CN111399546A - Device for realizing wired following between people and vehicle and control method - Google Patents
Device for realizing wired following between people and vehicle and control method Download PDFInfo
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- CN111399546A CN111399546A CN202010381766.4A CN202010381766A CN111399546A CN 111399546 A CN111399546 A CN 111399546A CN 202010381766 A CN202010381766 A CN 202010381766A CN 111399546 A CN111399546 A CN 111399546A
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- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/12—Target-seeking control
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Abstract
The invention belongs to the technical field of logistics transportation and discloses a device for realizing wired following of people and vehicles and a control method, wherein two sensors are communicated through the connection of a corner device by means of two unrelated sensors to obtain two physical quantities of a rope outlet end; the method comprises the following specific steps: the angle of the stay cord swinging parallel to the ground is obtained through the angle sensor, the extending or retracting distance of the stay cord is obtained through the displacement sensor, and the stay cord drives the angle sensor to rotate through the corner device; the controller collects two paths of sensor output signals and adds corresponding algorithms to realize wired following of people and vehicles; the invention can accurately measure the direction angle of the random swing of the rope outlet end and the pulling-out or withdrawing distance of the rope outlet end, and compared with a method which calculates the data required by vehicle following purely by means of a software algorithm, the mechanical device can directly acquire the state parameters required by vehicle following and is more stable and reliable.
Description
Technical Field
The invention belongs to the technical field of logistics transportation, and particularly relates to a device for realizing wired following of people and vehicles and a control method.
Background
The following functions in the market are realized by a plurality of methods, such as radio transmission, video capture, laser radar and other technologies, but the method is easily interfered, the signal is unstable, and the situations of frame loss, frame error and the like often occur; in addition, the cost is high, and the popularization is not convenient; except for wireless signals, a multi-pull-rope sensor is mostly adopted in a wired following scheme, the sensor measures the distance length through voltage signals, displacement signals are processed through corresponding algorithms to obtain other signals required for following, such as linear speed, angular speed, angle values and the like, and finally, the movement intention is sent to a motor controller to control the movement of a vehicle or equipment, so that automatic traction of people, the vehicle or the equipment is realized.
At present, the system adopts a dynamic-to-dynamic measurement mode, so that the measurement errors of other signals except the distance are large, particularly the measurement value precision of the angle is low, the jump error is extremely large and discontinuous, the following position is inaccurate, the effect is discontinuous, and the phenomena of vehicle body jitter, following deviation and the like occur.
In summary, the problems of the prior art are as follows: (1) the existing wireless following device is easy to receive external interference in communication modes such as Bluetooth, wifi and UWB, and the use occasion is limited.
(2) The existing following device often has the situations of frame loss, frame error and the like during wireless communication, and firstly, the following timeliness is poor; secondly, data discontinuity is caused, so that the following effect is discontinuous.
(3) The existing following device has strict requirements on the use environment and the wearing mode of people.
(3) The measurement error of other signals is large, and the change of the angle is easy to change suddenly and discontinuously, so that the following effect is discontinuous, and the vehicle body shakes and deviates in following.
(4) The cost is high, and the method cannot be popularized to the public.
The difficulty and significance for solving the technical problems are as follows: (1) the device can solve the problems that the existing wireless following device is easy to receive external interference, the use occasion is limited and the cost is high.
(2) The device can solve the problems that the following timeliness of the existing following device is poor and the following effect is discontinuous.
(3) The device can solve the problems that the following effect is not consistent, and the vehicle body shakes and deviates due to large angle measurement error and easy abrupt change and discontinuity of angle change.
(4) The device can greatly simplify the algorithm of wired following control and can make the control simpler and more reliable.
Disclosure of Invention
Aiming at the problems in the prior art, the invention provides a device for realizing wired following between a person and a vehicle and a control method.
The invention is realized in such a way that a control method of a device for realizing the wired following of a person and a vehicle firstly proposes another stable existing form between the person and the vehicle, namely the wired following, the function is finally found out the most stable realizing way after a series of trial and error is carried out during realization, and two sensors are communicated through the connection of a corner device by virtue of two irrelevant sensors to obtain two physical quantities of a rope outlet end. The method specifically comprises the following steps:
(1) the swing angle of the stay cord is obtained through the angle sensor, the angle value is an analog quantity voltage signal, 0-5V voltage corresponds to a corresponding angle, the relation between the analog quantity voltage signal and the voltage can be considered as a linear relation, the voltage signal is collected through the data collection device and then is processed through a corresponding algorithm to be calculated into the angle of the actual stay cord of a person, and corresponding action is carried out through feedback of the angle value.
(2) Obtain the distance that the stay cord stretches out or retracts through the stay cord sensor, this stay cord sensor mainly comprises displacement sensor, mechanical transmission, stay cord, and the length that the people pulled out or the rope that retracts converts analog voltage signal into through displacement sensor, then gathers this voltage signal by data acquisition device to through the displacement amount of corresponding algorithm processing resolving into people's actual stay cord, carry out corresponding action through the feedback of this displacement amount.
(3) The corner device is a core device for connecting the pull rope sensor and the displacement sensor, and through the connection of the device, the displacement and the angle of a person during the action of the pull rope can be decomposed and corresponding data can be acquired by the corresponding sensor.
Another object of the present invention is to provide a device for realizing the wired following of a person and a vehicle, which is provided with a traction device bracket.
And the angle sensor support is fixedly arranged on the inner side of the traction device support.
And the angle sensor is fixedly arranged on the angle sensor bracket.
And the angle turning device is fixedly arranged at the upper end of the angle sensor.
The pull rope is arranged in the middle of the corner device in a penetrating mode.
Further, the traction device bracket is of an L type structure.
Furthermore, the inner side of the traction device support is provided with an opening, and a pull rope sensor is installed in the opening.
Furthermore, a transverse slot is formed in the middle of the rear end of the corner device, a pull rope through hole is formed in the middle of the corner device, the pull rope is arranged in the pull rope through hole in a penetrating mode, and a plurality of universal balls which are arranged in an annular and uniform mode are embedded in the inner sides of the opening positions of the two ends of the pull rope through hole.
Furthermore, a following device is also arranged on the traction device bracket and used for realizing the following of people and vehicles; the following device is also connected with a following controller and used for controlling a motor controller of the vehicle to drive the vehicle through a can protocol.
Further, the following controller transmits a voltage signal through the serial port and the following device and supplies power to the following device.
Another object of the present invention is to provide an information data processing terminal that implements a method of controlling a device that realizes wired following of a person and a vehicle.
Another object of the present invention is to provide a processor implementing the control method of the apparatus for realizing wired following of a person and a vehicle.
Another object of the present invention is to provide a computer-readable storage medium including instructions which, when run on a computer, cause the computer to execute the control method of the apparatus for realizing wired following of a person and a vehicle.
The invention has the advantages and positive effects that: the angle sensor can be driven to rotate freely by the rope outlet end due to the exquisite design of the angle turning device of the device for realizing wired following of the person and the vehicle, the direction angle of the random swing of the rope outlet end and the pulling distance of the rope outlet end can be accurately measured, and compared with a method for calculating the data required by vehicle following purely by means of a software algorithm, the mechanical device can directly acquire the state parameters required by vehicle following and is more stable and reliable.
Drawings
Fig. 1 is a schematic structural diagram of a device for realizing wired following between a person and a vehicle according to an embodiment of the present invention.
Fig. 2 is a schematic operation diagram of a device for realizing wired following between a person and a vehicle according to an embodiment of the present invention.
Fig. 3 is a schematic structural view of a corner device provided in an embodiment of the present invention.
Fig. 4 is a schematic diagram of a groove structure provided in an embodiment of the present invention.
Fig. 5 is a flowchart of a control method of an apparatus for realizing wired following between a person and a vehicle according to an embodiment of the present invention.
Fig. 6 is a diagram showing a state of human-vehicle following by a person walking in front of a following device placed on a vehicle according to an embodiment of the present invention.
FIG. 7 is a connection diagram of a follower device and a follower controller according to an embodiment of the present invention.
Fig. 8 is a control flow chart of the follow controller according to the embodiment of the present invention.
In the figure: 1. a traction device support; 2. an angle sensor support; 3. an angle sensor; 4. a pull cord sensor; 5. a corner device; 6. pulling a rope; 7. a groove; 8. perforating a pull rope; 9. a ball transfer unit; 10. a follower controller.
Detailed Description
In order to further understand the contents, features and effects of the present invention, the following embodiments are illustrated and described in detail with reference to the accompanying drawings.
The existing following device often has the situations of frame loss and the like. The cost is high, and the method is inconvenient to popularize. The measurement error of other signals is large, and the change of the angle is easy to change suddenly and discontinuously, so that the following effect is discontinuous, and the vehicle body shakes and deviates in following.
To solve the above technical problems, the present invention will be described in detail with reference to the accompanying drawings.
As shown in fig. 1 to 4, the device for realizing wired following of a person and a vehicle is provided with a traction device support 1, the traction device support 1 is shaped like L, a hole is formed in the left side of the traction device support 1, an angle sensor 3 is arranged in the hole, an angle sensor support 2 is fixedly arranged around the hole through screws, the angle sensor 3 is fixedly arranged on the angle sensor support 2 through screws, a corner device 5 is connected onto the angle sensor 3, a pull rope 6 penetrates through the corner device 5, a round hole is formed in the middle of the traction device support 1, and a pull rope sensor 4 is fixedly arranged on the round hole.
In the embodiment of the invention, the middle of the rear end of the corner device 5 is provided with a transverse slot 7, the middle of the corner device 5 is penetrated with a pull rope through hole 8, the pull rope 6 is penetrated in the pull rope through hole 8, and the inner sides of the openings at the two ends of the pull rope through hole 8 are embedded with a plurality of universal balls 9 which are annularly and uniformly distributed.
As shown in fig. 6, in an embodiment of the present invention, a method for controlling a device for realizing wired following between a person and a vehicle according to the present invention includes:
s101, obtaining the swing angle of the pull rope through an angle sensor, wherein the angle value is an analog quantity voltage signal, the 0-5V voltage corresponds to a corresponding angle, the relation between the analog quantity voltage signal and the voltage can be regarded as a linear relation, the voltage signal is collected through a data collection device and then is processed through a corresponding algorithm to be calculated into the actual angle of the pull rope of a person, and corresponding action is carried out through feedback of the angle value.
S102, the stretching or retracting distance of the stretching rope is obtained through the stretching rope sensor, the stretching rope sensor mainly comprises a displacement sensor, a mechanical transmission device and the stretching rope, the length of the rope pulled out or retracted by a person is converted into an analog voltage signal through the displacement sensor, then the voltage signal is collected by a data collection device and is processed and resolved into the actual displacement of the stretching rope of the person through a corresponding algorithm, and corresponding action is carried out through the feedback of the displacement.
S103, the corner device is a core device for connecting the pull rope sensor and the displacement sensor, and through the connection of the device, the displacement and the angle of a person during the action of the pull rope can be decomposed, and corresponding data can be acquired by the corresponding sensor.
In the embodiment of the invention, the following device is placed on the vehicle, and a person can walk in front of the following device, so that the following state of the person and the vehicle is reflected. As shown in fig. 6.
In the embodiment of the present invention, the follower device is connected to the follower controller 10. As shown in fig. 7.
In the embodiment of the present invention, the control flow of the follow controller 10 is shown in fig. 8. The controller adopts an MC9S12g64 main control chip, transmits voltage signals through a serial port and a following device, supplies power to the following device, and controls a motor controller of a vehicle through a can protocol to drive the vehicle.
The computer instructions may be stored in a computer readable storage medium or transmitted from one computer readable storage medium to another computer readable storage medium, e.g., from one website site, computer, server, or data center via wired (e.g., coaxial cable, fiber optics, digital subscriber line (DS L) or wireless (e.g., infrared, wireless, microwave, etc.) means) to the website site, computer, server, or data center via any available medium or media including one or more of a Solid state disk, a magnetic storage medium such as a Solid state disk, a magnetic storage medium such as a Solid state disk, a magnetic disk, a Solid state disk, a magnetic disk, a Solid state disk, a magnetic tape, or the like.
The above description is only for the preferred embodiment of the present invention, and is not intended to limit the present invention in any way, and all simple modifications, equivalent changes and modifications made to the above embodiment according to the technical spirit of the present invention are within the scope of the technical solution of the present invention.
Claims (10)
1. A control method of a device for realizing the wired following of a person and a vehicle is characterized in that the control method of the device for realizing the wired following of the person and the vehicle is characterized in that two sensors are communicated through the connection of a corner device by means of two unrelated sensors, and two physical quantities of a rope outlet end are obtained; the method specifically comprises the following steps:
acquiring an analog voltage signal of a swinging angle value of a pull rope through an angle sensor; the voltage signal is acquired by a data acquisition device and then processed into the angle of the actual pull rope through a corresponding algorithm;
acquiring the extending or retracting distance of the pull rope through the pull rope sensor, acquiring a distance signal through a data acquisition device, and processing the distance signal into the actual displacement of the pull rope;
and step three, driving the pull rope to act through the corner device, decomposing the displacement and the angle of the action of the pull rope, and acquiring corresponding data by a corresponding sensor.
2. The method as claimed in claim 1, wherein in the step two, the rope sensor is composed of a displacement sensor, a mechanical transmission device and a rope, the length of the rope drawn out or retracted is converted into an analog voltage signal by the displacement sensor, and the corresponding mechanical transmission device is operated by the feedback of the displacement.
3. A device for realizing the wired following of a person and a vehicle is characterized in that a traction device bracket is arranged on the device for realizing the wired following of the person and the vehicle;
the angle sensor bracket is fixedly arranged on the inner side of the traction device bracket;
the angle sensor is fixedly arranged on the angle sensor bracket;
the angle turning device is fixedly arranged at the upper end of the angle sensor;
the pull rope is arranged in the middle of the corner device in a penetrating mode.
4. The device for realizing the wired following of the person and the vehicle as claimed in claim 3, wherein the traction device bracket is of L type structure, the inner side of the traction device bracket is provided with an opening, and a pull rope sensor is installed in the opening.
5. The device for realizing the wired following of the people and the vehicle as claimed in claim 3, wherein a transverse slot is arranged in the middle of the rear end of the angle turning device, a pull rope through hole is arranged in the middle of the angle turning device, the pull rope is arranged in the pull rope through hole in a penetrating way, and a plurality of universal balls which are annularly and uniformly distributed are embedded in the inner sides of the opening positions of the two ends of the pull rope through hole.
6. The device for realizing the wired following of the person and the vehicle as claimed in claim 3, wherein the following device is further installed on the traction device bracket and is used for realizing the following of the person and the vehicle; the following device is also connected with a following controller and used for controlling a motor controller of the vehicle to drive the vehicle through a can protocol.
7. The device for realizing the wired following of the person and the vehicle as claimed in claim 6, wherein the following controller transmits the voltage signal through the serial port and the following device and supplies power to the following device.
8. An information data processing terminal for implementing a method for controlling a device for realizing wired following between a person and a vehicle according to any one of claims 1 to 2.
9. A processor, characterized in that the processor implements the control method of the device for implementing wired following of a person and a vehicle as claimed in any one of claims 1 to 2.
10. A computer-readable storage medium comprising instructions which, when run on a computer, cause the computer to execute the method of controlling a device for enabling wired following of a person and a car according to any one of claims 1-2.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010381766.4A CN111399546A (en) | 2020-05-08 | 2020-05-08 | Device for realizing wired following between people and vehicle and control method |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010381766.4A CN111399546A (en) | 2020-05-08 | 2020-05-08 | Device for realizing wired following between people and vehicle and control method |
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| CN111399546A true CN111399546A (en) | 2020-07-10 |
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| CN202010381766.4A Pending CN111399546A (en) | 2020-05-08 | 2020-05-08 | Device for realizing wired following between people and vehicle and control method |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113031601A (en) * | 2021-03-03 | 2021-06-25 | 重庆兰德适普信息科技有限公司 | Automatic driving-based traction method and system |
| CN114312357A (en) * | 2021-12-16 | 2022-04-12 | 东风越野车有限公司 | Individual soldier accompanying unmanned vehicle and accompanying control method |
| CN114524034A (en) * | 2021-12-31 | 2022-05-24 | 中国人民解放军国防科技大学 | Light-weight traction rope type control device of ground unmanned system |
-
2020
- 2020-05-08 CN CN202010381766.4A patent/CN111399546A/en active Pending
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113031601A (en) * | 2021-03-03 | 2021-06-25 | 重庆兰德适普信息科技有限公司 | Automatic driving-based traction method and system |
| CN114312357A (en) * | 2021-12-16 | 2022-04-12 | 东风越野车有限公司 | Individual soldier accompanying unmanned vehicle and accompanying control method |
| CN114524034A (en) * | 2021-12-31 | 2022-05-24 | 中国人民解放军国防科技大学 | Light-weight traction rope type control device of ground unmanned system |
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