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 PDFInfo
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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
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. The control method of the intelligent following trolley control system is characterized by comprising a control system, wherein the control system comprises a data processing module, a man-machine interaction module, a power module, a motor speed regulation module and a positioning module, and the positioning module is a positioning module of three base stations and one label 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 specifically comprises the steps of prescribing a maximum following distance R of a following trolley on the whole plane max And a minimum following distance R min With distance dis of tag D to master A 1 To divide the planar area into three areas, approximately instead of following the target to following the trolley distance:
when dis 1 <R min 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 dis 1 >R max When the following trolley is far away from the target object, judging that the following trolley is lost; when R is min ≤dis 1 ≤R max 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;
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:
when the control blind zone is identified, adding redundancy judgment conditions:
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 dis 1 The distance from the secondary base station B to the tag D is dis 2 The distance from the secondary base station C to the tag D is dis 3 。
2. The control method of the intelligent following trolley control system according to claim 1, 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 the following trolley, and obtains following target position information 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.
3. The control method of an intelligent follow-up trolley control system according to claim 2, wherein the primary base station a is responsible for communication between a data acquisition module and a data processing module, and the secondary base station B and the secondary base station C indirectly communicate with the data processing module by means 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.
4. The control method of the intelligent follow-up trolley control system according to claim 3, wherein 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 tag 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.
5. The control method of the intelligent follow-up trolley control system according to claim 2, wherein the position information of the follow-up target is resolved by using a positioning triangle formed by the positioning module, and the position of the target relative to the follow-up trolley is converted into a 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; obtaining the distance dis between the main base station A and the tag D through communication between ultra wideband UWB 1 The distance from the secondary base station B to the tag D is dis 2 Then in Δabd:
a is determined by the formulas (2) and (3) respectively 1 、a 2 Is used as a reference to the value of (a),
a when the tag D is in the right front of the follower trolley 1 >a 2 ；
A when the tag D is in front of the left of the follower trolley 1 <a 2 ；
Defining an angle error gap_angle:
gap_angle＝a 1 -a 2 (4)
when the gap_angle is larger than 10, the label D is judged to be on the right side, when the gap_angle is smaller than-10, the label D is judged to be on the left side, and when the deviation from the middle position is larger, the absolute value of the gap_angle is larger, and accordingly, the differential speed control is carried out by using the error ratio motor, so that the differential speed of two wheels is in direct proportion to the angle error:
|PWM 1 -PWM 2 |＝kp×(|gap_angle|-10) (5)
wherein PWM 1 Pulse width modulation signal, PWM, for transmission to the first motor driver for the third timer 2 The pulse width modulation signal transmitted to the second motor driver for the fourth timer has a positive value kp, the larger the absolute value of gap_angle, the larger the distance of the label D from the middle, and the larger the differential speed on the left wheel and the right wheel is loaded by the control system, so that the following trolley can rapidly and flexibly move towards the position of the label D and return to the normal position.
6. The control method of an intelligent follower trolley control system of claim 5, wherein the secondary base station C is used to identify the fore-and-aft orientation of the tag D relative to the follower 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:
wherein the distance from the secondary base station C to the tag D is dis 3 By 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.
7. The electronic equipment is characterized by comprising 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;
a processor for implementing the method of any of claims 1-6 when executing a program stored on a memory.
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