CN108287553A - A kind of unmanned cruiser system of two-wheel drive low speed and working method - Google Patents
A kind of unmanned cruiser system of two-wheel drive low speed and working method Download PDFInfo
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- CN108287553A CN108287553A CN201810224552.9A CN201810224552A CN108287553A CN 108287553 A CN108287553 A CN 108287553A CN 201810224552 A CN201810224552 A CN 201810224552A CN 108287553 A CN108287553 A CN 108287553A
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0255—Control of position or course in two dimensions specially adapted to land vehicles using acoustic signals, e.g. ultra-sonic singals
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0257—Control of position or course in two dimensions specially adapted to land vehicles using a radar
Abstract
The invention discloses a kind of unmanned cruiser system of two-wheel drive low speed and working methods, including two wheel drive systems, front blind-area detects obstacle avoidance system, blind area detects obstacle avoidance system afterwards, environmental detecting system and central control system, obstacle avoidance system is detected by front blind-area, blind area detection obstacle avoidance system and environmental detecting system determine the location of cruiser and navigate in real time afterwards, surrounding whether there are obstacles are determined simultaneously, and data Real-time Feedback is subjected to analyzing processing to central control system, central control system controls the operating status that two wheel drive systems change cruiser, so that acceleration passes through or cut-through object, and then ensure that cruiser normally goes on patrol traveling.The present invention ensures that the stabilization of cruiser operation and precision navigation are gone on patrol by the double-core control of ARM controller+NUC computers, and is suitable for outdoor rugged and rough road conditions and the region of emergency case occurs.
Description
Technical field
The present invention relates to a kind of unmanned cruiser system and working method, specifically a kind of two-wheel drive low speed nobody
Drive cruiser system and working method.
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 drives
Sail that cruiser is timed, pinpoints, uninterrupted mobile monitoring with patrol is to solve security patrol to automate best solution
Scheme.Unmanned cruiser concentrates on environment sensing, dynamic decision, route planning and behaviour control integrated multi-functional
Hybrid system, it perceives vehicle-periphery using onboard sensor, and according to the obtained road of perception, patrol vehicle position
It sets, barrier and suspicious danger information, steering and the speed of vehicle is controlled, to enable the vehicle to reliably and securely patrol
It patrols on path and travels.Unmanned cruiser collect automatically control, architecture, artificial intelligence, vision calculate etc. numerous technologies in
One, be computer science, pattern-recognition and intelligent control technology high development product, have in national defence and national economy field
Have broad application prospects.
It is still in infancy, either the intelligent driving of which kind of degree, patrols currently, Intelligent unattended drives cruiser development
The problem of sensing capability for patrolling vehicle is all overriding concern, that is, unmanned cruiser periphery complex environment is perceived, at this
Corresponding path planning and driving behavior decision can be just made on the basis of a, the selection of detecting sensor is unmanned cruiser
The premise of success avoidance.Multi-line laser radar is exactly as its name suggests point in vertical direction by multiple laser emitters
Cloth forms the scanning of a plurality of harness by the rotation of motor.Theoretically, harness is more, closeer, is just more filled to environment description
Point, the requirement of algorithm can also be reduced in this way.3D multi-line laser radars can obtain robot by laser scanning
3D models, the variation of previous frame and next frame environment is compared with related algorithm can be relatively easy to detect robot week
The pedestrian enclosed and other obstacle informations, while another big characteristic of 3D laser radars is to synchronize to build figure, is obtained in real time globally
The positioning accuracy for navigating and reinforcing robot may be implemented by being compared with the characteristic body in high-precision map in figure.Multi-thread laser
Radar coverage is relatively wide, can provide a large amount of environment range informations, decision can provide larger convenience in order to control, above
Advantage makes multi-line laser radar become 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, it is controlled
System principle processed is as shown in Figure 2.Unmanned cruiser is detected environment by multi-line laser radar sensor detection system and is conveyed
To PC machine, then PC machine is by coded treatment, and transmission control instruction is to SCM Based slave computer, single chip control module warp
Control instruction is sent to Direct Current Servo Motor Controller after crossing communication decoding, and controller drives two direct current generator movements, in turn
Unmanned cruiser walking is driven by the driving wheel being directly connected to direct current generator；Single-chip computer control system is according to laser thunder
It adjusts the movement of direct current generator in real time up to the variation of acquisition peripheral environment, and then controls unmanned cruiser in the actual environment
Position, the image that CCD camera is responsible for acquiring in real time in unmanned cruiser patrol path simultaneously stored by PC machine in real time.
Existing simple unmanned patrol vehicle control be by the single multi-line laser radar sensor of single microcontroller control Lai
Realize above-mentioned function.
Long-play finds it, and there are the following problems：
(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 in operational process, makes
The failure of direct current generator 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) it although multi-line laser radar can realize 3D data, and can determine whether the height of barrier, handle the information on ground
Deng, but price is relatively expensive, can not promote the use of a large area.
(9) present unmanned cruiser only considers forward detection and avoidance, does not consider the obstacle information at rear,
Sometimes the cruiser barrier that rear occurs in reversing can enter unmanned cruiser protection zone, and it is unnecessary to cause
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 easily leads to traffic accident.
Invention content
In view of the above existing problems in the prior art, the present invention provides a kind of unmanned cruiser systems of two-wheel drive low speed
System and working method, can effectively solve above-mentioned technical problem.
To achieve the goals above, the technical solution adopted by the present invention is：A kind of unmanned patrol of two-wheel drive low speed
Vehicle system, including two wheel drive systems, front blind-area detection obstacle avoidance system, rear blind area detection obstacle avoidance system, environmental detecting system and
Central control system,
The two wheel drive systems include direct current brushless servo motor driver, direct current brushless servo motor X, planetary reduction gear
Machine X, direct current brushless servo motor Y and planetary reducer Y, direct current brushless servo motor driver are electric with brush DC servo respectively
Machine X is connected with direct current brushless servo motor Y, and the input terminal of direct current brushless servo motor X and planetary reducer X is sequentially connected, row
The output end of star speed reducer X is sequentially connected with driving wheel I, and the input terminal of direct current brushless servo motor Y and planetary reducer Y is driven
Connection, output end and the driving wheel II of planetary reducer Y are sequentially connected；Driving wheel I and driving wheel II are equipped with speed and acceleration
Degree detection encoder；
The front blind-area detection obstacle avoidance system is made of ultrasonic detector US1~US3, ultrasonic detector US1~US3
It is fixed on the front end of cruiser；
Blind area detection obstacle avoidance system is made of ultrasonic detector US4~US6 after described, ultrasonic detector US4~US6
It is fixed on the rear end of cruiser；
The environmental detecting system is made of single line laser radar L1~L3 and CCD camera, and CCD camera, which is fixed on, to patrol
Roof is patrolled, single line laser radar L1 is at the top of cruiser and detection direction is at an angle to the horizontal surface, single line laser thunder
It is horizontal forward to be in cruiser front end and detection direction up to L2, and single line laser radar L3 is in cruiser rear end and detection direction
After horizontal direction；
The central control system includes master controller and ARM controller, and master controller connects with ARM controller data
Connect, single line laser radar L1~L3, CCD camera and encoder with master controller data connection, ARM controller and direct current
Brushless servo motor driver and ultrasonic detector US1~US6 data connections, power supply are direct current brushless servo motor driver
Power supply, power supply are ARM controller, ultrasonic detector US1~US6, single line laser radar L1~L3 by power conversion module
It powers with CCD camera.
Further, the master controller is the NUC computers based on NUC7, and the ARM controller is controlled for STM32F767
Device processed.
Further, the angle of the detection direction of the single line laser radar L1 and horizontal plane is 4~6 °, single line laser radar
Height of the L2 apart from ground is 10cm~30cm；Height of the single line laser radar L3 apart from ground is 10cm~30cm.
Further, the direct current brushless servo motor X and direct current brushless servo motor Y is that rare earth permanent magnet brushless DC is watched
Take motor.
A kind of working method of the unmanned cruiser system of two-wheel drive low speed, the specific steps are：
A, before unmanned cruiser does not carry out patrol work, cruiser is controlled by way of manual remote control and completes institute
The walking in the region that need to be gone on patrol carries out environment in real time by single line laser radar L1~L3 and CCD camera in the process of walking
Detection, and the data of detection are returned to NUC computers, after feedback data is sent to master station's progress analyzing processing by NUC computers
The environmental map for ultimately forming entire beat is stored, while cruiser is each in beat patrols for storage in master station
Patrol location information a little；
B, before unmanned cruiser starts patrol, NUC computers transfer patrolling for unmanned cruiser by master station
Information is patrolled, in combination with the environmental map and navigation information for forming entire beat, completes the pre- driving path of cruiser
Planning, then ARM controller control ultrasonic detector US1~US6 is opened, if ultrasonic detector US1~US6 feedback detections
To obstacle information, then ARM controller sends out alarm, and waits for the removing of barrier；If clear information is fed back, ARM
Controller controls direct current brushless servo motor driver and opens, and cruiser is made to start to start；
C, after the patrol of cruiser starts startup, single line laser radar L1~L3 and CCD camera carry out environment spy in real time
It surveys, and gives data feedback to NUC computers, the environment for the real time environment map and storage that NUC computers generate feedback data
Map is compared, so that it is determined that the real time position residing for unmanned cruiser, ARM controller is fed back by NUC computers
Single line laser radar L1~L3 and CCD camera image data, adjust direct current brushless servo motor X and brush DC servo
The SERVO CONTROL of motor Y, and then the initialized location adjustment of unmanned cruiser is completed, so that unmanned cruiser is in pre-
Enter automatic patrol pattern on driving path；
D, when unmanned cruiser is in automatic patrol pattern, single line laser radar L1~L3 and CCD camera continue
Environment detection is carried out in real time, while encoder detects the speed and acceleration information of cruiser in real time, and by data feedback to NUC
Computer, NUC computers determine the real time position residing for unmanned cruiser after analyzing processing, and by the real time position with
Determining offset distance is compared in pre- driving path, and then NUC computers send out offset distance data to ARM controller, ARM controls
The SERVO CONTROL of device adjustment direct current brushless servo motor X and direct current brushless servo motor Y processed, and then make unmanned cruiser edge
It pre- driving path and carries out entire patrol process；
If E, single line laser radar L1~L3 and CCD camera detect the presence of barrier in traveling path process in advance,
NUC computers, NUC computers is given to control unmanned cruiser throwing over barrier after analyzing processing or bypass data feedback
Barrier finally keeps unmanned cruiser to carry out entire patrol process along pre- driving path.
Further, the single line laser radar L1~L3 and CCD camera progress environment detection and real time position determine
Detailed process is：
If single line laser radar L1 and CCD camera detect on traveling ahead path there are fluctuating hollow or barrier,
Detection data is fed back into NUC computers, NUC computers determine that height of fluctuating hollow or barrier is at this through analyzing processing
It is no beyond unmanned cruiser setting maximum cross height, if without departing from if NUC computers send a signal to ARM controls
Device, ARM controller increase the power of direct current brushless servo motor X and direct current brushless servo motor Y, while real-time by encoder
The speed and acceleration information for detecting cruiser, make unmanned cruiser pass through along pre- driving path normally travel, if exceeding
Then NUC computers send out evacuation signal to ARM controller, at the same NUC computers according to the width of fluctuating hollow or barrier and
Position in driving path determines that unmanned cruiser detours from the left or right side of fluctuating hollow or barrier, at this time
ARM controller adjusts the power of direct current brushless servo motor X and direct current brushless servo motor Y, and then makes unmanned cruiser
It is deviated to the left or is deviated to the right setting driving path to detour, after completing to hide action, ARM controller adjusts brush DC servo
The power of motor X and direct current brushless servo motor Y make unmanned cruiser drive on driving path again.
Further, when unmanned cruiser is in automatic patrol pattern, single line laser radar L3 and ultrasonic sensor
US4~US6 detects rear blind area environment and is transferred to NUC computers and ARM controller progress data fusion in real time, through data point
When after analysis if it is determined that rear is close to unmanned cruiser there are barrier, NUC computers to ARM controller transmission data,
The power increase of ARM controller control direct current brushless servo motor X and direct current brushless servo motor Y makes unmanned patrol speed
Degree increases to increase at a distance from rear obstacle；Until single line laser radar L3 and ultrasonic sensor US4~US6 is being visited
It surveys in range and does not detect that there are barriers, then NUC computers and ARM controller control unmanned cruiser patrolling according to setting
Speed is patrolled to be travelled；
Ultrasonic sensor US1~US3 detects front blind area environment and is transferred to NUC computers in real time, NUC computers warp
If there are barrier in the environment of front blind area after data analysis, NUC computers are to ARM controller transmission data, ARM controller control
Direct current brushless servo motor X and direct current brushless servo motor Y emergency brakings processed make unmanned cruiser crash-stop, prevent nothing
People drives cruiser and injures meiofauna life, after in the blind area environment of front without after not detecting there are barrier, NUC computers and
ARM controller controls unmanned cruiser and is travelled according to the patrol speed of setting.
Compared with prior art, the present invention is kept away using two wheel drive systems, front blind-area detection obstacle avoidance system, the detection of rear blind area
The mode that barrier system, environmental detecting system and central control system are combined, has the following advantages：
1, during the motion, it has fully considered the effect of battery in this system, has been calculated based on ARM controller+NUC
The double-core control of machine is all monitored and operation in the operating status to unmanned cruiser in real time, improves the energy content of battery
Utilization rate is conducive to the continuation of the journey of unmanned cruiser.
2, in on-vehicle battery fast discharge process, in the voltage detecting process of opposite end, internal resistance, the temperature of accumulator are introduced
Etc. parameters so that terminal voltage is closer to actual parameter, the advantageous low-voltage variation for using battery.
3, by the data of the image data and multisensor of the CCD camera of the unmanned cruiser of NUC computer disposals
Fusion, substantially increases arithmetic speed, solves the slower bottleneck of single ARM controller running software, and it is short to shorten the development cycle,
And program transportability ability is strong.
4, the data and algorithm of a large amount of single line laser radar sensors are handled using NUC due to this controller, and fully examined
Interference source around having considered, frees ARM controller from hard work amount, effectively prevents the main journey of motion control
" run and fly " of sequence, unmanned cruiser anti-interference ability greatly enhances.
5, there is the unmanned patrol bus-top single line laser radar L1 and CCD camera phase of certain angle with ground
It is small-sized in conjunction with can find in moving line the fluctuating of road conditions in advance very well and can find that movement road surface loses in advance very well temporarily
Barrier, advanced optimizing path or regulation power throwing over barrier for unmanned cruiser has certain help.
6, two, front single line laser radar L1 and L2 coordinates CCD camera, not only can effectively detect unmanned patrol
The barrier for patrolling the vehicle direction of motion or the position where people notify unmanned patrol vehicle control to realize Emergency avoidance, and
And it is relatively low compared to multi-line laser radar hardware cost, be conducive to the popularization of unmanned cruiser practical application.
7, two, front single line laser radar L1 and L2 coordinates CCD camera, can effectively detect direction of motion two side columns
The presence of shape object and the presence of both sides clear area can be positioning and advance turning and avoidance when unmanned cruiser advances
Booster action is provided.
8, single line laser radar L3 in rear 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, the unmanned cruiser sheet of protection is played
The effect of body.
9, the blind area detecting system being made of multiple ultrasonic sensors can effectively eliminate unmanned cruiser and just start
It is accelerated forwardly or short-distance blind section that when reversing back occurs, improves safety when unmanned cruiser walking and reliable
Property.
Description of the drawings
Fig. 1 is that the motor of existing unmanned cruiser arranges two-dimensional structure figure
Fig. 2 is detection and the obstacle avoidance system schematic diagram of existing unmanned cruiser
Fig. 3 is that the motor of the present invention arranges two-dimensional structure figure
Fig. 4 is that sensor of the invention arranges two-dimensional structure figure
Fig. 5 is the arrangement two-dimensional structure figure of upfront sensor group in the present invention
Fig. 6 is the arrangement two-dimensional structure figure of rear sensor group in the present invention
Fig. 7 is detection and the obstacle avoidance system schematic diagram of the present invention
Fig. 8 is the operation schematic diagram of the present invention
Fig. 9 is schematic diagram of the present invention using bilateral navigation
Figure 10 is schematic diagram of the present invention using unilateral navigation
Figure 11 is the schematic diagram that the present invention uses inertial navigation.
Specific implementation mode
The invention will be further described below.
As shown, a kind of unmanned cruiser system of two-wheel drive low speed, including two wheel drive systems, front blind-area are visited
Obstacle avoidance system, rear blind area detection obstacle avoidance system, environmental detecting system and central control system are surveyed,
The two wheel drive systems include direct current brushless servo motor driver, direct current brushless servo motor X, planetary reduction gear
Machine X, direct current brushless servo motor Y and planetary reducer Y, direct current brushless servo motor driver are electric with brush DC servo respectively
Machine X is connected with direct current brushless servo motor Y, and the input terminal of direct current brushless servo motor X and planetary reducer X is sequentially connected, row
The output end of star speed reducer X is sequentially connected with driving wheel I, and the input terminal of direct current brushless servo motor Y and planetary reducer Y is driven
Connection, output end and the driving wheel II of planetary reducer Y are sequentially connected；Driving wheel I and driving wheel II are equipped with speed and acceleration
Degree detection encoder；
The front blind-area detection obstacle avoidance system is made of ultrasonic detector US1~US3, ultrasonic detector US1~US3
It is fixed on the front end of cruiser；
Blind area detection obstacle avoidance system is made of ultrasonic detector US4~US6 after described, ultrasonic detector US4~US6
It is fixed on the rear end of cruiser；
The environmental detecting system is made of single line laser radar L1~L3 and CCD camera, and CCD camera, which is fixed on, to patrol
Roof is patrolled, single line laser radar L1 is at the top of cruiser and detection direction is at an angle to the horizontal surface, single line laser thunder
It is horizontal forward to be in cruiser front end and detection direction up to L2, and single line laser radar L3 is in cruiser rear end and detection direction
After horizontal direction；
The central control system includes master controller and ARM controller, and master controller connects with ARM controller data
Connect, single line laser radar L1~L3, CCD camera and encoder with master controller data connection, ARM controller and direct current
Brushless servo motor driver and ultrasonic detector US1~US6 data connections, power supply are direct current brushless servo motor driver
Power supply, power supply are ARM controller, ultrasonic detector US1~US6, single line laser radar L1~L3 by power conversion module
It powers with CCD camera.
Further, the master controller is the NUC computers based on NUC7, and the ARM controller is controlled for STM32F767
Device processed.
Further, the angle of the detection direction of the single line laser radar L1 and horizontal plane is 4~6 °, single line laser radar
Height of the L2 apart from ground is 10cm~30cm；Height of the single line laser radar L3 apart from ground is 10cm~30cm.
Further, the direct current brushless servo motor X and direct current brushless servo motor Y is that rare earth permanent magnet brushless DC is watched
Take motor.
A kind of working method of the unmanned cruiser system of two-wheel drive low speed, the specific steps are：
A, before unmanned cruiser does not carry out patrol work, cruiser is controlled by way of manual remote control and completes institute
The walking in the region that need to be gone on patrol carries out environment in real time by single line laser radar L1~L3 and CCD camera in the process of walking
Detection, and the data of detection are returned to NUC computers, after feedback data is sent to master station's progress analyzing processing by NUC computers
The environmental map for ultimately forming entire beat is stored, while cruiser is each in beat patrols for storage in master station
Patrol location information a little；
B, before unmanned cruiser starts patrol, NUC computers transfer patrolling for unmanned cruiser by master station
Information is patrolled, in combination with the environmental map and navigation information for forming entire beat, the navigation information is to determine nobody
The navigation mode for driving cruiser is in bilateral navigation, left unilateral navigation, the unilateral navigation in the right side and inertial navigation based on gyroscope
One kind, complete the pre- traveling path planning of cruiser, then ARM controller control ultrasonic detector US1~US6 is opened,
If ultrasonic detector US1~US6 feedbacks detect obstacle information, ARM controller sends out alarm, and waits for barrier
It removes；If clear information is fed back, ARM controller controls direct current brushless servo motor driver and opens, and cruiser is made to open
Begin to start；
C, after the patrol of cruiser starts startup, single line laser radar L1~L3 and CCD camera carry out environment spy in real time
It surveys, and gives data feedback to NUC computers, the environment for the real time environment map and storage that NUC computers generate feedback data
Map is compared, so that it is determined that the real time position residing for unmanned cruiser, ARM controller is fed back by NUC computers
Single line laser radar L1~L3 and CCD camera image data, adjust direct current brushless servo motor X and brush DC servo
The SERVO CONTROL of motor Y, and then the initialized location adjustment of unmanned cruiser is completed, so that unmanned cruiser is in pre-
Enter automatic patrol pattern on driving path；
D, when unmanned cruiser is in automatic patrol pattern, single line laser radar L1~L3 and CCD camera continue
Environment detection is carried out in real time, while encoder detects the speed and acceleration information of cruiser in real time, and by data feedback to NUC
Computer, NUC computers determine the real time position residing for unmanned cruiser after analyzing processing, and by the real time position with
Determining offset distance is compared in pre- driving path, and then NUC computers send out offset distance data to ARM controller, ARM controls
The SERVO CONTROL of device adjustment direct current brushless servo motor X and direct current brushless servo motor Y processed, and then make unmanned cruiser edge
It pre- driving path and carries out entire patrol process；
If E, single line laser radar L1~L3 and CCD camera detect the presence of barrier in traveling path process in advance,
NUC computers, NUC computers is given to control unmanned cruiser throwing over barrier after analyzing processing or bypass data feedback
Barrier finally keeps unmanned cruiser to carry out entire patrol process along pre- driving path.
Further, the single line laser radar L1~L3 and CCD camera progress environment detection and real time position determine
Detailed process is：
If single line laser radar L1 and CCD camera detect on traveling ahead path there are fluctuating hollow or barrier,
Detection data is fed back into NUC computers, NUC computers determine that height of fluctuating hollow or barrier is at this through analyzing processing
It is no beyond unmanned cruiser setting maximum cross height, if without departing from if NUC computers send a signal to ARM controls
Device, ARM controller increase the power of direct current brushless servo motor X and direct current brushless servo motor Y, while real-time by encoder
The speed and acceleration information for detecting cruiser, make unmanned cruiser pass through along pre- driving path normally travel, if exceeding
Then NUC computers send out evacuation signal to ARM controller, at the same NUC computers according to the width of fluctuating hollow or barrier and
Position in driving path determines that unmanned cruiser detours from the left or right side of fluctuating hollow or barrier, at this time
ARM controller adjusts the power of direct current brushless servo motor X and direct current brushless servo motor Y, and then makes unmanned cruiser
It is deviated to the left or is deviated to the right setting driving path to detour, after completing to hide action, ARM controller adjusts brush DC servo
The power of motor X and direct current brushless servo motor Y make unmanned cruiser drive on driving path again.
Further, when unmanned cruiser is in automatic patrol pattern, single line laser radar L3 and ultrasonic sensor
US4~US6 detects rear blind area environment and is transferred to NUC computers and ARM controller progress data fusion in real time, through data point
When after analysis if it is determined that rear is close to unmanned cruiser there are barrier, NUC computers to ARM controller transmission data,
The power increase of ARM controller control direct current brushless servo motor X and direct current brushless servo motor Y makes unmanned patrol speed
Degree increases to increase at a distance from rear obstacle；Until single line laser radar L3 and ultrasonic sensor US4~US6 is being visited
It surveys in range and does not detect that there are barriers, then NUC computers and ARM controller control unmanned cruiser patrolling according to setting
Speed is patrolled to be travelled；
Ultrasonic sensor US1~US3 detects front blind area environment and is transferred to NUC computers in real time, NUC computers warp
If there are barrier in the environment of front blind area after data analysis, NUC computers are to ARM controller transmission data, ARM controller control
Direct current brushless servo motor X and direct current brushless servo motor Y emergency brakings processed make unmanned cruiser crash-stop, prevent nothing
People drives cruiser and injures meiofauna life, after in the blind area environment of front without after not detecting there are barrier, NUC computers and
ARM controller controls unmanned cruiser and is travelled according to the patrol speed of setting.
Further, in most cases due to unmanned cruiser, it is not one-stop service pattern, the patrol of arrival
Point is more, is especially emphasis beat, and unmanned cruiser skip emphasis beat is added with certain in order to prevent
The site sensor S1 and S2 of redundancy, when unmanned cruiser, which will reach emphasis, goes on patrol website, ARM controller is first
Turn on sensor S1 and S2, while so that unmanned cruiser is run at a low speed adjustment control direct current brushless servo motor X and Y,
And the site identity of beat is read out, when one sensor of any of which Shi Ze that is triggered represents unmanned patrol
Vehicle arrived setting emphasis patrol website；
When unmanned cruiser enters emphasis beat, CCD camera will carry out image to emphasis beat
It acquires and by radioing to master station, master station stores keynote message and analyzed first, if master station is to the picture of transmission
It was found that suspicious information, stop sign will be sent out to ARM controller, ARM controller will adjustment control direct current brushless servo motor X and
Y makes unmanned cruiser stop in emergency, and then ARM controller control CCD camera carries out secondary image acquisition and is transferred to
Master station；After unmanned cruiser completes this website patrol mission, adjustment is controlled direct current brushless servo motor by ARM controller
The SERVO CONTROL of X and Y makes unmanned cruiser continue to travel according to set speed, showing in CCD real-time Transmission current paths
Field picture is to master station.This mode not only contributes to the positioning of unmanned cruiser, and is also beneficial to master station and is driven to nobody
Sail the tracking of cruiser.
In order to meet the actual functional capability needs of unmanned cruiser in special circumstances in hazardous environment etc., nobody drives
It sails cruiser and is additionally provided with urgent stop selection function：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 complete independently this
Setting, when if an emergency situation is encountered during patrol, master station needs to change operating path or urgent patrol website, main website is logical
It crosses wireless device to be communicated with unmanned cruiser NUC computers, walking path is then changed by NUC computers and patrols
Patrol information, NUC computers and the unmanned cruiser path of real-time update after ARM controller communication control and patrol bus stop
Point information, ARM controller complete newly assigned patrol according to the SERVO CONTROL of new requirement adjustment direct current brushless servo motor X and Y
Patrol task.
In addition when unmanned cruiser is gone on patrol by fixed route, a variety of acoustooptic alarm systems in system by work,
The presence for reminding the unmanned cruiser of surrounding pedestrian, when unmanned cruiser loses communication with main website, ARM controller meeting
Automatic stopping signal is sent out, the direct original place of ARM controller locks the direct current brushless servo motor X and Y of unmanned cruiser, nothing
People drives cruiser and will not collide or hurt people because of uncontrolled, and main website is driven due to that can not be collected into nobody at this time
The transmission information of cruiser is sailed, fast track will be carried out to unmanned cruiser according to a upper patrol bus stop information, and
Solve failure problems.
Claims (7)
1. a kind of unmanned cruiser system of two-wheel drive low speed, which is characterized in that visited including two wheel drive systems, front blind-area
Obstacle avoidance system, rear blind area detection obstacle avoidance system, environmental detecting system and central control system are surveyed,
The two wheel drive systems include direct current brushless servo motor driver, direct current brushless servo motor X, planetary reducer X,
Direct current brushless servo motor Y and planetary reducer Y, direct current brushless servo motor driver respectively with direct current brushless servo motor X
It is connected with direct current brushless servo motor Y, the input terminal of direct current brushless servo motor X and planetary reducer X is sequentially connected, and planet subtracts
The output end of fast machine X is sequentially connected with driving wheel I, and the input terminal transmission of direct current brushless servo motor Y and planetary reducer Y connects
It connects, output end and the driving wheel II of planetary reducer Y are sequentially connected；Driving wheel I and driving wheel II are equipped with speed and acceleration
Detect encoder；
The front blind-area detection obstacle avoidance system is made of ultrasonic detector US1~US3, and ultrasonic detector US1~US3 is fixed
In the front end of cruiser；
Blind area detection obstacle avoidance system is made of ultrasonic detector US4~US6 after described, and ultrasonic detector US4~US6 is fixed
In the rear end of cruiser；
The environmental detecting system is made of single line laser radar L1~L3 and CCD camera, and CCD camera is fixed on cruiser
Top, single line laser radar L1 is at the top of cruiser and detection direction is at an angle to the horizontal surface, single line laser radar L2
It is horizontal forward in cruiser front end and detection direction, single line laser radar L3 be in cruiser rear end and detection direction is water
It puts down backward；
The central control system includes master controller and ARM controller, master controller and ARM controller data connection,
Single line laser radar L1~L3, CCD camera and encoder with master controller data connection, ARM controller and direct current without
Brush motor servo driver and ultrasonic detector US1~US6 data connections, power supply supply for direct current brushless servo motor driver
Electricity, power supply by power conversion module be ARM controller, ultrasonic detector US1~US6, single line laser radar L1~L3 and
CCD camera is powered.
2. the unmanned cruiser system of a kind of two-wheel drive low speed according to claim 1, which is characterized in that in described
Heart controller is the NUC computers based on NUC7, and the ARM controller is STM32F767 controllers.
3. the unmanned cruiser system of a kind of two-wheel drive low speed according to claim 1, which is characterized in that the list
The detection direction of line laser radar L1 and the angle of horizontal plane are 4~6 °, and height of the single line laser radar L2 apart from ground is
10cm~30cm；Height of the single line laser radar L3 apart from ground is 10cm~30cm.
4. the unmanned cruiser system of a kind of two-wheel drive low speed according to claim 1, which is characterized in that described straight
It is rare earth permanent magnet brushless DC servo motor to flow brushless servo motor X and direct current brushless servo motor Y.
5. a kind of working method of the unmanned cruiser system of two-wheel drive low speed, which is characterized in that the specific steps are：
A, it before unmanned cruiser does not carry out patrol work, is controlled by way of manual remote control and is patrolled needed for cruiser completion
The walking in the region patrolled carries out environment spy in real time by single line laser radar L1~L3 and CCD camera in the process of walking
It surveys, and the data of detection is returned to NUC computers, feedback data is sent to after master station's progress analyzing processing most by NUC computers
End form is stored at the environmental map of entire beat, while cruiser each patrol in beat is stored in master station
The location information of point；
B, before unmanned cruiser starts patrol, NUC computers transfer the patrol point of unmanned cruiser by master station
Information completes the pre- traveling path planning of cruiser in combination with the environmental map and navigation information for forming entire beat,
Then ARM controller control ultrasonic detector US1~US6 is opened, if ultrasonic detector US1~US6 feedbacks detect barrier
Hinder object information, then ARM controller sends out alarm, and waits for the removing of barrier；If clear information is fed back, ARM controls
Device controls direct current brushless servo motor driver and opens, and cruiser is made to start to start；
C, after the patrol of cruiser starts startup, single line laser radar L1~L3 and CCD camera carry out environment detection in real time, and
Give data feedback to NUC computers, the environmental map of the real time environment map and storage that NUC computers generate feedback data into
Row compares, so that it is determined that the real time position residing for unmanned cruiser, the single line that ARM controller is fed back by NUC computers
The image data of laser radar L1~L3 and CCD camera adjust direct current brushless servo motor X and direct current brushless servo motor Y
SERVO CONTROL, and then complete the initialized location adjustment of unmanned cruiser, unmanned cruiser made to be in pre- traveling
Enter automatic patrol pattern on path；
D, when unmanned cruiser is in automatic patrol pattern, single line laser radar L1~L3 and CCD camera continue in real time
Environment detection is carried out, while encoder detects the speed and acceleration information of cruiser in real time, and data feedback is calculated to NUC
Machine, NUC computers determine the real time position residing for unmanned cruiser after analyzing processing, and by the real time position with carry out ahead of schedule
It sails path and determining offset distance is compared, then NUC computers send out offset distance data to ARM controller, ARM controller
The SERVO CONTROL of direct current brushless servo motor X and direct current brushless servo motor Y are adjusted, and then makes unmanned cruiser along pre-
Driving path carries out entire patrol process；
If E, single line laser radar L1~L3 and CCD camera detect the presence of barrier in traveling path process in advance, will count
According to NUC computers are fed back to, NUC computers control unmanned cruiser throwing over barrier or cut-through after analyzing processing
Object finally keeps unmanned cruiser to carry out entire patrol process along pre- driving path.
6. a kind of working method of the unmanned cruiser system of two-wheel drive low speed according to claim 5, feature
It is, the detailed process that the single line laser radar L1~L3 and CCD camera progress environment detection and real time position determine is：
If single line laser radar L1 and CCD camera detect on traveling ahead path, there are fluctuating hollow or barriers, will visit
Measured data feeds back to NUC computers, and NUC computers determine whether the height of fluctuating hollow or barrier surpasses at this through analyzing processing
The maximum for going out the setting of unmanned cruiser crosses height, if without departing from if NUC computers send a signal to ARM controller, ARM
Controller increases the power of direct current brushless servo motor X and direct current brushless servo motor Y, while being detected and being patrolled in real time by encoder
The speed and acceleration information for patrolling vehicle make unmanned cruiser pass through along pre- driving path normally travel, if the NUC meters beyond if
Calculation machine sends out evacuation signal to ARM controller, while NUC computers are according to the width of fluctuating hollow or barrier and in traveling
The position in path determines that unmanned cruiser detours from the left or right side of fluctuating hollow or barrier, at this time ARM controller
Adjust direct current brushless servo motor X and direct current brushless servo motor Y power, and then make unmanned cruiser be deviated to the left or
It is deviated to the right setting driving path to detour, after completing to hide action, ARM controller adjusts direct current brushless servo motor X and straight
The power of stream brushless servo motor Y makes unmanned cruiser drive on driving path again.
7. a kind of working method of the unmanned cruiser system of two-wheel drive low speed according to claim 5, feature
It is, when unmanned cruiser is in automatic patrol pattern, single line laser radar L3 and ultrasonic sensor US4~US6 are real
When detection rear blind area environment and be transferred to NUC computers and ARM controller and carry out data fusion, after data analysis if it is determined that
When rear is close to unmanned cruiser there are barrier, NUC computers are to ARM controller transmission data, ARM controller control
The power increase of direct current brushless servo motor X and direct current brushless servo motor Y processed so that unmanned patrol vehicle speed is increased to
It increases at a distance from rear obstacle；Until single line laser radar L3 and ultrasonic sensor US4~US6 in investigative range not
There are barriers, then NUC computers and ARM controller to control unmanned cruiser and be carried out according to the patrol speed of setting for detection
Traveling；
Ultrasonic sensor US1~US3 detects front blind area environment and is transferred to NUC computers in real time, and NUC computers are through data
If there are barrier in the environment of front blind area after analysis, for NUC computers to ARM controller transmission data, ARM controller control is straight
Stream brushless servo motor X and direct current brushless servo motor Y emergency brakings make unmanned cruiser crash-stop, prevent nobody from driving
It sails cruiser and injures meiofauna life, after nothing is not detected there are barrier in the environment of front blind area, NUC computers and ARM
Controller controls unmanned cruiser and is travelled according to the patrol speed of setting.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810224552.9A CN108287553A (en) | 2018-03-19 | 2018-03-19 | A kind of unmanned cruiser system of two-wheel drive low speed and working method |
| CN201910170480.9A CN109799833A (en) | 2018-03-19 | 2019-03-07 | A kind of unmanned cruiser system of two-wheel drive low speed and working method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810224552.9A CN108287553A (en) | 2018-03-19 | 2018-03-19 | A kind of unmanned cruiser system of two-wheel drive low speed and working method |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN108287553A true CN108287553A (en) | 2018-07-17 |
Family
ID=62833965
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810224552.9A Withdrawn CN108287553A (en) | 2018-03-19 | 2018-03-19 | A kind of unmanned cruiser system of two-wheel drive low speed and working method |
| CN201910170480.9A Withdrawn CN109799833A (en) | 2018-03-19 | 2019-03-07 | A kind of unmanned cruiser system of two-wheel drive low speed and working method |
Family Applications After (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910170480.9A Withdrawn CN109799833A (en) | 2018-03-19 | 2019-03-07 | A kind of unmanned cruiser system of two-wheel drive low speed and working method |
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| Country | Link |
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| CN (2) | CN108287553A (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109318837A (en) * | 2018-12-05 | 2019-02-12 | 苏州博众机器人有限公司 | A kind of patrol vehicle control and cruiser |
| CN110955249A (en) * | 2019-12-23 | 2020-04-03 | 浙江华消科技有限公司 | Method and device for robot to pass through obstacle, storage medium and electronic device |
| CN113071518A (en) * | 2021-04-14 | 2021-07-06 | 上海锵玫人工智能科技有限公司 | Automatic unmanned driving method, minibus, electronic equipment and storage medium |
| US11560153B2 (en) | 2019-03-07 | 2023-01-24 | 6 River Systems, Llc | Systems and methods for collision avoidance by autonomous vehicles |
Family Cites Families (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN202093394U (en) * | 2011-05-24 | 2011-12-28 | 北京富盛星电子有限公司 | Five-orientation infrared obstacle-avoidance device used for patrol robot dolly |
| CN103389734A (en) * | 2013-08-12 | 2013-11-13 | 贵州大学 | Intelligent patrol monitoring trolley |
| CN105005308A (en) * | 2015-08-24 | 2015-10-28 | 铜陵学院 | Six-wheel fire-fighting robot servo controller based on STM32F407 |
| CN105137975A (en) * | 2015-08-24 | 2015-12-09 | 铜陵学院 | Six-wheel double-core automatic high speed fire extinguishing robot servo controller |
-
2018
- 2018-03-19 CN CN201810224552.9A patent/CN108287553A/en not_active Withdrawn
-
2019
- 2019-03-07 CN CN201910170480.9A patent/CN109799833A/en not_active Withdrawn
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109318837A (en) * | 2018-12-05 | 2019-02-12 | 苏州博众机器人有限公司 | A kind of patrol vehicle control and cruiser |
| US11560153B2 (en) | 2019-03-07 | 2023-01-24 | 6 River Systems, Llc | Systems and methods for collision avoidance by autonomous vehicles |
| CN110955249A (en) * | 2019-12-23 | 2020-04-03 | 浙江华消科技有限公司 | Method and device for robot to pass through obstacle, storage medium and electronic device |
| CN110955249B (en) * | 2019-12-23 | 2023-11-07 | 浙江华消科技有限公司 | Method and device for robot to pass through obstacle, storage medium and electronic device |
| CN113071518A (en) * | 2021-04-14 | 2021-07-06 | 上海锵玫人工智能科技有限公司 | Automatic unmanned driving method, minibus, electronic equipment and storage medium |
| CN113071518B (en) * | 2021-04-14 | 2023-02-03 | 上海锵玫人工智能科技有限公司 | Automatic unmanned driving method, minibus, electronic equipment and storage medium |
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| Publication number | Publication date |
|---|---|
| CN109799833A (en) | 2019-05-24 |
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