【作者】 董文龙；

【导师】 殷建军； 谢伟东；

【作者基本信息】 浙江工业大学 ， 机械工程， 2019， 硕士

【摘要】 随着我国经济的不断发展,人们生活质量提升显著,并日趋多样化,旅行出差逐渐走进了每个人的生活中,并成为了一个重要的环节,旅行箱也随之成为了人们居家生活的必需品。伴随智能家居逐渐融入日常生活,智能化的旅行箱也渐渐走进到了人们的视野中。本文主要以实现智能旅行箱的自动跟踪功能为目标,对点对点室内定位技术和旅行箱运动控制方法进行研究,根据使用功能需求设计了嵌入式硬件与软件系统,通过实验验证其跟踪与控制的效果。论文主要内容包括以下几个方面:(1)制定智能旅行箱定位导航的方案。采用蓝牙RSSI的定位方法确定旅行箱的位置和距离,其原理是通过旅行箱的搭载的蓝牙模块接收使用者手机的蓝牙信号强度进行距离的转换进行测距;同时,采用基于测距的定位算法,根据测量到的节点之间的距离信息来确定使用者的位置。(2)研究智能旅行箱运动控制方法。计算分析了直流无刷电机的电压方程与转矩方程等数学模型,分析比较了不同PWM的斩控方法和电机正转与反转的控制过程,并设计了转速和电流双闭环系统和PID算法对电机进行控制;进行了运动学模型的搭建,利用电子差速技术完成旅行箱的转向功能,同时确保驱动轮进行纯滚动运行,避免发生不必要的滑转或者滑移动作;对智能旅行箱运动时完成相对坐标系到绝对坐标系之间的位姿变换,并对位姿进行观察,最后对路径跟踪的效果进行验证。(3)根据智能旅行箱定位导航及路径跟踪等功能的需求,设计智能旅行箱自动跟踪系统,包括硬件控制系统和软件程序框架。硬件控制系统方面采用STM32F429作为主控制器,基于系统使用功能的需求,提出了系统硬件控制器的整体设计框架,对外部电路进行扩展,得到完整的硬件电路控制系统。软件部分将程序进行分层处理,包括BSP层、RTOS层及应用层,逐层添加编写程序,咨商到下实现了严谨的结构。采用uCOS-III作为嵌入式操作系统,具有轻量、时效性高的特点,有效利用了主控制器的资源。(4)设计实验测试。对系统的各个模块进行相对应的实验验证,实验数据表明,系统的各个模块能够完成各自的工作,在最后的联机测试中系统展现出较高的兼容性,能够保证跟踪系统的正常运行。更多还原

【Abstract】 With the continuous development of economy,people’s living standards are constantly improving and diversified.Traveling has become an indispensable part of people’s lives,and suitcases have become a necessity for people’s home life.With the smart home gradually integrated into daily life,the intelligent suitcase has gradually entered the people’s field of vision.This paper mainly aims at realizing the automatic tracking function of smart suitcase,and researches the point-to-point indoor positioning technology and the suitcase motion control method.The embedded hardware and software system are designed according to the functional requirements,and the tracking and control effects are verified through experiments.The main contents of the thesis include the following aspects:(1)Develop a plan for smart suitcase positioning and navigation.The positioning method of the Bluetooth RSSI is used to determine the position and distance of the suitcase.The principle is to receive the distance of the Bluetooth signal strength of the user’s mobile phone through the Bluetooth module of the suitcase to measure the distance;at the same time,the positioning algorithm based on the ranging is adopted.The location of the user is determined based on the measured distance information between the nodes.(2)Study the smart suitcase motion control method.The mathematical models of voltage equation and torque equation of DC brushless motor are calculated and analyzed.The control methods of different PWM and the control process of forward and reverse of motor are analyzed and compared,and the double closed loop system and PID algorithm of speed and current are designed.Control the motor;construct the kinematic model,use the electronic differential technology to complete the steering function of the suitcase,and ensure that the wheel does not slip or slip,for pure rolling operation;for the smart suitcase when moving under relative coordinates The pose is used for coordinate transformation,and the pose state is observed in the absolute coordinate system to verify the effect of the path tracking.(3)According to the requirements of smart suitcase positioning navigation and path tracking,the intelligent suitcase automatic tracking system is designed,including hardware control system and software program framework.The hardware control system adopts STM32F429 as the main controller.Based on the requirements of the system function,the overall design framework of the system hardware controller is proposed,and the external circuit is extended to obtain a complete hardware circuit control system.The software part will process the program hierarchically,including the BSP layer,the RTOS layer and the application layer.The program is added layer by layer,and the rigorous structure is realized under the consultation.UCOS-III is adopted as an embedded operating system,which has the characteristics of light weight and high timeliness,and effectively utilizes the resources of the main controller.(4)Design experimental tests.The corresponding experimental verification is carried out for each module of the system.The experimental data shows that each module of the system can complete its own work.In the final online test,the system exhibits high compatibility and can ensure the normal operation of the tracking system.更多还原