CN102621986A - Navigation control system based on vision and ultrasonic waves - Google Patents
Navigation control system based on vision and ultrasonic waves Download PDFInfo
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- CN102621986A CN102621986A CN201210113079XA CN201210113079A CN102621986A CN 102621986 A CN102621986 A CN 102621986A CN 201210113079X A CN201210113079X A CN 201210113079XA CN 201210113079 A CN201210113079 A CN 201210113079A CN 102621986 A CN102621986 A CN 102621986A
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Abstract
The invention relates to a navigation control system based on vision and ultrasonic waves, which comprises a caterpillar robot body, an ultrasonic ranging subsystem, a vision subsystem and a motion control subsystem, wherein the ultrasonic ranging subsystem is arranged in front of the robot, the vision subsystem is arranged over the robot, and the motion control subsystem is positioned above the robot. The ultrasonic ranging subsystem comprises ultrasonic transmitters, ultrasonic receivers and a signal processing circuit, and a plurality of transmitters and a plurality of receivers are distributed in an equally spaced mode. The vision subsystem comprises a CCD (Charge Coupled Device) camera, an analog-to-digital conversion circuit and a DSP (Digital Signal Processor) image processor, and the motion control subsystem comprises a DSP motion controller and corresponding peripheral circuits. Information processed by the vision subsystem and the ultrasonic ranging subsystem is transmitted to a fuzzy controller inlaid in the motion control subsystem, and the fuzzy controller outputs control information to control the motion of the robot. The system has the advantages that the advantages of visual navigation and ultrasonic navigation are combined, so the navigation accuracy is increased; as the DSP high-speed processor is adopted, the instantaneity and the expandability are increased; and the anti-jamming capability is enhanced through applying a fuzzy control method.
Description
Technical field
The invention belongs to robot navigation and control technology field, relate to a kind of based on vision and hyperacoustic caterpillar type robot navigation control system.
Background technology
Airmanship is that the mobile robot realizes intelligent and complete autonomous gordian technique, and the precision of navigation and real-time still remain further to be improved.Vision guided navigation has advantages such as acquisition of signal wide ranges, target information are complete, sensitivity height, is robot navigation's a main developing direction.In the vision guided navigation mode, using maximum is to be employed in the navigate mode based on local visual that vehicle-mounted vidicon is installed in the robot.Adopt this navigate mode, opertaing device and sensor device all are loaded on the robot car body, and image recognition, the decision-making of path planning contour level are all accomplished by truck-mounted computer, and the Flame Image Process calculated amount is big, so the real-time difference is one problem to be solved is arranged.In addition, when barrier not within the visual field or light when very dark, the robotic vision navigation activity is restricted; The ultrasound wave navigation has simple in structure, and Information Monitoring speed is fast, characteristics such as temporal resolution height, and ultrasonic sensor is not vulnerable to the influence of external environmental conditions such as weather condition, ambient lighting simultaneously.The technology maturation of ultrasound wave navigation at present has been widely applied in various mobile robots' the sensory perceptual system.But, cause difficulty for fully acquisition robot surrounding enviroment information because there is detection blind area in ultrasonic sensor self defectiveness.Different robot navigation's sensors reflects the navigational state of robot from different aspects; In order to fully utilize these sensor informations to greatest extent; Avoid the work blind area of single-sensor; The multi-sensor combined navigation system that necessary foundation is suitable, thus make robot adapt to complex environment, improve the reliability of navigation.
Summary of the invention
General robot navigation's control system real-time is lower, navigation accuracy is not high in order to overcome, move deficiencies such as dumb, and it is a kind of based on vision and hyperacoustic navigation control system that the present invention provides.
Technical scheme of the present invention is: a kind of based on vision and hyperacoustic navigation control system; Comprise the crawler frame human body; Be arranged on caterpillar type robot left front, dead ahead, right front the ultrasonic ranging subsystem and directly over vision subsystem, and the motion control subsystem that is positioned at caterpillar type robot top.
Vision subsystem comprises two ccd video cameras and DSP image processor; Two ccd video cameras be installed in caterpillar type robot directly over; Video camera is gathered the video information of the place ahead road conditions in real time when caterpillar type robot walking, and this video information sends to the DSP image processor through analog to digital conversion circuit; Image processing algorithm in the DSP image processor is handled this digital video information, obtains navigational parameter, and this navigational parameter that will obtain through interface circuit again is transferred to motion control subsystem.
The ultrasonic ranging subsystem comprises ultrasonic transmitter and ultrasonic receiver and corresponding circuit; Caterpillar type robot when work three groups of ultrasonic transmitters are launched ultrasonic signal continuously and are used for surveying the barrier around the caterpillar type robot; When barrier had the echoed signal that reflects, ultrasonic receiver received this echoed signal and produces range information and is transferred to motion control subsystem.
Motion control subsystem comprises DSP motion controller and peripheral circuit, and the DSP motion controller receives the navigational parameter of vision subsystem transmission and the range information of ultrasonic ranging subsystem transmission, and these signals are merged.Adopt fuzzy control method, design two fuzzy control subsystems.The first is based on the fuzzy control subsystem of ultrasonic sensor; Promptly three groups of distance values according to the transmission of ultrasonic ranging subsystem are fuzzy input quantity; The duration of clutch coupling under off-state of two driving wheels about said caterpillar type robot designed a fuzzy controller as output quantity, and this controller is embedded in the motion control subsystem.Its two be based on vision sensor the fuzzy control subsystem; Promptly blur input quantity according to the navigational parameter conduct of vision subsystem transmission; With the duration of clutch coupling under off-state of two driving wheels about said caterpillar type robot as output quantity; And, design a fuzzy controller according to the pose of caterpillar type robot, also this controller is embedded in the motion control subsystem.Two fuzzy controllers that designed come co-ordination through a setting value, when the barrier distance that has at least one group of ultrasonic ranging subsystem to obtain is less than or equal to this setting value, get into the fuzzy control subsystem based on ultrasonic sensor; Otherwise, get into fuzzy control subsystem based on vision sensor.Motion control subsystem produces control signal according to the motion conditions of caterpillar type robot; By driving circuit this control signal is handled; And then control caterpillar type robot left and right driving wheel is in the controlled quentity controlled variable of following one-period, realize caterpillar type robot turning, keep straight on and stop.
The navigation control system that technical scheme of the present invention provided compared with prior art, it possesses following some beneficial effect:
(1) the present invention merges vision guided navigation kind ultrasound wave navigation to get up, and comprehensive both advantages have navigation accuracy height, good reliability, characteristics that adaptive faculty is strong;
(2) vision subsystem kind motion control subsystem all adopts the DSP high speed processor, can solve the not high problem of navigation real-time, and the abundant interface of this processor also capable of using carries out the expansion of corresponding function, has improved the dirigibility of expansion upgrading;
(3) motion control subsystem adopts fuzzy control, and fuzzy rule base is from operator and expert's experience, and is easy to operate, and improved robustness, the anti-interference of system.
Description of drawings
Fig. 1 is the general structure block diagram of the embodiment of the invention;
Fig. 2 is the process flow diagram of the navigation control method of the embodiment of the invention;
Fig. 3 is that caterpillar type robot and the position of guidance path in the vision subsystem of the embodiment of the invention concerns synoptic diagram;
Fig. 4 is the fuzzy control subsystem synoptic diagram based on vision sensor of the embodiment of the invention;
Fig. 5 is the fuzzy control subsystem synoptic diagram based on ultrasonic sensor of the embodiment of the invention;
Among the figure: 1 is vision subsystem, and 2 for the ultrasonic ranging subsystem, and 3 is motion control subsystem, and 4 is world coordinate system, and 5 is the guidance path center line, 6 directions of going for caterpillar type robot.
Embodiment:
(1) principle of work of the present invention is: after caterpillar robot was started working, vision subsystem and ultrasonic ranging subsystem began co-ordination simultaneously.Caterpillar type robot is in moving process; The ccd video camera of vision subsystem (be installed in caterpillar type robot directly over) is gathered the video information of robot the place ahead road conditions in real time; Convert this video information to digital signal through analog to digital conversion circuit; Send DSP image processor (adopting the TMS320DM642 chip) to by video interface and carry out information processing; Obtain navigational parameter, and the UART serial ports of the information that this vision subsystem is obtained through DSP (adopting the TMS320C2812 chip) motion controller is transferred in the motion control subsystem; Also collaborative work of ultrasonic ranging subsystem simultaneously; Ultrasonic resonator frequency generating circuit, modulate circuit produce ultrasonic signal and are launched by ultrasonic transmitter; The ultrasonic echo receiving processing circuit receives processing to barrier reflection with the ultrasonic signal that comes, and the signal that the ultrasonic ranging subsystem is obtained by ultrasonic receiver is transferred to motion control subsystem through the digital input interface of DSP motion controller.So far; Divide two-way to carry out work; Ultrasonic ranging subsystem and motion control subsystem are one the tunnel, and this road is operated under the situation that the obstacle distance that has one group of ultrasound examination at least is less than or equal to setting value, are obtained the duration signal of clutch coupling under off-state of left and right sidesing driving wheel by the fuzzy control subsystem based on ultrasonic sensor that is designed; Solenoidoperated cluthes break off after the corresponding driving processing of circuit, thus the mobile status of control caterpillar type robot; Vision subsystem and motion control subsystem are another road; When the obstacle distance of ultrasound examination all under the situation greater than setting value; The clutch coupling that obtains left and right sidesing driving wheel by the fuzzy control subsystem that is designed based on vision sensor under off-state the time continue between signal, move by this signal controlling caterpillar type robot.
(2) fuzzy controller based on vision sensor of the present invention's structure, its input quantity is a navigational parameter: drift angle, course ψ
WWith lateral deviation ρ, the controlled quentity controlled variable of output is for turning to control u
1Lateral deviation ρ is positioned at Z
WThe left side is for negative, and ρ is positioned at Z
WThe right side is for just; Drift angle, course ψ
WBe positioned at Z
WThe left side is for bearing ψ
WBe positioned at Z
WThe right side is for just, and scope is [90 °, 90 °].With the domain of drift angle, course be defined as 7 grades 3 ,-2 ,-1,0,1,2,3}, linguistic variable be 7 grades NB, NM, NS, O, PS, PM, PB}, quantizing factor is controlled through the fuzzy control parameter optimizing.Lateral deviation is divided into 7 grades equally, but is not uniform distribution, quantification gradation be 5 ,-4 ,-3 ,-2 ,-1,0,1,2,3,4,5}, linguistic variable is 7 grades { NB (5), NM (2.5), NS (1), O (0), PS (1), PM (2.5), PB (5) }.Output variable turns to control u
1Be control to the steering direction kind degree of working rig, by descriptive language divide 7 grades LB, LM, LS, O, RS, RM, RB}, LB, LM, LS all represent left steering, represent left steering to keep 1.8s, 1.3s, 0.8s respectively; O representes to keep the current driving state, does not turn to; RS, RM, RB all represent right turn, represent that respectively right turn keeps 0.8s, 1.3s, 1.8s.
Fuzzy controller adopts operating personnel and expertise to work out out fuzzy control rule, and is as shown in the table:
Table 1 is based on the fuzzy control rule of vision sensor
This fuzzy controller adopts gravity model appoach to realize fuzzy judgment, obtains the fuzzy control decision table, deposits in the fuzzy controller based on vision sensor, and the navigational parameter that is obtained in real time by vision subsystem when controlling is in real time looked into decision table and obtained controlled quentity controlled variable u
1
(3) fuzzy controller based on ultrasonic sensor of the present invention's structure; The obstacle distance that its input quantity detects from caterpillar type robot left front, dead ahead, the three groups of ultrasonic sensors in right front; And get the distance value of value less in every group as this sensor groups, the controlled quentity controlled variable of output is for turning to control u
2Fuzzy transmission range variable be 5 grades very nearly (CLOSE), nearly (NEAR), in (MED), (FAR) far away, far (VFAR) }, output variable turns to control u
2By descriptive language divide 7 grades NB, NM, NS, O, PS, PM, PB}, NB, NM, NS all represent left steering, represent left steering to keep 1.8s, 1.3s, 0.8s respectively; O representes to keep the current driving state, does not turn to; STOP representes to stop; PS, PM, PB all represent right turn, represent that respectively right turn keeps 0.8s, 1.3s, 1.8s.Fuzzy control rule such as the following table summed up:
Table 2 is based on the fuzzy control rule of ultrasonic sensor
This fuzzy controller adopts the maximum membership degree method to realize fuzzy judgment; Obtain the fuzzy control decision table; Deposit in the fuzzy controller based on ultrasonic sensor, three groups of obstacle distances that obtained in real time by the ultrasound wave RACS when controlling are in real time looked into decision table and are obtained controlled quentity controlled variable u
2
To be embodied as example the course of work of the present invention is described above; Certainly, the present invention is not limited in above embodiment, according to above-mentioned description; The related work personnel can carry out various change and modification fully in the scope that does not depart from this invention technological thought.The technical scope of this invention is not limited to the content on the instructions, all any modifications of within spirit of the present invention and principle, being done, is equal to replacement and improvement etc., all should be included within protection scope of the present invention.
Claims (5)
1. one kind based on vision and hyperacoustic navigation control system; It is characterized in that: this system comprises the crawler frame human body; Be arranged on caterpillar type robot left front, dead ahead, right front the ultrasonic ranging subsystem and directly over vision subsystem, and the motion control subsystem that is positioned at caterpillar type robot top; The guidance path that said crawler frame human body is used for providing according to vision subsystem moves, and realizes keeping away in real time barrier thereby detect caterpillar type robot barrier on every side according to the ultrasonic ranging subsystem in the motion process.
2. as claimed in claim 1 based on vision and hyperacoustic navigation control system; It is characterized in that said crawler frame human body turning, keep straight on and stop to move and coordinate control by the clutch coupling of caterpillar type robot left and right sidesing driving wheel, the action of clutch coupling is controlled by corresponding hydraulic cylinder automatically.
3. as claimed in claim 1 based on vision and hyperacoustic navigation control system; It is characterized in that vision subsystem comprises two ccd video cameras, two analog to digital conversion circuits and a DSP image processor; Two ccd video cameras are used for gathering in real time the video information of caterpillar type robot the place ahead road conditions, and the video information of being extracted is sent to the DSP image processor behind analog to digital conversion circuit; The DSP image processor is handled the gained video information and is obtained guidance path and navigational parameter.
4. as claimed in claim 1 based on vision and hyperacoustic navigation control system; It is characterized in that said ultrasonic ranging subsystem comprises ultrasonic transmitter and ultrasonic receiver and signal processing circuit; Transmitter is launched ultrasonic signal continuously and is surveyed caterpillar type robot dead ahead, left front, right front whether barrier is arranged, and ultrasonic receiver receives echoed signal that barrier reflects and it is transferred to signal processing circuit; Signal processing circuit is handled received signal and is obtained range information, sends this range information to motion control subsystem then and controls caterpillar type robot and keep away barrier.
5. as claimed in claim 1 based on vision and hyperacoustic navigation control system; It is characterized in that said motion control subsystem comprises DSP motion controller and peripheral circuit, the range information that navigational parameter that said motion control subsystem is used for providing based on said DSP image processor and ultrasonic ranging subsystem provide is controlled caterpillar type robot and is independently walked and keep away barrier;
Said motion control subsystem is divided into based on the RACS of ultrasonic sensor with based on the RACS of vision sensor; All adopt fuzzy control method; When the obstacle distance that has at least one group of ultrasonic ranging subsystem to obtain is less than or equal to setting value; Employing is about to the fuzzy input quantity of range information conduct of the barrier of said three groups of ultrasonic ranging subsystems detection, the design fuzzy controller based on the RACS of ultrasonic sensor; With the duration of clutch coupling under off-state of two driving wheels about said caterpillar type robot as output quantity, through control this time control caterpillar type robot turning, keep straight on and stop; The obstacle distance that obtains when three groups of ultrasonic ranging subsystems is during all greater than setting value; Employing is based on the RACS of vision sensor; Be about to said navigational parameter as fuzzy input quantity; The design fuzzy controller, with the duration of clutch coupling under off-state of two driving wheels about said caterpillar type robot as output quantity, through control this time control caterpillar type robot turning, keep straight on and stop.
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