CN107907861A - A kind of flooring transport vehicle ultrasonic wave positioning control system and its control method - Google Patents
A kind of flooring transport vehicle ultrasonic wave positioning control system and its control method Download PDFInfo
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- CN107907861A CN107907861A CN201711083579.2A CN201711083579A CN107907861A CN 107907861 A CN107907861 A CN 107907861A CN 201711083579 A CN201711083579 A CN 201711083579A CN 107907861 A CN107907861 A CN 107907861A
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Classifications
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
- G01S5/18—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using ultrasonic, sonic, or infrasonic waves
- G01S5/22—Position of source determined by co-ordinating a plurality of position lines defined by path-difference measurements
-
- 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
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
- G05D1/0238—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using obstacle or wall sensors
- G05D1/024—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using obstacle or wall sensors in combination with a laser
-
- 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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- 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
- G05D1/0268—Control of position or course in two dimensions specially adapted to land vehicles using internal positioning means
- G05D1/027—Control of position or course in two dimensions specially adapted to land vehicles using internal positioning means comprising intertial navigation means, e.g. azimuth detector
-
- 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
- G05D1/0268—Control of position or course in two dimensions specially adapted to land vehicles using internal positioning means
- G05D1/0274—Control of position or course in two dimensions specially adapted to land vehicles using internal positioning means using mapping information stored in a memory device
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D3/00—Control of position or direction
- G05D3/12—Control of position or direction using feedback
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- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Aviation & Aerospace Engineering (AREA)
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Abstract
The invention discloses a kind of flooring transport vehicle ultrasonic wave positioning control system and its control method, it includes AGV control systems and master system, the master system includes man-machine interface and processing module, AGV system is after integrated environment map where setting AGV, handled by host computer and draw overall path planning, AGV control systems are transmitted to by communication module, with reference to ultrasonic positioning system and obstacle avoidance system total tune, handled and obtained a result by main control singlechip, driver control omni-directional wheel in electric machine control system is transmitted to rotate, realize AGV trolleies indoors from one place to the safe operation in another place.The comprehensive ultrasonic positioning system followed can complete reception device following and being aligned to ultrasonic wave emitting head, can solve the position error as caused by losing ripple, improve positioning accuracy.Also, this device can realize comprehensive ultrasonic wave positioning and tracking, therefore also solve the problems, such as that the blind area of conventional ultrasonic wave alignment system is excessive.
Description
Technical field
The invention belongs to control technology field, is related to a kind of flooring transport vehicle ultrasonic wave positioning control system and its control
Method.
Background technology
Ultrasonic probe, ultrasonic receiver is fixing device in existing indoor ultrasonic positioning technology, and some ultrasonic wave receiving transducers are consolidated
Due to interior of building ceiling, and existing improvement is mostly to add multiple ultrasonic wave receiving transducers or change location Calculation to advise
Then, and these improvement can not solve ultrasonic wave receive when caused by lose ripple phenomenon, so as to can not thoroughly solve to be caused by losing ripple
Error, i.e., since the distance of ultrasonic wave transmitting probe to each ultrasonic wave receiving transducer is unequal, and cause ultrasonic wave to receive
The ultrasonic wave received of popping one's head in is asynchronous.Indoors in ultrasonic wave location technology, ultrasonic wave receiving transducer loses several ripples, this
It is the basic reason for causing ultrasonic wave position error.Also, ultrasonic probe, ultrasonic receiver is fixed and can caused in ultrasound on the ceiling
When ripple transmitting probe is moved, ultrasonic wave receiving transducer is there are certain blind area, from Ultrasonic characteristics, ultrasonic wave hair
Penetrate/receiving transducer when 0 angle, transmitting/reception is best, and with the increase of angle, signal strength reduces rapidly.One
As to take 30 ° be transmitting/receiving area.Therefore, fixed ultrasonic wave receiving transducer on the ceiling is all there are certain blind area, together
When multiple ultrasonic wave receiving transducer blind areas be overlapped mutually again, this causes existing ultrasound positioning system positioning blind area larger.
The content of the invention
The present invention is solution the problems of the prior art, there is provided a kind of flooring transport vehicle ultrasonic wave positioning control system
And its control method.It can accomplish that alignment receives positioning signal in real time, avoids position error caused by losing ripple, and reduce positioning
System blind area.
The present invention thinking be, it is contemplated that ultrasonic wave travel in atmosphere up to ultrasonic probe, ultrasonic receiver existence time postpone
Reach that four receiving transducers are asynchronous causes to lose the problem of wave number does not know to cause to be accurately positioned with ultrasonic wave, with reference to air
Temperature and gas flow rate, using comprehensive excusing from death wave receiving device, can complete following and being aligned to launch point, and then ensure
Launch point to each receiving point air line distance difference in fault-tolerant threshold value, therefore four received ultrasonic signals of receiving transducer
Intensity difference in fault-tolerant threshold value, error caused by the problems such as avoiding receiving time error and losing ripple, ensure that the standard of positioning
True property.Also, complete to follow and be aligned completely with launch point by comprehensive excusing from death wave receiving device, reduce due to more than
Blind area caused by ultrasonic wave range of receiving.
The present invention is achieved by the following scheme：
A kind of flooring transport vehicle ultrasonic wave positioning control system, including master system and AGV system；It is described upper
Machine system is communicated by the wireless communication module in AGV system with AGV system, and host computer sends data message to AGV system；
The master system includes parameter setting module, electric map module, serial ports configuration module, order transmission mould
Block, processing module, size, the arrangement of barrier and the numerical value of start-stop position of the parameter setting module setting electronic map,
The numerical value of setting obtains global grid electron map and global optimum's route by the computing of processing module, and global grid is electronically
Figure is shown with optimal route in electric map module；Set what is be pre-selected to communicate with host computer in serial ports configuration module
The Serial Port Information of wireless communication module, clicks on the order send key in order transport module and confirms to send order, by global optimum
Route sends the main control singlechip into AGV system；The processing module includes embedded in Matlab Script softwares and adjusting
With the Labview softwares of Matlab softwares, the data that processing module is provided by parameter setting module draw global grid electricity
Sub- map and that completes ant group algorithm be calculated global optimum's route；
The AGV system includes main control singlechip, ultrasonic wave sends system, follows ultrasonic wave reception system, avoidance automatically
System, AGV kinematic systems, display screen；The main control singlechip and ultrasonic wave send system and follow ultrasonic wave to receive system automatically
System forms alignment system, by following ultrasonic wave reception system to obtain positioning number according to ultrasonic ranging and steering engine angle automatically
According to main control singlechip receives location data and judges to obtain AGV system position in electronic map, master control by reliability
Microcontroller receives global optimum's route of host computer transmission by the wireless communication module in ultrasonic wave transmission system；The master
Control microcontroller obtains ambient condition information by obstacle avoidance system and the office centered on AGV trolleies is converted into by coordinate transform
Portion's grid electron map, main control singlechip obtain local avoidance route based on obtained local grid electron map calculation process,
Main control singlechip 1 combines global optimum's route and local avoidance route is handled it, and obtains the data of AGV moving of car routes,
Then the data command of AGV moving of car routes is sent to AGV kinematic systems and controls AGV trolley travellings, while master control monolithic
Machine shows the information of the posture of AGV trolleies, speed, position, barrier and path planning on a display screen, and with once per second
Frequency renewal.
The ultrasonic wave, which sends system, includes No.1 steering engine group, ultrasonic wave transmitting probe, wireless communication module, pose collection
Device；
The wireless communication module realizes main control singlechip and host computer for single-chip type radio frequency transceiver NRF24L01
Communication；
The pose collector selects three axis MPU6050 of three axis accelerometer, six axle modules, by its gyroscope function Lai really
Determine the posture of AGV trolleies；
The ultrasonic wave transmitting probe is TCT40-16T/R ultrasonic probes, and the No.1 steering engine group is by two M90 steering engines
A two-dimensional pan-tilt is formed, ultrasonic wave transmitting probe can be made to be directed toward aerial unspecified angle, realize the signal on recipient direction
Maximum intensity propagate.
It is described to follow ultrasonic wave reception system to include No. two steering engine groups, ultrasonic probe, ultrasonic receiver, wireless module, monolithics automatically
Machine, external direct current power supply；Microcontroller is powered by external direct current power supply, and No. two steering engine groups, ultrasonic probe, ultrasonic receiver, wireless modules are equal
By the power supply that is connected with microcontroller, the automatic microcontroller followed in ultrasonic wave reception system controls wireless module to send data
Signal simultaneously starts the clocking capability of timer in microcontroller, master control list to the wireless communication module in ultrasonic wave transmission system at the same time
Piece machine controls ultrasonic wave transmitting probe transmitting ultrasonic signal while receiving the signal of wireless communication module transmission, automatically with
Timer is made to stop timing while ultrasonic probe, ultrasonic receiver receives ultrasonic wave with the microcontroller in ultrasonic wave reception system,
Microcontroller is received according to the steering angle and ultrasonic wave of the time that built-in timer is counted and the transmission of No. two steering engine groups and filled
Put residing height and complete location Calculation, obtain ultrasonic wave location data, microcontroller is followed automatically by pulse width modulation control
The steering of No. two steering engine groups in ultrasonic wave reception system, makes direction where ultrasonic probe, ultrasonic receiver face ultrasonic wave transmitting probe,
It is automatic to follow ultrasonic wave reception system to send ultrasonic wave location data by wireless module, wireless communication in ultrasonic wave transmission system
Module receives the main control singlechip that ultrasonic wave location data is sent to AGV, and main control singlechip judges reliability, if 0, then loses
Abandon, and continuous 10 storages ultrasonic wave location data, it is averaged after removing wherein maximum, minimum value, draws final ultrasonic wave
Location data, main control singlechip combines final ultrasonic wave location data and pose collector transmits the appearance of current AGV trolleies
State data processing obtains the alignment angle that No.1 steering engine in ultrasonic wave transmission system needs to rotate；
The external direct current power supply is set as 5V.
The No.1 steering engine group and No. two steering engine groups are the two-dimensional pan-tilt being made of two steering engines, can complete flexible fortune
It is dynamic, i.e., to establish z-axis downwards perpendicular to the ground, ultrasonic wave reception system is being formed 45 with z-axisoThe following spatial dimension of curved surface at angle
Interior rotation；
The ultrasonic probe, ultrasonic receiver is that the ultrasonic wave being distributed on acrylic board receives head group, and whole ultrasonic waves receive head
The distance that the geometric center of formed figure reaches each ultrasonic wave reception head is equal, and with square profile on acrylic board
On four angles, the ultrasonic wave receives head group and compares including ultrasonic wave reception head, active band-pass filter, counter and numerical value
Device；Each ultrasonic wave receives head and contacts respectively with active band-pass filter, and active band-pass filter is contacted with counter, all meter
Number device is connected with digital comparator, and in being positioned in ultrasonic wave, the frequency for the ultrasonic wave that ultrasonic wave transmitting probe is sent is
38kHZ~40kHZ, ultrasonic wave receive head received ultrasonic signal, and ultrasonic signal is by active band-pass filter, by active
Bandpass filter controls ultrasonic frequency in 40kHZ, filters the interference ripple of other frequencies, is filtered by active band-pass filter
Ultrasonic transmission to counter, counter records each ultrasonic wave and receives head respectively is inscribed received ultrasonic wave number in 1s,
The ultrasonic wave number of each counter records is transmitted in digital comparator in the form of DCB codes to be compared, and is compared in numerical value
Judge whether the ultrasonic wave number that each ultrasonic wave reception head receives in the 1s times is identical, passes through sentencing for digital comparator in device
Disconnected result loses ripple phenomenon to judge that each ultrasonic wave reception head whether there is, and judges this group of signal for reliable letter if ripple is not lost
Number；
It is automatic to follow No. two steering engine groups being made of in ultrasonic wave reception system two steering engines to be controlled by closed loop PID systems
Two DC brushless motors, the steering of panel where receiving head by two Brush-Less DC motor control ultrasonic waves, and by closed loop PID systems
System control actual angle, is adjusted, at the same time if deflection angle with target angle difference by closed loop PID system feedback systems
Gyroscope is connected with microcontroller with conducting wire, gathering ultrasonic wave by gyroscope receives head and the angle-data of vertical direction, top
Angle-data is transmitted to the automatic microcontroller followed in ultrasonic wave reception system and carries out location Calculation by spiral shell instrument.
Receiving transducer in the ultrasonic probe, ultrasonic receiver selects the ultrasonic wave receiving module based on CX20106a, wireless mould
Block selects NRF24L01 radio-frequency modules, and the active band-pass filter is made of low pass RC links and high pass RC links, active band
The output frequency of bandpass filter is 40.2kHz, and the frequency for the ultrasonic wave that ultrasonic transmitter is sent is 38kHz~40kHz, is passed through
The output frequency of active band-pass filter filtering meets the requirement of ultrasonic frequency range, and the counter is the double BCD of CD4518
Up counter, the digital comparator are 74LS85BCD digital comparators, and ultrasonic wave receives head and uses four, four ultrasounds
Ripple receives head and is connected with corresponding four active band-pass filters, wherein, the INT ports of each ultrasonic wave reception head respectively with it is right
The Ui ports connection for the active band-pass filter answered；Four active band-pass filters are connected with corresponding four counters, each
The Uo ports of active band-pass filter are connected with the CP1 ports of corresponding counter.The EN1 ports of each counter with it is external straight
Galvanic electricity source is connected, and 5V DC voltages are provided by external direct current power supply.In whole counters, connected with first ultrasonic probe
Counter has three-way output signal A3, A2, A1, this three-way output signal is identical, is in addition connected with other 3 ultrasonic probes
Counter exports 1 road signal respectively, is exported respectively by B3, B2, B1 port of three counters；The output signal of whole counters
Export to digital comparator；
The active band-pass filter is made of low pass RC links and high pass RC links, wherein resistance R1, resistance R2, resistance
R3, resistance R4 are that 1.2k Ω, capacitance C1 and capacitance C2 are 3300pF, and the output frequency of active band-pass filter is
40.2kHz, the frequency for the ultrasonic wave that ultrasonic transmitter is sent is 38kHz~40kHz.
The AGV kinematic systems include motor control assembly, power control and car body, and the car body is via motor control
Device control processed simultaneously completes movement by power control power supply；The car body includes vehicle frame and the omnidirectional below vehicle frame
Wheel；The motor control assembly includes motor the same number of with omni-directional wheel, encoder and driving corresponding with motor number
The motion command that main control singlechip transmits is decoded into the rotating speed of each omni-directional wheel by device, the driver, and rotating speed is connected by CAN bus
The motor for being transmitted to each omni-directional wheel is connect, motor is connected with omni-directional wheel drives omni-directional wheel movement to determine AGV movement velocitys and direction, compiles
Code device is connected measured motor actual speed with motor, and actual speed is transmitted to driver, if encoder surveys omni-directional wheel actual speed
It is deviated with order, then driver makes adjustment the rotating speed of each omni-directional wheel；The energy supply control module include lithium battery and
Power bus interface circuit, after lithium battery is via pressure value needed for power bus interface circuit voltage regulation to main control singlechip, to master control
Microcontroller and ultrasonic wave send system, obstacle avoidance system, AGV kinematic systems and are powered；
Motor is DC speed-reducing in the AGV kinematic systems, and driver is four axis drivers, and wheel is complete for QMA10
To wheel, any angle turns in the case of coordinating completion AGV trolley poses constant by four wheels speed.
The obstacle avoidance system includes scanner, modular converter, and main control singlechip turns the converted module of environment measuring order
Chemical conversion ethernet format is exported to scanner, after scanner completes single pass, by the converted module of ambient data by its
Change into serial ports form and be transmitted to main control singlechip, main control singlechip receives the ambient condition information that scanner detects
Afterwards, coordinate transform processing is carried out, for establishing the local grid electron map centered on AGV trolleies position, is obtained
Local avoidance route is obtained by A* algorithm computings after to local grid electron map；
Scanner in the obstacle avoidance system selects SICK_TIM_351 type laser scanners, to realize to AGV trolleies
The detection of peripheral obstacle, it detects data for the renewal to local grid electron map；
The dynamic obstacle avoidance scope of selection is the scope of the radius 4m centered on AGV trolleies, and A* algorithms take grating map method,
The scale division value of grating map is 0.05m, and the total grid number of map of search is 25600, and main control singlechip uses model to provide
Ethernet interface, main control singlechip are connected with serial ports-WIFI module, serial ports-WIFI module other end and laser scanner phase
Even, signal conversion is realized to the communication of main control singlechip and obstacle avoidance system by serial ports-WIFI module.
Two serial ports-WIFI modules are also equipped between the AGV system and host computer, to realize that the real-time of data passes
It is defeated；
The AGV trolleies are also equipped with two serial ports-WIFI modules and are connected with main control singlechip, to realize and host computer
The real-time Transmission of data among systems, after alignment system completes the positioning to AGV trolleies, main control singlechip passes through two strings
Mouth-WIFI module sends the location information received to host computer, and electric map module real-time display AGV is small in host computer
Truck position.
The main control singlechip is STM32F407VET6 microcontrollers, PA2, PA3 pin and serial ports-WIFI moulds of microcontroller
Block is connected, and completes the communication of main control singlechip and host computer, and PC10, PC11 pin of microcontroller are connected with serial ports-WIFI module,
Complete the data transfer of main control singlechip and SICK_TIM_351 scanners, six Axle mould of PA0, PA1 pin and M6050 of microcontroller
Block is connected, and main control singlechip is received the pose data of AGV trolleies, in PB10, PB11 pin and No.1 steering engine group of microcontroller
Two steering engines are connected, and make the direction of main control singlechip control excusing from death ripple transmitting, PC6, PC7 pin and the ultrasonic wave transmitting of microcontroller
Probe is connected, and makes main control singlechip control transmitting ultrasonic signal, and PB8, PB9 pin of microcontroller are transported by CAN bus to AGV
The driver of dynamic system sends order, and PA5~7 of microcontroller, PA12 pins are connected with wireless communication module, receives ultrasonic wave and determines
Position data are to main control singlechip；
10th, the control method of the flooring transport vehicle ultrasonic wave positioning control system described in a kind of claim 1 to 9,
Comprise the following steps：
A. follow the wireless module in ultrasonic wave reception system to send system to ultrasonic wave on AGV system automatically and send a row
Data-signal, the main control singlechip in AGV system is received by wireless communication module to be followed in ultrasonic wave reception system automatically
The data-signal that wireless module is sent；
B. main control singlechip opens ultrasonic wave transmitting timer, makes ultrasonic wave send systems emitting ultrasounds ripple signal.At the same time
The automatic wireless module automatic-answering back device followed in ultrasonic wave reception system, follows the microcontroller in ultrasonic wave reception system to open automatically
Open the clocking capability progress ultrasonic wave reception timing for carrying timer；
C. ultrasonic probe, ultrasonic receiver receives the ultrasonic signal that ultrasonic wave sends system transmitting, ultrasound signal transmission to list
Piece machine, the timer in microcontroller complete timing, and ultrasonic wave receives ultrasonic signal that head receives through ultrasonic probe, ultrasonic receiver
In active band-pass filter filtering, ultrasonic wave positioning in, the frequency for the ultrasonic wave that ultrasonic wave transmitting probe is sent is about
38kHZ~40kHZ, is removed not in the 40kHz ultrasonic wave threshold values that ultrasonic wave sends system transmitting by active band-pass filter
Clutter, and by the double BCD up counters of CD4518 in each ultrasonic wave receiving transducer group to per second received
Ultrasonic wave number is counted, and each ultrasonic wave receives the ultrasonic wave number that head receives and is sent to 74LS85BCD numeric ratios
Compared with being compared in device, in whole counters, the counter that is connected with first ultrasonic probe have three-way output signal A3,
A2, A1, this three-way output signal is identical, and the counter being in addition connected with other 3 ultrasonic probes exports 1 road signal respectively,
Exported respectively by B3, B2, B1 port of three counters, signal output to digital comparator.To be received with first ultrasonic wave
3 tunnels of the connected counter of head are exported subject to signal, the up counter being connected respectively with its excess-three ultrasonic wave reception head
The signal of output is contrasted, if comparing result is consistent, proves that the waveform number that 4 ultrasonic waves reception heads receive is identical, then
This group of signal determining is reliable signal, if being consistent with remaining row, represents 4 ultrasonic waves and receives waveform number that heads receive not phase
Together, that is, exist and lose ripple, then signal is given up without operation；
D. reliable signal is transferred to microcontroller, and the time that microcontroller corresponds to the timing of microcontroller institute according to reliable signal calculates
Each ultrasonic wave receives the distance that head is surveyed；The Distance Judgment current ultrasonic that microcontroller is surveyed according to each ultrasonic wave reception head
The reliability of signal, i.e., whether be same row ultrasonic signal, Yi Jishi if judging that each ultrasonic wave receives received by head again
It is no that same row ultrasonic signal each ultrasonic wave reception head is responded, carried out according to the distance that each ultrasonic wave reception head is surveyed
Geometry calculates, if the error for reaching all ultrasonic waves reception head geometrical plane midpoints is no more than set threshold value, is reliable, obtains
Each ultrasonic wave receives the reliable range data that head receives；
E. follow automatically microcontroller in ultrasonic wave reception system according to each ultrasonic wave receive that head receives it is reliable away from
From data with reference to residing for when the first two number steering engine group angle and reception system height, draw AGV ultrasonic wave location datas, ultrasonic wave
Reception device follows No. two rudders in ultrasonic wave reception system automatically according to current position determination data by pulse width modulation (PWM) control
Unit turns to alignment AGV trolleies；
F. ultrasonic wave reception system is followed to send ultrasonic wave location data by wireless module automatically, ultrasonic wave sends system
In wireless communication module receive the main control singlechip that ultrasonic wave location data is sent to AGV system, main control singlechip judges
Reliability, if data are 0, abandons, and continuous 10 storages ultrasonic wave location data, after removing wherein maximum, minimum value
It is averaged, draws final ultrasonic wave location data；
G. main control singlechip combines final ultrasonic wave location data and pose collector transmits current AGV trolleies posture
The No.1 steering engine group that data processing is obtained in ultrasonic wave transmission system needs the alignment angle rotated；
H. main control singlechip will be directed at angle and be transmitted to No.1 steering engine group, and the No.1 steering engine group in ultrasonic wave transmission system is complete
Into rotation, it is super with following automatically to send system for the positioning of AGV trolley points and ultrasonic wave when completing to transmitting ultrasonic signal
Acoustic receiver system alignment, positions into the current location circulated or circulation above-mentioned steps are new to AGV trolleies.
The protrusion effect that has compared with prior art of the present invention is：
1. have children outside the state plan wave receiving device and ultrasonic wave transmitting probe can be by No.1 steering engine group and No. two steering engine groups according to meter
The location data that calculates completes following and being aligned to transmitting probe, so ensure that launch point to each receiving point straight line away from
Deviation is after according to actual environment scale experiment in set threshold range.Also, the strength retrogression of the same ultrasonic signal sent
It is directly proportional with transmission range, therefore the intensity difference of four received ultrasonic signals of receiving transducer of this ultrasonic probe, ultrasonic receiver exists
According in set threshold range after actual environment scale experiment, and then when ensure that ultrasonic wave reaches each receiving module, receive
It is consistent that ripple number is lost caused by module.
2. the excusing from death wave receiving device of the ultrasonic system and following and be aligned and can solving for ultrasonic wave transmitting probe
The position error as caused by ultrasonic wave loses ripple, improves positioning accuracy.Meanwhile this device can realize comprehensive ultrasonic wave positioning
With tracking, excusing from death 0 theta alignment received ultrasonic signal of wave receiving device and ultrasonic wave transmitting probe is realized, is solved super
Sound wave solves the blind area mistake of conventional ultrasonic wave alignment system since transmitting/reception is there are blind zone problem caused by angle
The problem of big.
3. wave filter and waveform count device, wave filter are added in ultrasonic probe, ultrasonic receiver can avoid noise jamming, waveform meter
Number device can detect each ultrasonic wave and receive head with the presence or absence of ripple is lost, and improves the reliability of the ultrasonic signal received, reduces
Error, improves the efficiency of ultrasonic positioning system.
4. the ultrasonic wave register control and its control method invented, the transport available for warehoused cargo positions, it is also possible to
In the place of other plane trolleies transport, such as indoor frock in workshop, the transport of Workshop Production original paper, Hospital medical nurse, family
The similar site such as front yard Medical nursing.
5. the application of the present invention, can use manpower and material resources sparingly cost of investment, and market yet there are no the identical equipment of technology at home
Application, have a vast market prospect.
Brief description of the drawings
Fig. 1 is the principle schematic of ultrasonic wave register control provided by the invention.
Fig. 2 is the flow chart of ultrasonic wave register control control method of the present invention.
Fig. 3 is ultrasonic wave reception system single chip part wiring diagram in ultrasonic wave register control of the present invention.
Fig. 4 is ultrasonic wave receiving module circuit diagram.(the ultrasonic wave receiving module circuit diagram based on CX20106)
Fig. 5 is radio frequency module circuit figure.(NRF24L01 radio frequency modular circuits figure)
Fig. 6 is filter circuit figure.
Fig. 7 is ultrasonic wave waveform count device and digital comparator circuit diagram.
Embodiment
The embodiment of the present invention is described in detail below in conjunction with the accompanying drawings.
Referring to Fig. 1~Fig. 7.
A kind of flooring transport vehicle ultrasonic wave register control of the present invention, including master system and AGV system；It is described
Master system is communicated by the wireless communication module in AGV system with AGV system, and host computer sends data letter to AGV system
Breath；
The master system includes parameter setting module, electric map module, serial ports configuration module, order transmission mould
Block, processing module, size, the arrangement of barrier and the numerical value of start-stop position of the parameter setting module setting electronic map,
The numerical value of setting obtains global grid electron map and global optimum's route by the computing of processing module, and global grid is electronically
Figure is shown with optimal route in electric map module；Set what is be pre-selected to communicate with host computer in serial ports configuration module
The Serial Port Information of wireless communication module, clicks on the order send key in order transport module and confirms to send order, by global optimum
Route sends the main control singlechip into AGV system；The processing module includes embedded in Matlab Script softwares and adjusting
With the Labview softwares of Matlab softwares, the data that processing module is provided by parameter setting module draw global grid electricity
Sub- map and that completes ant group algorithm be calculated global optimum's route；
The AGV system includes main control singlechip, ultrasonic wave sends system, follows ultrasonic wave reception system, avoidance automatically
System, AGV kinematic systems, display screen；The main control singlechip and ultrasonic wave send system and follow ultrasonic wave to receive system automatically
System forms alignment system, by following ultrasonic wave reception system to obtain positioning number according to ultrasonic ranging and steering engine angle automatically
According to main control singlechip receives location data and judges to obtain AGV system position in electronic map, master control by reliability
Microcontroller receives global optimum's route of host computer transmission by the wireless communication module in ultrasonic wave transmission system；The master
Control microcontroller obtains ambient condition information by obstacle avoidance system and is converted into by coordinate transform with AGV trolley (plane transportations
Car) centered on local grid electron map, main control singlechip obtained based on obtained local grid electron map calculation process
Local avoidance route, main control singlechip combination global optimum's route and local avoidance route are handled it, and obtain AGV moving of car
The data of route, then the data command of AGV moving of car routes is sent to AGV kinematic systems and controls AGV trolley travellings, together
When main control singlechip the information of the posture of AGV trolleies, speed, position, barrier and path planning is shown on a display screen, and
Updated with frequency of once per second.
The ultrasonic wave, which sends system, includes No.1 steering engine group, ultrasonic wave transmitting probe, wireless communication module, pose collection
Device；
The wireless communication module is realized for simple in structure, stable single-chip type radio frequency transceiver NRF24L01
The communication of main control singlechip and host computer；
The pose collector is three axis MPU6050 of three axis accelerometer, six axle modules, is determined by its gyroscope function
The posture of AGV trolleies.
The ultrasonic wave transmitting probe is TCT40-16T/R ultrasonic probes,
The No.1 steering engine group forms a two-dimensional pan-tilt by two M90 steering engines, can be directed toward ultrasonic wave transmitting probe empty
Middle unspecified angle, realizes that the maximum intensity of the signal on recipient direction is propagated.
It is described to follow ultrasonic wave reception system to include No. two steering engine groups, ultrasonic probe, ultrasonic receiver, wireless module, monolithics automatically
Machine, external direct current power supply；Microcontroller is powered by external direct current power supply, and No. two steering engine groups, ultrasonic probe, ultrasonic receiver, wireless modules are equal
By the power supply that is connected with microcontroller, the automatic microcontroller followed in ultrasonic wave reception system controls wireless module to send data
Signal simultaneously starts the clocking capability of timer in microcontroller, master control list to the wireless communication module in ultrasonic wave transmission system at the same time
Piece machine controls ultrasonic wave transmitting probe transmitting ultrasonic signal while receiving the signal of wireless communication module transmission, automatically with
Timer is made to stop timing while ultrasonic probe, ultrasonic receiver receives ultrasonic wave with the microcontroller in ultrasonic wave reception system,
Microcontroller is received according to the steering angle and ultrasonic wave of the time that built-in timer is counted and the transmission of No. two steering engine groups and filled
Put residing height and complete location Calculation, obtain ultrasonic wave location data, microcontroller is followed automatically by pulse width modulation control
The steering of No. two steering engine groups in ultrasonic wave reception system, makes direction where ultrasonic probe, ultrasonic receiver face ultrasonic wave transmitting probe,
It is automatic to follow ultrasonic wave reception system to send ultrasonic wave location data by wireless module, wireless communication in ultrasonic wave transmission system
Module receives the main control singlechip that ultrasonic wave location data is sent to AGV, and main control singlechip judges reliability, if 0, then loses
Abandon, and continuous 10 storages ultrasonic wave location data, it is averaged after removing wherein maximum, minimum value, draws final ultrasonic wave
Location data, main control singlechip combines final ultrasonic wave location data and pose collector transmits the appearance of current AGV trolleies
State data processing obtains the alignment angle that No.1 steering engine in ultrasonic wave transmission system needs to rotate；
The external direct current power supply is set as 5V；
The No.1 steering engine group and No. two steering engine groups are the two-dimensional pan-tilt being made of two steering engines, can complete flexible fortune
It is dynamic, i.e., to establish z-axis downwards perpendicular to the ground.
The ultrasonic probe, ultrasonic receiver is to receive head group, such as Fig. 4 with the ultrasonic wave being necessarily regularly distributed on acrylic board
It is shown, it is required follow the principles to receive head by whole ultrasonic waves and form the geometric center of figure reach each ultrasonic wave reception head
Apart from equal, it is on acrylic board on four angles with square profile that the present apparatus is existing.The ultrasonic wave, which receives head group, to be included surpassing
Acoustic receiver head, active band-pass filter, counter and digital comparator；Each ultrasonic wave receives head and is filtered respectively with active band logical
Ripple device is contacted, and active band-pass filter is contacted with counter, and active filter circuit is as shown in fig. 6, whole counters and numerical value
Comparator is connected, and ultrasonic wave waveform count device circuit diagram is as shown in Figure 7.In being positioned in ultrasonic wave, ultrasonic wave transmitting probe
The frequency of the ultrasonic wave sent is about 38kHZ~40kHZ, and ultrasonic wave receives head received ultrasonic signal, and ultrasonic signal leads to
Active band-pass filter is crossed, ultrasonic frequency is controlled in 40kHZ by active band-pass filter, filters the interference of other frequencies
Ripple, to counter, counter records each ultrasonic wave and receives head the ultrasonic transmission by active band-pass filter filtering respectively
Received ultrasonic wave number is inscribed in 1s, the ultrasonic wave number of each counter records is transmitted to numeric ratio in the form of DCB codes
Compared with being compared in device, judge that the ultrasonic wave number that each ultrasonic wave receives that head receives in the 1s times is in digital comparator
It is no identical, judge that each ultrasonic wave receives head with the presence or absence of ripple phenomenon is lost by the judging result of digital comparator, if not having
Losing ripple then judges this group of signal for reliable signal.
Receiving transducer in the ultrasonic probe, ultrasonic receiver selects the ultrasonic wave receiving module based on CX20106a, wireless mould
Block selects NRF24L01 radio-frequency modules, and Fig. 4 is the ultrasonic wave receiving module circuit diagram that the present apparatus is selected, and Fig. 5 selects for the present apparatus
Radio frequency module circuit figure.The active band-pass filter is made of low pass RC links and high pass RC links, as shown in Figure 6.Its
Middle resistance R1, resistance R2, resistance R3, resistance R4 are 1.2kΩ, capacitance C1 and capacitance C2 is 3300pF, active bandpass filiter
The output frequency of device is 40.2kHz, and the frequency for the ultrasonic wave that ultrasonic transmitter is sent is 38kHz~40kHz, passes through active band
The output frequency of bandpass filter filtering meets the requirement of ultrasonic frequency range.The counter is the double BCD addition meters of CD4518
Number device, the digital comparator is 74LS85BCD digital comparators.The present apparatus receives head, four ultrasounds using four ultrasonic waves
Ripple receives head and is connected with corresponding four active band-pass filters, wherein, the INT ports of each ultrasonic wave reception head respectively with it is right
The Ui ports connection for the active band-pass filter answered；Four active band-pass filters are connected with corresponding four counters, each
The Uo ports of active band-pass filter are connected with the CP1 ports of corresponding counter.The EN1 ports of each counter with it is external straight
Galvanic electricity source is connected, and 5V DC voltages are provided by external direct current power supply.In whole counters, connected with first ultrasonic probe
Counter has three-way output signal A3, A2, A1, this three-way output signal is identical, is in addition connected with other 3 ultrasonic probes
Counter exports 1 road signal respectively, is exported respectively by B3, B2, B1 port of three counters；The output signal of whole counters
Output is to digital comparator, as shown in Figure 7.
Receiving transducer in the ultrasonic probe, ultrasonic receiver selects the ultrasonic wave receiving module based on CX20106a, wireless mould
Block selects NRF24L01 radio-frequency modules, and Fig. 4 is the ultrasonic wave receiving module circuit diagram that the present apparatus is selected, and Fig. 5 selects for the present apparatus
Radio frequency module circuit figure.In Fig. 3, A is microcontroller, and B is No. 2 steering engine groups, and C is radio-frequency module, and D is ultrasonic probe, ultrasonic receiver, E
For ultrasonic wave receiving transducer group, F is digital comparator, follows P1B2~4 of the microcontroller in ultrasonic wave reception system to draw automatically
Three OAGTB pins of the foot respectively with digital comparator in four ultrasonic wave receiving transducer groups are connected；PW1, PW2 of microcontroller draw
Foot is connected with two steering engine signal wires of No. 2 steering engine groups respectively.The pin of PG6~7 of microcontroller and PB3~5 successively with radio frequency mould
NRF CE, NRF CS, NRF IRQ, NRF SCK, NRF MOSI, the NRF SCK pins of block are connected.
The AGV kinematic systems include motor control assembly, power control and car body, and the car body is via motor control
Device control processed simultaneously completes movement by power control power supply；The car body includes vehicle frame and the omnidirectional below vehicle frame
Wheel；The motor control assembly includes motor the same number of with omni-directional wheel, encoder and driving corresponding with motor number
The motion command that main control singlechip transmits is decoded into the rotating speed of each omni-directional wheel by device, the driver, and rotating speed is connected by CAN bus
The motor for being transmitted to each omni-directional wheel is connect, motor is connected with omni-directional wheel drives omni-directional wheel movement to determine AGV movement velocitys and direction, compiles
Code device is connected measured motor actual speed with motor, and actual speed is transmitted to driver, if encoder surveys omni-directional wheel actual speed
It is deviated with order, then driver makes adjustment the rotating speed of each omni-directional wheel；The energy supply control module include lithium battery and
Power bus interface circuit, after lithium battery is via pressure value needed for power bus interface circuit voltage regulation to main control singlechip, to master control
Microcontroller and ultrasonic wave send system, obstacle avoidance system, AGV kinematic systems and are powered；
Motor selects the import DC speed-reducing that response is fast, power is big, moment of torsion is strong, driving in the AGV kinematic systems
Device is four axis drivers, and wheel, which is selected, more flexibly can be achieved the QMA10 omni-directional wheels for ensureing the constant movement of pose, pass through four wheels
Any angle turns in the case of sub- speed coordinates completion AGV trolley poses constant.
The obstacle avoidance system includes scanner, modular converter, and main control singlechip turns the converted module of environment measuring order
Chemical conversion ethernet format is exported to scanner, after scanner completes single pass, by the converted module of ambient data by its
Change into serial ports form and be transmitted to main control singlechip, main control singlechip receives the ambient condition information that scanner detects
Afterwards, coordinate transform processing is carried out, for establishing the local grid electron map centered on AGV trolleies position, is obtained
Local avoidance route is obtained by A* algorithm computings after to local grid electron map.
Scanner in the obstacle avoidance system selects SICK_TIM_351 type laser scanners, to realize to AGV trolleies
The detection of peripheral obstacle, it detects data for the renewal to local grid electron map.The dynamic obstacle avoidance scope of selection is
The scope of the radius 4m centered on AGV trolleies, A* algorithms take grating map method, and the scale division value of grating map is 0.05m, search
The total grid number of map be 25600.Main control singlechip uses model to provide Ethernet interface, main control singlechip and string
Mouth-WIFI module is connected, and serial ports-WIFI module other end is connected with laser scanner, is turned signal by serial ports-WIFI module
The communication for realizing main control singlechip and obstacle avoidance system is changed, the configuration of this serial ports-WIFI module is simple, rich interface, stable.
Two serial ports-WIFI modules are also equipped between the AGV system and host computer, to realize that the real-time of data passes
It is defeated.Another innovative point, advantage
The AGV trolleies also need to installation two serial ports-WIFI modules be connected with main control singlechip, to realize with it is upper
The real-time Transmission of machine data among systems, after alignment system completes the positioning to AGV trolleies, main control singlechip passes through two strings
Mouth-WIFI module sends the location information received to host computer, and electric map module real-time display AGV is small in host computer
Truck position.
The main control singlechip is using the multi-functional STM32F407VET6 microcontrollers of support, PA2, PA3 pin of microcontroller
It is connected with serial ports-WIFI module, completes the communication of main control singlechip and host computer, PC10, PC11 pin and serial ports of microcontroller-
WIFI module is connected, and completes the data transfer of main control singlechip and SICK_TIM_351 scanners, PA0, PA1 pin of microcontroller
Be connected with six axle modules of M6050, make main control singlechip receive AGV trolleies pose data, PB10, PB11 pin of microcontroller with
Two steering engines are connected in No.1 steering engine group, make the direction of main control singlechip control excusing from death ripple transmitting, PC6, PC7 pin of microcontroller
It is connected with ultrasonic wave transmitting probe, makes main control singlechip control transmitting ultrasonic signal, PB8, PB9 pin of microcontroller passes through
CAN bus sends order, PA5~7, PA12 pins and the wireless communication module phase of microcontroller to the driver of AGV kinematic systems
Even, ultrasonic wave location data is received to main control singlechip.
Automatically No. two steering engine groups being made of in ultrasonic wave reception system two steering engines are followed to be replaced by by closed loop PID systems
Two DC brushless motors of system control, the steering of panel where receiving head by two Brush-Less DC motor control ultrasonic waves, and by closing
Ring PID systems control actual angle, are adjusted if deflection angle with target angle difference by closed loop PID system feedback systems
It is whole, while gyroscope is connected with microcontroller with conducting wire, the angle of ultrasonic wave reception head and vertical direction is gathered by gyroscope
Angle-data is transmitted to the automatic microcontroller followed in ultrasonic wave reception system and carries out location Calculation by data, gyroscope.Steering engine
Group and control can be replaced by two DC brushless motors of closed loop PID control, can accomplish angle more it is accurate more rapidly, reaction it is sensitiveer
It is more flexible.
The automatic No. two steering engine groups followed in ultrasonic wave reception system select two s3003futaba steering engines to form can
The two-dimensional pan-tilt of flexible movement is completed, omnidirectional ultrasonic positioning and tracking is realized, it is blind to solve conventional ultrasonic wave alignment system
The problem of area is excessive.
Advantage：The automatic ultrasonic probe, ultrasonic receiver followed in ultrasonic wave reception system controls two direct currents by closed loop PID systems
Brushless electric machine sensitiveer and precision higher can control the angle of ultrasonic wave reception head, accurate quick correction ultrasonic wave reception
The deviation of head actual angle and target angle, makes the error smaller for following ultrasonic wave reception system to complete positional parameter automatically.
The active band-pass filter is made of low pass RC links and high pass RC links, as shown in Figure 6.Wherein resistance R1,
Resistance R2, resistance R3, resistance R4 are that 1.2k Ω, capacitance C1 and capacitance C2 are 3300pF, the output of active band-pass filter
Frequency is 40.2kHz,
It is used for the plane motion trolley (AGV trolleies) of warehouse logistics in the embodiment of the present invention, operator first enters upper
Parameter setting module in machine, sets electronic map general layout, size, obtains the optimal path of electronic map via processing module, so
Enter serial ports configuration module configuration interface parameters afterwards, and setting parameter data content is sent in order transport module.
Master system transfers data to main control singlechip by wireless communication module, and main control singlechip will obtain most
Short path supplemental characteristic, combined positioning system and obstacle avoidance system data, handling result is sent to motor control assembly, motor control
Device processed is by controlling motor speed to control AGV moving of car.
Ultrasonic wave position fixing process is：
The main control singlechip of a.AGV systems receives the automatic number for following wireless communication module transmission in ultrasonic wave reception system
It is believed that number；
A. wireless module in ultrasonic wave reception system is followed to send a columns to ultrasonic wave transmission system on AGV system automatically
It is believed that number, the main control singlechip of AGV system is received by wireless communication module follows wireless mould in ultrasonic wave reception system automatically
The data-signal that block is sent；
B. main control singlechip opens ultrasonic wave transmitting timer, makes ultrasonic wave send systems emitting ultrasounds ripple signal.At the same time
Automatically wireless module automatic-answering back device in ultrasonic wave reception system is followed, follows in ultrasonic wave reception system and determine in microcontroller automatically
When device open clocking capability carry out ultrasonic wave receive timing；
C. ultrasonic probe, ultrasonic receiver receives the ultrasonic signal that ultrasonic wave sends system transmitting, and receiving head by ultrasonic wave connects
Received ultrasonic signal is filtered through the active band-pass filter in ultrasonic probe, ultrasonic receiver, in ultrasonic wave positioning, ultrasonic wave
The frequency for the ultrasonic wave that transmitting probe is sent is about 38kHZ~40kHZ, is removed by active band-pass filter not in ultrasonic wave
Clutter in the 40kHz ultrasonic wave threshold values of transmission system transmitting, and pass through the CD4518 in each ultrasonic wave receiving transducer group
Double BCD up counters count received ultrasonic wave number per second, and each ultrasonic wave reception head receives super
Sound wave number is sent in 74LS85BCD digital comparators and is compared, in whole counters, and first ultrasonic probe
The counter of connection has three-way output signal A3, A2, A1, this three-way output signal is identical, in addition with other 3 ultrasonic probes
Connected counter exports 1 road signal respectively, is exported respectively by B3, B2, B1 port of three counters, signal output to numerical value
Comparator.Be subject to the 3 tunnels output signal of the counter being connected with first ultrasonic probe, respectively with it is ultrasonic with its excess-three
The signal of the connected counter output of ripple probe is contrasted, if comparing result is consistent with truth table last column shown in table 1,
Then proving that the waveform number that 4 probes receive is identical, then this group of signal determining is reliable signal, if being consistent with remaining row, generation
The waveform number that 4 probes of table receive differs, that is, exists and lose ripple, then signal is given up without operation；Reliable signal is transmitted
To microcontroller, the timer in microcontroller completes timing, and microcontroller receives head according to each ultrasonic wave in ultrasonic probe, ultrasonic receiver
Response time the distance that each ultrasonic wave receives head and surveyed is calculated with 100ms frequencies once；Microcontroller is according to each ultrasound
Ripple receives the reliability for the Distance Judgment current ultrasonic signal that head is surveyed, i.e., judges that each ultrasonic wave receives head and received again
Whether to being same row ultrasonic signal, and each ultrasonic wave of same row ultrasonic signal receives head and responds, if according to every
A ultrasonic wave receives the distance that head is surveyed and carries out geometry calculating, reaches all ultrasonic waves and receives the error at head geometrical plane midpoint not
It is reliable more than set threshold value, obtains each ultrasonic wave and receive the reliable range data that head receives；
D. the reliable distance that microcontroller is received according to each ultrasonic wave reception head in ultrasonic wave reception system is followed automatically
Data are combined when the first two number steering engine group angle and the residing height of reception system, are drawn the ultrasonic wave location data of AGV trolleies, are surpassed
Acoustic receiver device is followed two in ultrasonic wave reception system automatically according to current position determination data by pulse width modulation (PWM) control
Number steering engine group turns to alignment AGV trolleies；
E. ultrasonic wave reception system is followed to send ultrasonic wave location data by wireless module automatically, ultrasonic wave sends system
Middle wireless communication module receives the main control singlechip that ultrasonic wave location data is sent to AGV system, and main control singlechip judges can
By property, if 0, then abandon, and continuous 10 storages ultrasonic wave location data, it is averaged after removing wherein maximum, minimum value,
Draw final ultrasonic wave location data；
F. main control singlechip combines final ultrasonic wave location data and pose collector transmits current AGV attitude datas
Processing obtains the alignment angle that No.1 steering engine group in ultrasonic wave transmission system needs to rotate；
G. main control singlechip will be directed at angle and be transmitted to No.1 steering engine group, and the No.1 steering engine group in ultrasonic wave transmission system is complete
Into rotation, it is super with following automatically to send system for the positioning of AGV trolley points and ultrasonic wave when completing to transmitting ultrasonic signal
Acoustic receiver system alignment, positions into the current location for circulating new to AGV trolleies.
Avoidance process is：Main control singlechip sets the avoidance scope of obstacle avoidance system as 4m, and A* algorithms use grating map method,
The scale division value of grid electron map is 0.05m, and the total grid number of grid electron map is 25600.
A. environment measuring order is changed into ethernet format through ethernet module and exported to scanner by main control singlechip.
B. after scanner completes single pass, the converted module of environmental data is converted it into serial ports form and is transmitted to
Main control singlechip.
C. main control singlechip is carried out coordinate transform processing after the environmental information that scanner detects is received, and is used
In local grid electron map of the foundation centered on AGV trolleies.
D. on the basis of the local grid electron map constructed, operation algorithm carries out quick local paths planning.According to
Path planning, determines the local avoidance route of AGV trolleies, and by scanning the local grid electron map of renewal every time, circulation is above-mentioned
Step is completed to hide barrier in environment in operational process.
Table 1 is digital comparator truth table.(74LS85 truth tables)
In addition, embodiment described above is only the separate embodiment of the present invention, the protection being not intended to limit the invention
Scope, all technical solutions formed using equivalent substitution or equivalent transformation, and meet the technology of subject matter thinking of the present invention
Scheme, in the protection domain of application claims.
Claims (10)
- A kind of 1. flooring transport vehicle ultrasonic wave positioning control system, it is characterized in that including master system and AGV system；Institute State master system to communicate with AGV system by the wireless communication module in AGV system, host computer sends data to AGV system Information；The master system includes parameter setting module, electric map module, serial ports configuration module, order transport module, place Module is managed, the parameter setting module sets size, the arrangement of barrier and the numerical value of start-stop position of electronic map, setting Numerical value obtains global grid electron map and global optimum's route by the computing of processing module, global grid electron map with most Major path is shown in electric map module；The channel radio to communicate with host computer being pre-selected is set in serial ports configuration module Believe the Serial Port Information of module, click on the order send key in order transport module and confirm to send order, global optimum's route is sent out Send the main control singlechip into AGV system；The processing module includes embedded in Matlab Script softwares and calling The Labview softwares of Matlab softwares, the data that processing module is provided by parameter setting module draw global grid electronics Map and that completes ant group algorithm be calculated global optimum's route；The AGV system includes main control singlechip, ultrasonic wave sends system, it is automatic follow ultrasonic wave reception system, obstacle avoidance system, AGV kinematic systems, display screen；The main control singlechip and ultrasonic wave send system and follow ultrasonic wave reception system to form automatically Alignment system, by following ultrasonic wave reception system to obtain location data, master control according to ultrasonic ranging and steering engine angle automatically Microcontroller receives location data and judges to obtain AGV system position in electronic map, main control singlechip by reliability Global optimum's route of host computer transmission is received by the wireless communication module in ultrasonic wave transmission system；The master control monolithic Machine obtains ambient condition information by obstacle avoidance system and the local grid centered on AGV trolleies is converted into by coordinate transform Electronic map, main control singlechip obtain local avoidance route, master control list based on obtained local grid electron map calculation process Piece machine 1 combines global optimum's route and local avoidance route is handled it, and obtains the data of AGV moving of car routes, then will The data command of AGV moving of car routes sends to AGV kinematic systems and controls AGV trolley travellings, while main control singlechip is by AGV The posture of trolley, speed, position, the information of barrier and path planning shows on a display screen, and with frequency of once per second Renewal.
- 2. transport vehicle ultrasonic wave positioning control system in flooring as claimed in claim 1, it is characterized in that,The ultrasonic wave, which sends system, includes No.1 steering engine group, ultrasonic wave transmitting probe, wireless communication module, pose collector；The wireless communication module realizes the logical of main control singlechip and host computer for single-chip type radio frequency transceiver NRF24L01 Letter；The pose collector selects three axis MPU6050 of three axis accelerometer, six axle modules, and AGV is determined by its gyroscope function The posture of trolley；The ultrasonic wave transmitting probe is TCT40-16T/R ultrasonic probes, and the No.1 steering engine group is made of two M90 steering engines One two-dimensional pan-tilt, can make ultrasonic wave transmitting probe be directed toward aerial unspecified angle, realize that signal is most on recipient direction Big intensity is propagated.
- 3. transport vehicle ultrasonic wave positioning control system in flooring as claimed in claim 1, it is characterized in that, it is described to follow automatically Ultrasonic wave reception system includes No. two steering engine groups, ultrasonic probe, ultrasonic receiver, wireless module, microcontroller, external direct current power supplies；Monolithic Machine is powered by external direct current power supply, and No. two steering engine groups, ultrasonic probe, ultrasonic receiver, wireless modules pass through the confession that is connected with microcontroller Electricity, the automatic microcontroller followed in ultrasonic wave reception system control wireless module to send data-signal and send system to ultrasonic wave Wireless communication module in system simultaneously starts the clocking capability of timer in microcontroller at the same time, and main control singlechip receives wireless communication Ultrasonic wave transmitting probe transmitting ultrasonic signal is controlled while the signal of module transfer, is followed automatically in ultrasonic wave reception system Microcontroller make timer stop timing while ultrasonic probe, ultrasonic receiver receives ultrasonic wave, microcontroller determines according to built-in When time for being counted of device and the residing height of steering angle and ultrasonic probe, ultrasonic receiver of the transmission of No. two steering engine groups complete to position Calculate, obtain ultrasonic wave location data, microcontroller is followed two in ultrasonic wave reception system automatically by pulse width modulation control The steering of number steering engine group, direction where making ultrasonic probe, ultrasonic receiver face ultrasonic wave transmitting probe, follows ultrasonic wave to receive automatically System sends ultrasonic wave location data by wireless module, and wireless communication module receives ultrasonic wave and determines in ultrasonic wave transmission system Position data are sent to the main control singlechip of AGV, and main control singlechip judges reliability, if 0, then abandon, and continuous 10 times store Ultrasonic wave location data, is averaged after removing wherein maximum, minimum value, draws final ultrasonic wave location data, master control monolithic The attitude data that machine transmits current AGV trolleies with reference to final ultrasonic wave location data and pose collector handles to obtain ultrasound No.1 steering engine needs the alignment angle rotated in ripple transmission system；The external direct current power supply is set as 5V.
- 4. transport vehicle ultrasonic wave positioning control system in flooring as claimed in claim 1, it is characterized in that,The No.1 steering engine group and No. two steering engine groups are the two-dimensional pan-tilt being made of two steering engines, can complete flexible movement, i.e., To establish z-axis downwards perpendicular to the ground, ultrasonic wave reception system is set to turn in the following spatial dimension of curved surface for forming 45° angle with z-axis It is dynamic；The ultrasonic probe, ultrasonic receiver is that the ultrasonic wave being distributed on acrylic board receives head group, and whole ultrasonic waves receive head institute structure Distance into each ultrasonic wave reception head of geometric center arrival of figure is equal, and with square profile in four on acrylic board On angle, the ultrasonic wave, which receives head group, includes ultrasonic wave reception head, active band-pass filter, counter and digital comparator；Often A ultrasonic wave receives head and contacts respectively with active band-pass filter, and active band-pass filter is contacted with counter, whole counters Be connected with digital comparator, in being positioned in ultrasonic wave, the frequency of the ultrasonic wave that ultrasonic wave transmitting probe is sent for 38kHZ~ 40kHZ, ultrasonic wave receive head received ultrasonic signal, and ultrasonic signal is filtered by active band-pass filter by active band logical Ultrasonic frequency is controlled the interference ripple in 40kHZ, filtering other frequencies by ripple device, the ultrasound filtered by active band-pass filter Ripple is transmitted to counter, and counter records each ultrasonic wave reception head and received ultrasonic wave number, Mei Geji is inscribed in 1s respectively The ultrasonic wave number of number device record is transmitted in digital comparator in the form of DCB codes to be compared, and is sentenced in digital comparator Whether the ultrasonic wave number that each ultrasonic wave reception head receives in the disconnected 1s times is identical, passes through the judging result of digital comparator To judge that each ultrasonic wave receives head with the presence or absence of ripple phenomenon is lost, judge this group of signal for reliable signal if ripple is not lost；It is automatic to follow No. two steering engine groups being made of in ultrasonic wave reception system two steering engines as by the two of the control of closed loop PID systems DC brushless motor, the steering of panel where receiving head by two Brush-Less DC motor control ultrasonic waves, and by closed loop PID system controls Actual angle processed, is adjusted if deflection angle with target angle difference by closed loop PID system feedback systems, while by top Spiral shell instrument is connected with microcontroller with conducting wire, and gathering ultrasonic wave by gyroscope receives head and the angle-data of vertical direction, gyroscope Angle-data is transmitted to the automatic microcontroller followed in ultrasonic wave reception system and carries out location Calculation.
- 5. transport vehicle ultrasonic wave positioning control system in flooring as claimed in claim 1, it is characterized in that, the ultrasonic wave connects Receiving transducer in receiving apparatus selects the ultrasonic wave receiving module based on CX20106a, and wireless module selects NRF24L01 radio frequency moulds Block, the active band-pass filter are made of low pass RC links and high pass RC links, and the output frequency of active band-pass filter is 40.2kHz, the frequency for the ultrasonic wave that ultrasonic transmitter is sent is 38kHz~40kHz, is filtered by active band-pass filter Output frequency meets the requirement of ultrasonic frequency range, and the counter is the double BCD up counters of CD4518, the numeric ratio It is 74LS85BCD digital comparators compared with device, ultrasonic wave receives head and uses four, and four ultrasonic waves receive head to be had with corresponding four Source bandpass filter is connected, wherein, each ultrasonic wave receives the INT ports of the head Ui with corresponding active band-pass filter respectively Port connects；Four active band-pass filters are connected with corresponding four counters, the Uo ports of each active band-pass filter Connected with the CP1 ports of corresponding counter；The EN1 ports of each counter are connected with external direct current power supply, by external direct current Power supply provides 5V DC voltages；In whole counters, the counter connected with first ultrasonic probe has three-way output signal A3, A2, A1, this three-way output signal is identical, and the counter being in addition connected with other 3 ultrasonic probes exports 1 road letter respectively Number, exported respectively by B3, B2, B1 port of three counters；The output signal output of whole counters is to digital comparator；The active band-pass filter is made of low pass RC links and high pass RC links, wherein resistance R1, resistance R2, resistance R3, Resistance R4 is that 1.2k Ω, capacitance C1 and capacitance C2 are 3300pF, and the output frequency of active band-pass filter is 40.2kHz, The frequency for the ultrasonic wave that ultrasonic transmitter is sent is 38kHz~40kHz.
- 6. transport vehicle ultrasonic wave positioning control system in flooring as claimed in claim 1, it is characterized in that,The AGV kinematic systems include motor control assembly, power control and car body, and the car body is controlled via motor and filled Put control and powered by power control and complete movement；The car body includes vehicle frame and the omni-directional wheel below vehicle frame；Institute Stating motor control assembly includes motor the same number of with omni-directional wheel, encoder and driver corresponding with motor number, institute The rotating speed that the motion command that main control singlechip transmits is decoded into each omni-directional wheel by driver is stated, rotating speed is connected by CAN bus and passed The motor of each omni-directional wheel is transported to, motor is connected with omni-directional wheel drives omni-directional wheel movement to determine AGV movement velocitys and direction, encoder Be connected measured motor actual speed with motor, and actual speed is transmitted to driver, if encoder surveys omni-directional wheel actual speed and life Order is deviated, then driver makes adjustment the rotating speed of each omni-directional wheel；The energy supply control module includes lithium battery and power supply Bus interface circuit, after lithium battery is via pressure value needed for power bus interface circuit voltage regulation to main control singlechip, to master control monolithic Machine and ultrasonic wave send system, obstacle avoidance system, AGV kinematic systems and are powered；Motor is DC speed-reducing in the AGV kinematic systems, and driver is four axis drivers, and wheel is QMA10 omni-directional wheels, Any angle turns in the case of coordinating completion AGV trolley poses constant by four wheels speed.
- 7. transport vehicle ultrasonic wave positioning control system in flooring as claimed in claim 1, it is characterized in that,The obstacle avoidance system include scanner, modular converter, main control singlechip by the converted module converter of environment measuring order into Ethernet format is exported to scanner, and after scanner completes single pass, the converted module of ambient data is converted Into serial ports form and main control singlechip is transmitted to, will after main control singlechip receives the ambient condition information that scanner detects It carries out coordinate transform processing, for establishing the local grid electron map centered on AGV trolleies position, obtains part Local avoidance route is obtained by A* algorithm computings after grid electron map；Scanner in the obstacle avoidance system selects SICK_TIM_351 type laser scanners, to realize to around AGV trolleies The detection of barrier, it detects data for the renewal to local grid electron map；The dynamic obstacle avoidance scope of selection is the scope of the radius 4m centered on AGV trolleies, and A* algorithms take grating map method, grid The scale division value of map is 0.05m, and the total grid number of map of search is 25600, main control singlechip use model to provide with Too network interface, main control singlechip are connected with serial ports-WIFI module, and serial ports-WIFI module other end is connected with laser scanner, lead to Cross the communication that main control singlechip and obstacle avoidance system are realized in signal conversion by serial ports-WIFI module.
- 8. transport vehicle ultrasonic wave positioning control system in flooring as claimed in claim 1, it is characterized in that,Two serial ports-WIFI modules are also equipped between the AGV system and host computer, to realize the real-time Transmission of data；The AGV trolleies are also equipped with two serial ports-WIFI modules and are connected with main control singlechip, to realize and master system Between data real-time Transmission, after alignment system completes positioning to AGV trolleies, main control singlechip by two serial ports- WIFI module sends the location information received to host computer, the electric map module real-time display AGV trolleies in host computer Position.
- 9. transport vehicle ultrasonic wave positioning control system in flooring as claimed in claim 1, it is characterized in that,The main control singlechip is STM32F407VET6 microcontrollers, PA2, PA3 pin and the serial ports-WIFI module phase of microcontroller Even, the communication of main control singlechip and host computer is completed, PC10, PC11 pin of microcontroller are connected with serial ports-WIFI module, complete The data transfer of main control singlechip and SICK_TIM_351 scanners, PA0, PA1 pin and the six axle module phases of M6050 of microcontroller Even, main control singlechip is made to receive the pose data of AGV trolleies, two in PB10, PB11 pin and No.1 steering engine group of microcontroller Steering engine is connected, and makes the direction of main control singlechip control excusing from death ripple transmitting, PC6, PC7 pin and ultrasonic wave transmitting probe of microcontroller It is connected, makes main control singlechip control transmitting ultrasonic signal, PB8, PB9 pin of microcontroller is by CAN bus to AGV kinetic systems The driver of system sends order, and PA5~7 of microcontroller, PA12 pins are connected with wireless communication module, receives ultrasonic wave positioning number According to main control singlechip.
- 10. a kind of control method of the flooring transport vehicle ultrasonic wave positioning control system described in claim 1 to 9, it is special Sign is to comprise the following steps：A. follow the wireless module in ultrasonic wave reception system to send system to ultrasonic wave on AGV system automatically and send a column data Signal, main control singlechip in AGV system by wireless communication module receive it is automatic follow it is wireless in ultrasonic wave reception system The data-signal that module is sent；B. main control singlechip opens ultrasonic wave transmitting timer, makes ultrasonic wave send systems emitting ultrasounds ripple signal, while automatically The wireless module automatic-answering back device in ultrasonic wave reception system is followed, follows the microcontroller in ultrasonic wave reception system to open certainly automatically Clocking capability with timer carries out ultrasonic wave and receives timing；C. ultrasonic probe, ultrasonic receiver receives the ultrasonic signal that ultrasonic wave sends system transmitting, ultrasound signal transmission to monolithic Machine, the timer in microcontroller complete timing, and ultrasonic wave receives ultrasonic signal that head receives through in ultrasonic probe, ultrasonic receiver Active band-pass filter filtering, ultrasonic wave positioning in, the frequency for the ultrasonic wave that ultrasonic wave transmitting probe is sent is about 38kHZ~40kHZ, is removed not in the 40kHz ultrasonic wave threshold values that ultrasonic wave sends system transmitting by active band-pass filter Clutter, and by the double BCD up counters of CD4518 in each ultrasonic wave receiving transducer group to per second received Ultrasonic wave number is counted, and each ultrasonic wave receives the ultrasonic wave number that head receives and is sent to 74LS85BCD numeric ratios Compared with being compared in device, in whole counters, the counter that is connected with first ultrasonic probe have three-way output signal A3, A2, A1, this three-way output signal is identical, and the counter being in addition connected with other 3 ultrasonic probes exports 1 road signal respectively, Exported respectively by B3, B2, B1 port of three counters, signal output to digital comparator；To be received with first ultrasonic wave 3 tunnels of the connected counter of head are exported subject to signal, the up counter being connected respectively with its excess-three ultrasonic wave reception head The signal of output is contrasted, if comparing result is consistent, proves that the waveform number that 4 ultrasonic waves reception heads receive is identical, then This group of signal determining is reliable signal, if being consistent with remaining row, represents 4 ultrasonic waves and receives waveform number that heads receive not phase Together, that is, exist and lose ripple, then signal is given up without operation；D. reliable signal is transferred to microcontroller, and the time that microcontroller corresponds to the timing of microcontroller institute according to reliable signal calculates each Ultrasonic wave receives the distance that head is surveyed；The Distance Judgment current ultrasonic signal that microcontroller is surveyed according to each ultrasonic wave reception head Reliability, i.e., whether it is same row ultrasonic signal to judge that each ultrasonic wave is received received by head again, and right The each ultrasonic wave of same row ultrasonic signal receives head and responds, and geometry is carried out according to the distance that each ultrasonic wave reception head is surveyed Calculate, if the error for reaching all ultrasonic waves reception head geometrical plane midpoints is no more than set threshold value, is reliable, obtains each Ultrasonic wave receives the reliable range data that head receives；E. the microcontroller in ultrasonic wave reception system is followed to be received according to each ultrasonic wave reception head automatically reliable apart from number According to the height with reference to residing for when the first two number steering engine group angle and reception system, AGV ultrasonic wave location datas are drawn, ultrasonic wave receives Device follows No. two steering engine groups in ultrasonic wave reception system automatically according to current position determination data by pulse width modulation (PWM) control Turn to alignment AGV trolleies；F. ultrasonic wave reception system is followed to send ultrasonic wave location data by wireless module automatically, in ultrasonic wave transmission system Wireless communication module receives the main control singlechip that ultrasonic wave location data is sent to AGV system, and main control singlechip judges reliable Property, if data are 0, abandon, and continuous 10 storages ultrasonic wave location data, make even after removing wherein maximum, minimum value , final ultrasonic wave location data is drawn；G. main control singlechip combines final ultrasonic wave location data and pose collector transmits current AGV trolleies attitude data The No.1 steering engine group that processing is obtained in ultrasonic wave transmission system needs the alignment angle rotated；H. main control singlechip will be directed at angle and be transmitted to No.1 steering engine group, and the No.1 steering engine group in ultrasonic wave transmission system is completed to turn Dynamic, the positioning of AGV trolley points and ultrasonic wave send system with following ultrasonic wave automatically when completing to transmitting ultrasonic signal Reception system is aligned, and is positioned into the current location circulated or circulation above-mentioned steps are new to AGV trolleies.
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