CN208721098U - The inertial guide vehicle of air navigation aid based on ultrasound - Google Patents
The inertial guide vehicle of air navigation aid based on ultrasound Download PDFInfo
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- CN208721098U CN208721098U CN201820954089.9U CN201820954089U CN208721098U CN 208721098 U CN208721098 U CN 208721098U CN 201820954089 U CN201820954089 U CN 201820954089U CN 208721098 U CN208721098 U CN 208721098U
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- gyroscope
- ultrasound
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Abstract
The utility model discloses a kind of inertial guide vehicles of air navigation aid based on ultrasound, guiding vehicle includes the first ultrasonic sensor for being mounted on vehicle body side front end, it is mounted on the second ultrasonic sensor of vehicle body side rear end, it is also equipped on guiding vehicle for monitoring guiding vehicle real-time speed, the gyroscope of yaw angle, the mobile drive module of driving guiding vehicle is installed, application places include guiding the predetermined running path of vehicle, predetermined planning path side fixed range interval is equipped with signal reflex plate, industrial personal computer is additionally provided in application places, industrial personal computer is connected with terrestrial wireless communication module.The air navigation aid based on ultrasound of the utility model guides vehicle, ultrasonic sensor and gyroscope are combined together, only need the side interval setting signal reflecting plate in guidance path, ultrasonic sensor and gyroscope work alternatively, save energy waste, two groups of navigation results can be corrected mutually again, be supplemented, and realize the multi-modal navigation in various paths.
Description
Technical field
The utility model relates to vehicle guiding field more particularly to a kind of inertial guides of air navigation aid based on ultrasound
Vehicle.
Background technique
With the development of science and technology, the Automatic Guided Technology of vehicle is widely used, vehicle can be according to the road planned
Line automatic running does not need manual operation, thus can greatly improve working efficiency, saves cost of labor.Autonomous type is mobile at present
The navigation mode of vehicle mainly has machine vision navigation, electromagnetic navigation, optical guidance, laser navigation etc..
Machine vision navigation is the image by obtaining vehicle front target background, and therefrom extracts guidance path；It is easily
In the integrated of realization information, but when being influenced by indoor objects background information superposition ambiguity, so that obtaining target background phase
Work as difficulty, while image processing data amount is big, real-time is poor.Electromagnetic navigation is that metal is buried on the path of move vehicle walking
Line, move vehicle detect magnetic field caused by the metal wire being powered to obtain the path of walking；Its structure is simple, at low cost, but
It is that coil lays difficulty, path is difficult to change expansion.Optical guidance is to paste colour band on the path of move vehicle walking, is passed through
Video camera acquisition colour band picture signal is simply handled and realizes guiding；It is arranged simply, but colour band is prone to wear out.Swash
It is that accurate laser reflection plate is installed around the path of move vehicle that light guide, which draws, and move vehicle passes through acquisition baffle reflection
The laser beam returned obtains current position and direction；Its guiding positioning accuracy is high, but higher cost, and signal is vulnerable to object
It blocks.
The features such as ultrasonic wave navigation has structure simple, and acquisition information rate is fast, and temporal resolution is high, while ultrasonic wave passes
Sensor is not easily susceptible to the influence of the external environmental conditions such as weather condition, ambient lighting.At present ultrasonic wave navigate technology maturation, by
It is widely applied in the sensory perceptual system of various mobile robots.But ultrasonic wave navigation needs the signal reflex of marker to be just able to achieve
Navigation, and in practical applications, it is difficult to realize the marker for continuing on the road of ultrasound waveguide course line or intensively arranging reflection signal,
On the one hand marker will increase construction cost, the marker on the other hand reflecting signal can become other move vehicles of path or row
The barrier of people.In some cases, single marker can be set to identify for ultrasonic wave, to navigate, but this kind design is only
It navigates suitable for straight line path, it is not applicable to the path with complex curve.
Utility model content
The purpose of this utility model is to design a kind of inertial guide vehicle of air navigation aid based on ultrasound.
To realize above-mentioned purpose of utility model, the technical solution of the utility model is:
A kind of inertial guide vehicle of air navigation aid based on ultrasound, including guiding vehicle and its application places, guide vehicle packet
The first ultrasonic sensor for being mounted on vehicle body side front end is included, the second ultrasonic sensor of vehicle body side rear end is mounted on, is guided
It is also equipped with the gyroscope for monitoring guiding vehicle real-time speed, yaw angle on vehicle, the mobile driving of driving guiding vehicle is installed
Module, drive module connect and are controlled by slave computer, first ultrasonic sensor, the second ultrasonic sensor, gyroscope, bottom
Machine is connected to onboard wireless communication module；The application places include guiding the predetermined running path of vehicle, predetermined planning path
Side fixed range interval is equipped with signal reflex plate, and industrial personal computer is additionally provided in application places, and industrial personal computer is connected with terrestrial wireless
Communication module；The terrestrial wireless communication module is established connection wireless telecommunications with onboard wireless communication module and is connect, and industrial personal computer is logical
It crosses wireless telecommunications and connects first ultrasonic sensor, the second ultrasonic sensor, gyroscope, slave computer.
The beneficial effects of the utility model are:
The inertial guide vehicle air navigation aid based on ultrasound and guiding vehicle of the utility model, by ultrasonic sensor and top
Spiral shell instrument is combined together, it is only necessary in the side interval setting signal reflecting plate of guidance path, ultrasonic sensor and gyroscope
It works alternatively, saves energy waste, reduce load on host computers, two groups of navigation results can be corrected mutually again, be supplemented, and realize various paths
Multi-modal navigation.
Detailed description of the invention
Fig. 1 is the structural schematic diagram of the utility model.
Specific embodiment
Below in conjunction with attached drawing, the technical scheme in the utility model embodiment is clearly and completely described.
As shown in Figure 1, a kind of inertial guide vehicle air navigation aid based on ultrasound, includes the following steps:
Step 1, workplace arrangement, planning guiding 1 predetermined running path 2 of vehicle, and in 2 side of predetermined running path
Setting signal reflecting plate 3 is spaced on fixed range D；
The industrial personal computer 4 of step 2, guiding vehicle 1 receives 2 information of predetermined running path, converts thereof into mobile control signal,
Slave computer 5 starts to move according to mobile control signal control drive module operating, guiding vehicle 1；
Step 3, real time kinematics feedback
Three -1) it, guides 1 side front end of vehicle and two ultrasonic sensors 601,602 of rear end excites simultaneously, judge whether
Signal reflex plate 3 can be detected, if it can, being then transferred to three -2), it is no, then turn such as three -4)；
Three -2), two ultrasonic sensors 601,602 distinguish the linear distance of detecting distance signal reflex plate, respectively
D1, d2, and two distance signals are fed back into industrial personal computer 1, it is transferred to three -3)；
Three -3), industrial personal computer 1 calculates guiding vehicle yaw angle θ using trigonometric function, such as following formula 1；
And safe distance D is compared, two ultrasonic sensors 601,602 determine guiding along the distance L of guiding 1 car body of vehicle
Vehicle cross track distance Δ d completes step 3 such as following formula 2, carries out step 4；
Three -4), the acquisition of gyroscope 7 guiding vehicle real-time speed v, yaw angle θ, feeds back to industrial personal computer 4, is transferred to three -5)；
Three -5), industrial personal computer 4 determines guiding according to guiding 1 real-time speed v of vehicle and previous path modification interval duration t
Vehicle moving distance calculates guiding vehicle cross track distance Δ d ' using trigonometric function, such as following formula 3, completes step 3, be transferred to step 4；
Δ d '=vt (formula 3)
Step 4, Path error calculate, and industrial personal computer determines that guiding vehicle is practical according to yaw angle θ, cross track distance Δ d or Δ d '
Motion track compares predetermined running path, determines path modification parameter；
Path modification parameter is converted to mobile control signal by step 5, path modification, industrial personal computer 4, and slave computer 5 is according to shifting
Dynamic control signal control drive module operating, guiding vehicle 1 complete path modification.
A kind of inertial guide vehicle of air navigation aid based on ultrasound, including guiding vehicle 1 and its application are also disclosed in Fig. 1
Place, guiding vehicle 1 include being mounted on the first ultrasonic sensor 602 of vehicle body side front end, are mounted on the of vehicle body side rear end
Two ultrasonic sensors 601 guide the gyroscope 7 being also equipped on vehicle 1 for monitoring guiding vehicle real-time speed, yaw angle, installation
The drive module (not shown) for having driving guiding vehicle 1 mobile, drive module connect and are controlled by slave computer 5, and described first
Ultrasonic sensor 601, the second ultrasonic sensor 602, gyroscope 7, slave computer 5 are connected to onboard wireless communication module 8；It is described
Application places include guiding the predetermined running path 2 of vehicle 1, and it is anti-that predetermined 2 side fixed range interval of planning path is equipped with signal
Plate 3 is penetrated, industrial personal computer 4 is additionally provided in application places, industrial personal computer 4 is connected with terrestrial wireless communication module 9；The terrestrial wireless communication
Module 9 is established connection wireless telecommunications with onboard wireless communication module 8 and is connect, and industrial personal computer 4 connects described first by wireless telecommunications
Ultrasonic sensor 601, the second ultrasonic sensor 602, gyroscope 7, slave computer 5.
The signal reflex plate 3 can use cheap PVC board, and the length of every piece of PVC board is slightly larger than the first ultrasound
The distance of sensor 601, the second ultrasonic sensor 602, thus guarantee that two sensors can incude same PVC board simultaneously,
The interval of PVC board can be arranged according to the case where predetermined running path 2, and in the more complex section in path, the PVC of comparatively dense is arranged
Plate guides guiding vehicle 1 frequently amendment path, and in the more smooth section in path, the interval of PVC board can be larger, and guiding vehicle 1 is main
Anti-offset navigation is carried out by included gyroscope 7.
The described embodiments are only a part of the embodiments of the utility model, instead of all the embodiments.Based on this
Embodiment in utility model, it is obtained by those of ordinary skill in the art without making creative efforts it is all its
His embodiment, fall within the protection scope of the utility model.
Claims (1)
1. a kind of inertial guide vehicle of air navigation aid based on ultrasound, which is characterized in that including guiding vehicle and its application places,
Guiding vehicle includes the first ultrasonic sensor for being mounted on vehicle body side front end, is mounted on the second ultrasonic sensing of vehicle body side rear end
Device guides the gyroscope being also equipped on vehicle for monitoring guiding vehicle real-time speed, yaw angle, and it is mobile to be equipped with driving guiding vehicle
Drive module, drive module connects and is controlled by slave computer, first ultrasonic sensor, the second ultrasonic sensor, gyro
Instrument, slave computer are connected to onboard wireless communication module；The application places include guiding the predetermined running path of vehicle, pre- to establish rules
It draws path side fixed range interval and signal reflex plate is installed, industrial personal computer is additionally provided in application places, industrial personal computer is connected with ground
Face wireless communication module；The terrestrial wireless communication module is established connection wireless telecommunications with onboard wireless communication module and is connect, work
Control machine connects first ultrasonic sensor, the second ultrasonic sensor, gyroscope, slave computer by wireless telecommunications.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820954089.9U CN208721098U (en) | 2018-06-20 | 2018-06-20 | The inertial guide vehicle of air navigation aid based on ultrasound |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820954089.9U CN208721098U (en) | 2018-06-20 | 2018-06-20 | The inertial guide vehicle of air navigation aid based on ultrasound |
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| Publication Number | Publication Date |
|---|---|
| CN208721098U true CN208721098U (en) | 2019-04-09 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201820954089.9U Expired - Fee Related CN208721098U (en) | 2018-06-20 | 2018-06-20 | The inertial guide vehicle of air navigation aid based on ultrasound |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108896041A (en) * | 2018-06-20 | 2018-11-27 | 中国计量大学 | Inertial guide vehicle air navigation aid based on ultrasound and guiding vehicle |
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2018
- 2018-06-20 CN CN201820954089.9U patent/CN208721098U/en not_active Expired - Fee Related
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108896041A (en) * | 2018-06-20 | 2018-11-27 | 中国计量大学 | Inertial guide vehicle air navigation aid based on ultrasound and guiding vehicle |
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| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20190409 Termination date: 20190620 |