Indoor ground transport vehicle ultrasonic positioning control 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: 2018-05-15
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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  • Indoor ground transport vehicle ultrasonic positioning control system
  • Indoor ground transport vehicle ultrasonic positioning control system
  • Indoor ground transport vehicle ultrasonic positioning control system

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Embodiment Construction

[0040] Specific embodiments of the present invention will be described in detail below in conjunction with the accompanying drawings.

[0041] see Figure 1 to Figure 7 .

[0042] The present invention is an ultrasonic positioning controller for an indoor ground transport vehicle, comprising a host computer system and an AGV system; the host computer system communicates with the AGV system through a wireless communication module in the AGV system, and the host computer sends data information to the AGV system;

[0043] The upper 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 start and end positions. The value is obtained through the operation of the processing module to obtain the global grid electronic map and the global optimal ...

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Abstract

The invention discloses an indoor ground transport vehicle ultrasonic positioning control system comprising an AGV control system and an upper computer system. The upper computer system comprises a human-computer interface and a processing module. The AGV system sets the overall environmental map of the AGV and then the overall path plan is obtained through processing of the upper computer, the overall path plan is transmitted to the AGV control system through a communication module and the result is obtained through processing of the master control single-chip microcomputer with combination of overall coordination of the ultrasonic positioning system and the obstacle avoidance system and the result is transmitted to the driver of the motor control system to control the omnidirectional wheels to rotate so that safe indoor operation of the AGV trolley from one place to another place can be realized. The omnibearing following ultrasonic positioning system can complete following and aligning of the receiving device for the ultrasonic emitter and can solve the positioning error caused by wave loss so that the positioning accuracy can be enhanced. Besides, the device can realize omnibearing ultrasonic positioning and tracking so that the problem of excessively large blind area of the conventional ultrasonic positioning system can be solved.

Description

technical field [0001] The invention belongs to the technical field of control, and relates to an ultrasonic positioning control system 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 receiving probe loses severa...

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Application Information

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IPC IPC(8): G05D1/02
CPCG05D1/0255
Inventor 赵江丁雅哲郝崇青于培培张岩
Owner HEBEI UNIVERSITY OF SCIENCE AND TECHNOLOGY
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