Ultrasonic positioning control system of indoor ground transport cart and control method of system

An indoor ground and positioning control technology, applied in the field of control, can solve the problems of uncertainty in the number of lost waves and inability to accurately locate, and achieve the effects of ensuring accuracy, avoiding receiving time errors and lost waves, and reducing blind spots.

Pending Publication Date: 2018-04-13
HEBEI UNIVERSITY OF SCIENCE AND TECHNOLOGY
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Problems solved by technology

[0004] The idea of ​​the present invention is that, considering that there is a time delay when the ultrasonic wave propagates in the air and reaches the ultrasonic receiving device, and the ultrasonic wave arrives at the four receiving probes asynchronously, resulting in the uncertain number of lost waves and the inability to accurately locate the problem, combined with the air temperature and gas flow rate, the use of the full The azimuth ultrasonic wave receiving device

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  • Ultrasonic positioning control system of indoor ground transport cart and control method of system
  • Ultrasonic positioning control system of indoor ground transport cart and control method of system
  • Ultrasonic positioning control system of indoor ground transport cart and control method of system

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[0050] The specific embodiments of the present invention will be described in detail below with reference to the accompanying drawings.

[0051] See Figure 1 ~ Figure 7 .

[0052] An ultrasonic positioning controller for an indoor ground transportation vehicle of the present invention includes an upper computer system and an AGV system; the upper computer system communicates with the AGV system through a wireless communication module in the AGV system, and the upper computer sends data information to the AGV system;

[0053] The host computer system includes a parameter setting module, an electronic map module, a serial port configuration module, a command transmission module, and a processing module. The parameter setting module sets the size of the electronic map, the arrangement of obstacles, and the numerical value of the starting and ending positions. The numerical value obtains the global grid electronic map and the global optimal route through the calculation of the processin...

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Abstract

The invention discloses an ultrasonic positioning control system for an indoor ground transport vehicle and its control method. It includes an AGV control system and a host computer system. The host computer system includes a man-machine interface and a processing module. After the overall environment map, the overall path planning is processed by the host computer and transmitted to the AGV control system by the communication module. Combined with the overall coordination of the ultrasonic positioning system and the obstacle avoidance system, the result is processed by the main control microcontroller and transmitted to the motor control system. The driver controls the rotation of the omnidirectional wheels to realize the safe operation of the AGV trolley from one place to another indoors. The all-round tracking ultrasonic positioning system can complete the tracking and alignment of the receiving device to the ultrasonic transmitter, solve the positioning error caused by wave loss, and improve the positioning accuracy. Moreover, this device can realize all-round ultrasonic positioning and tracking, so it also solves the problem of too large blind area of ​​the traditional ultrasonic positioning system.

Description

technical field [0001] The invention belongs to the technical field of control, and relates to an ultrasonic positioning control system and a control method for an indoor ground transport vehicle. Background technique [0002] In the existing indoor ultrasonic positioning technology, the ultrasonic receiving device is a fixed device, and several ultrasonic receiving probes are fixed on the ceiling inside the building. However, most of the existing improvements are adding multiple ultrasonic receiving probes or changing the positioning calculation rules, and these improvements cannot solve the problem. The wave loss phenomenon caused by ultrasonic reception cannot completely solve the error caused by wave loss, that is, the ultrasonic waves received by the ultrasonic receiving probes are not synchronized due to the unequal distance from the ultrasonic transmitting probe to each ultrasonic receiving probe. In the indoor ultrasonic positioning technology, the ultrasonic receivi...

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Application Information

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IPC IPC(8): G01S5/22G05D3/12G05D1/02
CPCG05D1/024G05D1/0255G05D1/027G05D1/0274G05D3/12G01S5/22G05D2201/0216
Inventor 赵江郝崇青丁雅哲张岩于培培
Owner HEBEI UNIVERSITY OF SCIENCE AND TECHNOLOGY
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