基于UWB的智能搬运小车
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摘要
在循迹、避障等基本功能的基础上,融入UWB(Ultra Wideband)技术以实现智能搬运小车的高精度目标跟随,使得智能搬运小车能实现多种场景的货物搬运.通过在车身安装2个UWB基站模块,在目标体上携带1个UWB标签模块,利用定位算法来获取目标相对于小车的实时空间几何位置.另外,车身的磁条传感器、防撞条、超声波传感器和RFID标签传感器用于实现小车基本功能的传感单元.综合UWB模块获取的目标位置信息和其他传感器获取的传感信息,小车的控制器做出相应的决策,以差速驱动的方式控制电机向目标位置移动.经过现场测试,智能小车在手动模式、跟随模式和循迹模式下均良好运行,因此多种模式运行的智能小车能适应多种货运场景下工作,对于工业自动化具有重要的意义.
To make intelligent vehicle used in more freight situations,this paper designs an intelligent freight vehicle system which not only can track and avoid obstacles,but also can follow the objective with high positioning accuracy using UWB technology.Two UWB base station modules are installed on intelligent vehicle and a UWB label module carried by the objective,by which the intelligent vehicle system can get the space position of the objective using positioning algorithm.Moreover,magnetic stripe sensor,anti-collision stripe,ultrasonic sensor and RFID label sensor are also installed in the intelligent vehicle system to get related sensing information.By synthesizing several sensing information,the main controller of the system makes corresponding decisions and moves to the target position by differential drive method.After testing,the system works well in manual mode,follows mode and track mode,and its multi-mode selection function can make the intelligent vehicle work in many freight situations.The design of this system is of great significance to industrial automation.
To make intelligent vehicle used in more freight situations,this paper designs an intelligent freight vehicle system which not only can track and avoid obstacles,but also can follow the objective with high positioning accuracy using UWB technology.Two UWB base station modules are installed on intelligent vehicle and a UWB label module carried by the objective,by which the intelligent vehicle system can get the space position of the objective using positioning algorithm.Moreover,magnetic stripe sensor,anti-collision stripe,ultrasonic sensor and RFID label sensor are also installed in the intelligent vehicle system to get related sensing information.By synthesizing several sensing information,the main controller of the system makes corresponding decisions and moves to the target position by differential drive method.After testing,the system works well in manual mode,follows mode and track mode,and its multi-mode selection function can make the intelligent vehicle work in many freight situations.The design of this system is of great significance to industrial automation.
引文
[1] 向楠,陆会娥.物流自动化智能可避障搬运小车系统设计[J].广东石油化工学院学报,2017,27(4):30-33.
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[6] 陈二阳,张修军,袁姜红.基于图像识别的自主驾驶智能小车的设计与实现[J].现代电子技术,2018,41(18):162-165,169.
[7] 张辉,王永杰,赵海敏,等.自主寻迹智能小车的激光路径跟随系统设计[J].合肥工业大学学报(自然科学版),2013,36(10):1170-1173.
[8] 赵旭磊,耿召里,李小华.智能小车避障算法和速度调节算法研究[J].辽宁科技大学学报,2018,41(3):212-217.
[9] 丁柏文,金琦淳,任俊,等.基于IAP15F2K61S2单片机的红外与无线搬运小车[J].仪表技术与传感器,2017(10):110-114.
[10] 叶方,车克文,李一兵.超宽带信道频率域AR模型建立与仿真[J].黑龙江八一农垦大学学报,2011,23(2):69-72.
[2] MEHAMI J,NAWI M,ZHONG R Y.Smart automated guided vehicles for manufacturing in the context of Industry 4.0[J].Procedia Manufacturing,2018,26:1077-1086.
[3] LU S P,XU C,ZHONG R T,et al.A passive RFID tag-based locating and navigating approach for automated guided vehicle[J].Computers & Industrial Engineering,2018,125:628-636.
[4] 李万敏,韩致信,赵耕云.基于摄像头智能车典型路径图像识别算法研究[J].兰州工业学院学报,2017,24(1):69-72.
[5] 罗怀菊,赵琦,罗继亮.智能小车任务执行系统的Petri网设计方法[J].控制工程,2018,25(3):522-526.
[6] 陈二阳,张修军,袁姜红.基于图像识别的自主驾驶智能小车的设计与实现[J].现代电子技术,2018,41(18):162-165,169.
[7] 张辉,王永杰,赵海敏,等.自主寻迹智能小车的激光路径跟随系统设计[J].合肥工业大学学报(自然科学版),2013,36(10):1170-1173.
[8] 赵旭磊,耿召里,李小华.智能小车避障算法和速度调节算法研究[J].辽宁科技大学学报,2018,41(3):212-217.
[9] 丁柏文,金琦淳,任俊,等.基于IAP15F2K61S2单片机的红外与无线搬运小车[J].仪表技术与传感器,2017(10):110-114.
[10] 叶方,车克文,李一兵.超宽带信道频率域AR模型建立与仿真[J].黑龙江八一农垦大学学报,2011,23(2):69-72.