履带式自动跟随小车设计  

Design of tracked automatic following car

作　　者：尉祎璠 玄一彤 孟睿 WEI Yifan;XUAN Yitong;MENG Rui(School of Electronic Engineering,Tianjin University of Technology and Education,Tianjin 300222,China)

机构地区：[1]天津职业技术师范大学电子工程学院,天津300222

出　　处：《智能计算机与应用》2024年第6期193-196,共4页Intelligent Computer and Applications

基　　金：大学生创新创业项目(202110066047)。

摘　　要：针对目前智能行李箱环境适应性的不足,设计了履带式智能行李箱运载小车。小车基于UWB超宽带定位技术实时定位主人位置,抗干扰能力高;采用履带式底盘提升小车在复杂路况中通过障碍及爬坡驱动作业性能。本文讨论了电机使能控制信号对履带式小车差速转向灵敏度的影响,用实验法确定了小车最佳转向跟随判定阈值角度,并测试了其爬坡能力。结果表明:履带驱动PWM使能信号周期200 ms时转向效果最好,最佳转向跟随判定角度为65°,小车最大爬坡角度为30°。Aiming at the lack of environmental adaptability of smart luggage at present,this paper designs a crawler-type automatic following car to simulate luggage,which mainly realizes the functions of real-time positioning and following the owner and autonomous steering to cross obstacles.In the research,the trolley is based on UWB ultra-wideband positioning technology to locate the owner's position in real time,and has high anti-interference ability;the crawler chassis is used to improve the performance of the trolley in complex road conditions through obstacles and climbing drives.In this paper,the influence of the motor enabling control signal on the differential steering sensitivity of the tracked trolley is discussed,and the optimal steering following judgment threshold angle of the trolley is determined by experimental method,and its climbing ability is tested.The experimental results show that the optimal steering PWM duty ratio difference is 200 ms,the optimal steering following angle is 65°,the maximum climbing angle is 30°.

关 键 词：自动跟随 UWB定位 差速转向 履带式爬坡 

分 类 号：TM502[电气工程—电器]