CN108279683A

CN108279683A - A kind of round-the-clock unmanned cruiser system of six wheel drive low speed

Info

Publication number: CN108279683A
Application number: CN201810224364.6A
Authority: CN
Inventors: 杨锐敏
Original assignee: Xuzhou Aiqi Robot Technology Co Ltd
Current assignee: Xuzhou Aiqi Robot Technology Co Ltd
Priority date: 2018-03-19
Filing date: 2018-03-19
Publication date: 2018-07-13

Abstract

A kind of round-the-clock unmanned cruiser system of six wheel drive low speed, including cruiser ontology and control system；There is cruiser ontology front and back two pairs of driving wheels, a pair of driving wheels to be driven by six direct current generators；Direct current generator is connected with planetary reducer；First forward and backward side's environment detection and protection system in control system are mainly made of single line laser radar, single line laser radar and CCD camera；Second forward and backward side's environment detection and protection system are mainly made of two microwave radars；Forward and backward blind area detection and obstacle avoidance system are made of three ultrasonic sensors；Single line laser radar, microwave radar, wireless communication module, CCD camera, wireless communication module and assistant controller are connect with master controller；Ultrasonic sensor and motor driver are connect with assistant controller, and motor driver is connect with six direct current generators respectively.The system stability, reliability and cost-effective, calculation process speed is fast, and flexibility is high, and can successfully manage bad weather.

Description

A kind of round-the-clock unmanned cruiser system of six wheel drive low speed

Technical field

The invention belongs to unmanned technical fields, and in particular to a kind of round-the-clock unmanned patrol of six wheel drive low speed Vehicle system.

Background technology

Accelerate with the speed of modernization construction, supermarket, large pier, International airport, various conference and exhibition centers, large size The quantity and scale in the places such as logistics warehouse, saloon bar, hospital are continuously increased, various large size residence districts and playground day Benefit increases, and mankind's activity and logistics transportation etc. become increasingly complex, and a large amount of human and material resources and security resource is needed to ensure this System safe operation.Current security technology is mainly based on manpower patrol and CCD camera locating and monitoring, both modes are The security demand that existing large-scale complex environment cannot be met, the security that mankind's patrol is substituted using safety protection robot are gone on patrol automatically Change system can solve the matter of great urgency at the moment, because security patrol automated system can not only further increase security system Stability, safety and real-time, and can effectively save cost of labor.

Unmanned cruiser can perceive environment and this as a kind of novel special security class robot by sensor Body state simultaneously realizes avoidance, shuttles in bustling crowd and various barrier, completes autonomous patrol mission.Nobody Driving cruiser is timed, pinpoints, uninterrupted mobile monitoring and patrol are that solution security patrol automates best solution Certainly scheme.Unmanned cruiser system is that environment sensing, dynamic decision, route planning and behaviour control are concentrated on one Multi-functional hybrid system, it perceives vehicle-periphery using onboard sensor, and according to perceiving obtained road, patrol Patrol vehicle location, barrier and suspicious danger information, control steering and the speed of vehicle, to enable the vehicle to safety, can It is travelled on patrol path by ground.The crowds such as unmanned cruiser collection automatically controls, architecture, artificial intelligence, vision calculate More technologies in one, be computer science, pattern-recognition and intelligent control technology high development product, and weigh a state One important symbol of family research strength and industrial level, has broad application prospects in national defence and national economy field.

It is still in infancy currently, Intelligent unattended drives cruiser development, either the intelligent driving of which kind of degree, the One step is all that perception is primary, that is, perceives unmanned cruiser periphery complex environment, on this basis Corresponding path planning and driving behavior decision can be made, the selection of detecting sensor is unmanned cruiser success avoidance Premise.Multi-line laser radar is exactly distribution in vertical direction by multiple laser emitters, passes through motor as its name suggests Rotation form the scanning of a plurality of harness.Theoretically, certainly harness is more, closeer, just more abundant to environment description, this Sample can also reduce the requirement of algorithm.3D multi-line laser radars can obtain the 3D of robot by laser scanning Model, the variation of previous frame and next frame environment is compared with related algorithm can be relatively easy to detect around robot Pedestrian and other obstacle informations, while another big characteristic of 3D laser radars is to synchronize to build figure, the global map obtained in real time is logical It crosses and is compared with the characteristic body in high-precision map, the positioning accuracy for navigating and reinforcing robot may be implemented.Multi-line laser radar Investigative range is relatively wide, can provide a large amount of environment range informations, decision can provide larger convenience, the above advantage in order to control So that multi-line laser radar becomes a preferential selection of unmanned cruiser perception circumstances not known.

The electromechanics arrangement architecture of general common simple unmanned patrol motor vehicle drive system is as shown in Figure 1.Nobody It drives cruiser to detect environment by multi-line laser radar sensor detection system and be conveyed to PC machine, then PC machine is by coding Reason sends control instruction to SCM Based slave computer, and single chip control module sends control instruction after communication decodes To Direct Current Servo Motor Controller, controller drives six direct current generators movements, and then by being directly connected to direct current generator Driving wheel drives unmanned cruiser walking；The variation for the peripheral environment that single-chip computer control system is acquired according to laser radar is real When adjust the movement of direct current generator, and then control the position of unmanned cruiser in the actual environment, CCD camera is responsible for reality When acquire the image in unmanned cruiser patrol path and stored in real time by PC machine.Existing simple unmanned patrol Vehicle control is to control single multi-line laser radar sensor by single microcontroller to realize above-mentioned function.

There is problems for existing unmanned cruiser, mainly have：

（1）Due to being influenced by direct current generator feature itself, the volume and weight of direct current generator is relatively large, is unfavorable for unmanned The raising of cruiser dynamic property.

（2）The sliding contact of the brush and commutator of direct current generator causes mechanical wear and spark, makes direct current generator Failure is more, reliability is low, short life, maintenance heavy workload.

（3）Since the direct current generator length of cruiser is larger, using the unmanned patrol vehicle width of traditional mechanical structure It spends larger, some narrow spaces can not be passed through.

（4）Existing unmanned cruiser direct current generator is directly mechanically connected with driving wheel, and controller tune is passed through The voltage of direct current generator is saved to complete speed governing, although meeting the requirement of the speed of travel, drives entire unmanned patrol The torque of vehicle is smaller, and the ability for adapting to outdoor rugged and rough road conditions is poor.

（5）Existing unmanned cruiser is all made of rudimentary singlechip chip, and working frequency is relatively low, and only tens Hertz, the control that unmanned cruiser interferes various complex environments is cannot be satisfied, unmanned cruiser is easily caused and loses Control.

（6）It is influenced by unmanned cruiser PC machine performance, the environment detection sensor of unmanned cruiser acquires number According to can not quickly calculate and store, judgement of the unmanned cruiser to ambient enviroment is affected.

（7）It is influenced by unmanned cruiser PC machine performance, the ccd sensor image acquisition data of unmanned cruiser Quickly it can not be analyzed and be calculated in real time, master station can only could find asking in patrol by analyzing the image data of storage Topic.

（8）Although 3D data may be implemented in multi-line laser radar, it can be determined that the height of barrier handles the information on ground Deng, but price is relatively expensive, can not promote the use of a large area.

（9）Present unmanned cruiser substantially only considers forward detection and avoidance, does not consider the obstacle at rear Object information, sometimes cruiser reversing when rear occur barrier can enter unmanned cruiser protection zone, make At unnecessary injury.

（10）Based on the unmanned cruiser of multi-line laser radar there is a detection blind area in forward movement, Once there is barrier to be in blind area, it is easy to generate traffic accident.

（11）Based on the unmanned cruiser of multi-line laser radar actually move backward reverse procedure in also will appear detection it is blind Area, once having barrier to enter movement blind area during the motion also will produce traffic accident.

（12）Only there are two power points for the unmanned cruiser of Two-wheeled, although can be preferable on smooth indoor road surface Completion patrol mission the phenomenon that often a power wheel skids, lead but when encountering rugged outdoor road surface Cause unmanned cruiser out of hand.

（13）The unmanned cruiser of Two-wheeled generally meets power requirement when climbing by motor overload, But the performance of motor can be injured when encountering complicated state and needing long-play, cause entire unmanned cruiser system The reliability of system is greatly lowered.

（14）Unmanned cruiser needs quickly to accelerate and run with higher speed under many state of emergency, at this The power of system requirements is larger under the conditions of kind, and the power of motor for meeting normally travel cannot be satisfied system long-time acceleration request, Entire unmanned cruiser system suitability is caused to be greatly lowered.

（15）For the unmanned cruiser of four-wheel drive, there was only four with the Dynamic Contact contact area point on ground A, when encountering a driving wheel stall, system becomes two-wheel drive again again, and obstacle climbing ability is weaker, sometimes even can not It clears the jumps, can not finally complete patrol mission.

（16）For using for the power-actuated unmanned cruiser of four-wheel, the power adjustment capability of robot is compared with two Wheel power drive increases, and can meet the acceleration under the simple operating mode of the unmanned cruiser of pipe, but encounters with complexity When the patrol path of operating mode, demand power changes greatly, and be easy to cause dynamic performance and is greatly lowered.

（17）For the unmanned cruiser using two-wheel drive and four-wheel drive, once encounter moist patrol When road surface, the earth-grasping force of cruiser is weaker, is susceptible to the appearance of slipping phenomenon when walking.

（18）Existing unmanned cruiser is to realize environment detection by navigation forward sensor, dead when encountering When lane, u-turn, when centainly encountering small space, unmanned patrol can only be realized by way of rotating in place 180 degree Vehicle will be unable to realize u-turn, and patrol mission is caused to fail.

（19）Laser radar is very sensitive to the weather for having misty rain, and misty rain absorbs terribly, so having laser radar Rain has the weather of mist, laser radar performance that can be greatly reduced, and large effect is caused to the safety of unmanned cruiser.

（20）Laser radar is very sensitive to the environment for having smog, and smog absorbs terribly, so having laser radar Under the operating mode of smog, laser radar performance can be greatly reduced, and large effect is caused to the safety of unmanned cruiser.

（21）Laser radar is very sensitive to the environment for having dust, and dust absorbs terribly, so having laser radar Under the operating mode of dust, laser radar performance can be greatly reduced, and large effect is caused to the safety of unmanned cruiser.

（22）Laser radar is very sensitive to the weather for having strong light, and strong sunlight can sometimes make laser radar performance It can be greatly reduced, sometimes be exported even without signal, large effect is caused to the safety of unmanned cruiser.

Therefore, it is necessary to carry out weight based on the unmanned cruiser system of monolithic processor controlled multi-line laser radar to existing New design, seek it is a kind of it is cheap, cost performance is relatively high, the practical of multiclass sensor fusion round-the-clock unmanned is patrolled Patrol vehicle system.

Invention content

It unmanned patrols in view of the above existing problems in the prior art, the present invention provides a kind of six wheel drive low speed are round-the-clock Vehicle system is patrolled, which can effectively improve the stability and reliability of unmanned cruiser, and can reduce unmanned patrol The frequency of maintenance of vehicle；The system can effectively improve anti-interference ability, can improve unmanned cruiser and cope with boisterous energy Power, and it is detected with rear and barrier avoiding function, can effectively eliminate detection blind area, safety when unmanned cruiser being made to walk Property and reliability higher；The system can effectively shorten unmanned cruiser the pose adjustment time, effectively improve it is unmanned The control performance of cruiser effectively improves flexibility and dynamic property that nobody steps up patrols in vehicle motion process, nobody is made to drive It sails the passability of cruiser more preferably and is less prone to slipping phenomenon and unmanned cruiser can be promoted to outdoor rugged and rough The adaptability of road conditions；The system can effectively improve the cost performance of unmanned cruiser, be conducive to unmanned cruiser It is widely applied.

To achieve the goals above, the present invention provides a kind of six wheel drive low speed round-the-clock unmanned cruiser system, Including cruiser ontology and the control system being arranged on cruiser ontology；

The cruiser body lower part is respectively equipped with a pair of driving wheels, cruiser sheet in the front, middle part and rear portion of length direction Internal portion is equipped with six direct current generators for respectively driving six driving wheels；

The control system includes power supply, power conversion module, motor driver, wireless communication module, master controller and auxiliary control Device processed；

The cruiser body interior is additionally provided with six planetary reducers being located on the outside of six direct current generator motor shafts； The planetary reducer is 90 degree of corner planetary reducers；

The direction that the length direction of six direct current generators prolongs cruiser body length extends, and six direct current generators are located at four The inside of driving wheel；The direct current generator is rare earth permanent magnet brushless DC servo motor, and motor shaft and the planet of direct current generator subtract The input terminal of fast machine connects, and the output shaft of planetary reducer drives driving wheel by gear set；The gear set is by the longitudinal direction Distribution and pitch wheel one and gear two composition；The gear one is set on the output shaft of planetary reducer, described Gear two is set in the shaft at driving wheel center；

The control system further include the first front environment detection and protection system, the second front environment detection and protection system, First rear environment detection and protection system, the second rear environment detection and protection system, front blind-area detection and obstacle avoidance system, after Blind area detects and obstacle avoidance system and 360 degree of CCD cameras one in cruiser bodies top center is arranged；

First front environment detection and protection system are mainly taken the photograph by single line laser radar L1, single line laser radar L2 and CCD Camera two forms；The single line laser radar L1 is with left lower than right to be obliquely arranged the position forward in cruiser bodies top, institute The front end that single line laser radar L2 is horizontally disposed at cruiser body lower part is stated, the CCD camera two is arranged in cruiser The front of ontology, and close to the center of short transverse；

Second front environment detection and protection system are mainly made of microwave radar M1 and microwave radar M2；The microwave thunder It is arranged up to M1 in the front of cruiser ontology, and between single line laser radar L1 and CCD camera two；The microwave radar The front end in the lower part of cruiser ontology is arranged in M2, and positioned at the lower part of single line laser radar L2；

First rear environment detection and protection system are mainly taken the photograph by single line laser radar L3, single line laser radar L4 and CCD Camera three forms；The single line laser radar L3 right low left highs are obliquely arranged in cruiser bodies top rearward position, institute The rear end that single line laser radar L4 is horizontally disposed at cruiser body lower part is stated, the CCD camera three is arranged in cruiser The rear portion of ontology, and close to the center of short transverse；

Second rear environment detection and protection system are mainly made of microwave radar M3 and microwave radar M4；The microwave thunder It is arranged up to M3 in the front and rear part of cruiser ontology, and between single line laser radar L3 and CCD camera three；The microwave thunder It is arranged up to M4 in the front end of the lower part of cruiser ontology, and positioned at the lower part of single line laser radar L4；

The front blind-area detection and obstacle avoidance system and the detection of rear blind area and obstacle avoidance system are separately positioned on the bottom of cruiser ontology Front end and bottom rear end；Front blind-area detects and obstacle avoidance system is made of ultrasonic sensor US1, US2 and US3, wherein ultrasonic wave Sensor US1, US2 and US3 are evenly distributed in the width direction, the detection of rear blind area and obstacle avoidance system by ultrasonic sensor US4, US5 and US6 compositions, wherein ultrasonic sensor US4, US5 and US6 are evenly distributed in the width direction；

Single line laser radar L1~the L4, microwave radar M1~M4, CCD camera one, CCD camera two, CCD camera Three, wireless communication module and assistant controller are connect with master controller；Ultrasonic sensor US1~the US6 and motor driving Device is connect with assistant controller, and motor driver is connect with six direct current generators respectively；Power supply respectively with motor driver and electricity Source conversion module connection, power conversion module are used to provide the supply of DC power supply；Wireless communication module is for passing through wireless parties Formula establishes the communication connection between the master station of distal end.

In the technical scheme, CCD camera one is responsible for the collection of patrol environment, and module is sent out in real time by radio communication Give master station.By the first front or behind environment detection and protection system setting can accurately and fast detect front or Distance environmental aspect farther out in rear is stepped up patrols vehicle and front or behind moving obstacle so as to effectively detect nobody Distance；Inclination on roof and for detecting front is provided in first front or behind environment detection and protection system The single line laser radar of setting and in lower car body and horizontally disposed single line laser radar is set, can not only reach multi-thread and swash The Effect on Detecting of optical radar, the barrier that can effectively detect the unmanned cruiser direction of motion or the position where people, notice Unmanned patrol vehicle control realizes Emergency avoidance, and low compared to the hardware cost of multi-line laser radar, is conducive to nothing People drives the popularization of cruiser practical application.It is provided in first front or behind environment detection and protection system and swashs positioned at single line CCD camera two or three between optical radar and single line laser radar can not only assist single line laser radar and single line laser radar Detection and navigation accuracy are improved, video analysis can be also more advantageous to, and on the one hand can find that movement road surface loses temporarily in advance Small obstacle and moving line in road conditions fluctuating situation, can make realtime graphic obtain performance it is more preferable, can be to unmanned Cruiser, which advanced optimizes path or regulation power throwing over barrier, has significant help.On the other hand it can effectively detect The presence of both sides clear area, to provide certain help for unmanned cruiser advance turning and avoidance, moreover it is possible to effectively visit The presence for measuring direction of motion both sides columnar object positions when being moved forward or back for unmanned cruiser and provides certain side It helps.By enabling the second front or behind environment detection and the setting of system being protected quickly and accurately to detect front or behind The closer short-distance blind section of distance is especially accelerated forwardly in rigid startup or is fallen backward can effectively eliminate unmanned cruiser The short-distance blind section occurred when vehicle improves safety and reliability when unmanned cruiser walking.In addition, the second front Or rear environment detection and protection system use the microwave radar group positioned at the microwave radar of vehicle body upper portion and positioned at lower car body At since microwave is the very short radio wave of wavelength, directionality is fine, and speed is equal to the light velocity.It is stood when microwave encounters barrier It is reflected back, the distance of barrier, and the ability of microwave penetration mist, cigarette, dust can be measured according to electromagnetic wave two-way time By force, have the characteristics that round-the-clock, round-the-clock can work, in this way once encountering bad weather, system can excise laser radar detection System relies only on microwave radar systems work, meets the normal patrol work of unmanned cruiser under round-the-clock adverse circumstances, And then boisterous patrol operation can be successfully managed, but microwave radar is relatively low relative to lidar measurement precision, therefore, As the supplement of the first front or behind environment detection and protection system, the detection effect of short-distance blind section can be effectively improved Fruit.In addition, there is system two-way navigation sensor need not rotate in place the mode of 180 degree when encountering blind alley to realize U-turn need to only switch the control logic of front and back group navigation sensor and motor driver, so that it may to realize u-turn, increase nobody Drive flexibility of the cruiser by the ability of small space and patrol operation.Furthermore make master controller to focus on patrol Image data, single line laser radar signal and the microwave radar signal that the CCD camera of vehicle acquires in real time, make assistant controller receive Handling result from master controller, and handle the feedback signal of ultrasonic sensor group and motor driver is controlled, The speed of image procossing and multisensor data fusion processing can not only be greatly improved, and can effectively reduce the negative of assistant controller Lotus can effectively prevent " run and fly " of motion control main program, so as to make unmanned cruiser anti-interference ability significantly Enhancing.Relative to two driving wheel bearing structures, six driving wheel structures in the application have that bearing capacity is stronger, linear movement speed The advantages that fast is spent, the dynamic characteristic of unmanned cruiser can be effectively improved.In addition, the unmanned patrol bassinet structure ratio of the 4 wheel driven It is relatively simple, and good reliability, controller acquires external environment in real time in practical quickly walking process, adjusts six axis in real time Driving power, the utilization rate higher of power supply.In the case where road conditions are severe, relative to two-wheel drive and four-wheel drive carrying knot Structure, six driving wheel structures have higher dynamical system, can improve the passability of unmanned cruiser.Six drives are unmanned Cruiser can cut away four axis direct current brushless servo motor front and rears two to direct current generator when encountering turning Signal is controlled, system switches to the two-wheel drive cornering mode at middle part, is conducive to the turning for improving the unmanned cruiser of six axis Dynamic property.Six drive unmanned cruiser when encountering preposition a pair of driving wheels stall, and middle part may be used with after Four axis in portion synchronize pusher contingency mode, it is therefore prevented that the generation of unmanned cruiser out-of-control phenomenon improves unmanned patrol Patrol the safety of vehicle.Six drive unmanned cruiser when encountering a pair of driving wheels stall of postposition, and middle part may be used Contingency mode is drawn before synchronous with four axis of two pairs of driving wheels of front, it is therefore prevented that the generation of unmanned cruiser out-of-control phenomenon, Further improve the safety of unmanned cruiser.Six, which drive unmanned cruiser, works as a pair encountered in the middle part of main drive wheel When driving wheel stall, four axis that two pairs of driving wheels of front and rear may be used synchronize and pull in front and others push behind contingency mode, prevent The generation for having stopped unmanned cruiser out-of-control phenomenon, further improves the safety of unmanned cruiser.

Further, the CCD camera two and microwave radar M1 is with left lower than right is obliquely arranged；The CCD camera The equal right low left highs of three and microwave radar M3 are obliquely arranged.

In the technical scheme, by making CCD camera two and three obliquely be arranged, and make superposed microwave radar M1 and M3 are obliquely arranged, and can not only more effectively find the fluctuating of road conditions in moving line, moreover it is possible to be more conducive to find fortune in advance The small obstacle that dynamic road surface loses temporarily.

Further, the angle of inclination of the single line laser radar L1 and L3 is 5 degree；Single line laser radar L2 and L4 distance The distance on ground is 15cm ~ 30cm.

In the technical scheme, the angle of inclination of single line laser radar L1 and L3 is 5 degree, can not only make single line laser thunder More effectively coordinate up to L1 and L2, single line laser radar L3 and L4, to effectively improve the detection of equidirectional two single line radars Effect, and by the setting at the angle of inclination can be conducive to find in advance road conditions in moving line fluctuating and movement road surface face When lose small obstacle the case where so that cruiser can make in advance reply reaction, be conducive to improve cruiser went on patrol Safety and reliability in journey.

Further, the master controller is NUC7 processors；The core of the assistant controller uses STM32F767.

In the technical scheme, it is NUC7 processors to make master controller, and assistant controller uses STM32F767, to make to patrol Patrol pair that the control of vehicle is made of the master system based on vehicle-mounted computer NUC and the ARM lower computer systems based on STM32F767 Nuclear control system carries out, wherein being mainly used for working in unmanned cruiser system based on vehicle-mounted computer NUC master systems Measure maximum more single line laser radar signal processings, microwave radar signal processing, ccd image acquisition and analysis and the friendship with master station Mutual communication simultaneously completes the inputting of path and map, the processing of each Data Fusion of Sensor；Unmanned cruiser is handled by NUC7 The data fusion of multisensor substantially increases arithmetic speed, and then can give full play to NUC microcomputer data processing speeds Fast feature solves single arm processor and runs slower bottleneck, shortens that the development cycle is short, and makes the portable of program Ability is stronger.ARM lower computer control systems based on STM32F767 are mainly used for the upper of real-time reception NUC microcomputers composition Position machine multisensor digital convergence signal, and realize the various interruptions of the Digital Signal Processing of part, response and realization and master station Real-time data communication and storage.Complete the brush DC servo SERVO CONTROL of unmanned cruiser system, data store, I/O The functions such as control, blind area detection and avoidance signal processing, image analysis and transmission, can make the maximum brush DC of workload in this way Servo system control gives STM32F767 processing, to make whole system using STM32F767 as kinetic control system process cores The heart can give full play to the very fast advantage of STM32F767 data processings, the rational division of work of NUC and ARM be thereby realized, with energy The feature for making full use of NUC data processing speeds fast quickly handles the calculation of a large amount of Multi-sensor Fusion signal and various data Method processing, effectively frees arm processor from hard work amount, can effectively prevent motion control main program " run fly ", and the interference source around capable of having fully considered significantly enhances the anti-interference ability of unmanned cruiser.Together When NUC and ARM between can carry out communication and data exchange and the between each other calling of required data in real time, nobody can be effectively improved Drive the environment detection function of cruiser.The front and rear of the unmanned cruiser of the present invention is all made of identical in same position Laser radar, microwave radar, CCD camera and ultrasonic sensor, unmanned cruiser can be realized in small space The accuracy of navigation and the flexibility of u-turn.

Further, as a preferred embodiment, the model LMS151-10100 of single line laser radar.

Further, in order to realize closed-loop control, so that assistant controller can preferably control the operating condition of driving wheel, it is described Encoder is connected on driving wheel, the encoder is connect with assistant controller, for Real-time Feedback cruiser ontology displacement, Speed and acceleration.

Further, further include four charging modules, four charging modules point for the ease of charging to cruiser ontology It is not distributed in the surrounding of cruiser ontology, and is connect with power supply, the power supply is accumulator group.

Description of the drawings

Fig. 1 is the structural schematic diagram of existing unmanned cruiser motor internal arrangement；

Fig. 2 is the structural representation structure chart of the unmanned cruiser motor arrangement of six wheels of the present invention；

Fig. 3 is the structural schematic diagram of the unmanned cruiser sensor of the present invention and camera alignment；

Fig. 4 is the left view of Fig. 3；

Fig. 5 is the right view of Fig. 3；

Fig. 6 is the functional block diagram of control system in the present invention；

Fig. 7 is unmanned cruiser operation schematic diagram in the present invention；

Fig. 8 is the unmanned bilateral navigation scheme of cruiser in the present invention；

Fig. 9 is the unmanned unilateral navigation scheme of cruiser in the present invention；

Figure 10 is unmanned cruiser inertial navigation schematic diagram in the present invention；

Figure 11 is that unmanned cruiser reverses end for end schematic diagram in the present invention；

Figure 12 is unmanned cruiser turning schematic diagram in the present invention.

In figure：1, cruiser ontology, 2, driving wheel, 4, direct current generator, 5, planetary reducer, 6, gear one, 7, gear Two, 8, CCD camera one, 9, single line laser radar L1,10, single line laser radar L2,11, CCD camera two, 12, microwave thunder Up to M1,13, microwave radar M2,14, single line laser radar L3,15, single line laser radar L4,16, CCD camera three, 17, microwave Radar M3,18, microwave radar M4,19, ultrasonic sensor US1,20, ultrasonic sensor US2,21, ultrasonic sensor US3,22, ultrasonic sensor US4,23, ultrasonic sensor US5,24, ultrasonic sensor US6,25, charging module, 26, Front blind-area detects and obstacle avoidance system, 27, the detection of rear blind area and obstacle avoidance system.

Specific implementation mode

The invention will be further described below in conjunction with the accompanying drawings.

As shown in Figures 1 to 5, the round-the-clock unmanned cruiser system of a kind of six wheel drive low speed, including cruiser sheet Body 1 and the control system being arranged on cruiser ontology 1；1 lower part of cruiser ontology the front of length direction, middle part and Rear portion is respectively equipped with a pair of driving wheels 2, and 1 mounted inside of cruiser ontology be useful for respectively driving six driving wheels 2 six are straight Galvanic electricity machine 4.1 mounted inside of cruiser ontology is useful for respectively driving six direct current generators 4 of six driving wheels 2；The patrol Six planetary reducers 5 being located on the outside of six 4 motor shafts of direct current generator are additionally provided with inside vehicle ontology 1；The planet Speed reducer 5 is 90 degree of corner planetary reducers；The length direction of six direct current generators 4 prolongs the direction of 1 length of cruiser ontology Extend, and six direct current generators 4 are located at the inside of four driving wheels 2；The direct current generator 4 is rare earth permanent magnet brushless DC servo Motor, stator and the common DC motor stator structure having the same of rare earth permanent magnet brushless DC servo motor, only with neodymium Iron boron rare earth permanent-magnetic material is as magnetic pole instead of the excitation pole and Exciting Windings for Transverse Differential Protection of direct current generator so that brush DC servo electricity The structure of machine is relatively simple, and electronic commutation eliminates easy out of order collector ring and brush, realizes non-brushing, improves The reliability of motor operation.Rare earth permanent-magnetic material uses so that power of motor density is higher, and the volume of motor can be made more It is small.Rare-earth permanent magnet brushless servo have with respect to traditional servo motor it is small, it is light-weight, contribute big, response is fast, and inertia is small, turns It is dynamic smooth, the advantages that torque is stablized, non-maintaining, efficient, and running temperature is low, and electromagnetic radiation is small, long lifespan.These characteristics make Rare earth permanent magnet brushless DC servo motor is particularly suitable for substituting direct current generator, and is applied to unmanned cruiser these requirements ratio In more special robot control system.The motor shaft of direct current generator 4 is connect with the input terminal of planetary reducer 5, planetary reduction gear The output shaft of machine 5 drives driving wheel 2 by gear set；Planetary reducer 5 is 90 degree of planetary reducers, i.e. planetary reducer 5 Input shaft is perpendicular with output shaft；The gear set by being distributed and 27 groups of pitch wheel 1 and gear in the longitudinal direction At；The gear 1 is set on the output shaft of planetary reducer 5, and the gear 27 is set in the shaft at 2 center of driving wheel On；Direct current generator 4 is directly mechanically connected by its motor shaft and 90 degree of planetary reducers 5, then 5 output shafts of planetary reducer It is mechanically connected with driving wheel by gear 1 and gear 27, this combination energy of planetary reducer 5 is coordinated using direct current generator 4 The matching between the unmanned cruiser speed of travel and demand torque is realized, when can be effectively increased unmanned cruiser walking Torque, meanwhile, can also reduce the width of unmanned cruiser.As a preferred embodiment, gear 1 and gear 27 can be adopted With 1:1 gear ratio.Due to the axial position for the direct current brushless servo motor that has been staggered so that the width of unmanned cruiser is big Amplitude reduction is conducive to unmanned cruiser and passes through some narrow regions.In order to meet practical patrol duty requirements, this six The direct current brushless servo motor of a pair of of center takes identical rated power larger in wheel construction, unmanned cruiser front and rear part Two pairs of direct current brushless servo motors take identical power, under normal circumstances front and rear part select power for middle part power 50 ~ 75%, according to the actual operation, six axis may be used and synchronize the synchronous driving pulled in front and others push behind, it can also middle part and the four of rear portion Axis synchronizes rear push-model, can also use middle part preceding pull-mode synchronous with four axis of front, encounter middle part stall when front and Four axis at rear portion synchronize contingency mode.Planetary reducer 5 is a kind of independent enclosed biography being used between prime mover and working machine Dynamic device, main function are exactly to increase torque for reducing the rotary inertia ratio of load/motor and reducing rotating speed, and ensureing Under the premise of precision drive.Precise planet-gear speed reducer have structure size is small, volume is light and handy, gear range, deceleration The advantages that range is wide, low noise, transmission efficiency, high output torque, since the above advantage planet-gear speed reducer is answered extensively For carrying in the electronic products such as DC servo motor, AC servo motor, stepper motor, it can be used for lifting transport, engineering machine The fields such as tool, metallurgy, mine, petrochemical industry, building machinery, industry light industry textile industry, medical instrument, instrument and meter, ship, automobile.

As shown in fig. 6, the control system include power supply, power conversion module, motor driver, wireless communication module, Master controller, assistant controller, the first front environment detection and protection system, the second front environment detection and protection system, first Rear environment detection and protection system, the second rear environment detection and protection system, front blind-area detection and obstacle avoidance system 26, rear blind Area detects and obstacle avoidance system 27 and 360 degree of CCD cameras 1 in 1 top center of cruiser ontology is arranged；

In order to realize that unmanned cruiser navigates and reverses end for end in small space, the unmanned cruiser ontology of the present invention Front and rear is all made of identical laser radar, microwave radar, CCD camera and ultrasonic sensor in same position.Institute The first front environment detection and protection system is stated mainly to be imaged by single line laser radar L1 9, single line laser radar L2 10 and CCD Machine 2 11 forms；The single line laser radar L1 9 is with left lower than right to be obliquely arranged the position forward at 1 top of cruiser ontology, The single line laser radar L2 10 is horizontally disposed at the front end of 1 lower part of cruiser ontology, and the CCD camera 2 11 is arranged In the front of cruiser ontology 1, and close to the center of short transverse；First rear environment detection and protection system master It to be made of single line laser radar L3 14, single line laser radar L4 15 and CCD camera 3 16；The single line laser radar L3 14 right low left highs are obliquely arranged in 1 top rearward position of cruiser ontology, and the single line laser radar L4 15 is flatly set The rear end in 1 lower part of cruiser ontology is set, the CCD camera 3 16 is arranged at the rear portion of cruiser ontology 1, and close to height The center in direction；Due to being provided with the first rear environment detection and protection system, when unmanned cruiser once moving Get up, reversed single line laser radar can effectively detect unmanned cruiser at a distance from the moving obstacle of rear, work as chance When to emergency, unmanned cruiser can accelerate to flee danger region, play the unmanned cruiser ontology of protection Effect.

Second front environment detection and protection system are mainly made of microwave radar M1 12 and microwave radar M2 13； The microwave radar M1 12 is arranged in the front of cruiser ontology 1, and is located at single line laser radar L1 9 and CCD camera two Between 11；The microwave radar M2 13 is arranged in the front end of the lower part of cruiser ontology 1, and is located at single line laser radar L2 10 Lower part；Second rear environment detection and protection system are mainly made of microwave radar M3 17 and microwave radar M4 18； The microwave radar M3 17 is arranged in the front and rear part of cruiser ontology 1, and is located at single line laser radar L3 14 and CCD camera Between 3 16；The microwave radar M4 18 is arranged in the front end of the lower part of cruiser ontology 1, and is located at single line laser radar L4 15 lower part；Since microwave radar is insensitive to misty rain, hazy weather, to having dust, having the environment of strong light insensitive, so Rain has the weather of mist, the patrol vehicle control can directly excise laser radar and navigated using microwave radar, improve The safety of unmanned cruiser.

In addition, for the unmanned cruiser of this structure, in order to meet a wide range of multi-site operation, can be added Site sensor with certain redundancy（It can be the GPS positioning module being connect with assistant controller）, not only it is conducive to nobody The positioning of cruiser is driven, and is also beneficial to tracking of the master station to unmanned cruiser.

Preferably, the model of single line laser radar is LMS151-10100.

As a preferred embodiment, the first front environment detection and protection system and the first rear environment detection and protection system pair It is arranged with claiming ground setting, the second front environment detection and protection system and the second rear environment detection and protection symmetry system having symmetry.For Can precision navigation and video analysis, CCD camera of the invention uses two groups, wherein CD video cameras 2 11 and CCD take the photograph Camera 3 16 is responsible for vision guided navigation use as one group, and CCD camera 1 is responsible for going on patrol environment as another group to be collected, can be with To master station, master station can find suspicious the environmental information flowed again by wireless real-time transmission after arm processor decodes in time Information.

As a preferred embodiment, the CCD camera 2 11 and microwave radar M1 12 is with left lower than right is obliquely arranged；Institute It states CCD camera 3 16 and 17 equal right low left highs of microwave radar M3 is obliquely arranged.

As a preferred embodiment, the angle of inclination of the single line laser radar L1 and L3 is 5 degree；Single line laser radar L2 and Distances of the L4 apart from ground is 15cm ~ 30cm.With ground there is the unmanned patrol bus-top single line of certain angle to swash Optical radar, microwave radar are acquired with CCD camera is combined the fluctuating that can find road conditions in moving line in advance very well, to nobody Driving cruiser path optimizing has certain help.There is the unmanned patrol bus-top single line of certain angle with ground Laser radar data, microwave radar are combined with CCD camera gathered data can also find that movement road surface loses temporarily in advance very well Small obstacle, advanced optimizing path or regulation power throwing over barrier to unmanned cruiser has certain side It helps.

Due to sensor combinations, unmanned cruiser is when startup moves forward generally in forward region There are a blind area, collide when starting in order to prevent, the front blind-area detection and obstacle avoidance system 26 and the detection of rear blind area and Obstacle avoidance system 27 is separately positioned on bottom front and the bottom rear end of cruiser ontology 1；Front blind-area detect and obstacle avoidance system 26 by Ultrasonic sensor US1, US2 and US3 composition, wherein ultrasonic sensor US1, US2 and US3 equably divides in the width direction Cloth, rear blind area detection and obstacle avoidance system 27 are made of ultrasonic sensor US4, US5 and US6, wherein ultrasonic sensor US4, US5 and US6 are evenly distributed in the width direction；Due to being added one group by ultrasonic sensor in the bottom of unmanned cruiser The front blind-area detection of US1, US2, US3 composition and obstacle avoidance system.In unmanned cruiser driving process, CCD camera meeting Environmental information is acquired in real time and is sent to vehicle-mounted NUC7 processors and master station, it, can remotely pilotless when master station finds doubtful information Drive the cruiser startup secondary determining suspicious information of reversing back is at this time generally in rear moving region there are a blind area Prevent to collide, the present invention is added one group by ultrasonic sensor US4, US5, US6 in the bottom of unmanned cruiser The rear blind area detection of composition and obstacle avoidance system.Start reversing back moment, rear single line laser radar in unmanned cruiser It can work with ultrasonic sensor group, prevent from colliding when reversing.

The blind area detecting system being made of multiple ultrasonic sensors can effectively eliminate unmanned cruiser and just start forward The short-distance blind section occurred when acceleration or reversing back improves safety and reliability when unmanned cruiser walking. Simultaneously as being equipped with two-way navigation sensor group, when encountering blind alley, the mode that need not rotate in place 180 degree is come in fact It now reverses end for end, need to only switch the SERVO CONTROL logic of front and back group navigation sensor and left and right servo motor, so that it may to realize u-turn, increase Ability of the unmanned cruiser by small space is added.

Single line laser radar L1~the L4, microwave radar M1~M4, CCD camera 1, CCD camera 2 11, CCD Video camera 3 16, wireless communication module and assistant controller are connect with master controller；Ultrasonic sensor US1~the US6 and Motor driver is connect with assistant controller, and motor driver is connect with six direct current generators 4 respectively；Power supply drives with motor respectively Dynamic device is connected with power conversion module, and power conversion module is used to provide the supply of DC power supply；Wireless communication module is for leading to Cross the communication connection between wireless mode foundation and distal end master station.

In order to improve the environment detection function of unmanned cruiser, the master controller is preferably NUC7 processors；Institute The core for stating assistant controller uses STM32F767.STM32F756 processors are the completely new ARM series productions that STM companies are produced Product are global first volume productions and possess the microcontroller of 32 bit ARM Cortex-M7 processors, product be all equipped with possess it is floating The Cortex-M7 cores of point processing unit and DSP extended functions, arithmetic speed highest 216MHz；With towards kernel, peripheral hardware AXI with memory interconnection and more ahb bus matrixes, using 6 grades of super scalar pipelines and floating point unit；Two general DMA controls Device processed and a DMA for being exclusively used in graphics accelerator；Compared to STM32 series before, possess more rich peripheral hardware；Simultaneously STM32F7 has excellent instruction and pin compatibility：Cortex-M4 instruction set that Cortex-M7 is backward compatible, STM32F7 systems Row and STM32F4 series pin compatibilities；ARM Cortex-M7 efficiency is surmounted early stage core by STM32F7 MCU series of products（Example Such as Cortex-M4）Advantage apply to ultimate attainment, efficiency reaches nearly twice of DSP, and These characteristics make STM32F7 be very suitable for It substitutes partial lower ARM family chips or dsp chip does the number of unmanned cruiser direct current brushless servo motor control system According to processing.

The traditional two-wheeled mechanical structure and multi-line laser radar Working mould that domestic existing unmanned cruiser mostly uses Formula, therefore existing unmanned cruiser has the shortcomings that stability is poor, rapidity difference and sexual valence are poor, in order to ensure nobody The stability and reliability of patrol vehicle control are driven, while in order to improve cost performance and control calculation process speed, this Shen The novel four-wheel mechanical mechanism based on planetary reducer please be propose, and Intel is introduced in based on STM32F767 controllers 7th generation NUC microcomputer of state-of-the-art technology is formd based on Intel the 7th generation microcomputer NUC7+ARM（Newest insertion Formula STM32F767）The completely new control model of dual-core controller.In order to improve the environment detection function of unmanned cruiser, adopt With more single line laser radars, microwave radar, CCD camera and supersonic sensing based on Intel's the 7th generation NUC microcomputer Device integration technology realizes the detection of cruiser ambient enviroment, and introduces Image Acquisition based on high definition CCD camera and ARM Analysis of image data system, and by wirelessly in real time acquisition information back to master station.Whole system is with STM32F767 for six axis Servo-control system processing core, the host computer multisensor digital convergence signal of real-time reception NUC microcomputers composition, and Realize the real-time data communication and storage of the Digital Signal Processing, the various interruptions of response and realization of part with master station.The control system The detection of more single line laser radars, microwave radar detection, ccd image acquisition and analysis system are concentrated design by system, can be in the control The battery management module being connect with power supply is set in system processed, and connection battery management module, battery are controlled by assistant controller Management module includes for measuring the voltage sensor one of assembled battery total voltage, the voltage sensor two for measuring monomer voltage, surveying It measures the current sensor of the size of electric current, measure the temperature sensing one of each battery temperature and the electricity for measuring battery internal resistance Sensor is hindered, rationally to monitor the parameters situations such as battery total voltage, monomer voltage, the internal resistance of battery, temperature, and then in vehicle mounted electric In the fast discharge process of pond, terminal voltage can be detected in real time, ensure that battery terminal voltage closer to actual parameter, is conducive to The low-voltage variation of battery.In this way, the control system can be made fully to consider effect of the battery in this system, it is based on ARM+NUC Dual-core controller can be monitored constantly to the operating status of unmanned cruiser and operation, improves the profit of the energy of battery With rate, be conducive to the continuation of the journey of unmanned cruiser, realize unmanned cruiser it is stable, it is reliable, constantly in each area The patrol operation in domain.

The control system is maximum more single line laser radar signal processings of workload in unmanned cruiser system, micro- The processing of NUC microcomputers is given in wave Radar Signal Processing and ccd image acquisition and analysis, and unmanned patrol is handled by NUC7 The image data of the CCD camera of vehicle and the data fusion signal of multisensor, substantially increase arithmetic speed, give full play to The very fast feature of NUC microcomputer data processing speeds solves the slower bottleneck of single ARM running softwares, shortens exploitation week Phase is short, and program transportability ability is made effectively to enhance.It is passed since this control system handles a large amount of single line laser radars using NUC The data and algorithm of sensor and microwave radar sensor, and the interference source around having fully considered, ARM from hard work amount In free, effectively prevent " run fly " of motion control main program, unmanned cruiser anti-interference ability increases By force.And blind area detection and the functions such as avoidance, image analysis and transmission, data storage, I/O controls give STM32F767 completions, this Sample is achieved that the division of labor of ARM and NUC microcomputers, while improving control system operation and processing speed, also further The stability and reliability of control system are improved, while master controller and assistant controller can also can carry out therebetween in real time Communication carries out data exchange and calling.Meanwhile single line laser radar, microwave radar coordinate ccd image acquisition system, it not only can be with The barrier for effectively detecting the unmanned cruiser direction of motion or the position where people notify unmanned cruiser control system System realizes Emergency avoidance, and relatively low compared to multi-line laser radar hardware cost, is conducive to unmanned cruiser practical application Popularization.Meanwhile the presence of direction of motion both sides columnar object can be effectively detected, can be that unmanned cruiser is fixed when advancing Position provides certain help.Also the presence of both sides clear area can be effectively detected, can be the advance turning of unmanned cruiser Certain help is provided with avoidance.

Further, encoder can also be connected on the driving wheel 2, the encoder is connect with assistant controller, with Displacement, speed and acceleration for Real-time Feedback cruiser ontology 1.

Further include four charging modules, four charging modules are respectively distributed to cruiser for the ease of realizing charging process The surrounding of ontology 1, and connect with power supply, the power supply is accumulator group.Preferably, the charging module is preferably wireless Charging module can automatically carry out charging operation in this way, after cruiser reaches and specifies region.

In order to make the cruiser that there is warning function, the acousto-optic report being connect with assistant controller or master controller can also be increased Alert system.In order to understand ambient weather situation in time, can also increase on cruiser ontology and assistant controller or main control The photosensitive sensor of device connection comes.

In order to further enhance the control accuracy for having no way of driving cruiser, in order to perceive rotation angle and maintenance side To, meanwhile, also for navigation and locating effect can be improved, it is additionally provided with the gyroscope being connect with assistant controller.

Operation principle：Unmanned cruiser system is divided into two parts by the present invention：Novel machine based on planetary reducer Tool system and double-core control system based on NUC7+ARM, double-core control system is by the master system based on vehicle-mounted computer NUC With the ARM lower computer systems composition based on STM32F767.It is wherein based on vehicle-mounted computer NUC master systems and completes path and ground Scheme input, more single line laser radars, the data fusion of microwave radar sensor and the functions such as the acquisition of CCD figures and processing；It is based on The ARM lower computer control systems of STM32F767 complete the brush DC servo SERVO CONTROL of unmanned cruiser system, image Functions, the wherein maximum brush DC servo system control of workload such as acquisition and transmission, data storage, I/O controls are given STM32F767 processing gives full play to the very fast advantage of STM32F767 data processings, thereby realizes the division of labor of NUC and ARM, It can be communicated again therebetween simultaneously, carry out data exchange and calling in real time.

For the present invention design based on ARM（STM32F767）The unmanned cruiser dual-core controller of+NUC7, Under power-on state, arm processor and NUC controllers are completed to initialize first, and then vehicle-mounted computer NUC7 is driven by nobody Sail cruiser control master station and transfer cruiser driving path and cartographic information, subsequent blind-spot sensor is started to work, and at ARM Device communication is managed, arm processor determines opens six axis of unmanned cruiser driving patrol mould after clear enters working region Formula, while mutually being communicated with NUC controllers, NUC real-time receptions laser radar, microwave radar and CCD camera feedback signal are simultaneously Then decoding communicates with arm processor and transmits input control signal to arm processor, arm processor is by decoding input control Signal processed controls six axis direct current brushless servo motors, six axis direct current brushless servo motors through 90 degree planetary reducer conversion rates with It drives unmanned cruiser fast running after torque, and by encoder Real-time Feedback displacement on moving wheel, speed and adds The signals such as speed are to arm processor.In unmanned cruiser motion process, the patrol Image Acquisition based on CCD camera Information is gone on patrol to master station in system real-time Transmission scene.Once encountering bad weather, system understands excise laser radar-probing system, Microwave radar systems work is relied only on, the normal patrol work of unmanned cruiser under round-the-clock adverse circumstances is met.Nobody Cruiser is driven once opening patrol pattern, 360 degree of CCD cameras 1 will return patrol environment in real time by arm processor.

The specific function realization that unmanned cruiser in the present invention is introduced in conjunction with Fig. 7 to Figure 11 is as follows：

1）For unmanned cruiser before patrol mission, master station generally can recognize beat first by remote control mode by it Essential Environment, in unmanned cruiser walking process, by mobile lidar L1 ~ L4, microwave radar M1 ~ M4 and CCD camera two and CCD camera three carry out environment detection and build figure, while environmental map is passed in real time by WLAN It is defeated by master station, stored after being handled by master station and forms entire beat map, if region is larger, total standing-meeting is to beat Map be split, be divided into several mapping modules, be conducive to the calling in unmanned cruiser later stage, once complete region The foundation of figure, unmanned cruiser are returned to master station and enter patrol state of awaiting orders.

2）For unmanned cruiser in waiting time after being connected to the task of setting out, unmanned cruiser will be to extraneous ring Border situation is detected, if environment is more severe, laser radar L1 ~ L4, CCD camera two and the CCD camera shooting for navigation Machine three will not participate in navigation, and system navigates a unlatching microwave radar, ultrasonic sensor.Vehicle-mounted computer NUC7 passes through total Unmanned cruiser patrol point information is transferred at station, then in conjunction with master station's cartographic information formed new period patrol driving path and Navigation map information, blind-spot sensor is scanned blind area before and after then the arm processor based on STM32F767 is opened, such as Fruit has barrier to enter movement blind area, and arm processor can send out alarm and block the PWM wave control of six axis direct current brushless servo motors Signal processed, and wait for the removing of barrier；If clear enters movement blind area, ARM controller enables six axis direct currents again The PWM wave of brushless servo motor controls signal, and unmanned cruiser starts to go on patrol automatically.

3）After unmanned cruiser starts startup, arm processor opens each single line laser thunder according to ambient weather situation Up to sensor L1 ~ L4, microwave radar M1 ~ M4 and CCD camera two and CCD camera three into instantaneous scanning, then give birth to At real-time map and original map carry out comparison and determine the location of unmanned cruiser and posture, arm processor Pass through the figure of laser radar sensor L1 ~ L4 of NUC7 feedbacks, microwave radar M1 ~ M4, CCD camera two and CCD camera three Picture data, the PWM wave for adjusting six axis direct current brushless servo motors in real time controls signal, and then completes the first of unmanned cruiser Beginningization pose adjustment, unmanned cruiser enter automatic patrol pattern.

4）When unmanned cruiser injection is gone on patrol automatically, navigation sensor L1 ~ L4, microwave radar M1 ~ M4 and the work of CCD camera two and CCD camera three, and feedback signal is conveyed to NUC and arm processor, first there is NUC progress Data Fusion and STM32F767 respond various interruption protections and image analysis, and then NUC and ARM is communicated, ARM processing The environment residing for unmanned cruiser that device is fed back according to NUC, determines unmanned cruiser current according to Fig. 8, Fig. 9 and Figure 10 It is bilateral navigation, left unilateral navigation, right unilateral navigation or the inertial navigation based on gyroscope under pattern, then arm processor Send control signal to motor driver, six axis direct current brushless servo motors drive the movement of four 90 degree of accurate planetary reducers of axis The speed and the direction of motion for realizing unmanned cruiser change so that unmanned cruiser can easily be completed to patrol automatically It patrols.

5）After unmanned cruiser enters moving line, the encoder moment detection being connected with six axis driving wheels drives The speed of wheel is simultaneously conveyed to ARM controller, and ARM controller is joined according to the velocity feedback of the NUC environmental parameters fed back and encoder Number adjusts the driving condition of unmanned cruiser in real time.

When NUC feedbacks six, which drive unmanned cruiser, encounters turning environment shown in Figure 12, in order to improve turn performance, ARM controller blocks the control signal of two couples, the four axis direct current brushless servo motor of front and rear, during system switches to only Cornering mode is driven in the two a pair of axis direct current brushless servo motor two-wheeleds in portion, gyroscope G meeting Real-time Feedback turning deviation angles are given ARM controller, in the unmanned cruiser of parameter adjustment that next sampling period ARM controller can be fed back according to gyroscope G Turning speed, the turning path C that unmanned cruiser can very well in tracing figure 12.After completing to turn, ARM controls Device enables the control signal of two pairs of direct current generators of front and rear again at once, readjusts six axis direct current brushless servo motors Control signal, system reenters six drive states.

When 90 degree of planetary reducer stall of a pair of of DC brushless motor of encoder feedback and front connection, ARM controls Device processed blocks the pwm control signal of a pair of of DC brushless motor of front at once, and ARM controller adjusts middle part and rear portion immediately Four axis of a pair of of direct current generator synchronize pwm control signal, and unmanned cruiser, which enters, drives pusher contingency mode in four axis, wait for tight After anxious situation releases, ARM controller enables the control signal of a pair of of the direct current generator in middle part again at once, readjusts six axis direct currents The control signal of brushless servo motor, system reenter six drive states.

When 90 degree of planetary reducer stall of a pair of of DC brushless motor at encoder feedback and rear portion connection, ARM controls Device processed blocks the pwm control signal of a pair of of direct current generator at rear portion at once, and ARM controller adjusts two couple of middle part and front immediately Four axis of direct current generator synchronize pwm control signal, and unmanned cruiser, which enters in four axis, drives preceding drawing contingency mode, waits for urgent shape Condition release after, ARM controller at once again enable middle part a pair of of direct current generator control signal, readjust six axis direct currents without The control signal of brush servo motor, system reenter six drive states.

When 90 degree of planetary reducer stall of the DC brushless motor at encoder feedback and middle part connection, ARM controller The pwm control signal of a pair of of direct current generator at block middle part, ARM controller adjust two pairs of direct currents of front and rear immediately at once Four axis of motor synchronize pwm control signal, and unmanned cruiser, which enters, drives pusher contingency mode in four axis, wait for emergency solution After removing, ARM controller enables a pair of of the DC MOTOR CONTROL signal in middle part again at once, readjusts six axis brush DC servo electricity The control signal of machine, system reenter six drive states.

6）After unmanned cruiser enters moving line, the single line laser sensor L1 and microwave radar of front obliquely M1, front parallel to the ground detection single line laser radar group L2 and microwave radar M2 and CCD camera two（Or laser sensor L3 and microwave radar M3, front parallel to the ground detection single line laser radar group L4 and microwave radar M4 and CCD camera three） The environment that front can be detected the moment forms new environmental map, and the map transmitted with master station compares, and determines fixed obstacle With mobile people and object location information etc..

If single line laser sensor L1, microwave radar M1 coordinate CCD camera two（Or it is single line laser sensor L3, micro- Wave radar M3 coordinates CCD camera three）Detect fluctuating pitting or the small-scale obstacle there are certain altitude in forward path Object will be to assistant controller if height and width have been more than the requirement that unmanned cruiser is crossed（STM32F767）In sending out Fluctuating pitting data are transferred to NUC processing by disconnected request simultaneously, and STM32F767 can be to interrupting priority processing and entering front Hide protection subprogram：If having enough walking spaces, arm processor that will adjust six direct currents on the left of unmanned cruiser The control of motor makes unmanned cruiser be moved to the left according to different navigation modes, after completing to hide action, at ARM The SERVO CONTROL for adjusting six direct current generators is made unmanned cruiser be deviated to the right according to navigation mode and again by reason device Drive into the optimized paths NUC7；If there is enough walking spaces on the right side of unmanned cruiser, arm processor will be adjusted The SERVO CONTROL of six direct current generators makes unmanned cruiser be moved to the right according to navigation mode, when action is hidden in completion Afterwards, the SERVO CONTROL for adjusting six direct current generators is made unmanned cruiser according to navigation mode lateral deviation to the left by arm processor It moves and drives into the optimized paths NUC7 again；If the height and width or small obstacle of fluctuating pitting are unmanned Cruiser tolerance, arm processor will increase the power of six direct current generators, and unmanned cruiser is according to the normal of setting Path optimizing is travelled.

If single line laser sensor L1 and L2, microwave radar M1 and M2 and CCD camera two（Or single line laser sensor L3, L4, microwave radar M3, M4 coordinate CCD camera three）It detects and there is large obstacle temporarily in path optimizing left front, NUC will be to ARM（STM32F767）It sends out interrupt requests and handles barrier data simultaneously, ARM can go forward side by side to interrupting priority processing Enter left front avoidance protection subprogram：NUC and ARM communicates and transmits barrier data information, if barrier is patrolled with unmanned Patrol immediately ahead of vehicle has enough spaces that unmanned cruiser can be allowed to pass through between projection, and arm processor will maintain to work as the first six The SERVO CONTROL of a direct current generator, unmanned cruiser continue to keep current running state；If barrier with it is unmanned There is overlapping immediately ahead of cruiser between projection, arm processor will adjust watching for six direct current generators according to barrier data information Clothes control makes unmanned cruiser be moved to the right according to different navigation modes, after completing to hide action, arm processor Unmanned cruiser is set to be deviated according to navigation mode and be driven into again to the left the SERVO CONTROL for adjusting six direct current generators Path optimized NUC7.

If single line laser sensor L1 and L2, microwave radar M1 and M2 and CCD camera two（Or single line laser sensor L3 and L4, microwave radar M3 and M4 coordinate CCD camera three）It detects and there is large-scale obstacle temporarily in path optimizing right front Object, NUC will be to ARM（STM32F767）It sends out interrupt requests and handles barrier data, ARM simultaneously（STM32F767）It can centering Disconnected priority processing simultaneously enters avoidance protection subprogram before the right side：NUC and ARM communicates and transmits barrier data information, if obstacle There are enough spaces that unmanned cruiser can be allowed to pass through between projection immediately ahead of object and unmanned cruiser, ARM processing Device will maintain the SERVO CONTROL for working as the first six direct current generator, unmanned cruiser to continue to keep current running state；If barrier Hindering immediately ahead of object and unmanned cruiser has overlapping between projection, arm processor will adjust six according to barrier data information The SERVO CONTROL of a direct current generator makes unmanned cruiser be moved to the left according to navigation mode, after completing to hide action, The control for adjusting six direct current generators is made unmanned cruiser be deviated to the right according to navigation mode and again by arm processor Drive into the optimized paths NUC7.

During unmanned cruiser is gone on patrol forward, when encountering blind alley shown in Figure 11, arm processor will be adjusted The control of six direct current generators makes unmanned cruiser smoothly stop in safe range, and then arm processor will be cut automatically Change front and back navigation sensor group, rear laser sensor L3 obliquely and microwave radar M3, rear parallel to the ground detection Single line laser radar group L4 and microwave radar M4, CCD camera three are by work, and the environment for detecting the direction of motion forms new ring Condition figure, the map transmitted with master station compare, and determine the location of fixed unmanned cruiser information etc., unmanned cruiser Into contrary class sensor navigational state, while arm processor can switch the control logic of six direct current brushless servo motors simultaneously. In unmanned cruiser by contrary class sensor group navigation driving process, one moment of CCD camera detects ambient enviroment, and passes through Wireless real-time transmission is analyzed to master station, until encountering next blind alley, arm processor switches to positive group sensor and leads again Boat state.

7）When unmanned cruiser enters moving line and moves forward, detection single line laser radar L4 parallel to the ground With blind-spot sensor group US4 ~ US6（Or single line laser radar L2 and blind-spot sensor group US1 ~ US3）Moment detection movement negative side To environment and be transferred to NUC and ARM and carry out data fusion, if sensor fusion system judges unmanned cruiser rear When close to unmanned cruiser there are barrier, NUC will send out interrupt requests to ARM while barrier data will be transferred to ARM, arm processor can protect sub- journey to interrupting priority processing, and according to the range information of barrier and then two level rear avoidance Sequence simultaneously sends out alarm：If it is single line laser radar L4 detect a distant place have barrier it is close to unmanned cruiser when, ARM Controller will increase the PWM duty cycle of a pair of of direct current brushless servo motor at middle part, so that unmanned cruiser is implemented two level and adds Speed flees danger region, and after danger releases, ARM controller will restore the PWM duty cycle of six axis direct current brushless servo motors, make Unmanned cruiser completes patrol mission according to set speed traveling；Detecting a distant place if it is US4 ~ US6 has barrier When close to unmanned cruiser, ARM controller will increase the PWM duty cycle of six axis direct current brushless servo motors, make nobody It drives cruiser implementation level-one acceleration and flees danger region, after danger releases, ARM controller is watched six axis brush DCs are restored The PWM duty cycle for taking motor makes unmanned cruiser complete patrol mission according to set speed traveling；If unmanned There is no barriers to enter protection domain at cruiser rear, and ARM controller keeps the PWM duties of six axis direct current brushless servo motors Than making unmanned cruiser be gone on patrol according to existing normal speed.

8）After unmanned cruiser enters moving line, blind-spot sensor group US1 ~ US3 parallel to the ground（Or blind area Sensor group US4 ~ US6）Moment detects the environment of direction of motion blind area, if blind-spot sensor group US1 ~ US3（Or blind area sensing Device group US4 ~ US6）When judging to have barrier to enter unmanned cruiser movement blind area temporarily, urgent interrupt will be sent out to ARM Barrier data are transferred to ARM processing by request simultaneously, and ARM can be protected to interrupting priority processing subsequently into blind area avoidance Shield subprogram simultaneously sends out alarm, and arm processor, which will control six direct current generator emergency brakings, makes unmanned cruiser rapidly stop Vehicle prevents unmanned cruiser from injuring meiofauna life, and after danger releases, arm processor will readjust six directly The SERVO CONTROL of galvanic electricity machine makes unmanned cruiser be travelled according to the normal speed of setting.

9）In most cases due to unmanned cruiser, be not one-stop service pattern, the patrol place of arrival compared with More, by being emphasis beat, unmanned cruiser skip emphasis beat, the present invention have given up generally in order to prevent Website read method, site sensor S1 and S2 with certain redundancy can also be added in the present invention, when unmanned patrol When vehicle will reach emphasis patrol website, arm processor first turns on sensor S1 and S2, while adjustment is controlled six direct currents Motor makes unmanned cruiser run at a low speed, and is read out to the site identity of beat, when one biography of any of which Sensor be triggered Shi Ze represent unmanned cruiser arrived setting emphasis patrol website.

10）When unmanned cruiser enters emphasis patrol point, CCD camera one will carry out figure to emphasis beat As acquisition and Real-time Feedback is to arm processor, and arm processor is total by radioing to after internal image analysis system coding It stands, master station decodes image information and stores keynote message first, will be to ARM and NUC if master station finds suspicious decoded information Controller sends out parking interrupt requests, and adjustment six direct current generators of control are made unmanned cruiser promptly stop by arm processor Vehicle, then arm processor control CCD camera one progress secondary image acquisition are transferred to master station after analysis of encoding again；When After unmanned cruiser completes this website patrol mission, adjustment is controlled the SERVO CONTROL of six direct current generators by arm processor Unmanned cruiser is set to continue to travel according to set speed, arm processor relies on one real-time Transmission current path of CCD camera In image scene to master station.

11）In order to meet the actual functional capability needs of unmanned cruiser in special circumstances in hazardous environment etc., this Urgent stop selection function can also be added in invention：Nobody can be freely arranged in unmanned cruiser initial operating stage master station to drive Sail cruiser and need the patrol website that goes, then unmanned cruiser by the navigation sensor of itself can with complete independently this A setting, when if an emergency situation is encountered during patrol, master station needs to change operating path or urgent patrol website, main website It is communicated by wireless device and unmanned cruiser NUC, walking path and patrol point information is then changed by NUC, The unmanned cruiser path of real-time update and patrol stop site information after NUC and ARM communication controls, arm processor according to The SERVO CONTROL that new requirement controls six direct current generators completes newly assigned patrol mission.

12）When unmanned cruiser is gone on patrol by fixed route, a variety of acoustooptic alarm systems in system propose work The presence of the unmanned cruiser of awake surrounding pedestrian, when unmanned cruiser loses communication with main website, arm processor can be sent out Go out automatic stop sign, the direct original place of arm processor locks six direct current generators of unmanned cruiser, unmanned patrol Vehicle will not collide or hurt people because of uncontrolled, and main website is due to that can not be collected into unmanned cruiser at this time Information is transmitted, fast track will be carried out to unmanned cruiser according to a upper patrol bus stop information, and solve failure and ask Topic.

Claims

1. a kind of round-the-clock unmanned cruiser system of six wheel drive low speed, including cruiser ontology (1) and setting are being gone on patrol Control system on vehicle ontology (1)；

Cruiser ontology (1) lower part is respectively equipped with a pair of driving wheels (2) in the front, middle part and rear portion of length direction, patrols Vehicle ontology (1) mounted inside is patrolled to be useful for respectively driving six direct current generators (4) of six driving wheels (2)；

It is located on the outside of six direct current generator (4) motor shafts it is characterized in that, being additionally provided with inside the cruiser ontology (1) Six planetary reducers (5)；The planetary reducer (5) is 90 degree of corner planetary reducers；

The direction that the length direction of six direct current generators (4) prolongs cruiser ontology (1) length extends, and six direct current generators (4) it is located at the inside of four driving wheels (2)；The direct current generator (4) is rare earth permanent magnet brushless DC servo motor, direct current generator (4) motor shaft is connect with the input terminal of planetary reducer (5), and the output shaft of planetary reducer (5) is driven by gear set to be driven Driving wheel (2)；The gear set by being distributed and pitch wheel one (6) and gear two (7) form in the longitudinal direction；The gear One (6) are set on the output shaft of planetary reducer (5), and the gear two (7) is set in the shaft at driving wheel (2) center；

The control system further include the first front environment detection and protection system, the second front environment detection and protection system, First rear environment detection and protection system, the second rear environment detection and protection system, front blind-area detection and obstacle avoidance system (26), rear blind area detection and obstacle avoidance system (27) and setting are imaged in 360 degree of CCD of cruiser ontology (1) top center Machine one (8)；

First front environment detection and protection system are mainly by single line laser radar L1 (9), single line laser radar L2 (10) It is formed with CCD camera two (11)；The single line laser radar L1 (9) is with left lower than right to be obliquely arranged in cruiser ontology (1) The forward position in top, the single line laser radar L2 (10) is horizontally disposed at the front end of cruiser ontology (1) lower part, described CCD camera two (11) is arranged in the front of cruiser ontology (1), and close to the center of short transverse；

Second front environment detection and protection system are mainly made of microwave radar M1 (12) and microwave radar M2 (13)；Institute It states microwave radar M1 (12) to be arranged in the front of cruiser ontology (1), and is located at single line laser radar L1 (9) and CCD camera Between two (11)；The microwave radar M2 (13) is arranged in the front end of the lower part of cruiser ontology (1), and is located at single line laser thunder Up to the lower part of (10) L2；

First rear environment detection and protection system are mainly by single line laser radar L3 (14), single line laser radar L4 (15) It is formed with CCD camera three (16)；Single line laser radar L3 (14) right low left high is obliquely arranged in cruiser ontology (1) Top rearward position, the single line laser radar L4 (15) is horizontally disposed at the rear end of cruiser ontology (1) lower part, described CCD camera three (16) is arranged at the rear portion of cruiser ontology (1), and close to the center of short transverse；

Second rear environment detection and protection system are mainly made of microwave radar M3 (17) and microwave radar M4 (18)；Institute It states microwave radar M3 (17) to be arranged in the front and rear part of cruiser ontology (1), and is imaged positioned at single line laser radar L3 (14) and CCD Between machine three (16)；The microwave radar M4 (18) is arranged in the front end of the lower part of cruiser ontology (1), and is located at single line laser The lower part of radar L4 (15)；

The front blind-area detection and obstacle avoidance system (26) and the detection of rear blind area and obstacle avoidance system (27) are separately positioned on cruiser sheet The bottom front of body (1) and bottom rear end；Front blind-area detects and obstacle avoidance system (26) is by ultrasonic sensor US1, US2 and US3 Composition, wherein ultrasonic sensor US1, US2 and US3 are evenly distributed in the width direction, rear blind area detection and obstacle avoidance system (27) it is made of ultrasonic sensor US4, US5 and US6, wherein ultrasonic sensor US4, US5 and US6 is uniform in the width direction Ground is distributed；

Single line laser radar L1~the L4, microwave radar M1~M4, CCD camera one (8), CCD camera two (11), CCD Video camera three (16), wireless communication module and assistant controller are connect with master controller；Ultrasonic sensor US1~the US6 It is connect with assistant controller with motor driver, motor driver is connect with six direct current generators (4) respectively；Power supply respectively with electricity Machine driver is connected with power conversion module, and power conversion module is used to provide the supply of DC power supply；Wireless communication module is used In the communication connection wirelessly between foundation and distal end master station.

2. the round-the-clock unmanned cruiser system of a kind of six wheel drives low speed according to claim 1, which is characterized in that The CCD camera two (11) and microwave radar M1 (12) is with left lower than right is obliquely arranged；The CCD camera three (16) and Microwave radar M3 (17) right low left highs are obliquely arranged.

3. the round-the-clock unmanned cruiser system of a kind of six wheel drives low speed according to claim 1 or 2, feature exist In the angle of inclination of the single line laser radar L1 and L3 is 5 degree；Distances of the single line laser radar L2 and L4 apart from ground is equal For 15cm~30cm.

4. the round-the-clock unmanned cruiser system of a kind of six wheel drives low speed according to claim 3, which is characterized in that The master controller is NUC7 processors；The core of the assistant controller uses STM32F767.

5. the round-the-clock unmanned cruiser system of a kind of six wheel drives low speed according to claim 4, which is characterized in that The model LMS151-10100 of single line laser radar.

6. the round-the-clock unmanned cruiser system of a kind of six wheel drives low speed according to claim 5, which is characterized in that It is connected with encoder on the driving wheel (2), the encoder is connect with assistant controller, for Real-time Feedback cruiser ontology (1) displacement, speed and acceleration.

7. the round-the-clock unmanned cruiser system of a kind of six wheel drives low speed according to claim 6, which is characterized in that Further include four charging modules, four charging modules are respectively distributed to the surrounding of cruiser ontology (1), and are connect with power supply, The power supply is accumulator group.