基于UWB的智能搬运小车  

Intelligent Freight Vehicle System Based on UWB Technology

作　　者：曾贵苓[1] 王苹[1] 张玉明[1] 段争光[1] ZENG Guiling;WANG Ping;ZHANG Yuming;DUAN Zhengguang(Department of Electrical Engineering,Wuhu Institute of Technology,Wuhu 241006,China)

机构地区：[1]芜湖职业技术学院电气工程学院

出　　处：《湖北民族学院学报（自然科学版）》2019年第2期223-227,共5页Journal of Hubei Minzu University(Natural Science Edition)

基　　金：芜湖职业技术学院自然科学重点研究项目(Wzyzrzd201809,Wzyzrzd201701);安徽省质量工程项目(2015gxk101,2017kfk132)

摘　　要：在循迹、避障等基本功能的基础上,融入UWB(Ultra Wideband)技术以实现智能搬运小车的高精度目标跟随,使得智能搬运小车能实现多种场景的货物搬运.通过在车身安装2个UWB基站模块,在目标体上携带1个UWB标签模块,利用定位算法来获取目标相对于小车的实时空间几何位置.另外,车身的磁条传感器、防撞条、超声波传感器和RFID标签传感器用于实现小车基本功能的传感单元.综合UWB模块获取的目标位置信息和其他传感器获取的传感信息,小车的控制器做出相应的决策,以差速驱动的方式控制电机向目标位置移动.经过现场测试,智能小车在手动模式、跟随模式和循迹模式下均良好运行,因此多种模式运行的智能小车能适应多种货运场景下工作,对于工业自动化具有重要的意义.To make intelligent vehicle used in more freight situations,this paper designs an intelligent freight vehicle system which not only can track and avoid obstacles,but also can follow the objective with high positioning accuracy using UWB technology.Two UWB base station modules are installed on intelligent vehicle and a UWB label module carried by the objective,by which the intelligent vehicle system can get the space position of the objective using positioning algorithm.Moreover,magnetic stripe sensor,anti-collision stripe,ultrasonic sensor and RFID label sensor are also installed in the intelligent vehicle system to get related sensing information.By synthesizing several sensing information,the main controller of the system makes corresponding decisions and moves to the target position by differential drive method.After testing,the system works well in manual mode,follows mode and track mode,and its multi-mode selection function can make the intelligent vehicle work in many freight situations.The design of this system is of great significance to industrial automation.

关 键 词：智能搬运小车 目标跟随 UWB技术 差速驱动 循迹 定位 

分 类 号：TN92[电子电信—通信与信息系统]