Target following obstacle avoidance system and method

Abstract

The present invention discloses a target following obstacle avoidance system and method, which includes a vehicle body, a driving mechanism, a steering mechanism, a control system and a power supply system; the control system includes a main control chip, a Bluetooth module, an electronic compass module, an infrared detection module and an ultrasonic detection module; the infrared detection module includes a first infrared detection module and a second infrared detection module, the first infrared detection module and the second infrared detection module are respectively arranged on the left and right sides of the vehicle body, and each includes at least three infrared sensors arranged at equal intervals; the ultrasonic detection module is arranged at the front end of the vehicle body; the ultrasonic detection module detects the distance information between the vehicle body and the target terminal. Compared with the prior art, the target following obstacle avoidance system disclosed in the present invention realizes high-precision intelligent following and emergency avoidance of multiple obstacles, reduces the time consumed by workers to obtain tools on the apron, and improves work efficiency.

Description

Technical Field

[0001] The present invention relates to the field of automatic control technology, and in particular to a target following obstacle avoidance system and method. Background Art

[0002] In line maintenance work, workers often need to carry tools or aviation materials to move to other places. Some heavy tools need to be carried by workers by hand, which is easy to consume physical strength and inefficient. There is also a risk of losing tools or aviation materials when moving to other places. Therefore, there is an urgent need for a system that can achieve target tracking and obstacle avoidance, freeing workers from carrying tools or aviation materials back and forth.

[0003] The existing target following and obstacle avoidance systems either require laying out specific route tracks in advance to achieve following on a specific path, or use simple sensors to achieve automatic following in a relatively confined space. However, in relatively complex spaces such as airports and aprons, there are irregular obstacles close to the aircraft, and it is difficult to achieve high-precision intelligent following and emergency avoidance of multiple obstacles using the existing target following and obstacle avoidance systems. Summary of the invention

[0004] In view of the deficiencies and defects in the prior art, the present invention provides an automatic following tool vehicle to solve the problems in the prior art that the route trajectory needs to be set in advance and it is difficult to achieve high-precision intelligent following in a complex environment.

[0005] The present invention provides a target following obstacle avoidance system, comprising a vehicle body, a driving mechanism, a steering mechanism, a control system and a power supply system; the control system comprises a main control chip, a Bluetooth module, an electronic compass module, an infrared detection module and an ultrasonic detection module; the main control chip is electrically connected to the driving mechanism, the steering mechanism, the Bluetooth module, the electronic compass module, the infrared detection module and the ultrasonic detection module respectively; the main control chip, the Bluetooth module and the electronic compass module are arranged in the vehicle body; the infrared detection module comprises a first infrared detection module and a second infrared detection module, the first infrared detection module and the second infrared detection module are respectively arranged on the left and right sides of the vehicle body, and the first infrared detection module and the second infrared detection module each comprise at least three infrared sensors arranged at equal intervals; the ultrasonic detection module is arranged The front end of the vehicle body; the power system is electrically connected to the control system, the driving mechanism and the steering mechanism respectively; the Bluetooth module receives the orientation information of the target terminal; the electronic compass module measures the orientation information of the vehicle body, and the main control chip controls the steering mechanism according to the orientation information of the target terminal and the orientation information of the vehicle body, so that the walking direction of the vehicle body is aligned with the target terminal; the first infrared detection module and the second infrared detection module respectively detect the position information of obstacles on the left and right sides and send it to the main control chip, and the main control chip controls the steering mechanism according to the position information of the obstacles, so that the vehicle body avoids the obstacles; the ultrasonic detection module detects the distance information between the vehicle body and the target terminal, and the main control chip controls the driving mechanism according to the distance information to adjust the speed of the vehicle body.

[0006] Compared with the prior art, the target following obstacle avoidance system disclosed in the present invention can make the movement direction of the vehicle equipped with the system always align with the target terminal, realize automatic following of the target terminal, and at the same time can adjust the travel speed according to the distance between the vehicle and the target terminal, and can effectively identify obstacles and perform emergency avoidance of obstacles. When the vehicle equipped with the system is working, there is no need to design the route trajectory in advance. In complex environments such as airports and aprons, high-precision intelligent following and emergency avoidance of multiple obstacles can be achieved, which reduces the time workers spend on taking tools on the apron, improves work efficiency, and reduces the risk of work omissions caused by changes in the workplace.

[0007] Furthermore, the ultrasonic detection module includes a first ultrasonic detection module and a second ultrasonic detection module, and the first ultrasonic detection module and the second ultrasonic detection module are both arranged at the center position of the front end of the vehicle body. The first ultrasonic detection module detects the first distance information between the vehicle body and the target terminal and sends it to the main control chip; the second ultrasonic detection module detects the second distance information between the vehicle body and the target terminal and sends it to the main control chip; the main control chip calculates the difference between the first distance information and the second distance information, adjusts the speed of the vehicle body or controls the emergency braking of the vehicle body. By setting up two ultrasonic modules, not only the real-time detection of the distance between the vehicle body and the target terminal is realized, but also the detection of its own faults and the detection of obstacles in front can be realized.

[0008] Furthermore, the power supply system includes a battery, a first voltage stabilizing filter circuit, and a second voltage stabilizing filter circuit; the battery is electrically connected to the steering mechanism and the driving mechanism through the first voltage stabilizing filter circuit; the battery is electrically connected to the control system through the second voltage stabilizing filter circuit. The power supply of the tool vehicle is divided into two groups through the first voltage stabilizing filter circuit and the second voltage stabilizing filter circuit, one group is used to supply power to the driving mechanism and steering mechanism of the vehicle body, and the other group is used to supply power to the main control chip.

[0009] Furthermore, the control system further includes a remote control module; the remote control module is wirelessly connected to the main control chip; the remote control module transmits a remote control signal to the main control chip to control the driving mechanism and the steering mechanism. The vehicle body performs actions based on the remote control command, thereby satisfying the control of the vehicle body under the condition that the vehicle body cannot automatically follow.

[0010] Furthermore, the control system also includes a PID regulator; one end of the PID regulator is electrically connected to the main control chip, and the other end of the PID regulator is electrically connected to the steering mechanism; the main control chip controls the steering mechanism through the PID regulator. By connecting the main control chip and the steering mechanism of the vehicle body through the PID regulator, the signal can be kept stable and the occurrence of errors can be reduced.

[0011] Furthermore, the control system further comprises a liquid crystal display screen; the liquid crystal display screen is arranged on the vehicle body and is electrically connected to the main control chip. The liquid crystal display screen can intuitively display the parameter information of the control system. If the position of the tools in the tool box is marked, the position of the tools can be accurately obtained, which is convenient for taking the tools and can effectively prevent the loss of tools and aviation materials.

[0012] The present invention also provides a target following obstacle avoidance method, comprising the following steps: the Bluetooth module receives the orientation information of the target terminal and sends it to the main control chip; the electronic compass module measures the orientation information of the vehicle body and sends it to the main control chip, and the main control chip controls the steering mechanism according to the orientation information of the target terminal and the orientation information of the vehicle body, so that the movement direction of the vehicle body is aligned with the target terminal; the first infrared detection module and the second infrared detection module respectively detect the position information of obstacles on the left and right sides and send it to the main control chip, and the main control chip controls the steering mechanism according to the position information of the obstacles, so that the vehicle body avoids the obstacles; the ultrasonic detection module detects the distance information between the vehicle body and the target terminal, and the main control chip controls the driving mechanism according to the distance information to adjust the speed of the vehicle body.

[0013] Compared with the prior art, the target following obstacle avoidance method disclosed in the present invention realizes accurate detection of the relative position of the obstacle and the vehicle body by acquiring the obstacle position information detected by at least three infrared sensors arranged at equal intervals on both sides of the vehicle body, and realizes emergency avoidance of obstacles on both sides of the vehicle body by calculating the steering angle. In addition, the method realizes automatic following of the target terminal based on the orientation information of the target terminal and the orientation information of the vehicle body, and can adjust the travel speed of the vehicle body according to the distance between the vehicle body and the target terminal, and can effectively identify the front obstacle and perform emergency avoidance of the front obstacle. Through the target following obstacle avoidance method, high-precision intelligent following of the vehicle body and emergency avoidance of multiple obstacles can be realized in complex environments such as airports and aprons, reducing the time consumed by workers to obtain tools on the apron, improving work efficiency, and reducing the risk of work omissions caused by changes in the workplace.

[0014] For better understanding and implementation, the present invention is described in detail below with reference to the accompanying drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Figure 1 A logical connection diagram of a target following obstacle avoidance system shown as an exemplary embodiment of the present invention;

[0016] Figure 2 A schematic flow chart of a target following obstacle avoidance method according to an exemplary embodiment of the present invention;

[0017] Figure 3 A schematic diagram of the flow of S2 in a target following obstacle avoidance method according to an exemplary embodiment of the present invention;

[0018] Figure 4 This is a schematic diagram of the flow of S3 in the target following obstacle avoidance method according to an exemplary embodiment of the present invention. DETAILED DESCRIPTION

[0019] Herein, exemplary embodiments will be described in detail, examples of which are shown in the accompanying drawings. When the following description refers to the drawings, unless otherwise indicated, the same numbers in different drawings represent the same or similar elements. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with the present invention. Instead, they are merely examples of devices and methods consistent with some aspects of the present invention as detailed in the appended claims.

[0020] The terms used in the present invention are only for the purpose of describing specific embodiments and are not intended to limit the present invention. The singular forms "a", "the" and "the" used in the present invention and the appended claims are also intended to include plural forms unless the context clearly indicates other meanings. It should also be understood that the term "and / or" used herein refers to and includes any or all possible combinations of one or more associated listed items.

[0021] It should be understood that although the terms first, second, third, etc. may be used in the present invention to describe various information, these information should not be limited to these terms. These terms are only used to distinguish the same type of information from each other. For example, without departing from the scope of the present invention, the first information may also be referred to as the second information, and similarly, the second information may also be referred to as the first information. Depending on the context, the words "if" / "if" as used herein may be interpreted as "at the time of" or "when" or "in response to determining".

[0022] See also Figure 1 , Figure 1 It is a logical connection diagram of a target following obstacle avoidance system shown in an exemplary embodiment of the present invention; in this exemplary embodiment, a target following obstacle avoidance system is provided, which includes a vehicle body, a driving mechanism, a steering mechanism, a control system and a power supply system.

[0023] The control system includes a main control chip, a Bluetooth module, an electronic compass module, an infrared detection module and an ultrasonic detection module. The main control chip is electrically connected to the driving mechanism, the steering mechanism, the Bluetooth module, the electronic compass module, the infrared detection module and the ultrasonic detection module respectively.

[0024] The main control chip, the Bluetooth module and the electronic compass module are arranged in the vehicle body, the Bluetooth module receives the orientation information of the target terminal, the electronic compass module measures the orientation information of the vehicle body, and the main control chip controls the steering mechanism according to the orientation information of the target terminal and the orientation information of the vehicle body, so that the moving direction of the vehicle body is aligned with the target terminal.

[0025] The infrared detection module includes a first infrared detection module and a second infrared detection module, which are respectively arranged on the left and right sides of the vehicle body, and each includes at least three infrared sensors arranged at equal intervals; the first infrared detection module and the infrared detection module respectively detect the position information of obstacles on the left and right sides and send them to the main control chip. If one of the infrared detection modules detects that there is an obstacle on one side of the vehicle body, the position information of the obstacle is sent to the main control chip, and the main control chip calculates the steering direction and steering angle of the steering mechanism according to the position information of the obstacle, and controls the steering mechanism to make the vehicle body avoid the obstacle. If the first infrared detection module and the second infrared detection module both detect obstacles at the same time, and the steering directions calculated by the main control chip are opposite, the main control chip sends a warning signal for obstacles on both sides, controls the emergency braking of the driving mechanism, and avoids the occurrence of collision accidents. By arranging infrared sensors at equal intervals on both sides of the vehicle body, the angle between the current direction of the vehicle body and the obstacle can be better calculated, so that the movement direction can be adjusted more timely. The reason for setting at least three infrared sensors at equal intervals on both sides of the vehicle body is also based on the irregularity of obstacles on the apron. If several infrared sensors are set up separately to detect obstacles separately, they will only be able to determine whether there is an obstacle on the side of the current infrared sensor installation location, and adjust the entire vehicle body according to the distance between the current infrared sensor installation location and the obstacle. If the obstacle is irregular in shape, this will easily cause a collision accident, and the entire vehicle body cannot avoid the obstacle at all.

[0026] The ultrasonic detection module is arranged at the front end of the vehicle body, and detects the distance information between the vehicle body and the target terminal. The main control chip controls the driving mechanism according to the distance information and adjusts the speed of the vehicle body; the power supply system is electrically connected to the control system, the driving mechanism and the steering mechanism respectively.

[0027] Preferably, the ultrasonic detection module includes a first ultrasonic detection module and a second ultrasonic detection module, and the first ultrasonic detection module and the second ultrasonic detection module are both arranged at the center position of the front end of the vehicle body. The first ultrasonic detection module detects the first distance information between the vehicle body and the target terminal and sends it to the main control chip, and the second ultrasonic detection module detects the second distance information between the vehicle body and the target terminal and sends it to the main control chip. The main control chip calculates the difference between the first distance information and the second distance information, adjusts the speed of the vehicle body or controls the emergency braking of the vehicle body. If the difference is less than the preset threshold, the main control chip will determine the position of the target terminal according to the distance sent by the first ultrasonic detection module and adjust the speed of the vehicle body. If the difference is greater than the preset threshold, the main control chip will send a fault signal to control the emergency braking of the vehicle drive mechanism. By setting two ultrasonic detection modules, not only can the position of the target terminal be detected more accurately, but also the fault of the ultrasonic detection module can be detected, which effectively prevents the occurrence of collision accidents when the ultrasonic detection module fails. In addition, the main control chip determines whether the time interval is less than the preset time length by obtaining the time interval between each time the ultrasonic detection module sends an ultrasonic signal and receives an ultrasonic feedback signal. When the time interval is not less than the preset time length, the main control chip sends a front obstacle warning signal to control the drive mechanism to perform emergency braking. In the outdoor environment of the airport apron, any collision of aircraft or equipment may cause a major accident. Therefore, it puts forward higher requirements for the obstacle avoidance system. This embodiment not only realizes the real-time detection of the distance between the vehicle body and the target terminal by setting two ultrasonic modules, but also realizes the detection of its own faults and the detection of obstacles in front.

[0028] Specifically, in this exemplary embodiment, the main control chip uses STM32F103 with Cortex-M3 as the core, the highest operating frequency is 72MHz, built-in high-speed memory, Harvard structure, 2.0V~3.6V power supply voltage, rich peripherals, 2-channel 12-bit D / A converter, 12-channel DMA controller, up to 11 timers, and supports IIC, USART, SPI, CAN, USB and other protocols. The Bluetooth module uses Max232 as a level conversion chip, connected to the Bluetooth serial port, to achieve automatic Bluetooth communication between the tool vehicle and the target mobile terminal. The electronic compass module is a three-axis digital compass HMC5883L, which is a surface-mounted high-integration module and a weak magnetic sensor chip with a digital interface. The waterproof level of the infrared detection module and the ultrasonic detection module is IP65. The detection range of the infrared detection module can be set according to user needs, and the detection range of the ultrasonic wave is 300 mm-3 meters.

[0029] The power supply system includes a battery, a first voltage stabilizing filter circuit, and a second voltage stabilizing filter circuit; the battery is electrically connected to the steering mechanism and the driving mechanism through the first voltage stabilizing filter circuit; the battery is electrically connected to the control system through the second voltage stabilizing filter circuit. The power supply of the tool vehicle is divided into two groups through the first voltage stabilizing filter circuit and the second voltage stabilizing filter circuit, one group is used to supply power to the driving mechanism and steering mechanism of the vehicle body, and the other group is used to supply power to the main control chip.

[0030] Specifically, in this embodiment, the power supply adopts a high-power lithium battery, which has the advantages of large capacity and can be charged repeatedly. Its discharge current is large and can meet the current required by the drive mechanism. Since the power supply voltage of the main control chip is inconsistent with the rated voltage of the DC motor in the drive mechanism and the steering gear in the steering mechanism, this embodiment divides the power supply into two groups, which respectively supply power to the main control chip and the drive mechanism and the steering mechanism through the corresponding voltage stabilizing filter circuit.

[0031] Furthermore, the control system may also include a remote control module, a PID regulator and a liquid crystal display screen. The remote control module is wirelessly connected to the main control chip. The remote control module transmits a remote control signal to the main control chip to control the driving mechanism and the steering mechanism. The vehicle body performs actions based on the remote control command, thereby satisfying the control of the vehicle body under the condition that the vehicle body cannot automatically follow. One end of the PID regulator is electrically connected to the main control chip, and the other end of the PID regulator is electrically connected to the steering mechanism. The main control chip controls the steering mechanism through the PID regulator. The main control chip and the steering mechanism are connected through the PID regulator, which can maintain the stability of the signal and reduce the occurrence of errors. The liquid crystal display screen is arranged on the vehicle body, and the liquid crystal display screen is electrically connected to the main control chip. The liquid crystal display screen can intuitively display the parameter information of the control system.

[0032] See also Figure 2 , Figure 2 FIG. 1 is a flow chart of a target following obstacle avoidance method according to an exemplary embodiment of the present invention. The target following obstacle avoidance method according to this embodiment is executed by a target following obstacle avoidance system, such as Figure 1 The target following obstacle avoidance method shown may include:

[0033] S1: The Bluetooth module receives the position information of the target terminal and sends it to the main control chip; the electronic compass module measures the position information of the vehicle body and sends it to the main control chip, and the main control chip controls the steering mechanism according to the position information of the target terminal and the position information of the vehicle body, so that the movement direction of the vehicle body is aligned with the target terminal.

[0034] The worker carries a target terminal and starts the operation of a vehicle equipped with a target following obstacle avoidance system. The target terminal can be any mobile terminal that can be installed with a built-in app, such as a smart watch, smart headset or smart phone. After the worker starts the operation of the vehicle, the Bluetooth module in the target following obstacle avoidance system is turned on and a Bluetooth signal is sent. The target terminal receives the Bluetooth signal, establishes a connection with the vehicle body, and completes the pairing operation with the vehicle body. The built-in APP program of the target terminal automatically calls the built-in electronic compass program, obtains the orientation information of the target terminal, and sends it to the Bluetooth module. Specifically, the electronic compass program is a digital compass program, which uses the geomagnetic field to determine the North Pole. Although GPS is widely used in positioning, the GPS signal will be blocked in the airport apron environment. Therefore, it will be more accurate and timely to use the electronic compass program to obtain the orientation information.

[0035] The Bluetooth module receives the position information of the target terminal and sends it to the main control chip. The electronic compass module in the target following obstacle avoidance system measures the position information of the vehicle and sends it to the main control chip. The main control chip calculates the angle difference between the position information of the target terminal and the position information of the vehicle, thereby controlling the steering mechanism of the vehicle so that the vehicle is aligned with the target terminal, that is, the worker carrying the target terminal, during the moving process.

[0036] S2: The first infrared detection module and the second infrared detection module respectively detect the position information of the obstacles on the left and right sides and send them to the main control chip. The main control chip controls the steering mechanism according to the position information of the obstacles to make the vehicle body avoid the obstacles.

[0037] The target following obstacle avoidance system also includes a first infrared detection module and a second infrared detection module. The first infrared detection module and the second infrared detection module each include at least three infrared sensors arranged at equal intervals, which can respectively detect the position information of obstacles on the left and right sides of the vehicle body during the movement. Before the worker starts the vehicle body, the detection distance of the infrared sensor can be manually set. The detection distance indicates the farthest distance that the infrared sensor can detect. Obstacles beyond the detection distance cannot be detected. In this embodiment, the detection distance of the infrared sensor is set to 1 meter.

[0038] The first infrared detection module and the second infrared detection module respectively detect the position information of the obstacles on the left and right sides and send them to the main control chip, which determines the position information of the obstacle and controls the steering mechanism of the vehicle to avoid the obstacle. For example, if the first infrared detection module includes three infrared sensors arranged at equal intervals, and the three infrared sensors detect that the distances between them and a certain obstacle are x1, x2 and x3 respectively, the main control chip can determine the dynamic distance between the vehicle and the obstacle during movement according to x1, x2 and x3, and adjust the steering mechanism of the vehicle to avoid the obstacle based on the change of the dynamic distance.

[0039] Furthermore, to achieve more accurate obstacle avoidance operation, S2 may include S21 to S24, such as Figure 3 As shown, S21 to S24 are specifically as follows:

[0040] S21: The first infrared detection module and the second infrared detection module determine in real time whether there is an obstacle within a preset distance.

[0041] The first infrared detection module and the second infrared detection module determine in real time whether there is an obstacle within a preset distance. Among them, the infrared sensors in the first infrared detection module and the second infrared detection module can be manually pre-set with a detection distance, that is, the preset distance. The preset distance represents the farthest distance that the infrared sensor can detect. In this embodiment, the preset distance is set to 1 meter, that is, when the distance between the obstacle and the infrared sensor is not greater than 1 meter, the infrared sensor can detect the obstacle. Specifically, if any infrared sensor in the first infrared detection module determines that there is an obstacle within the preset distance, it means that there is an obstacle near one side of the vehicle body. If any infrared sensor in the second infrared detection module determines that there is an obstacle within the preset distance, it means that there is an obstacle near the other side of the vehicle body.

[0042] S22: If the first infrared detection module determines that there is an obstacle within a preset distance, the distance between all infrared sensors in the first infrared detection module and the obstacle is collected; the main control chip calculates the first steering angle and the first steering direction of the vehicle body according to the distance between all infrared sensors in the first infrared detection module and the obstacle, and controls the vehicle body to avoid the obstacle.

[0043] If any infrared sensor in the first infrared detection module determines that there is an obstacle within a preset distance, the distance between all infrared sensors in the first infrared detection module and the obstacle is collected. The main control chip calculates the first steering angle and the first steering direction of the vehicle body according to the distance between all infrared sensors in the first infrared detection module and the obstacle, and controls the vehicle body to avoid the obstacle. For example, if the first infrared detection module includes three infrared sensors arranged at equal intervals, infrared sensor A, infrared sensor B, and infrared sensor C are arranged from the front to the rear of the vehicle. When infrared sensor A determines that there is an obstacle within a preset distance of 1 meter, and the distance between it and the obstacle is 0.9 meters, infrared sensor B and infrared sensor C measure the distance between them and the obstacle to be 0.6 meters and 0.3 meters respectively, and the main control chip obtains the distance between line sensors A, B and C and the obstacle of 0.9 meters, 0.6 meters and 0.3 meters, and calculates based on the above distance that as the vehicle moves, the distance between the vehicle and the obstacle is getting closer and closer, so that it can be deduced that if the current direction of movement is maintained, the rear of the vehicle will collide with the obstacle. Then, the main control chip calculates the first steering angle and the first steering direction of the vehicle based on the above distance, and sends a steering control signal to the steering mechanism to adjust the direction of movement of the vehicle so that the rear of the vehicle is away from the obstacle. If the first infrared detection module includes multiple (greater than 3) equally spaced infrared sensors, for example, from the front to the rear of the vehicle, there are 5 equally spaced infrared sensors, which are infrared sensor A, infrared sensor B, infrared sensor C, infrared sensor D and infrared sensor E in sequence. The main control chip can first calculate the first steering angle and the first steering direction of the vehicle body according to the distance between the infrared sensor A, the infrared sensor B and the infrared sensor C and the obstacle, adjust the movement direction of the vehicle body, and then calculate the first steering angle and the first steering direction of the vehicle body again according to the distance between the infrared sensor B, the infrared sensor C and the infrared sensor D and the obstacle, and further adjust the movement direction of the vehicle body. Finally, according to the distance between the infrared sensor C, the infrared sensor D and the infrared sensor E and the obstacle, the first steering angle and the first steering direction of the vehicle body are calculated, and the movement direction of the vehicle body is adjusted again, thereby ensuring that the distance between the vehicle body and the obstacle is accurately controlled, and further effectively preventing the occurrence of collision accidents.

[0044] S23: If the second infrared detection module determines that there is an obstacle within a preset distance, the distance between all infrared sensors in the second infrared detection module and the obstacle is collected; the main control chip controls the second steering angle and second steering direction of the vehicle body according to the distance between all infrared sensors in the second infrared detection module and the obstacle, so as to control the vehicle body to avoid the obstacle.

[0045] If any infrared sensor in the second infrared detection module determines that there is an obstacle within a preset distance, the distance between all infrared sensors in the second infrared detection module and the obstacle is collected. The main control chip calculates the second steering angle and the second steering direction of the vehicle body according to the distance between all infrared sensors in the second infrared detection module and the obstacle, and controls the vehicle body to avoid the obstacle. Specifically, it is the same as the working process of the first infrared detection module in S22, and will not be repeated here. The first infrared detection module and the second infrared detection module respectively detect obstacles on the left and right sides of the car, and prevent the collision of the two sides of the vehicle body with the obstacles.

[0046] S24: If the main control chip determines that the first turning direction and the second turning direction are opposite at the same time, the main control chip sends a double-side obstacle warning signal to control the vehicle body to emergency brake.

[0047] The first infrared detection module and the second infrared detection module will work simultaneously, and the main control chip will continuously adjust the movement direction of the vehicle body according to the calculated first turning direction and the second turning method. In this case, it may happen that at the same time, the control chip determines that the first turning direction and the second turning direction are opposite. If the main control chip only adjusts the movement direction of the vehicle body according to a certain turning direction, it is very easy to cause a collision, so it is necessary to add this emergency mechanism. Under this emergency mechanism, if the main control chip determines that the first turning direction and the second turning direction are opposite at the same time, the main control chip sends a double-side obstacle warning signal to control the emergency braking of the vehicle body.

[0048] S3: The ultrasonic detection module detects the distance information between the vehicle body and the target terminal, and the main control chip controls the driving mechanism according to the distance information to adjust the speed of the vehicle body.

[0049] The ultrasonic detection module detects the distance information between the vehicle body and the target terminal, and the main control chip controls the driving mechanism according to the distance information to adjust the speed of the vehicle body. Specifically, the ultrasonic detection module includes an ultrasonic receiver and an ultrasonic transmitter arranged at the front end of the vehicle body, and the worker will wear an integrated ultrasonic transmitter and receiver. The ultrasonic transmitter at the front end of the vehicle body sends out a first ultrasonic signal, the ultrasonic receiver worn by the worker receives the first ultrasonic signal, and feeds back a second ultrasonic signal, the ultrasonic receiver at the front end of the vehicle body receives the second ultrasonic signal, calculates the time difference between sending the first ultrasonic signal and receiving the second ultrasonic signal, and detects the distance information between the vehicle body and the target terminal. Since the ultrasonic signal is sent in a diffuse form, the ultrasonic signal will have a detectable range similar to a cone in the air. Therefore, after detecting the distance information between the vehicle body and the target terminal, the main control chip can only obtain the position information range of the worker carrying the target terminal based on the distance information, which is not accurate position information. When the ultrasonic detection module includes multiple ultrasonic detection sub-modules, based on the distance information between the multiple ultrasonic detection sub-modules and the target terminal, multiple location information ranges of the worker carrying the target terminal can be obtained. The overlapping parts of the multiple location information ranges are the location information of the worker. Therefore, by setting multiple ultrasonic detection sub-modules, the location information of the work vehicle can be obtained more accurately.

[0050] Before executing the target following obstacle avoidance method, it can be considered that a following distance is set. When the distance information between the vehicle body and the target terminal is less than the following distance, the main control chip controls the driving mechanism according to the distance information and adjusts the vehicle body to decelerate, thereby maintaining the distance from the target terminal. When the distance information between the vehicle body and the target terminal is greater than the following distance, the main control chip controls the driving mechanism according to the distance information and adjusts the vehicle body to accelerate, thereby preventing the target from being lost.

[0051] Furthermore, to achieve a more accurate following operation, S3 may include S31 to S33, such as Figure 4 As shown, S31 to S33 are as follows:

[0052] S31: The first ultrasonic detection module detects the first distance information between the vehicle body and the target terminal and sends it to the main control chip; the second ultrasonic detection module detects the second distance information between the vehicle body and the target terminal and sends it to the main control chip; the main control chip calculates the difference between the first distance information and the second distance information, and determines whether the difference is less than a preset threshold.

[0053] The ultrasonic detection module includes a first ultrasonic detection module and a second ultrasonic detection module, and the first ultrasonic detection module and the second ultrasonic detection module are both arranged at the center of the front end of the vehicle body. The first ultrasonic detection module detects the first distance information between the vehicle body and the target terminal and sends it to the main control chip, and the second ultrasonic detection module detects the second distance information between the vehicle body and the target terminal and sends it to the main control chip, and the main control chip calculates the difference between the first distance information and the second distance information, and determines whether the difference is less than a preset threshold.

[0054] S32: If the difference between the first distance information and the second distance information is smaller than a preset threshold, the main control chip controls the driving mechanism according to the first distance information to increase the speed of the vehicle body.

[0055] If the difference between the first distance information and the second distance information is less than a preset threshold, the main control chip controls the driving mechanism according to the first distance information to increase the speed of the vehicle. The preset threshold is the maximum deviation between the first distance information and the second distance information. When the difference between the first distance information and the second distance information is less than the preset threshold, it means that the first ultrasonic detection module and the second ultrasonic detection module are working normally without any fault. The main control chip can control the driving mechanism according to the first distance information to accelerate or decelerate the vehicle to follow the worker carrying the target terminal.

[0056] S33: If the difference between the first distance information and the second distance information is not less than a preset threshold, the main control chip sends a fault signal to control the vehicle body to perform emergency braking.

[0057] If the difference between the first distance information and the second distance information is not less than a preset threshold, it means that at least one of the first ultrasonic detection module and the second ultrasonic detection module cannot work normally and there is a fault. The main control chip can send a fault signal to control the emergency braking of the vehicle to avoid accidents.

[0058] S4: The main control chip obtains the time interval between each time when the ultrasonic detection module sends an ultrasonic signal and receives an ultrasonic feedback signal, and determines whether the time interval is greater than a preset duration.

[0059] The main control chip obtains the time interval between each time when the ultrasonic detection module sends an ultrasonic signal and receives an ultrasonic feedback signal, and determines whether the time interval is greater than a preset time. The main control chip can calculate the distance between the vehicle body and the target terminal based on the time interval between the ultrasonic detection module sending an ultrasonic signal and receiving an ultrasonic feedback signal. When the ultrasonic detection module sends an ultrasonic signal but cannot receive the ultrasonic feedback signal within a preset time, it indicates that there is an obstacle between the front end of the vehicle body and the target terminal that blocks the transmission of the ultrasonic signal.

[0060] S5: When the time interval is greater than the preset time length, the main control chip sends a front obstacle warning signal to control the vehicle body to perform emergency braking.

[0061] When the time interval between the ultrasonic detection module sending the ultrasonic signal and receiving the ultrasonic feedback signal is greater than a preset time length, the main control chip sends a front obstacle warning signal to control the vehicle body to perform emergency braking to prevent accidents.

[0062] Compared with the prior art, the target following obstacle avoidance method disclosed in the present invention realizes accurate detection of the relative position of the obstacle and the vehicle body by acquiring the obstacle position information detected by at least three infrared sensors arranged at equal intervals on both sides of the vehicle body, and realizes emergency avoidance of obstacles on both sides of the vehicle body by calculating the steering angle, and controls the emergency braking of the vehicle body by adding an emergency mechanism to further prevent collisions, which is more suitable for the complex environment of the airport apron. In addition, the method realizes automatic following of the target terminal based on the orientation information of the target terminal and the orientation information of the vehicle body, and can adjust the travel speed of the vehicle body according to the distance between the vehicle body and the target terminal, and can effectively identify the front obstacle and perform emergency avoidance of the front obstacle. Through the target following obstacle avoidance method, high-precision intelligent following of the vehicle body and emergency avoidance of multiple obstacles can be realized in the environment of the airport apron, and the vehicle body equipped with the target following obstacle avoidance system can be prevented from colliding with valuables such as aircraft, reducing the time consumed by workers to take tools on the apron, improving work efficiency, and reducing the risk of work omissions caused by workplace changes.

[0063] The present invention is not limited to the above-mentioned embodiments. If various changes or modifications to the present invention do not depart from the spirit and scope of the present invention, and if these changes and modifications fall within the scope of the claims and equivalent technologies of the present invention, the present invention is also intended to include these changes and modifications.

Claims

1. A target following obstacle avoidance system, characterized in that: include: Car body, drive mechanism, steering mechanism, control system and power supply system; The control system includes a main control chip, a Bluetooth module, an electronic compass module, an infrared detection module and an ultrasonic detection module; the main control chip is electrically connected to the driving mechanism, the steering mechanism, the Bluetooth module, the electronic compass module, the infrared detection module and the ultrasonic detection module respectively; The main control chip, the Bluetooth module and the electronic compass module are arranged in the vehicle body; the infrared detection module includes a first infrared detection module and a second infrared detection module, the first infrared detection module and the second infrared detection module are respectively arranged on the left and right sides of the vehicle body, and the first infrared detection module and the second infrared detection module each include at least three infrared sensors arranged at equal intervals; the ultrasonic detection module is arranged at the front end of the vehicle body; the power supply system is electrically connected to the control system, the driving mechanism and the steering mechanism respectively; The Bluetooth module receives the position information of the target terminal; the electronic compass module measures the position information of the vehicle body, and the main control chip controls the steering mechanism according to the position information of the target terminal and the position information of the vehicle body, so that the moving direction of the vehicle body is aligned with the target terminal; The first infrared detection module and the second infrared detection module respectively detect the position information of the obstacles on the left and right sides and send them to the main control chip, and the main control chip controls the steering mechanism according to the position information of the obstacles to make the vehicle body avoid the obstacles; If one group of the infrared detection modules detects an obstacle on one side of the vehicle body, the position information of the obstacle is sent to the main control chip, and the main control chip calculates the steering direction and steering angle of the steering mechanism according to the position information of the obstacle, and controls the steering mechanism to make the vehicle body avoid the obstacle; If both the first infrared detection module and the second infrared detection module detect obstacles at the same time, and the turning directions calculated by the main control chip are opposite, the main control chip sends a double-side obstacle warning signal to control the drive mechanism to perform emergency braking; The ultrasonic detection module detects the distance information between the vehicle body and the target terminal, and the main control chip controls the driving mechanism according to the distance information to adjust the speed of the vehicle body; the ultrasonic detection module includes a first ultrasonic detection module and a second ultrasonic detection module, and the first ultrasonic detection module and the second ultrasonic detection module are both arranged at the center position of the front end of the vehicle body; the first ultrasonic detection module detects the first distance information between the vehicle body and the target terminal and sends it to the main control chip; the second ultrasonic detection module detects the second distance information between the vehicle body and the target terminal and sends it to the main control chip; the main control chip calculates the difference between the first distance information and the second distance information, adjusts the speed of the vehicle body or controls the emergency braking of the vehicle body.

2. The target following obstacle avoidance system according to claim 1, characterized in that: The power supply system includes a battery, a first voltage stabilizing filter circuit and a second voltage stabilizing filter circuit; the battery is electrically connected to the steering mechanism and the driving mechanism through the first voltage stabilizing filter circuit; the battery is electrically connected to the control system through the second voltage stabilizing filter circuit.

3. The target following obstacle avoidance system according to claim 1, characterized in that: The control system further comprises a remote control module; the remote control module is wirelessly connected to the main control chip; the remote control module transmits a remote control signal to the main control chip to control the driving mechanism and the steering mechanism.

4. The target following obstacle avoidance system according to claim 1, characterized in that: The control system also includes a PID regulator; one end of the PID regulator is electrically connected to the main control chip, and the other end of the PID regulator is electrically connected to the steering mechanism; the main control chip controls the steering mechanism through the PID regulator.

5. The target following obstacle avoidance system according to claim 1, characterized in that: The control system also includes a liquid crystal display screen; the liquid crystal display screen is arranged on the vehicle body, and the liquid crystal display screen is electrically connected to the main control chip.

6. A target following obstacle avoidance method, using the target following obstacle avoidance system according to any one of claims 1 to 5, characterized in that: The following steps are involved: The Bluetooth module receives the position information of the target terminal and sends it to the main control chip; the electronic compass module measures the position information of the vehicle body and sends it to the main control chip, and the main control chip controls the steering mechanism according to the position information of the target terminal and the position information of the vehicle body, so that the movement direction of the vehicle body is aligned with the target terminal; The first infrared detection module and the second infrared detection module respectively detect the position information of the obstacles on the left and right sides and send them to the main control chip. The main control chip controls the steering mechanism according to the position information of the obstacles to make the vehicle avoid the obstacles. The ultrasonic detection module detects the distance information between the vehicle body and the target terminal, and the main control chip controls the driving mechanism according to the distance information to adjust the speed of the vehicle body.

7. The target following obstacle avoidance method according to claim 6, characterized in that: The ultrasonic detection module includes a first ultrasonic detection module and a second ultrasonic detection module. The ultrasonic detection module detects the distance information between the vehicle body and the target terminal. The main control chip controls the driving mechanism according to the distance information to accelerate or decelerate the vehicle body, and further includes the following steps: The first ultrasonic detection module detects first distance information between the vehicle body and the target terminal and sends it to the main control chip; the second ultrasonic detection module detects second distance information between the vehicle body and the target terminal and sends it to the main control chip; the main control chip calculates the difference between the first distance information and the second distance information, and determines whether the difference is less than a preset threshold; If the difference between the first distance information and the second distance information is less than a preset threshold, the main control chip controls the driving mechanism according to the first distance information to adjust the speed of the vehicle body; If the difference between the first distance information and the second distance information is not less than a preset threshold, the main control chip sends a fault signal to control the vehicle body to perform emergency braking.

8. The target following obstacle avoidance method according to claim 6 or 7, characterized in that: The following steps are also included: The main control chip obtains the time interval between each time when the ultrasonic detection module sends an ultrasonic signal and receives an ultrasonic feedback signal, and determines whether the time interval is greater than a preset time length; When the time interval is greater than a preset time length, the main control chip sends a front obstacle warning signal to control the vehicle body to perform emergency braking.

9. The target following obstacle avoidance method according to claim 6 or 7, wherein the first infrared detection module and the second infrared detection module respectively detect the position information of obstacles on the left and right sides and send the information to the main control chip, and the main control chip controls the movement direction of the vehicle body to avoid the obstacle according to the position information of the obstacle, characterized in that: The following steps are involved: The first infrared detection module and the second infrared detection module determine in real time whether there is an obstacle within a preset distance; If the first infrared detection module determines that there is an obstacle within the preset distance, the distance between all infrared sensors in the first infrared detection module and the obstacle is collected; the main control chip calculates the first steering angle and the first steering direction of the vehicle body according to the distance between all infrared sensors in the first infrared detection module and the obstacle, and controls the vehicle body to avoid the obstacle; If the second infrared detection module determines that there is an obstacle within the preset distance, the distance between all infrared sensors in the second infrared detection module and the obstacle is collected; the main control chip controls the second steering angle and the second steering direction of the vehicle body according to the distance between all infrared sensors in the second infrared detection module and the obstacle, and controls the vehicle body to avoid the obstacle; If the main control chip determines that the first turning direction and the second turning direction are opposite to each other at the same time, the main control chip sends a double-side obstacle warning signal to control the vehicle body to perform emergency braking.

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