CN108279684A

CN108279684A - A kind of round-the-clock unmanned cruiser system of six wheel drive high speeds

Info

Publication number: CN108279684A
Application number: CN201810224365.0A
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 high speeds, 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, CCD camera and assistant controller one are connect with master controller；Ultrasonic sensor and motor driver are connect with assistant controller one, two respectively, and motor driver is connect with six direct current generators respectively.The system stability, reliability and cost-effective, calculation process speed is fast, has quick walking function, flexibility is high, and can successfully manage bad weather.

Description

A kind of round-the-clock unmanned cruiser system of six wheel drive high speeds

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 high speeds 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 The perception of one step is all primary, that is, perceives unmanned cruiser periphery complex environment, on this basis could Corresponding path planning and driving behavior decision are made, before the selection of detecting sensor is unmanned cruiser success avoidance It carries.Multi-line laser radar is exactly distribution in vertical direction by multiple laser emitters, passes through motor as its name suggests Rotation forms the scanning of a plurality of harness.Theoretically, certainly harness is more, closeer, just more abundant to environment description, in this way The requirement of algorithm can also be reduced.3D multi-line laser radars can obtain the 3D moulds of robot by laser scanning Type, the variation of previous frame and next frame environment is compared with related algorithm can be relatively easy to detect the row around robot People 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 passes through It 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 is visited It is relatively wide to survey range, a large amount of environment range informations can be provided, decision can provide larger convenience in order to control, the above advantage makes Obtaining 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 nobody Drive the raising of cruiser dynamic property.

(2) 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, passes through controller tune 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) the unmanned cruiser of multi-line laser radar is based in forward movement there is a detection blind area, Once there is barrier to be in blind area, it is easy to generate traffic accident.

(11) be 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) the fast response servo adjusting of two axis direct current generators can not be rapidly completed in SCM Based control system, increase The adjustment time of unmanned cruiser posture, unmanned cruiser can not quickly walk.

(13) SCM Based lower computer control system will complete the parts of images acquisition process later stage by wireless system Transformation task, by capacity itself, transmission time is longer, and automatic driving car is caused not walk quickly.

(14) 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.

(15) 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.

(16) 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.

(17) 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.

(18) 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.

(19) 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.

(20) 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.

(21) 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.

(22) 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.

(23) 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.

(24) 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 high speeds 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 improve the control calculation process speed of unmanned cruiser, and can effectively shorten data biography The defeated time makes unmanned cruiser rapidly to ambient enviroment accurately judge and has quick walking function；It should System can effectively improve anti-interference ability, can improve unmanned cruiser and cope with boisterous ability, and it is with rear Detection and barrier avoiding function, can effectively eliminate detection blind area, safety and reliability higher when unmanned cruiser being made to walk； The system can effectively shorten unmanned cruiser the pose adjustment time, effectively improve the controlling of unmanned cruiser Flexibility and dynamic property that nobody steps up patrols in vehicle motion process can, be effectively improved, passing through for unmanned cruiser is made Property it is more preferable and be less prone to slipping phenomenon and can promote adaptability of the unmanned cruiser to the rugged and rough road conditions in outdoor； The system can effectively improve the cost performance of unmanned cruiser, be conducive to being widely applied for unmanned cruiser.

To achieve the goals above, the present invention provides a kind of six wheel drive high speeds 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 in the front, middle part and rear portion of length direction, patrol Vehicle body interior 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, auxiliary Controller one and assistant controller two；

The cruiser body interior is additionally provided with six planets being located on the outside of six direct current generator motor shafts and subtracts Fast machine；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 The inside of four driving wheels；The direct current generator is rare earth permanent magnet brushless DC servo motor, the motor shaft and row of direct current generator The input terminal of star speed reducer connects, and the output shaft of planetary reducer drives driving wheel by gear set；The gear set is by vertical Distribution and pitch wheel one and gear two composition upwards；The gear one is set on the output shaft of planetary reducer, The gear two is set in the shaft at driving wheel center；

The control system further include be arranged cruiser bodies top center 360 degree of CCD cameras one, setting In the first front environment detection and protection system, the second front environment detection and protection system, first of cruiser body portion Rear environment detection and protection system, the second rear environment detection and protection system, front blind-area detection and obstacle avoidance system and rear blind Area detects and obstacle avoidance system；

First front environment detection and protection system mainly 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 It sets, the single line laser radar L2 is horizontally disposed at the front end of cruiser body lower part, and the setting of the CCD camera two is being patrolled The front of vehicle ontology is patrolled, 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；It is described micro- Wave radar M1 is arranged in the front of cruiser ontology, and between single line laser radar L1 and CCD camera two；The microwave The front end in the lower part of cruiser ontology is arranged in radar M2, and positioned at the lower part of single line laser radar L2；

First rear environment detection and protection system mainly by single line laser radar L3, single line laser radar L4 and CCD camera three forms；The position in cruiser bodies top rearward is obliquely arranged in the single line laser radar L3 right low left highs It sets, the single line laser radar L4 is horizontally disposed at the rear end of cruiser body lower part, and the setting of the CCD camera three is being patrolled The rear portion of vehicle ontology is patrolled, 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；It is described micro- Wave radar M3 is arranged in the front and rear part of cruiser ontology, and between single line laser radar L3 and CCD camera three；It is described micro- Wave radar M4 is arranged 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 cruiser ontology Bottom front and bottom rear end；Front blind-area detects and obstacle avoidance system is made of ultrasonic sensor US1, US2 and US3, wherein super Sonic sensor US1, US2 and US3 are evenly distributed in the width direction, and rear blind area detection and obstacle avoidance system are by ultrasonic sensor US4, US5 and US6 are formed, and wherein ultrasonic sensor US4, US5 and US6 is evenly distributed in the width direction；

Single line laser radar L1~the L4, microwave radar M1~M4, CCD camera 1, CCD camera 2 11, CCD Video camera three, wireless communication module, assistant controller one and assistant controller two are connect with master controller；The ultrasonic sensor US1~US6 is connect with assistant controller one, and assistant controller two is connect with assistant controller one and motor driver respectively；Motor drives Device is connect with six direct current generators respectively；Power supply is connect with motor driver and power conversion module respectively, power conversion module Supply for providing DC power supply；Wireless communication module is for wirelessly establishing the communication link between the master station of distal end It connects.

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 one connect The handling result from master controller is received, and handles the feedback signal of ultrasonic sensor group and motor driver is controlled System, can not only greatly improve the speed of image procossing and multisensor data fusion processing, and can effectively reduce assistant controller One load can effectively prevent " run and fly " of motion control main program, so as to make the anti-interference energy of unmanned cruiser Power greatly enhances.Relative to two driving wheel bearing structures, six driving wheel structures in the application have that bearing capacity is stronger, straight line The advantages that movement speed is fast can effectively improve the dynamic characteristic of unmanned cruiser.In addition, the unmanned cruiser of the 4 wheel driven It is relatively simple for structure, and good reliability, controller acquires external environment in real time in practical quickly walking process, adjusts in real time The driving power of six axis, the utilization rate higher of power supply.In the case where road conditions are severe, held relative to two-wheel drive and four-wheel drive Structure is carried, six driving wheel structures have higher dynamical system, can improve the passability of unmanned cruiser.Six drive nobody Cruiser is driven when encountering turning, four axis direct current brushless servo motor front and rears two can be cut away to direct current The control signal of machine, system switch to the two-wheel drive cornering mode at middle part, are conducive to improve the unmanned cruiser of six axis Turning dynamic property.Six drive unmanned cruiser when encountering preposition a pair of driving wheels stall, and middle part may be used Pusher contingency mode synchronous with four axis at rear portion, it is therefore prevented that the generation of unmanned cruiser out-of-control phenomenon improves nobody and drives Sail the safety of cruiser.Six drive unmanned cruiser when encountering a pair of driving wheels stall of postposition, may be used Contingency mode is drawn before middle part is synchronous with four axis of two pairs of driving wheels of front, it is therefore prevented that the hair of unmanned cruiser out-of-control phenomenon It is raw, further improve the safety of unmanned cruiser.The six unmanned cruisers of drive, which are worked as, to be encountered in the middle part of main drive wheel When a pair of driving wheels 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 emergent mould Formula, it is therefore prevented that the generation of unmanned cruiser out-of-control phenomenon further improves the safety of unmanned cruiser.Pass through The fast response servo that the SERVO CONTROL of pilot controller two can be conducive to be rapidly completed direct current generator is adjusted, and is greatly reduced nobody and is driven Sail the adjustment time of cruiser posture so that unmanned cruiser can quickly walk.Direct current is controlled by assistant controller two Motor further mitigates the burden of assistant controller one, can accelerate sending out for one processor of assistant controller control signal, Jin Erneng The speed of travel for further increasing automatic driving car, so as to enable this nobody vehicle of stepping up patrols to realize high speed walking function.

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 one uses STM32F767；Institute The core for stating assistant controller two uses FPGA.

In the technical scheme, it is NUC7 processors to make master controller, and assistant controller one uses STM32F767, to make The control of cruiser is made of the master system based on vehicle-mounted computer NUC and the ARM lower computer systems based on STM32F767 Double-core control system carries out, wherein being mainly used for work 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 with master station Interactive communication simultaneously completes the inputting of path and map, the processing of each Data Fusion of Sensor；Unmanned cruiser is handled by NUC7 Multisensor data fusion, substantially increase arithmetic speed, and then NUC microcomputer data processing speeds can be given full play to 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 one can preferably control the operating condition of driving wheel, institute It states and is connected with encoder on driving wheel, the encoder is connect with assistant controller one, 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；

Figure 13 is that NUC matches the functional block diagram for carrying out image procossing with FPGA 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 radar M1,13, microwave radar M2,14, single line laser radar L3,15, single line laser radar L4,16, CCD camera three, 17, microwave thunder Up to 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, preceding 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 high speeds, 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, the planet are additionally provided with inside vehicle ontology 1 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 one are arranged and are being patrolled in 360 degree of CCD cameras 1 of 1 top center of cruiser ontology, setting Patrol the first front environment detection and protection system, the second front environment detection and protection system, the first rear of 1 front of vehicle ontology Environment detection and protection system, the second rear environment detection and protection system, front blind-area detection and obstacle avoidance system 26 and rear blind area Detection and obstacle avoidance system 27；

In order to realize that unmanned cruiser navigates and reverses end for end in small space, the unmanned cruiser sheet of the present invention The front and rear of body is all made of identical laser radar, microwave radar, CCD camera and supersonic sensing in same position Device.First front environment detection and protection system are mainly by single line laser radar L19, single line laser radar L210 and CCD Video camera 2 11 forms；The single line laser radar L19 is with left lower than right to be obliquely arranged the position forward at 1 top of cruiser ontology It sets, the single line laser radar L210 is horizontally disposed at the front end of 1 lower part of cruiser ontology, and the CCD camera 2 11 is set It sets in the front of cruiser ontology 1, and close to the center of short transverse；First rear environment detection and protection system Mainly it is made of single line laser radar L314, single line laser radar L415 and CCD camera 3 16；The single line laser radar L314 right low left highs are obliquely arranged in 1 top rearward position of cruiser ontology, and the single line laser radar L415 is flatly Rear end in 1 lower part of cruiser ontology is set, and the CCD camera 3 16 is arranged at the rear portion of cruiser ontology 1, and close to high Spend the center in direction；Due to being provided with the first rear environment detection and protection system, when unmanned cruiser once transporting It moving up, reversed single line laser radar can effectively detect unmanned cruiser at a distance from the moving obstacle of rear, when In case of 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 M112 and microwave radar M213；Institute Microwave radar M112 is stated to be arranged in the front of cruiser ontology 1, and positioned at single line laser radar L19 and CCD camera 2 11 it Between；The microwave radar M213 is arranged in the front end of the lower part of cruiser ontology 1, and under single line laser radar L210 Portion；Second rear environment detection and protection system are mainly made of microwave radar M317 and microwave radar M418；It is described micro- Wave radar M317 is arranged in the front and rear part of cruiser ontology 1, and positioned at single line laser radar L314 and CCD camera 3 16 it Between；The microwave radar M418 is arranged in the front end of the lower part of cruiser ontology 1, and under single line laser radar L415 Portion；Since microwave radar is insensitive to misty rain, hazy weather, to having dust, having the environment of strong light insensitive, so having in rain The weather of mist, the patrol vehicle control can directly excise laser radar and navigated using microwave radar, improve nobody and drive Sail the safety of 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 (can be GPS positioning module connect with assistant controller one) with certain redundancy, not only conducive to nothing People drives the positioning of cruiser, 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 camera shootings Machine 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 through For the environmental information flowed again by wireless real-time transmission after arm processor decoding to master station, master station can find suspicious letter in time Breath.

As a preferred embodiment, the CCD camera 2 11 and microwave radar M112 is with left lower than right is obliquely arranged；It is described CCD camera 3 16 and the equal right low left highs of microwave radar M317 are 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, FPGA and master station, and when master station finds doubtful information, meeting remotely pilotless is driven It sails cruiser and starts the secondary determining suspicious information of reversing back, at this time generally in rear moving region there are a blind area, in order to Prevent to collide, the present invention is added one group by ultrasonic sensor US4, US5, US6 group in the bottom of unmanned cruiser At rear blind area detection and obstacle avoidance system.Unmanned cruiser start reversing back moment, rear single line laser radar and Ultrasonic sensor group can work, and 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, assistant controller one and assistant controller two are connect with master controller；The supersonic sensing Device US1~US6 is connect with assistant controller one, and assistant controller two is connect with assistant controller one and motor driver respectively；Motor drives Dynamic device is connect with six direct current generators 4 respectively；Power supply is connect with motor driver and power conversion module respectively, power supply modulus of conversion Block is used to provide the supply of DC power supply；Wireless communication module is for wirelessly establishing the communication between the master station of distal end Connection.

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 one uses STM32F767；The core of the assistant controller two uses FPGA.STM32F756 processors It is the completely new ARM series of products that STM companies are produced, is global first volume production and possesses at 32 bit ARM Cortex-M7 The microcontroller of device is managed, product is all equipped with the Cortex-M7 cores for possessing floating-point operation unit and DSP extended functions, operation speed Spend highest 216MHz；With towards kernel, peripheral hardware and memory interconnection AXI and more ahb bus matrixes, using 6 grades of superscales Assembly line and floating point unit；Two general dma controllers and a DMA for being exclusively used in graphics accelerator；Compared to STM32 before Series possesses more rich peripheral hardware；STM32F7 has excellent instruction and pin compatibility simultaneously：Cortex-M7 is backward compatible Cortex-M4 instruction set, STM32F7 series and STM32F4 series pin compatibilities；STM32F7MCU series of products are by ARM The advantage that Cortex-M7 efficiency surmounts early stage core (for example Cortex-M4) applies to ultimate attainment, and efficiency reaches nearly twice of DSP, These characteristics so that STM32F7 is very suitable for substituting part ARM family chips or dsp chip does data processing.

FPGA itself is the cell array of standard, and user can be according to the design needs of oneself, by being specifically laid out Wiring tool carries out its inside to reconfigure connection, design client needs application-specific integrated circuit, while FPGA pass through it is soft Part design realizes that hardware circuit function, the system of FPGA design have good reusable and modification property.In order to improve system Arithmetic speed, improves the patrol speed and stability of unmanned cruiser, and the present invention completes two important work(using FPGA Energy：First, the servo control algorithm of six axis direct current brushless servo motors is realized by FPGA, second is that realizing part by FPGA The function of image procossing primary stage：The data volume of image rudimentary processing stage is big, and algorithm is simple, and there is larger parallel Property；It is a very time-consuming process to be handled using software, but utilizes hardware handles, so that it may to be located parallel to mass data Reason, can greatly improve processing speed, in order to increase the processing capacity of host computer, introduce the newest 7th generation processing of Intel Device NUC7, FPGA and NUC7 image procossing catenation principle such as Figure 13.

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 The 7th generation NUC microcomputer and FPGA of state-of-the-art technology are formd based on Intel the 7th generation microcomputer NUC7+FPGA+ARM The completely new control model of (newest embedded STM32F767) three nuclear control devices.Environment in order to improve unmanned cruiser is visited Brake, using more single line laser radars based on Intel's the 7th generation NUC microcomputer, microwave radar, CCD camera and super Sonic sensor integration technology realizes the detection of cruiser ambient enviroment, and introduces the image based on high definition CCD camera and adopt The analysis of image data system of collection and ARM, and by wirelessly in real time acquisition information back to master station.Whole system is with FPGA Six axis servo-control system processing cores, the multisensor digital convergence signal of real-time reception NUC microcomputers and ARM compositions, And realize the real-time data communication and storage of the various interruptions of the Digital Signal Processing of part, response and realization with master station, by FPGA The independent SERVO CONTROL for handling six axis direct current brushless servo motors of unmanned cruiser servo-drive system gives full play to FPGA fortune The characteristics of calculating speed and program portable function so that control is fairly simple, substantially increases arithmetic speed, solves list Piece ARM runs slower bottleneck, and it is short to shorten the development cycle, and program transportability ability is strong.By FPGA export six axis nobody Cruiser direct current brushless servo motor PWM modulation signal and direction signal are driven, direct current can be directly driven by driving circuit Motor not only alleviates the burden of ARM, simplifies interface circuit, and eliminates ARM internal compositions position, speed control journey The trouble of sequence and various pid algorithms so that the debugging of system is simple.In unmanned cruiser operational process, FPGA meetings On-line identification is carried out to the torque of direct current brushless servo motor and is compensated using the relationship of motor torque and electric current, is reduced The influence to the unmanned cruiser servo-drive system of six axis high speeds is shaken in direct current brushless servo motor torque.In unmanned patrol In vehicle control, FPGA determines that unmanned cruiser is inclined according to the feedback signal of sensor L1~L3 and ccd image acquisition system Then offset from optimal path center adjusts the pid parameter inside FPGA, easily in real time according to different offsets It realizes segmentation P, PD, PID control and nonlinear PID controller, makes system that there is centainly adaptive.FPGA moment and NUC and ARM Communication, their interruptive command of energy real-time reception, when in case of emergency, NUC and ARM can block FPGA's at the first time PWM is exported, and prevents the unmanned cruiser of six axis from being injured due to failure.The control system visits more single line laser radars Survey, microwave radar detection, ccd image acquisition and analysis system concentrate design, can be arranged in the control system and power supply connects The battery management module connect, and connection battery management module is controlled by assistant controller one, battery management module includes for surveying The electric current of the size of the voltage sensor one for measuring assembled battery total voltage, the voltage sensor two for measuring monomer voltage, measurement electric current Sensor, the temperature sensing one for measuring each battery temperature and the electric resistance sensor for measuring battery internal resistance, rationally to monitor The parameters situations such as battery total voltage, monomer voltage, the internal resistance of battery, temperature, and then in on-vehicle battery fast discharge process, energy Terminal voltage is detected in real time, ensures that battery terminal voltage closer to actual parameter, is conducive to the low-voltage variation of battery.This Sample can make the control system fully consider effect of the battery in this system, can be constantly right based on ARM+NUC dual-core controllers The operating status of unmanned cruiser is monitored and operation, improves the utilization rate of the energy of battery, is conducive to nobody and drives The continuation of the journey for sailing cruiser, realize unmanned cruiser it is stable, it is reliable, constantly in the patrol operation of each region.Due to With on-line storage and wireless transmission function, the unmanned cruiser master station of six axis can easily transfer the letter gone on patrol Breath can adjust patrol mission according to peripheral situations in real time, improve the efficiency of unmanned cruiser automation patrol.

The control system is maximum more single line laser radar signal processings of workload in unmanned cruiser system, micro- NUC microcomputers and FPGA processing are given in wave Radar Signal Processing and ccd image acquisition and analysis, and nothing is handled by NUC7 and FPGA People drives the data fusion signal of the image data and multisensor of the CCD camera of cruiser, substantially increases arithmetic speed, NUC microcomputers and the very fast feature of FPGA data processing speed have been given full play to, has solved monokaryon NUC image procossings operation speed Relatively slow bottleneck is spent, it is short to shorten the development cycle, and program transportability ability is made effectively to enhance.Due to this control system The data and algorithm that a large amount of single line laser radar sensors and microwave radar sensor are handled using NUC+FPGA, at FPGA The a large amount of data of unmanned cruiser servo-drive system and algorithm are managed, and has fully considered the interference source of surrounding, ARM and NUC It frees from hard work amount, effectively prevents " run and fly " of motion control main program, unmanned cruiser is anti- Interference performance greatly enhances.And blind area detection and the functions such as avoidance, image analysis and transmission, data storage, I/O controls are given STM32F767 is completed, and is thereby realized the rational division of work of ARM, FPGA and NUC microcomputer, is improved control system operation While with processing speed, the stability and reliability of control system are also further improved, while can also make master controller, auxiliary Communication can be carried out between controller one and assistant controller three in real time and carries out data exchange and calling.Meanwhile single line laser radar, Microwave radar coordinate ccd image acquisition system, not only can effectively detect the unmanned cruiser direction of motion barrier or Position where people notifies unmanned patrol vehicle control to realize Emergency avoidance, and compares multi-line laser radar hardware Cost is relatively low, is conducive to the popularization of unmanned cruiser practical application.Meanwhile it can effectively detect direction of motion both sides column The presence of object positions when can advance for unmanned cruiser and provides certain help.Also the both sides free time can effectively be detected The presence in region, turning and the avoidance of can advancing for unmanned cruiser provide certain help.

Further, encoder can also be connected on the driving wheel 2, the encoder is connect with assistant controller one, For displacement, speed and the acceleration of 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 being connect with assistant controller one or master controller can also be increased Alarm system.In order to understand ambient weather situation in time, can also increase on cruiser ontology and assistant controller one or master The photosensitive sensor of controller 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 one.

Operation principle：Unmanned cruiser system is divided into two parts by the present invention：Novel machine based on planetary reducer Tool system and three nuclear control systems based on NUC7+FPGA+ARM, three nuclear control systems are by the host computer based on vehicle-mounted computer NUC System and based on FPGA and STM32F767 ARM lower computer systems composition.It is wherein based on vehicle-mounted computer NUC and FPGA system is complete At path and map input, more single line laser radars, the data fusion of microwave radar sensor and the acquisition of CCD figures and processing etc. Function；The brush DC that ARM lower computer control systems based on FPGA and STM32F767 complete unmanned cruiser system is watched Take the functions, the wherein maximum brush DC servo of workload such as SERVO CONTROL, Image Acquisition and transmission, data storage, I/O controls FPGA processing is given in system control, is given full play to FPGA data and is handled very fast advantage, thereby realizes NUC, FPGA and ARM The division of labor, while can be communicated again between three, carry out data exchange and calling in real time.

Three nuclear control of unmanned cruiser based on ARM (STM32F767)+FPGA+NUC7 designed for the present invention Device, under power-on state, arm processor and NUC controllers are completed to initialize first, and then vehicle-mounted computer NUC7 passes through nothing People drives cruiser control master station and transfers cruiser driving path and cartographic information, and subsequent blind-spot sensor is started to work, and with Arm processor communicates, and arm processor determines opens unmanned cruiser six after clear enters working region by FPGA Axis drives patrol pattern, while mutually being communicated with FPGA and NUC controllers, NUC real-time receptions laser radar, microwave radar and CCD camera feedback signal simultaneously decodes, and then simultaneously transmission of control signals, arm processor are defeated by decoding with arm processor communication Enter to control signal and control six axis direct current brushless servo motors to FPGA, FPGA, six axis direct current brushless servo motors are through 90 degree of planets Unmanned cruiser fast running is driven after speed reducer conversion rate and torque, and anti-in real time by the encoder on moving wheel The signals such as displacement, speed and acceleration are presented to FPGA.In unmanned cruiser motion process, patrolling based on CCD camera It patrols image capturing system real-time Transmission scene and goes on patrol information to master station.Once encountering bad weather, system can excise laser thunder Up to detection system, microwave radar systems work is relied only on, meets the normal of unmanned cruiser under round-the-clock adverse circumstances and patrols Patrol work.Once opening patrol pattern, 360 degree of CCD cameras 1 will in real time be returned unmanned cruiser by arm processor Pass patrol environment.

The specific function realization that unmanned cruiser in the present invention is introduced in conjunction with Fig. 7 to Figure 12 is as follows：

1) for unmanned cruiser before patrol mission, master station generally can recognize patrol first by it by remote control mode The Essential Environment in region passes through mobile lidar L1~L4, microwave radar M1 in unmanned cruiser walking process ~M4 and CCD camera two and CCD camera three carry out environment detection, and NUC7 and FPGA will be analyzed and built to acquisition image Figure, while environmental map is transferred in real time by WLAN by master station, stored after being handled by master station and forms entire patrol Area map, if region is larger, total standing-meeting is split the map of beat, is divided into several mapping modules, is conducive to The calling in unmanned cruiser later stage, once completing the foundation of area map, unmanned cruiser is returned to master station's entrance It awaits orders patrol state.

2) before unmanned cruiser is not connected to patrol order, it generally can be in master station's hair to be controlled such as waiting area What is gone out goes out to say the word, and if voltage is relatively low, unmanned cruiser can charge automatically.Unmanned cruiser is waiting During after being connected to the task of setting out, unmanned cruiser will detect extraneous environmental aspect, if environment compares Badly, navigation is will not participate in for laser radar L1~L4 of navigation, CCD camera two and CCD camera three, system will be opened only Open microwave radar, ultrasonic sensor navigates.Vehicle-mounted computer NUC7 transfers unmanned cruiser by master station and goes on patrol point Information forms the driving path and navigation map information of new period patrol then in conjunction with master station's cartographic information, is then based on The arm processor of STM32F767 is opened front and back blind-spot sensor and is scanned to blind area, if there is to enter movement blind for barrier Area, arm processor can send out alarm and FPGA forbidden to work, and FPGA blocks the PWM output letters of six axis direct current brushless servo motors Number, the unmanned cruiser of six axis removes the locked waiting barrier in original place；If clear enters movement blind area or obstacle Object is eliminated, and ARM controller will enable FPGA work again, and FPGA is straight according to control deviation signal six axis of output that ARM is inputted The PWM wave for flowing brushless servo motor controls signal, and six axis direct current brushless servo motors become throw-over through 90 degree of accurate planetary reducers Unmanned cruiser is driven to start to go on patrol automatically after degree and torque.

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 The real-time map of generation carries out comparison with original map and determines the location of unmanned cruiser and posture, ARM processing Laser radar sensor L1~L4, microwave radar M1~M4, CCD camera two and the CCD camera three that device is fed back by NUC7 Image data, determine the location of unmanned cruiser deviation and attitude misalignment, NUC transmission deviation signals are to ARM Controller, input deviation signal adjusts six axis direct current brushless servo motors in real time to FPGA, FPGA after ARM controller decoding PWM wave controls signal, and then completes the initialization pose adjustment of unmanned cruiser, and unmanned cruiser enters to patrol automatically Patrol pattern.

4) when unmanned cruiser injection is gone on patrol automatically, sensor L1~L4, the microwave radar M1 of navigation Feedback signal, and is conveyed to NUC and arm processor by~M4 and the work of CCD camera two and CCD camera three, first have NUC into Row Data Fusion and STM32F767 respond various interruption protections and image analysis, and then NUC and ARM is communicated, at ARM The environment residing for unmanned cruiser that reason device is fed back according to NUC, determines that unmanned cruiser is being worked as 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, then ARM controls under premode Device input control deviation signal generates six axis brush DC servo electricity according to deviation signal to FPGA, FPGA through internal servo programe The PWM wave of machine controls signal, and six axis direct current brushless servo motors are real after 90 degree of accurate planetary reducer conversion rates and torque The speed and the direction of motion of existing 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 FPGA controller, the speed letter of position error signal, encoder that FPGA controller is fed back according to ARM The driving condition of unmanned cruiser number is adjusted in real time.

When NUC feedbacks six, which drive unmanned cruiser, encounters turning environment shown in Figure 13, in order to improve turn performance, FPGA 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, the G turnings of ARM controller Real-time Feedback gyroscope are inclined Angle is moved to FPGA controller, nobody drives in the parameter adjustment that next sampling period FPGA controller can be fed back according to gyroscope G Sail the turning speed of cruiser, the turning path C that unmanned cruiser can very well in tracing figure 12.Once completing turning Afterwards, FPGA controller enables the control signal of two pairs of direct current generators of front and rear 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 of encoder feedback and front connection, FPGA controls Device processed blocks the pwm control signal of a pair of of DC brushless motor of front at once, and FPGA controller is fed back according to ARM controller Four axis that position error signal adjusts immediately synchronize pwm control signal, and it is emergent that unmanned cruiser enters drive pusher in four axis Pattern, after emergency releasing, FPGA controller enables the control signal of a pair of of the direct current generator in middle part again at once, and according to The position error signal of ARM controller feedback readjusts the control signals of six axis direct current brushless servo motors, system again into Enter 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, FPGA controls Device processed blocks the pwm control signal of a pair of of direct current generator at rear portion, the position that FPGA controller is fed back according to ARM controller at once Four axis that deviation signal adjusts immediately synchronize pwm control signal, and unmanned cruiser, which enters in four axis, drives preceding drawing contingency mode, After emergency releasing, FPGA controller enables the control signal of a pair of of direct current generator at middle part again at once, and according to ARM The position error signal of controller feedback readjusts the control signal of six axis direct current brushless servo motor X, Y, Z, R, U and V, is System reenters six drive states.

When 90 degree of planetary reducer stall of the DC brushless motor at encoder feedback and middle part connection, FPGA controller The pwm control signal of a pair of of direct current generator at block middle part at once, the position deviation that FPGA controller is fed back according to ARM controller Four axis that signal adjusts two pairs of driving wheels of front and rear immediately synchronize pwm control signal, and unmanned cruiser enters four Pusher contingency mode is driven in axis, after emergency releasing, FPGA controller enables a pair of of the direct current generator control in middle part again at once Signal processed, readjusts the control signal of six axis direct current brushless servo motors, and system reenters 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 (or the laser sensor of CCD camera two 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 in front can be detected the moment and form new environmental map by NUC7, the map that NUC7 is transmitted with master station compares, really Determine fixed obstacle and mobile people and object location information etc..

If single line laser sensor L1, microwave radar M1 cooperation 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, if height and width have been more than the requirement that unmanned cruiser is crossed, NUC will be to assistant controller one (STM32F767) Sending out interrupt requests, NUC can hide fluctuating pitting data processing, STM32F767 to interrupting priority processing and entering front simultaneously Protect subprogram：If there is enough walking spaces in the new map of NUC feedbacks on the left of unmanned cruiser, ARM will be in FPGA communicates and inputs maximum deviation position signal, and FPGA will be according to the control of ARM input controls six direct current generators of Signal Regulation Signal processed, six axis direct current brushless servo motors realize unmanned patrol after 90 degree of accurate planetary reducer conversion rates and torque The speed and the direction of motion for patrolling vehicle change, unmanned cruiser according to oneself beneficial difference everywhere come determine navigation mode and to Left side move, when complete hide action after, FPGA according to unmanned cruiser navigate mode will readjust six axis direct currents without The PWM wave of brush servo motor controls signal, six axis direct current brushless servo motors through 90 degree accurate planetary reducer conversion rates with Realize that unmanned cruiser deviates and drives into the optimized paths NUC7 again to the right automatically after torque；If NUC is anti- There are enough walking spaces, ARM that will be communicated in FPGA and input maximum deviation on the right side of unmanned cruiser in the new map of feedback Position signal, FPGA will adjust six axis brush DCs according to the navigation mode of ARM input controls signal and unmanned cruiser The PWM wave of servo motor controls signal, and six axis direct current brushless servo motors are through 90 degree of accurate planetary reducer conversion rates and torsion Realize that unmanned cruiser moves to the right automatically after square, after completing to hide action, FPGA controller is according to unmanned The PWM wave that cruiser navigation mode will readjust six axis direct current brushless servo motors controls signal, six axis brush DC servos Motor realizes unmanned cruiser after 90 degree of accurate planetary reducer conversion rates and torque, and offset is laid equal stress on to the left automatically Newly drive into the optimized paths NUC7；If the height and width or small obstacle of the fluctuating pitting of NUC7 feedbacks are at nobody Cruiser tolerance is driven, and when the unmanned cruiser left and right position of map denotation there are not enough mobile spaces, FPGA controller is by the power of six axis direct current brushless servo motors, and six axis direct current brushless servo motors are through 90 degree of accurate planetary reduction gears Unmanned cruiser is driven to be travelled and crossed according to the normal path optimizing of setting automatically after machine conversion rate and torque Barrier and pitting.

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 send out interrupt requests to ARM (STM32F767) and handle barrier data simultaneously, and 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 FPGA 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 between projection immediately ahead of cruiser, maximum deviation position signal inputted after ARM controller analyzing processing to FPGA, Navigation mode residing for ARM input controls signal and unmanned cruiser is automatically adjusted six axis brush DCs by FPGA The PWM wave of servo motor controls signal, and six axis direct current brushless servo motors are through 90 degree of accurate planetary reducer conversion rates and torsion Realize that unmanned cruiser moves to the right after square, after completing to hide action, FPGA controller is according to unmanned patrol The PWM wave that vehicle navigation mode will readjust six axis direct current brushless servo motors controls signal, six axis direct current brushless servo motors Realize that unmanned cruiser is deviated and sailed again to the left automatically after 90 degree of accurate planetary reducer conversion rates and torque Enter the optimized paths 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 in path optimizing right front temporarily in the presence of large-scale obstacle Object, NUC will send out interrupt requests to ARM (STM32F767) and handle barrier data simultaneously, and ARM (STM32F767) 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, FPGA will be tieed up The SERVO CONTROL when the first six direct current generator is held, unmanned cruiser continues to keep current running state；If barrier with There is overlapping between projection immediately ahead of unmanned cruiser, maximum deviation position signal is inputted after ARM controller analyzing processing To FPGA, for FPGA by the navigation mode residing for ARM input controls signal and unmanned cruiser, six axis of automatic adjustment are straight The PWM wave for flowing brushless servo motor controls signal, and six axis direct current brushless servo motors become throw-over through 90 degree of accurate planetary reducers Realize that unmanned cruiser moves to the left after degree and torque, after completing to hide action, FPGA controller is driven according to nobody It sails cruiser navigation mode and the PWM wave for readjusting six axis direct current brushless servo motors is controlled into signal, six axis brush DCs are watched It takes motor and realizes that unmanned cruiser deviates simultaneously to the right automatically after 90 degree of accurate planetary reducer conversion rates and torque Again the optimized paths NUC7 are driven into.

During unmanned cruiser is gone on patrol forward, when encountering blind alley shown in Figure 11, FPGA processor will be adjusted The control of six direct current generators of section makes unmanned cruiser smoothly stop in safe range, and then arm processor will be automatic The front and back navigation sensor group of switching, rear laser sensor L3 obliquely and microwave radar M3, rear parallel to the ground are visited Survey single line laser radar group L4 and microwave radar M4, CCD camera three by work, and the environment for detecting the direction of motion formed it is new Environmental map, the map transmitted with master station compare, and determine the location of fixed unmanned cruiser information etc., unmanned patrol Vehicle enters contrary class sensor navigational state, while FPGA can switch the control logic of six direct current brushless servo motors simultaneously. For unmanned cruiser by contrary class sensor group navigation driving process, one moment of CCD camera detects ambient enviroment, and passes through nothing Line real-time Transmission is analyzed to master station, until encountering next blind alley, arm processor switches to positive group sensor navigation again State.

7) when unmanned cruiser enters moving line and moves forward, detection single line laser radar L4 parallel to the ground It is anti-that movement is detected with blind-spot sensor group US4~US6 (or single line laser radar L2 and blind-spot sensor group US1~US3) moment The environment in direction is simultaneously transferred to NUC and ARM progress data fusions, if after sensor fusion system judges unmanned cruiser When side is close to unmanned cruiser there are barrier, NUC will send out interrupt requests simultaneously barrier data transmission to ARM To ARM, arm processor can protect son to interrupting priority processing, and according to the range information of barrier and then two level rear avoidance Program 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, FPGA controller will increase the PWM duty cycle of a pair of of direct current brushless servo motor at middle part, and unmanned cruiser is made to implement two Grade accelerates to flee danger region, and after danger releases, FPGA controller will restore the PWM duties of six axis direct current brushless servo motors Than making unmanned cruiser complete patrol mission according to set speed traveling；Detecting a distant place if it is US4~US6 has When barrier is close to unmanned cruiser, FPGA controller will increase the PWM duty cycle of six axis direct current brushless servo motors, So that unmanned cruiser is implemented level-one acceleration and flee danger region, after danger releases, it is straight that FPGA controller will restore six axis The PWM duty cycle for flowing brushless servo motor makes unmanned cruiser complete patrol mission according to set speed traveling；If There is no barriers to enter protection domain at unmanned cruiser rear, and FPGA controller keeps six axis direct current brushless servo motors PWM duty cycle so that unmanned cruiser is 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 it is blind Zone sensors group US4~US6) moment detection direction of motion blind area environment, if (or the blind areas blind-spot sensor group US1~US3 Sensor group US4~US6) judge temporarily have barrier enter unmanned cruiser movement blind area when, will be sent out to ARM promptly Barrier data are transferred to ARM processing by interrupt requests simultaneously, and ARM can be kept away subsequently into blind area interrupting priority processing Barrier protection subprogram simultaneously sends out alarm, and ARM will forbid FPGA to work, and FPGA will block the PWM of six axis direct current brushless servo motors Wave control signal, and emergency braking makes unmanned cruiser crash-stop, prevents unmanned cruiser from injuring meiofauna Life, after danger releases, ARM enables FPGA again, and FPGA accounts for the PWM wave for readjusting six axis direct current brushless servo motors Empty ratio, six axis direct current brushless servo motors drive unmanned patrol after 90 degree of accurate planetary reducer conversion rates and torque Vehicle is travelled according to the normal speed of setting.

9) be not in most cases due to unmanned cruiser, 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 FPGA will weaken six axis direct currents The PWM wave duty ratio of brushless servo motor, six axis direct current brushless servo motors through 90 degree of accurate planetary reducer conversion rates and It drives unmanned cruiser to run at a low speed after torque, and the site identity of beat is read out, when any of which one A 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 ARM will forbid FPGA to work, and FPGA will block the control of six axis direct current brushless servo motors Signal, six axis direct current brushless servo motors make 90 degree of precision planetary reducer emergency brakings, unmanned cruiser crash-stop, Then CCD camera one carries out secondary image acquisition, and NUC and FPGA will acquire information to suspicious points and be analyzed again, work as nothing After people's driving cruiser confirmation is errorless, FPGA will readjust the PWM wave duty ratio of six axis direct current brushless servo motors, and six axis are straight Stream brushless servo motor driven after 90 degree accurate planetary reducer conversion rates and torque unmanned cruiser continuation according to Set speed travels, and the image scene in one real-time Transmission current path of CCD camera is 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, NUC stops site information with the unmanned cruiser path of real-time update after ARM communication controls and patrol, and FPGA is controlled according to ARM The new job requirement of device input processed adjusts the PWM wave duty ratio of six axis direct current brushless servo motors, six axis brush DC servo electricity Machine drives unmanned cruiser to be patrolled according to new requirement to realize after 90 degree of accurate planetary reducer conversion rates and torque Patrol task.

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 controller can be sent out Go out automatic stop sign to FPGA, the direct original places FPGA lock the control of six axis direct current brushless servo motors of unmanned cruiser Signal processed, six axis direct current brushless servo motors make 90 degree of precision planetary reducers stop in emergency, and unmanned cruiser will not be sent out Raw collision hurts people because of uncontrolled, and main website is believed due to that can not be collected into the transmission of unmanned cruiser at this time Breath will stop site information according to upper one patrol and carry out fast track to unmanned cruiser, and solve failure problems.

Claims

1. a kind of round-the-clock unmanned cruiser system of six wheel drive high speeds, 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)；

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

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, assistant controller one and assistant controller two are connect with master controller；The ultrasonic wave passes Sensor US1~US6 is connect with assistant controller one, and assistant controller two is connect with assistant controller one and motor driver respectively；Motor Driver is connect with six direct current generators (4) respectively；Power supply is connect with motor driver and power conversion module respectively, and power supply turns Mold changing block is used to provide the supply of DC power supply；Wireless communication module is for wirelessly establishing between the master station of distal end Communication connection.

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

5. the round-the-clock unmanned cruiser system of a kind of six wheel drives high 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 high 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 one, for Real-time Feedback cruiser sheet Displacement, speed and the acceleration of body (1).

7. the round-the-clock unmanned cruiser system of a kind of six wheel drives high 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.