CN115696188A - Supermarket shopping cart UPP following method based on UWB technology - Google Patents
Supermarket shopping cart UPP following method based on UWB technology Download PDFInfo
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Abstract
The invention discloses a super market shopping cart UPP following method based on UWB technology. The method comprises the following steps: three DW1000 base stations are placed at the periphery of a supermarket area, and a rectangular coordinate system is established by a UWB positioning system; the DW1000 label is worn on a shopper; a shopper enters a supermarket area to walk, and a UWB positioning system acquires the shopping position coordinates of the shopper and acquires a shopping track curve; controlling the automatic tracking shopping cart to run along the shopping track curve; the method comprises the steps of obtaining the current linear velocity of the automatic tracking shopping cart, adjusting the current linear velocity in real time, obtaining the current pre-aiming distance of the automatic tracking shopping cart, obtaining the turning angle of the automatic tracking shopping cart, controlling the automatic tracking shopping cart to rotate to change the position and the attitude, and achieving accurate tracking of the automatic tracking shopping cart to shopping personnel. The invention improves the self-adaptive degree of the pre-aiming distance of the shopping cart, effectively reduces the occurrence of instability, insufficient steering and oscillation of vehicle control, and has excellent following stability.
Description
Technical Field
The invention relates to a shopping cart UPP following method, in particular to a supermarket shopping cart UPP following method based on UWB technology.
Background
Due to the proliferation of supermarkets and shopping centers and the rapid development of robot technology, shopping carts in supermarkets are gradually developed towards intellectualization, more convenience is provided for supermarket users, and the functions of the shopping carts are mainly embodied in the aspects of automatic following, path planning and the like.
In an environment with many indoor various obstructions, signal transmission may generate a diffraction phenomenon, which may cause signal propagation damage of a Global Positioning System (GPS) in the current mainstream navigation technology, so that the Positioning effect is poor, and even normal operation is difficult, and the Positioning requirement of the indoor environment cannot be met. The appearance of the ultra-wideband positioning technology enables the indoor positioning industry to be rapidly developed. Ultra Wide Band (UWB) is a wireless communication method that can transmit data at high speed in a low power mode over a certain distance. This technique does not require the use of a sinusoidal carrier to carry information, but rather utilizes narrow pulses of impulses on the order of nanoseconds to convey data. Compared with indoor positioning modes such as Bluetooth positioning and WIFI positioning, the ultra-wideband UWB positioning mode has higher positioning accuracy. In addition, the positioning mode has the advantages of large space capacity, lower power consumption and cost, high multipath resolution, strong anti-interference capability, strong penetrating power, good stability, good concealment and the like, and can accurately measure the position coordinates of the target.
The path tracking control of the mobile robot is a very important part in the robot field, and is the basis for the mobile robot to complete more complex tasks. How to make the mobile robot perform accurate tracking control quickly and accurately under a known or unknown environment is a challenging research topic. Among them, the Geometric Path Tracking (Geometric Path Tracking) algorithm is one of the more popular Path Tracking control methods in automatic driving. The control law of the path tracking problem is obtained by mainly utilizing the geometric relationship between the vehicle and the reference path. The most typical geometric path tracking control methods are a Pure tracking method (Pure Pursuit) and a front wheel feedback (Stanley) method. The key of the pure tracking algorithm is the selection of the preview point, and the preview coefficient is only required to be adjusted according to application requirements in actual debugging, so that the control difficulty coefficient is low. However, a method for more adaptively applying a mobile robot path tracking control technology to automatic following and path planning of an indoor shopping cart is lacking at present.
Disclosure of Invention
In order to solve the problems in the background art, the invention provides a super market shopping cart UPP following method based on UWB (Ultra Wide Band, UWB) and Pure tracking algorithm PP (Pure Pursuit). According to the positioning of the UWB positioning system, a specific position relation is analyzed, and a pure tracking PP tracking algorithm is matched, so that intelligent tracking is realized. The UWB equipment is used for collecting data of all base stations and label signals, the linear speed of the shopping cart is determined through system analysis, the pre-aiming distance is further determined, and finally the pose relation of the shopping cart is calculated, so that the shopping cart can be intelligently followed.
The technical scheme adopted by the invention is as follows:
the invention discloses a UPP following method of a supermarket shopping cart, which comprises the following steps:
the method comprises the following steps: three DW1000 base stations are arranged at the periphery of a supermarket area, and the three DW1000 base stations are wirelessly connected with a DW1000 label I and a DW1000 label II; electrically connecting a DW1000 tag I with a computer upper computer provided with a UWB positioning system, and connecting the DW1000 tag I with three DW1000 base stations in a wireless way; and respectively inputting the position information of the three DW1000 base stations into a UWB positioning system of the computer upper computer, wherein the UWB positioning system establishes a rectangular coordinate system by taking the position of one DW1000 base station as an origin. The UWB positioning system receives electromagnetic signals from three DW1000 base stations, and calculates distance information through a bilateral two-way distance measurement method in the system, so that a space rectangular coordinate system is established according to a corresponding position relation, and a plane rectangular coordinate system formed by x-axis coordinates and y-axis coordinates is used in specific implementation.
Step two: the method comprises the following steps that a DW1000 tag I is arranged on an automatic tracking shopping cart, a DW1000 tag II is worn on a shopping person, the shopping person and the automatic tracking shopping cart stay at a preset initial point position, the automatic tracking shopping cart is in wireless connection with a computer upper computer, the DW1000 tag I transmits real-time distance information of the automatic tracking shopping cart to the computer upper computer, the position coordinate of the automatic tracking shopping cart is obtained through real-time calculation, and a UWB positioning system of the computer upper computer displays the position coordinate of the automatic tracking shopping cart in a rectangular coordinate system in the first step in real time; a shopper enters a supermarket area from a preset initial point position and walks at a preset speed, a UWB positioning system receives real-time distance information of the shopper transmitted by a DW1000 tag I and three DW1000 base stations in sequence at intervals of a preset time period, then real-time calculation is carried out to obtain shopping position coordinates of the shopper, a real-time shopping track curve of the shopper is obtained, and a series of real-time position coordinates are converged into a smooth real-time position track curve by turning on a track route switch of a computer upper computer.
Step three: when a shopper walks to a first shopping position coordinate point, the UWB positioning system sends a control instruction to the automatic tracking shopping cart through the computer upper computer to control the automatic tracking shopping cart to travel along a real-time shopping track curve of the shopper; in the process of automatically tracking the shopping cart, the current linear velocity of the automatically tracking shopping cart is calculated and obtained according to the current position coordinate of the automatically tracking shopping cart and adjusted in real time, the current pre-aiming distance of the automatically tracking shopping cart is calculated and obtained through the current linear velocity of the automatically tracking shopping cart, the turning angle of the automatically tracking shopping cart is further calculated and obtained, the automatically tracking shopping cart is controlled to rotate according to the turning angle of the automatically tracking shopping cart to change the position and the orientation, and therefore the shopping staff can be accurately followed by the automatically tracking shopping cart.
In the first step, the relative distances between the three DW1000 base stations are all larger than 1m, so that certain electromagnetic wave interference is prevented from being generated between the base stations, the distance between the three DW1000 base stations and the ground is more than 2m, and specifically, the distance can be set to be 2m, so that the signal interference is reduced, and the radiation range of the base stations is improved.
In the first step, the computer upper computer establishes a rectangular coordinate system by taking the position of one DW1000 base station as an origin, and specifically, establishes a rectangular coordinate system by taking the position of a first DW1000 base station as an origin (0, 0), the position of a second DW1000 base station as (D, 0), and the position of a third DW1000 base station as (I, J).
In the second step, the DW1000 tag I transmits the real-time distance information of the automatic tracking shopping cart to a computer upper computer, and then calculates and acquires the position coordinates of the automatic tracking shopping cart in real time, specifically, the DW1000 tag I transmits the real-time distances between the DW1000 tag I and three DW1000 base stations to a UWB positioning system of the computer upper computer, and the UWB positioning system of the computer upper computer calculates and acquires the position coordinates of the DW1000 tag I by utilizing a trilateral positioning algorithm, namely, the position coordinates of the automatic tracking shopping cart are acquired; the UWB positioning system receives real-time distance information of a shopping worker transmitted by a DW1000 tag II through the DW1000 base station I and the three DW1000 base stations in sequence every preset time period, and then calculates and obtains shopping position coordinates of the shopping worker in real time, specifically, the DW1000 tag II transmits real-time distances between the DW1000 tag II and the three DW1000 base stations to the DW1000 tag I through the three DW1000 base stations respectively, and then transmits the real-time distances to the UWB positioning system of a computer upper computer through the DW1000 tag I, and the UWB positioning system of the computer upper computer calculates and obtains the real-time position coordinates of the DW1000 tag II through a trilateral positioning algorithm, namely obtains the shopping position coordinates of the shopping worker.
And in the second step, the automatic tracking shopping cart is also provided with a control unit, the control unit is wirelessly connected with the computer upper computer, and the control unit receives a control signal transmitted by the computer upper computer to control the automatic tracking shopping cart. The control unit is specifically raspberry pi 4B.
In the third step, in the running process of the automatic tracking shopping cart, calculating and acquiring the current linear velocity of the automatic tracking shopping cart according to the current position coordinate of the automatic tracking shopping cart and adjusting the current linear velocity in real time, specifically, when the automatic tracking shopping cart runs to any one shopping position coordinate point, calculating the current linear velocity V of the automatic tracking shopping cart in real time by a computer upper computer, and when the current linear velocity V of the automatic tracking shopping cart does not exceed a preset velocity value and the distance between the current position of the automatic tracking shopping cart and the current position of a shopper does not exceed a preset distance value, not adjusting the automatic tracking shopping cart; when the current linear speed V of the automatic tracking shopping cart exceeds a preset speed value, controlling the automatic tracking shopping cart to decelerate; when the distance between the current position of the automatic tracking shopping cart and the current position of the shopper exceeds a preset distance value, the automatic tracking shopping cart is controlled to accelerate until the current linear velocity V of the automatic tracking shopping cart does not exceed a preset velocity value and the distance between the current position of the automatic tracking shopping cart and the current position of the shopper does not exceed the preset distance value, and real-time adjustment of the automatic tracking shopping cart is completed.
The formula for automatically tracking the current linear velocity of the shopping cart is as follows:
wherein V represents the current linear velocity of the auto-tracking shopping cart; x and Y represent the abscissa and ordinate, respectively, of the current position of the auto-tracking shopping cart; dt represents the time interval between the automatic tracking of the shopping cart from the preset initial point location to the current location coordinates. The distance between the shopping cart and the shopping personnel can be ensured to be automatically tracked within a preset range.
In the third step, the current pre-aiming distance of the automatic tracking shopping cart is obtained through the current linear velocity calculation of the automatic tracking shopping cart, and then the rotation angle of the automatic tracking shopping cart is obtained through calculation.
The formula of the turning angle alpha of the automatic tracking shopping cart, namely the pure tracking PP algorithm calculates the turning angle alpha of the control quantity, and the concrete steps are as follows:
L＝A*V 2 +B*V+C
θ＝arctan[(K-Q)/(J-P)]
wherein, alpha represents the turning angle of the automatic tracking shopping cart; l is c Indicating automatic tracking of the wheelbase of the shopping cart; theta represents an included angle between the current position coordinates (P, Q) of the shopper and a preset initial point location (J, K); l represents the current pre-aiming distance of the automatic tracking shopping cart; v represents the speed of the auto-tracking shopping cart, A represents a braking constant, and the product of the distance constant A and the square of the speed square V of the auto-tracking shopping cart represents the relative braking distance of the auto-tracking shopping cart; a is max Indicating a maximum braking acceleration of the auto-tracking cart; b represents the preset reaction time when the shopping cart encounters abnormity by automatic tracking; c represents the preset minimum turning radius of the auto-tracking shopping cart.
After the corner of the automatic tracking shopping cart is obtained, the communication module of the UWB positioning system wirelessly transmits the corner of the automatic tracking shopping cart to the wireless signal receiving and transmitting module of the automatic tracking shopping cart, so that the automatic tracking shopping cart is controlled to rotate to change the position and posture, and the automatic tracking shopping cart can accurately follow shopping personnel.
The invention has the beneficial effects that:
according to the invention, a series of feedback control is added to the open loop control of the original PP algorithm through the moving path obtained by the UWB positioning system, so that the self-adaption degree of the pre-aiming distance of the shopping cart is further improved, the occurrence of instability, insufficient steering and oscillation of vehicle control is effectively reduced, and the tracking stability of the shopping cart is excellent.
Drawings
FIG. 1 is a logic diagram of a UPP following method according to the present invention.
Detailed Description
The invention is further described in detail below with reference to the drawings and specific embodiments.
1. A super market shopping cart UPP following method based on UWB technology is characterized in that:
the method comprises the following steps:
the method comprises the following steps: three DW1000 base stations are arranged at the periphery of a supermarket area, and the three DW1000 base stations are wirelessly connected with a DW1000 label I and a DW1000 label II; electrically connecting a DW1000 tag I with a computer upper computer provided with a UWB positioning system, and connecting the DW1000 tag I with three DW1000 base stations in a wireless way; and respectively inputting the position information of the three DW1000 base stations into a UWB positioning system of a computer upper computer, wherein the UWB positioning system establishes a rectangular coordinate system by taking the position of one DW1000 base station as an original point.
In specific implementation, the UWB positioning system receives electromagnetic signals from three DW1000 base stations, and calculates distance information by a bilateral two-way ranging method in the system, thereby establishing a spatial rectangular coordinate system according to a corresponding position relationship, and in specific implementation, using a planar rectangular coordinate system formed by x-axis and y-axis coordinates.
In the first step, the relative distances between the three DW1000 base stations are all larger than 1m, so that certain electromagnetic wave interference is prevented from being generated between the base stations, the distances between the three DW1000 base stations and the ground are more than 2m, and specifically, the distances can be set to be 2m, so that the signal interference is reduced, and the radiation range of the base stations is improved.
In the first step, the computer upper computer establishes a rectangular coordinate system by taking the position of one DW1000 base station as an origin, and specifically, establishes a rectangular coordinate system by taking the position of a first DW1000 base station as an origin (0, 0), the position of a second DW1000 base station as (D, 0), and the position of a third DW1000 base station as (I, J).
Step two: the method comprises the following steps that a DW1000 tag I is arranged on an automatic tracking shopping cart, a DW1000 tag II is worn on a shopping person, the shopping person and the automatic tracking shopping cart stay at a preset initial point position, the automatic tracking shopping cart is in wireless connection with a computer upper computer, the DW1000 tag I transmits real-time distance information of the automatic tracking shopping cart to the computer upper computer, the position coordinate of the automatic tracking shopping cart is obtained through real-time calculation, and a UWB positioning system of the computer upper computer displays the position coordinate of the automatic tracking shopping cart in a rectangular coordinate system in the first step in real time; a shopper enters a supermarket area from a preset initial point position and walks at a preset speed, a UWB positioning system receives real-time distance information of the shopper transmitted by a DW1000 tag I and three DW1000 base stations in sequence at intervals of a preset time period, then real-time calculation is carried out to obtain shopping position coordinates of the shopper, a real-time shopping track curve of the shopper is obtained, and a series of real-time position coordinates are converged into a smooth real-time position track curve by turning on a track route switch of a computer upper computer.
In the second step, the DW1000 tag I transmits the real-time distance information of the automatic tracking shopping cart to a computer upper computer, and then calculates in real time to obtain the position coordinates of the automatic tracking shopping cart, specifically, the DW1000 tag I transmits the real-time distances between the DW1000 tag I and three DW1000 base stations to a UWB positioning system of the computer upper computer, and the UWB positioning system of the computer upper computer calculates by using a trilateral positioning algorithm to obtain the position coordinates of the DW1000 tag I, namely the position coordinates of the automatic tracking shopping cart are obtained; the UWB positioning system receives real-time distance information of a shopping worker transmitted by a DW1000 tag II through the DW1000 base station I and the three DW1000 base stations in sequence every preset time period, and then calculates and obtains shopping position coordinates of the shopping worker in real time, specifically, the DW1000 tag II transmits real-time distances between the DW1000 tag II and the three DW1000 base stations to the DW1000 tag I through the three DW1000 base stations respectively, and then transmits the real-time distances to the UWB positioning system of a computer upper computer through the DW1000 tag I, and the UWB positioning system of the computer upper computer calculates and obtains the real-time position coordinates of the DW1000 tag II through a trilateral positioning algorithm, namely obtains the shopping position coordinates of the shopping worker.
And in the second step, a control unit is also installed on the automatic tracking shopping cart, the control unit is wirelessly connected with a computer upper computer, and the control unit receives a control signal transmitted by the computer upper computer to control the automatic tracking shopping cart. The control unit is specifically raspberry pi 4B.
Step three: when a shopper walks to a first shopping position coordinate point, the UWB positioning system sends a control instruction to the automatic tracking shopping cart through the computer upper computer to control the automatic tracking shopping cart to travel along a real-time shopping track curve of the shopper; in the running process of the automatic tracking shopping cart, calculating and acquiring the current linear velocity of the automatic tracking shopping cart according to the current position coordinate of the automatic tracking shopping cart, adjusting the current linear velocity in real time, calculating and acquiring the current pre-aiming distance of the automatic tracking shopping cart through the current linear velocity of the automatic tracking shopping cart, further calculating and acquiring the rotation angle of the automatic tracking shopping cart, controlling the automatic tracking shopping cart to rotate according to the rotation angle of the automatic tracking shopping cart to change the position and posture, and realizing the accurate tracking of the automatic tracking shopping cart to shopping personnel.
In the third step, in the running process of the automatic tracking shopping cart, calculating and acquiring the current linear velocity of the automatic tracking shopping cart according to the current position coordinate of the automatic tracking shopping cart and adjusting the current linear velocity in real time, specifically, when the automatic tracking shopping cart runs to any one shopping position coordinate point, calculating the current linear velocity V of the automatic tracking shopping cart in real time by a computer upper computer, and when the current linear velocity V of the automatic tracking shopping cart does not exceed a preset velocity value and the distance between the current position of the automatic tracking shopping cart and the current position of a shopper does not exceed a preset distance value, not adjusting the automatic tracking shopping cart; when the current linear speed V of the automatic tracking shopping cart exceeds a preset speed value, controlling the automatic tracking shopping cart to decelerate; when the distance between the current position of the automatic tracking shopping cart and the current position of the shopper exceeds a preset distance value, the automatic tracking shopping cart is controlled to accelerate until the current linear velocity V of the automatic tracking shopping cart does not exceed a preset velocity value and the distance between the current position of the automatic tracking shopping cart and the current position of the shopper does not exceed the preset distance value, and real-time adjustment of the automatic tracking shopping cart is completed.
The formula for automatically tracking the current linear velocity of the shopping cart is specifically as follows:
wherein V represents the current line speed of the auto-tracking shopping cart; x and Y represent the abscissa and ordinate, respectively, of the current position of the auto-tracking shopping cart; dt represents the time interval between the automatic tracking of the shopping cart from the preset initial point location to the current location coordinates. The distance between the shopping cart and the shopping staff can be ensured to be within a preset range.
In the third step, the current pre-aiming distance of the automatic tracking shopping cart is obtained through the current linear velocity calculation of the automatic tracking shopping cart, and then the corner of the automatic tracking shopping cart is obtained through calculation.
The formula of the turning angle alpha of the automatic tracking shopping cart, namely the pure tracking PP algorithm calculates the turning angle alpha of the control quantity, and the formula is as follows:
L＝A*V 2 +B*V+C
θ＝arctan[(K-Q)/(J-P)]
wherein α represents a turn angle of the auto-tracking shopping cart; l is a radical of an alcohol c Indicating automatic tracking of the wheelbase of the shopping cart; theta represents an included angle between the current position coordinates (P, Q) of the shopper and a preset initial point location (J, K); l represents the current pre-aiming distance of the automatic tracking shopping cart; v represents the velocity of the auto-tracking cart, A represents the braking constant, and the product of the distance constant A and the square of the velocity of the auto-tracking cart squared V represents the auto-tracking cartThe relative braking distance of the object vehicle; a is max Indicating a maximum braking acceleration of the auto-tracking cart; b represents the preset reaction time when the shopping cart encounters an abnormality; c represents the preset minimum turning radius of the auto-tracking shopping cart.
After the corner of the automatic tracking shopping cart is obtained, the communication module of the UWB positioning system wirelessly transmits the corner of the automatic tracking shopping cart to the wireless signal receiving and transmitting module of the automatic tracking shopping cart, so that the automatic tracking shopping cart is controlled to rotate to change the position and posture, and the automatic tracking shopping cart can accurately follow shopping personnel.
The invention discloses a UPP shopping cart following method combining UWB ranging technology with Pure Pursuit algorithm, wherein in the moving process of a shopping cart following tag, a UWB positioning system is adopted to measure the specific pose information of the tag, data is processed into coordinate points suitable for the UPP following method, the system analyzes and determines the suitable linear speed of the shopping cart, so that the pre-aiming distance of the shopping cart is judged, the preparation is made for the subsequent point-to-point tracking of the shopping cart, and finally the pose relation of the shopping cart is adjusted through Pure tracking PP algorithm. The pre-aiming distance self-adaption degree is high, the occurrence of unstable vehicle control, insufficient steering and oscillation is effectively reduced, and the tracking stability of the shopping cart is excellent.
Claims (7)
1. A super market shopping cart UPP following method based on UWB technology is characterized in that: the method comprises the following steps:
the method comprises the following steps: three DW1000 base stations are arranged at the periphery of a supermarket area, and the three DW1000 base stations are wirelessly connected with a DW1000 label I and a DW1000 label II; electrically connecting a DW1000 tag I with a computer upper computer provided with a UWB positioning system, and connecting the DW1000 tag I with three DW1000 base stations in a wireless way; respectively inputting the position information of the three DW1000 base stations into a UWB positioning system of a computer upper computer, wherein the UWB positioning system establishes a rectangular coordinate system by taking the position of one DW1000 base station as an origin;
step two: the DW1000 tag I is arranged on the automatic tracking shopping cart, the DW1000 tag II is worn on a shopper, the shopper and the automatic tracking shopping cart stay at preset initial points, the automatic tracking shopping cart is in wireless connection with a computer upper computer, the DW1000 tag I transmits real-time distance information of the automatic tracking shopping cart to the computer upper computer, so that the position coordinate of the automatic tracking shopping cart is obtained through real-time calculation, and the UWB positioning system of the computer upper computer displays the position coordinate of the automatic tracking shopping cart in the rectangular coordinate system in the first step in real time; a shopper enters a supermarket area from a preset initial point position and keeps walking at a preset speed, a UWB positioning system receives real-time distance information of the shopper transmitted by a DW1000 label I and three DW1000 base stations in sequence every a preset time period, and then calculates and obtains shopping position coordinates of the shopper in real time and obtains a real-time shopping track curve of the shopper at the same time;
step three: when a shopper walks to a first shopping position coordinate point, the UWB positioning system sends a control instruction to the automatic tracking shopping cart through the computer upper computer to control the automatic tracking shopping cart to travel along a real-time shopping track curve of the shopper; in the process of automatically tracking the shopping cart, the current linear velocity of the automatically tracking shopping cart is calculated and obtained according to the current position coordinate of the automatically tracking shopping cart and adjusted in real time, the current pre-aiming distance of the automatically tracking shopping cart is calculated and obtained through the current linear velocity of the automatically tracking shopping cart, the turning angle of the automatically tracking shopping cart is further calculated and obtained, the automatically tracking shopping cart is controlled to rotate according to the turning angle of the automatically tracking shopping cart to change the position and the orientation, and therefore the shopping staff can be accurately followed by the automatically tracking shopping cart.
2. A supermarket shopping cart UPP following method based on UWB technology according to claim 1, wherein: in the first step, the relative distances among the three DW1000 base stations are all larger than 1m, and the distances between the three DW1000 base stations and the ground exceed 2m.
3. A supermarket shopping cart UPP following method based on UWB technology according to claim 1, wherein: in the first step, the computer upper computer establishes a rectangular coordinate system by taking the position of one DW1000 base station as an origin, and specifically, establishes a rectangular coordinate system by taking the position of a first DW1000 base station as an origin (0, 0), the position of a second DW1000 base station as (D, 0), and the position of a third DW1000 base station as (I, J).
4. A supermarket shopping cart UPP following method based on UWB technology according to claim 1, wherein: in the second step, the DW1000 tag I transmits the real-time distance information of the automatic tracking shopping cart to a computer upper computer, and then calculates and obtains the position coordinates of the automatic tracking shopping cart in real time, specifically, the DW1000 tag I transmits the real-time distances between the DW1000 tag I and three DW1000 base stations to a UWB positioning system of the computer upper computer, and the UWB positioning system of the computer upper computer calculates and obtains the position coordinates of the DW1000 tag I by utilizing a trilateral positioning algorithm, namely, the position coordinates of the automatic tracking shopping cart are obtained; the UWB positioning system receives the real-time distance information of the shopping staff transmitted by the DW1000 tag II through the DW1000 base station I and the three DW1000 base stations in sequence every a preset time period, and then calculates and obtains the shopping position coordinates of the shopping staff in real time, specifically, the DW1000 tag II transmits the real-time distances between the DW1000 tag II and the three DW1000 base stations to the DW1000 tag I through the three DW1000 base stations respectively, and then transmits the real-time distances to the UWB positioning system of the computer upper computer through the DW1000 tag I, and the UWB positioning system of the computer upper computer calculates and obtains the real-time position coordinates of the DW1000 tag II through a trilateral positioning algorithm, namely, the shopping position coordinates of the shopping staff are obtained.
5. A supermarket shopping cart UPP following method based on UWB technology according to claim 1, wherein: and in the second step, the automatic tracking shopping cart is also provided with a control unit, the control unit is wirelessly connected with the computer upper computer, and the control unit receives a control signal transmitted by the computer upper computer to control the automatic tracking shopping cart.
6. A supermarket shopping cart UPP following method based on UWB technology according to claim 1, wherein: in the third step, in the running process of the automatic tracking shopping cart, calculating and acquiring the current linear velocity of the automatic tracking shopping cart according to the current position coordinate of the automatic tracking shopping cart and adjusting the current linear velocity in real time, specifically, when the automatic tracking shopping cart walks to any one shopping position coordinate point, calculating the current linear velocity V of the automatic tracking shopping cart in real time by the computer upper computer, and when the current linear velocity V of the automatic tracking shopping cart does not exceed a preset velocity value and the distance between the current position of the automatic tracking shopping cart and the current position of a shopper does not exceed a preset distance value, not adjusting the automatic tracking shopping cart; when the current linear speed V of the automatic tracking shopping cart exceeds a preset speed value, controlling the automatic tracking shopping cart to decelerate; when the distance between the current position of the automatic tracking shopping cart and the current position of the shopper exceeds a preset distance value, controlling the automatic tracking shopping cart to accelerate until the current linear velocity V of the automatic tracking shopping cart does not exceed a preset velocity value and the distance between the current position of the automatic tracking shopping cart and the current position of the shopper does not exceed the preset distance value, and finishing the real-time adjustment of the automatic tracking shopping cart;
the formula for automatically tracking the current linear velocity of the shopping cart is as follows:
wherein V represents the current line speed of the auto-tracking shopping cart; x and Y represent the abscissa and ordinate, respectively, of the current position of the auto-tracking cart; dt represents the time interval between the automatic tracking of the shopping cart from the preset initial point location to the current location coordinates.
7. A Supermarket shopping cart UPP following method based on UWB technology according to claim 6, characterized in that: in the third step, the current pre-aiming distance of the automatic tracking shopping cart is obtained through the current linear velocity calculation of the automatic tracking shopping cart, and then the corner of the automatic tracking shopping cart is obtained through calculation;
the formula for automatically tracking the turning angle alpha of the shopping cart is as follows:
L＝A*V 2 +B*V+C
θ＝arctan[(K-Q)/(J-P)]
wherein, alpha represents the turning angle of the automatic tracking shopping cart; l is a radical of an alcohol c Indicating automatic tracking of the wheelbase of the shopping cart; theta represents an included angle between the current position coordinates (P, Q) of the shopper and a preset initial point location (J, K); l represents the current preview distance of the automatically tracked shopping cart; v represents the speed of the auto-tracking cart, A represents the brake constant; a is max Indicating a maximum braking acceleration of the auto-tracking cart; b represents the preset reaction time when the shopping cart encounters an abnormality; c represents a preset minimum turning radius of the automatic tracking shopping cart;
after the corner of the automatic tracking shopping cart is obtained, the corner of the automatic tracking shopping cart is wirelessly transmitted to a wireless signal receiving and transmitting module of the automatic tracking shopping cart through a UWB positioning system, so that the automatic tracking shopping cart is controlled to rotate to change the position and posture, and the automatic tracking shopping cart can accurately follow shopping personnel.
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116382287A (en) * | 2023-04-12 | 2023-07-04 | 深圳市康士达科技有限公司 | Control method and device of following robot, electronic equipment and storage medium |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116382287A (en) * | 2023-04-12 | 2023-07-04 | 深圳市康士达科技有限公司 | Control method and device of following robot, electronic equipment and storage medium |
| CN116382287B (en) * | 2023-04-12 | 2024-01-26 | 深圳市康士达科技有限公司 | Control method and device of following robot, electronic equipment and storage medium |
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Application publication date: 20230203 |