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

Abstract

The invention discloses an ultrasonic positioning control system of an indoor ground transport cart and a control method of the system. The system includes an AGV control system and an upper computersystem. The upper compute system includes a man-machine interface and a processing module. The AGV system sets an integral environment map of an AGV and then an upper computer obtains an integral pathplanning through processing. The integral path planning is transmitted to the AGV control system through a communication system. Through integral coordination of an ultrasonic positioning system andan obstacle avoidance system, a main control single-chip microprocessor obtains a result through processing. The result is transmitted to a driver in a motor control system and the driver controls omnidirectional wheel to rotate. Therefore, safe operation of the AGV from one location to another location indoor is realized. With the omnibearing tracking ultrasonic positioning system, tracking and alignment of an ultrasonic emitter by a receiving device can be realized, positioning errors caused by wave drop can be solved and the positioning precision can be improved. Besides, omnibearing ultrasonic positioning and tracking can be realized, so that a problem of overlarge blind zones of traditional ultrasonic positioning systems are solved.

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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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 can complete the follow-up and alignment of the transmitting point, thereby ensuring that the linear distance difference between the transmitting point and each receiving point is within the error tolerance threshold, so the intensity difference of the ultrasonic signals received by the four receiving probes is within Within the fault tolerance threshold, errors caused by problems such as receiving time errors and wave loss are avoided, ensuring the accuracy of positioning

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