CN109144074A - A kind of Intelligent golf vehicle and intelligent follower method based on DSP - Google Patents
A kind of Intelligent golf vehicle and intelligent follower method based on DSP Download PDFInfo
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- CN109144074A CN109144074A CN201811258960.2A CN201811258960A CN109144074A CN 109144074 A CN109144074 A CN 109144074A CN 201811258960 A CN201811258960 A CN 201811258960A CN 109144074 A CN109144074 A CN 109144074A
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- 238000004364 calculation method Methods 0.000 claims abstract description 7
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- 230000004888 barrier function Effects 0.000 claims description 3
- 230000002441 reversible effect Effects 0.000 claims description 3
- 238000002604 ultrasonography Methods 0.000 claims description 2
- 238000005516 engineering process Methods 0.000 description 10
- 238000007726 management method Methods 0.000 description 4
- 238000010586 diagram Methods 0.000 description 3
- 238000004519 manufacturing process Methods 0.000 description 3
- 238000001514 detection method Methods 0.000 description 2
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- HBBGRARXTFLTSG-UHFFFAOYSA-N Lithium ion Chemical compound [Li+] HBBGRARXTFLTSG-UHFFFAOYSA-N 0.000 description 1
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Classifications
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0255—Control of position or course in two dimensions specially adapted to land vehicles using acoustic signals, e.g. ultra-sonic singals
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/0011—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots associated with a remote control arrangement
- G05D1/0022—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots associated with a remote control arrangement characterised by the communication link
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
- G05D1/0238—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using obstacle or wall sensors
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- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Aviation & Aerospace Engineering (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Acoustics & Sound (AREA)
- Electromagnetism (AREA)
- Measurement Of Velocity Or Position Using Acoustic Or Ultrasonic Waves (AREA)
Abstract
The present invention is a kind of Intelligent golf vehicle based on DSP, which is characterized in that includes ball vehicle system and hand-held end equipment；The hand-held end equipment includes: ultrasonic wave transmitting module, for emitting ultrasonic signal；The ball vehicle system includes: dsp controller, is used to target position location Calculation, wireless signal transmitting-receiving process, Circuit management, motor management；Power module gives the ball vehicle system power supply；Ultrasonic wave receiving module is connect with the dsp controller, for receiving the ultrasonic signal of the handheld terminal transmitting；Motor drive module, for driving wheel to carry out moving ball vehicle system；The hand-held end equipment sends ultrasonic signal to the ball vehicle system by ultrasonic wave transmitting module, the ultrasonic wave receiving module received ultrasonic signal of the ball vehicle system and is calculated, and the plane coordinates relationship between hand-held end equipment and ball vehicle system is obtained；According to the plane coordinates relationship, motor drive module tire on the drive wheels tracks hand-held end equipment.
Description
Technical field
The present invention relates to the ball vehicle intelligently followed, be based particularly on dsp controller and ultrasonic wave location technology realize with
With function, for golf course delivery club and other items.
Background technique
Along with the progress of science and technology, various high-tech technologies are widely used in mobile robot field, so that mobile
Robot is more and more diversified.Conglomerate of the mobile robot as modern high technology becomes 21 century Hi-tech Manufacturing focus
One of.With constantly improve for robot technology, it is made to be increasingly becoming collection environment sensing, dynamic decision and a behaviour control
Etc. the multi-functional integrated system in one.It is mainly identified by a variety of different sensor component combining information processing techniques
The transformation of itself and ambient enviroment is to complete opposite movement.
In society, the ball vehicle of most of golf course is all artificial small handcart, needs to carry a Caddie fee
When laborious, inefficiency.
Manually follow there is large labor intensity, it is costly, follow effect poor the disadvantages of, exploitation one can follow automatically
People's walking follows ball vehicle imperative.Intelligent sphere vehicle can follow target person mobile and move, and for needed for its carrying
Club and ball, clothing etc..Meanwhile the development with "smart" products is received by more businessmans.Country advocates enterprise and carries out
Supply side reform, reduces production and cost of serving by way of science and technology or internet, intelligently follows grinding for golf cart
Hair has complied with the trend in epoch.
Summary of the invention
The object of the present invention is to provide a kind of intelligence based on DSP control to follow ball vehicle, and ball is replaced on golf course
Child is that customer pushes club and article, replaces manufactured products with "smart" products.Golf course place of production range is bigger, and
There is the gradient, caddie follows customer mobile by conventional small handcart, and caddie can be tired and follows effect also bad.
In order to reach the goals above, the invention is realized by the following technical scheme:
A kind of Intelligent golf vehicle based on DSP, feature include ball vehicle system and hand-held end equipment；
The hand-held end equipment includes:
Ultrasonic wave transmitting module is connect with the first dsp controller, for emitting ultrasonic signal；
Wireless receiving module is connect, to receive wireless signal with the first dsp controller；
Power module, to the hand-held end equipment power supply；
The ball vehicle system includes:
Power module gives the ball vehicle system power supply；
Ultrasonic wave receiving module is connect with the second dsp controller, for receiving the ultrasonic wave letter of the handheld terminal transmitting
Number；
Motor drive module is connect with the second dsp controller, for driving wheel to carry out moving ball vehicle system；
Wireless transmitter module is connect, to emit wireless signal with the second dsp controller；
The wireless transmitter module of the ball vehicle system transmits wireless signals to hand-held end equipment, and hand-held end equipment wirelessly connects
It receives after module receives wireless signal and passes through ultrasonic wave transmitting module transmission ultrasonic signal to the ball vehicle system, the ball vehicle
It the ultrasonic wave receiving module received ultrasonic signal of system and is calculated, is obtained between hand-held end equipment and ball vehicle system
Plane coordinates relationship；
According to the plane coordinates relationship, motor drive module drives wheel, keeps ball vehicle system mobile to track handheld terminal
Equipment；
First dsp controller and the second dsp controller are received and dispatched to real-time target position location Calculation, wireless signal
Processing, Circuit management, motor management.
Preferably, 2 ultrasonic wave receiving modules are arranged in the ball vehicle system.
Preferably, the motor drive module uses direct current generator.
Preferably, the ball vehicle system also includes chassis.
Preferably, the model of the DSP control is TMS320F28335；
The model of the radio receiving transmitting module is BK2461；
The model of the ultrasonic wave receiving module is TCT40-10S1, and ultrasonic wave receives in circuit using SONY's
CX20106 integrated chip；
The model of the ultrasonic wave transmitting module is TCT40-10F1；
Motor drive module is that drive system is H-type bipolarity Reversible PWM drive system.
Preferably, the ball vehicle system also includes infrared obstacle avoidance module；
The infrared obstacle avoidance module includes infrared emission tube and reception pipe；
The infrared ray of the tube-launched setpoint frequency is received simultaneously when being reflected by barrier by reception pipe
Identification.
A kind of Intelligent golf vehicle follower method based on DSP, step includes:
The wireless transmitter module transmission wireless signal of step 1, ball vehicle system；
After step 2, the wireless receiving module for holding end equipment receive the wireless signal, emit from ultrasonic wave transmitting module
Ultrasonic signal；
2 ultrasonic wave receiving modules reception ultrasonic signal of step 3, ball vehicle system；
Step 4, the plane coordinates relationship for calculating hand-held end equipment and ball vehicle system；
Step 5, according to plane coordinates relationship calculated, motor drive module driving wheel make ball vehicle system it is mobile come with
Track holds end equipment.
Preferably, the step 4 comprises the steps of:
The approximate trilateration algorithm of ball vehicle system and handheld terminal equipment utilization, passes through a ultrasonic wave transmitting module and two
A ultrasonic wave receiving module carries out location Calculation；
Defining the first ultrasonic wave receiving module coordinate is (0,0), and the coordinate of the second ultrasonic wave receiving module is (0, S)；Its
Middle S is the distance between two receivers；
If the coordinate of hand-held end equipment is (X, Y)；
At this point, the distance of hand-held end equipment to the first ultrasonic wave receiving module is L1, end equipment is held to the second ultrasonic wave
The distance of receiving module is L2；
Distance between two points formula is sought using mathematics, obtains a Nonlinear System of Equations
By being calculated
Wherein, θ is ball vehicle and the deviation angle of people.
Preferably, it further includes step 6, execute avoidance movement, step includes:
The infrared signal of the transmitting tube transmitting setpoint frequency of step 6.1, infrared obstacle avoidance module；
Step 6.2, the reception pipe of infrared obstacle avoidance module judge either with or without receive be reflected back it is described tube-launched
Infrared signal；
If receiving, avoidance movement is executed；If not receiving, avoidance movement is not executed.
Present invention utilizes ultrasonic wave location technology, ultrasonic wave positioning accuracy is higher, structure is simple, at low cost, more fixed than GPS
Position can also use indoors, than IR technology, UWB technology strong interference immunity.
Detailed description of the invention
Fig. 1 is the schematic diagram of ultrasonic wave positioning of the invention；
Fig. 2 is that ultrasonic wave receives circuit diagram；
Fig. 3 is infrared obstacle avoidance circuit diagram；
Fig. 4 is ball vehicle outside drawing；
Fig. 5 is PWM speed control principle；
Fig. 6 is the overall structure of ball vehicle；
Fig. 7 is flow chart of the invention.
Specific embodiment
In order to be easy to understand the technical means, the creative features, the aims and the efficiencies achieved by the present invention, tie below
Closing the drawings and specific embodiments, the present invention will be further described in detail, the range of but do not limit the invention in any way.
As shown in Fig. 6, a kind of Intelligent golf vehicle based on DSP includes ball vehicle system and hand-held end equipment；It is described
Hand-held end equipment includes: ultrasonic wave transmitting module is connect with the first dsp controller, for emitting ultrasonic signal；Wireless receiving
Module is connect, to emit wireless signal with the first dsp controller；Power module, to the hand-held end equipment power supply.It is described
Ball vehicle system includes: power module, gives the ball vehicle system power supply；2 ultrasonic wave receiving modules connect with the second dsp controller
It connects, for receiving the ultrasonic signal of the handheld terminal transmitting；Ball is arranged in 2 ultrasonic wave receiving modules with interval
Vehicle system.Motor drive module is connect with the second dsp controller, for driving wheel to carry out moving ball vehicle system；Wireless transmission mould
Block is connect, to emit wireless signal with the second dsp controller；Infrared obstacle avoidance module comprising infrared emission tube and receives
Pipe；The transmitting tube launches the infrared ray of a frequency, reception pipe receiving infrared-ray and identifies that transmitting tube is launched red
Outside line.The ball vehicle system also includes chassis.Ball vehicle outside drawing is as shown in Fig. 6.
Wherein, the first dsp controller and the second dsp controller: ball vehicle is followed to need to carry out real-time target position positioning meter
The tasks such as calculation, wireless signal transmitting-receiving process, Circuit management, motor management are difficult to full using its resource of common single-chip microcontroller and speed
Sufficient requirement needs High Performance DSP (Digital Signal Processor) processor that can complete, therefore selects beauty
The high-performance processor TMS320F28335 of state TI (Tex In) company.
Wireless transmitter module and wireless receiving module are a set of L24YK radio receiving transmitting modules used in designing in system,
The module uses BK2461 chip and new SOC technology, and feature is to exempt to develop, and more than 120 meters of sighting distance, multiple groups work at the same time noiseless.
Power module is in this system using 24V/12Ah lithium ion battery as overall system power.
Ultrasonic wave transmitting module: the transmitting of ultrasonic wave transducer (transmitter) TCT40-10F1 completion ultrasonic signal.Ultrasound
Wave receiving module: as shown in Fig. 2, this system completes ultrasonic signal using ultrasonic wave transducer TCT40-10S1 (receiver)
It receives, their centre frequency is 40KHz.The CX20106 integrated chip that SONY has mainly been used in ultrasonic wave reception circuit is complete
At the reception 1 of ultrasonic wave.CX20106 be it is a dedicated infrared with ultrasonic wave detection reception chip, it have low power supply,
Low-power consumption and high-gain feature, inductance component is not used in CX20106, therefore not will receive the interference of electromagnetic field, resists with outstanding
Interference performance.
As shown in Fig. 3, when detection direction encounters barrier, infrared ray is fired back to be received infrared obstacle avoidance module
Pipe receives, and after handling by comparator circuit, green indicator light can be lighted, synchronous signal output interface output digit signals
(low level signal), can adjust detecting distance by potentiometer knob, and operating voltage is 3.3V~5V.
Motor drive module: as shown in Fig. 5, drive system is H-type bipolarity Reversible PWM drive system, and having can be real
Existing motor in operation, low speed on 4 quadrants stationarity preferably, when can eliminate motor load when motor is in halted state
Static friction etc..Motor drive module uses direct current generator.Since DC MOTOR CONTROL is fairly simple, starting and speed adjusting performance
Good, speed adjustable range is wide, and overload capacity is stronger, small by electromagnetic interference influence.
As shown in Fig. 7, the step of ultrasonic wave of the invention positioning is as follows:
The wireless transmitter module transmission wireless signal of step 1, ball vehicle system；
After step 2, the wireless receiving module for holding end equipment receive the wireless signal, emit from ultrasonic wave transmitting module
Ultrasonic signal；
2 ultrasonic wave receiving modules reception ultrasonic signal of step 3, ball vehicle system；
Step 4, the plane coordinates relationship for calculating hand-held end equipment and ball vehicle system；
The approximate trilateration algorithm of ball vehicle system and handheld terminal equipment utilization, passes through a ultrasonic wave transmitting module and 2
A ultrasonic wave receiving module carries out location Calculation；
As shown in Fig. 1, defining the first ultrasonic wave receiving module coordinate is (0,0), the seat of the second ultrasonic wave receiving module
Mark is (0, S)；Wherein S is the distance between two receivers；
If the coordinate of hand-held end equipment is (X, Y)；
At this point, the distance of hand-held end equipment to the first ultrasonic wave receiving module is L1, end equipment is held to the second ultrasonic wave
The distance of receiving module is L2；
Distance between two points formula is sought using mathematics, obtains a Nonlinear System of Equations
By being calculated
Wherein, θ is ball vehicle and the deviation angle of people.
Step 5, according to plane coordinates relationship calculated, motor drive module tire on the drive wheels tracks hand-held end equipment；
Step 6 executes avoidance movement；
Step 6.1, the transmitting tube transmitting infrared signal of infrared obstacle avoidance module；
Step 6.2, the reception pipe of infrared obstacle avoidance module judge either with or without receiving the infrared signal；
If receiving, avoidance movement is executed；If not receiving, avoidance movement is not executed.
It is discussed in detail although the contents of the present invention have passed through above-mentioned preferred embodiment, but it should be appreciated that above-mentioned retouches
It states and is not considered as limitation of the invention.After those skilled in the art have read above content, for of the invention a variety of
Modifications and substitutions all will be apparent.Therefore, protection scope of the present invention should be by the attached claims.
Claims (9)
1. a kind of Intelligent golf vehicle based on DSP, which is characterized in that include ball vehicle system and hand-held end equipment；
The hand-held end equipment includes:
Ultrasonic wave transmitting module is connect with the first dsp controller, for emitting ultrasonic signal；
Wireless receiving module is connect, to receive wireless signal with the first dsp controller；
Power module, to the hand-held end equipment power supply；
The ball vehicle system includes:
Power module gives the ball vehicle system power supply；
Ultrasonic wave receiving module is connect with the second dsp controller, for receiving the ultrasonic signal of the handheld terminal transmitting；
Motor drive module is connect with the second dsp controller, for driving wheel to carry out moving ball vehicle system；
Wireless transmitter module is connect, to emit wireless signal with the second dsp controller；
The wireless transmitter module of the ball vehicle system transmits wireless signals to hand-held end equipment, holds the wireless receiving mould of end equipment
Block passes through ultrasonic wave transmitting module transmission ultrasonic signal to the ball vehicle system, the ball vehicle system after receiving wireless signal
Ultrasonic wave receiving module received ultrasonic signal and calculated, obtain the plane between hand-held end equipment and ball vehicle system
Coordinate relationship；
According to the plane coordinates relationship, motor drive module drives wheel, keeps ball vehicle system mobile to track hand-held end equipment；
First dsp controller and the second dsp controller to real-time target position location Calculation, wireless signal transmitting-receiving at
Reason, Circuit management, motor management.
2. a kind of Intelligent golf vehicle based on DSP as described in claim 1, which is characterized in that the ball vehicle system is set
Set 2 ultrasonic wave receiving modules.
3. a kind of Intelligent golf vehicle based on DSP as described in claim 1, which is characterized in that the motor driven mould
Block uses direct current generator.
4. a kind of Intelligent golf vehicle based on DSP as described in claim 1, which is characterized in that the ball vehicle system is also
Include chassis.
5. a kind of Intelligent golf vehicle based on DSP as described in claim 1, which is characterized in that the type of the DSP control
It number is TMS320F28335；
The model of the radio receiving transmitting module is BK2461；
The model of the ultrasonic wave receiving module is TCT40-10S1, and ultrasonic wave receives the CX20106 collection that SONY is used in circuit
At chip；
The model of the ultrasonic wave transmitting module is TCT40-10F1；
Motor drive module is that drive system is H-type bipolarity Reversible PWM drive system.
6. a kind of Intelligent golf vehicle based on DSP as described in claim 1, which is characterized in that the ball vehicle system is also
Include infrared obstacle avoidance module；
The infrared obstacle avoidance module includes infrared emission tube and reception pipe；
The infrared ray of the tube-launched setpoint frequency is received and identified when being reflected by barrier by reception pipe.
7. a kind of Intelligent golf vehicle follower method based on DSP, which is characterized in that utilize any one in claim 1-5
A kind of Intelligent golf vehicle based on DSP described in, step includes:
The wireless transmitter module transmission wireless signal of step 1, ball vehicle system；
After step 2, the wireless receiving module for holding end equipment receive the wireless signal, emit ultrasound from ultrasonic wave transmitting module
Wave signal；
2 ultrasonic wave receiving modules reception ultrasonic signal of step 3, ball vehicle system；
Step 4, the plane coordinates relationship for calculating hand-held end equipment and ball vehicle system；
Step 5, according to plane coordinates relationship calculated, motor drive module driving wheel keeps ball vehicle system mobile to track hand
Hold end equipment.
8. a kind of Intelligent golf vehicle follower method based on DSP as claimed in claim 7, which is characterized in that the step
Rapid 4 comprise the steps of:
The approximate trilateration algorithm of ball vehicle system and handheld terminal equipment utilization is by a ultrasonic wave transmitting module and two super
Acoustic receiver module carries out location Calculation；
Defining the first ultrasonic wave receiving module coordinate is (0,0), and the coordinate of the second ultrasonic wave receiving module is (0, S)；Wherein S is
The distance between two receivers；
If the coordinate of hand-held end equipment is (X, Y)；
At this point, the distance of hand-held end equipment to the first ultrasonic wave receiving module is L1, hand-held end equipment is received to the second ultrasonic wave
The distance of module is L2；
Distance between two points formula is sought using mathematics, obtains a Nonlinear System of Equations
By being calculated
Wherein, θ is ball vehicle and the deviation angle of people.
9. a kind of Intelligent golf vehicle follower method based on DSP as claimed in claim 7, which is characterized in that further
Comprising step 6, avoidance movement is executed, step includes:
The infrared signal of the transmitting tube transmitting setpoint frequency of step 6.1, infrared obstacle avoidance module；
Step 6.2, the reception pipe of infrared obstacle avoidance module judge either with or without receive be reflected back it is described tube-launched infrared
Signal；
If receiving, avoidance movement is executed；If not receiving, avoidance movement is not executed.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811258960.2A CN109144074A (en) | 2018-10-26 | 2018-10-26 | A kind of Intelligent golf vehicle and intelligent follower method based on DSP |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN201811258960.2A CN109144074A (en) | 2018-10-26 | 2018-10-26 | A kind of Intelligent golf vehicle and intelligent follower method based on DSP |
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| CN109144074A true CN109144074A (en) | 2019-01-04 |
Family
ID=64809860
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| CN201811258960.2A Pending CN109144074A (en) | 2018-10-26 | 2018-10-26 | A kind of Intelligent golf vehicle and intelligent follower method based on DSP |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110376588A (en) * | 2019-06-17 | 2019-10-25 | 广东工业大学 | A kind of automatic follower method of two-wheel balance car |
| WO2020168447A1 (en) * | 2019-02-18 | 2020-08-27 | 孟菁 | Following control system |
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Application publication date: 20190104 |