A method for adjusting the parking posture of a Mecanum wheel trolley based on a tracking sensor

Abstract

The application is suitable for the technical field of automatic trolley control, and provides a Mecanum wheel trolley parking posture adjustment method based on a tracking sensor, which comprises the following steps: step one: constructing a Mecanum wheel trolley body posture detection model composed of tracking sensors, which is used to detect whether the trolley body posture is inclined when parking at a specific working condition; step two: constructing a Mecanum wheel trolley body posture correction motion model; and step three: performing Mecanum wheel trolley body correction control. The application provides a trolley body adjustment method for the problem of trolley body inclination when a Mecanum wheel trolley parks at a specific position in a working condition. Compared with a Mecanum wheel trolley without trolley body posture adjustment, the adjusted trolley body posture is better in levelness, thereby ensuring the safe and accurate operation of the Mecanum wheel trolley.

Description

Technical Field

[0001] This invention relates to the field of automated vehicle control technology, and in particular to a method for adjusting the parking posture of a Mecanum wheel vehicle based on a tracking sensor. Background Technology

[0002] As the demand for Mecanum wheel carts gradually increases in various situations, the mobility and convenience of Mecanum wheel carts are becoming increasingly important, especially in the confined working environments of warehousing and logistics and manufacturing industries. Mecanum wheel carts not only have the ability to move forward and backward in a straight line, but also in a straight line to the left and right. However, due to the poor attitude control of Mecanum wheel carts when moving in a straight line, the cart may tilt when stopped at a designated working position. This may lead to damage to materials or the cart itself, and may even cause injury to workers. It is clear that carts equipped only with Mecanum wheels cannot meet the accuracy and safety requirements of automated operations.

[0003] In summary, the existing Mecanum wheel trolleys obviously have inconveniences and defects in practical use. Therefore, there is an urgent need for a safe and accurate method for adjusting the parking posture of Mecanum wheel trolleys. Summary of the Invention

[0004] To address the shortcomings of the aforementioned Mecanum wheel trolleys, the present invention aims to provide a parking posture adjustment method for Mecanum wheel trolleys based on tracking sensors, so as to ensure that the vehicle body posture does not tilt when the trolley stops at a specified working condition, thereby increasing the accuracy and safety of the trolley during operation and promoting the development of Mecanum wheel trolleys in automated operations.

[0005] To achieve the above objectives, the present invention provides a method for adjusting the parking posture of a trolley based on Mecanum wheels, the method comprising the following steps: Step 1: Construct a Mecanum wheel vehicle body posture detection model composed of tracking sensors to detect whether the vehicle body posture tilts when parking in a specific working condition; Step 2: Construct a motion model for correcting the body posture of the Mecanum wheel vehicle; Step 3: Perform body correction control for the Mecanum wheel trolley.

[0006] According to the Mecanum wheel trolley parking posture adjustment method based on tracking sensors of the present invention, the Mecanum wheel trolley body posture detection model in step one includes: a body posture detection system and a trolley control system. The body posture detection system consists of five tracking sensors, which are placed at the two endpoints of the horizontal centerline of the trolley, the two endpoints of the vertical centerline, and the center of the trolley. The control system receives the digital signal output by the body posture detection system to determine whether the trolley body is tilted when parking. Its construction method is as follows, and it can be divided into four cases according to the direction of movement of the trolley.

[0007] The first method: At a certain moment during the operation, the Mecanum wheel trolley moves to the left and reaches a fixed tracking strip arranged in a vertical shape. During the leftward movement, a tracking sensor installed at the center of the trolley stops the trolley at the tracking strip. Tracking sensors installed at both ends of the trolley's vertical centerline detect the trolley's posture. The three tracking sensors are aligned in a straight line. The detection method is that the three tracking sensors continuously output digital signals during the trolley's leftward movement. When a sensor detects the tracking strip, it outputs a digital signal "1"; when it does not detect the tracking strip, it outputs a digital signal "0". When the sensor at the center of the trolley detects the tracking strip, the trolley stops. When the trolley stops moving, if the sensor at the front end of the trolley's vertical centerline has detected the tracking strip but the sensor at the rear end has not, the trolley tilts to the left; if the sensor at the front end of the trolley's vertical centerline has not detected the tracking strip but the sensor at the rear end has, the trolley tilts to the right.

[0008] The second scenario: At a certain moment during the operation, the Mecanum wheel trolley moves to the right and reaches a fixed tracking belt arranged in a vertical shape. When the sensor at the center of the trolley detects the tracking belt, the trolley stops. When the trolley stops moving, if the sensor at the front end of the vertical center line of the trolley has detected the tracking belt, but the sensor at the rear end of the vertical center line of the trolley has not detected the tracking belt, the trolley will tilt to the right; otherwise, the trolley will tilt to the left.

[0009] The third method: At a certain moment during the operation, the Mecanum wheel trolley moves forward to a fixed tracking strip arranged in a horizontal "" shape. During the forward movement, the tracking sensor installed in the center of the trolley stops the trolley at the tracking strip. The tracking sensors installed at both ends of the horizontal center line of the trolley detect the vehicle's posture. The three tracking sensors are on the same straight line. When the sensor in the center of the trolley detects the tracking strip, the trolley stops. When the trolley stops moving, if the sensor at the left end of the horizontal center line of the trolley has detected the tracking strip, but the sensor at the right end of the horizontal center line of the trolley has not detected the tracking strip, the vehicle tilts to the right; otherwise, the vehicle tilts to the left.

[0010] The fourth method: At a certain moment during the operation, the Mecanum wheel trolley moves backward to a fixed tracking belt arranged in a horizontal "" shape. During the backward movement of the trolley, when the sensor at the center of the trolley detects the tracking belt, the trolley stops. When the trolley stops moving, if the sensor at the left end of the trolley's horizontal center line has detected the tracking belt, but the sensor at the right end of the trolley's horizontal center line has not detected the tracking belt, the trolley will tilt to the left; otherwise, the trolley will tilt to the right.

[0011] According to the Mecanum wheel trolley parking posture adjustment method based on tracking sensors of the present invention, the motion model for Mecanum wheel trolley body posture correction in step two is constructed as follows: At a certain moment during operation, the Mecanum wheel car moves forward, backward, left, or right to a fixed tracking zone. The vehicle posture detection model detects that the car body is tilted, and the car begins to adjust its posture. The posture correction model includes: a vehicle posture detection system consisting of 5 tracking sensors, a chassis motion system consisting of Mecanum wheels and motors, and a control system consisting of an STM32 control board. The control system controls the vehicle posture detection system and the chassis motion system. When the car body is tilted to the left or right, the control system controls the chassis motion system to rotate clockwise or counterclockwise to adjust the car body. At the same time, the control system controls the vehicle posture detection system to detect whether the car body is corrected in real time, thereby completing the body adjustment of the Mecanum wheel car.

[0012] According to the Mecanum wheel trolley parking posture adjustment method based on tracking sensors of the present invention, the Mecanum wheel trolley body correction control steps in step three are as follows, which can be divided into four cases for discussion based on the trolley's movement direction and body tilt.

[0013] The first scenario: At a certain moment during the operation, when the Mecanum wheel trolley moves left or right and reaches a fixed tracking strip arranged vertically, if the vehicle posture detection model detects that the vehicle body is tilted to the left, the vehicle posture correction motion model will begin vehicle body correction. Step 1: The control system controls the chassis motion system to rotate clockwise, while simultaneously receiving digital signals from the sensors at the front and rear ends of the vehicle's vertical centerline. Step 2: The vehicle control system determines whether the digital signals output by the sensors at the front and rear ends of the vehicle's vertical centerline are simultaneously "1". Step 3: If the digital signals output by the sensors at the front and rear ends of the car's vertical centerline are both "1", it means that the car body has been aligned. The control system then controls the chassis motion system to stop rotating clockwise, and the control system no longer receives digital signals output by the sensors. If the digital signals output by the sensors at the front and rear ends of the car's vertical centerline are not both "1", then Step 1 and Step 2 are repeated until the digital signals output by the sensors are both "1" and the correction stops.

[0014] The second method: At a certain moment during the operation, when the Mecanum wheel trolley moves to the left or right and reaches a fixed tracking zone arranged in a vertical shape, if the vehicle body posture detection model detects that the vehicle body is tilted to the right, the vehicle body posture correction motion model starts vehicle body correction. The vehicle body correction steps are the same as the correction steps when the vehicle body is tilted to the left when it moves to the left or right and reaches a fixed tracking zone. The only difference is that in the first step, the control system controls the chassis motion system to rotate counterclockwise instead of clockwise.

[0015] The third type: At a certain moment during the operation, when the Mecanum wheel trolley moves forward or backward to a fixed tracking strip arranged in a "horizontal" shape, if the vehicle posture detection model detects that the vehicle body is tilted to the left, the vehicle posture correction motion model begins vehicle body correction: Step 1: The control system controls the chassis motion system to rotate clockwise, while simultaneously receiving digital signals from the sensors at the left and right ends of the trolley's transverse centerline. Step 2: The vehicle control system determines whether the digital signals output by the sensors at the left and right ends of the vehicle's horizontal center line are simultaneously "1". Step 3: If the digital signals output by the sensors at the left and right ends of the car's horizontal center line are both "1", it indicates that the car body is aligned. The control system stops the chassis motion system from rotating clockwise, and the control system stops receiving digital signals from the sensors. If the digital signals output by the sensors at the left and right ends of the car's horizontal center line are not both "1", then repeat steps 1 and 2 until the digital signals output by the sensors at the left and right ends of the car's horizontal center line are both "1" to stop the correction.

[0016] The fourth type: At a certain moment during the operation, when the Mecanum wheel trolley moves forward or backward to a fixed tracking zone arranged in a horizontal shape, if the vehicle body posture detection system detects that the vehicle body is tilted to the right, the posture correction motion model begins to correct the vehicle body. The vehicle body correction steps are the same as the correction steps when the vehicle body is tilted to the left when it moves forward or backward to a fixed tracking zone. The only difference is that in the first step, the control system controls the chassis motion system to rotate counterclockwise instead of clockwise.

[0017] This invention proposes a method for adjusting the parking posture of a Mecanum wheel trolley based on a tracking sensor, which improves the accuracy of the Mecanum wheel trolley when moving left and right or up and down to a fixed position for parking. It also increases the accuracy and safety of the Mecanum wheel trolley when performing specific tasks, enabling more effective control of the use of Mecanum wheel trolleys in automation industries such as warehousing, logistics, and manufacturing. Attached Figure Description

[0018] Figure 1 Axonometric drawing of a Mecanum wheel trolley equipped with a tracking sensor; Figure 2 A top view of a Mecanum wheel trolley equipped with a tracking sensor; Figure 3 A bottom view of a Mecanum wheel trolley equipped with a tracking sensor; Figure 4 A front view of a Mecanum wheel trolley equipped with a tracking sensor; Figure 5 Left view of a Mecanum wheel trolley equipped with a tracking sensor; Figure 6 This is a schematic diagram showing the car tilting to the left as it moves to a fixed tracking zone. Figure 7 A diagram showing the leftward tilt of the vehicle when it moves to the left along a fixed tracking zone; Figure 8 A schematic diagram of the program used by the control system to determine the tilt direction of the vehicle body during the process of the car moving to a fixed position to the left; Figure 9 A schematic diagram of the procedure for adjusting the car body when it tilts to the left when the car moves to a fixed position to the left; Figure 10 The attached figure is for the abstract. Implementation

[0019] To make the objectives, technical solutions, and advantages of this invention clearer, the invention will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely for explaining the invention and are not intended to limit the invention.

[0020] See Figure 1 and Figure 6 This invention provides a method for adjusting the parking posture of a Mecanum wheel trolley based on a tracking sensor. The method of this invention requires the following main components: a Mecanum wheel 1, a corner bracket 2, a European standard 2020 aluminum profile 3, a motor 4, a tracking sensor at the left end of the trolley's horizontal centerline 5, a tracking sensor at the rear end of the trolley's vertical centerline 6, a tracking sensor at the center of the trolley 7, a tracking sensor at the front end of the trolley's vertical centerline 8, a motor support 9, a tracking sensor at the right end of the trolley's horizontal centerline 10, a tracking sensor bracket 11, and a tracking belt 12.

[0021] According to the Mecanum wheel trolley parking attitude adjustment method based on tracking sensors of the present invention, the method for constructing the Mecanum wheel trolley body attitude detection model composed of tracking sensors in step one is as follows: like Figure 6 and Figure 7As shown, the Mecanum wheel trolley moves to the left and reaches a fixed tracking track 12. During the leftward movement, the tracking sensor 7 installed at the center of the trolley stops the trolley at the tracking track 12. The tracking sensor 8 at the front end of the vertical centerline and the tracking sensor 6 at the rear end of the vertical centerline of the trolley detect the vehicle's posture. The three tracking sensors are on the same straight line. When the sensor 7 at the center of the trolley detects the tracking track 12, the tracking sensor 8 at the front end of the vertical centerline of the trolley has also detected the tracking track 12, while the tracking sensor 6 at the rear end of the vertical centerline of the trolley has not detected the tracking track 12. The vehicle posture detection system determines that the trolley is tilted to the left. See the flowchart. Figure 8 .

[0022] According to the Mecanum wheel trolley parking posture adjustment method based on tracking sensors of the present invention, the construction of the Mecanum wheel trolley body posture correction motion model in step two is as follows: At a certain moment during the operation, the Mecanum wheel trolley moves to the left and reaches a fixed tracking belt 12 arranged in a vertical shape. The vehicle posture detection model detects that the vehicle body is tilted to the left, and the trolley begins to adjust its posture. The posture adjustment model includes: a vehicle posture detection system, a chassis motion system composed of Mecanum wheels and motors, and a control system composed of an STM32 control board. The control system controls the vehicle posture detection system and the chassis motion system. Since the vehicle body is tilted to the left, the control system controls the chassis motion system to rotate clockwise to adjust the vehicle body. At the same time, the control system controls the vehicle posture detection system to detect whether the vehicle body is straight in real time, thereby completing the vehicle body adjustment of the Mecanum wheel trolley.

[0023] According to the Mecanum wheel trolley parking posture adjustment method based on tracking sensors of the present invention, the Mecanum wheel trolley body correction control step in step three is as follows: At a certain point in the operation, when the Mecanum wheel trolley moves to the left and reaches the fixed tracking band 12, the trolley tilts to the left. The attitude correction motion model then begins to correct the trolley's position. See the flowchart. Figure 9 : Step 1: The control system controls the chassis motion system to rotate clockwise, and at the same time the control system receives the digital signals output by the front tracking sensor 8 of the vertical center line of the vehicle and the rear tracking sensor 6 of the vertical center line of the vehicle. Step 2: The car control system determines whether the digital signals output by the front tracking sensor 8 of the vertical centerline of the car and the rear tracking sensor 6 of the vertical centerline of the car are both "1"; Step 3: If the digital signals output by the front tracking sensor 8 and the rear tracking sensor 6 of the vertical centerline of the vehicle are both "1", it indicates that the vehicle body is aligned. The control system controls the chassis motion system to stop rotating, and the control system stops receiving digital signals output by the sensors. If the digital signals output by the front tracking sensor 8 and the rear tracking sensor 6 of the vertical centerline of the vehicle are not both "1", then repeat steps 1 and 2 until the digital signals output by the front tracking sensor 8 and the rear tracking sensor 6 of the vertical centerline of the vehicle are both "1", and the vehicle body attitude adjustment is completed.

[0024] Of course, the present invention may have other various embodiments. Without departing from the essence of the present invention, those skilled in the art can make various corresponding changes and modifications according to the present invention, but these corresponding changes and modifications should all fall within the protection scope of the appended claims.

Claims

1. A method for adjusting the parking posture of a Mecanum wheel trolley based on a tracking sensor, characterized in that, Includes the following steps: Step 1: Construct a Mecanum wheel vehicle body posture detection model composed of tracking sensors to detect whether the vehicle body posture tilts when parking in a specific working condition; Step 2: Construct a motion model for correcting the body posture of the Mecanum wheel vehicle; Step 3: Perform body correction control on the Mecanum wheel trolley; The vehicle posture detection model includes a vehicle posture detection system and a vehicle control system. The vehicle posture detection system consists of five tracking sensors. The five tracking sensors are placed at the two endpoints of the horizontal centerline of the vehicle, the two endpoints of the vertical centerline, and the center of the vehicle. The control system controls the vehicle posture detection system to determine whether the vehicle body is tilted when the vehicle is parked. The vehicle body posture detection model determines whether the vehicle body is tilted when it is parked in the following way: The first working condition: At a certain moment during operation, the Mecanum wheel trolley moves to the left and reaches a fixed tracking strip arranged in a vertical shape. During the leftward movement, the tracking sensor installed at the center of the trolley stops the trolley at the tracking strip. The vehicle's posture is detected by tracking sensors installed at both ends of the vertical centerline of the trolley. The three tracking sensors are on the same straight line. The detection method is that the three tracking sensors continuously output digital signals during the leftward movement of the trolley. When the sensor detects the tracking strip, the sensor outputs a digital signal "1", and when it does not detect the tracking strip, the sensor outputs a digital signal "0". When the sensor at the center of the trolley detects the tracking strip, the trolley stops. When the trolley stops moving, if the sensor at the front end of the vertical centerline of the trolley has detected the tracking strip, but the sensor at the rear end of the vertical centerline of the trolley has not detected the tracking strip, the vehicle tilts to the left; if the sensor at the front end of the vertical centerline of the trolley has not detected the tracking strip, but the sensor at the rear end of the vertical centerline of the trolley has detected the tracking strip, the vehicle tilts to the right. The second working condition: At a certain moment during operation, the Mecanum wheel trolley moves to the right and reaches a fixed tracking belt placed in a "vertical" shape. When the sensor in the center of the trolley detects the tracking belt, the trolley stops. When the trolley stops moving, if the sensor on the front side of the trolley has detected the tracking belt but the sensor on the rear side of the trolley has not detected the tracking belt, the trolley will tilt to the right; otherwise, the trolley will tilt to the left. The third working condition: At a certain moment during operation, the Mecanum wheel trolley moves forward to a fixed tracking strip arranged in a horizontal "" shape. During the forward movement, the tracking sensor installed in the center of the trolley stops the trolley at the tracking strip. The tracking sensors installed at both ends of the horizontal center line of the trolley detect the vehicle's posture. The three tracking sensors are on the same straight line. When the sensor in the center of the trolley detects the tracking strip, the trolley stops. When the trolley stops moving, if the sensor at the left end of the horizontal center line of the trolley has detected the tracking strip, but the sensor at the right end of the horizontal center line of the trolley has not detected the tracking strip, the vehicle tilts to the right; otherwise, the vehicle tilts to the left. The fourth working condition: At a certain moment during operation, the Mecanum wheel trolley moves backward to a fixed tracking belt arranged in a "horizontal" shape. During the backward movement of the trolley, when the sensor at the center of the trolley detects the tracking belt, the trolley stops. When the trolley stops moving, if the sensor at the left end of the trolley's horizontal center line has detected the tracking belt, but the sensor at the right end of the trolley's horizontal center line has not detected the tracking belt, the trolley will tilt to the left; otherwise, the trolley will tilt to the right.

2. The method for adjusting the parking posture of a Mecanum wheel trolley based on a tracking sensor according to claim 1, characterized in that, The posture correction motion model in step two is constructed as follows: five tracking sensors form a vehicle posture detection system, the Mecanum wheel and motor form a chassis motion system, and the STM32 control board forms a control system. These three systems constitute the posture correction motion model. The control system controls the vehicle posture detection system and the chassis motion system. When the vehicle body tilts to the left or right, the control system controls the chassis motion system to rotate clockwise or counterclockwise to adjust the vehicle body. At the same time, the control system controls the vehicle posture detection system to detect whether the vehicle body is corrected in real time, thereby completing the vehicle body adjustment of the Mecanum wheel car.

3. The method for adjusting the parking posture of a Mecanum wheel trolley based on a tracking sensor according to claim 1, characterized in that, The method of vehicle body correction control in step three is as follows: The first working condition: At a certain moment during operation, when the Mecanum wheel trolley moves left or right to a fixed tracking strip arranged in a "vertical" shape, if the vehicle posture detection model detects that the vehicle body is tilted to the left, the posture correction motion model begins vehicle body correction. Step 1: The control system controls the chassis motion system to rotate clockwise, and at the same time, the control system receives the digital signals output by the front and rear sensors of the trolley's vertical centerline. Step 2: The trolley control system determines whether the digital signals output by the front and rear sensors of the trolley's vertical centerline are simultaneously "1". Step 3: If the digital signals output by the front and rear sensors of the trolley's vertical centerline are simultaneously "1", it means that the vehicle body has been corrected. The control system controls the chassis motion system to stop rotating clockwise, and at the same time, the control system no longer receives the digital signals output by the sensors. If the digital signals output by the front and rear sensors of the trolley's vertical centerline are not simultaneously "1", then Step 1 and Step 2 are repeated until the digital signals output by the front and rear sensors of the trolley's vertical centerline are simultaneously "1". The second working condition: At a certain moment during operation, when the Mecanum wheel trolley moves to the left or right and reaches a fixed tracking zone arranged in a "vertical" shape, if the vehicle body posture detection model detects that the vehicle body is tilted to the right, the posture correction motion model starts vehicle body correction. The vehicle body correction steps are the same as the correction steps when the vehicle body is tilted to the left when it moves to the left or right and reaches a fixed tracking zone. The only difference is that the control system controls the chassis motion system to rotate clockwise in the first step, and then the control system controls the chassis motion system to rotate counterclockwise. The third working condition: At a certain moment during operation, when the Mecanum wheel trolley moves forward or backward to a fixed tracking strip arranged in a "horizontal" shape, if the vehicle posture detection model detects that the vehicle body is tilted to the left, the posture correction motion model begins vehicle body correction. Step 1: The control system controls the chassis motion system to rotate clockwise, and at the same time, the control system receives the digital signals output by the sensors at the left and right ends of the trolley's horizontal centerline. Step 2: The trolley control system determines whether the digital signals output by the sensors at the left and right ends of the trolley's horizontal centerline are simultaneously "1". Step 3: If the digital signals output by the sensors at the left and right ends of the trolley's horizontal centerline are simultaneously "1", it indicates that the vehicle body is corrected. The control system controls the chassis motion system to stop rotating clockwise, and at the same time, the control system stops receiving digital signals output by the sensors. If the digital signals output by the sensors at the left and right ends of the trolley's horizontal centerline are not simultaneously "1", then Step 1 and Step 2 are repeated until the digital signals output by the sensors at the left and right ends of the trolley's horizontal centerline are simultaneously "1". The fourth working condition: At a certain moment during operation, when the Mecanum wheel trolley moves forward or backward to a fixed tracking zone arranged in a horizontal shape, if the vehicle posture detection model detects that the vehicle body is tilted to the right, the posture correction motion model begins to correct the vehicle body. The vehicle body correction steps are the same as the correction steps when the vehicle body is tilted to the left when it moves forward or backward to a fixed tracking zone. The only difference is that the control system controls the chassis motion system to rotate counterclockwise instead of clockwise in the first step.

Images