HRPWM), 12 16 passage ADC.
The motor 4 uses wheel hub motor, and wheel hub motor is directly installed in dolly wheel hub, can be directly driven small
Car wheel 81.The axle of the photoelectric encoder 5 will be exported together with the axis connection of the motor 4 by opto-electronic conversion
Geometry of machinery displacement on axle is converted into digital quantity, and feeds back to digital signal processor 3, measures car wheel 81 in real time
Speed.
The steering-engine 6 is a kind of driver of angle servo, and steering wheel is controlled by inputting the PWM ripples of distinct pulse widths
Different angles is turned over, so as to realize the power-assisted steering of car wheel 81.Steering-engine 6 is mainly by shell, circuit board, seedless
Core motor, decelerator and position detecting element are formed.Its operation principle is to send signal by digital signal processor (DSP) to turn
To steering wheel, rotation direction being judged via the IC on circuit board, then driving seedless core motor to start to rotate, passing through reduction gearing will
Power reaches swing arm, while sends signal back to by position detector, judges whether to have arrived at positioning.Position detector is exactly in fact
Variable resistor, when steering wheel rotates, resistance value can also change therewith, and detection resistance value can know the angle of rotation.
The host computer 7 is used for the relevant parameter for setting vehicle, such as speed, the movement locus of car etc..Then by these
Parameter is transferred to digital signal processor 3 by way of serial communication, so that dolly 8 is transported according to the requirement of user
OK.
Above-mentioned dolly Omni-mobile control system operation principle：Running orbit, the fortune of dolly are directly set in host computer 7
The parameters such as scanning frequency degree, and these parameters are transferred to digital signal processor 3 by way of serial communication；Digital Signal Processing
Device 3 is handled above-mentioned operational factor, and is sent and instructed accordingly to motor 4 and steering-engine 6, the He of motor 4
Steering-engine 6 performs corresponding act according to the instruction of digital signal processor 3.Photoelectric encoder 5 is small by what is measured simultaneously
The velocity information of car wheel 81 feeds back to digital signal processor 3, forms the closed-loop control of wheel velocity.Steering-engine 6 is also simultaneously
The feedback of the information for the angle that car wheel is turned to forms the closed-loop control of the steering angle of wheel 81 to digital signal processor.
Dolly 8 completes to advance under the control of motor 4 and backward movement, and go to action is completed under the control of steering-engine 6.Number
The positional information that word signal processor 3 is sent according to base station DGPS receivers 1 and movement station DGPS receivers 2 simultaneously, planning are small
Bus or train route footpath, speed, the corner information of dolly 8 are corrected, making it, according to target running orbit moves.
Omni-mobile control system described in the present embodiment, the movement locus of dolly 8, speed are directly set by host computer 7
Etc. parameter, the planning to the arbitrary trajectory of dolly 8 is realized, meets the needs of automatic test；And change running orbit, speed
When, without remodifying source code, the defects of settlement procedure can not be transplanted；In addition, pass through base station DGPS receivers 1 and movement station
The precise location information that DGPS receivers 2 are sent, and pass through digital signal processor 3 and motor 4, photoelectric encoder 5
Speed closed-loop control is realized, is realized by digital signal processor 3 and steering-engine 6 and turns to closed-loop control, realize small vehicle speed
With the accurate amendment of steering, the accurate control that dolly 8 is run finally is realized.
Embodiment 2
A kind of dolly Omni-mobile control method based on above-mentioned dolly Omni-mobile control system, as shown in figure 3, including
Following steps：
101st, the method averaged by more than 1 measurement of base station DGPS receivers obtains precise position information, and passes through
External connection wireless transport module, precise position information is sent in digital signal processor 3 and preserved；Base station DGPS connects
Receipts machine 1 receives satellite-signal by gps antenna simultaneously, obtains real-time positional information and is sent to digital signal processor 3,
By compared with above-mentioned precise position information, obtaining Differential positioning data in digital signal processor 3；
102nd, movement station DGPS receivers 2, as the communication module of car-mounted terminal, satellite-signal is received by gps antenna
Dolly real time GPS information, including longitude and latitude are obtained, altitude parameters, digital letter is transferred data to by way of serial communication
Number processor 3；
103rd, the dolly real time GPS information of movement station DGPS receivers 2 is subtracted Differential positioning number by digital signal processor 3
According to, and dolly real time GPS information is switched to the parameter of plane right-angle coordinate by the parameter of spheric coordinate system；Specific conversion formula
It is as follows：
X=(N+H) cos Bcos L
Y=(N+H) cos B sin L
Z=[N (1-e2)+H)sin B
In formula：
X-axis positive direction is the direction that the dolly in vehicle axis system advances,
Z axis positive direction is upward perpendicular to vehicle body,
Y-axis positive direction determines according to the right-hand rule,
B is the angle of pitch of target, and L is the azimuth of target；
A be ellipsoid major semiaxis, N be ellipsoid radius of curvature, a=6378.137km
E be ellipsoid the first eccentricity, b be ellipsoid semi-minor axis, b=6356.752314km
H is altitude value；
104th, target point (is regard the movement locus for the movable body being previously set as, by transporting by target approaches method
The adjustment of dynamic process associ-ated motion parameters, gradually approach the algorithm of target point)：Digital signal processor 3 is with the pre- orbit determination of dolly 8
Mark is target, and steering and the speed of car wheel 81 are constantly adjusted according to 8 current position of dolly, makes dolly 8 by predetermined
Track is run, and specifically includes following sub-step：
1), the Information Number that digital signal processor 3 is sent according to base station DGPS receivers 1 and movement station DGPS receivers 2
According to, planning dolly path, speed, the corner information of dolly are corrected；
2), digital signal processor 3 judges whether dolly 8 reaches set destination node, if reaching, switches target section
Point, otherwise continues path planning；
3), judge whether dolly 8 completes default track, if completing, terminate；Otherwise, control motion is continued executing with.
Above-mentioned dolly Omni-mobile control method, essence is provided by base station DGPS receivers 1 and movement station DGPS receivers 2
True positional information, while the parameter of spheric coordinate system is switched to the parameter of plane rectangular coordinates, real time position is carried out to dolly 8
Calibration, reduce the error between the actual motion track of dolly 8 and the target trajectory of setting so that dolly 8 reaches Centimeter Level
Control accuracy.
Above-described embodiment and schema and non-limiting product form of the invention and style, any art it is common
The appropriate change or modification that technical staff is done to it, it all should be regarded as not departing from the patent category of the present invention.
Claims (9)
1. dolly Omni-mobile control system, it is characterised in that：Including base station DGPS receivers, digital signal processor, and
Motor, photoelectric encoder, steering-engine and the movement station DGPS receivers being connected with digital signal processor；Wherein, institute
Base station DGPS receivers are stated in checkout area, Differential positioning data, the movement station are sent to digital signal processor
DGPS receivers are arranged on dolly, and dolly real time GPS information, the motor, photoelectricity are sent to digital signal processor
Encoder is connected with car wheel, for drive car wheel and measurement vehicle wheel rotational speed, the steering-engine by connector with
Wheel is connected, for controlling wheel steering；Digital signal processor is connected with host computer simultaneously, and setting dolly by host computer transports
Row parameter.
2. dolly Omni-mobile control system as claimed in claim 1, it is characterised in that：The motor is using wheel hub electricity
Machine.
3. dolly Omni-mobile control system as claimed in claim 1, it is characterised in that：The axle of the photoelectric encoder and institute
Geometry of machinery displacement on output shaft together, digital quantity is converted into by opto-electronic conversion by the axis connection for stating motor,
And digital signal processor is fed back to, the rotating speed of car wheel is measured in real time.
4. dolly Omni-mobile control system as claimed in claim 1, it is characterised in that：The steering-engine is a kind of angle
The driver of servo, steering wheel is controlled to turn over different angles by the PWM ripples for inputting distinct pulse widths.
5. dolly Omni-mobile control system as claimed in claim 1, it is characterised in that：The digital signal processor uses
Dsp controller.
6. dolly Omni-mobile control system as claimed in claim 1, it is characterised in that：The movement station DGPS receivers,
Base station DGPS receivers use high accuracy positioning receiver.
7. dolly Omni-mobile control method, it is characterised in that comprise the following steps：
Step 1, repeatedly measure by base station DGPS receivers the method averaged and obtain precise position information, and by accurate position
Confidence breath is sent to digital signal processor；Real-time position information is obtained by base station DGPS receivers simultaneously, and is sent to number
Precise position information compared with real-time position information, is obtained Differential positioning by word signal processor, digital signal processor
Data；
Step 2, obtain dolly real time GPS information, including longitude and latitude by movement station DGPS receivers, altitude parameters, and will be upper
Real time GPS information data transmission is stated to digital signal processor；
The dolly real time GPS information of movement station DGPS receivers is subtracted Differential positioning data by step 3, digital signal processor,
And dolly real time GPS information is switched to the parameter of plane right-angle coordinate by the parameter of spheric coordinate system；
Step 4, by target approaches method, digital signal processor is using the desired trajectory of dolly as target, according to the current institute of dolly
Carry out constantly to adjust steering and the speed of car wheel in position, dolly is run by desired trajectory.
8. dolly Omni-mobile control method as claimed in claim 7, it is characterised in that：Step 3) believes dolly real time GPS
Breath is switched to the parameter of plane right-angle coordinate by the parameter of spheric coordinate system, and specific conversion formula is as follows：
X=(N+H) cos B cos L
Y=(N+H) cos B sin L
Z=[N (1- ∈2)+H)sin B
In formula：
X-axis positive direction is the direction that the dolly in vehicle axis system advances,
Z axis positive direction is upward perpendicular to vehicle body,
Y-axis positive direction determines according to the right-hand rule,
A be ellipsoid major semiaxis, N be ellipsoid radius of curvature, a=6378.137km
<mrow>
<mi>W</mi>
<mo>=</mo>
<msqrt>
<mrow>
<mn>1</mn>
<mo>-</mo>
<msup>
<mi>e</mi>
<mn>2</mn>
</msup>
<msup>
<mi>sin</mi>
<mn>2</mn>
</msup>
<mi>B</mi>
</mrow>
</msqrt>
</mrow>
E be ellipsoid the first eccentricity, b be ellipsoid semi-minor axis, b=6356.752314km
H is altitude value.
9. dolly Omni-mobile control method as claimed in claim 7, it is characterised in that：The step 4 specifically includes as follows
Sub-step：
1), the information data that digital signal processor is sent according to base station DGPS receivers and movement station DGPS receivers, planning
Dolly path, correct speed, the corner information of dolly；
2), digital signal processor judges whether dolly reaches set destination node, if reaching, switches destination node, no
Then continue path planning；
3), judge whether dolly completes default track, if completing, terminate；Otherwise, control motion is continued executing with.
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| CN108897319A (en) * | 2018-06-23 | 2018-11-27 | 广州市柯乐名迪电子科技有限公司 | Automatic Pilot method, apparatus and system based on digital geometry figure |
| CN109618886A (en) * | 2018-11-26 | 2019-04-16 | 中国科学院半导体研究所 | A kind of multitower vehicle synchronous walking control device and method |
| CN110873860A (en) * | 2018-08-31 | 2020-03-10 | 株式会社日立产机系统 | Position detection device for moving body, and moving body provided with position detection device |
| 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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| CN112208415A (en) * | 2019-07-09 | 2021-01-12 | 深圳市安泽智能机器人有限公司 | Robot and AGV trolley based carrying method and robot |
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| CN108897319A (en) * | 2018-06-23 | 2018-11-27 | 广州市柯乐名迪电子科技有限公司 | Automatic Pilot method, apparatus and system based on digital geometry figure |
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| CN110873860B (en) * | 2018-08-31 | 2023-08-04 | 株式会社日立产机系统 | Position detection device for mobile body, and mobile body provided with position detection device |
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| CN109618886B (en) * | 2018-11-26 | 2021-04-23 | 中国科学院半导体研究所 | Multi-tower vehicle synchronous walking control device and method |
| 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 |
| CN112208415A (en) * | 2019-07-09 | 2021-01-12 | 深圳市安泽智能机器人有限公司 | Robot and AGV trolley based carrying method and robot |
| CN111026106A (en) * | 2019-11-07 | 2020-04-17 | 广东工业大学 | Unmanned vehicle outdoor driving system |
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