Research On Automatic Tracking Technology For Smart Suitcase

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.