CN103455032A - Intelligent sanitation trolley and control system thereof - Google Patents

Abstract

The invention discloses an intelligent sanitation trolley and a control system thereof. The intelligent sanitation trolley comprises a trolley. An onboard electronic control portion is arranged on the trolley and comprises a core controller, and the core controller is used for receiving image data, distance measurement information of ultrasonic sensors and state feedback information of the current acceleration and the like of the trolley, comprehensively processing the information and outputting proper control variables to control a steering machine and driving motors. The intelligent sanitation trolley and the control system have the advantages that specified regions can be regularly patrolled, and garbage on the ground can be cleaned, so that the ground can keep clean at any time; a large quantity of labor can be liberated from repeated work after the intelligent sanitation trolley is applied, so that efficient and sustainable development can be implemented; a rule of simplicity is followed, and green requirements on energy conservation, environmental protection and sustainable development can be met.

Description

Environmental sanitation intelligent carriage and control system thereof

Technical field

The present invention relates to a kind of intelligent carriage, relate in particular to a kind of environmental sanitation intelligent carriage and control system thereof.

Background technology

Along with the development in epoch, economic rapid development, china's overall national strength constantly strengthens, and the people's living standard is also improving constantly.Automobile, as the product of mankind's industrial revolution, becoming indispensable walking-replacing tool in our life increasingly.In automobile quantity, in the today of growing with each passing day, the kind of vehicle has also had very large enriching, ambulance, transport vehicle, paving truck, bridging car, Bulldozer, wheeled digging machine, obstacles removing car etc.In modern society, the vehicle of these Various Functions is being brought into play very important effect in different field, has greatly accelerated the mankind's modernization.

Summary of the invention

The problem existed for above-mentioned prior art, the invention provides a kind of environmental sanitation intelligent carriage and control system thereof.

To achieve these goals, the technical solution used in the present invention is: a kind of environmental sanitation intelligent carriage, comprise car body, and on described car body, be equiped with the automatically controlled part of car, electric control part is divided and is comprised

Core controller, for receiving view data, ultrasonic sensor ranging information, the state feedback information such as dolly current acceleration, and these information are carried out to comprehensive processing, export suitable controlled quentity controlled variable steering wheel and drive motor are controlled;

The image sampling module, for obtaining the view data of scene;

Ultrasonic range finder, for the distance between measurement and barrier;

Motor drive module, be respectively used to realize that the motor of dolly drives and turn to control;

The steering wheel administration module, control for the dolly commutation;

The assistant adjustment module, for the program burn writing of trolley control system, function debugging and test and dolly condition monitoring, systematic parameter and operation strategy arrange;

Power management module is responsible for above-mentioned each module for power supply;

Also comprise rear wheel drive module and mechanical arm driver module, described core controller is electrically connected to rear wheel drive module and mechanical arm driver module respectively through motor drive module, and described image sampling module, ultrasonic range finder, motor drive module, steering wheel administration module, assistant adjustment module and power management module are electrically connected to core controller respectively.

As preferably, the image sampling module comprises AD module (S12XS128), peripheral video separation chip (LM1881) circuit and camera, and described camera obtains the view data of scene, through peripheral video separation chip and AD module, is further analyzed processing.

As preferably, core controller is the MC9S12XS128 single-chip microcomputer.

As preferably, the steering wheel administration module comprises steering wheel, train of reduction gears, position feedback pot, direct current generator and control circuit, by the position feedback of steering wheel inside, makes its steering wheel output corner be proportional to given control signal.

As preferably, ultrasonic distance measuring module is the SRF05 ultrasonic sensor.

As preferably, the rear wheel drive module adopts two BTS7960 to form full-bridge circuits to carry out drive motor, make it complete rotating.

Environmental sanitation intelligent carriage control system, comprise the correlation modules such as system initialization, data acquisition, information processing, control strategy;

System initialization is for the required configuration that completes corresponding registers of modules;

Data acquisition comprises camera image signals collecting, ultrasonic ranging;

Information processing mainly completes to be processed the correlation analysis of above-mentioned data, identifies various sign, judges the residing current state of car etc.;

Control section provides corresponding steering order for the result of information processing.

Compared with prior art, the invention has the advantages that: can realize that appointed area regularly goes on patrol, cleaning floor rubbish, keep clean ground at any time.And the application of this intelligent carriage also can free a large amount of labours from repetitive operation, realize high-efficiency continuous sexual development; Follow succinct principle, suited the green requirement of energy-conserving and environment-protective, sustainable development, take some artistic elements to improve the aesthetic property of vehicle simultaneously, embody the breath of its New Times.

The accompanying drawing explanation

Fig. 1 is structural representation of the present invention;

Fig. 2 is the first power principle figure of the present invention;

Fig. 3 is the second power principle figure of the present invention;

Fig. 4 is the third power principle figure of the present invention;

Fig. 5 is camera video signal principle figure of the present invention;

Fig. 6 is LM1881 interface circuit figure of the present invention;

Fig. 7 is video separation circuit theory diagrams of the present invention;

The pulsewidth that Fig. 8 is steering wheel administration module of the present invention and corner linear relationship chart;

The BTS7960 driving circuit figure that Fig. 9 is motor drive module of the present invention;

The L298 driving circuit figure that Figure 10 is motor drive module of the present invention;

Figure 11 is image sampling process flow diagram of the present invention;

Figure 12 is the image schematic diagram that camera of the present invention is taken;

The process flow diagram of the length () that Figure 13 is control system of the present invention;

The process flow diagram of the width () that Figure 14 is control system of the present invention;

The process flow diagram of the start_line () that Figure 15 is control system of the present invention.

Embodiment

Below in conjunction with accompanying drawing, the invention will be further described.

As one embodiment of the present invention, consult Fig. 1, the present invention includes car body, on described car body, be equiped with the automatically controlled part of car, electric control part is divided and is comprised

Core controller, for receiving view data, ultrasonic sensor ranging information, the state feedback information such as dolly current acceleration, and these information are carried out to comprehensive processing, export suitable controlled quentity controlled variable steering wheel and drive motor are controlled;

The image sampling module, for obtaining the view data of scene;

Ultrasonic range finder, for the distance between measurement and barrier;

Motor drive module, be respectively used to realize that the motor of dolly drives and turn to control;

The steering wheel administration module, control for the dolly commutation;

The assistant adjustment module, for the program burn writing of trolley control system, function debugging and test and dolly condition monitoring, systematic parameter and operation strategy arrange;

Power management module is responsible for above-mentioned each module for power supply;

Also comprise rear wheel drive module and mechanical arm driver module, described core controller is electrically connected to rear wheel drive module and mechanical arm driver module respectively through motor drive module, and described image sampling module, ultrasonic range finder, motor drive module, steering wheel administration module, assistant adjustment module and power management module are electrically connected to core controller respectively.

The image sampling module comprises AD module (S12XS128), peripheral video separation chip (LM1881) circuit and camera, and described camera obtains the view data of scene, through peripheral video separation chip and AD module, is further analyzed processing.

Core controller is the MC9S12XS128 single-chip microcomputer.

The steering wheel administration module comprises steering wheel, train of reduction gears, position feedback pot, direct current generator and control circuit, by the position feedback of steering wheel inside, makes its steering wheel output corner be proportional to given control signal.

Ultrasonic distance measuring module is the SRF05 ultrasonic sensor.

The rear wheel drive module adopts two BTS7960 formation full-bridge circuits to carry out drive motor, makes it complete rotating.

The control system of environmental sanitation intelligent carriage, comprise the correlation modules such as system initialization, data acquisition, information processing, control strategy;

System initialization is for the required configuration that completes corresponding registers of modules;

Data acquisition comprises camera image signals collecting, ultrasonic ranging;

Information processing mainly completes to be processed the correlation analysis of above-mentioned data, identifies various sign, judges the residing current state of car etc.;

Control section provides corresponding steering order for the result of information processing.

power management module

Power module provides needed power supply for other modules of system.In design, consider except needs the basic parameters such as voltage range and current capacity, also will be optimized at aspects such as power supply conversion efficiency, reduction noise and circuit are simple.Power source design is the basis of the reliable and stable operation of whole hardware circuit reliably.All the power supply of hardware circuits by the standard vehicle of allotting for mould 7.2V, 2000mAh Ni-cd accumulator provide.Because the needed operating voltage of different circuit modules and current capacity in circuit are different, so power module should comprise a plurality of mu balanced circuits, converts charged battery voltage to modules needed voltage.Mainly comprise following different voltage.

7.2V voltage: this part directly takes from the accumulator both end voltage, is mainly steering wheel, rear-wheel motor driver module and part of interface circuit power supply is provided.

5V voltage: be mainly Single Chip Microcomputer (SCM) system, signal conditioning circuit and part of interface circuit power supply is provided, voltage request is stable, noise is little, and current capacity is greater than 500mA.

12V voltage: for camera provides the working power of 12V.

6V voltage: for the steering wheel that operating voltage is 6V is powered.

3.3V voltage: be the power supply of mechanical arm motor drive module.

the decompression voltage regulator design

LM2940-5 is the series voltage stabilizing chip, and operating voltage is poor can be less than 0. 5V voltage stabilizing chip, and output current is greater than 1A.The high efficiency of switching regulator IC, but higher power supply noise is arranged, the circuit that power consumption is larger is suitable for adopting switch voltage-stabilizing circuit, and we have used LM2940 as the lowering and stabilizing blood pressure chip here, and its performance is all well and good, the following Fig. 2 of its typical wiring figure; In addition, the mechanical arm motor drive module needs the 3.3V Power supply, and we select LM1117 here, and wiring diagram is illustrated in fig. 3 shown below;

the voltage boosting and stabilizing circuit design

Consult Fig. 4,12 volts of WRB_S-2W series of products that adopt that boost of camera design for needing to produce one group of application scenario with the single supply of input power isolation in distributed power supply system on wiring board specially, are applicable to:

1) the change in voltage scope<=2:1 of input power

2) require isolation<=1.5KVDC between input and output

3) output voltage stabilization degree and output ripple noise requirements are higher.

And just corresponding herein, therefore select power supply.

Its characteristic is mainly as follows

Wide input voltage range:

The wide operating temperature range of 2:1 :-40 ℃～+ 85 ℃

Short-circuit protection (certainly recovering)

MTBF>1,000,000 hour

Use this power supply to should be noted item:

1. CS holds this terminal that a tie point (connecing capacitance cathode) that connects DC/DC converter output end internal main filter capacitor is provided, and by the electric capacity that meets a low ESR between this terminal and the 7th foot (connecing the negative pole of electric capacity), can further improve output ripple and noise figure; (general CS<=100 μ F)

2. output load requirement

In order to ensure the work of circuit high efficient and reliable ground, the DC/DC converter of the type, except prescribed maximum load (being full load), also stipulated a minimum load simultaneously.In use, guarantee in whole input voltage range, its output minimum load can not be less than 10% of full load.If in actual circuit, load is really lighter for a long time, at the resistance of an output terminal suitable resistance in parallel to increase load.

the image sampling module

(1) camera principle of work

The principle of work of camera is: by certain resolution, gather the point on image in interleaved mode, when scanning certain point, just by image sensor chip, the gradation conversion of this some place image is become and gray scale magnitude of voltage one to one, then this magnitude of voltage is exported by the vision signal end.Particularly (referring to Fig. 5), camera is a line on scan image continuously, and output is exactly one section continuous voltage signal, and the low fluctuating of this voltage signal has reflected the grey scale change of this row image.When having scanned a line, the vision signal end is just exported a level lower than minimum video voltage (as 0.3V), and keeps a period of time.Be equivalent to like this, and then after every row picture signal, have a voltage " groove ", this " groove " is called horizontal synchronizing pulse, and it is the sign of scanning line feed.

Then, after skipping a line, (because camera is interleaved), start to scan new a line, so go down, until scanned this vision signal, and there will be one section field blanking district.Several composite blanking pulses are arranged in this district, wherein have and far be wider than (lasting longer than) other blanking pulse, be called field system chronizing impulse, it is the sign of scanning carry over.Field system chronizing impulse indicates the new arrival of, and but, the field blanking district across the ending of Shang Yichang and the beginning of next, waits the field blanking district to go over just, and the vision signal of next just really arrives.

The camera per second scans 25 width images, and every width divides again very, even two, and first after strange even, therefore per second scans 50 field picture.Odd-numbered line in the time of strange in a scan image, only scan even number line in the time of even.Camera has two important indexs: valid pixel and resolution.In fact resolution be exactly every horizontal synchronizing pulse number, and this is because the horizontal synchronizing pulse number is more, also more to the line number of every field picture scanning.

In fact, the resolution reflection is the vertical resolution of camera.Valid pixel is often write as two forms that multiply each other of number, as " 320 * 240 ", and the wherein fine degree of previous numeric representation single file vision signal, resolution characteristic at once; A rear numerical value is resolution, thereby valid pixel=row resolution characteristic * resolution.

(2) vision signal is separated

Will be to effectively vision signal being sampled, the problem that at first will handle well is the horizontal synchronizing pulse how extracted in camera signals, blanking pulse and field system chronizing impulse.

Two kinds of feasible methods are arranged here.The first, directly by Chip Microcomputer A/D, extracted.Because the level of horizontal synchronizing pulse, blanking pulse or field system chronizing impulse signal is lower than the level of camera signals beyond these pulses, so can set accordingly whether the signal that a signal level threshold values judges that AD samples is above-mentioned three class pulses.The second, be equipped with suitable peripheral chip to single-chip microcomputer exactly, horizontal synchronizing pulse, blanking pulse and field system chronizing impulse that this chip wants to extract camera signals done control for single-chip microcomputer.

The speed of considering single-chip microcomputer is limited, and the interval time of some pulses is shorter, in order to alleviate its processing load, adopted second method to carry out the time sequence information of signal, as horizontal synchronizing pulse, field system chronizing impulse and strange, even field signal information etc., and convert them to the TTL level and directly export to the I/O mouth of monolithic and be used as control signal.The port mode of connection of LM1881 is illustrated in fig. 6 shown below;

Wherein, pin 2 is video signal input terminal, and pin 1 is the line synchronizing signal output terminal.Pin 3 is the field sync signal output terminal, and when the field system chronizing impulse of camera signals arrives, this end will become low level, generally maintain 230us, then again become high level again.Pin 7 is strange-even field sync signal output terminal, and when camera signals, during in strange, this end is high level, when in even, is low level.In fact, we not only can use the sign of field sync signal as carry over, also can use the sign as carry over that replaces between strange-even.

The image sampling module is by the AD module of S12XS128, peripheral video separation chip (LM1881), and camera forms.Its function is to obtain the view data of scene, for S12XS128, makes further analyzing and processing, and its schematic diagram descends shown in Fig. 7;

the steering wheel administration module

Steering wheel itself is a Stellungsservosteuerung.It is comprised of steering wheel, train of reduction gears, position feedback pot, direct current generator and control circuit.By inner position feedback, make its steering wheel output corner be proportional to given control signal, therefore for its control, can use open loop control mode.

The control of steering wheel is to control by fixing pulse signal of cycle, and the transposition of steering wheel is proportional to the width of pulse, and this continuous pulse signal can be realized by PWM.Steering wheel is inner can produce a reference signal that frequency is 50Hz, compare by reference signal and the positive pulse duration of the outside PWM ripple of giving, thus definite size turned to corner.When added PWM wave frequency is 50Hz, meet the linear relationship shown in lower Fig. 8 between pulsewidth and corner.

ultrasonic distance measuring module

What select is the SRF05 ultrasonic sensor, and SRF05 is the enhanced edition of SRF04, has increased dirigibility and amplitude on the basis of SRF04, and has further reduced cost, and sweep limit is increased to 3 meters to 4 meters.SRF exists a kind of new operator scheme (making pattern pin ground connection): allow SRF05 to use single pin to trigger and echo simultaneously, thereby save valuable controller pin.Unsettled when the MODE pin, SRF05 triggers and the echo pin works alone respectively.But now SRF05 has the delay of a forward echo impulse controller.Range measurement principle provides the input short pulse of a 10us to trigger startup at first needing.SRF05 will circulate and send the ultrasonic echo line of a frequency at 40kHz for 8 times.Meanwhile SRF05 starts to monitor echo, and improves detection speed, because the echo line that it detects can reduce.And will obtain the distance of the object that is directly proportional to its pulse width by echo line.By the time of pulsewidth, be can calculate degree of accuracy for centimetre scope and size.Wherein 5V and 0V provide respectively VDD-to-VSS, and short pulse triggers startup by PWM0, and echo signal is monitored by interrupting.

motor drive module

The motor drive module of Environmental protection intelligent carriage is divided into two parts, and a part is to provide rear wheel drive, is that dolly advances or retreats; The motor that another part is to provide mechanical arm drives, and makes mechanical arm can pick up smoothly object.

Rear wheel drive adopts two BTS7960 formation full-bridge circuits to carry out drive motor, makes it complete rotating.Its schematic diagram is as shown in 9;

Due to two motors being arranged above mechanical arm, control the front end robot pawl for one, control the rear robot arm for one, and it there is requirement to rotating, therefore select L298 as driving chip, can drive two motors simultaneously, its schematic diagram is as shown in figure 10;

Design of System Software

Design of System Software mainly comprises the correlation modules such as system initialization, data acquisition, information processing, control strategy.System initialization is mainly the required configuration that completes corresponding registers for modules; Data acquisition comprises camera image signals collecting, ultrasonic ranging.Information processing mainly completes to be processed the correlation analysis of above-mentioned data, identifies various sign, judges the residing current state of car etc.; Control section provides corresponding steering order for the result of information processing.

System initialization

In the whole system design, used the single-chip microcomputer basic function module: clock module, PWM output module, interrupt module, ECT module, AD module, serial communication modular and common IO module.According to the system actual demand, modules has been carried out to initial configuration, by the read-write to corresponding data register or status register, realize corresponding function.

Clock module

Four different clocks are arranged, i.e. external crystal-controlled oscillation clock, phase-locked loop clock, bus clock and interior nuclear clock in the S12XS128 single-chip microcomputer.What current circuit board adopted is the external crystal-controlled oscillation of 16MHz, so the external crystal-controlled oscillation clock is 16MHz, and under default setting, phase-locked loop clock is 32MHz, and bus clock is 8MHz, and interior nuclear clock is 16MHz.

The frequency multiplication of phase-locked loop clock and external crystal-controlled oscillation clock, frequency division relation are determined by SYNR, REFDV two registers.Bus clock is synchronous as peripherals on sheet, and interior nuclear clock is used as the synchronous of CPU, and it has determined the speed that instruction is carried out.In order to improve the AD acquisition performance, be increased in the interior sampling number of time of a line vision signal, we have carried out overclocking (normally the highest 40M) to single-chip microcomputer.Finally, the bus clock after overclocking is 64MHz, and concrete setting up procedure is:

It is 64MHz that // CLOCK Initialize arranges bus clock

CLKSEL=0X00; //disengage PLL to system

PLLCTL_PLLON=1; //turn on PLL

SYNR =0xc0 | 0x07;

REFDV=0x80 | 0x01;

POSTDIV=0x00; //pllclock=2*osc*(1+SYNR)/(1+REFDV)=128MHz;

_asm(nop); //BUS CLOCK=64M

_asm(nop);

while(!(CRGFLG_LOCK==1)); //when pll is steady ,then use it;

CLKSEL_PLLSEL =1; //engage PLL to system;

The PWM output module

By configuration register, the working pulse polarity of whether the enabling of PWM, each passage, alignment thereof, clock source and the use-pattern etc. of each passage output can be set.

In order to improve control accuracy, we are by PWM2,3, and PWM4,5 two-way 8 bit ports are merged into 16 bit ports and controlled motor, can improve like this control accuracy of motor.Because motor drives, require electric machine speed regulation two-way input polarity contrary, the initialization setting up procedure of PWM module is:

//void init_PWM () //PWM initialization function

PWME=0x00; //PWM does not enable

PWMCTL=0x00; Merging is not used in //PWM0 ~ 7

PWMPRCLK=0x33; // clock A=clock B=bus clock/8=50M/8=6.25M

PWMSCLA=0x01; // clock SA=clock A/2/1=3.125M

PWMSCLB=0x01; // clock SB=clock B/2/1=3.125M

PWMCLK=0x03; // clock SA controls PWM0 and PWM1, and B controls PWM2 and PWM3, and A controls PWM4 and PWM5, and B controls PWM6 and PWM7

PWMPOL=0xFF; // all channel bit limit are 1

PWMCAE=0x00; // all passage left-justifys

PWMPER1=31250; // steering wheel frequency is 3.125MHz/31250=100Hz

PWMDTY1=4820; // steering wheel initial value is placed in the middle

PWMPER23=625; // motor forward frequency is 6.25MHz/625=10KHz

PWMDTY23=0; // motor forward initial value composes 0

PWMPER45=625; // motor reversal frequency is 6.25MHz/625=10KHz

PWMDTY45=0; // motor reversal initial value composes 0

PWME=0xFF; // startup PWM

The ECT module

Enhancement mode catches timer module, by a series of, supply the control registers that arrange and can expand port function for the data register of read-write.Generally speaking, the ECT module can realize relatively two large functions of input capture and output.In final plan, 6 road signal input ECT ports are arranged.

At first, be by vision signal extract that the row that chip obtains is synchronous, field synchronization and parity field signal.Utilize the pulse capture working method of ECT module, and judge whether to obtain corresponding signal by the respective flag position in inquiry TFLG1 register, can every vision signal of accurate synchronization, complete the collection of data point.Secondly, be the pulse signal of speed pickup output, measure current vehicle speed by the ranging pulse time interval.Concrete setting up procedure is as follows:

//void init_ECT()

TIE=0; // shield the interruption of all passages when initial

TIOS=0x48; //PT0.1,2,745 mouthfuls is input capture, all the other compare for output

TSCR2=5; // overflow interruption, it is 2MHZ that the timer frequency is obtained by bus frequency 32 frequency divisions

TCTL3=0xC0; // detection any the edge of pt7, i.e. ultrasonic ranging

TCTL4=0x15; // catching the rising edge of synchronous and strange of row, edge falls on field synchronization

TSCR1=0x80; // startup ECT module and counter

TFLG1=0xFF; // removing interrupt identification

TIE_C5I=1; // open Timer5 reference clock source

The ADC module

The analog to digital converter module has 16 paths, and precision can be set to 8,10 or 12.In addition frequency acquisition, transformation result type, convert and whether produce interruption, conversion sequence length etc. and all can arrange voluntarily.In this design, be mainly camera video signal imitation signal input AD module, because higher accuracy guarantee must be arranged, determine to adopt single-channel mode to gather simulating signal, concrete setting up procedure is:

//void AD_init()

ATD0CTL1=0x00; // eight precision, passage 0 sampling

ATD0CTL2=0x40; // forbid external trigger, interrupt inhibit

ATD0CTL3=0x88; 1 conversion of each sequence of // Right Aligns, No FIFO, continue conversion under the Freeze pattern

ATD0CTL4=0x0; // 4 clocks, ATDClock=[BusClock*0.5]/[PRS+1]=32MHZ

ATD0CTL5=0x0; The sampling of // single channel, conversion continuously, passage 0 sampling

ATD0DIEN=0x00; The input of // forbidden digit

Common IO interface module

All IO of S12XS128, by multiplexed port, can realize various functions, and they also can be configured to common IO certainly.In racing car real racetrack or the debugging of parameter details, need to be adjusted some details in program.Toggle switch and state show so just becomes important instrument.In final design circuit figure, designed altogether toggle switch as the on-site parameters adjustment means, and eight segment numeral tubulose states show.PA digital signal input port, being correlated with, it is as follows to arrange:

DDRA=0xFF; //PA mouth is set to output

DDRB=0xFF; // debugging lamp B mouth arranges output

DDRK=0x0; // toggle switch interface PK0, PK1, PK2, PK3 arrange

picture signal gathers

The characteristics of the image that scene detection needs are that horizontal resolution is high, vertical resolution is low, experimental verification, by by the singlechip CPU overclocking, coordinate and improve the ATD clock, can in the effective 52 μ s times, gather at most 96 points at data line, we finally determine that the resolution that gathers image is 96 * 40.Single-chip microcomputer, under the control of clock signal, adopts timer-operated acquisition scheme to the CMOS picture signal.As shown in figure 11;

picture signal is processed

Pattern distortion is processed

Camera is when video acquisition, and image can produce certain distortion, and reason mainly contains:

Cam lens be not plane but the arc convex shape, the edge of the image of shooting is not proper rectangle, the edge of image is all arc.

There is certain angle on the minute surface of camera and plane, and causing the image of taking is not regular rectangle, but one be similar to trapezoidal shape (edge is arc), shown in following Figure 12, in this figure, directly with trapezoidal, replace.

When the camera height is indefinite, even same article, the image gathered also can produce larger difference.This is mainly due to camera closer apart from article the time, and it is larger that article seem in image, and when camera is distant apart from the distance of article, article just seem smaller in camera.The camera ken is just contrary, and when the distance camera is nearer, the ken is smaller, and along with the increase of distance, FOV (Field of View) is also ceaselessly strengthening.So be highly an important parameter during image is processed, when highly changing, the image gathered also produces very large difference.

Distortion is processed as the upper strata of image and is processed, and status is very crucial.Due to the distortion occurrence positions, as edge etc. is all pith during image is processed, these section processes are bad, are easy to make the precision that image is processed to reduce, thereby have influence on, using image and control as the decision system of input.Even cause decision error when situation is serious.And distortion is processed and can better be processed, control most effective informations in image by let us, thereby make decision system can make correct decision, process the problem that intelligent vehicle runs into.So processing, distortion must carry out.

This fractional distortion process main during by the camera collection image the near big and far smaller of object cause, the image of collection due to " near big and far smaller " effect and actual object effect different.This part adopts direct orthosis, in certain limit from article different height and distances sampled, determine the angle of physical size, distance, camera and surface level of object and the experimental formula of camera height by the method for testing.Mode with experiment is determined relevant computing formula and parameter.

Black line identification

Adopt two-value method algorithm edge detection algorithm, set a threshold value, for each row in two bit array matrixes, the size of each pixel value and threshold value relatively from top to bottom.If pixel value is more than or equal to threshold value, judge this pixel corresponding be white portion; If be less than threshold value, what judge correspondence is object edge.The ordinate of the pixel when writing down the ordinate value of the pixel while occurring for the first time that pixel value is less than threshold value and the last pixel value occurred and being less than threshold value, twice ordinate subtracts each other, when difference is less than some values, do not think that this is marginal point, otherwise this point is recorded as marginal point.

This algorithm can accurately extract the edge of target, and has stronger interference free performance.This algorithm has the ability that very strong anti-light intensity changes, and this algorithm can also be got rid of the impact that the interference figure mark in picture disturbs, and can detect all the time the edge of target.

Obstacle recognition

Scrambling due to barrier itself, cause also very irregular of edge, the judgement of barrier is based on this point, when having found an object in image, it is carried out to rim detection, when testing result holds itself out to be an irregular solid, just can conclude that this object is barrier, next just carry out and remove obstacles or to keep away the strategy such as barrier, when recognizing the edge comparison rule of article, it is a sign so.When dolly is directly gone to the place ahead of sign, the length of the current range marker of the image of returning by camera collection judgement dolly, and judge that whether this length suitable, the equal length error in allowed limits after, just start start-up routine.

When the Environmental protection intelligent carriage sails into while removing obstacles district, face a large amount of barriers, realize the size identification to barrier, after being convenient to, take different measures to treat with a certain discrimination.In order to realize this function, we have write the size identification that start_line function of tonic chord function carrys out barrier, have wherein called respectively length (), width () subfunction, below will specifically introduce.

The border, left and right

At first we will determine the border, left and right of barrier, and the data to barrier after being convenient to are further processed.We consider the problem that may have a plurality of barriers on same a line.For addressing this problem determining of the border, left and right of realizing a plurality of barriers, we have write left () function.

This function call arrival autonomic function function start_line() argument hang, at first carry out initialization left[], right[].Left[] [], right[] be the global variable array, be stored in respectively the border, left and right of the barrier that hang exists on capable.At first program differentiates whether capable first of hang is black.If, left[hang] and [0]=1.Subsequent black right white according to a left side, the left white right side respectively deceive to judge the right side, left margin and successively corresponding assignment to left[] [], right[].Final program judges whether the capable most end of hang two row (ROW-1, ROW) are black, if give last right[] assignment is terminal column ROW.Obtain thus hang capable on the border, left and right of each barrier mutually corresponding, process flow diagram is illustrated in fig. 13 shown below;

Determining of width

We will obtain the width of barrier, face orientation problem.Owing to there being a plurality of barriers on a line, how by width, corresponding one by one to pay correct barrier be the core that realizes that width is definite.We have write width () function with solving the assignment problem of determining the barrier width for this reason.At first the argument hang of function call arrival autonomic function function start_line (), lie.Firsthang, lasthang are respectively local variable and are stored in initial row and the termination row that lie lists barrier.Program lists at lie, by hang is capable, is judged downwards, if find, by black, bleached first, and by this row assignment to lasthang.Then assignment is to edge=lasthang-firsthang.We just use the initial row of barrier like this, and left margin is realized the orientation problem of barrier, and realization is corresponding one by one with width, and process flow diagram is illustrated in fig. 14 shown below;

The barrier size is determined

We use start_line() function realizes determining initial row, length and the width of barrier.Startline[], Startrow[], Length[], Width[] be global variable, be used for respectively storing the initial row of barrier, initial row, length, width.Program first the border, left and right of 0 to LINE capable each barrier is subtracted each other and corresponding assignment to border[] [], then judge border[] whether [] meet a certain size, be defined as large barrier if meet, otherwise be defined as little barrier.For large barrier, program by its place line number assignment to Startline[], by the columns assignment of this barrier left margin to Startrow[], by its border[] [] assignment is to Length[].Obtaining a series of Startline[], Startrow[], Length[] after, program is revised.By the same area, the Startline[in similar place], Startrow[], Length[] merger.Finally by revised Startline[], Startrow[], Length[] substitution width() obtain Width[].So far we have obtained Startline[], Length[], Width[], and corresponding one by one.By above data, we just can judge size and the particular location of barrier, and process flow diagram is illustrated in fig. 15 shown below.

What control system of the present invention was selected is Integrated Development Environment (IDE) the CodeWarrior for HC12 v4.7 version that Freescale company is recommended.CodeWarrior for S12 is towards take the microcontroller embedded application development software bag that HC12 and S12 be CPU.Comprise Integrated Development Environment IDE, processor experts database, full chip emulation, visualisation parameters show tools, projects manager, C cross-compiler, assembler, linker and debugger.The CodeWarrior developing instrument is complete Integrated Development Environment, and it has high visibility and the most complicated Embedded Application exploitation is accelerated in framework help automatically.

Although in conjunction with current, be recognized as a most practical and preferred embodiment and described the present invention, but be to be understood that, the invention is not restricted to the disclosed embodiments, and be intended on the contrary contain multiple modification and equivalent arrangements included in the spirit and scope of the appended claims.

Claims (7)

1. an environmental sanitation intelligent carriage, comprise car body, on described car body, is equiped with the automatically controlled part of car, and it is characterized in that: described electric control part is divided and comprised

Core controller, for receiving view data, ultrasonic sensor ranging information, the state feedback information such as dolly current acceleration, and these information are carried out to comprehensive processing, export suitable controlled quentity controlled variable steering wheel and drive motor are controlled;

The image sampling module, for obtaining the view data of scene;

Ultrasonic range finder, for the distance between measurement and barrier;

Motor drive module, be respectively used to realize that the motor of dolly drives and turn to control;

The steering wheel administration module, control for the dolly commutation;

The assistant adjustment module, for the program burn writing of trolley control system, function debugging and test and dolly condition monitoring, systematic parameter and operation strategy arrange;

Power management module is responsible for above-mentioned each module for power supply;

Also comprise rear wheel drive module and mechanical arm driver module, described core controller is electrically connected to rear wheel drive module and mechanical arm driver module respectively through motor drive module, and described image sampling module, ultrasonic range finder, motor drive module, steering wheel administration module, assistant adjustment module and power management module are electrically connected to core controller respectively.

2. environmental sanitation intelligent carriage according to claim 1, it is characterized in that: described image sampling module comprises AD module (S12XS128), peripheral video separation chip (LM1881) circuit and camera, described camera obtains the view data of scene, through peripheral video separation chip and AD module, is further analyzed processing.

3. environmental sanitation intelligent carriage according to claim 1, it is characterized in that: described core controller is the MC9S12XS128 single-chip microcomputer.

4. environmental sanitation intelligent carriage according to claim 1, it is characterized in that: described steering wheel administration module comprises steering wheel, train of reduction gears, position feedback pot, direct current generator and control circuit, by the position feedback of steering wheel inside, make its steering wheel output corner be proportional to given control signal.

5. environmental sanitation intelligent carriage according to claim 1, it is characterized in that: described ultrasonic distance measuring module is the SRF05 ultrasonic sensor.

6. environmental sanitation intelligent carriage according to claim 1 is characterized in that: described rear wheel drive module adopts two BTS7960 to form full-bridge circuits to carry out drive motor, make it complete rotating.

7. an environmental sanitation intelligent carriage control system, is characterized in that: comprise the correlation modules such as system initialization, data acquisition, information processing, control strategy;

System initialization is for the required configuration that completes corresponding registers of modules;

Data acquisition comprises camera image signals collecting, ultrasonic ranging;

Information processing mainly completes to be processed the correlation analysis of above-mentioned data, identifies various sign, judges the residing current state of car etc.;

Control section provides corresponding steering order for the result of information processing.

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