CN117250964B - Control method of intelligent following trolley control system and electronic equipment - Google Patents

Control method of intelligent following trolley control system and electronic equipment Download PDF

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CN117250964B
CN117250964B CN202311531360.XA CN202311531360A CN117250964B CN 117250964 B CN117250964 B CN 117250964B CN 202311531360 A CN202311531360 A CN 202311531360A CN 117250964 B CN117250964 B CN 117250964B
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base station
module
following
tag
control
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CN117250964A (en
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汤奇荣
余敏
王文瑞
靳道鹏
刘明昊
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Tongji University
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Tongji University
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    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
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    • Y02T10/72—Electric energy management in electromobility

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Abstract

The invention belongs to the field of intelligent following, and particularly discloses a control method of an intelligent following trolley control system and electronic equipment. The positioning module obtains a positioning triangle between the following target and the trolley, obtains the following target position information according to the positioning triangle, realizes motor differential control by adopting a proportional control technology based on angle errors through the position information, and completes stepless turning or straight running of the trolley. In addition, the control blind area of the following trolley is identified through a redundancy judging technology, and a blind area preset strategy is adopted, so that the following trolley is quickly separated from the control blind area. The intelligent tracking precision of the trolley in different scenes is improved, and the intelligent tracking precision is suitable for various production lines, assembly lines, conveying lines, platforms, goods shelf environments, supermarkets and enterprises.

Description

Control method of intelligent following trolley control system and electronic equipment
Technical Field
The invention belongs to the technical field of intelligent following, and particularly relates to a control method of an intelligent following trolley control system and electronic equipment.
Background
In life and industrial production, the requirements and applications of an automatic following or carrying system are ubiquitous, and in life, a manager needs to maintain and sort and carry books every month for daily maintenance of a library; in the logistics industry, with the rapid development of all large electronic commerce, the daily express traffic is larger and larger; in the field of industrial application, the development of unmanned workshops makes the demand of automatic material handling production lines larger and larger.
At present, a plurality of products related to automatic following exist, but the products are difficult to flexibly follow the target, an ultrasonic positioning system can realize wireless positioning within a certain range, the positioning precision is good, but ultrasonic waves can only be suitable for a short distance and are greatly influenced by Doppler effect and temperature, and meanwhile, a large amount of infrastructure hardware facilities are needed, so that the cost is high. In addition, there are many products with automatic tracking, in which a number of specific sensors are used, and the robot is limited to moving along a path to which a specific magnetic stripe is attached, and automatic following of a traveling person cannot be achieved. On the other hand, the mature transfer robots in the market mostly depend on positioning sensors of large scenes, and the equipment enables the robots to only operate in places such as markets and workshops with sensor layout, can not realize operation across scenes, has insufficient flexibility and is high in price. Therefore, a control system for realizing automatic following is needed in the market, on one hand, the real-time performance and the accuracy of the following of the robot can be ensured, and on the other hand, the robot can realize the operation across scenes without depending on specific infrastructure, so that the multi-scene application is realized.
Disclosure of Invention
The invention provides a control method of an intelligent following trolley control system and electronic equipment, and aims to solve the technical difficulties of inflexible application scenes, insufficient control precision and the like of the existing products.
The invention is realized by the following technical scheme:
the control method of the intelligent following trolley control system uses a control system which comprises a data processing module, a man-machine interaction module, a power module, a motor speed regulation module and a positioning module, wherein the positioning module is a three-base-station one-tag positioning module based on an ultra-wideband UWB sensor;
the data processing module is used for receiving the data information of the positioning module and the key signals of the man-machine interaction module, sending control signals to the motor speed regulating module and sending signals and data to the buzzer and the LCD of the man-machine interaction module;
the man-machine interaction module is used for starting the control system, receiving a buzzing signal of alarm and a display signal of the LCD display;
the power supply module is used for intelligently supplying power to the control system of the following trolley;
the motor speed regulating module is used for realizing speed regulating control of the motor;
the positioning module is used for realizing intelligent following of the trolley and comprises a main base station A, a secondary base station B, a secondary base station C and a label D, wherein the main base station A and the secondary base station B are positioned at the front part of the following trolley, the secondary base station C is positioned at the rear part of the following trolley, and the three base stations adopt isosceles right triangle layout;
the data processing module is connected with the motor speed regulation module, the data processing module is connected with the man-machine interaction module, the data processing module is connected with the positioning module, and the power supply module respectively supplies power to the data processing module, the man-machine interaction module, the motor speed regulation module and the positioning module;
the control method specifically comprises the steps that after the system is initialized, a key scanning program is entered, a user presses a start and positioning key, a main control unit of a data processing module sends a ranging request to a main base station A through a serial port, three base stations respectively communicate with a tag D to acquire position information, after the pretreatment of data is completed at the main base station A, the data is sent to the main control unit of the data processing module, after the validity of positioning data is checked, the main control unit of the data processing module prints and displays the data in an LCD display, the position of a following trolley is determined, a motor speed regulating module is started to output two paths of PWM signals to control the following trolley to turn left or right and advance or retreat;
identifying a control blind area of the following trolley by a redundancy judging method in the following process of the following trolley, and adopting a blind area presetting method to enable the following trolley to be quickly separated from the control blind area;
the redundancy judgment method is that whether a following target is in a control system blind area is identified through redundancy judgment aiming at the blind area;
adding redundancy judgment for the situation that the following target is in the control blind area, and identifying whether the following target is in the left control blind area or the right control blind area;
the speed of the motor is regulated by a blind area presetting method, so that the following trolley leaves a control blind area and returns to the right;
the redundancy judging method comprises the steps of defining the maximum following distance of the following trolley on the whole planeAnd minimum following distance->Distance +.>To divide the planar area into three areas, approximately instead of following the target to following the trolley distance:
（1）
when (when)When the following trolley is very close to the target object, the speed of the following trolley is set to be zero in order to prevent the following trolley from colliding with the target object; when->When the following trolley is far away from the target object, judging that the following trolley is lost; when (when)When the following area is formed, a following control program is started, and the rotating speeds of the two wheels are adjusted to enable the following trolley to move to the target object.
Further, the main base station A performs data interaction with a second serial port of the data processing module, wireless signal transmission is performed among the main base station A, the secondary base station B, the secondary base station C and the tag D, the positioning module obtains a positioning triangle between the following target and the following trolley, and the following target position information is obtained according to the positioning triangle;
the third timer and the fourth timer of the data processing module output two paths of PWM signals to a first motor driver of the motor speed regulating module and a second motor driver of the motor speed regulating module, wherein the first motor driver of the motor speed regulating module provides a speed regulating signal for a left motor, and the second motor driver of the motor speed regulating module provides a speed regulating signal for a right motor;
the data processing module provides an IO port to send an alarm signal to a buzzer of the man-machine interaction module, displays positioning information to an LCD display of the man-machine interaction module, and receives a starting signal of a key;
the power module comprises a first battery and a second battery, the first battery supplies power for the motor speed regulation module, and the second battery supplies power for the positioning module and the man-machine interaction module through the data processing module.
Further, the primary base station A is responsible for communication between the data acquisition module and the data processing module, and the secondary base station B and the secondary base station C are indirectly communicated with the data processing module by virtue of the primary base station A;
and the main base station A, the secondary base station B, the secondary base station C and the tag D realize two-dimensional positioning by adopting a double-sided two-way ranging DS-TWR ranging mode.
Further, the working process of the positioning module is specifically that a main base station A, a secondary base station B, a secondary base station C and a label D are initialized;
the main base station A calls the tag D to perform ranging, and the tag D answers the call of the main base station A and performs ranging;
the primary base station A communicates with the secondary base station B and the secondary base station C to perform ranging and wait for receiving data; the secondary base station B and the secondary base station C answer to the main base station A to perform ranging and return ranging data to the main base station A;
after ranging, processing data and transmitting the processed data to a main base station A, wherein the main base station A fuses the ranging data of a tag D with the ranging data of a secondary base station B and a secondary base station C, and transmits the fused data to a data processing module.
Further, the position information of the following target is analyzed from a positioning triangle formed by the positioning module, and the position of the target relative to the following trolley is converted into the difference between two angles;
based on the difference between the two angles, defining an angle error variable and realizing differential adjustment on a front wheel motor of the following trolley by proportional control;
only considering the situation that the tag D follows the front of the trolley, namely a positioning triangle formed by the tag D, the primary base station A and the secondary base station B, and solving a triangle formed by the primary base station A, the secondary base station B and the tag D according to the triangle cosine law;
knowing the distance AB between the primary base station A and the secondary base station B; the distance between the main base station A and the tag D is obtained through communication between ultra wideband UWBThe distance from base station B to tag D is +.>Then in Δabd:
（2）
（3）
from formulae (2) and (3)、/>When tag D is in front of right of the follower trolley, +.>The method comprises the steps of carrying out a first treatment on the surface of the When the tag D is in the left front of the follower trolley, and (2)>；
Defining an angle error：
（4）
When (when)Judging label when the number is more than 10D on the right side, when->When it is smaller than-10, it is judged that the tag D is on the left side, and the larger the deviation from the neutral position is, when +.>The larger the absolute value of (c), the differential control is performed by using the error proportion motor, so that the differential of the two wheels is in direct proportion to the angle error:
（5）
wherein,pulse width modulated signal for the third timer to be transmitted to the first motor driver, +.>Pulse width modulated signal for the fourth timer to the second motor driver,/->Is a positive value, & lt & gt>The greater the absolute value of the tag D, the greater the distance from the middle, the greater the differential speed the control system loads on the left and right wheels, so that the follower trolley can move rapidly and flexibly towards the position of the tag D and return.
Further, the secondary base station C is utilized to identify the front and rear directions of the tag D relative to the following trolley; judging the front and rear of the automobile by using the size relation between the label D and the main base station A and the secondary base station C:
（6）
wherein the distance from the secondary base station C to the tag D isBy the judging method of the formula (6), the following of the following trolley to the target can be realized no matter the tag D is positioned behind the car in front of the car.
Furthermore, redundant judgment is added in order to enable the following trolley to correctly identify the azimuth and quickly return from the dead zone position;
firstly, judging blind areas:
（7）
when the control blind zone is identified, adding redundancy judgment conditions:
（8）
when judging the dead zone on the right side, driving the right wheel to rapidly leave the dead zone on the right side and return to the right side;
when judging the left blind area, driving the left wheel to rapidly leave the left blind area and return to the right;
wherein the distance from the main base station A to the tag D is as followsThe distance from the secondary base station B to the tag D is +.>The distance from the secondary base station C to the tag D is +.>。
An electronic device comprises a processor, a communication interface, a memory and a communication bus, wherein the processor, the communication interface and the memory are communicated with each other through the communication bus;
a memory for storing a computer program;
and the processor is used for realizing the method when executing the program stored in the memory.
The beneficial effects of the invention are as follows:
the intelligent tracking precision of the tracking trolley in different scenes is improved, and the intelligent tracking precision is suitable for various production lines, assembly lines, conveying lines, platforms, goods shelf environments, supermarkets and enterprises.
The three base stations are arranged in the form of isosceles right triangles, so that calculation force can be saved, the calculation speed is higher, and the reaction speed of the trolley is higher.
Drawings
Fig. 1 is a functional block diagram of the control system hardware of the present invention.
FIG. 2 is a functional block diagram of control system software of the present invention.
FIG. 3 is a flow chart of the program control of the present invention.
Fig. 4 is a flow chart of a three base station one tag D positioning technology based on ultra wideband UWB according to the present invention.
Fig. 5 is a spatial layout diagram of a three-base station positioning system according to the present invention.
Fig. 6 is a schematic diagram of the following control algorithm model of the present invention.
Fig. 7 is a schematic view of a planar positioning triangle according to the present invention.
Fig. 8a to 8c are diagrams of the positional relationship between the tag D and the following trolley according to the present invention, wherein fig. 8a shows the tag D in front of the right side, fig. 8b shows the tag D in front of the trolley, and fig. 8c shows the tag D in front of the left side of the trolley.
Fig. 9a to 9b are diagrams showing the relationship between the front and rear of the car and the following car according to the label D of the present invention, wherein fig. 9a shows the front of the car and fig. 9b shows the rear of the car.
Fig. 10 is a schematic diagram of the control dead zone of the present invention.
Detailed Description
In the following description, for purposes of explanation and not limitation, specific details are set forth, such as particular system configurations, techniques, etc. in order to provide a thorough understanding of the embodiments of the present application. However, it will be apparent to one skilled in the art that the present application may be practiced in other embodiments that depart from these specific details. In other instances, detailed descriptions of well-known systems, devices, circuits, and methods are omitted so as not to obscure the description of the present application with unnecessary detail.
It should be understood that the terms "comprises" and/or "comprising," when used in this specification and the appended claims, specify the presence of stated features, integers, steps, operations, elements, and/or components, but do not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components, and/or groups thereof.
It is also to be understood that the terminology used in the description of the present application is for the purpose of describing particular embodiments only and is not intended to be limiting of the application. As used in this specification and the appended claims, the singular forms "a," "an," and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise.
The following description of the embodiments of the present application, taken in conjunction with the accompanying drawings, will clearly and fully describe the embodiments described below, as a matter of course, only some, but not all, of the embodiments of the present application. All other embodiments, which can be made by one of ordinary skill in the art without undue burden from the present disclosure, are within the scope of the present disclosure.
In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present application, but the present application may be practiced in other ways other than those described herein, and persons skilled in the art will readily appreciate that the present application is not limited to the specific embodiments disclosed below.
Example 1
The control method of the intelligent following trolley control system uses a control system which comprises a data processing module, a man-machine interaction module, a power module, a motor speed regulation module and a positioning module, wherein the positioning module is a three-base-station one-tag positioning module based on an ultra-wideband UWB sensor;
the data processing module is used for receiving the data information of the positioning module and the key signals of the man-machine interaction module, sending control signals to the motor speed regulating module and sending signals and data to the buzzer and the LCD of the man-machine interaction module;
the man-machine interaction module is used for starting the control system, receiving a buzzing signal of alarm and a display signal of the LCD display;
the power supply module is used for intelligently supplying power to the control system of the following trolley;
the motor speed regulating module is used for realizing speed regulating control of the motor;
the control method comprises the steps that a system initializes some resources, after the system is initialized, a key scanning program is entered after the system is initialized, including serial ports, timers, interrupts, sensors, parameters of an LCD display screen and the like, a user presses a starting and positioning key, a main control unit of a data processing module sends a ranging request to a main base station A through the serial ports, at the moment, three base stations respectively communicate with a tag D to acquire position information, after preprocessing such as data fusion and filtering is completed at the main base station A, the data are sent to the main control unit of the data processing module, after a period of time is delayed, the main control unit of the data processing module prints and displays the data in the LCD display after finishing validity check of positioning data, meanwhile, the position of a following trolley is determined, and a motor speed regulating module is started to control whether the following trolley rotates left or right by utilizing two paths of PWM signals output by the timers to advance or retreat;
identifying a control blind area of the following trolley by a redundancy judging method in the following process of the following trolley, and adopting a blind area presetting method to enable the following trolley to be quickly separated from the control blind area;
the redundancy judgment method is that whether a following target is in a control system blind area is identified through redundancy judgment aiming at the blind area;
adding redundancy judgment for the situation that the following target is in the control blind area, and identifying whether the following target is in the left control blind area or the right control blind area;
and (3) adjusting the speed of the motor by a blind area presetting method to enable the following trolley to leave the control blind area and return.
Specifically, as shown in fig. 2, which is a functional block diagram of control system software, the whole software design scheme is divided into three parts, namely a communication module, a control module and a man-machine interaction module, wherein the communication module realizes a sensing function, and particularly obtains the distance, angle error, front and rear position information of a following target relative to a following trolley through a serial port; the control module is used for accurately controlling the motors, making a decision of moving the following trolley according to the position information sent by the communication module, controlling the left motor and the right motor to drive through PWM, and controlling the left motor and the right motor to change the moving direction of the following trolley in a differential driving mode so as to move the following trolley to a target position; the man-machine interaction module realizes multiple functions, the LCD display screen prints real-time operation parameters of the following trolley in real time, the key is used for starting and emergently closing the following trolley, and the buzzer gives an alarm when the following trolley is lost.
And the ultra-wideband UWB module is adopted to realize the positioning of the following target object. Ultra wideband UWB is a short range wireless communication technology that is widely used for accurate indoor positioning, which uses non-sinusoidal narrow pulses on the order of nanoseconds to microseconds to transmit data, and thus has a very high communication rate. In order to realize the following function of the following trolley, the system needs to acquire a real-time and accurate target space position, so that the ultra wideband UWB technology is the optimal wireless communication mode of the invention.
In the invention, a DWM1000 chip is adopted for realizing ultra wideband UWB communication, and a controller controls GPIO5 and GPIO6 of the chip to set the module to work in a base station mode and a tag D mode.
In this embodiment, the control method adopts a positioning module of three base stations and one tag, the ranging flow is shown in fig. 4, and the three ultra wideband UWB base station modules are mainly used for receiving the returned pulse to measure the distance of the ultra wideband UWB tag D module, and the main base station a transmits the measured data to the controller through the SPI port of the chip after completing the fusion and filtration of the positioning data.
The ultra-wideband UWB positioning system is applied to a following trolley, as shown in fig. 5, the space layout of an ultra-wideband UWB module on the following trolley is shown, a local coordinate system is firstly established on the following trolley, the negative y-axis direction is taken as the front of a car, three base stations are respectively arranged at three corners of the following trolley, wherein a base station A is a main base station A, B, C is a secondary base station, the coordinates of the base station A are set to be (0, 0), the base station B is (30, 0), and the base station C is (30, 30).
Further, the working process of the positioning module is specifically that a main base station A, a secondary base station B, a secondary base station C and a label D are initialized;
the main base station A calls the tag D to perform ranging, and the tag D answers the call of the main base station A and performs ranging;
the primary base station A communicates with the secondary base station B and the secondary base station C to perform ranging and wait for receiving data; the secondary base station B and the secondary base station C answer to the main base station A to perform ranging and return ranging data to the main base station A;
after ranging, processing data and transmitting the processed data to a main base station A, wherein the main base station A fuses the ranging data of a tag D with the ranging data of a secondary base station B and a secondary base station C, and transmits the fused data to a data processing module.
Further, the redundancy judging method is specifically shown in fig. 6, which is a model principle of the present following control algorithm. First, a maximum following distance of the following trolley is defined on the whole planeAnd minimum following distance->Distance +.>To approximate the distance from the following target to the following trolley, thus dividing the planar area into three areas:
（1）
when (when)When the following trolley is very close to the target object, the speed of the following trolley is set to be zero in order to prevent the following trolley from colliding with the target object; so that the follower trolley does not continue to move but remains stationary, -, a +.>Corresponding to a minimum safe following distance.
When (when)When the following trolley is far away from the target object, judging that the following trolley is lost; in practical application, various electromagnetic signal interferences exist in the environment, the following accuracy is obviously reduced due to overlarge following distance, the speed of the following trolley is reduced to zero and kept still under the condition that the following trolley is lost due to overlarge distance from a guide, and meanwhile, a buzzer gives an alarm to remind a user.
When (when)When the following area is formed, a following control program is started, and the rotating speeds of the two wheels are adjusted to enable the following trolley to move to the target object.
Further, the position information of the following target is analyzed from a positioning triangle formed by the positioning module, and the position of the target relative to the following trolley is converted into the difference between two angles;
based on the difference between the two angles, defining an angle error variable and realizing differential adjustment on a front wheel motor of the following trolley by proportional control;
considering only the situation that the tag D is in front of the following trolley (the situation that the tag D is behind the following trolley is similar, here, only one situation is introduced for illustrating the principle), as shown in fig. 7, namely, a positioning triangle schematic diagram formed by the tag D and the primary base station a and the secondary base station B, the triangle formed by the primary base station a, the secondary base station B and the tag D can be obtained according to the triangle cosine theorem;
knowing the distance AB of the primary base station a from the secondary base station B, where AB is 30cm; the distance from the main base station A to the tag D can be obtained through communication between ultra wideband UWBThe distance from the secondary base station B to the tag D is +.>Then in Δabd:
（2）
（3）
can be determined by the formulas (2) and (3)、/>As shown in fig. 8a to 8c, which are graphs of the position of the tag D and the following trolley, the change of these two angles with the position of the tag D is observed,
when the tag D is in the right front of the follower trolley,；
when the tag D is in the left front of the follower trolley,；
to better represent the relationship between the position of the tag D and the angular variation, an angular error is defined:
（4）
When the tag D is on the right side,greater than 0;
when the label D is on the left side,less than 0;
of course, this is the ideal case without errors, as the actual caseIf the number is more than 10, the label D is judged to be on the right side, and when +.>When it is smaller than-10, it is judged that the tag D is on the left side, and the larger the deviation from the neutral position is, when +.>According to the law, the differential control of the error proportion motor is used to make the differential proportion of two wheels and the angle error:
（5）
wherein,pulse width modulated signal for the third timer to be transmitted to the first motor driver, +.>Pulse width modulated signal for the fourth timer to the second motor driver,/->Is a positive value, & lt & gt>The greater the absolute value of the tag D is, the greater the distance from the middle, the greater the differential speed the control system loads on the left and right wheels, so that the follower trolley can move rapidly and flexibly towards the tag D position and return.
When|When the I is less than or equal to 10, the following trolley normally walks without speed regulation.
Further, the primary base station A and the secondary base station B are used for realizing direction control before, and the secondary base station C is used for identifying the front and rear directions of the tag D relative to the following trolley; as shown in fig. 9a to 9b, the size relationship between the tag D and the primary base station a and the secondary base station C is used to determine the front and rear of the vehicle:
（6）
wherein the distance from the secondary base station C to the tag D isAccording to the formula (6), the following of the target by the following trolley can be realized no matter the tag D is behind the car in front of the car.
Further, the previously described front-rear control judgment conditions are applicable to most cases, but are used aloneAnd->The size relationship between the two is that the following trolley is trapped in a control blind area in a specific area, and the blind area is shown in figure 10, and the following trolley is in a +.>And->The size is almost the same, so that the front and the rear of the car cannot be judged according to the front condition, and the situation of back and forth shake can occur when the car is followed; in order to enable the following trolley to correctly identify the azimuth and quickly return to the dead zone position, redundant judgment is added;
firstly, judging blind areas:
（7）
when the control blind zone is identified, adding redundancy judgment conditions:
（8）
when judging the dead zone on the right side, driving the right wheel to rapidly leave the dead zone on the right side and return to the right side;
when judging the left blind area, driving the left wheel to rapidly leave the left blind area and return to the right;
wherein the distance from the main base station A to the tag D is as followsThe distance from the secondary base station B to the tag D is +.>The distance from the secondary base station C to the tag D is +.>。
Specifically, the invention is based on three base stations-tag D positioning modules of Ultra Wideband (Ultra-Wideband) sensors, adopts a double-sided two-way ranging DS-TWR ranging mode (Double Side Two Way Ranging) and a triangle positioning principle, and utilizes an Ultra Wideband UWB sensor with a specific layout mode to acquire a positioning triangle between a following target and a following trolley. And secondly, analyzing the position information in real time through a data processing module. Then, the motor control algorithm realizes differential control of the motor speed of the front wheels of the following trolley, and automatic following between the following trolley and the target is completed.
Example two
The intelligent following trolley control system comprises a data processing module, a man-machine interaction module, a power module, a motor speed regulation module and a three-base-station one-tag D positioning module based on an Ultra-Wideband UWB sensor; the data processing module is STM32;
the data processing module is connected with the motor speed regulation module, the data processing module is connected with the man-machine interaction module, the data processing module is connected with the positioning module, and the power supply module respectively supplies power to the data processing module, the man-machine interaction module, the motor speed regulation module and the positioning module;
the positioning module comprises a main base station A, a secondary base station B, a secondary base station C and a tag D, wherein the main base station A performs data interaction with a second serial port of the data processing module, wireless signal transmission is performed among the main base station A, the secondary base station B, the secondary base station C and the tag D, the positioning module obtains a positioning triangle between a following target and a following trolley, and the following target position information is obtained according to the positioning triangle;
the third timer and the fourth timer of the data processing module output two paths of PWM signals to a first motor driver of the motor speed regulating module and a second motor driver of the motor speed regulating module, wherein the first motor driver of the motor speed regulating module provides a speed regulating signal for a left motor, and the second motor driver of the motor speed regulating module provides a speed regulating signal for a right motor;
the data processing module provides an IO port to send an alarm signal to a buzzer of the man-machine interaction module, displays positioning information to an LCD display of the man-machine interaction module, and receives a starting signal of a key;
the power module comprises a first battery and a second battery, the first battery supplies power for the motor speed regulation module, and the second battery supplies power for the positioning module and the man-machine interaction module through the data processing module.
An intelligent following trolley control system is characterized in that a main base station A, a secondary base station B and a secondary base station C are arranged on the following trolley and are distributed in an isosceles right triangle;
the primary base station A is responsible for communication between the data acquisition module and the data processing module, and the secondary base station B and the secondary base station C are indirectly communicated with the data processing module by virtue of the primary base station A;
the primary base station A, the secondary base station B, the secondary base station C and the tag D adopt a double-sided two-way ranging DS-TWR ranging mode (Double Side Two Way Ranging) to realize two-dimensional positioning.
Specifically, as shown in fig. 1, the hardware schematic block diagram of the control system is mainly composed of a main control unit of an ultra-wideband UWB positioning and data processing module and a motor speed regulation system. The ultra-wideband UWB positioning adopts a configuration mode of three base stations and one tag D, and the base stations and the tag D form intelligent positioning based on a double-sided two-way ranging DS-TWR ranging mode (Double Side Two Way Ranging) and a triangle positioning principle, so that the intelligent positioning of the conveying following trolley and the guiding tag D is realized. The three base stations comprise a main base station A and two secondary base stations, the two secondary base stations do not directly communicate with the main control unit of the data processing module after obtaining the position information of the tag D, but send data to the main base station A, and the main base station A carries out filtering processing on positioning data comprising the main base station A and other base stations and then sends the positioning data to the main control unit of the data processing module uniformly.
In this embodiment, the main control unit board of the data processing module carries a chip STM32F103ZET6, and the computing performance meets the real-time requirement; 144 paths of pins are arranged, 512K FLASH,64K SRAM, so that the capacity is large, and the processing of positioning data can be satisfied; the system comprises 5 paths of serial ports and 8 timers, and can meet the requirements of simultaneous and multi-path sensor communication and motor speed regulation control; the power supply requirements of a plurality of ultra wideband UWB modules can be met by being provided with a plurality of paths of DC 5V outputs; and a plurality of expansion interfaces are provided, and the self-adaptive 2.8-inch liquid crystal display module can be used for further expanding human-computer interaction functions.
In the embodiment, the motor speed regulating part adopts a Nori speed reduction direct current brushless motor, the model is 36GP-42BL2450A, the 2-level speed reduction requirement is met, the nominal speed reduction ratio is 14, the rated output power is 20W, the output torque is 0.62 N.m, and the motor can meet the requirement. The controller adopts NL-WSH-V01 and rated voltage DC 25-50V, can realize internal speed regulation and external PWM speed regulation, and can realize speed capture by being equipped with a Hall sensor.
In the embodiment, the power supply part adopts a double-battery power supply scheme of a main control small battery and a motor large battery, so that the system safety is enhanced. The hardware system is designed and debugged through software and hardware, sensing information acquired through an ultra wide band UWB sensor is used for making a decision of following the moving position of the trolley by the STM32 controller, controlling two motor drives through PWM, and controlling the left motor and the right motor to move to the target position in a differential driving mode. Besides the sensing and driving units, the following trolley is connected with an LCD display screen through a 232 serial port, and real-time operation parameters of the following trolley can be displayed.
Example III
The embodiment of the invention provides an electronic device, which comprises a memory, a processor and a computer program stored in the memory and capable of running on the processor, wherein the memory is used for storing the software program and a module, and the processor executes various functional applications and data processing by running the software program and the module stored in the memory. The memory and the processor are connected by a bus. In particular, the processor implements any of the steps of the above-described embodiment by running the above-described computer program stored in the memory.
It should be appreciated that in embodiments of the present invention, the processor may be a central processing unit (Central Processing Unit, CPU), which may also be other general purpose processors, digital signal processors (Digital Signal Processor, DSPs), application specific integrated circuits (Application Specific Integrated Circuit, ASICs), off-the-shelf programmable gate arrays (Field-Programmable Gate Array, FPGAs) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, or the like. A general purpose processor may be a microprocessor or the processor may be any conventional processor or the like.
The memory may include read-only memory, flash memory, and random access memory, and provides instructions and data to the processor. Some or all of the memory may also include non-volatile random access memory.
From the above, the electronic device provided by the embodiment of the invention can realize the intelligent following trolley control method according to the first embodiment by running the computer program, thereby improving the intelligent following precision of the following trolley in different scenes.
It should be appreciated that the above-described integrated modules/units, if implemented in the form of software functional units and sold or used as stand-alone products, may be stored in a computer-readable storage medium. Based on such understanding, the present invention may implement all or part of the flow of the method of the above embodiment, or may be implemented by instructing related hardware by a computer program, where the computer program may be stored in a computer readable storage medium, and the computer program may implement the steps of each of the method embodiments described above when executed by a processor. The computer program comprises computer program code, and the computer program code can be in a source code form, an object code form, an executable file or some intermediate form and the like. The computer readable medium may include: any entity or device capable of carrying the computer program code described above, a recording medium, a U disk, a removable hard disk, a magnetic disk, an optical disk, a computer Memory, a Read-Only Memory (ROM), a random access Memory (Random Access Memory, RAM), an electrical carrier wave signal, a telecommunications signal, a software distribution medium, and so forth. The content of the computer readable storage medium can be appropriately increased or decreased according to the requirements of the legislation and the patent practice in the jurisdiction.
The previous description of the disclosed embodiments is provided to enable any person skilled in the art to make or use the present invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the invention. Thus, the present invention is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.
It will be apparent to those skilled in the art that, for convenience and brevity of description, only the above-described division of the functional units and modules is illustrated, and in practical application, the above-described functional distribution may be performed by different functional units and modules according to needs, i.e. the internal structure of the apparatus is divided into different functional units or modules to perform all or part of the above-described functions. The functional units and modules in the embodiment may be integrated in one processing unit, or each unit may exist alone physically, or two or more units may be integrated in one unit, where the integrated units may be implemented in a form of hardware or a form of a software functional unit. In addition, the specific names of the functional units and modules are only for distinguishing from each other, and are not used for limiting the protection scope of the present invention. The specific working process of the units and modules in the above system may refer to the corresponding process in the foregoing method embodiment, which is not described herein again.
It should be noted that, the method and the details thereof provided in the foregoing embodiments may be combined into the apparatus and the device provided in the embodiments, and are referred to each other and are not described in detail.
Those of ordinary skill in the art will appreciate that the elements and algorithm steps of the examples described in connection with the embodiments disclosed herein may be implemented as electronic hardware, or combinations of computer software and electronic hardware. Whether such functionality is implemented as hardware or software depends upon the particular application and design constraints imposed on the solution. Skilled artisans may implement the described functionality in varying ways for each particular application, but such implementation decisions should not be interpreted as causing a departure from the scope of the present invention.
In the embodiments provided in the present invention, it should be understood that the disclosed apparatus/terminal device and method may be implemented in other manners. For example, the apparatus/device embodiments described above are merely illustrative, e.g., the division of modules or elements described above is merely a logical functional division, and may be implemented in other ways, e.g., multiple elements or components may be combined or integrated into another system, or some features may be omitted, or not performed.
The above embodiments are only for illustrating the technical solution of the present invention, and are not limiting; although the invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical scheme described in the foregoing embodiments can be modified or some technical features thereof can be replaced by equivalents; such modifications and substitutions do not depart from the spirit and scope of the technical solutions of the embodiments of the present invention, and are intended to be included in the scope of the present invention.

Claims (7)

1.一种智能跟随小车控制系统的控制方法，其特征在于，所述控制方法使用如下控制系统，所述控制系统包括数据处理模块、人机交互模块、电源模块、电机调速模块和定位模块，所述定位模块为基于超宽频UWB传感器的三基站一标签的定位模块；1. A control method for an intelligent following car control system, characterized in that the control method uses the following control system, which includes a data processing module, a human-computer interaction module, a power supply module, a motor speed regulation module and a positioning module , the positioning module is a positioning module with three base stations and one tag based on ultra-wideband UWB sensors; 所述数据处理模块，用于接收定位模块的数据信息以及人机交互模块的按键信号，并向电机调速模块发出控制信号以及向人机交互模块的蜂鸣器与LCD显示器发送信号与数据；The data processing module is used to receive data information from the positioning module and key signals from the human-computer interaction module, send control signals to the motor speed regulation module, and send signals and data to the buzzer and LCD display of the human-computer interaction module; 所述人机交互模块，用于启动控制系统，以及接收报警的蜂鸣信号以及LCD显示器的显示信号；The human-computer interaction module is used to start the control system and receive alarm buzz signals and LCD display display signals; 所述电源模块，用于智能跟随小车控制系统的供电；The power module is used to power the intelligent following car control system; 所述电机调速模块，实现对电机的调速控制；The motor speed regulation module realizes speed regulation control of the motor; 所述定位模块，用于实现小车的智能跟随，所述定位模块包括主基站A、次基站B、次基站C和标签D，所述主基站A与次基站B位于跟随小车的前部，所述次基站C位于跟随小车的后部，三个基站采用等腰直角三角形的布局；The positioning module is used to realize the intelligent following of the car. The positioning module includes a primary base station A, a secondary base station B, a secondary base station C and a tag D. The primary base station A and the secondary base station B are located in front of the following car, so The above-mentioned base station C is located at the rear of the following car, and the three base stations adopt an isosceles right triangle layout; 所述数据处理模块与电机调速模块相连接，所述数据处理模块与人机交互模块相连接，所述数据处理模块与定位模块相连接，所述电源模块分别为数据处理模块、人机交互模块、电机调速模块和定位模块供电；The data processing module is connected to the motor speed regulation module, the data processing module is connected to the human-computer interaction module, the data processing module is connected to the positioning module, and the power supply modules are respectively the data processing module and the human-computer interaction module. Module, motor speed control module and positioning module power supply; 所述控制方法具体为，对系统初始化操作后，进入按键扫描程序，用户按下启动和定位按键，数据处理模块的主控单元通过串口向主基站A发出测距请求，三个基站分别与标签D通信获取位置信息，并在主基站A处完成数据的预处理后将数据发送给数据处理模块的主控单元，数据处理模块的主控单元完成定位数据的有效性检验后将数据在LCD显示器中打印显示，确定跟随小车位置，启动电机调速模块利用定时器输出两路PWM信号来控制跟随小车左转还是右转，前进还是后退；The control method is specifically as follows: after initializing the system, entering the button scanning program, the user presses the start and positioning buttons, and the main control unit of the data processing module sends a ranging request to the main base station A through the serial port. The three base stations communicate with the tags respectively. D communication obtains the location information, and completes the preprocessing of the data at the main base station A, then sends the data to the main control unit of the data processing module. After the main control unit of the data processing module completes the validity check of the positioning data, the data is displayed on the LCD display. In the printed display, determine the position of the following car, start the motor speed regulation module and use the timer to output two PWM signals to control the following car to turn left or right, forward or backward; 在跟随小车跟随的过程中通过冗余判断方法识别跟随小车控制盲区，并采用盲区预置方法，使得跟随小车快速脱离控制盲区；In the process of following the car, the blind spot of the following car's control is identified through redundant judgment method, and the blind spot preset method is used to make the following car quickly escape from the control blind spot; 所述冗余判断方法为，通过针对盲区的冗余判断，识别跟随目标是否在控制系统盲区；The redundancy judgment method is to identify whether the following target is in the blind spot of the control system through redundancy judgment for the blind area; 对于跟随目标在控制盲区的情况，加入冗余判断，识别其在左侧控制盲区还是在右侧控制盲区；For the situation where the following target is in the control blind area, redundant judgment is added to identify whether it is in the left control blind area or the right control blind area; 通过盲区预置方法，调节电机速度使跟随小车离开控制盲区并回正；Through the blind spot presetting method, adjust the motor speed to make the following car leave the control blind spot and return to the straight line; 所述冗余判断方法具体为，在整个平面上规定跟随小车的最大跟随距离Rmax和最小跟随距离Rmin，用标签D到主基站A的距离dis1来近似代替跟随目标到跟随小车的距离，把平面区域划分为三个区域：The specific redundancy judgment method is to specify the maximum following distance R max and the minimum following distance R min of the following car on the entire plane, and use the distance dis 1 from the tag D to the main base station A to approximately replace the distance from the following target to the following car. , divide the plane area into three areas: 当dis1<Rmin时，跟随小车距离目标物很近，为了防止跟随小车与目标物相撞，将跟随小车的速度设置为零；当dis1>Rmax时，跟随小车距离目标物很远，判定为跟随丢失；当Rmin≤dis1≤Rmax的跟随区域时，启动跟随控制程序，调节两轮的转速让跟随小车向目标物位置移动；When dis 1 <R min , the following car is very close to the target. In order to prevent the following car from colliding with the target, the speed of the following car is set to zero; when dis 1 >R max , the following car is far away from the target. , it is determined that the following is lost; when R min ≤ dis 1 ≤ R max in the following area, the following control program is started, and the rotation speed of the two wheels is adjusted to allow the following car to move toward the target position; 为了让跟随小车正确识别方位并迅速从盲区位置回正，加入冗余判断；In order to allow the following car to correctly identify its orientation and quickly return to the correct position from the blind spot, redundant judgment is added; 先实现对盲区的判断：First realize the judgment of the blind area: 当识别为控制盲区时，加入冗余判断条件：When it is identified as a control blind area, redundant judgment conditions are added: 当判断为右侧盲区时，驱动右轮使其迅速离开右侧盲区并回正；When it is determined that there is a blind spot on the right side, drive the right wheel to quickly leave the blind spot on the right side and return to the right direction; 当判断为左侧盲区时，驱动左轮使其迅速离开左侧盲区并回正；When it is determined that the left blind spot is in the left blind spot, drive the left wheel to quickly leave the left blind spot and return to the straight position; 其中，主基站A到标签D的距离为dis1，次基站B到标签D的距离为dis2，次基站C到标签D的距离为dis3。Among them, the distance between primary base station A and tag D is dis 1 , the distance between secondary base station B and tag D is dis 2 , and the distance between secondary base station C and tag D is dis 3 . 2.根据权利要求1所述一种智能跟随小车控制系统的控制方法，其特征在于，所述主基站A与数据处理模块的第二串口进行数据交互，所述主基站A、次基站B、次基站C和标签D之间为无线信号传输，所述定位模块获得跟随目标与跟随小车之间的定位三角形，根据定位三角形获取跟随目标位置信息；2. A control method for an intelligent following car control system according to claim 1, characterized in that the main base station A performs data interaction with the second serial port of the data processing module, and the main base station A, the secondary base station B, There is wireless signal transmission between the secondary base station C and the tag D. The positioning module obtains the positioning triangle between the following target and the following car, and obtains the position information of the following target based on the positioning triangle; 所述数据处理模块的第三定时器和第四定时器输出两路PWM信号给电机调速模块的第一电机驱动器及电机调速模块的第二电机驱动器，所述电机调速模块的第一电机驱动器为左电机提供调速信号，所述电机调速模块的第二电机驱动器为右电机提供调速信号；The third timer and the fourth timer of the data processing module output two PWM signals to the first motor driver of the motor speed regulation module and the second motor driver of the motor speed regulation module. The motor driver provides a speed control signal for the left motor, and the second motor driver of the motor speed control module provides a speed control signal for the right motor; 所述数据处理模块提供IO口发送报警信号给人机交互模块的蜂鸣器，并显示定位信息到人机交互模块的LCD显示器，同时接收按键的启动信号；The data processing module provides an IO port to send an alarm signal to the buzzer of the human-computer interaction module, and displays the positioning information to the LCD display of the human-computer interaction module, while receiving the start signal of the button; 所述电源模块包括第一电池和第二电池，所述第一电池为电机调速模块供电，所述第二电池通过数据处理模块为定位模块与人机交互模块供电。The power module includes a first battery and a second battery. The first battery supplies power to the motor speed regulation module. The second battery supplies power to the positioning module and the human-computer interaction module through the data processing module. 3.根据权利要求2所述一种智能跟随小车控制系统的控制方法，其特征在于，所述主基站A负责数据采集模块与数据处理模块之间的通信，所述次基站B和次基站C借助主基站A与数据处理模块间接通信；3. A control method for an intelligent following car control system according to claim 2, characterized in that the main base station A is responsible for communication between the data acquisition module and the data processing module, and the secondary base station B and the secondary base station C Communicate indirectly with the data processing module with the help of main base station A; 所述主基站A、次基站B、次基站C和标签D采用双面双向测距DS-TWR测距方式实现二维定位。The main base station A, the secondary base station B, the secondary base station C and the tag D adopt the double-sided two-way ranging DS-TWR ranging method to achieve two-dimensional positioning. 4.根据权利要求3所述一种智能跟随小车控制系统的控制方法，其特征在于，所述定位模块的工作过程具体为，初始化主基站A、次基站B、次基站C和标签D；4. A control method for an intelligent following car control system according to claim 3, characterized in that the working process of the positioning module is to initialize the main base station A, the secondary base station B, the secondary base station C and the tag D; 主基站A呼叫标签D进行测距，标签D应答主基站A的呼叫并进行测距；Main base station A calls tag D for ranging, and tag D responds to the call from main base station A and performs ranging; 主基站A通讯次基站B和次基站C进行测距并等待接收数据；次基站B和次基站C应答主基站A进行测距并向主基站A返回测距数据；The primary base station A communicates with the secondary base station B and the secondary base station C to perform ranging and wait to receive data; the secondary base station B and the secondary base station C respond to the primary base station A to perform ranging and return the ranging data to the primary base station A; 测距结束后，处理数据并传输给主基站A，主基站A将标签D的测距数据与次基站B和次基站C的测距数据进行融合，将融合后的数据传输给数据处理模块。After the ranging is completed, the data is processed and transmitted to the main base station A. The main base station A fuses the ranging data of tag D with the ranging data of the secondary base station B and the secondary base station C, and transmits the fused data to the data processing module. 5.根据权利要求2所述一种智能跟随小车控制系统的控制方法，其特征在于，利用定位模块形成的定位三角形中解析出跟随目标的位置信息，将目标相对于跟随小车的位置转化为两个角度之差；5. A control method for an intelligent following car control system according to claim 2, characterized in that the position information of the following target is parsed out from the positioning triangle formed by the positioning module, and the position of the target relative to the following car is converted into two angle difference; 基于两个角度之差，定义一个角度误差变量并以比例控制对跟随小车的前轮电机实现差速调节；Based on the difference between the two angles, an angle error variable is defined and proportional control is used to realize differential adjustment of the front wheel motor following the car; 只考虑标签D在跟随小车前方情况即标签D与主基站A和次基站B所组成的定位三角形，根据三角形余弦定理，求出由主基站A和次基站B与标签D所组成的三角形；Only consider the situation where tag D is in front of the following car, that is, the positioning triangle formed by tag D, primary base station A and secondary base station B. According to the triangle cosine theorem, the triangle formed by primary base station A, secondary base station B and tag D is calculated; 已知主基站A与次基站B的距离为AB；通过超宽频UWB之间的通信得到主基站A到标签D的距离为dis1，次基站B到标签D的距离为dis2，则在△ABD中：It is known that the distance between the primary base station A and the secondary base station B is AB; through the communication between ultra-wideband UWB, the distance between the primary base station A and the tag D is dis 1 , and the distance between the secondary base station B and the tag D is dis 2 , then in △ In ABD: 由式(2)和(3)分别求a1、a2的值，Find the values of a 1 and a 2 respectively from formulas (2) and (3), 当标签D在跟随小车的右前方时，a1>a2；When label D is on the right front of the following car, a 1 >a 2 ; 当标签D在跟随小车的左前方时，a1<a2；When label D is at the left front of the following car, a 1 < a 2 ; 定义一个角度误差gap_angle：Define an angle error gap_angle: gap_angle＝a1-a2 (4)gap_angle＝a 1 -a 2 (4) 当gap_angle大于10时判断标签D在右侧，当gap_angle小于-10时，判定标签D在左侧，且偏离中间位置越大时，gap_angle的绝对值就越大，据此，使用误差比例电机进行差速控制，使两轮差速正比于角度误差：When gap_angle is greater than 10, it is judged that label D is on the right side. When gap_angle is less than -10, it is judged that label D is on the left side. The greater the deviation from the middle position, the greater the absolute value of gap_angle. Accordingly, an error proportional motor is used. Differential speed control makes the differential speed of the two wheels proportional to the angle error: |PWM1-PWM2|＝kp×(|gap_angle|-10) (5)|PWM 1 -PWM 2 |＝kp×(|gap_angle|-10) (5) 其中，PWM1为第三定时器传输给第一电机驱动器的脉冲宽度调制信号，PWM2为第四定时器传输给第二电机驱动器的脉冲宽度调制信号，kp为一个正值，gap_angle的绝对值越大，标签D偏离中间的距离越大，控制系统加载左右两轮上的差速越大，使得跟随小车能够迅速、灵活地朝着标签D的位置移动并回正。Among them, PWM 1 is the pulse width modulation signal transmitted by the third timer to the first motor driver, PWM 2 is the pulse width modulation signal transmitted by the fourth timer to the second motor driver, kp is a positive value, and the absolute value of gap_angle The larger the value, the greater the distance that label D deviates from the center, and the greater the differential speed loaded by the control system on the left and right wheels, allowing the following car to quickly and flexibly move toward the position of label D and return to the alignment. 6.根据权利要求5所述一种智能跟随小车控制系统的控制方法，其特征在于，利用次基站C用来识别标签D相对于跟随小车的前后方位；利用标签D到主基站A和次基站C的大小关系判断车前车后：6. A control method for an intelligent following car control system according to claim 5, characterized in that the secondary base station C is used to identify the front and rear position of the tag D relative to the following car; the tag D is used to reach the main base station A and the secondary base station. The size relationship of C determines the front and rear of the car: 其中，次基站C到标签D的距离为dis3，通过公式(6)的判断方法，不论标签D在车前车后，都能实现跟随小车对目标的跟随。Among them, the distance between the secondary base station C and the tag D is dis 3. Through the judgment method of formula (6), the following car can follow the target regardless of whether the tag D is in front of or behind the vehicle. 7.一种电子设备，其特征在于，包括处理器、通信接口、存储器和通信总线，其中，处理器，通信接口，存储器通过通信总线完成相互间的通信；7. An electronic device, characterized in that it includes a processor, a communication interface, a memory, and a communication bus, wherein the processor, the communication interface, and the memory complete communication with each other through the communication bus; 存储器，用于存放计算机程序；Memory, used to store computer programs; 处理器，用于执行存储器上所存放的程序时，实现权利要求1-6任一所述的方法。The processor is used to implement the method described in any one of claims 1-6 when executing a program stored in the memory.
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