Output control circuit, scissor lift travel control system and tracking method and device

Abstract

The present application discloses an output control circuit, a scissor lift travel control system, and a tracking method and device. The constant current output circuit can improve the stability of the entire output control current output and reduce the volatility of the output current during the output of the output control circuit. At the same time, the self-locking sampling circuit can be used to sample the output current of the output control circuit, and then when the output current is too high, the self-locking circuit action can be controlled in time to complete the self-locking of the constant current output circuit and quickly stop the output. The embodiment of the present application adopts hardware protection logic, and the output control current and the triggering conditions of the self-locking protection can be adjusted by software settings, thereby effectively improving the safety and applicability of the entire application process.

Description

Technical Field

[0001] The present application relates to the field of scissor lift trucks, and in particular to an output control circuit, a scissor lift truck travel control system, and a tracking method and device. Background Art

[0002] Scissor lift trucks are a common type of engineering vehicle. In actual use, they are often prone to unstable output current, overcurrent, and device damage due to wiring errors, coil short circuits, or device damage. Currently, the output current is mainly detected by current sensors, and then software logic is used to determine the output when the current is overcurrent. However, this type of software protection logic has a certain delay, and in actual applications, the device may burn out before the protection action is triggered. Summary of the invention

[0003] The present application aims to propose an output control circuit, a scissor lift travel control system and a tracking method and device, which can improve the safety of electronic devices in the process of controlling the movement of the scissor lift.

[0004] According to the output control circuit of the first embodiment of the present application, the output control circuit includes:

[0005] A constant current output circuit having a constant current input terminal for inputting a constant current setting signal and a constant current output terminal for outputting a constant current control signal;

[0006] A self-locking sampling circuit, which has a self-locking sampling input terminal for inputting a self-locking threshold setting signal, a self-locking sampling terminal for obtaining a constant current sampling signal from the constant current output circuit, and a self-locking sampling output terminal, wherein the self-locking sampling circuit is used to adjust the self-locking sampling output voltage of the self-locking sampling output terminal according to the self-locking threshold setting signal and the constant current sampling signal;

[0007] The self-locking circuit comprises a self-locking input control terminal, a self-locking execution terminal connected to the constant current input terminal, and a self-locking feedback control terminal connected to the self-locking sampling output terminal. The self-locking circuit adjusts the grounding state of the self-locking execution terminal according to the self-locking sampling output voltage input by the self-locking feedback control terminal and the main output control voltage input by the self-locking input control terminal to adjust the output state of the constant current output circuit.

[0008] According to the second aspect of the present application, a scissor lift travel control system includes:

[0009] Three output control circuits as described in the first aspect embodiment;

[0010] Hydraulic drive system;

[0011] The first electromagnetic proportional valve group, the second electromagnetic proportional valve group, and the third electromagnetic proportional valve group are all connected to a different constant current output end of the output control circuit; the first electromagnetic proportional valve group is used to adjust the forward and backward moving speed of the scissor lift truck, the second electromagnetic proportional valve group is used to adjust the left and right moving speed of the scissor lift truck, and the third electromagnetic proportional valve group is used to adjust the lifting speed of the working bar of the scissor lift truck;

[0012] A control device, connected to the constant current input terminals of the three output control circuits respectively;

[0013] A binocular vision system disposed on the work bar and / or the seat of the scissor lift truck, connected to the control device, for acquiring image information of the space around the work bar;

[0014] The radar ranging system arranged on the work bar and / or the seat of the scissor lift truck is connected to the control device and is used to obtain the reflective object information in the space around the work bar.

[0015] According to the tracking method of the third aspect of the present application, the tracking method is applied to the control device of the scissor lift travel control system as described in the second aspect of the present application, and includes:

[0016] Acquiring image information of the space around the work column through the binocular vision system;

[0017] Acquiring information about reflective objects in the space around the work fence through the radar ranging system;

[0018] The operation bar is controlled to track the target object according to the image information and the reflective object information.

[0019] According to the tracking device of the fourth aspect of the present application, the tracking device is applied to the control device of the scissor lift travel control system as described in the second aspect of the present application, and the tracking device includes:

[0020] An image information acquisition module, used to acquire image information of the space around the work bar through the binocular vision system;

[0021] A reflection information acquisition module, used to acquire the reflection object information in the space around the work bar through the radar ranging system;

[0022] A tracking control module is used to control the operation bar to track the target object according to the image information and the reflector information.

[0023] According to an electronic device of a fifth aspect of the present application, the device includes: a processor and a memory storing computer program instructions;

[0024] When the processor executes the computer program instructions, the tracking method as described in the embodiment of the third aspect is implemented.

[0025] According to the computer-readable storage medium of the sixth aspect embodiment of the present application, computer-executable instructions are stored, and the computer-executable instructions are used to execute the tracking method of the third aspect embodiment as described above.

[0026] The output control circuit, scissor lift travel control system, and tracking method and device of the embodiment of the present application can improve the stability of the entire output control current output through the constant current output circuit, reduce the volatility of the output current during the output of the output control circuit, and at the same time, the output current of the output control circuit can be sampled by using the self-locking sampling circuit, and then when the output current is too high, the self-locking circuit action can be controlled in time to complete the self-locking of the constant current output circuit and quickly stop the output. The embodiment of the present application adopts hardware protection logic, and the output control current and the triggering conditions of the self-locking protection can be adjusted by software settings, thereby effectively improving the safety and applicability of the entire application process.

[0027] Other features and advantages of the present application will be set forth in the following description, and in part will become apparent from the description, or may be understood by practicing the present application. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] The above and / or additional aspects and advantages of the present application will become apparent and easily understood from the description of the embodiments in conjunction with the following drawings, in which:

[0029] Figure 1 A circuit diagram of an output control circuit provided in an embodiment of the present application;

[0030] Figure 2 An electrical system diagram of a scissor lift travel control system provided in an embodiment of the present application;

[0031] Figure 3 A schematic diagram of a hydraulic system for adjusting the lifting of a work bar by a third electromagnetic proportional valve group provided in an embodiment of the present application;

[0032] Figure 4 A flowchart of a tracking method provided in an embodiment of the present application.

[0033] Reference numerals:

[0034] Output control circuit 100, constant current output circuit 110, self-locking sampling circuit 120, self-locking circuit 130, XOR gate logic unit 140, hydraulic drive system 210, first electromagnetic proportional valve group 220, second electromagnetic proportional valve group 230, third electromagnetic proportional valve group 240, control device 250, binocular vision system 260, radar ranging system 270. DETAILED DESCRIPTION

[0035] The embodiments of the present application are described in detail below, and examples of the embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain the present application, and cannot be understood as limiting the present application.

[0036] In the description of this application, if there is a description of first, second, etc., it is only for the purpose of distinguishing technical features, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features or implicitly indicating the order of the indicated technical features.

[0037] In the description of the present application, it should be understood that the descriptions involving orientation, such as the orientation or positional relationship indicated as up, down, etc., are based on the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as a limitation on the present application.

[0038] In the description of this application, it should be noted that, unless otherwise clearly defined, terms such as setting, installing, connecting, etc. should be understood in a broad sense, and technicians in the relevant technical field can reasonably determine the specific meaning of the above terms in this application based on the specific content of the technical solution.

[0039] The technical solution of the present application will be clearly and completely described below in conjunction with the accompanying drawings. Obviously, the embodiments described below are only part of the embodiments of the present application, not all of the embodiments.

[0040] See also Figure 1 As shown, Figure 1 is a circuit diagram of an output control circuit 100 provided in one embodiment of the present application, and the output control circuit 100 includes:

[0041] A constant current output circuit 110, which has a constant current input terminal for inputting a constant current setting signal and a constant current output terminal for outputting a constant current control signal;

[0042] A self-locking sampling circuit 120, which has a self-locking sampling input terminal for inputting a self-locking threshold setting signal, a self-locking sampling terminal for obtaining a constant current sampling signal from the constant current output circuit 110, and a self-locking sampling output terminal, and the self-locking sampling circuit 120 is used to adjust the self-locking sampling output voltage of the self-locking sampling output terminal according to the self-locking threshold setting signal and the constant current sampling signal;

[0043] The self-locking circuit 130 has a self-locking input control terminal, a self-locking execution terminal connected to the constant current input terminal, and a self-locking feedback control terminal connected to the self-locking sampling output terminal. The self-locking circuit 130 adjusts the grounding state of the self-locking execution terminal according to the self-locking sampling output voltage input by the self-locking feedback control terminal and the main output control voltage input by the self-locking input control terminal to adjust the output state of the constant current output circuit 110.

[0044] In the embodiment of the present application, the stability of the output of the entire output control circuit 100 can be improved by the constant current output circuit 110, and the volatility of the output current during the output of the output control circuit 100 can be reduced. At the same time, the output current of the output control circuit 100 can be sampled by the self-locking sampling circuit 120, and then when the output current is too high, the self-locking circuit 130 can be controlled in time to self-lock the constant current output circuit 110 and quickly stop the output. The embodiment of the present application adopts hardware protection logic, and the output control current and the triggering conditions of the self-locking protection can be adjusted by software settings, thereby effectively improving the safety and applicability of the entire application process.

[0045] The constant current input terminal of the constant current output circuit 110 can input a constant current setting signal, and the output current of the constant current output circuit 110 can be adjusted by adjusting the voltage of the constant current setting signal, thereby changing the execution state of the external actuator. Specifically, for example, the constant current output terminal of the constant current output current is connected to the electromagnetic proportional valve group, and then the opening of different oil inlets of the electromagnetic valve group can be adjusted by adjusting the control current of the electromagnetic valve group, thereby completing the adjustment of the actions of different actuators of the scissor lift truck.

[0046] The self-locking sampling input terminal of the self-locking sampling circuit 120 can input a self-locking threshold setting signal, and the triggering threshold for the self-locking operation of the self-locking circuit 130 can be adjusted by adjusting the voltage of the self-locking threshold setting signal.

[0047] The self-locking sampling terminal of the self-locking sampling circuit 120 can be connected to the output terminal of the constant current output circuit 110, so as to collect the constant current sampling signal of the constant current output current.

[0048] After acquiring the constant current sampling signal, the self-locking sampling circuit 120 can compare it with the self-locking threshold setting signal to generate a self-locking sampling output voltage, and use the self-locking sampling output voltage to make the self-locking circuit 130 perform a self-locking operation or stop performing a self-locking operation.

[0049] The self-locking input control terminal of the self-locking circuit 130 can input the main output control voltage, and the main output control voltage can be used to adjust the voltage of the self-locking execution terminal, thereby adjusting the output state of the constant current output circuit 110, that is, whether to output a valid voltage signal. The main output control voltage can be actively output by the control unit, which can be understood as outputting the main output control voltage when it is necessary to drive the scissor lift truck to move, and stopping outputting the main output control voltage when it is not necessary to move.

[0050] The self-locking feedback control terminal of the self-locking circuit 130 is used to input the self-locking sampling output voltage output by the self-locking sampling output terminal. The self-locking sampling output voltage can also adjust the voltage of the self-locking execution terminal, thereby adjusting the output state of the constant current output circuit 110, that is, whether to output.

[0051] In some implementations, the constant current output circuit 110 includes:

[0052] The first operational amplifier unit U14 has a positive input terminal connected to a constant current setting signal through a first resistor R25 and a second resistor R26 connected in sequence, and an output terminal connected to one end of a third resistor R23;

[0053] The power tube Q10 has a base connected to the other end of the third resistor R23, a collector used as a constant current output end, and an emitter connected to the ground through a fourth resistor R24; the emitter of the power tube Q10 is connected to the negative input end of the first operational amplifier unit U14; and one end of the fourth resistor R24 ​​connected to the emitter of the power tube Q10 is used to output a constant current sampling signal.

[0054] The collector of the power tube Q10 can be connected to an external electromagnetic proportional valve group, one end of the control mechanism of the electromagnetic proportional valve group is connected to the working power supply, and the other end is connected to the collector of the power tube Q10, and the collector is grounded through the fourth resistor R24. By adjusting the base voltage of the power tube Q10, the current flowing through the power tube Q10 can be adjusted, thereby realizing constant current output control. In addition, the fourth resistor R24 ​​is connected in series to the collector, so that the current flowing through the power tube Q10 can be detected. Therefore, the fourth resistor R24 ​​can be used to complete current sampling to obtain a constant current sampling signal.

[0055] The voltage output from the output terminal of the first operational amplifier unit U14 is amplified by the power tube Q10 and then output.

[0056] The negative input terminal of the first operational amplifier unit U14 can receive a constant current sampling signal, and then the constant current sampling signal can be used to implement negative feedback regulation control, so that the voltage at the output terminal of the first operational amplifier unit U14 can be maintained constant, and thus the current flowing through the power tube Q10 can be maintained constant.

[0057] In some embodiments, the self-locking sampling circuit 120 includes:

[0058] The second operational amplifier unit U15 has a positive input terminal for inputting a constant current sampling signal, a negative input terminal for receiving a self-locking threshold setting signal through a fifth resistor R27, and an output terminal for outputting a self-locking sampling output voltage through a sixth resistor R33.

[0059] In this embodiment, the second operational amplifier unit U15 is used to form a self-locking sampling circuit 120, and the second operational amplifier unit U15 can be used to compare and judge the constant current sampling signal and the self-locking threshold setting signal, so that the self-locking sampling circuit 120 can output a high-level signal when the constant current sampling signal exceeds the self-locking threshold setting signal to complete the triggering operation of the self-locking circuit 130.

[0060] In some embodiments, the self-locking circuit 130 includes:

[0061] The first transistor Q14, the emitter is connected to the main output control voltage through the seventh emitter resistor R31;

[0062] The second triode Q11 has a base connected to the collector of the first triode Q14 through an eighth resistor R32, an emitter connected to the ground line, a collector connected to the base of the first triode Q14 through a ninth resistor R28, and connected to the emitter of the first triode Q14 through a tenth resistor R29; the base of the second triode Q11 is connected to the self-locking sampling output terminal;

[0063] The third transistor Q12 has a base connected to the collector of the second transistor Q11 through an eleventh resistor R30, an emitter connected to the ground, and a collector for connecting to a working voltage;

[0064] The fourth transistor Q13 has a base connected to the collector of the third transistor Q12 through the twelfth resistor R34, is connected to the ground through the thirteenth resistor R35, has an emitter connected to the ground, and has a collector used as a self-locking execution terminal.

[0065] In this embodiment, when the main output control voltage outputs a low level, the third transistor Q12 is turned off, so that the fourth transistor Q13 is turned on, thereby directly pulling down the cross-current input end of the constant current output circuit, so that the constant current output circuit stops outputting. When the main output control voltage outputs a high level, if the self-locking sampling output end outputs a high level (that is, the self-locking threshold setting signal is less than the constant current sampling signal), the second transistor Q11 is turned on, the third transistor Q12 is turned off, and the fourth transistor Q13 is turned on, and the constant current input end of the constant current input circuit is forcibly pulled down to a low level, so as to achieve protection output. At the same time, the fourth transistor Q13 is turned on, which can maintain the second diode to be turned on all the time, forming a self-locking, and ensuring that the input end of the third transistor Q12 is always at a low level.

[0066] The main output control voltage is high voltage or low voltage according to user needs. For example, the user selects the action to be started through the human-computer interaction interface, and the main output control voltage is high voltage. Alternatively, in the automatic control program, the level of the main output control voltage can be automatically adjusted according to the automatic control requirements.

[0067] In some implementations, the self-locking circuit 130 further includes:

[0068] The XOR gate logic unit 140 has a first input terminal for receiving the main output control voltage, a second input terminal connected to the collector of the second transistor Q11, and an output terminal for outputting an alarm signal.

[0069] In this embodiment, the XOR gate logic unit 140 is used to generate an alarm circuit, and then an alarm can be output when the main output control voltage and the collector voltage of the second transistor Q11 are inconsistent, so as to remind the user that the self-locking state has been entered.

[0070] See also Figure 2 As shown, Figure 2 : is a system diagram of a scissor lift travel control system provided by an embodiment of the present application, the scissor lift travel control system comprises:

[0071] Three output control circuits 100 according to the first embodiment;

[0072] Hydraulic drive system 210;

[0073] The first electromagnetic proportional valve group 220, the second electromagnetic proportional valve group 230, and the third electromagnetic proportional valve group are all connected to a constant current output end of a different output control circuit 100; the first electromagnetic proportional valve group 220 is used to adjust the forward and backward moving speed of the scissor lift truck, the second electromagnetic proportional valve group 230 is used to adjust the left and right moving speed of the scissor lift truck, and the third electromagnetic proportional valve group is used to adjust the lifting speed of the working bar of the scissor lift truck;

[0074] The control device 250 is connected to the constant current input terminals of the three output control circuits 100 respectively;

[0075] A binocular vision system 260 disposed on the work bar and / or the seat of the scissor lift truck, connected to the control device 250, for acquiring image information of the space around the work bar;

[0076] The radar ranging system 270 disposed on the work fence and / or the seat of the scissor lift truck is connected to the control device 250 and is used to obtain the reflective object information in the space around the work fence.

[0077] In this embodiment, the opening of the first electromagnetic proportional valve group 220, the second electromagnetic proportional valve group 230, and the third electromagnetic proportional valve group can be adjusted through the corresponding output control circuit 100, thereby adjusting different actuators, thereby adjusting the forward and backward moving speed, left and right moving speed, and lifting speed of the work bar of the scissor lift truck. At the same time, the binocular vision system 260 and the radar ranging system 270 can be used to detect various information of the space around the work bar, providing a data basis for the safe driving and intelligent driving of the scissor lift truck.

[0078] Further integration Figure 3 The hydraulic drive system 210 includes a hydraulic pump and a hydraulic motor. Taking the lifting control of the work fence as an example, the hydraulic drive system 210 provides a hydraulic source, which passes through the third electromagnetic proportional valve group and reaches the lifting control cylinder (such as Figure 3 The actuator shown in the figure) can adjust the lifting state of the lifting control cylinder by adjusting the opening of the third electromagnetic proportional valve group. It can be understood that the left and right walking and the front and back walking of the scissor lift truck can also be realized based on a similar principle.

[0079] See also Figure 4 As shown, Figure 4 : is a flowchart of a tracking method provided by an embodiment of the present application, the tracking method comprises steps S110 to S130:

[0080] Step S110, acquiring image information of the space around the work bar through the binocular vision system 260;

[0081] Step S120, obtaining reflective object information in the space around the work bar through the radar ranging system 270;

[0082] Step S130: Control the operation bar to track the target object according to the image information and the reflective object information.

[0083] In this embodiment, the image information and reflective object information of the space around the work bar can be used to determine obstacles within a certain space range of the work bar and the target object, and then the scissor lift truck can be automatically controlled so that the work bar can move with the target object and automatically approach the target object, thereby greatly reducing the operating difficulty of the operator and releasing manpower. It can also improve safety to a certain extent.

[0084] In some implementations, controlling the work bar to track the target object according to the image information and the reflector information includes:

[0085] In response to the path planning instruction, a planned path is generated between the operation bar and the target object, wherein the path planning instruction is generated once at a preset planning time interval;

[0086] Generate a vehicle travel control signal according to the planned path, so that the vehicle seat moves according to the vehicle travel control signal and / or the work bar rises and falls according to the vehicle travel control signal;

[0087] Determine the real-time obstacle information in the preset detection safety space around the work bar based on the reflector information obtained by the radar ranging system 270 and the image information obtained by the binocular vision system 260;

[0088] When the real-time obstacle information does not correspond to the planned obstacle information in the planned path, an obstacle avoidance operation is performed so that the work bar moves around to the rear of the obstacle corresponding to the real-time obstacle information;

[0089] When the obstacle avoidance operation is completed, a path planning instruction is generated and the preset planning time is reset;

[0090] The generation of a planned path between the operation bar and the target object includes:

[0091] Determine the spatial position relationship between the work bar and the target object, and the planned obstacle information of each obstacle in the explorable planned space between the work bar and the target object through the binocular vision system 260 and the radar ranging system 270, wherein the explorable planned space is determined by the detection capabilities of the binocular vision system 260 and the radar ranging system 270, and the planned obstacle information includes at least spatial position information and obstacle shape information;

[0092] According to the spatial position relationship between the work bar and the target object, and each planned obstacle information, a random tree exploration space is determined, wherein there are no obstacles in the random tree exploration space;

[0093] With the task bar as the root node and the target object as the target node, the preset exploration step size is used to determine the planning path in the random tree exploration space.

[0094] In the embodiment of the present application, based on the binocular vision system 260 and the radar ranging system 270, a planned path can be automatically generated at certain intervals, and the planned path can be re-planned after avoiding obstacles, so that the scissor lift truck has the ability to automatically track the target object and avoid obstacles at the same time, thereby effectively reducing the manpower and time requirements during high-altitude operations.

[0095] A binocular vision system 260 and a radar ranging system 270 are provided on the work bar of the scissor lift truck and / or the seat of the scissor lift truck.

[0096] The above-mentioned binocular vision system 260 can be provided with multiple sets, and multiple sets of binocular vision systems 260 can be arranged around the working fence and around the seat, so as to obtain the environmental image around the scissor lift truck.

[0097] The above-mentioned radar ranging system 270 can be provided in multiple sets, and multiple sets of radar ranging systems 270 can be arranged around the work bar and around the seat, so as to obtain the position information of reflective objects around the scissor lift truck, so as to subsequently use the position information of these reflective objects and the environmental images collected by binocular vision to determine obstacles and targets.

[0098] The above-mentioned path planning instructions can be generated once at a preset planning time interval, which can be determined according to the driving speed of the scissor lift truck. Usually, the preset planning time interval can be generated once when the vehicle travels a distance of 1 to 2 meters. And using time as the basis for generating path planning instructions can avoid the situation where obstacles in the environment change during the long waiting time of the vehicle, compared to using the driving distance as the basis for generating path planning instructions. It can always keep the planned path of the scissor lift truck in a better path, especially in outdoor working environments.

[0099] The above-mentioned path planning instructions will be regenerated once after executing the obstacle avoidance operation to avoid the scissor lift truck being unable to continue the following operation in time because it has not returned to the original planned path after the obstacle avoidance operation and needs to wait for an interval preset planning time. In addition, after the obstacle avoidance operation is executed and the path planning instructions are generated, the interval preset planning time will be reset to avoid generating two path planning instructions in a short period of time, which increases unnecessary waste of computing power.

[0100] The above-mentioned planned path is essentially the motion trajectory of the work bar. The motion trajectory of the work bar can be converted into a synthetic motion of the sub-motions in the front and rear directions, the left and right directions, and the vertical direction. Then, the vehicle driving control signal can be generated according to the three sub-motions to adjust the work bar to rise and fall at the corresponding time, and adjust the seat to move left and right, and forward and backward at the corresponding time, so that the work bar runs strictly according to the motion trajectory corresponding to the planned path.

[0101] When the work bar moves along the planned path, new obstacles may appear in the planned path. Therefore, the radar ranging system 270 and the binocular vision system 260 can be used to detect in real time whether there are obstacles in the direction of movement of the work bar along the planned path to obtain real-time obstacle information.

[0102] Furthermore, considering that it is difficult for a scissor lift truck to maintain a fixed posture during actual operation, a preset detection safety space is set for judgment, rather than only setting a judgment within a certain distance in the forward direction. Furthermore, it can be determined whether an obstacle avoidance operation needs to be performed by judging whether the real-time obstacle information detected in the preset detection safety space is an obstacle along the planned path.

[0103] The generation of the above-mentioned planned path is mainly aimed at the scenario where there is a certain spatial distance between the target object and the work barrier. For example, as long as the construction workers prevent specific targets from being placed on the object to be constructed, the scissor lift can complete the path planning and automatically approach the target object. Of course, it is also applicable to situations where the distance is closer, and the path generation process is faster.

[0104] The above-mentioned target object can be a specific object, such as a uniquely shaped calibration block, a uniquely shaped sticker or pendant, etc. The image features of these specific objects can be pre-loaded into the controller of the scissor lift truck. Before use, the user can select a specific target object through the interactive interface to activate the target tracking program. It should be noted that when the target object cannot be detected, the scissor lift truck controller will stop controlling and generating vehicle driving control signals to avoid safety accidents caused by failure to obtain the latest planned path in time.

[0105] The spatial position relationship between the work bar and the target object is determined by the binocular vision system 260 and the radar ranging system 270. That is, the radar ranging system 270 can be used to determine the reflector information, and then the binocular vision system 260 is used to collect images, and for each reflector area where the image is located, it is determined which of the reflectors is the target object and which is an obstacle, thereby obtaining the spatial position relationship between the work bar and the target object, and the planned obstacle information of each obstacle in the planned space can be explored.

[0106] The size of the above-mentioned explorable planning space depends on the detection capabilities of the binocular vision system 260 and the radar ranging system 270, and the detection capabilities of the binocular vision system 260 and the radar ranging system 270 need to be determined according to the size of the scissor lift truck, which is usually positively correlated with the vertical height of the scissor lift truck.

[0107] The above random tree exploration space is used to determine the nodes of the planned path. There must be no obstacles in the planned path. Therefore, it is necessary to eliminate the space where the obstacles corresponding to the planned obstacle information are located in the large space between the target object and the work bar to avoid path nodes falling on or around obstacles when the path is generated.

[0108] The above preset exploration step length is the distance of each rooting path node. Considering the driving speed of the scissor lift truck, it can be set to 0.5 meters to 1 meter. The preset exploration step length can be used to constrain in a specific direction in the random tree exploration space, quickly generate multiple continuous path nodes, and obtain multiple alternative paths. Finally, the final planning path can be determined from multiple alternative paths by judging the number of path nodes.

[0109] The above obstacle avoidance operation can be achieved by controlling the scissor lift truck to bypass the obstacle in an arc-shaped motion trajectory, and the bypass angle can be defined as 90 degrees. When encountering an obstacle that needs to be bypassed to the left or right, the obstacle is bypassed from the side that is easier to bypass, that is, the inclination direction of the obstacle in front facing the plane of the scissor lift truck can be determined by the binocular vision system 260. In addition, the bypass control method available on the market can also be directly used to complete the bypass control.

[0110] In some implementations, determining the random tree exploration space according to the spatial position relationship between the work bar and the target object, and each planned obstacle information, includes:

[0111] Determine the initial space for exploration based on the spatial position relationship between the task bar and the target object;

[0112] Using the preset obstacle avoidance safety distance, determine the planned obstacle space corresponding to each planned obstacle information;

[0113] In the initial exploration space, each planning obstacle space is eliminated to obtain the random tree exploration space.

[0114] The spatial position relationship between the above-mentioned work bar and the target object can constrain a section of space, that is, the space between the position of the work bar and the position of the target object, and can be detected by the binocular vision system 260 and the radar ranging system 270. This space is the initial exploration space.

[0115] The above-mentioned planned obstacle information may include spatial position information and shape information, thereby determining the space actually occupied by the obstacle.

[0116] The above-mentioned preset obstacle avoidance safety distance is set based on the actual operating accuracy of the scissor lift truck, obstacle position detection deviation, etc., and then after obtaining the planned obstacle information, the space of the preset obstacle avoidance safety distance can be expanded around on the basis of the space corresponding to the planned obstacle information to obtain the planned obstacle space.

[0117] The preset obstacle avoidance safety distance can be determined based on the driving accuracy of the scissor lift truck, the accuracy of the binocular vision system 260 and the radar ranging system 270, etc. For example, 1 meter can be selected.

[0118] The above-mentioned random tree exploration space is obtained after removing or shielding each planned obstacle space in the initial exploration space, that is, when the path nodes are subsequently generated using the preset exploration step size, the path nodes will not fall on the obstacles.

[0119] In some implementations, the operation bar is used as the root node, the target object is used as the target node, and a preset exploration step is used to determine a planning path in the random tree exploration space, including:

[0120] The random node generation direction is determined with the job bar as the root node and the target object as the target node;

[0121] Execute the path generation strategy according to the random node generation direction and the preset exploration step size to obtain the planned path;

[0122] Path generation strategies, including:

[0123] Based on the random node generation direction, an alternative path is generated using a preset exploration step size;

[0124] When the number of steps in the candidate path is consistent with the theoretical minimum number of steps, the candidate path is determined as the planned path; wherein the theoretical minimum number of steps is pre-calculated based on the root node, the target node, and the preset exploration step length;

[0125] When a preset number of alternative paths are obtained, the alternative path with the shortest number of steps within the preset number of planned paths is determined as the planned path; when there are multiple shortest alternative paths, one is randomly selected to be determined as the planned path.

[0126] The random node generation direction is used to constrain the direction of path node generation. Considering that a preset obstacle avoidance safety distance has been set for obstacles in actual operation, the random node generation direction can be set to an absolute direction, that is, the next path node must be in front of the previous path node to prevent backward movement. At the same time, it can also effectively reduce the amount of calculation for subsequent path generation. Of course, in actual applications, if the on-site environment is more complex, the direction can be unspecified.

[0127] The above-mentioned method of generating alternative paths based on random node generation direction and using a preset exploration step size can be understood as using the preset exploration step size as the spacing for path node generation. After determining that the job bar is the root node, the next path node is generated using algorithms such as random trees, and the next path node is used as the starting point to generate another path node. This is repeated multiple times in sequence until the target node is reached, thereby obtaining an alternative path.

[0128] The above theoretical minimum number of steps is calculated in advance based on the root node, the target node, and the preset exploration step size, that is, it can be determined by directly using the straight-line distance between the root node and the target node and then dividing it by the preset exploration step size.

[0129] When the generated alternative path is consistent with the theoretical minimum number of steps, it means that the optimal path has been obtained, and there is no need to generate alternative paths.

[0130] However, in actual operation, it is often difficult to encounter a situation where the alternative path is consistent with the theoretical minimum number of steps. In this case, you can select the shortest one among the generated alternative paths. In order to make the generation of alternative paths end faster, instead of traversing the entire space, a preset number of plans will be set. When the generated alternative paths reach the preset number of plans, the generation of alternative paths will stop.

[0131] When there are multiple shortest paths among the preset number of candidate paths, one may be directly selected randomly, or the candidate path of the first generated shortest path may be directly designated.

[0132] The above-mentioned alternative path generation work can be completed by uploading the local controller of the scissor lift to the cloud server. After the planned path is selected in the cloud, it can be downloaded to the local controller for walking control to avoid the generation of alternative paths occupying a large amount of local computing power, and at the same time, the speed of alternative path generation can also be improved.

[0133] In some implementations, generating a direction based on a random node and using a preset exploration step size to generate an alternative path includes:

[0134] Based on the random node generation direction, the next candidate path node is generated using a preset exploration step size, wherein, when the operation bar indicates that there is an overhead obstacle or a suspended obstacle according to the planned obstacle information in the direction of movement of the next candidate path node, the next candidate path node is prohibited from being generated upward;

[0135] When the next candidate path node is consistent with the target node, an alternative path is obtained.

[0136] In this embodiment, considering that the scissor lift truck working bar may encounter overhead obstacles or suspended obstacles (which can be understood as the bottom of the obstacle has no support on the scissor lift truck's travel path), and the operating characteristics of the scissor lift truck working bar (the scissor lift truck working bar cannot avoid obstacles from above), when generating alternative path nodes, if the alternative path node falls on a suspended obstacle, it should be avoided to generate path nodes upwards, so as to obtain an alternative path that can be actually used. And because there is a path planning operation, the generated planned path is always in a more practical state from the beginning.

[0137] The above-mentioned next alternative path node is consistent with the target node, which can be understood as the next alternative path node falling on the target node. However, considering the different sizes of the target objects, when judging whether the next alternative path node is consistent with the target node, the space within a certain distance around the target node can also be determined as the consistency judgment space. For example, the space of 1 meter around the target object is determined as the consistency judgment space. Then, as long as the next alternative node falls into the consistency judgment space, it can be determined that the alternative path has been generated.

[0138] In some implementations, generating a vehicle driving control signal according to the planned path includes:

[0139] Decompose the planned path into left-right motion path, front-back motion path and vertical motion path in the time domain;

[0140] Generate first walking time-domain control voltage curve data of the left and right walking drive systems according to the left and right motion paths;

[0141] Generate second walking time-domain control voltage curve data of the front and rear walking drive system according to the front and rear movement path;

[0142] Generate third walking time domain control voltage curve data of the vertical lifting drive system according to the vertical motion path;

[0143] A vehicle driving control signal is generated according to the first walking time domain control voltage curve data, the second walking time domain control voltage curve data and the third walking time domain control voltage curve data.

[0144] In this implementation, considering that in the actual operation control of the scissor lift truck, the left and right, front and back, and up and down are all controlled by different valve groups or drive systems, the planned path is decomposed into a synthesis of sub-paths in three directions, and then a corresponding time domain control voltage curve can be generated for each path to complete the individual control of each drive system, ultimately realizing the motion control of the scissor lift truck work bar.

[0145] The above-mentioned first walking time domain control voltage curve data, second walking time domain control voltage curve data, and third walking time domain control voltage curve data can be understood as control data in the time domain. Specifically, taking the lifting of the work bar as an example, the work bar needs to be raised after 1 second, and the time domain control curve gives the corresponding control level at this moment to operate the vertical lifting drive system to perform the lifting action. Multiple moments can correspond to multiple control levels. The controller only needs to output the corresponding control level to the vertical lifting drive system at a specific moment to complete the operation.

[0146] The above-mentioned left and right walking drive system, front and rear walking drive system and vertical lifting drive system can share a hydraulic drive system 210, and the left and right walking drive system, the front and rear walking drive system and the vertical lifting drive system can all be composed of a hydraulic drive system and a corresponding electromagnetic valve group. For example, the vertical lifting drive system may include a hydraulic drive system 210 and a third electromagnetic proportional valve group 240, wherein the hydraulic drive system 210 is shared by multiple drive systems. It is understandable that the left and right walking drive system, the front and rear walking drive system and the vertical lifting drive system can also be provided with a hydraulic drive system 210 corresponding to each other separately, or two or three can share one, and the specific structure is set according to actual needs.

[0147] In some embodiments, in response to the path planning instruction, generating a planned path for the work bar to move to the target object includes:

[0148] In response to the path planning instruction, starting the binocular vision system 260;

[0149] When the binocular vision system 260 is activated, a planned path is generated between the work bar and the target object;

[0150] When the planned path is obtained, stop planning the path.

[0151] In this embodiment, the binocular vision system 260 is started during the path planning process and shut down after the planning is completed. This method can also reduce the data sources that the local controller needs to obtain and can also save energy to a certain extent.

[0152] In some embodiments, determining real-time obstacle information in a preset detection safety space around the work bar based on the reflector information obtained by the radar ranging system 270 and the image information obtained by the binocular vision system 260 includes:

[0153] Using the reflector information obtained by the radar ranging system 270, determine the spatial position information of the reflector in the preset detection safety space around the work bar;

[0154] Determine the existence status of obstacles based on the spatial position information of the detected reflectors;

[0155] When the obstacle existence status indicates that an obstacle exists, the image information obtained by the binocular vision system 260 is used to determine the real-time image information of the obstacle in the space corresponding to the spatial position information of the reflector;

[0156] Obtain real-time obstacle information based on real-time image information of obstacles.

[0157] In this embodiment, the reflector information collected by the radar ranging system 270 is first used to detect the reflector, and after determining the existence of the reflector, the image information obtained by the binocular vision system 260 is then used to determine the specific situation of the obstacle, thereby reducing the amount of data for image processing and improving computing efficiency. After determining the real-time image information of the obstacle, it can be determined that there is an obstacle and real-time obstacle information should be obtained. However, in this process, it is also necessary to determine whether the obstacle is a target object. If it is a target object, real-time obstacle information should not be obtained to avoid performing obstacle avoidance operations on the target object.

[0158] In actual operation, it may be considered to enable the binocular vision system 260 to obtain image information only when the obstacle existence status indicates the existence of an obstacle, which can reduce the use time of the binocular vision system 260 and extend its service life.

[0159] In some embodiments, real-time image information of obstacles is acquired multiple times continuously;

[0160] Obtain real-time obstacle information based on real-time obstacle image information, including:

[0161] According to the real-time image information of obstacles obtained multiple times, the attributes of the reflective objects that need to be avoided are determined;

[0162] When the avoidance attribute indicates that the radiant object needs to avoid obstacles, the reflective object is determined as an obstacle and real-time obstacle information is generated.

[0163] In this embodiment, considering that during outdoor operations, there may be smaller moving obstacles such as fallen leaves, flying insects, and flying birds that do not need to be avoided, multiple real-time image information of obstacles will be obtained continuously to determine the properties of the reflective objects that need to be avoided, and thus there is no need to generate real-time obstacle information for such obstacles that do not need to be avoided.

[0164] In the above process of determining the attributes of the reflective object to be avoided, multiple sets of images acquired by binocular vision can be effectively used to determine whether the obstacle moves. Then, on the premise of determining that there is movement, the image is further analyzed and processed in detail to determine the type of the target object.

[0165] It should be noted that when the type of obstacle cannot be determined, it can be configured to be processed according to the principle of needing to be avoided, that is, to generate corresponding real-time obstacle information.

[0166] In some embodiments, the tracking method further includes:

[0167] When the distance between the work bar and the target object is less than the preset tracking safety distance, the seat and the work bar of the scissor lift are controlled to stop moving.

[0168] In this real-time method, considering the size and control accuracy of the scissor lift truck, after the work bar approaches a certain range of the target, the control of the work bar is stopped to continue moving forward to avoid accidents such as collisions.

[0169] In some embodiments, the tracking method further includes:

[0170] When the automatic tracking trigger button is not triggered, the generation of the vehicle driving control signal is stopped.

[0171] In this embodiment, an automatic tracking trigger button is provided for the target tracking function. The automatic tracking mode can be entered only when the automatic tracking trigger button is triggered, thereby avoiding the intervention of the automatic tracking function in unnecessary situations.

[0172] In some embodiments, the tracking method further includes:

[0173] Detect tracking control markings;

[0174] When the tracking control line is detected, the generation of the planned path is stopped, and the indoor automatic walking control strategy is executed so that the work bar follows the target object along the tracking control line;

[0175] Among them, the indoor automatic walking control strategy includes:

[0176] Based on the radar ranging system 270 and the binocular vision system 260, determine the real-time obstacle information within a preset distance of the work bar along the moving direction of the tracking control marking line;

[0177] In the case of real-time obstacle information, the seat of the scissor lift truck is controlled to stop running, or the seat of the scissor lift truck is controlled to bypass the obstacle corresponding to the real-time obstacle information;

[0178] In the absence of real-time obstacle information, the seat of the scissor lift truck is controlled to run along the tracking control marking line.

[0179] In this implementation, taking into account the situation where some construction sites have poor indoor networks, or where the indoor environment is relatively certain, a tracking control processing logic is added. That is, when a tracking control marking is detected, it can be assumed that the vehicle has entered the room, thereby preferentially controlling the scissor lift truck to follow the target object according to the tracking control marking, without generating a planned path.

[0180] The above-mentioned radar ranging system 270 and binocular vision system 260 are based on determining the real-time obstacle information within a preset distance of the work bar along the direction of movement of the tracking control line. It is the same as the previous part and will not be repeated here. It aims to determine the obstacles around the tracking control line.

[0181] In this embodiment, it is relatively simple to control the roadbed. When encountering an obstacle, the scissor lift truck can be controlled to stop running, or the seat of the scissor lift truck can be controlled to bypass the obstacle corresponding to the real-time obstacle information.

[0182] The above-mentioned obstacle corresponding to the real-time obstacle information of the seat of the scissor lift truck can be controlled by taking the intersection of the obstacle close to the scissor lift truck and the marking line as the root node, and the intersection of the obstacle away from the scissor lift truck and the marking line as the target point, and then executing a strategy similar to the aforementioned planning path generation process, to obtain a walking path that bypasses the obstacle and returns to the tracking control marking line.

[0183] The tracking method provided in the embodiment of the present application can be executed by a tracking device. In the embodiment of the present application, the tracking device provided in the embodiment of the present application is described by taking the tracking method executed by the tracking device as an example.

[0184] The present application also provides a tracking device, the tracking device comprising:

[0185] An image information acquisition module, used to acquire image information of the space around the work bar through the binocular vision system 260;

[0186] A reflection information acquisition module, used to acquire the reflection object information in the space around the work bar through the radar ranging system 270;

[0187] The tracking control module is used to control the operation bar to track the target object according to the image information and the reflector information.

[0188] The tracking device in the embodiment of the present application can be an electronic device or a component in the electronic device, such as an integrated circuit or a chip. The electronic device can be a terminal or other devices other than a terminal. Exemplarily, the electronic device can be a mobile phone, a tablet computer, a laptop computer, a PDA, a vehicle-mounted electronic device, a mobile Internet device (Mobile Internet Device, MID), an augmented reality (AR) / virtual reality (VR) device, a robot, a wearable device, an ultra-mobile personal computer (Ultra-mobile personal computer, UMPC), a netbook or a personal digital assistant (personal digital assistant, PDA), etc. It can also be a server, a network attached storage (Network AttaChed Storage, NAS), a personal computer (personal computer, PC), a television (teleViSion, tV), a teller machine or a self-service machine, etc., which is not specifically limited in the embodiment of the present application.

[0189] The embodiment of the present application also provides an electronic device, including: a processor and a memory storing computer program instructions; when the processor executes the computer program instructions, the tracking method as described above is implemented. The source meter provided in the embodiment of the present application can implement each process implemented in the above tracking method embodiment and achieve the same beneficial effect. To avoid repetition, it will not be repeated here.

[0190] An embodiment of the present application also provides a computer-readable storage medium, which stores computer-executable instructions. The computer-executable instructions are executed by a processor or a control module, so that the above-mentioned processor can execute the tracking method in the above-mentioned embodiment, for example, execute the method described above.

[0191] It should be clear that the present application is not limited to the specific configuration and processing described above and shown in the figures. For the sake of simplicity, a detailed description of the known method is omitted here. In the above embodiments, several specific steps are described and shown as examples. However, the method process of the present application is not limited to the specific steps described and shown, and those skilled in the art can make various changes, modifications and additions, or change the order between the steps after understanding the spirit of the present application.

[0192] The functional blocks shown in the above structural block diagram can be implemented as hardware, software, firmware or a combination thereof. When implemented in hardware, it can be, for example, an electronic circuit, an application-specific integrated circuit (ASIC), appropriate firmware, a plug-in, a function card, etc. When implemented in software, the elements of the present application are programs or code segments used to perform the required tasks. The program or code segment can be stored in a machine-readable medium, or transmitted on a transmission medium or a communication link by a data signal carried in a carrier. "Machine-readable medium" may include any medium capable of storing or transmitting information. Examples of machine-readable media include electronic circuits, semiconductor memory devices, ROMs, flash memories, erasable ROMs (EROMs), floppy disks, CD-ROMs, optical disks, hard disks, optical fiber media, radio frequency (RF) links, etc. The code segment can be downloaded via a computer network such as the Internet, an intranet, etc.

[0193] It should also be noted that the exemplary embodiments mentioned in this application describe some methods or systems based on a series of steps or devices. However, this application is not limited to the order of the above steps, that is, the steps can be performed in the order mentioned in the embodiment, or in a different order from the embodiment, or several steps can be performed simultaneously.

[0194] Aspects of the present disclosure are described above with reference to the flowcharts and / or block diagrams of the methods, devices (systems) and computer program products according to the embodiments of the present disclosure. It should be understood that each box in the flowchart and / or block diagram and the combination of each box in the flowchart and / or block diagram can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, or other programmable data processing device to produce a machine so that these instructions executed by the processor of the computer or other programmable data processing device enable the implementation of the functions / actions specified in one or more boxes of the flowchart and / or block diagram. Such a processor can be a general-purpose processor, a special-purpose processor, a special application processor, or a field programmable logic circuit. It can also be understood that each box in the block diagram and / or flowchart and the combination of boxes in the block diagram and / or flowchart can also be implemented by dedicated hardware that performs the specified function or action, or can be implemented by a combination of dedicated hardware and computer instructions.

[0195] The above are only specific implementation methods of the present application. Those skilled in the art can clearly understand that for the convenience and simplicity of description, the specific working processes of the systems, modules and units described above can refer to the corresponding processes in the aforementioned method embodiments, and will not be repeated here. It should be understood that the protection scope of the present application is not limited to this. Any technician familiar with the technical field can easily think of various equivalent modifications or replacements within the technical scope disclosed in this application, and these modifications or replacements should be included in the protection scope of this application.

Claims

1. An output control circuit, characterized in that: include: A constant current output circuit having a constant current input terminal for inputting a constant current setting signal and a constant current output terminal for outputting a constant current control signal; A self-locking sampling circuit, which has a self-locking sampling input terminal for inputting a self-locking threshold setting signal, a self-locking sampling terminal for obtaining a constant current sampling signal from the constant current output circuit, and a self-locking sampling output terminal, wherein the self-locking sampling circuit is used to adjust the self-locking sampling output voltage of the self-locking sampling output terminal according to the self-locking threshold setting signal and the constant current sampling signal; A self-locking circuit, comprising a self-locking input control terminal, a self-locking execution terminal connected to the constant current input terminal, and a self-locking feedback control terminal connected to the self-locking sampling output terminal, wherein the self-locking circuit adjusts the grounding state of the self-locking execution terminal according to the self-locking sampling output voltage input by the self-locking feedback control terminal and the main output control voltage input by the self-locking input control terminal, so as to adjust the output state of the constant current output circuit; The constant current output circuit comprises: A first operational amplifier unit, a positive input terminal of which is connected to the constant current setting signal through a first resistor and a second resistor connected in sequence, and an output terminal of which is connected to one end of a third resistor; A power tube, whose base is connected to the other end of the third resistor, whose collector is used as the constant current output end, and whose emitter is connected to the ground wire through a fourth resistor; the emitter of the power tube is connected to the negative input end of the first operational amplifier unit; and one end of the fourth resistor connected to the emitter of the power tube is used to output the constant current sampling signal; The self-locking sampling circuit comprises: The second operational amplifier unit has a positive input terminal for inputting the constant current sampling signal, a negative input terminal for connecting the self-locking threshold setting signal through a fifth resistor, and an output terminal for outputting the self-locking sampling output voltage through a sixth resistor.

2. The output control circuit according to claim 1, characterized in that: The self-locking circuit comprises: A first triode, the emitter of which is connected to the main output control voltage via a seventh emitter resistor; A second triode, the base of which is connected to the collector of the first triode through an eighth resistor, the emitter of which is connected to the ground wire, the collector of which is connected to the base of the first triode through a ninth resistor and to the emitter of the first triode through a tenth resistor; the base of the second triode is connected to the self-locking sampling output terminal; A third triode, the base of which is connected to the collector of the second triode through an eleventh resistor, the emitter of which is connected to the ground wire, and the collector of which is used to connect to the working voltage; The fourth transistor has a base connected to the collector of the third transistor through a twelfth resistor, is connected to the ground wire through a thirteenth resistor, has an emitter connected to the ground wire, and has a collector used as the self-locking execution terminal.

3. The output control circuit according to claim 2, characterized in that: The self-locking circuit further includes: The XOR gate logic unit has a first input terminal for accessing the main output control voltage, a second input terminal connected to the collector of the second transistor, and an output terminal for outputting an alarm signal.

4. A scissor lift travel control system, characterized in that: include: Three output control circuits according to any one of claims 1 to 3; Hydraulic drive system; The first electromagnetic proportional valve group, the second electromagnetic proportional valve group, and the third electromagnetic proportional valve group are all connected to a different constant current output end of the output control circuit; the first electromagnetic proportional valve group is used to adjust the forward and backward moving speed of the scissor lift truck, the second electromagnetic proportional valve group is used to adjust the left and right moving speed of the scissor lift truck, and the third electromagnetic proportional valve group is used to adjust the lifting speed of the working bar of the scissor lift truck; A control device, connected to the constant current input terminals of the three output control circuits respectively; A binocular vision system disposed on the work bar and / or the seat of the scissor lift truck, connected to the control device, for acquiring image information of the space around the work bar; The radar ranging system arranged on the work bar and / or the seat of the scissor lift truck is connected to the control device and is used to obtain the reflective object information in the space around the work bar.

5. A tracking method, characterized in that: The control device applied to the scissor lift travel control system according to claim 4, wherein the tracking method comprises: Acquiring image information of the space around the work column through the binocular vision system; Acquiring information about reflective objects in the space around the work fence through the radar ranging system; The operation bar is controlled to track the target object according to the image information and the reflective object information.

6. A tracking device, characterized in that: The control device applied to the scissor lift travel control system according to claim 4, wherein the tracking device comprises: An image information acquisition module, used to acquire image information of the space around the work bar through the binocular vision system; A reflection information acquisition module, used to acquire the reflection object information in the space around the work bar through the radar ranging system; A tracking control module is used to control the operation bar to track the target object according to the image information and the reflector information.

7. An electronic device, characterized in that: The electronic device comprises a processor and a memory storing computer program instructions; When the processor executes the computer program, the tracking method according to claim 5 is implemented.

8. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores computer-executable instructions, and the computer-executable instructions are used to enable a computer to execute the tracking method according to claim 5.

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