CN101864745A - Control system of visual aid based ground advertisement clearance robot and control equipment thereof - Google Patents
Control system of visual aid based ground advertisement clearance robot and control equipment thereof Download PDFInfo
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- CN101864745A CN101864745A CN201010158888A CN201010158888A CN101864745A CN 101864745 A CN101864745 A CN 101864745A CN 201010158888 A CN201010158888 A CN 201010158888A CN 201010158888 A CN201010158888 A CN 201010158888A CN 101864745 A CN101864745 A CN 101864745A
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Abstract
The invention relates to a control system of visual aid based ground advertisement clearance robot and control equipment thereof; on the technical method of clearing ground advertisements abroad, high pressure water is mainly used, the surface of small advertisements are washed by strong water pressure generated by a high-pressure pump to clear the advertisements; in the invention, a main control module sends out a command to directly control an image control module, the image control module sends out a signal which is applied to a single camera and image acquisition and processing are carried out to the ground to be cleared, the processed data information is fed back to a motor control module and a steering engine control module to carry out control, a real-time state of a motor feed-back module is scanned dynamically, so as to lead the robot to find the ground advertisement and clear away automatically; meanwhile, the command sent out by a wireless communication module controls direct communication of an upper computer and a small advertisement clearance robot, so as to carry out remote control and data tracing; an application program downloads a debugging module and builds programming environment with the upper computer, so as to carry out program modification and maintenance. The invention is applied to the ground advertisement clearance robot.
Description
Technical field:
The invention belongs to the Robot Control Technology field.Be specifically related to a kind of based on vision auxiliary ground advertisement clearance robot control system and relevant device.
Background technology:
The small advertisement that is called as " city psoriasis " is ubiquitous, and the existence of " city psoriasis " has become city discordant view together.On the one hand city look and feel are polluted, be repugnant to the eye, have a strong impact on city image; Also bring many social hidden danger on the other hand, influence citizen's life.Therefore removing ground spot (small advertisement) is one of vital task of city cleaning.Along with developing rapidly of Robotics and supporting technology thereof, the application of robot is permeated to fields such as military affairs, medical treatment, agricultural, services from industrial circle gradually.If can design a kind of ground advertisement clearance robot control system, will can solve the problems referred to above.
On the technical method of removing ground advertisement, mainly be that applying high voltage water solves abroad.Wash away the surface of small advertisement by the powerful water pressure of high-pressure pump generation and remove advertisement.Some companies of Germany are on the forefront in this respect, god of unusual strength's product of producing as the Kranzle company of Germany, but its high-pressure wash effect at home is undesirable.Mainly be that technology is used and energy utilization aspect existing problems.Beijing Kang Bosi inscription company has developed a advertisement and has removed product, its principle is to utilize high-temperature steam as cleansing medium, do fuel with liquefied petroleum gas, can produce high-temperature steam in start back a period of time, utilize the high-temperature gas of ejection to remove to wash away small advertisement then.This product has had certain specific aim with respect to the god of unusual strength, should be a big progress, still, also has some problems in design.Such as, high-temperature steam is hurted sb.'s feelings easily; Still there is the waste of water resource, dangerous high with liquid gas storage tank as power source; Hand handle under long high temperature action, problems such as easy heat injury operator excessively.
Summary of the invention:
The purpose of this invention is to provide a kind of ground advertisement clearance robot control system; This control system is designed and developed based on vision is auxiliary, and the application monocular-camera carries out the Real-time and Dynamic collection to state of ground and handles accordingly; Because the data after handling are less, are convenient to the storage and the calculating of system, structural module is well arranged, implements simple and convenient relatively.
The purpose of foregoing invention realizes by following technical scheme:
Based on the auxiliary ground advertisement clearance robot control device of vision, its composition comprises: support, main control module, control device also comprises the monocular cam that is connected with described main control module, motor control module that is connected with described monocular cam and steering wheel control module, with the wireless communication module that the small advertisement cleaning robot gets in touch, application program is downloaded debugging module and upper Industrial Personal Computer (IPC); Described main control module and power supply are all distinguished connection layout and are downloaded debugging module, motor feedback module as control module, described wireless communication module, described motor control module, described steering wheel control module and described program.
Described based on the auxiliary ground advertisement clearance robot control device of vision, described support comprises the lateral stiffness support that has wheel, described lateral stiffness support connects vertical rigid support, the described bistrique that is connected with described lateral stiffness support is housed in the left side of described vertical rigid support, described bistrique top connects the bistrique rotary drive motor that is contained on the described lateral stiffness support, described bistrique rotary drive motor connects bistrique lifting drive motors and bistrique lifting spring by the bistrique lifting linking member, the control system that is connected with described lateral stiffness support is housed on the right side of described vertical rigid support, described control system connects wireless communication apparatus, the afterbody of described lateral stiffness support connects advance drive motors and external encoder, the drive motors that turns to that is connected with described bistrique rotary drive motor is equipped with in the front portion of described lateral stiffness support, and described monocular cam is equipped with on described vertical rigid support top.
Described based on the auxiliary ground advertisement clearance robot control device of vision, described main control module moves removing with auxiliary vision system; With 16 the single-chip microcomputer models MC9S12XS128B of Freescale Semiconductor is that the main control chip of core and chip initiation circuit are formed, described image capture module is to adopt camera model OV6620 to drive chip to carry out webcam driver, for main control chip provides good digital image information, row to interrupt and an interruption sign position, and high picking rate with 50 of the resolution ratio of 356*292 and per seconds, catch corresponding signal by main control chip, or generation is interrupted or the reception view data is relatively judged in input.
Described described motor control module is made up of motor drive ic and two direct current generators based on the auxiliary ground advertisement clearance robot control device of vision, adopts 2 direct current generators of 1 L298n motor drive ic control.
Described based on the auxiliary ground advertisement clearance robot control device of vision, described steering wheel control module comprises the drive unit that the control ground advertisement clearance robot turns to and the drive unit of bistrique oscilaltion; Described wireless communication module adopts Zigbee as communications carrier, uses the serial ports connected mode, and selected Zigbee has external antenna 3db and can establish the performance of baud rate arbitrarily, the direct communication of control host computer and small advertisement cleaning robot.
Described based on the auxiliary ground advertisement clearance robot control device of vision, described program is downloaded the download debugging module MC908JB16 chip design that debugging module adopts special-purpose Freescale single-chip microcomputer; This module is special-purpose programming development environment of collocation and on-line tracing debugging enironment, finishes the special module of the modification and the maintenance of program.
Based on the auxiliary ground advertisement clearance robot control system of vision, send the instruction control based on direct control chart as control module by main control module, send signal application by the image control module and IMAQ and processing are carried out in the ground that will remove to monocular cam, data message after the processing feeds back to motor control module and the steering wheel control module is controlled, and the real-time status of dynamic scan motor feedback module, make robot can seek ground advertisement and removing automatically; Simultaneously, by the instruction that wireless communication module sends, Long-distance Control, data tracking are finished in the direct communication of control host computer and small advertisement cleaning robot; Application program is downloaded debugging module and host computer builds programming environment, carries out modification of program and maintenance.
Described based on the auxiliary ground advertisement clearance robot control system of vision, described motor feedback module is given external encoder in the middle of the main control chip with the rotation number of turns of mobile device and position feedback, make the moving situation of main control chip perception motor, know the move distance of dolly; Described motor control module direct current generator is respectively as the mobile drive deivce of ground advertisement clearance robot with remove drive unit; Mobile drive deivce connects moving wheel bar gear train, realizes the synchronous of tire; Remove drive unit and be used for driving the bottom bistrique, finish and remove the rod end that turns to that the described steer-drive of action is connected in two wheels respectively, finish the go to action of wheel; The drive unit of bistrique oscilaltion carries out the angle rotation, promotes the lifting of spring lever.
Beneficial effect:
1. the present invention is based on the auxiliary control system of vision, robot is the size and the position of accurate recognition ground advertisement comparatively, and can remove advertisement automatically, and dynamic property is good, and error is less, and the stability and the antijamming capability of system are strong.
2. the present invention has avoided safety problem and the system misoperation that the participation owing to the people causes.
3. the present invention can finish the identification and the removing of advertisement on a surface target, is one of key technology of ground advertisement clearance robot, and can its control system have determined robot finish the task of regulation.
4. the instruction that employing wireless communication module of the present invention is sent, the direct communication of control host computer and small advertisement cleaning robot can be finished Long-distance Control, data tracking, experimental debugging, and simple to operate, practicality is good.
Description of drawings:
Fig. 1 is a control system structure chart of the present invention.
Fig. 2 is the structure chart of ground advertisement clearance robot of the present invention.
Fig. 3 is the vertical view of Fig. 2.
Fig. 4 system circuit diagram of the present invention.
7.2V-5V mu balanced circuit figure among Fig. 5 the present invention.
The circuit diagram of motor interface among Fig. 6 the present invention.
The circuit diagram of test signal lamp among Fig. 7 the present invention.
Motor-driven peripheral circuit circuit diagram among Fig. 8 the present invention.
Steering wheel interface circuit figure among Fig. 9 the present invention.
Download debug i/f circuit figure among Figure 10 the present invention.
Supply module circuit diagram among Figure 11 the present invention.
Wireless communication module circuit diagram among Figure 12 the present invention.
Photoelectric coding input circuit figure among Figure 13 the present invention.
Camera input interface circuit figure among Figure 14 the present invention.
The specific embodiment:
Embodiment 1:
Based on the auxiliary ground advertisement clearance robot control system of vision, support, main control module, the monocular cam that is connected with described main control module, motor control module that is connected with described monocular cam and steering wheel control module, with the wireless communication module that the small advertisement cleaning robot gets in touch, application program is downloaded debugging module and upper Industrial Personal Computer (IPC).Described main control module 1 connection layout is downloaded debugging module 6 as control module 2, wireless communication module 3, motor control module 4, steering wheel control module 5 and program, described image control module 2, wireless communication module 3, motor control module 4, steering wheel control module 5 and program are downloaded debugging module 6 and are connected power supply 7, described power supply 7 connects motor feedback module 8, and described motor feedback module 8 connects main control module 1.
Based on the auxiliary ground advertisement clearance robot control system of vision, send the instruction control based on direct control chart as control module by main control module, send signal application by the image control module and IMAQ and processing are carried out in the ground that will remove to monocular cam, data message after the processing feeds back to motor control module and the steering wheel control module is controlled, and the real-time status of dynamic scan motor feedback module, make robot can seek ground advertisement and removing automatically; Simultaneously, by the instruction that wireless communication module sends, Long-distance Control, data tracking are finished in the direct communication of control host computer and small advertisement cleaning robot; Application program is downloaded debugging module and host computer builds programming environment, carries out modification of program and maintenance.
Described based on the auxiliary ground advertisement clearance robot control system of vision, described motor feedback module is given external encoder in the middle of the main control chip with the rotation number of turns of mobile device and position feedback, make the moving situation of main control chip perception motor, know the move distance of dolly; Described motor control module direct current generator is respectively as the mobile drive deivce of ground advertisement clearance robot with remove drive unit; Mobile drive deivce connects moving wheel bar gear train, realizes the synchronous of tire; Remove drive unit and be used for driving the bottom bistrique, finish and remove the rod end that turns to that the described steer-drive of action is connected in two wheels respectively, finish the go to action of wheel; The drive unit of bistrique oscilaltion carries out the angle rotation, promotes the lifting of spring lever.
Embodiment 2:
Described based on the auxiliary ground advertisement clearance robot control system of vision, described image capture module is to adopt camera model OV6620 to drive chip to carry out webcam driver, can be main control chip provides good digital image information, row to interrupt and an interruption sign position, and high picking rate with 50 of the resolution ratio of 356*292 and per seconds, can catch corresponding signal by main control chip, or generation is interrupted or the reception view data is relatively judged in input.
Described described motor control module is made up of motor drive ic and two direct current generators based on the auxiliary ground advertisement clearance robot control system of vision, adopts 2 direct current generators of 1 L298n motor drive ic control; Two direct current generators are respectively as the mobile drive deivce of ground advertisement clearance robot with remove drive unit; Mobile drive deivce connects moving wheel bar gear train, realizes the synchronous of tire; Remove drive unit and be used for driving the bottom bistrique, finish and remove action.
Described based on the auxiliary ground advertisement clearance robot control system of vision, described steering wheel control module comprises the drive unit that the control ground advertisement clearance robot turns to and the drive unit of bistrique oscilaltion; Steer-drive is connected in the rod end that turns to of two wheels respectively, finishes the go to action of wheel; The drive unit of bistrique oscilaltion can carry out the angle rotation, promotes the lifting of spring lever.
Described based on the auxiliary ground advertisement clearance robot control system of vision, described motor feedback module is given external encoder in the middle of the main control chip with the rotation number of turns of mobile device and position feedback, make the moving situation of main control chip perception motor, know the move distance of dolly.
Described based on the auxiliary ground advertisement clearance robot control system of vision, described wireless communication module adopts Zigbee as communications carrier, use the serial ports connected mode, selected Zigbee has external antenna (amplitude of 3db) and can establish the performance of baud rate arbitrarily, can control the direct communication of host computer and small advertisement cleaning robot.
Described based on the auxiliary ground advertisement clearance robot control system of vision, described program is downloaded the download debugging module MC908JB16 chip design that debugging module adopts special-purpose Freescale single-chip microcomputer; This module arrange in pairs or groups special-purpose programming development environment and on-line tracing debugging enironment are finished the modification and the maintenance of program.
Embodiment 3:
Operating process:
(1) at first, the main control module of being made up of main control chip and chip initiation circuit sends the scan instruction control based on direct control chart as module, makes monocular cam carry out IMAQ and processing to the ground that will remove;
(2) ground advertisement picture size and respective image co-ordinate position information after the image acquisition and processing module will be handled feed back to main control module;
(3) main control module is controlled motor control module and steering wheel control module with the size and the position data that obtain simultaneously by the mode that sends instruction; Wherein mobile drive deivce in the middle of the motor control module and removing drive unit are realized the rotation removing motion of the synchronous and bistrique of tire respectively; Wherein steer-drive in the middle of the steering wheel control module and bistrique lifting drive are realized the lifting with bistrique of turning to of wheel respectively;
(4) information of main control chip dynamic scan motor feedback module makes robot can in time adjust orientation and bistrique position, seeks ground advertisement and removing automatically;
(5) the employing wireless communication module instruction of sending, control host computer and small advertisement cleaning robot carry out direct communication, finish Long-distance Control, data tracking.
(6) application program is downloaded debugging module, finishes the modification and the maintenance of program at any time.
Claims (8)
1. one kind based on the auxiliary ground advertisement clearance robot control device of vision, its composition comprises: support, main control module, it is characterized in that: control device also comprises the monocular cam that is connected with described main control module, motor control module that is connected with described monocular cam and steering wheel control module, with the wireless communication module that the small advertisement cleaning robot gets in touch, application program is downloaded debugging module and upper Industrial Personal Computer (IPC); Described main control module and power supply are all distinguished connection layout and are downloaded debugging module, motor feedback module as control module, described wireless communication module, described motor control module, described steering wheel control module and described program.
2. according to claim 1 based on the auxiliary ground advertisement clearance robot control device of vision, it is characterized in that: described support comprises the lateral stiffness support that has wheel, described lateral stiffness support connects vertical rigid support, the described bistrique that is connected with described lateral stiffness support is housed in the left side of described vertical rigid support, described bistrique top connects the bistrique rotary drive motor that is contained on the described lateral stiffness support, described bistrique rotary drive motor connects bistrique lifting drive motors and bistrique lifting spring by the bistrique lifting linking member, the control system that is connected with described lateral stiffness support is housed on the right side of described vertical rigid support, described control system connects wireless communication apparatus, the afterbody of described lateral stiffness support connects advance drive motors and external encoder, the drive motors that turns to that is connected with described bistrique rotary drive motor is equipped with in the front portion of described lateral stiffness support, and described monocular cam is equipped with on described vertical rigid support top.
3. according to claim 1 and 2 based on the auxiliary ground advertisement clearance robot control device of vision, it is characterized in that: described main control module moves removing with auxiliary vision system; With 16 the single-chip microcomputer models MC9S12XS128B of Freescale Semiconductor is that the main control chip of core and chip initiation circuit are formed, described image capture module is to adopt camera model 0V6620 to drive chip to carry out webcam driver, for main control chip provides good digital image information, row to interrupt and an interruption sign position, and high picking rate with 50 of the resolution ratio of 356*292 and per seconds, catch corresponding signal by main control chip, or generation is interrupted or the reception view data is relatively judged in input.
4. according to claim 1 and 2 based on the auxiliary ground advertisement clearance robot control device of vision, it is characterized in that: described motor control module is made up of motor drive ic and two direct current generators, adopts 2 direct current generators of 1 L298n motor drive ic control.
5. according to claim 1 and 2 based on the auxiliary ground advertisement clearance robot control device of vision, it is characterized in that: described steering wheel control module comprises the drive unit that the control ground advertisement clearance robot turns to and the drive unit of bistrique oscilaltion; Described wireless communication module adopts Zigbee as communications carrier, uses the serial ports connected mode, and selected Zigbee has external antenna 3db and can establish the performance of baud rate arbitrarily, the direct communication of control host computer and small advertisement cleaning robot.
6. according to claim 1 and 2 based on the auxiliary ground advertisement clearance robot control device of vision, it is characterized in that: described program is downloaded the download debugging module MC908JB16 chip design that debugging module adopts special-purpose Freescale single-chip microcomputer; This module is special-purpose programming development environment of collocation and on-line tracing debugging enironment, finishes the special module of the modification and the maintenance of program.
7. one kind based on the auxiliary ground advertisement clearance robot control system of vision, it is characterized in that: send the instruction control based on direct control chart as control module by main control module, send signal application by the image control module and IMAQ and processing are carried out in the ground that will remove to monocular cam, data message after the processing feeds back to motor control module and the steering wheel control module is controlled, and the real-time status of dynamic scan motor feedback module, make robot can seek ground advertisement and removing automatically; Simultaneously, by the instruction that wireless communication module sends, Long-distance Control, data tracking are finished in the direct communication of control host computer and small advertisement cleaning robot; Application program is downloaded debugging module and host computer builds programming environment, carries out modification of program and maintenance.
8. according to claim 7 based on the auxiliary ground advertisement clearance robot control system of vision, it is characterized in that: described motor feedback module is given external encoder in the middle of the main control chip with the rotation number of turns of mobile device and position feedback, make the moving situation of main control chip perception motor, know the move distance of dolly; Described motor control module direct current generator is respectively as the mobile drive deivce of ground advertisement clearance robot with remove drive unit; Mobile drive deivce connects moving wheel bar gear train, realizes the synchronous of tire; Remove drive unit and be used for driving the bottom bistrique, finish and remove the rod end that turns to that the described steer-drive of action is connected in two wheels respectively, finish the go to action of wheel; The drive unit of bistrique oscilaltion carries out the angle rotation, promotes the lifting of spring lever.
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| CN201010158888.3A CN101864745B (en) | 2010-04-29 | 2010-04-29 | Control system of visual aid based ground advertisement clearance robot and control equipment thereof |
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| CN201010158888.3A CN101864745B (en) | 2010-04-29 | 2010-04-29 | Control system of visual aid based ground advertisement clearance robot and control equipment thereof |
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Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN103161133A (en) * | 2013-02-22 | 2013-06-19 | 上海市金山区青少年活动中心 | Intelligent road-cleaning vehicle based on machine vision and controlling method thereof |
| CN104090574A (en) * | 2014-07-03 | 2014-10-08 | 邢淦琛 | Intelligent environment cleaning machine |
| CN104404904A (en) * | 2014-11-21 | 2015-03-11 | 安徽省库仑动力自动化科技有限公司 | Factory sweeper utilizing visual tracking |
| CN106101634A (en) * | 2016-07-06 | 2016-11-09 | 武汉科技大学 | A kind of Mobile Robot Control System for indoor environment video monitoring |
| CN106245567A (en) * | 2016-08-31 | 2016-12-21 | 重庆广播电视大学 | A kind of road-cleaning System and method for based on cloud platform |
| CN106354101A (en) * | 2016-11-30 | 2017-01-25 | 哈尔滨理工大学 | Derusting wall-climbing robot electrical control system |
| CN108385588A (en) * | 2018-03-13 | 2018-08-10 | 哈尔滨理工大学 | road cleaning vehicle with automatic control function |
| CN110847104A (en) * | 2019-10-25 | 2020-02-28 | 深圳市宝政通环境有限公司 | Road cleaning vehicle for cleaning small advertisements |
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| DE102005039210A1 (en) * | 2005-08-17 | 2007-02-22 | Cft Gmbh Compact Filter Technic | Reversible suction machine for cleaning road- and large surfaces, has ventilator arranged in area of driver`s cab and connected with filter via raw air flowing flat channel that is correspondingly oblong and overstretches cover |
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Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103161133A (en) * | 2013-02-22 | 2013-06-19 | 上海市金山区青少年活动中心 | Intelligent road-cleaning vehicle based on machine vision and controlling method thereof |
| CN103161133B (en) * | 2013-02-22 | 2015-08-05 | 上海市金山区青少年活动中心 | Based on Intelligent road road-sweeper and the control method thereof of machine vision |
| CN104090574A (en) * | 2014-07-03 | 2014-10-08 | 邢淦琛 | Intelligent environment cleaning machine |
| CN104404904A (en) * | 2014-11-21 | 2015-03-11 | 安徽省库仑动力自动化科技有限公司 | Factory sweeper utilizing visual tracking |
| CN106101634A (en) * | 2016-07-06 | 2016-11-09 | 武汉科技大学 | A kind of Mobile Robot Control System for indoor environment video monitoring |
| CN106245567A (en) * | 2016-08-31 | 2016-12-21 | 重庆广播电视大学 | A kind of road-cleaning System and method for based on cloud platform |
| CN106354101A (en) * | 2016-11-30 | 2017-01-25 | 哈尔滨理工大学 | Derusting wall-climbing robot electrical control system |
| CN108385588A (en) * | 2018-03-13 | 2018-08-10 | 哈尔滨理工大学 | road cleaning vehicle with automatic control function |
| CN110847104A (en) * | 2019-10-25 | 2020-02-28 | 深圳市宝政通环境有限公司 | Road cleaning vehicle for cleaning small advertisements |
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