CN110329256A - A kind of system for tracking and method of industrial vehicle - Google Patents
A kind of system for tracking and method of industrial vehicle Download PDFInfo
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- CN110329256A CN110329256A CN201910091599.7A CN201910091599A CN110329256A CN 110329256 A CN110329256 A CN 110329256A CN 201910091599 A CN201910091599 A CN 201910091599A CN 110329256 A CN110329256 A CN 110329256A
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- 238000010586 diagram Methods 0.000 description 6
- 238000005259 measurement Methods 0.000 description 5
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- 238000001514 detection method Methods 0.000 description 3
- 238000009434 installation Methods 0.000 description 3
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
- B60W30/08—Active safety systems predicting or avoiding probable or impending collision or attempting to minimise its consequences
- B60W30/09—Taking automatic action to avoid collision, e.g. braking and steering
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
- B60W30/14—Adaptive cruise control
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
- B60W30/14—Adaptive cruise control
- B60W30/143—Speed control
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
- B60W2050/0062—Adapting control system settings
- B60W2050/0075—Automatic parameter input, automatic initialising or calibrating means
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2554/00—Input parameters relating to objects
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2556/00—Input parameters relating to data
- B60W2556/45—External transmission of data to or from the vehicle
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2720/00—Output or target parameters relating to overall vehicle dynamics
- B60W2720/10—Longitudinal speed
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- Engineering & Computer Science (AREA)
- Automation & Control Theory (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Human Computer Interaction (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
A kind of system for tracking and method of industrial vehicle, including master controller, are connected with vehicle control system, it is characterised in that: further include the base station UWB, UWB label and scan module；The UWB label is for sending UWB signal；The base station UWB obtains angle and distance information for detecting UWB signal；The scan module is used for real-time detection obstacle information；The master controller is connected with the base station UWB and scan module, for following movement according to angle, range information control vehicle, and adjusting car speed according to obstacle information.Present invention employs directional base station, can 360 degree of omnidirectionals identify angles, method is simple, and is easy to arrange.
Description
Technical field
The present invention relates to vehicles to follow field, the system for tracking and method of especially a kind of industrial vehicle.
Background technique
It is existing to follow the main application technology of scheme to have automatically: ultrasonic wave, infrared technique, Bluetooth technology, 3D camera shooting with
And laser technology etc..Wherein ultrasonic technology needs at least 3~4 signal receiving modules, is arranged according to specific distance and position
Installation, transmits signals to receiving module by locating module, computing system passes through spy according to the difference of receiving module arrival time
The position of locating module is calculated in different calculation method, to realize that positioning follows.The maximum defect of ultrasonic technology is
1) reflection problems (including angular error, mirror surface and multiple reflections)；1) noise jamming；3) transboundary problem etc. causes error big,
Precision is not high, and measures apart from short.Such as patent: CN 108267718A " a kind of ultrasonic wave near field positioning device, method and from
It is dynamic to follow ".
Infrared ray follows technology automatically, including following device and is followed device；It is followed the infrared transmission module of device
Signal transmitting is carried out with the receiving module of following device in real time and is received, it is ensured that follow direction and distance, while following device
Infrared module detects obstacle situation, realizes barrier avoiding function.The advantage of infrared technique be it is low in cost, it is simple and easy to install；
But there is limitation: being obstructed vulnerable to object, measurement is apart from short, and accuracy rating is in 5m, lower.Such as patent: CN 10612532A
" a kind of automatic obstacle-avoiding follower method and system based on infrared ray ".
Bluetooth automatic following system positions target using three-point fox method mainly according to bluetooth signal intensity RSSI, from
And it realizes and follows.3 bluetooth receiving modules are specifically needed to be arranged in the position of one fixed spacing of car body same plane, controller passes through
3 groups of Bluetooth broadcast signals of bluetooth receiving module obtain range information；Show that the position of target source is believed by three-point fix algorithm again
Breath follows to realize.Blue-tooth device is that equipment volume is small, easy of integration；But its system power consumption is big, and stability is poor, Er Qieyi
It is interfered by noise signal, precision is not high.Such as patent: " the orientation perseverance based on blue tooth wireless technology follows CN 104540093A away from type
System ".
3D rendering technology and laser technology identify follower's mainly using 3D camera shooting or 2D scanning laser sensor
Contour feature carrys out lock onto target.Or preceding object situation is detected using 2D scanning laser sensor, then utilize long-range control
The mode of system, telecar follow movement.Such system accuracy is high, and accuracy is good, passive location.And detecting distance is relatively
Far.Such as patent: US2015/0057843A1 " DEVICE FOR REMOTELY CONTROLLING A MATERAILS
HANDLING VEHICLE》。
Prior art main problem further include:
1) positioning accuracy is not high.As ultrasonic wave, infrared induction and Bluetooth technology, positioning accuracy is typically all 0.5~
The range of 5m.And common practice is to improve precision, it is often necessary to take multiple module collective effects, multiple technologies means
Intersect and be used in combination, cause system complex, to being equipped with special requirement, for example needs same plane, need equilateral triangle shaped position
Point installation, or need module blocking without any metal object.Tool, such as luggage are simply followed so can only be used in
Case, the shopping cart of shopping mall supermarket, perambulator etc..
2) algorithmic system is complicated, and data volume is huge, requires ambient enviroment high.As 3D photography technology, laser identification technology.
It is wherein extremely complex for the algorithm of outline identification, cause the capacity requirement to controller very high, and such technology is to work
The intensity of illumination of environment requires.What it is usually using the technology is all external order-picking trucks high-end product, and price is also very expensive.
3) existing UWB technology is used for automatic following system, and using non-directional label, single base station cannot achieve angle
Positioning generally requires 3 or 3 or more base stations, and arranges according to specific distance and position, using special algorithm, side
It is able to achieve positioning.This mode is to being disposed with special requirement, and algorithm is complicated.If do not carried out, it is difficult to realize high-precision
Locating effect.
Summary of the invention
It is a primary object of the present invention to overcome drawbacks described above in the prior art, propose that one kind uses directional base station,
Can 360 degree of omnidirectionals identify angles, method is simple, and the system for tracking and method for the industrial vehicle for being easy to arrange.
The present invention adopts the following technical scheme:
A kind of system for tracking of industrial vehicle, including master controller, are connected with vehicle control system, it is characterised in that:
It further include the base station UWB, UWB label and scan module；The UWB label is for sending UWB signal；The base station UWB is for detecting UWB
Signal obtains angle and distance information；The scan module is used for real-time detection obstacle information；The master controller and the base station UWB and
Scan module is connected, and follows movement for controlling vehicle according to angle, range information, and adjust vehicle speed according to obstacle information
Degree.
It further include range finder module, which is used for the frontier distance information of real-time detection vehicle；The master controller
It is connected with the range finder module to control direction of traffic according to frontier distance information.
It further include having scram button and following start stop switch, this follows start stop switch and scram button and the master controller
It is connected.
It further include stateful indicator light and alarm module, the status indicator lamp and alarm module and the master controller phase
Even.
The scan module is 2D laser scanner, and the master controller can control stopping for vehicle according to obstacle information
Only.
A kind of follower method of industrial vehicle, it is characterised in that: the base station UWB and scan module are laid on vehicle, in work
Make the UWB label that is sticked on personnel or another vehicle, follower method includes the following:
1) signal from UWB label is detected in the base station UWB, obtains angle and distance information；Scan module real-time detection barrier
Hinder object information；
2) handle to obtain UWB label and the base station UWB in the linear distance of same level, further according to angle according to range information
Degree obtains the distance component on direction of advance straight line, and component and angle control vehicle follow movement according to this distance, and according to
Obstacle information adjusts car speed.
Range finder module is laid on vehicle with real-time detection frontier distance information, in step 2), is believed according to the frontier distance
Breath controls direction of traffic, includes the following:
A, current border range information L1 is read；
B, judge whether the deviation of current border range information L1 and L0 are greater than preset value Ls, LO is the initial edge read
Boundary's distance, if then entering step c；If it is not, then returning to step a；
C, judge whether current border range information is greater than L0, if so, control vehicle is turned right, if it is not, then controlling vehicle
Turn left；
D, current border range information is read again, it is pre- to judge whether the deviation of current border range information and L0 are less than
If value Ls, if so, control vehicle steering angle is zero；If otherwise, returning to step c.
The component according to this distance and angle control vehicle follow movement, comprising: judge the UWB label according to angle
The position of relative vehicle, further according to the distance component and pre-determined distance, it is determined whether to enable follow movement.
The position of the UWB label relative vehicle includes to correspond to positioned at vehicle front region and automobile side region
The pre-determined distance it is different, and when UWB label is slack, preset vehicle stopping distance is also different.
It is described that car speed is adjusted according to obstacle information, specifically: when barrier enters in setting range, then control vehicle
Slow down or stop follow movement.
By the above-mentioned description of this invention it is found that compared with prior art, the invention has the following beneficial effects:
1, system and method for the present invention achieve that the detection of angle and distance, while method using the single base station UWB
It calculates simple；And scan module is combined, it is also automatic to encounter barrier vehicle in the safety for following process by the pedestrian to adequately protect
Stop, avoiding collision.
2, system and method for the present invention, using the frontier distance information of range finder module real-time detection vehicle, according to boundary
Range information controls direction of traffic, for guarantee vehicle along tunnel straight-line travelling, it is safer reliable.
3, system and method for the invention further include having scram button, following start stop switch, status indicator lamp and alarm mould
Block is respectively used to the emergency stop function of system, activates or cancel automatic follow the mode and system errors or appearance
The auditory tone cues of unsafe condition prompt to staff or pedestrian, transmit the information of the vehicle-state.
4, method of the invention judges the position of UWB label relative vehicle according to angle, further according to the distance component and in advance
If whether Distance Judgment, which is opened, follows movement, various operating conditions are fully considered, realize that people stops, conveniently transport goods, reduce work
Make intensity, working efficiency is provided, is very humanized.
5, system and method for the invention, using UWB technology, carrierfree, system is relatively simple；Ultra wide band wave, data pass
It is fast to broadcast rate；Section pulse, temporal resolution is high, low in energy consumption.Using directional base station, can 360 degree of omnidirectionals identify angles, calculate
Method is simple, and is easy to arrange.
6, system and method for the invention are suitable for most of industrial vehicle, such as electric pallet truck, payload ratings
Amount is 2.0 tons, and using electric drive, all-electronin is turned to.
Detailed description of the invention
Fig. 1 is present system module map；
Fig. 2 is the distance between UWB label and the base station UWB schematic diagram；
Fig. 3 is the distance component schematic diagram on same straight line；
Fig. 4 is that UWB label is located at automobile side area schematic；
Fig. 5 is that UWB label is located at vehicle front area schematic；
Fig. 6 is the detection zone schematic diagram of scan module；
Fig. 7 is the top view of Fig. 6；
Fig. 8 is the frontier distance schematic diagram of range finder module；
Fig. 9 is steering procedure schematic diagram (left-hand rotation) of the present invention
Figure 10 is course changing control flow chart of the present invention；
Wherein: 1, UWB label, 2, the base station UWB, 3, scan module, 4, range finder module, 5, follow start stop switch, 6, state
Indicator light, 7, alarm module, 8, scram button, 9, master controller, 10, brake control module, 11, steering controller, 12, row
Sail/lifting controller, 13, promotion motor, 14, running motor, 15, steering motor.
Specific embodiment
Below by way of specific embodiment, the invention will be further described.
The control system of vehicle has generally included brake control module 10, traveling/promotion control module and course changing control mould
Block etc..The traveling/promotion control module is equipped with traveling/lifting controller 12, running motor 14 and promotes motor 13, and the traveling/
Lifting controller 12 is for controlling running motor 14 and promoting motor 13.The brake control module 10 is for realizing running motor 14
Band-type brake control.The course changing control module is equipped with steering controller 11 and steering motor 15, is turned by the control of steering controller 11
Course changing control is realized to motor 15.Under manual drive mode, driver can be realized by the routine operation of vehicle to fork truck
The functions such as traveling, steering, promotion manually control.
Referring to figs. 1 to Figure 10, a kind of system for tracking of industrial vehicle of the present invention is connected with the control system of vehicle, including
Master controller 9, the base station UWB 2, UWB label 1 and scan module 3 etc..The UWB label 1 is wearable in staff or to be attached at
On vehicle, for sending UWB signal in real time, which specifically includes range information, angle information, battery level information, vehicle
Starting information, tag code information etc..The also built-in control button of the UWB label 1, prompt facility etc., the control button are used
The start and stop of function are followed in control vehicle, which includes the acousto-optic hint of low battery.
The base station UWB 2 is used for real-time reception UWB information, obtains angle and distance information etc., is the base station UWB 2 and UWB
Angle, θ and distance D between the point-to-point of label 1, referring to fig. 2, Fig. 3.The base station UWB 2 is installed on vehicle, will be with fixation
Scan period real-time measurement UWB label 1 position distance and angle information, and in a manner of wire communication (such as
CAN/RS485/RS232/ Ethernet) it is real-time transmitted to master controller 9.But the chip of its built-in directional aerial of the base station UWB 2,
It can precisely realize the angle recognition of the 120 degree of ranges in front.The inspection of angle and distance is achieved that using the single base station UWB 2
It surveys, while algorithm and lower end analytical calculation are simple, in addition, the integral layout of component is convenient.
Referring to Fig. 6, Fig. 7, whether which has barrier for real-time detection, passes through ether web form and master control
Device 9 processed is communicated, and when an obstacle is detected, obstacle information is sent to master controller 9, which at least wraps
Include the distance of barrier.Scan module 3 can be 2D laser scanner, detected using 360 degree of omnidirectionals, can measure barrier
Distance and angle information.Specifically, the present invention detects the range of vehicle front 180 degree, 2D laser scanner according to actual needs
The frame-type bracket of installation on the car body, the pedestal of the laser sensor is adjustable, so that scanning range is with car body into angle
Plane realize the adjustable extent of laser scanner from the near to the distant by adjusting angle.Preferably, minimum can capture liftoff
The object of 5cm height, scanning range is from vehicle front end to the range of front 5m.Such advantage is that the pedestrian to adequately protect exists
The safety for following process encounters barrier vehicle and is also automatically stopped, avoids collision.
The master controller 9 is connected with the base station UWB 2, scan module 3 and vehicle control system.When the automatic follow the mode of starting
When, which follows movement according to angle, range information control vehicle, and whether entrance is set the distance of disturbance in judgement object
Determine in range, if so, control vehicle deceleration even stops following, avoids collision generation.In practical applications, the range of setting
Include deceleration area, security area and safety zone, just needs to slow down or stop to follow in deceleration area.
The invention also includes range finder modules 4, the frontier distance information for real-time detection vehicle.The range finder module 4 can be adopted
With laser sensor or it is other between detection structure, with master controller 9 use analog signals communication modes.Using this
Point-to-point laser range sensor is mainly used for measurement vehicle to the distance of tunnel avris, for guaranteeing vehicle along tunnel straight line
Traveling.Specifically, the spot beam that laser sensor uses, and without installing any reflector, it is only necessary to object of reference is reflected,
Such as shelf balance beam or wall.Specifically, laser sensor is mounted on the avris of vehicle body hanger, while height is adjustable.In this way
Advantage be: can according to different client's operating conditions, realize measurement function.
Under automatic follow the mode, master controller 9 is judged according to frontier distance information, arrives boundary when measuring vehicle
When distance is less than preset value, processor controls vehicle deceleration, while adjusting steering angle in the opposite direction, until distance with it is default
It is worth equal.Similarly, if the frontier distance measured is greater than preset value, steering angle is just adjusted to another way, to avoid
Vehicle occurs to deviate traveling, makees straight-line travelling along tunnel, referring to Fig. 8.During adjusting steering angle, it can slow down to ensure to pacify
Entirely.
Present system further includes having scram button 8, following start stop switch 5, status indicator lamp 6 and alarm module 7 etc.,
It is connected with master controller 9.The emergency stop switch is used for the emergency stop function of system, the i.e. automatic follow the mode of emergent stopping.It should
Follow start stop switch 5 for activating or cancelling automatic follow the mode and instruction.
The status indicator lamp 6 is used to show the status information of vehicle, the alarm module 7 be used for when system errors or
There are the auditory tone cues of unsafe condition, buzzer etc. can be used.It is by the lamp and different movements of different colours to work
Make personnel or pedestrian's prompt, transmits the information of the vehicle-state, for example realize manual mode, automatic mode and fault mode
Deng improving the safety of automatic Following Car.In particular:
When vehicle enters automatic follow the mode, and vehicle to run acts, amber light flashing；
When follow the mode activates, but vehicle is not operating, amber light is always on；
When vehicle enters manual drive mode, and automatic follow the mode stops, green light is always on；
When automatic follow the mode breaks down or 2D laser scanning front barrier stopping occurs, blinking red lamp, and
Buzzing prompt；
When the base station UWB 2 is bound, UWB label 1 is failed, and green light flashes.
Based on above system, the present invention also proposes a kind of follower method of industrial vehicle, and UWB label 1 is worn on work
With personnel, on perpendicular, the difference in height △ h between UWB label 1 and the base station UWB 2 can be known by measurement.Work as starting
When automatic follow the mode, follower method includes the following steps:
1) signal of 2 real-time detection of the base station UWB from UWB label 1 obtains angle and distance information and is sent to main control
Device 9, the angle and distance information are the angle, θ and distance D of the point-to-point of UWB label 1 and the base station UWB 2.
Whether 3 real-time detection of scan module has barrier simultaneously, if detecting barrier, obstacle distance information is sent out
It send to master controller 9.
2) master controller 9 will distance D combine known difference in height △ h by right angle algorithm calculate it is conplane projection away from
From d, handled to obtain distance component of the d in X-axis and Y-axis according to angle, θ triangle projection algorithm further according to angle, according to the X
Distance component dx and angle, θ control vehicle on axis follow movement.
The position that 1 relative vehicle of UWB label is judged according to angle, further according to pre-determined distance, it is determined whether to enable with servo-actuated
Make, since the position of people is different, in order to ensure safety, therefore it is also different to the status requirement of vehicle stopping.It is specific as follows:
When staff -60 °~+60 ° in vehicle front regional scope (for example 60 °), the X-axis of vehicle and staff
When distance is greater than a certain distance 1-2m (for example 1.5m), vehicle starts follow the mode；When staff stops, vehicle also stops
Only advance.
Referring to Fig. 5, when staff is at vehicle front (- 30 °~+30 °), vehicle stops at 0.8- after staff
1.2m, preferably 1.0m, to avoid vehicle rear-end collision.Such advantage is: vehicle can satisfy the sorting movement of staff,
Realize that people stops, and the position that vehicle stops just is sorting region, staff can very easily put cargo onboard, nothing
It long range must walk about back and forth.
Referring to fig. 4, when staff is in vehicle avris (for example: -105 °~-30 &+30 ° of °s~+105 °), vehicle is stopped at
The front of staff keeps the pallet fork at rear in the body of staff in same position, and normally, vehicle stops at work
0.4~0.8m of person there is advisable, preferably 0.6m, carries loading convenient for staff.
During automatic follow the mode, master controller 9 controls car speed, master control also according to the range information of barrier
Device 9 processed presets deceleration area, security area and safety zone, when obstacle distance is located in deceleration area, then control vehicle deceleration or
Stopping follows movement, avoids collision.In security area, then the status indicator lamp 6 for controlling vehicle is reminded.By safety away from
From setting and 2D laser monitoring, ensured the safety for following process.
Referring to Fig. 9-Figure 10, in order to ensure under automatic follow the mode, vehicle can be travelled along tunnel, then real-time detection boundary away from
From information, direction of traffic is controlled according to the frontier distance information, includes the following:
A, current border range information L1 is read.
B, judge whether the deviation of current border range information L1 and L0 are greater than preset value Ls, LO is starting follow the mode
When the initial boundary distance that reads, Ls value can be set as needed, preferably 50mm-100mm, if then entering step
c；If it is not, then vehicle is followed with current border range information L1 holding dynamic straight line, step a is returned to.
C, judge whether current border range information is greater than L0, i.e., whether L1-L0 > 0 is true, if so, control vehicle is right
Turn a1, travel speed Vs, if it is not, then control vehicle left-hand rotation a2, travel speed Vs, steering angle a1, a2 can be identical or not
Together, it can be preset or be calculated, be not limited thereto, turning speed Vs is less than with the conventional traveling speed under mode at any time
Degree.
D, current border range information L2 is read again, judges whether the deviation of current border range information L2 and L0 are small
In preset value Ls, if so, control vehicle steering angle is zero, vehicle keeps dynamic straight line to follow with L3, and L3 is from the position P2
It is the range information that zero (position P3) is read afterwards to steering angle, L3 and L2 value is equal or close, returns to step a；If otherwise,
Return to step c.It adjusts traveling by real time contrast's back gauge to turn to, it is ensured that vehicle can be along tunnel straight-line travelling.
Referring to the schematic diagram of Fig. 9, for turning left, wherein vehicle location includes P0, P1, P2, P3, frontier distance information
Respectively L0, L1, L2, L3.The above is only a specific embodiment of the present invention, but design concept of the invention is not limited to
This, it is all to be made a non-material change to the present invention using this design, it should all belong to behavior that violates the scope of protection of the present invention.
Claims (10)
1. a kind of system for tracking of industrial vehicle, including master controller, are connected with vehicle control system, it is characterised in that: also
Including the base station UWB, UWB label and scan module；The UWB label is for sending UWB signal；The base station UWB is for detecting UWB letter
Number obtain angle and distance information；The scan module is used for real-time detection obstacle information；It the master controller and the base station UWB and sweeps
It retouches module to be connected, follows movement for controlling vehicle according to angle, range information, and vehicle speed is adjusted according to obstacle information
Degree.
2. a kind of system for tracking of industrial vehicle as described in claim 1, it is characterised in that: it further include range finder module, the survey
The frontier distance information of real-time detection vehicle is used for away from module；The master controller be connected with the range finder module with according to boundary away from
Direction of traffic is controlled from information.
3. a kind of system for tracking of industrial vehicle as described in claim 1, it is characterised in that: further include have scram button and with
With start stop switch, this follows start stop switch and scram button to be connected with the master controller.
4. a kind of system for tracking of industrial vehicle as described in claim 1, it is characterised in that: further include stateful indicator light and
Alarm module, the status indicator lamp and alarm module are connected with the master controller.
5. a kind of system for tracking of industrial vehicle as described in claim 1, it is characterised in that: the scan module is 2D laser
Scanner, the master controller can control the stopping of vehicle according to obstacle information.
6. a kind of follower method of industrial vehicle, it is characterised in that: lay the base station UWB and scan module on vehicle, working
Be sticked UWB label on personnel or another vehicle, and follower method includes the following:
1) signal from UWB label is detected in the base station UWB, obtains angle and distance information；Scan module real-time detection barrier
Information；
2) it handles to obtain UWB label and the base station UWB in the linear distance of same level according to range information, is obtained further according to angle
Distance component on direction of advance straight line out, component and angle control vehicle follow movement according to this distance, and according to obstacle
Object information adjusts car speed.
7. a kind of follower method of industrial vehicle as claimed in claim 6, it is characterised in that: lay range finder module on vehicle
With real-time detection frontier distance information, in step 2), direction of traffic is controlled according to the frontier distance information, includes the following:
A, current border range information L1 is read；
B, judge whether the deviation of current border range information L1 and L0 are greater than preset value Ls, LO be the initial boundary that reads away from
From if then entering step c；If it is not, then returning to step a；
C, judge whether current border range information is greater than L0, if so, control vehicle is turned right, if it is not, then controlling vehicle left-hand rotation；
D, current border range information is read again, judges whether the deviation of current border range information and L0 are less than preset value
Ls, if so, control vehicle steering angle is zero；If otherwise, returning to step c.
8. a kind of follower method of industrial vehicle as claimed in claim 6, it is characterised in that: the component according to this distance and
Angle control vehicle follows movement, comprising: the position that the UWB label relative vehicle is judged according to angle, further according to the distance
It is determined whether to enable follow movement for component and pre-determined distance.
9. a kind of follower method of industrial vehicle as claimed in claim 8, it is characterised in that: the UWB label relative vehicle
Position include positioned at vehicle front region and automobile side region, the corresponding pre-determined distance is different, and when UWB is marked
When signing slack, preset vehicle stopping distance is also different.
10. a kind of follower method of industrial vehicle as claimed in claim 6, it is characterised in that: described according to obstacle information
Car speed is adjusted, specifically: when barrier enters in setting range, then controls vehicle deceleration or stop following movement.
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