CN108153308A - For the composite vision Laser navigation system and its control method of robotic vehicle automatic Pilot - Google Patents
For the composite vision Laser navigation system and its control method of robotic vehicle automatic Pilot Download PDFInfo
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- CN108153308A CN108153308A CN201711398948.7A CN201711398948A CN108153308A CN 108153308 A CN108153308 A CN 108153308A CN 201711398948 A CN201711398948 A CN 201711398948A CN 108153308 A CN108153308 A CN 108153308A
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- embedded
- laser
- navigation system
- risc microprocessor
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Classifications
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
- G05D1/0234—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using optical markers or beacons
- G05D1/0236—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using optical markers or beacons in combination with a laser
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0255—Control of position or course in two dimensions specially adapted to land vehicles using acoustic signals, e.g. ultra-sonic singals
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0257—Control of position or course in two dimensions specially adapted to land vehicles using a radar
Abstract
It is a kind of effectively to realize the fusion function perceived based on more heat transfer agents to three-dimensional environment, the composite vision Laser navigation system for robotic vehicle automatic Pilot so as to improve control accuracy.Technical solution is：For the composite vision Laser navigation system of robotic vehicle automatic Pilot, including casing (2), it is characterized in that the upper end of the casing (2) is provided with laser radar rotor (1), laser emitter (7) and Laser emission time delay receiver (8) are provided on the laser radar rotor (1), USB high-definition cameras (5) and ultrasonic distance measuring apparatus (6) are provided on the outer panel of casing (2)；Laser radar navigation system embedded control unit and stepper motor (4) are internally provided in casing (2).The invention also discloses its control methods.
Description
Technical field
Can effectively be realized the invention belongs to robotic vehicle automatic Pilot field of navigation systems, especially one kind be based on it is more
Fusion function that heat transfer agent perceives three-dimensional environment, the answering for robotic vehicle automatic Pilot so as to improve control accuracy
Close vision Laser navigation system and its control method.
Background technology
At present, robot automatic Pilot navigation system, no fusion calculation machine vision, ultrasonic radar robot drive automatically
Laser navigation radar system is sailed, therefore can not effectively realize the fusion function perceived based on more heat transfer agents to three-dimensional environment, is deposited
The problem of be that control accuracy is low, high failure rate.
Invention content
The object of the present invention is to provide a kind of fusions that can effectively realize and be perceived based on more heat transfer agents to three-dimensional environment
Function, the composite vision Laser navigation system and its controlling party for robotic vehicle automatic Pilot so as to improve control accuracy
Method.
The technical scheme is that：For the composite vision Laser navigation system of robotic vehicle automatic Pilot, including
Casing (2), it is characterized in that laser radar rotor (1) is provided in the upper end of the casing (2), the laser radar rotor (1)
On be provided with laser emitter (7) and Laser emission time delay receiver (8), USB high definitions are provided on the outer panel of casing (2)
Camera (5) and ultrasonic distance measuring apparatus (6)；Laser radar navigation system embedded control unit is internally provided in casing (2)
With stepper motor (4), the connecting shaft (3) of the laser radar rotor (1) with being by stepper motor (4) and laser radar navigation
Embedded control unit of uniting connection, the USB high-definition cameras (5) and ultrasonic distance measuring apparatus (6) navigate respectively with laser radar is
Embedded control unit of uniting connection；
The laser radar navigation system embedded control unit is embedding by the first Embedded RISC microprocessor (9) and second
Enter formula RISC microprocessor (10) composition, wherein, the first Embedded RISC microprocessor (9) rotates for laser radar rotor to be controlled
System driving, the second Embedded RISC microprocessor (10) is for real-time data signal processing, image procossing and number with slave computer
Word communicates, and the first Embedded RISC microprocessor (9) and the second Embedded RISC microprocessor (10) are by connecting plug-in unit
Connection.
The first Embedded RISC microprocessor (9) is by CPU module (11), step motor control module (13), first
It connecting plug-in unit (14) and the second connection plug-in unit (15) forms, the CPU module (11) is connected with step motor control module (13),
Described and step motor control module (13) is connect by the first connection plug-in unit (14) with stepper motor (4)；
The second Embedded RISC microprocessor (10) is connected by Embedded RISC microprocessor CPU module (18), third
Connector (19), the 4th connection plug-in unit (20), the 5th connection plug-in unit (23), the 6th connection plug-in unit (24) form, described embedded
RISC microprocessor CPU module (18) connect plug-in unit (19), the 4th connection plug-in unit (20), the 5th connection plug-in unit with third respectively
(23), the 6th connection plug-in unit (24) connects；The CPU module (18) is inserted containing parallel graphic image processor GPU, the 4th connection
Part (20) is connect with USB high-definition cameras, and for the 5th connection plug-in unit (23) for connecting ultrasonic distance measuring apparatus, the 6th connects plug-in unit
(24) for slave computer data image communicate；
The first Embedded RISC microprocessor (5) and the second Embedded RISC microprocessor (6) pass through second
Connection plug-in unit (15) connects plug-in unit (19) connection with third.
Circular ventilation radiator window (29) is provided on the side plate of casing (2).
Outlet and 485 data lines (33) are provided on the side plate of casing (2).
For the control method of the composite vision Laser navigation system of robotic vehicle automatic Pilot, it is characterized in that including under
Row step：
(1) system electrification, activation system；
(2) while laser navigation radar, computer vision, ultrasonic distance measuring apparatus are opened, embedded system reads data and regards
Frequency image；
(3) laser navigation radar range finding data acquire and with the data table memory in embedded system to mark；
(4) mark result with embedded system 1 is communicated, date comprision is carried out, according to analysis result by embedded system
1 adjustment control algolithm of system, optimizes electric rotating machine angular speed；
(5) it is communicated with slave computer, confirms ranging data quality；
(6) confirm whether data and picture quality are up to standard, if not up to standard, enter step 4；If up to standard enter step 7,
Otherwise 3 are entered step；
(7) judge whether to continue gathered data, image, if continuing to acquire, enter step 3, it is otherwise out of service, it is complete
Into operation work.
The present invention effect be：For the composite vision Laser navigation system of robotic vehicle automatic Pilot, in casing (2)
Upper end be provided with laser radar rotor (1), be provided on the laser radar rotor (1) laser emitter (7) and laser hair
Time delay receiver (8) is penetrated, USB high-definition cameras (5) and ultrasonic distance measuring apparatus (6) are provided on the outer panel of casing (2)；In machine
Shell (2) is internally provided with laser radar navigation system embedded control unit and stepper motor (4), the laser radar rotor
(1) connecting shaft (3) is connect with by stepper motor (4) with laser radar navigation system embedded control unit, the USB high
Clear camera (5) and ultrasonic distance measuring apparatus (6) are connect respectively with laser radar navigation system embedded control unit.
The present invention is integrated using laser radar with high-definition camera and ultrasonic range finder, and major function is to realize to calculate
Machine vision laser radar and ultrasonic three-dimensional environment sensing fusion function.Simultaneously gather relevant software algorithm, can realize for
Dynamic 3 D environment sensing is rebuild, and is needed suitable for automatic robot driver positioning trip.Composite vision laser navigation radar data
By calibration, particularly suitable for being used under the environment such as automatic factory.
The present invention is described further with reference to the accompanying drawings and examples.
Description of the drawings
Fig. 1 is schematic structural view of the invention；
Fig. 2 is the side view of Fig. 1；
Fig. 3 installs panel figure to scheme USB high-definition cameras and ultrasonic distance measuring apparatus of the present invention；
Fig. 4 is casing internal structure diagram of the present invention；
Fig. 5 is control unit circuit block diagram of the present invention；
Fig. 6 control flow charts of the present invention.
Specific embodiment
In Fig. 1, for the composite vision Laser navigation system of robotic vehicle automatic Pilot, including casing 2, in casing 2
Upper end be provided with laser radar rotor 1, be provided with laser emitter 7 and Laser emission time delay on the laser radar rotor 1
Receiver 8 is provided with USB high-definition cameras 5 and ultrasonic distance measuring apparatus 6 on the outer panel of casing 2 (referring to Fig. 2, Fig. 3).In machine
Circular ventilation radiator window 29 is provided on the side plate of shell 2, outlet and 485 data transmissions are provided on the side plate of casing 2
Line 33.
In Fig. 2,25 be the instrument panel for installing USB high-definition cameras and ultrasonic distance measuring apparatus, in installation laser radar rotor
USB high-definition cameras 5 and the (ginseng of ultrasonic distance measuring apparatus 6 are installed on partial USB high-definition cameras and the instrument panel of ultrasonic distance measuring apparatus
See Fig. 3).USB high-definition cameras and ultrasonic distance measuring apparatus form the navigation of composite vision laser radar with laser radar navigation elements
System function.
In Fig. 4, laser radar navigation system embedded control unit and stepper motor 4 are internally provided in casing 2, is swashed
The connecting shaft 3 of optical radar rotor 1 is connect with by stepper motor 4 with laser radar navigation system embedded control unit, described
USB high-definition cameras 5 and ultrasonic distance measuring apparatus 6 are connect respectively with laser radar navigation system embedded control unit.
Laser radar navigation system embedded control unit is embedded by the first Embedded RISC microprocessor 9 and second
RISC microprocessor 10 form, wherein, the first Embedded RISC microprocessor 9 drives for the rotation control of laser radar rotor,
Second Embedded RISC microprocessor 10 is for real-time data signal processing, image procossing and the digital communication with slave computer, institute
It states the first Embedded RISC microprocessor 9 and the second Embedded RISC microprocessor 10 and is connected by connecting plug-in unit.
In Fig. 5, the first Embedded RISC microprocessor 9 is by CPU module 11, step motor control module 13, first
Connection plug-in unit 14 and second connects plug-in unit 15 and forms, and the CPU module 11 is connected with step motor control module 13, described and step
Stepper motor control module 13 is connect by the first connection plug-in unit 14 with stepper motor 4.The output of CPU 1 is 3 endpoints, i.e.,
output pin 1:GPP output pin, the direction of control motor rotation, pin 2:PWM output export PWM modulation wave,
Its frequency and modulation duty cycle (duty cycle) control motor speed, pin 3:GPP output pin for reset are right
It is reset in motor control module, 3 be step motor control module, inputs 3 pin ends from CPU as previously described
Point, 4 control motor for connector one for connecting, and output is 4 lines, that is, A+, A-, B+, B-.
The second Embedded RISC microprocessor 10 is connected by Embedded RISC microprocessor CPU module 18, third and inserted
Part the 19, the 4th connects the connection connection plug-in unit 24 of plug-in unit the 23, the 6th of plug-in unit the 20, the 5th and forms, the Embedded RISC microprocessor
CPU module 18 connect the connection connection connection plug-in unit 24 of plug-in unit the 23, the 6th of plug-in unit the 20, the 5th of plug-in unit the 19, the 4th with third and connects respectively
It connects；The CPU module 18 is connected containing parallel graphic image processor GPU, the 4th connection plug-in unit 20 with USB high-definition cameras
It connects, for connecting ultrasonic distance measuring apparatus, the 6th connection plug-in unit 24 is used to communicate with slave computer data image the 5th connection plug-in unit 23.
The first Embedded RISC microprocessor 5 and the second Embedded RISC microprocessor 6 pass through the second connection
Plug-in unit 15 connects plug-in unit 19 with third and connects.
In Fig. 6, for the control method of the composite vision Laser navigation system of robotic vehicle automatic Pilot, including following
Step：
(1) system electrification, activation system；
(2) while laser navigation radar, computer vision, ultrasonic distance measuring apparatus are opened, embedded system reads data and regards
Frequency image；
(3) laser navigation radar range finding data acquire and with the data table memory in embedded system to mark；
(4) mark result with embedded system 1 is communicated, date comprision is carried out, according to analysis result by embedded system
1 adjustment control algolithm of system, optimizes electric rotating machine angular speed；
(5) it is communicated with slave computer, confirms ranging data quality；
(6) confirm whether data and picture quality are up to standard, if not up to standard, enter step 4；If up to standard enter step 7,
Otherwise 3 are entered step；
(7) judge whether to continue gathered data, image, if continuing to acquire, enter step 3, it is otherwise out of service, it is complete
Into operation work.
Automatic robot driver composite vision laser navigation radar appearance is as shown in figure.The laser thunder of 1 system in figure
Up to rotor portion, containing laser emitter and laser reflection time delay receiver, 2 be from walking robot composite vision laser radar
The embedded system unit of navigation system, 3 be outlet and 485 data lines, 4 be ventilation and heat ox-eye, 5 be positioned at
USB high-definition cameras from the embedded system unit of walking robot composite vision laser radar navigation system, 6 be positioned at
Ultrasonic distance measuring apparatus from the embedded system unit of walking robot composite vision laser radar navigation system, 7 be positioned at sharp
The laser emitter of optical radar rotor portion and laser reflection time delay receiver.
Claims (5)
1. for the composite vision Laser navigation system of robotic vehicle automatic Pilot, including casing (2), it is characterized in that described
The upper end of casing (2) is provided with laser radar rotor (1), be provided on the laser radar rotor (1) laser emitter (7) and
Laser emission time delay receiver (8) is provided with USB high-definition cameras (5) and ultrasonic distance measuring apparatus on the outer panel of casing (2)
(6)；Laser radar navigation system embedded control unit and stepper motor (4), the laser are internally provided in casing (2)
The connecting shaft (3) of radar rotor (1) is connect with by stepper motor (4) with laser radar navigation system embedded control unit,
The USB high-definition cameras (5) and ultrasonic distance measuring apparatus (6) are connect respectively with laser radar navigation system embedded control unit；
The laser radar navigation system embedded control unit is embedded by the first Embedded RISC microprocessor (9) and second
RISC microprocessor (10) form, wherein, the first Embedded RISC microprocessor (9) rotates control for laser radar rotor and drives
Dynamic, the second Embedded RISC microprocessor (10) leads to for real-time data signal processing, image procossing and with the number of slave computer
News, the first Embedded RISC microprocessor (9) and the second Embedded RISC microprocessor (10) are connected by connecting plug-in unit.
2. the composite vision Laser navigation system according to claim 1 for robotic vehicle automatic Pilot, feature
It is that the first Embedded RISC microprocessor (9) is inserted by CPU module (11), step motor control module (13), the first connection
Part (14) and the second connection plug-in unit (15) form, and the CPU module (11) is connected with step motor control module (13), it is described with
Step motor control module (13) is connect by the first connection plug-in unit (14) with stepper motor (4)；
The second Embedded RISC microprocessor (10) is connected by Embedded RISC microprocessor CPU module (18), third and inserted
Part (19), the 4th connection plug-in unit (20), the 5th connection plug-in unit (23), the 6th connection plug-in unit (24) form, the Embedded RISC
Microprocessor CPU module (18) connect respectively with third plug-in unit (19), the 4th connection plug-in unit (20), the 5th connection plug-in unit (23),
6th connection plug-in unit (24) connects；The CPU module (18) contains parallel graphic image processor GPU, the 4th connection plug-in unit
(20) it is connect with USB high-definition cameras, for the 5th connection plug-in unit (23) for connecting ultrasonic distance measuring apparatus, the 6th connects plug-in unit (24)
For being communicated with slave computer data image；
The first Embedded RISC microprocessor (5) and the second Embedded RISC microprocessor (6) pass through the second connection
Plug-in unit (15) connects plug-in unit (19) connection with third.
3. the composite vision Laser navigation system according to claim 1 or 2 for robotic vehicle automatic Pilot, special
Sign is that circular ventilation radiator window (29) is provided on the side plate of casing (2).
4. the composite vision Laser navigation system according to claim 1 or 2 for robotic vehicle automatic Pilot, special
Sign is that outlet and 485 data lines (33) are provided on the side plate of casing (2).
5. the control method of the composite vision Laser navigation system for robotic vehicle automatic Pilot, it is characterized in that including following
Step：
(1) system electrification, activation system；
(2) while laser navigation radar, computer vision, ultrasonic distance measuring apparatus are opened, embedded system reads data and video figure
Picture；
(3) laser navigation radar range finding data acquire and with the data table memory in embedded system to mark；
(4) mark result with embedded system 1 is communicated, carries out date comprision, adjusted according to analysis result by embedded system 1
Whole control algolithm optimizes electric rotating machine angular speed；
(5) it is communicated with slave computer, confirms ranging data quality；
(6) confirm whether data and picture quality are up to standard, if not up to standard, enter step 4；If up to standard enter step 7, otherwise
Enter step 3；
(7) judge whether to continue gathered data, image, if continuing to acquire, enter step 3, otherwise out of service, completion fortune
Row work.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711398948.7A CN108153308A (en) | 2017-12-21 | 2017-12-21 | For the composite vision Laser navigation system and its control method of robotic vehicle automatic Pilot |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201711398948.7A CN108153308A (en) | 2017-12-21 | 2017-12-21 | For the composite vision Laser navigation system and its control method of robotic vehicle automatic Pilot |
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| CN108153308A true CN108153308A (en) | 2018-06-12 |
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| CN201711398948.7A Pending CN108153308A (en) | 2017-12-21 | 2017-12-21 | For the composite vision Laser navigation system and its control method of robotic vehicle automatic Pilot |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN109828286A (en) * | 2019-03-08 | 2019-05-31 | 上海禾赛光电科技有限公司 | Laser radar |
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