CN113009919A - Remotely-controllable intelligent following truck control system and truck - Google Patents
Remotely-controllable intelligent following truck control system and truck Download PDFInfo
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- CN113009919A CN113009919A CN202110254954.5A CN202110254954A CN113009919A CN 113009919 A CN113009919 A CN 113009919A CN 202110254954 A CN202110254954 A CN 202110254954A CN 113009919 A CN113009919 A CN 113009919A
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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
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
- G05D1/0242—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using non-visible light signals, e.g. IR or UV signals
-
- 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
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0221—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory involving a learning process
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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
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0223—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory involving speed control of the vehicle
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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
- G05D1/0255—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
- G05D1/0276—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle
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- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The invention discloses a remotely-controllable intelligent following truck control system, which relates to the technical field of intelligent following equipment, and the specific scheme is as follows: comprises a truck and a target handheld device; the load-carrying vehicle comprises a load-carrying column, a load-carrying vehicle power module, a motor driving module and a load-carrying vehicle controller, wherein the load-carrying vehicle controller is electrically connected with the load-carrying vehicle power module and is in signal connection with the motor driving module; the target handheld device comprises a signal transmitting module, a target handheld device power supply module and a target handheld device controller; the target handheld device controller is in signal connection with the target handheld device power supply module, the target handheld device controller is in signal connection with the signal transmitting module, the signal transmitting module is in wireless signal connection with the truck controller, the vehicle-mounted vehicle has the functions of carrying certain required articles and automatically following the target to walk, has.
Description
Technical Field
The invention relates to the technical field of intelligent following equipment, in particular to a remotely-controllable intelligent following truck control system and a truck.
Background
With the continuous development of science and technology and the demand of various industries in society, the mobile robot is widely applied to the fields of aerospace, military, nuclear industry, daily life of people and the like. The device can not only replace people to complete certain dangerous work, but also complete certain regional work which can not be reached by people due to certain reason limitation, and has great research significance.
1. Current state of development of foreign mobile robot technology
The research on mobile robotics started relatively early in the country, beginning at the end of the last 60 s and during the period from 1966 to 1972, an autonomous mobile robot named Shakey was developed by Nils Nilssen and Charles Rosen et al, stanford institute (SKI).
In the late 90 s of the 20 th century, with the continuous development of computer technology and automation technology, the mobile robot technology has made a breakthrough in reality, the application of the robot technology has been more widely applied, and the greatest breakthrough belongs to the application of robots in the fields of aerospace and military. Of particular concern is the pioneer of Mars exploration who was developed by the United states space and aviation administration (NASA) in 1997 who carried the Mars vehicle "Sorgena" to land on Mars and start Mars exploration.
After the 21 st century, Mars vehicles, also twin brothers "courage" and "opportunity" developed by the United states space aviation administration (NASA) jet laboratory, were brought into space in the United states of Florida in 1 and 7 months, 2003. The 'courage' number and the 'opportunity' number can finish autonomous driving according to a preset route on mars, and detection is carried out on a found valuable detection target.
2. Current state of development of mobile domestic robot technology
Compared with foreign countries, the research on the mobile robot technology is relatively late in China, and the research on the mobile robot technology is formally started in China from seventy five. An intelligent mobile robot with relatively comprehensive performance is developed at Qinghua university in 1994, and mainly relates to five key technologies of research based on a map global path planning technology, research of a sensor information local path planning technology, research of a path planning simulation technology, research of a sensing and information fusion technology, design of an intelligent mobile robot and realization.
In recent years, research on the related technologies of mobile robots has been gaining attention in related scientific research institutions and colleges in China, and has drawn attention to theoretical achievements and practical applications in some research fields. The most representative high-performance autonomous mobile robot manufactured by Shanghai university of transportation has advanced greatly and is close to the world leading level, and the research has been supported by the national 863 high-tech plan. Champions were acquired many times in robot competitions both at home and abroad, representing the first participation of the Chinese university in the RoboCup competition.
At present, the lunar rover ' China ' representing the highest level of mobile robot technology development in China is manufactured, and in 2013, Chang ' e ' III ' is sent to the moon to enable the moon to land on the surface of the moon softly, an unmanned lunar exploration plan is implemented, and the surface and the internal conditions of the moon are mainly explored.
In daily life, the phenomenon that accompanying people help to transport equipment (such as cart caddies and the like in a golf course) is often seen, the defects of high labor intensity, high cost and the like exist in manual following, and the development of a following load-carrying vehicle capable of automatically following people is imperative. Today there are also products like mobile trucks that can perform autonomous line patrol functions, but they have little consideration in terms of loading and following of the truck. Most of them are developed into advanced intelligent toys, and do not apply the powerful functions and techniques possessed by them to a wider field.
Disclosure of Invention
In order to solve the technical problems, the invention provides a remote-control intelligent following truck control system, which has the function of carrying certain required articles and automatically following a target to walk at a specific distance, can replace the prior following personnel to help the transportation of equipment, has the working characteristic of being not tired, and is a great improvement in the aspects of reducing the labor intensity, reducing the cost, improving the following effect and the like.
The technical purpose of the invention is realized by the following technical scheme:
a remotely-controllable intelligent following truck control system comprises a truck and a target handheld device;
the load-carrying vehicle comprises a load-carrying column, a load-carrying vehicle power module, a motor driving module and a load-carrying vehicle controller, wherein the load-carrying vehicle controller is electrically connected with the load-carrying vehicle power module and is in signal connection with the motor driving module;
the target handheld device comprises a signal transmitting module, a target handheld device power supply module and a target handheld device controller; the target handheld device controller is in signal connection with the target handheld device power supply module, the target handheld device controller is in signal connection with the signal transmitting module, and the signal transmitting module is in wireless signal connection with the truck controller.
In the scheme, the motor driving module can carry out four-wheel drive through four direct current motors and control the steering and speed control of the truck; the target handheld device sends a signal to the truck through the target handheld device controller and the signal transmitting module, so that the truck is controlled to move.
As a preferred scheme, the signal transmitting module is an ultrasonic transmitting module, the truck is also provided with an ultrasonic receiving module, and the ultrasonic receiving module is in signal connection with the truck controller.
In the above preferred solution, the propagation velocity of the ultrasonic signal at room temperature is only 344m/s, the speed of the ultrasonic signal is different by six orders of magnitude, and in the short-distance environment, the transmission time of the wireless signal is almost zero and can be ignored when compared with the transmission time of the ultrasonic signal, so that the transmission of the ultrasonic wave and the start of the receiver timer can be considered to be synchronous in the ultrasonic positioning system.
As a preferred scheme, the ultrasonic transmitting module comprises a remote controller, the remote controller is matched with the ultrasonic receiving module through the ultrasonic transmitting module, and the ultrasonic receiving module controls the motor driving module to realize the movement of the truck through the truck controller.
In the above preferred embodiment, the user controls the movement of the truck by the remote controller, thereby realizing the control of the truck.
As a preferred scheme, the target handheld device and the truck are respectively provided with a positioner, the ultrasonic transmitting module further comprises a time relay, the ultrasonic transmitting module sends ultrasonic signals to the ultrasonic receiving module at regular time through the time relay, and the ultrasonic receiving module controls the motor driving module through the truck controller to realize the movement of the truck.
In the preferred scheme, the target handheld device sends ultrasonic signals to the truck at regular time, and the following instruction is preset, so that the truck can automatically follow, the real-time control of a user is not needed, and the control of the user is released.
Preferably, the ultrasonic receiving module comprises four ultrasonic receivers.
In the preferred scheme, the ultrasonic receivers on the four corners of the truck can continuously receive ultrasonic signals, the CPU calculates the distance from the moving target to 4 ultrasonic receiving points through the time received by each ultrasonic module, and the azimuth and the distance of the moving target can be determined through a correlation algorithm; meanwhile, the length and the width of the truck can be determined, and the truck can be ensured to be capable of accurately avoiding obstacles through corresponding channels.
As a preferred scheme, when the distance between the truck and the target handheld device is greater than a threshold value x, the speed is a; when the distance between the truck and the target handset is not greater than the threshold x, the speed is b, where a < b.
In the preferred scheme, when the truck is far away from the target handheld device, the truck can move towards the target handheld device at an accelerated speed, shorten the distance and keep up with the target; when the load-carrying vehicle follows the target, the speed is reduced, and the following is realized.
As a preferred scheme, the truck controller and the target hand-held controller are both provided with an STM32 controller and/or a plurality of 51 single-chip microcomputers.
In the above preferred embodiment, the common 51 single chip microcomputer is not necessarily capable of processing multiple signals at the same time, so that multiple single chip microcomputers and the STM32 can be cooperatively processed to be divided into an information signal collecting module, an information processing module (including received signal information analysis, target position and distance calculation, action route analysis, and brake information processing), and a remote control module.
As a preferred scheme, the truck is also provided with an obstacle avoidance module which is in signal connection with the motor driving module.
As a preferred scheme, the load-carrying vehicle and the target handheld device are both provided with a keyboard and a display, the keyboard is respectively used for controlling the load-carrying vehicle and the target handheld device, and the display is respectively used for displaying relevant information of the load-carrying vehicle and the target handheld device.
In the preferred scheme, the display can display the information of the target handheld device of the truck in real time and can also realize the information interactive viewing of the two devices; the keyboard can be distinguished from the remote controller, double control over the truck is achieved, and the keyboard and the remote controller can be the same device on the target handheld device.
The utility model provides a load-carrying vehicle is followed to intelligence based on foretell remote control's load-carrying vehicle control system is followed to intelligence.
In conclusion, the invention has the following beneficial effects:
the intelligent following load-carrying vehicle provided by the invention has the characteristics of quick response, accurate positioning and real-time tracking. Meanwhile, the cost is low, and the popularization is convenient. The multifunctional hand-free. If the product is produced in batch, the cost is greatly reduced, the product can conveniently enter the market, and the product has wide market prospect and considerable economic and social benefits.
Drawings
FIG. 1 is a block diagram of an embodiment of an automatic following truck control system;
FIG. 2 is a profile of an ultrasonic receiver and transmitter in accordance with an embodiment of the present invention.
Detailed Description
This specification and claims do not intend to distinguish between components that differ in name but not function. In the following description and in the claims, the terms "include" and "comprise" are used in an open-ended fashion, and thus should be interpreted to mean "include, but not limited to. "substantially" means within an acceptable error range, and a person skilled in the art can solve the technical problem within a certain error range to substantially achieve the technical effect.
The terms in upper, lower, left, right and the like in the description and the claims are combined with the drawings to facilitate further explanation, so that the application is more convenient to understand and is not limited to the application.
The present invention will be described in further detail with reference to the accompanying drawings.
The sensor is used for positioning the direction and the distance of the target through the ultrasonic sensor to determine the relative position of the target and the truck, and detecting whether an obstacle exists in front and whether the truck can pass through.
The electric drive system controls the truck to move and brake through the transmission of the motor. Four-wheel drive is carried out by four direct current motors, and the braking and reversing of the truck are controlled by the rotating speed and the rotating speed difference of the direct current motors.
Information processing, adopting a common 51 single chip microcomputer can not realize the simultaneous processing of a plurality of signals, therefore, a plurality of single chip microcomputers and an STM32 can be adopted for cooperative processing and divided into an information signal collecting module, an information processing module (including the analysis of received signal information, the calculation of the position and distance of a target, the analysis of a moving route and the processing of braking information) and a remote control module.
Use of radio to effect information transfer (sending follow or park commands and remotely controlling the truck) between the handset and the truck with reliability of radio in digital information dissemination.
The finished product is divided into two parts, a truck and a target handheld device. The target carries the handheld device and the truck automatically follows the target.
The speed is automatically changed at any time. The distance is far away from the following target, and the device can rapidly advance to follow the target. When the target is followed, the speed is reduced, and following is achieved (distance sensing, including infrared sensing or the distance from a transmitter to a receiver is used as a sensing mode).
The device has two modes of automatic following and manual remote control. When in the automatic following mode, the target is automatically followed to move forward; and in the manual remote control mode, the hand-held part is used as a remote controller to remotely control the truck to move forward.
The sensors are used to enable the truck to locate the target.
The motor is used for realizing the motion and braking control of the truck.
And the STM32 with high cost performance is used as a main processor to realize the analysis, processing and calculation of information by the cooperative processing of the main processor and the 51 single chip microcomputer.
The truck can make a correct travel route according to the current surrounding environment.
The target is transmitted by the command of the truck through radio.
The detection and positioning technology of the ultrasonic sensor is researched, and ultrasonic waves are used for avoiding obstacles and following.
The motor dragging technology is utilized to carry out the motion and braking of the equipment.
And the function perfection is realized through multi-party debugging.
The automatic following load-carrying vehicle system consists of two parts: automatically following a truck and a target handheld device. The system finishes the positioning of the truck to the moving target through an ultrasonic positioning technology, determines the distance between the truck and the target by utilizing a related algorithm, compares the distance with the set distance, and drives the motor to rotate by the controller according to the deviation value, thereby finally realizing the following function of the truck to the target. Fig. 1 is a block diagram showing a control system of an automatic following truck.
The ultrasonic wave is sent out by the ultrasonic wave transmitting device, and the distance can be known according to the time difference when the receiver receives the ultrasonic wave. In this subject, at least 4 ultrasonic receivers are distributed on the truck and one ultrasonic transmitter is provided on the target handset. The ultrasonic transmitter of the target handheld device transmits ultrasonic waves, and 4 ultrasonic receivers on the truck receive signals. The position of the ultrasonic transmitter can be obtained by using an algorithm according to the difference between the ultrasonic and target distances. As shown in fig. 2.
The load-carrying vehicle system sends a searching signal through the wireless communication module, simultaneously the ultrasonic receiver starts to time, if the moving target receives the wireless searching signal, the ultrasonic signal is sent immediately, and thus the load-carrying vehicle systemUltrasonic wave signal can be received successively to the ultrasonic receiver on the car four corners, and CPU calculates the distance of moving target to 4 ultrasonic wave receiving points through the time that every ultrasonic wave module received, can confirm the position and the distance of moving target through relevant algorithm. And if the calculated distance is greater than the set distance and the truck is still in a following state, controlling the motor to move towards the target direction, thereby realizing the automatic following function of the truck. It should be noted that the propagation speed of the wireless signal in the air is about 3 × 108m/s, the propagation velocity of the ultrasonic signal at room temperature is only 344m/s, the speed of the ultrasonic signal is different by six orders of magnitude, the transmission time of the wireless signal is almost zero under the short-distance environment operation, and the transmission time can be ignored when being compared with the transmission time of the ultrasonic signal, so that the transmission of the ultrasonic wave and the starting of the receiver timer can be considered to be synchronous in the ultrasonic positioning system.
The present embodiment is only for explaining the present invention, and it is not limited to the present invention, and those skilled in the art can make modifications of the present embodiment without inventive contribution as needed after reading the present specification, but all of them are protected by patent law within the scope of the claims of the present invention.
Claims (10)
1. A remotely-controllable intelligent following truck control system is characterized by comprising a truck and a target handheld device;
the load-carrying vehicle comprises a load-carrying column, a load-carrying vehicle power module, a motor driving module and a load-carrying vehicle controller, wherein the load-carrying vehicle controller is electrically connected with the load-carrying vehicle power module, and is respectively in signal connection with the motor driving module and the motor driving module;
the target handheld device comprises a signal transmitting module, a target handheld device power supply module and a target handheld device controller; the target handheld device controller is in signal connection with the target handheld device power supply module, the target handheld device controller is in signal connection with the signal transmitting module, and the signal transmitting module is in wireless signal connection with the truck controller.
2. The remotely controllable intelligent follow-up truck control system according to claim 1, wherein the signal transmitting module is an ultrasonic transmitting module, the truck is further provided with an ultrasonic receiving module, and the ultrasonic receiving module is in signal connection with the truck controller.
3. The remotely controllable intelligent follow truck control system according to claim 2, wherein the ultrasonic transmitting module comprises a remote controller, the remote controller is matched with the ultrasonic receiving module through the ultrasonic transmitting module, and the ultrasonic receiving module controls the motor driving module through the truck controller to realize the movement of the truck.
4. The remotely controllable intelligent follow-up truck control system according to claim 2, wherein the target handheld device and the truck are respectively provided with a positioner, the ultrasonic transmitting module further comprises a time relay, the ultrasonic transmitting module sends an ultrasonic signal to the ultrasonic receiving module at regular time through the time relay, and the ultrasonic receiving module controls the motor driving module to realize the movement of the truck through the truck controller.
5. The remotely controllable intelligent follow truck control system of claim 3 or 4, wherein said ultrasonic receiving module comprises four ultrasonic receivers.
6. The remotely controllable intelligent follow truck control system of claim 5, wherein when the distance between the truck and the target handset is greater than a threshold x, the speed is a; when the distance between the truck and the target handset is not greater than the threshold x, the speed is b, where a < b.
7. The remotely controllable intelligent follow truck control system according to claim 6, wherein the truck controller and the target hand-held controller are each provided with an STM32 controller and/or a plurality of 51 single-chip microcomputers.
8. The remotely controllable intelligent follow-up truck control system as claimed in claim 7, wherein the truck is further provided with an obstacle avoidance module, and the obstacle avoidance module is in signal connection with the motor drive module.
9. The remotely controllable intelligent follow truck control system as set forth in claim 8, wherein the truck and the target handset are each provided with a keyboard for controlling the truck and the target handset, respectively, and a display for displaying information relating to the truck and the target handset, respectively.
10. An intelligent following truck, characterized in that based on the remotely controllable intelligent following truck control system of any one of claims 1 to 9.
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| CN202110254954.5A CN113009919A (en) | 2021-03-09 | 2021-03-09 | Remotely-controllable intelligent following truck control system and truck |
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| CN202110254954.5A CN113009919A (en) | 2021-03-09 | 2021-03-09 | Remotely-controllable intelligent following truck control system and truck |
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Citations (4)
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|---|---|---|---|---|
| CN101639699A (en) * | 2008-08-01 | 2010-02-03 | 邓伟雄 | Intelligent automatic searching and tracking golf cart |
| CN105468003A (en) * | 2016-01-18 | 2016-04-06 | 深圳思科尼亚科技有限公司 | Omnibearing intelligent following golf cart and following method thereof |
| CN105563451A (en) * | 2016-01-20 | 2016-05-11 | 詹雨科 | Intelligent following robot |
| CN205614640U (en) * | 2016-01-20 | 2016-10-05 | 詹雨科 | Robot is followed to intelligence |
-
2021
- 2021-03-09 CN CN202110254954.5A patent/CN113009919A/en active Pending
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101639699A (en) * | 2008-08-01 | 2010-02-03 | 邓伟雄 | Intelligent automatic searching and tracking golf cart |
| CN105468003A (en) * | 2016-01-18 | 2016-04-06 | 深圳思科尼亚科技有限公司 | Omnibearing intelligent following golf cart and following method thereof |
| CN105563451A (en) * | 2016-01-20 | 2016-05-11 | 詹雨科 | Intelligent following robot |
| CN205614640U (en) * | 2016-01-20 | 2016-10-05 | 詹雨科 | Robot is followed to intelligence |
Non-Patent Citations (1)
| Title |
|---|
| 刘伟丽: "自动跟随小车控制系统", 《中国优秀硕士学位论文全文数据库 信息科技辑》 * |
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Application publication date: 20210622 |