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Trolley omni-directional movement control system and method

An omnidirectional mobile and control system technology, applied in the field of vehicle testing, can solve the problem of program inability to transplant control accuracy and other issues

Pending Publication Date: 2018-04-10
ZHEJIANG LIBANG HEXIN INTELLIGENT BRAKING SYST CO LTD
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0005] The purpose of the present invention is to provide a trolley omnidirectional mobile control system and method, which are used to solve the problems of the existing control method that the program cannot be transplanted and the control accuracy is low

Method used

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  • Trolley omni-directional movement control system and method
  • Trolley omni-directional movement control system and method
  • Trolley omni-directional movement control system and method

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Embodiment 1

[0045] Such as Figure 1-2 As shown, the omnidirectional mobile control system of the trolley includes a base station DGPS receiver 1, a mobile station DGPS receiver 2, a digital signal processor 3, a drive motor 4, a photoelectric encoder 5 and a steering gear 6. Wherein, the base station DGPS receiver 1, as a fixed base station, is placed somewhere in the test site, and sends data to the digital signal processor 3 through an external connection to a wireless transmission module. The digital signal processor 3 is respectively connected with the mobile station DGPS receiver 2, the drive motor 4, the photoelectric encoder 5, and the steering gear 6 through signal lines. The mobile station DGPS receiver 2 is installed on the dolly 8, and the drive motor 4 and the photoelectric encoder 5 are installed in the dolly wheel 81 for driving the dolly wheel and measuring the wheel speed. The steering gear 6 passes through the connecting piece It is connected with the wheel 81 and is us...

Embodiment 2

[0054] A method for controlling the omnidirectional movement of the trolley based on the omnidirectional movement control system of the trolley, such as image 3 shown, including the following steps:

[0055] 101. Accurate position information is obtained by taking the average value of multiple measurements by the base station DGPS receiver 1, and the precise position information is sent to the digital signal processor 3 for storage through an external connection to the wireless transmission module; the base station DGPS receiver 1 simultaneously Receive the satellite signal through the GPS antenna, obtain the real-time position information and send it to the digital signal processor 3, in the digital signal processor 3, obtain the differential positioning data by comparing with the above-mentioned precise position information;

[0056] 102. The DGPS receiver 2 of the mobile station, as the communication module of the vehicle terminal, receives satellite signals through the GP...

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Abstract

The invention discloses a trolley omni-directional movement control system and a method. The control system comprises a base station DGPS receiver, a digital signal processor, a driving motor, a photoelectric encoder, a steering engine and a mobile station DGPS receiver. The driving motor, the photoelectric encoder, the steering engine and the mobile station DGPS receiver are connected with the digital signal processor. According to the invention, firstly, differential positioning data are obtained through the base station DGPS receiver. Secondly, the real-time GPS information of a trolley isacquired through the mobile station DGPS receiver. Thirdly, the real-time GPS information of the trolley is converted into parameters into a plane rectangular coordinate system from parameters in a spherical coordinate system. Finally, the turning and the speed of trolley wheels are continuously adjusted by taking a preset track of the trolley as a target. In this way, the trolley is driven to runaccording to the preset track. Based on the trolley omni-directional movement control system and the method, the problem that a program cannot be transplanted and the control precision is low in an existing control method is solved.

Description

technical field [0001] The invention relates to a control system and method for omnidirectional movement of a trolley, which belongs to the field of vehicle testing. Background technique [0002] ADAS vehicle-in-the-loop testing refers to simulating roads, traffic scenes and sensors through real-time simulators, and placing real vehicles in it for testing, which can realize functional verification, simulation testing of various scenarios, matching and joint operation of vehicle electronic control systems , for this test, an omnidirectional moving target car is required. The car should move in all directions, the maximum speed must reach 60km / h, and the car is required to run automatically. [0003] There are many control methods for the automatic operation of the car. The conventional method is to use an MCU as the core of the entire control system to collect the measurement data of the sensors placed on the car body, calculate the measurement data and issue instructions to ...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05D1/02
CPCG05D1/0278
Inventor 陈启生其他发明人请求不公开姓名
Owner ZHEJIANG LIBANG HEXIN INTELLIGENT BRAKING SYST CO LTD
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