CN111949029A - Embedded intelligent trolley wireless control system and control method thereof - Google Patents
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- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
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- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
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- G05D1/02—Control of position or course in two dimensions
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- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
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- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
- G05D1/0246—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using a video camera in combination with image processing means
- G05D1/0253—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using a video camera in combination with image processing means extracting relative motion information from a plurality of images taken successively, e.g. visual odometry, optical flow
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- 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
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Abstract
The invention relates to an embedded intelligent trolley wireless control system and a control method thereof, which are used for wirelessly controlling an intelligent trolley, wherein the intelligent trolley wireless control system comprises a processor, an infrared sensor, a camera and a WiFi signal transmitter, the processor, the infrared sensor, the camera and the WiFi signal transmitter are all connected with the intelligent trolley, and the processor is respectively connected with the infrared sensor, the camera, the WiFi signal transmitter and a motor of the intelligent trolley; the processor automatically avoids the obstacle based on data transmitted by the infrared sensor and the camera through a motor of the intelligent trolley; the processor carries out wireless data transmission through the WiFi signal transmitter, and the processor adopts a pulse width modulation method to carry out drive control on the motor of the intelligent trolley. Compared with the prior art, the method has the advantages of good data transmission real-time performance, long distance, more reliable automatic obstacle avoidance and the like.
Description
Technical Field
The invention relates to the field of intelligent trolley control, in particular to an embedded intelligent trolley wireless control system and a control method thereof.
Background
Compared with the work of human beings, the intelligent trolley has the advantages of safety, controllability, low cost and the like, and the wireless control wheel type robot can also be used in various fields, such as national defense, aerospace, industry and some service type industries.
The intelligent trolley control system comprises software and hardware, wherein the hardware refers to components (such as a motor, a battery, a sensor and the like) of the intelligent trolley, the software refers to the intelligent trolley which is controlled through programming to realize certain functions (such as walking, photographing, distance measurement, obstacle avoidance and the like), and the intelligent trolley can have more functions by adding some devices on the hardware and adding programming which can execute corresponding functions on the software.
The current intelligent trolley system technology mainly comprises the following technologies:
1. intelligent trolley control technology based on ROS system
ROS is an english abbreviation for the Robot Operating System (Robot Operating System), containing a large amount of tool software, library code, and agreement protocols, aimed at simplifying the difficulty and complexity of the process of creating complex, robust Robot behavior across Robot platforms. The prototype of ROS was derived from the stand for intellectual Robot (STAIR) and Personal Robots (PR) projects of Stanford university. ROS provide some standard operating system services such as hardware abstraction, underlying device control, common function implementation, interprocess messaging, and packet management. The ROS is based on a graph-like architecture so that processes of different nodes can accept, publish, aggregate various information (e.g., sensing, control, status, planning, etc.).
Currently ROS have been applied: the controller of the KEBA already supports the ROS; robonaut 2, developed by NASA based on ROS in the united states, has worked in international space stations; the bottom layer of the hundred degree apollo unmanned vehicle was developed based on ROS.
The intelligent vehicle based on the ROS system has a strong and flexible robot programming framework, and is a distributed multi-process framework based on message passing communication from the perspective of a software framework. Based on the fact that the ROS is a message mechanism, a developer can split software into various modules according to functions, each module is responsible for reading and distributing messages, and the modules are related through the messages.
2. Intelligent trolley control technology based on Bluetooth control
Bluetooth, a radio technology supporting short-range communication (typically within 10 m) of devices, enables wireless information exchange between many devices including mobile phones, PDAs, wireless headsets, laptops, related peripherals, etc. By using the bluetooth technology, the communication between mobile communication terminal devices can be effectively simplified, and the communication between the devices and the Internet can also be successfully simplified, so that the data transmission becomes faster and more efficient, and the way is widened for wireless communication.
Bluetooth is a wireless technology standard, and can realize short-distance data exchange between fixed equipment and mobile equipment. The application range of the automobile-mounted Bluetooth is wider and wider at present, and the mobile smart phone brings convenience to human life. Bluetooth is currently used in an extremely wide range. Applications in the automotive field are: the Bluetooth hands-free communication is realized by using the mobile phone as a gateway and opening the Bluetooth function of the mobile phone. The mobile phone can be automatically connected within 10 meters of the vehicle-mounted hands-free system to control a microphone and a sound system in the vehicle, so that full-duplex hands-free communication is realized; the vehicle-mounted Bluetooth entertainment system plays various audio stored in a USB flash disk, a telephone book and the like by utilizing a microphone, a sound system and the like in an automobile, and also adds playing functions of popular music and the like; the automobile Bluetooth anti-theft technology has the advantages that if the automobile starts a defense state, Bluetooth induction can be automatically connected with an automobile owner, and once the automobile state is changed, automatic alarm can be given. The application in industrial production: the technical personnel wirelessly monitor the numerical control machine tool; and detecting the wear degree of the parts. The application in the medical field is as follows: and (4) conveying the diagnosis result, which is based on Bluetooth transmission equipment, to a memory in time. The electronic device is used for transmitting the diagnosis result in time, so that the hospital diagnosis efficiency is improved, and the accuracy of the diagnosis result data is ensured; in ward monitoring, once the patient has any emergency, the sickbed terminal equipment is used for sending a signal, and the signal is transmitted to a ward controller in a wireless transmission mode by using the Bluetooth technology.
The prior art has the following defects:
1. intelligent vehicle system real-time performance based on Ros system is lower
2. The transmission distance of the Bluetooth technology is limited; the data transfer rate is low; protocols are not compatible between different devices; local data recording is required to ensure that data is available without interruption.
Disclosure of Invention
The invention aims to overcome the defects of the prior art and provide an embedded intelligent trolley wireless control system with good real-time performance and long transmission distance and a control method thereof.
The purpose of the invention can be realized by the following technical scheme:
an embedded intelligent trolley wireless control system is used for wirelessly controlling an intelligent trolley and comprises a processor, an infrared sensor, a camera and a WiFi signal transmitter, wherein the processor, the infrared sensor, the camera and the WiFi signal transmitter are all connected with the intelligent trolley, and the processor is respectively connected with the infrared sensor, the camera, the WiFi signal transmitter and a motor of the intelligent trolley;
the processor automatically avoids the obstacle based on the data transmitted by the infrared sensor and the camera through a motor of the intelligent trolley; the processor performs wireless data transmission through the WiFi signal transmitter.
Further, the processor adopts a pulse width modulation method to carry out drive control on the motor of the intelligent trolley.
Further, the processor is an STM32F103RCT6 singlechip.
Further, the infrared sensor comprises a transmitting tube, a receiving tube and a comparator, the transmitting tube is used for transmitting infrared rays, the receiving tube is used for receiving reflection signals of the infrared rays, and the comparator compares the infrared rays and the reflection signals thereof to generate a low-level signal and transmits the low-level signal to the processor.
Further, after the processor processes the signal transmitted by the camera, the signal is transmitted by the WiFi signal transmitter through a TCP protocol.
Further, the processor is connected with a mobile terminal through the WiFi signal transmitter.
Further, the processor is connected with a mobile phone App through the WiFi signal transmitter.
Furthermore, the infrared sensors are arranged on the left side and the right side of the intelligent trolley.
Furthermore, all be equipped with around the intelligent vehicle infrared sensor.
The embodiment also provides a control method of the embedded intelligent trolley wireless control system, which comprises the following steps: initializing the whole intelligent trolley wireless control system, collecting and transmitting video data through the camera and the WiFi signal transmitter, and driving a motor of the intelligent trolley to circularly avoid obstacles according to data transmitted by the infrared sensor.
Furthermore, the infrared sensors are arranged on the left side and the right side of the intelligent trolley, and the driving of the motor of the intelligent trolley to carry out circulating obstacle avoidance according to the data transmitted by the infrared sensors is specifically that if the infrared sensors on the left side of the intelligent trolley detect signals, the motor of the intelligent trolley is driven to drive the intelligent trolley to rotate right; and if the infrared sensor on the right side of the intelligent trolley detects a signal, driving a motor of the intelligent trolley to drive the intelligent trolley to rotate left.
Compared with the prior art, the invention has the following advantages:
(1) according to the invention, the double sensors are adopted to replace the automatic obstacle avoidance function of the single sensor, so that the direction of the obstacle in front of the trolley can be better confirmed, the obstacle avoidance function of the trolley can be better completed, the single sensor cannot accurately confirm whether the obstacle exists in front of the trolley, and the coping scheme is relatively single;
the Bluetooth action range is limited, and when the distance is too long, the mobile phone App cannot control the trolley and the mobile phone cannot receive video signals. After combining wiFi, can make this intelligent vehicle's control distance strengthen greatly, also can reach higher video transmission speed through the signal strength that the reinforcing wiFi is connected to reach better real-time.
(2) The video real-time that intelligent vehicle passed to on the cell-phone App through WIFI is better: at present, WIFI is mature, household WIFI is generally divided into wireless routers of 54M, 150M, 300M and 450M, and the transmission rate of pictures transmitted to a mobile phone by a trolley through WIFI is very high, and high-definition videos and even 4k videos are met, so that the real-time performance of video transmission by a high-definition camera equipped on the trolley is very good.
(3) The intelligent vehicle can achieve automatic obstacle avoidance, and the sensitivity is high: the trolley adopts a mature scheme of infrared obstacle avoidance, an infrared sensing system is used for quickly detecting a front obstacle, and the steering engine is controlled by the stm32 single chip microcomputer so as to achieve the effect of obstacle avoidance; and this dolly adopts dynamic stabilization technique and carries on two-wheeled drive, and the flexibility is good.
(4) The trolley accessories are common standard accessories on the market, so that the yield can be greatly improved, and the assembly is convenient.
(5) The APP at the mobile phone end matched with the trolley is installed quickly and conveniently: after the mobile phone end app control system is installed, the mobile phone end app control system can be used only by being connected with a trolley wifi, and a series of operations can be completed due to the fact that the matched app has a virtual key position.
Drawings
FIG. 1 is a flow chart of a main program of a control method of an intelligent vehicle wireless control system according to the present invention;
FIG. 2 is a flowchart of a motor drive routine;
fig. 3 is a flowchart of an infrared ray circulation obstacle avoidance procedure.
Detailed Description
The invention is described in detail below with reference to the figures and specific embodiments. The present embodiment is implemented on the premise of the technical solution of the present invention, and a detailed implementation manner and a specific operation process are given, but the scope of the present invention is not limited to the following embodiments.
Example 1
The embodiment provides an embedded intelligent trolley wireless control system which is used for wirelessly controlling an intelligent trolley and comprises a processor, an infrared sensor, a camera and a WiFi signal transmitter, wherein the processor, the infrared sensor, the camera and the WiFi signal transmitter are all connected with the intelligent trolley, and the processor is respectively connected with the infrared sensor, the camera, the WiFi signal transmitter and a motor of the intelligent trolley;
the processor automatically avoids the obstacle based on data transmitted by the infrared sensor and the camera through a motor of the intelligent trolley; the processor performs wireless data transmission through the WiFi signal transmitter. The processor is STM32F103RCT6 singlechip.
The processor adopts a pulse width modulation method to carry out drive control on the motor of the intelligent trolley.
And after the processor processes the signals transmitted by the camera, the signals are transmitted by utilizing the WiFi signal transmitter through a TCP protocol. The processor is connected with a mobile phone App through a WiFi signal transmitter.
The infrared sensor comprises a transmitting tube, a receiving tube and a comparator, wherein the transmitting tube is used for transmitting infrared rays, the receiving tube is used for receiving reflected signals of the infrared rays, and the comparator compares the infrared rays and the reflected signals thereof to generate a low-level signal and transmits the low-level signal to the processor. The left and right sides of intelligent vehicle all is equipped with infrared sensor, also can all set up infrared sensor around intelligent vehicle.
The infrared sensor, the WiFi signal transmitter and the processor are described in detail below, respectively.
1. Infrared sensor
The infrared sensor performs data processing using infrared rays having properties such as reflection, refraction, scattering, interference, and absorption. The infrared sensor includes an optical system, a detection element, and a conversion circuit. Infrared sensors are commonly used for non-contact temperature measurement, gas component analysis and nondestructive inspection, and are widely used in the fields of medicine, military, space technology, environmental engineering and the like. For example, an infrared sensor is adopted to remotely measure a thermal image of the surface temperature of a human body, so that a part with abnormal temperature can be found, and diseases can be diagnosed and treated in time; the telescope with the infrared sensor can be used for military operations and forest land battles to detect enemies in dense forests.
The infrared sensor has the advantages of simple structure, convenient implementation, low cost, sensitive response, convenient detection of the short-distance pavement condition, strong anti-interference capability and no different results caused by the difference of the surrounding environment.
The intelligent vehicle adopts infrared sensor to detect the place ahead barrier condition, keeps away the barrier function and launches the infrared light through emitting diode circular telegram back, runs into the barrier after, and the infrared light is sheltered or has partial infrared light to be reflected back, and infrared receiving diode receives the infrared light that reflects back, obtains corresponding signal of telecommunication, compares with the signal of sending out again, confirms whether have the barrier, and then makes corresponding reaction.
2. WiFi Signal transmitter
Wi-Fi, also called "action hotspot" in Chinese, is a brand authentication of products by the brand of Wi-Fi alliance manufacturers, and is a wireless local area network technology established in the IEEE 802.11 standard. Wi-F technology, like Bluetooth technology, is a short-range wireless technology used in offices and homes. Different from the bluetooth technology, WiFi is wider than bluetooth, generally speaking, the effective distance of using a bluetooth headset to connect a mobile phone can reach 10 meters, and WiFi is faster than bluetooth transmission degree, due to the application of the mobile phone, WiFi is closely related to the life of people, WiFi signals are almost everywhere in the current life, and the application of WiFi in the life of people is more and more extensive by combining the development of 5G and the internet of things.
The trolley is provided with a small WiFi signal transmitter, the mobile phone App can control the trolley to move through WiFi, and meanwhile, images shot by a camera carried on the trolley can be seen by the mobile phone in real time.
3. Processor with a memory having a plurality of memory cells
The processor is an STM32F103RCT6 singlechip and mainly comprises a power module, a tracking module, an obstacle avoidance module, a display module and the like. The STM32 core controller accomplishes functions through the control of various modules.
The STM32F103RCT6 single-chip microcomputer is used as a control core, and the intelligent trolley can realize the functions of avoiding obstacle walking, preventing falling, cruising, following walking and the like. Through wireless communication connection, the information that the intelligent vehicle shot can be sent to the App through wireless module and show on, the App end can realize the control to the intelligent vehicle.
The core of the system design adopts an STM32F103RCT6 singlechip, an STM32F103RCT6 singlechip from Italian semiconductor corporation, and an adopted inner core is ARMCortex-M3. Flash program memory using 64K or 128K bytes; SRAM clock, reset and power management of up to 20K bytes can reach 72MHz working frequency. The waiting period access speed of the memory can reach 1.25DMips/MHz, and the memory has single-period multiplication and hardware division. The chip integrates a timer, ADC analog-to-digital sampling, CAN bus communication, an SPI serial peripheral interface, a USB universal serial bus, a UART asynchronous receiving and transmitting transmitter and other functional modules. Low power consumption and has 3 modes, sleep, shutdown and standby respectively.
The embodiment also provides a control method of the embedded intelligent trolley wireless control system, which comprises the following steps: the whole intelligent vehicle wireless control system is initialized, video data are collected and transmitted through the camera and the WiFi signal transmitter, and the motor of the intelligent vehicle is driven to circularly avoid the obstacle according to data transmitted by the infrared sensor.
The intelligent trolley comprises an intelligent trolley, infrared sensors, a motor, a power supply and a power supply, wherein the infrared sensors are arranged on the left side and; if the infrared sensor on the right side of the intelligent trolley detects a signal, the motor of the intelligent trolley is driven to drive the intelligent trolley to rotate left.
Based on the execution steps of the control method, the software design of the control method of the intelligent trolley wireless control system comprises the design of a main program, the design of a motor driving program, the design of an infrared circulating obstacle avoidance program and the design of a wireless video acquisition program.
Each procedure is described in detail below.
a. Design of main program
The main program of the system mainly completes related subprogram calling and related initialization operation, after a power supply is started, the initialization system program is started, whether obstacle avoidance needs to be interrupted or not is judged, and if obstacle avoidance interruption needs to occur, the obstacle avoidance subprogram is executed. After the subroutine is executed, a motor control signal is sent. The main program flow chart is shown in fig. 1.
b. Motor drive programming
The motor driving of the intelligent trolley is mainly related to the operation of a driving chip, and the driving control of the motor is completed by using a PWM speed regulation method. Pulse Width Modulation (PWM) enables the output voltage of a power supply to remain constant as operating conditions change, a very effective technique for controlling an analog circuit using digital signals from a microprocessor. The motor driving procedure flow chart is shown in fig. 2.
c. Infrared circulating obstacle avoidance program design
The infrared ray that this infrared ray in the design was kept away barrier module and was selected for use keeps away barrier sensor and comprises transmitting tube and receiver tube, and the transmitting tube transmission infrared ray, when the infrared ray detected the barrier, the receiver tube received infrared ray's reflection signal, compares the back through comparator and transmitting tube, outputs a low level signal and gives the singlechip. The infrared ray circulation obstacle avoidance procedure is as shown in fig. 3.
d. Wireless video acquisition programming
The wireless video acquisition mainly acts on the camera, and starts the camera after the main program sends out and opens the camera and carry out data acquisition. The working principle of the camera is that an optical image generated by a scene through a lens is projected onto the surface of an image sensor, the optical image is converted into an electric signal, the electric signal is processed through an A/D digital image signal and then sent into a digital signal processing chip (DSP), and the signal connected through a TCP protocol and a WIFI wireless router is sent to a mobile phone App display interface to be displayed.
The system provided by the embodiment has certain advancement, reliability and feasibility. The traditional intelligent trolley generally utilizes an infrared sensor to avoid the obstacle, but the obstacle avoidance may have an obstacle avoidance dead angle. The embedded trolley adopts the double sensors to avoid the obstacles, so that dead angles of the obstacles are reduced, the intelligent camera can automatically detect the surrounding environment of the trolley at 360 degrees without dead angles, an optimal obstacle-free route is selected, and the infrared sensors are matched to automatically avoid the obstacles.
The existing trolley is mainly controlled by a Bluetooth or infrared remote controller through a special remote controller, the trolley has an automatic obstacle avoidance function, meanwhile, a WiFi control system and a carrying high-definition camera are creatively added on the original basis of the trolley, a mobile phone end operation app matched with the trolley is programmed, a series of operations such as straight movement, backward movement, steering and photographing of the trolley can be controlled through a virtual key built in the app at a mobile phone end, and the trolley is convenient and fast.
The trolley program is an ATM32 single chip microcomputer trolley programmed by C language, the C language technology and the ATM32 single chip microcomputer are very mature technologies, and the realizability is good.
The foregoing detailed description of the preferred embodiments of the invention has been presented. It should be understood that numerous modifications and variations could be devised by those skilled in the art in light of the present teachings without departing from the inventive concepts. Therefore, the technical solutions available to those skilled in the art through logic analysis, reasoning and limited experiments based on the prior art according to the concept of the present invention should be within the scope of protection defined by the claims.
Claims (10)
1. An embedded intelligent trolley wireless control system is used for wirelessly controlling an intelligent trolley and is characterized in that the intelligent trolley wireless control system comprises a processor, an infrared sensor, a camera and a WiFi signal transmitter, wherein the processor, the infrared sensor, the camera and the WiFi signal transmitter are all connected with the intelligent trolley, and the processor is respectively connected with the infrared sensor, the camera, the WiFi signal transmitter and a motor of the intelligent trolley;
the processor automatically avoids the obstacle based on the data transmitted by the infrared sensor and the camera through a motor of the intelligent trolley; the processor performs wireless data transmission through the WiFi signal transmitter;
and the processor adopts a pulse width modulation method to drive and control the motor of the intelligent trolley.
2. The embedded intelligent trolley wireless control system as claimed in claim 1, wherein the processor is an STM32F103RCT6 single chip microcomputer.
3. The embedded intelligent trolley wireless control system as claimed in claim 1, wherein the infrared sensor comprises a transmitting tube, a receiving tube and a comparator, the transmitting tube is used for transmitting infrared rays, the receiving tube is used for receiving reflected signals of the infrared rays, and the comparator compares the infrared rays and the reflected signals thereof to generate a low level signal and transmits the low level signal to the processor.
4. The embedded intelligent vehicle wireless control system as claimed in claim 1, wherein the processor processes the signal transmitted by the camera and transmits the signal by the WiFi signal transmitter via TCP protocol.
5. The embedded intelligent vehicle wireless control system as claimed in claim 1, wherein the processor is connected with a mobile terminal through the WiFi signal transmitter.
6. The embedded intelligent vehicle wireless control system as claimed in claim 1, wherein the processor is connected with a mobile phone App through the WiFi signal transmitter.
7. The embedded intelligent vehicle wireless control system as claimed in claim 1, wherein the infrared sensors are disposed on both left and right sides of the intelligent vehicle.
8. The embedded intelligent vehicle wireless control system as claimed in claim 1, wherein the infrared sensors are disposed around the intelligent vehicle.
9. The control method of the embedded intelligent vehicle wireless control system according to claim 1, characterized by comprising the following steps: initializing the whole intelligent trolley wireless control system, collecting and transmitting video data through the camera and the WiFi signal transmitter, and driving a motor of the intelligent trolley to circularly avoid obstacles according to data transmitted by the infrared sensor.
10. The method as claimed in claim 9, wherein the infrared sensors are disposed on both the left and right sides of the intelligent vehicle, and the driving of the motor of the intelligent vehicle for circulating obstacle avoidance according to the data transmitted by the infrared sensors is specifically that if the infrared sensor on the left side of the intelligent vehicle detects a signal, the motor of the intelligent vehicle is driven to drive the intelligent vehicle to turn right; and if the infrared sensor on the right side of the intelligent trolley detects a signal, driving a motor of the intelligent trolley to drive the intelligent trolley to rotate left.
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| CN113625710A (en) * | 2021-07-22 | 2021-11-09 | 江苏天一机场专用设备股份有限公司 | Aviation 5G automatic driving system |
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| CN113625710A (en) * | 2021-07-22 | 2021-11-09 | 江苏天一机场专用设备股份有限公司 | Aviation 5G automatic driving system |
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