CN212112229U - Unmanned vehicle with label detection function - Google Patents
Unmanned vehicle with label detection function Download PDFInfo
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- CN212112229U CN212112229U CN202020264235.2U CN202020264235U CN212112229U CN 212112229 U CN212112229 U CN 212112229U CN 202020264235 U CN202020264235 U CN 202020264235U CN 212112229 U CN212112229 U CN 212112229U
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Abstract
The utility model relates to an automatic line patrol technical field of unmanned vehicles, in particular to an unmanned vehicle with label detection function, which comprises a vehicle body, a plurality of detection antennas and a controller, wherein the detection antennas and the controller are arranged on the vehicle body, a plurality of radio frequency labels with unique numbers are preset in a driving path, the detection antennas are used for detecting the numbers of the labels on the preset driving path, the controller comprises a detection signal receiving circuit matched with the detection antennas and used for receiving the numbers of the labels detected by the detection antennas, the controller also comprises a processor, the processor is used for judging the signal intensity value between the detection antennas and the labels, the direction of the detection antenna with the maximum signal intensity value is determined as the advancing direction, and then the unmanned vehicle is controlled to advance along the advancing direction, thereby completing the line patrol, the unmanned vehicle adopts the radio frequency label detection technology without the limitation of light or GPS signal intensity, can be applied in various environments.
Description
Technical Field
The utility model relates to an automatic line technical field that patrols of unmanned car, concretely relates to unmanned car with label detection function.
Background
In order to save manpower, the automatic navigation robot has been widely used in industry, and in the existing automatic navigation or line patrol technology, a two-dimensional code recognition technology is partially adopted, but if light is dark, recognition errors are caused or time is taken longer, so that the navigation precision and the line patrol speed are affected, for example, chinese patent application No. CN108459600A discloses a visual navigation system of an AGV car, which comprises a colored paper tape guide strip arranged on the running path of the AGV car and a two-dimensional code mark arranged at the key position of the running path, then through visual image acquisition, the extraction of road information corresponding to the colored paper tape guide strip is realized to distinguish a road area from a non-road area, and the relative position relationship between the road area and the AGV car is determined, the AGV car is controlled to advance according to the road area indicated by the colored paper tape guide strip image information, therefore, if the workshop or the environment is dark, the visual image acquisition unit can cause recognition errors or take long time, and the navigation precision and the line patrol speed are influenced.
And part of the technologies adopt three-dimensional modeling and GPS positioning, if a GPS signal in a workshop is weak, the positioning precision and the navigation precision are influenced, and meanwhile, a GPS positioning module is required by adopting the GPS positioning technology, so that the hardware cost is increased. Therefore, the existing unmanned vehicle line patrol technology is easily limited by application environment conditions, and the automatic line patrol technology cannot be realized in partial application environments.
SUMMERY OF THE UTILITY MODEL
In order to solve the technical problem that the unmanned vehicle patrols line technique can't use in partial environment among the prior art, the utility model provides an unmanned vehicle with label detection function.
An unmanned vehicle with a label detection function comprises a vehicle body, a plurality of detection antennas and a controller, wherein the detection antennas and the controller are arranged on the vehicle body;
the multiple detection antennas are used for detecting the serial numbers of the labels on a preset travelling path and acquiring the signal strength value between each detection antenna and the label;
the controller comprises a detection signal receiving circuit which is matched with the plurality of detection antennas and is used for receiving the serial numbers and the signal strength values of the labels detected by the plurality of detection antennas;
the controller also comprises a processor, which is used for judging the signal intensity values between the plurality of detection antennas and the label and determining the direction of the detection antenna with the maximum signal intensity value as the advancing direction;
the controller is used for controlling the running path to be in a preset state, wherein a plurality of radio frequency tags with unique numbers are preset in the running path, and the arrangement sequence of the radio frequency tags on the running path is preset in the controller.
Specifically, the device comprises a first detection antenna and a second detection antenna which are arranged at the front end of a vehicle body;
the first detection antenna and the second detection antenna are respectively used for detecting the number of a label on a travelling path in front of the unmanned vehicle and respectively acquiring the signal strength value between the first detection antenna and the label on the travelling path in front of the unmanned vehicle;
the processor is further configured to determine whether the signal strength values between the first detection antenna, the second detection antenna and the tag are equal, if so, take a direction opposite to the current vehicle head as a traveling direction, and if not, determine that the direction in which the antenna with the large signal strength value is located is the traveling direction.
In one embodiment, the vehicle body further comprises a third detection antenna arranged at the front end of the vehicle body side by side, and the first detection antenna, the second detection antenna and the third detection antenna are sequentially arranged at the front end of the vehicle body at equal intervals;
the third detection antenna is used for detecting the number of the label on the travelling path in front of the unmanned vehicle and respectively acquiring the signal strength value between the third detection antenna and the label on the travelling path in front of the unmanned vehicle;
the processor is further configured to determine whether the signal strength corresponding to the second detecting antenna is the minimum and the signal strengths corresponding to the first detecting antenna and the third detecting antenna are equal, and if so, take the direction corresponding to the second detecting antenna as the traveling direction; if not, the direction of the side where the corresponding antenna with the maximum signal intensity is located in the three antennas is determined as the advancing direction.
In another embodiment, the vehicle further comprises a fourth detection antenna and a fifth detection antenna which are arranged at the rear end of the vehicle body;
the fourth detection antenna and the fifth detection antenna are respectively used for detecting the number of the label on the driving path behind the unmanned vehicle and respectively acquiring the signal strength between the fourth detection antenna and the label on the driving path behind the unmanned vehicle;
the processor is further used for determining the current position of the unmanned vehicle on the driving path according to the detected tag number in front of the unmanned vehicle and the detected tag number behind the unmanned vehicle.
In another embodiment, the vehicle further comprises a sixth detection antenna arranged at the bottom of the vehicle body;
the sixth detection antenna is used for detecting the number of the tag positioned at the bottom of the unmanned vehicle in the process of the unmanned vehicle traveling, and the processor is further used for determining the current position of the unmanned vehicle on the traveling path according to the detected number of the tag positioned at the bottom of the unmanned vehicle.
In another embodiment, the first detecting antenna, the second detecting antenna and the third detecting antenna are all four-arm helical circularly polarized antennas.
In another embodiment, the fourth detecting antenna, the fifth detecting antenna and the sixth detecting antenna are all reflective ceramic antennas.
According to the above embodiment, the unmanned vehicle with the tag detection function includes a vehicle body, a plurality of detection antennas and a controller, the plurality of detection antennas and the controller are arranged on the vehicle body, a plurality of radio frequency tags with unique numbers are preset in a driving path, an arrangement sequence of the plurality of radio frequency tags on the driving path is preset in the controller, the plurality of detection antennas are used for detecting the numbers of the tags on the preset driving path, the controller includes a detection signal receiving circuit adapted to the plurality of detection antennas and used for receiving the numbers of the tags detected by the plurality of detection antennas, the controller further includes a processor, the processor is used for judging the signal strength value between the plurality of detection antennas and the tags, the direction in which the detection antenna with the largest signal strength value is located is determined as a traveling direction, and further the unmanned vehicle is controlled to advance along the traveling direction, so that a line patrol is completed, the unmanned vehicle adopts a radio frequency tag detection technology, the method is not limited by light or GPS signal intensity, and can be applied to various environments.
Drawings
Fig. 1 is a schematic overall structure diagram of an unmanned vehicle according to an embodiment of the present application;
FIG. 2 is a top view of an unmanned vehicle according to an embodiment of the present application;
FIG. 3 is a front view of an unmanned vehicle according to an embodiment of the present application;
FIG. 4 is a schematic diagram of a controller according to an embodiment of the present application;
FIG. 5 is a schematic diagram illustrating a label arrangement on a driving route according to an embodiment of the present application;
fig. 6 is a schematic diagram of signal strength between the detection antenna and the detection tag at the front end of the vehicle body according to the embodiment of the present application.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings. Wherein like elements in different embodiments are numbered with like associated elements. In the following description, numerous details are set forth in order to provide a better understanding of the present application. However, those skilled in the art will readily recognize that some of the features may be omitted or replaced with other elements, materials, methods in different instances. In some instances, certain operations related to the present application have not been shown or described in detail in order to avoid obscuring the core of the present application from excessive description, and it is not necessary for those skilled in the art to describe these operations in detail, so that they may be fully understood from the description in the specification and the general knowledge in the art.
Furthermore, the features, operations, or characteristics described in the specification may be combined in any suitable manner to form various embodiments. Also, the various steps or actions in the method descriptions may be transposed or transposed in order, as will be apparent to one of ordinary skill in the art. Thus, the various sequences in the specification and drawings are for the purpose of describing certain embodiments only and are not intended to imply a required sequence unless otherwise indicated where such sequence must be followed.
The numbering of the components as such, e.g., "first", "second", etc., is used herein only to distinguish the objects as described, and does not have any sequential or technical meaning. The term "connected" and "coupled" when used in this application, unless otherwise indicated, includes both direct and indirect connections (couplings).
In the embodiment of the present invention, the first and second,
the first embodiment is as follows:
as shown in fig. 1 to 3, the present embodiment provides an unmanned vehicle with a tag detection function, which includes a vehicle body, and a plurality of detection antennas 201 and a controller provided on the vehicle body. A plurality of radio frequency tags with unique numbers are preset on a driving path, the arrangement sequence of the numbers of the tags which need to pass through in sequence when the unmanned vehicle passes through the path is obtained in advance, and the arrangement sequence of the numbers of the tags is stored in a controller. The plurality of detection antennas are used for detecting the number of the label on the preset travelling path and acquiring the signal strength value between each detection antenna and the label. As shown in fig. 4, the controller includes a detection signal receiving circuit 205 and a processor 202 adapted to the multiple detection antennas 201, the detection signal receiving circuit 205 is configured to receive the numbers and signal strength values of the tags detected by the multiple detection antennas 201, and send the numbers and signal strength values of the detected tags to the processor 202, the processor 202 is configured to determine the magnitude of the signal strength value between the multiple detection antennas and the tags, determine the direction of the detection antenna with the largest signal strength value as the traveling direction, and further control the unmanned vehicle to advance along the traveling direction, so as to complete the patrol.
Specifically, the unmanned vehicle of the embodiment includes a first detecting antenna 31 and a second detecting antenna 32 which are arranged at the front end of the vehicle body 3, and the first detecting antenna 31 and the second detecting antenna 32 are respectively used for detecting the number of the tag on the driving path in front of the unmanned vehicle and respectively acquiring the signal strength values between the first detecting antenna and the tag on the driving path in front of the unmanned vehicle; the processor 202 is configured to determine whether the signal strength values between the first detecting antenna 31, the second detecting antenna 32 and the tag are equal, if so, take the direction opposite to the current vehicle head as the traveling direction, and if not, determine that the direction of the antenna with the large signal strength value is the traveling direction.
The processor 202 may also be implemented by a hardware circuit, for example, a comparator circuit, where the signal strength values corresponding to the first detecting antenna 31 and the second detecting antenna 32 are input to the comparator, and the magnitude of the two signal strength values can be determined according to the output of the comparator, so as to determine the direction corresponding to the antenna with the larger signal strength value as the traveling direction.
Wherein, the signal strength between the detecting antenna and the radio frequency tag is larger, which indicates that the distance between the detecting antenna and the radio frequency tag is closer, wherein, as shown in fig. 5, the radio frequency tags at the curve of the routing path are densely arranged, and the tags at the straight path are sparsely arranged, if the first detecting antenna 31 and the second detecting antenna 32 both detect the radio frequency tag n, the radio frequency tag (n +1), and the radio frequency tag (n +2), as shown in fig. 6, the signal strength between the first detecting antenna 31 and the second detecting antenna 32 and the tag n, the tag (n +1), and the tag (n +2) is respectively obtained, since the distance between the second detecting antenna 32 and the tag n is the closest and the signal strength is the largest, the direction of the second detecting antenna 32 is closer to the radio frequency tag n, therefore, the tag numbered as n is the front tag closest to the unmanned vehicle, thus obtaining the position information of the unmanned vehicle, meanwhile, since the signal intensity value corresponding to the tag n of the second detection antenna 32 is the maximum, the direction corresponding to one side of the second detection antenna 32 is taken as the direction in which the unmanned vehicle travels, and the unmanned vehicle is controlled to travel along the direction.
In another embodiment, the unmanned vehicle further comprises a third detection antenna arranged at the front end of the vehicle body side by side, and the first detection antenna 31, the second detection antenna 32 and the third detection antenna are sequentially arranged at the front end of the vehicle body at equal intervals; the third detection antenna is used for detecting the serial numbers of the labels on the driving path in front of the unmanned vehicle and respectively acquiring the signal strength values between the third detection antenna and the labels on the driving path in front of the unmanned vehicle. First detecting antenna 31, second detecting antenna 32, third detecting antenna set up at the automobile body front end equidistantly in proper order, and second detecting antenna is located the centre promptly, and first detecting antenna and third detecting antenna are located the both sides of second detecting antenna respectively. Respectively acquiring signal intensities between a first detection antenna, a second detection antenna, a third detection antenna and a target label, judging whether the signal intensity corresponding to the second detection antenna is minimum and the signal intensities corresponding to the first detection antenna and the third detection antenna are equal by the processor 202, if so, taking the direction corresponding to the second detection antenna as a traveling direction, and controlling the unmanned vehicle to travel linearly along the traveling direction and pass through the label; and if not, confirming the direction of one side of the antenna with the maximum corresponding signal intensity in the three antennas as a traveling direction, and controlling the unmanned vehicle to travel linearly along the traveling direction and pass through the target tag.
Further, the unmanned vehicle also comprises a fourth detection antenna 34 and a fifth detection antenna which are arranged at the rear end of the vehicle body; the fourth detection antenna 34 and the fifth detection antenna are respectively used for detecting the number of the tag on the driving path behind the unmanned vehicle, and respectively acquiring the signal strength between the fourth detection antenna 34 and the tag on the driving path behind the unmanned vehicle. The processor 202 is further configured to determine a current position of the unmanned vehicle on the driving path according to the detected tag number in front of the unmanned vehicle and the detected tag number behind the unmanned vehicle.
Further, the unmanned vehicle of the present embodiment further includes a sixth detection antenna 33 disposed at the bottom of the vehicle body; the sixth detecting antenna 33 is used for detecting the number of the tag positioned at the bottom of the unmanned vehicle during the traveling process of the unmanned vehicle, and acquiring the signal strength between the tag and the sixth detecting antenna. When the unmanned vehicle is detected to be located on the radio frequency tag with a certain number, the current position of the unmanned vehicle can be known in a determined mode, and therefore the current position of the unmanned vehicle is marked in the electronic map.
Whether the unmanned vehicle is located above a certain electronic tag currently is detected through the sixth detection antenna 33 in the process of the unmanned vehicle traveling, if so, the number of the electronic tag is obtained at the same time, and the current position of the unmanned vehicle on the path track is predicted according to the number of the electronic tag. The sixth detection antenna 33 is disposed at the middle position of the bottom of the vehicle body, and has a relatively small detection range, which is a local area below the vehicle body. When the sixth detecting antenna 33 detects a certain tag, the current position of the unmanned vehicle on the path track can be predicted according to the number of the tag, and the current position of the unmanned vehicle on the current route to be patrolled, that is, the current position of the unmanned vehicle in the current environment, can also be known according to the position.
The multiple detection antennas in this embodiment are all reflection antennas, and the antenna performance is different according to the needs, and the specifically selected antenna sizes (including the size and the power size) are different, for example, the first detection antenna 31 and the second detection antenna 32 arranged in front of the unmanned vehicle are four-arm spiral circular polarization antennas of 75X75 mm 4dBi, and the four-arm spiral circular polarization antennas are general far-field antennas suitable for UHF-band RFID applications, and have the characteristics of small volume, high gain, low standing wave, good pattern symmetry, low axial ratio, and the like. The method can be conveniently applied to UHF frequency band RFID terminals. The frequency range is 902 MHz-928 MHz, and the gain is more than 4 dBi. The fourth detection antenna 34 and the fifth detection antenna which are arranged at the rear of the unmanned vehicle adopt 3dBi 40X40 mm ceramic antennas, the ceramic antennas comprise a reflecting plate and ceramic arranged on the reflecting plate, the size of the reflecting plate is 50X50X1 mm, the size of the ceramic is 40X40X4 mm, and the frequency range is 920-925 MHz. The sixth detection antenna 33 disposed at the bottom of the unmanned vehicle employs a 5dBi 25X25 mm ceramic antenna, which also includes a reflection plate having a size of 30X1 mm and a ceramic having a size of 25X4 mm and having a frequency range of 920-925MHz disposed on the reflection plate. Since the sixth detection antenna 33 disposed at the bottom of the unmanned vehicle needs to detect a smaller range, the size of the reflecting plate and the size of the ceramic are smaller than those of the fourth detection antenna 34 and the fifth detection antenna.
It is right to have used specific individual example above the utility model discloses expound, only be used for helping to understand the utility model discloses, not be used for the restriction the utility model discloses. To the technical field of the utility model technical personnel, the foundation the utility model discloses an idea can also be made a plurality of simple deductions, warp or replacement.
Claims (7)
1. An unmanned vehicle with a label detection function is characterized by comprising a vehicle body, a plurality of detection antennas and a controller, wherein the detection antennas and the controller are arranged on the vehicle body;
the multiple detection antennas are used for detecting the serial numbers of the labels on a preset travelling path and acquiring the signal strength value between each detection antenna and the label;
the controller comprises a detection signal receiving circuit which is matched with the plurality of detection antennas and is used for receiving the serial numbers and the signal strength values of the labels detected by the plurality of detection antennas;
the controller also comprises a processor, which is used for judging the signal intensity values between the plurality of detection antennas and the label and determining the direction of the detection antenna with the maximum signal intensity value as the advancing direction;
the controller is used for controlling the running path to be in a preset state, wherein a plurality of radio frequency tags with unique numbers are preset in the running path, and the arrangement sequence of the radio frequency tags on the running path is preset in the controller.
2. The unmanned vehicle having a tag detection function according to claim 1, comprising a first detection antenna and a second detection antenna provided at a front end of a vehicle body;
the first detection antenna and the second detection antenna are respectively used for detecting the number of a label on a travelling path in front of the unmanned vehicle and respectively acquiring the signal strength value between the first detection antenna and the label on the travelling path in front of the unmanned vehicle;
the processor is further configured to determine whether the signal strength values between the first detection antenna, the second detection antenna and the tag are equal, if so, take a direction opposite to the current vehicle head as a traveling direction, and if not, determine that the direction in which the antenna with the large signal strength value is located is the traveling direction.
3. The unmanned vehicle with the tag detection function as claimed in claim 2, further comprising a third detection antenna arranged side by side at the front end of the vehicle body, wherein the first detection antenna, the second detection antenna and the third detection antenna are arranged at the front end of the vehicle body at equal intervals in sequence;
the third detection antenna is used for detecting the number of the label on the travelling path in front of the unmanned vehicle and respectively acquiring the signal strength value between the third detection antenna and the label on the travelling path in front of the unmanned vehicle;
the processor is further configured to determine whether the signal strength corresponding to the second detecting antenna is the minimum and the signal strengths corresponding to the first detecting antenna and the third detecting antenna are equal, and if so, take the direction corresponding to the second detecting antenna as the traveling direction; if not, the direction of the side where the corresponding antenna with the maximum signal intensity is located in the three antennas is determined as the advancing direction.
4. The unmanned vehicle having a tag detection function according to claim 3, further comprising a fourth detection antenna and a fifth detection antenna provided at a rear end of the vehicle body;
the fourth detection antenna and the fifth detection antenna are respectively used for detecting the number of the label on the driving path behind the unmanned vehicle and respectively acquiring the signal strength between the fourth detection antenna and the label on the driving path behind the unmanned vehicle;
the processor is further used for determining the current position of the unmanned vehicle on the driving path according to the detected tag number in front of the unmanned vehicle and the detected tag number behind the unmanned vehicle.
5. The unmanned vehicle having a tag detection function according to claim 4, further comprising a sixth detection antenna provided at the bottom of the vehicle body;
the sixth detection antenna is used for detecting the number of the tag positioned at the bottom of the unmanned vehicle in the process of the unmanned vehicle traveling, and the processor is further used for determining the current position of the unmanned vehicle on the traveling path according to the detected number of the tag positioned at the bottom of the unmanned vehicle.
6. The unmanned aerial vehicle with tag detection as claimed in claim 3, wherein the first detecting antenna, the second detecting antenna and the third detecting antenna are all four-arm helical circularly polarized antennas.
7. The unmanned aerial vehicle having a tag detection function according to claim 5, wherein the fourth detection antenna, the fifth detection antenna and the sixth detection antenna are all reflection type ceramic antennas.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202020264235.2U CN212112229U (en) | 2020-03-06 | 2020-03-06 | Unmanned vehicle with label detection function |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202020264235.2U CN212112229U (en) | 2020-03-06 | 2020-03-06 | Unmanned vehicle with label detection function |
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| CN212112229U true CN212112229U (en) | 2020-12-08 |
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| CN202020264235.2U Active CN212112229U (en) | 2020-03-06 | 2020-03-06 | Unmanned vehicle with label detection function |
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