CN110989627A - Automatic tracking and following system of seismic source motorcade - Google Patents
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- 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
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0214—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory in accordance with safety or protection criteria, e.g. avoiding hazardous areas
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- 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
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- G05D1/02—Control of position or course in two dimensions
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- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
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Abstract
The invention discloses an automatic tracking car following system of a seismic source motorcade, which is realized by two car models, wherein in order to realize following of the driving track of a front car within a safe distance, a followed car is a remote control car and is provided with a WIFI module and an ultrasonic transmitting module so as to replace artificial driving; the following trolley is unmanned, and a hardware module of the following trolley comprises a controller module, a WIFI module, an ultrasonic receiving module, a motor driving module, a steering engine driving module, a photoelectric encoder and a power supply module. Through establishing the rectangular coordinate system, each position coordinate of two cars of real-time renewal in the rectangular coordinate system and the front wheel corner of the car of being followed are solved through the seizure and the calculation of treater to two car communication signal to this draws the driving track of the car of being followed, follows the car and follows the driving track of preceding car coordinate track in proper order, carries out acceleration and deceleration through the control motor and guarantees that two cars follow in the safe distance of settlement all the time simultaneously.
Description
Technical Field
The invention belongs to the technical field of unmanned automatic vehicle following, and particularly relates to an automatic tracking vehicle following system of a seismic source motorcade.
Background
Although the current mainstream unmanned vehicles already have the most advanced technology and instrumentation in the world and are well developed in this field. However, the intelligent unmanned vehicle is only suitable for road driving and belongs to a single-purpose vehicle, the development cost of the intelligent unmanned vehicle is very high, but the intelligent unmanned vehicle is not yet applied to autonomous tracking following of a seismic source motorcade, and the adaptive environment is different, so the wide application of the intelligent unmanned vehicle is still needed to be further discussed and researched.
With the increasing demand of people for petroleum, the research on the related technology of petroleum geological exploration becomes the key point of research. Based on control and cost saving, in the exploration process of a seismic source motorcade, if only the first vehicle of the motorcade is driven by a person in the process from starting to stopping, and the following vehicle automatically drives along with the preceding vehicle, the human resources and the running cost are greatly saved, and the production efficiency is improved. And the information obtained by measurement is more accurate than the information judged by people, so that the automatic tracking and following system of the seismic source motorcade needs to be researched.
Disclosure of Invention
The invention mainly aims to provide an automatic tracking and following system of a seismic source motorcade, and aims to solve the problem of intelligent following between motorcades.
In order to achieve the purpose, the invention provides an automatic tracking car following system which is realized by two car models, not only needs to realize effective following in a safe distance to a front car, but also needs to realize following to the running track of the front car, and the following car is a remote control car and is provided with a WIFI module and an ultrasonic transmitting module so as to replace artificial driving; the following trolley is unmanned, and a hardware module of the following trolley comprises a controller module, a WIFI module, an ultrasonic receiving module, a direct current motor driving module, a steering engine driving module, a photoelectric encoder and a power supply module.
STM32F103ZET6 is selected for use to the control chip of controller module, because follow the dolly and need carry out tasks such as real-time target location calculation, WIFI signal transmission, motor management, steering wheel management, power management, and the peripheral hardware of this chip abundantly satisfies the design requirement.
The WIFI module is used for realizing synchronization and data transmission, and when the following trolley transmits a wireless signal and the following trolley receives the wireless signal, the following trolley transmits ultrasonic waves.
Furthermore, the ultrasonic transmitting module is a module with a single transmitting function and is arranged in the middle of the tail of the followed trolley. The ultrasonic receiving module is a module with an independent receiving function, is arranged on the left side and the right side of the head of the following trolley respectively, and is respectively arranged in the middle positions of the left side and the right side of the trolley body, and totally adopts 4 receiving modules.
The steering engine is simple to control, superior in performance and easy to realize by a direct-current power supply. The driving and control of the steering engine need to be driven by a steering engine driving module, and further, the direct current motor also needs to be driven by a direct current motor driving module which is an L298N motor driving module.
Furthermore, the system power supply adopts a rechargeable lithium battery.
The photoelectric encoder is used for calculating the distance.
According to the automatic following trolley and the followed trolley, the invention further explains the design idea of automatically following the track of the front vehicle in a safe range:
(1) realizing following: the following trolley system sends signals through the WIFI module, meanwhile, the ultrasonic receiver starts timing, and if the following trolley receives wireless signals, the ultrasonic signals are sent immediately. Thus, the ultrasonic receiver installed at each position of the following trolley receives ultrasonic signals successively, the MCU can calculate the distance from the moving target to 4 ultrasonic receiving points through the time received by each ultrasonic receiving module, set each position coordinate of the ultrasonic receiving module, and simultaneously obtain the coordinate of the middle point of the tail of the following trolley, based on the principle of trilateral positioning algorithm, the position coordinate of the moving target can be determined through the calculated four-side distance, namely the position coordinate of the ultrasonic transmitting module, so that the distance between the two trolleys when the middle point of the tail of the trolley is taken as a reference point (the distance comprises the length of the trolley body), the minimum value of the distance range between the two trolleys is set to be 0.5m, the maximum value is 5m, if the distance obtained by subtracting the length of the trolley body from the calculated distance approaches the maximum minimum boundary value of the set distance range, the motor is controlled to accelerate or decelerate, so as to ensure that the trolley and the front vehicle are always kept within a set distance range.
(2) And (3) realizing tracking: the tracking of the front car is realized on the basis of ensuring that the front car does not deviate from the set distance range, and the tracking of the middle point of the tail of the following car is taken as the original pointEstablishing a rectangular coordinate system, fixing the distance between two vehicles to be 1m (the distance comprises the length of a vehicle body), setting the coordinate of the middle point of the tail of the followed vehicle (the position coordinate of an ultrasonic emission module) to be (0, 1), enabling the following vehicle to initially run along a straight line, only performing tracking in the initial position coordinate (0, 1) of the followed vehicle (specifically, the coordinate of the central point of the tail of the vehicle is regarded as the coordinate of the central point of the tail of the vehicle when the coordinate of which the specific position is not described) to control the distance between the two vehicles not to exceed the set distance range, when the tracking following vehicle at the initial position of the followed vehicle starts tracking, setting the communication time interval of each time to be 20ms, calculating the relative position coordinate and the distance between the following vehicle and the followed vehicle after each communication, and then calculating the position coordinate of the two vehicles relative to the original point according to calculate, meanwhile, if the followed trolley has a turning process, the front wheel turning angle of the trolley after each communication can be obtained through calculation and recorded as thetaiThe method comprises the steps of collecting and calculating all data, drawing the current driving track of a followed trolley, continuously communicating the two trolleys and continuously calculating the data by a processor, updating the current driving track of the followed trolley in real time, starting tracking the followed trolley when the followed trolley arrives at a (0, 1) coordinate point, obtaining the position coordinate where the followed trolley is located after the two trolleys communicate for the first time by calculating the distance between the followed trolley and a next following target point, controlling the corner of the trolley by controlling a steering engine, and obtaining the distance between the followed trolley and the target point by driving again. The distance between adjacent target points is short enough due to the short communication time interval in the following turning process of the trolley, so that the distance can be approximated to a short straight line, and the distance between the following trolley and the next following target point is approximated to a straight line distance.
The automatic tracking following of the following trolley to the followed trolley within the safe distance range can be realized.
Drawings
FIG. 1 is a schematic block diagram of a following system structure of the following trolley.
Fig. 2 is a schematic view of the installation position of the ultrasonic wave transmitting module of the followed trolley.
FIG. 3 is a schematic view of the installation position of the ultrasonic receiving module of the following trolley.
FIG. 4 is a flow chart of the following cart for automatic tracking according to the present invention.
Fig. 5 is a schematic diagram of the traveling tracks of the two cars in the rectangular coordinate system according to the present invention.
Detailed Description
How the invention may be put into effect will be described in a clear and systematic way below with reference to the accompanying drawings. It is obvious that the described application scenarios are only some cases of the present invention, and not all possible embodiments. Other embodiments, which can be obtained by one skilled in the art without inventive step, based on the embodiments of the present invention, also belong to the protection scope of the present invention.
The invention provides an automatic tracking and following system which is realized by two trolley models, and not only can realize effective following within a safe distance to a front vehicle, but also can realize following to the running track of the front vehicle.
Referring to fig. 1, the followed trolley is a remote control trolley and is provided with a WIFI module and an ultrasonic transmitting module, so that manual driving is replaced; the following trolley is unmanned, and a hardware module of the following trolley comprises a controller module, a WIFI module, an ultrasonic receiving module, a direct current motor driving module, a steering engine driving module, a photoelectric encoder and a power supply module. STM32F103ZET6 is selected for use to the control chip of controller module, because follow the dolly and need carry out tasks such as real-time target location calculation, WIFI signal transmission, motor management, steering wheel management, power management, and the peripheral hardware of this chip abundantly satisfies the design requirement. The WIFI module is used for realizing synchronization and data transmission, and when the following trolley transmits a wireless signal and the following trolley receives the wireless signal, the following trolley transmits ultrasonic waves. The steering engine is simple to control, superior in performance and easy to realize by a direct-current power supply. The driving and control of the steering engine need to be driven by a steering engine driving module, and further, the direct current motor also needs to be driven by a direct current motor driving module which is an L298N motor driving module. Furthermore, the system power supply adopts a rechargeable lithium battery. The photoelectric encoder is used for calculating the distance.
Fig. 2 shows the installation position of the ultrasonic emission module of the followed trolley. The ultrasonic transmitting module is a module with a single transmitting function and is arranged in the middle of the tail of the followed trolley.
Fig. 3 shows the installation position of the ultrasonic receiving module of the following trolley. The ultrasonic receiving module is a module with an independent receiving function, is arranged on the left side and the right side of the head of the following trolley respectively, and is respectively arranged in the middle positions of the left side and the right side of the trolley body, and totally adopts 4 receiving modules.
Fig. 4 is a flow chart of automatic tracking, and the following trolley system sends a wireless signal through the WIFI module, and simultaneously the ultrasonic receiver starts timing, and if the following trolley receives the wireless signal, the ultrasonic signal is sent immediately. In this way, the ultrasonic receiver installed at each position of the following trolley receives ultrasonic signals successively, the MCU can calculate the distance from the moving target to 4 ultrasonic receiving points through the time received by each ultrasonic receiving module, set each position coordinate of the ultrasonic receiving module, and calculate the coordinate of the middle point of the tail of the following trolley at the same time, based on the principle of trilateral positioning algorithm, the position coordinate of the moving target, namely the position coordinate of the ultrasonic transmitting module, can be determined by the calculated four-side distance, so that the distance between the two trolleys with the middle point of the tail as the reference point (the distance includes the length of the trolley body), the minimum value of the distance range between the two trolleys is set to be 0.5m and the maximum value to be 5m, the following trolley initially runs along a straight line, and does not enter the initial position coordinate of the followed trolley (specifically, but the coordinate of what position is specifically not described is regarded as the coordinate of the tail center point of the trolley) The tracking is only followed to control the distance between two vehicles not to exceed the set distance range, when the tracking following vehicle starts tracking following when the initial position of the followed vehicle is reached, the communication time interval of each time is set to be 20ms, and the position coordinate of the followed vehicle relative to the following vehicle and the two vehicles can be calculated after the following vehicle and the followed vehicle communicate each timeThe distance between the vehicles can be calculated to obtain the position coordinates of the two vehicles relative to the original point, and if the followed vehicle has a turning process, the front wheel turning angle of the vehicle after each communication can be obtained through calculation and is recorded as thetaiThe current driving track of the followed trolley can be drawn by continuously acquiring and calculating data through the MCU, and the current driving track of the followed trolley can be updated in real time along with continuous communication between the two trolleys and continuous calculation of the data by the processor. The following trolley carries out tracking following on the position calculated and obtained by the following trolley from the initial position of the followed trolley, and the steering engine is controlled to control the turning angle value of the trolley to be thetaiIf the distance obtained by subtracting the length of the trolley body from the calculated distance approaches to the maximum and minimum boundary value of the set distance range, the motor is controlled to accelerate or decelerate, so that the trolley and the front trolley are always kept in the set distance range to successfully reach the next position.
Fig. 5 is a schematic diagram of the travel tracks of two cars in a rectangular coordinate system, and it is noted that the travel tracks of the cars to be followed in this diagram are assumed, and only for explaining the principle of solving coordinates, the travel tracks are not necessarily real travel tracks, the rectangular coordinate system is established with the midpoint of the car tail of the following car (the midpoint of the two ultrasonic receiving modules at the car tail) as the origin, as shown in fig. 4, the distance between the two cars is fixed to be 1m (the distance includes the length of the car body), the coordinate of the midpoint of the car tail of the following car (the position coordinate of the ultrasonic transmitting module) is (0, 1), and the coordinate of each positioning of the car to be followed is assumed to be (Xi，Yi) I is 0, 1, 2, 3, and the following trolley is set to be located with coordinates (x) each timei，yi) I is 0, 1, 2, 3, the coordinates of which are position coordinates relative to the origin, and the followed vehicle travels to (X) when communicating for the first time1，Y1) Where it follows the trolley to (x)1，y1) Here, x is shown in FIG. 31When the signal is 0, the MCU captures the encoder signal and calculates to obtain y1Value of (d), coordinates (X) of the followed trolley relative to the following trolley1，Y1) And a distance D1Go through two carsThe signal is calculated by the MCU, so that the signal can be obtained according to X1＝x1+X1，Y1＝y1+Y1Can find out X1，Y1The same principle can be used to obtain X in turni，YiThe value of (c). The following trolley starts to track the followed trolley when reaching a (0, 1) coordinate point, and the first coordinate point is the position coordinate (X) of the followed trolley after the two trolleys communicate for the first time1，Y1) The distance d between the following trolley and the next following target point can be obtained by calculation1And the steering engine is controlled to control the turning angle of the trolley, and then the trolley can reach the next position coordinate by the distance between the trolley and the target point. Taking point a to point B as an example, the distance between adjacent target points is sufficiently short because the communication time interval is short during the process of following a turn, so that the distance can be approximated by a short straight line, i.e. the curve distance between AB is approximately equal to d1So that the distance from the following vehicle to the next following target point is directly set as d1The turning angle value of the trolley is controlled to be theta through controlling the steering engine1Distance d between the vehicle and the target point1This length value allows the next position coordinate to be reached.
Claims (5)
1. An automatic tracking and following system of a seismic source motorcade is realized by two simulation trolleys, effective following within a safe distance is realized for a front vehicle, and following of a running track of the front vehicle is realized, wherein the following trolleys are remote control trolleys and are provided with a WIFI module and an ultrasonic emission module so as to replace artificial driving; dolly model 2 is followed the dolly and is unmanned, its hardware module includes the controller module, the WIFI module, ultrasonic wave receiving module, direct current motor drive module, steering wheel and steering wheel drive module, photoelectric encoder, power module, follow dolly system and send wireless signal through the WIFI module, ultrasonic receiver begins the timing simultaneously, if received wireless signal by following the dolly, then send ultrasonic signal immediately, therefore, install and follow the ultrasonic receiver of dolly each position and continue to receive ultrasonic signal, MCU connects through every ultrasonic waveThe distance between the moving target and 4 ultrasonic receiving points can be calculated by the receiving module according to the time received by the receiving module, each position coordinate of the ultrasonic receiving module is set, the coordinate of the middle point of the tail of the following trolley is simultaneously obtained, the position coordinate of the moving target can be determined by the calculated four-side distance on the basis of the principle of trilateral positioning algorithm, namely the position coordinate of the ultrasonic transmitting module, so that the distance between the two trolleys with the middle point of the tail of the trolley as a reference point (the distance comprises the length of the trolley body) can be obtained, the minimum value of the distance range of the two trolleys is set to be 0.5m, the maximum value is set to be 5m, the following trolley initially runs along a straight line, tracking is not carried out in the initial position coordinate of the followed trolley (the coordinate of which does not particularly describe what position is the coordinate is regarded as the central point of the tail of the trolley) so as to control the distance between, when the following trolley starts tracking and following when the initial position of the followed trolley is reached, setting the communication time interval of each time to be 20ms, calculating the position coordinate of the followed trolley relative to the following trolley and the distance between the two trolleys after the following trolley and the followed trolley communicate each time, calculating the position coordinate of the two trolleys relative to the original point, and calculating the front wheel turning angle of the trolley after each communication if the followed trolley has a turning process, and recording the front wheel turning angle as thetaiThe current running track of the followed trolley can be drawn by continuously acquiring and calculating data through the MCU, the current running track of the followed trolley can be updated in real time along with continuous communication between the two trolleys and continuous calculation of the data by the processor, the following trolley carries out tracking following on the position calculated and obtained by each communication of the followed trolley from the initial position of the followed trolley, and the steering engine is controlled to control the turning angle value of the trolley to be thetaiIf the distance obtained by subtracting the length of the trolley body from the distance is close to the maximum and minimum boundary value of the set distance range, the motor is controlled to accelerate or decelerate, so that the trolley and the front trolley are always kept in the set distance range to successfully reach the next position.
2. The automatic tracking car following system according to claim 1, wherein: the method is applied to the following of a seismic source motorcade.
3. The automatic tracking car following system according to claim 1, wherein: the ultrasonic transmitting module is a module with a single transmitting function and is arranged in the middle of the tail of the followed trolley.
4. The automatic tracking car following system according to claim 1, wherein: the ultrasonic receiving module is a module with an independent receiving function, is arranged on the left side and the right side of the head of the following trolley respectively, and is respectively arranged in the middle positions of the left side and the right side of the trolley body, and totally adopts 4 receiving modules.
5. The automatic tracking car following system according to claim 1, wherein: solving the coordinate and coordinate following principle: a rectangular coordinate system is established by taking the midpoint of the tail of the following trolley (the midpoint of the two ultrasonic receiving modules at the tail) as an original point, the distance between the two fixed trolleys is 1m (the distance comprises the length of the trolley body), the coordinate of the midpoint of the tail of the followed trolley (the position coordinate of the ultrasonic transmitting module) is (0, 1), and the coordinate of each positioning of the followed trolley is assumed to be (X)i，Yi) I is 0, 1, 2, 3, and the following trolley is set to be located with coordinates (x) each timei，yi) I is 0, 1, 2, 3, the coordinates of which are position coordinates relative to the origin, and the followed vehicle travels to (X) when communicating for the first time1，Y1) Where it follows the trolley to (x)1，y1) Where is apparent x1When the signal is 0, the MCU captures the encoder signal and calculates to obtain y1Value of (d), coordinates (X) of the followed trolley relative to the following trolley1，Y1) And a distance D1Obtained by two-vehicle communication and then calculated by the MCU, thus being capable of obtaining the communication result according to X1＝x1+X1，Y1＝y1+Y1Can find out X1，Y1The same principle can be used to obtain X in turni，YiFollowing the trolley atTracking the followed trolley when the (0, 1) coordinate point is reached, wherein the first coordinate point is the position coordinate (X) of the followed trolley after the two trolleys communicate for the first time1，Y1) The distance d between the following trolley and the next following target point can be obtained by calculation1The steering engine is controlled to control the turning angle of the trolley, the distance between the trolley and the target point is controlled to reach the next position coordinate, the trolley is short in communication time interval in the following turning process, so that the distance between the adjacent target points is short enough, the distance can be approximate to a short straight line, the distance between the following trolley and the next following target point is directly set as the value of the short straight line, and the steering engine is controlled to control the turning angle value theta of the trolleyiThen, the distance between the target point and the next position coordinate can be reached by the length value.
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| CN109188412A (en) * | 2018-07-12 | 2019-01-11 | 江苏大学 | It is a kind of that luggage case and its positioning is followed to follow avoiding collision automatically |
Cited By (1)
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| CN113525553A (en) * | 2021-06-03 | 2021-10-22 | 韦淑庄 | Intelligent following vehicle and control method thereof |
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