CN105116901A - Image-processing-based dual-vehicle intelligent correction system - Google Patents

Image-processing-based dual-vehicle intelligent correction system Download PDF

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CN105116901A
CN105116901A CN201510554967.9A CN201510554967A CN105116901A CN 105116901 A CN105116901 A CN 105116901A CN 201510554967 A CN201510554967 A CN 201510554967A CN 105116901 A CN105116901 A CN 105116901A
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module
car
remote controller
image processor
image
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宋华军
周光兵
卓文君
肖渤涛
任鹏
刘芬
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China University of Petroleum East China
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China University of Petroleum East China
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Abstract

The invention relates to a correction system, especially to an image-processing-based dual-vehicle intelligent correction system comprising a remote controller module, an intelligent correction module, a core controller, and a vehicle body. The remote controller module, the intelligent correction module, and the vehicle body are connected with the core controller. The remote controller module consists of a key, a remote controller control module, a rocking bar, and a wireless module; and the key, the rocking bar, and the wireless module are connected with the remote controller control module. The intelligent correction module includes a front vehicle, a camera, an image processor, and a distance measuring module; one end of the camera is connected with the front vehicle and the other end is connected with the image processor; and the distance measuring module is connected with the image processor. The system has the following beneficial effects: the operation is flexible and the safety factor is high; with the dual-vehicle linking system design, a defect that a large object can not be transported by the traditional mobile transform vehicle can be overcome; and with the dual-vehicle linkage system, heavy objects can be transported by the two vehicles with the consistent attitudes, so that the defect of the single vehicle can be overcome and the transport efficiency is improved.

Description

A kind of two car interlock intelligent correcting systems based on image procossing
Technical field
The present invention relates to a kind of corrective system, especially a kind of two car interlock intelligent correcting systems based on image procossing.
Background technology
Sliding platform is widely used in multiple fields such as Aero-Space, military affairs, civilian, service sector.When transporting overlength, superduty equipment, consider efficiency and Cost Problems, the mode adopting two car interlock, i.e. two cars synchronously transporting cargo more.
Traditional pair of car interlock, needs two driver operations, and inevitable just there will be two chassis in starting, run, during parking, there is asynchrony phenomenon, make the load of two chassis occur change, have a strong impact on the carrying out of transport, even can cause the accident.Utilize telepilot to control two car motions simultaneously and look like a kind of reasonable solution.But due to the impact of the factors such as frictional ground force, two cars still can deviation to some extent in speed and direction.For this reason, a kind of method proposing intelligence correction is needed to make two cars synchronous.
Summary of the invention
The present invention is intended to solve the problem, provide a kind of two car interlock intelligent correcting systems based on image procossing, control two car motions by wireless module, rear car loads intelligent dressing plate, analyzes two spacings by range finder module, gone forward side by side after row relax by camera Real-time Obtaining front truck image and obtain front truck direction, obtain side-play amount [Δ X, Δ Y, α], carry out PID control, draw correction rate [v x, v y, w z], realize self attitude correction, its technical scheme adopted is as follows:
A kind of two car interlock intelligent correcting systems based on image procossing, comprise remote controller module, intelligence correction module, core controller, car body, described remote controller module, intelligence correction module, car body is connected with core controller respectively, described remote controller module comprises button, telepilot control module, rocking bar, wireless module, described button, rocking bar, wireless module is connected with telepilot control module respectively, described intelligent correction module comprises front truck, camera, image processor, range finder module, described camera one end is connected with front truck, the other end is connected with image processor, described range finder module is connected with image processor.
Described button, rocking bar are fixed on telecontrol panel, described telepilot control module, wireless module are fixed in telecontrol panel, described camera, image processor, range finder module are fixed on car body front, and described core controller is arranged in car body.
Described remote controller module is connected with core controller by wireless module, and described intelligent correction module is connected with core controller by image processor.
Described remote controller module sends instruction by wireless module to core controller and controls two car motion.
Described camera collection front truck information, and send into image processor, image processor by analysis after send parameter information to core controller.
Described core controller receives the steering order from remote controller module and intelligent correction module, and controls car body.
Tool of the present invention has the following advantages: flexible operation, safety coefficient are high, and the design of two car linked system overcomes the shortcoming that traditional sliding platform cannot transport larger object; By two car linked system, make the transport large and heavy objects that two cars attitude is consistent, make up the deficiency of bicycle, improve conevying efficiency.
Accompanying drawing explanation
Fig. 1: a kind of control principle sketch of the two car interlock intelligent correcting systems based on image procossing;
Fig. 2: a kind of control principle drawing of the two car interlock intelligent correcting systems based on image procossing;
Fig. 3: a kind of structural representation of the two car interlock intelligent correcting system telepilots based on image procossing;
Fig. 4: a kind of structural representation of the two car interlock intelligent correcting system sliding platforms based on image procossing;
Fig. 5: a kind of correction principle process flow diagram of the two car interlock intelligent correcting systems based on image procossing;
Fig. 6: a kind of calibration target schematic diagram of the two car interlock intelligent correcting systems based on image procossing;
Fig. 7: a kind of correction scene schematic diagram of the two car interlock intelligent correcting systems based on image procossing;
Fig. 8: a kind of mensuration rear car deviation angle schematic diagram of the two car interlock intelligent correcting systems based on image procossing;
Fig. 9: a kind of PID control chart of the two car interlock intelligent correcting systems based on image procossing;
Symbol description:
1. remote controller module, 11. buttons, 12. telepilot control modules, 13. rocking bars, 14. wireless modules, 2. intelligent correction module, 21. front trucks, 22. cameras, 23. image processors, 24. range finder modules, 3. core controller, 4. car body.
Embodiment
Below in conjunction with accompanying drawing and example, the invention will be further described:
As Figure 1-4, a kind of two car interlock intelligent correcting systems based on image procossing of the present invention, comprise remote controller module (1), intelligence correction module (2), core controller (3), car body (4), described remote controller module (1), intelligence correction module (2), car body (4) is connected with core controller (3) respectively, and described remote controller module (1) comprises button (11), telepilot control module (12), rocking bar (13), wireless module (14), described button (11), rocking bar (13), wireless module (14) is connected with telepilot control module (12) respectively, and described intelligent correction module (2) comprises front truck (21), camera (22), image processor (23), range finder module (24), described camera (22) one end is connected with front truck (21), the other end is connected with image processor (23), and described range finder module (24) is connected with image processor (23).
Described button (11), rocking bar (13) are fixed on telecontrol panel, described telepilot control module (12), wireless module (14) are fixed in telecontrol panel, described camera (22), image processor (23), range finder module (24) are fixed on car body (4) front, and described core controller (3) is arranged in car body (4).
Described remote controller module (1) is connected with core controller (3) by wireless module (14), and described intelligent correction module (2) is connected with core controller (3) by image processor (23).
Described remote controller module (1) sends instruction by wireless module (14) to core controller (3) and controls two car motion.
Described camera (22) gathers front truck (21) information, and sends into image processor (23), and image processor (23) by analysis backward core controller (3) sends parameter information.
Described core controller (3) receives the steering order from remote controller module (1) and intelligent correction module (2), and controls car body (4).
A. the correction principle of two car interlock intelligent correcting system
As shown in Figure 5, front and back car be made consistent, the distance in direction to be D 0, and the transporting cargo of geo-stationary, but there is deviation angle α and ranging offset in rear car.Therefore rear car is adopted to carry out the bearing calibration of intelligence correction by image procossing.Wherein, calibration chart picture is the black surround shown in Fig. 6, is pasted onto front truck rear.Length of side L on black surround; Left and right length of side R.After car body (4) initialization completes, start acquisition of image data.Be initial position lateral probe movement by image transversal centerline, extract the abscissa value in sideline, left and right, be that initial position scans up and down by longitudinal midline again, the ordinate value of lower sideline in extraction, obtain ordinate, thus determine figure, obtain the figure left and right length of side and back gauge information, data are preserved as canonical parameter.According to the focal length formula of imaging law, when rear car and front truck (21) exist offset time, the figure left and right length of side collected and back gauge can change.Calculate the offset information of now rear car, and be converted to car body controlled quentity controlled variable, by core controller (3), rear car car body (4) is finely tuned.
Focal length formula (1) and (2) are the Important Theoretic Foundations of intelligent correcting system:
F＝v×D/V(1)
F＝h×D/H(2)
In formula, F is the focal length of camera lens; V is the longitudinal size of reference object; H is the lateral dimension of reference object; D is the distance between camera lens to reference object; V is the longitudinal size of light sensation original paper; H is the lateral dimension of light sensation original paper.
Two car interlock intelligent correcting system adopts 1/4CCD zoom lens, can reach 27 times of zooms, image resolution ratio 720*576.Simultaneously by laser ranging module (24), we can obtain two spacing D; Can be obtained by image acquisition: the long pixel count M in the target imaging left side left, long pixel count M on the right of target imaging right, length of side pixel count N, target's center's point offset pixel values Q on target imaging.Using front truck (21) as benchmark, when skew occurs rear car, the intelligence of carrying out car body (4) according to these data corrects.
As shown in Figure 7, now there is angle of deflection and left and right shifted by delta X, front and back shifted by delta Y in rear car to the correction scene schematic diagram of two car interlock intelligent correcting system.
B. the mensuration of car body side-play amount
1) rear car deviation angle α is measured
By the long imaging law in top, its target image equivalent substitution for being parallel to rear car, length is L x, distance D ximage objects, as shown in Figure 8.By triangle sine and cosine theorem, release:
L X = 4 D X 2 L c o s α 4 D X 2 - L 2 sin 2 α - - - ( 3 )
Bring (3) formula into focal length formula (2),
In formula, h onfor the length of side in imaging; α is rear car deviation angle; L is the length of side in target;
By the long imaging law in the left side, bring focal length formula (1) into,
In formula, v leftfor the imaging left side is long;
By the long imaging law in the right, bring focal length formula (1) into,
In formula, v rightfor long on the right of imaging;
Formula (5) formula (6) is divided by,
In formula, M leftfor the long pixel count in the target imaging left side; M rightfor pixel count long on the right of target imaging;
Convolution (4) and formula (7), cancellation D x; Release:
Camera sensing device is adopted to be 1/4CCD, sensor imaging size h:3.2mm; V:2.4mm, corresponding resolution 720*576, under a proportional relationship:
In formula: N is length of side pixel count in imaging; The now anglec of rotation can be released:
2) left and right, center offset Δ X is measured
Offset about target image central point, bring focal length formula (2) into,
In formula, Δ X is left and right offset distance; z picturefor imaging center offset distance; D 1for laser ranging module measures current two spacings;
By proportionate relationship: bring formula (8) into, push away to obtain left and right skew:
3) front and back offset Δ Y is measured
The distance D that range finder module (24) is measured 1with gauged distance D 0differ from, try to achieve front and back side-play amount:
ΔY＝D 1cosα-D 0(12)
C.PID controls
In order to respond accurately rapidly, according to rear car left and right shifted by delta X, front and back shifted by delta Y, deflection angle α respectively to sliding platform [v x, v y, w z] three controlled quentity controlled variables carry out PID control.
c o n t r o l = K p × ( 1 + T s T + T d T s ) × e ( k ) - K p × ( 1 + 2 × T d T s ) × e ( k - 1 ) + K p × T d T s × e ( k - 2 ) - - - ( 13 )
In formula: K pfor scale-up factor; T ifor integral coefficient; T dfor differential coefficient; T sfor the sampling period; E (k) is k moment attitude misalignment.
Through repeatedly testing, rule of thumb to parameter K p, T i, T dadjust, intelligent correcting system is reacted quickly and accurately.[v is determined according to controlled quentity controlled variable size x, v y, w z] size, make rear car carry out self attitude correction, control procedure is as shown in Figure 9.
When the present invention uses, first open the power switch of two car car bodies (4) and telepilot, when transporting larger goods, placing before and after two transport vehicles, controlling two cars by remote controller module (1) and be synchronized with the movement.Because slight error appears in two cars that affect of the factors such as friction force, rear car obtains two spacing parameters by range finder module (24), carry out image procossing by camera (22) and image processor (23) thus obtain front truck direction parameter, core controller (3) carries out self pose adjustment after analyzing, make two cars keep geo-stationary, realize two car interlock.
Its intelligent trimming process is as follows:
First, analyze front truck left and right length variations through image processor (23), measure current time rear car deviation angle α;
Then, front truck (21) central point offset Δ X is analyzed;
Finally, according to the two spacing deviation delta Y that range finder module (24) is measured;
According to deviate [Δ X, Δ Y, α], controlled the speed amount [v obtaining controlling car body (4) by PID x, v y, w z], rear car is corrected, thus keeps two car attitudes consistent.
Preferably, car body (4) adopts mecanum wheel, the mode of motion such as mecanum takes turns that the omnibearing movable equipment of technology can realize moving ahead, traversing, diagonal, rotation and combination thereof.
Preferably, car body (4) motion is controlled by zigbee wireless module (14), flexible operation.
Preferably, by pid algorithm, rate controlling amount is optimized, enables rear car carry out rapidly intelligence accurately and correct.
Preferably, adopt the two car linked systems based on image procossing, realize two car attitudes by image processor (23) consistent, transport large cargo after geo-stationary, decrease transportation cost.
Describe the present invention by way of example above, but the invention is not restricted to above-mentioned specific embodiment, all any changes of doing based on the present invention or modification all belong to the scope of protection of present invention.

Claims (5)

1., based on two car interlock intelligent correcting systems for image procossing, it is characterized in that: comprise remote controller module (1), intelligence correction module (2), core controller (3), car body (4), described remote controller module (1), intelligence correction module (2), car body (4) is connected with core controller (3) respectively, and described remote controller module (1) comprises button (11), telepilot control module (12), rocking bar (13), wireless module (14), described button (11), rocking bar (13), wireless module (14) is connected with telepilot control module (12) respectively, and described intelligent correction module (2) comprises front truck (21), camera (22), image processor (23), range finder module (24), described camera (22) one end is connected with front truck (21), the other end is connected with image processor (23), and described range finder module (24) is connected with image processor (23).
2. a kind of two car interlock intelligent correcting systems based on image procossing according to claim 1, it is characterized in that: described remote controller module (1) is connected with core controller (3) by wireless module (14), described intelligent correction module (2) is connected with core controller (3) by image processor (23).
3. a kind of two car interlock intelligent correcting systems based on image procossing according to claim 1, is characterized in that: described remote controller module (1) sends instruction by wireless module (14) to core controller (3) and controls two car motion.
4. a kind of two car interlock intelligent correcting systems based on image procossing according to claim 1, it is characterized in that: described camera (22) gathers front truck (21) information, and send into image processor (23), image processor (23) by analysis backward core controller (3) sends parameter information.
5. a kind of two car interlock intelligent correcting systems based on image procossing according to claim 1, it is characterized in that: described core controller (3) receives the steering order from remote controller module (1) and intelligent correction module (2), and controls car body (4).
CN201510554967.9A 2015-09-04 2015-09-04 Image-processing-based dual-vehicle intelligent correction system Pending CN105116901A (en)

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Cited By (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN105388787A (en) * 2015-11-02 2016-03-09 中国石油大学(华东) Double-vehicle linkage intelligent correction system based on image processing
CN106483959A (en) * 2016-11-10 2017-03-08 江苏大学 A kind of set a distance under image space is with car control method
CN111474943A (en) * 2020-05-11 2020-07-31 王永宽 Long-distance workpiece carrier loader line planning vehicle control system
CN114137946A (en) * 2021-10-13 2022-03-04 北京特种机械研究所 AGV double-vehicle linkage control device and method
CN115453858A (en) * 2022-10-18 2022-12-09 扬州万方科技股份有限公司 Double-vehicle linkage control capturing and tracking system and operation method thereof

Cited By (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN105388787A (en) * 2015-11-02 2016-03-09 中国石油大学(华东) Double-vehicle linkage intelligent correction system based on image processing
CN106483959A (en) * 2016-11-10 2017-03-08 江苏大学 A kind of set a distance under image space is with car control method
CN111474943A (en) * 2020-05-11 2020-07-31 王永宽 Long-distance workpiece carrier loader line planning vehicle control system
CN114137946A (en) * 2021-10-13 2022-03-04 北京特种机械研究所 AGV double-vehicle linkage control device and method
CN114137946B (en) * 2021-10-13 2023-12-19 北京特种机械研究所 AGV double-vehicle linkage control device and method
CN115453858A (en) * 2022-10-18 2022-12-09 扬州万方科技股份有限公司 Double-vehicle linkage control capturing and tracking system and operation method thereof
CN115453858B (en) * 2022-10-18 2023-11-10 扬州万方科技股份有限公司 Dual-vehicle linkage control capturing and tracking system and operation method thereof

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