CN108490936A

CN108490936A - A kind of round-the-clock unmanned cruiser system of two-wheel drive high speed

Info

Publication number: CN108490936A
Application number: CN201810224168.9A
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: 2018-09-04

Abstract

A kind of round-the-clock unmanned cruiser system of two-wheel drive high speed, including cruiser ontology and control system；There is cruiser ontology driving wheel and driven wheel, a pair of driving wheels to be driven by two direct current generators being staggered；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, wireless communication module and assistant controller one are connect with master controller；Ultrasonic sensor and motor driver are connect with assistant controller one, and motor driver is connect with two direct current generators respectively.The system stability, reliability and cost-effective, calculation process speed is fast, and flexibility is high, and can successfully manage bad weather.

Description

A kind of round-the-clock unmanned cruiser system of two-wheel drive high speed

Technical field

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

Background technology

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

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

It is still in infancy currently, Intelligent unattended drives cruiser development, either the intelligent driving of which kind of degree, the 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 two 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) 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.

(15) 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.

(16) 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.

(17) 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.

(18) 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 two-wheel drive high speed is 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 round-the-clock unmanned cruiser system of two-wheel drive high speed, Including cruiser ontology and the control system being arranged on cruiser ontology；

The cruiser body lower part the middle part of length direction assemble a pair of driving wheels, length direction left part and the right side Portion is respectively equipped with a pair of driven, and cruiser body interior is equipped with two direct currents for respectively driving two driving wheels Machine；

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 two planets being located on the outside of two 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 two direct current generators prolongs cruiser body width extends, and two direct current generators are vertical It is arranged at intervals upwards, the motor shaft of two direct current generators is arranged to ground opposite to each other；The direct current generator is rare-earth permanent magnet brushless DC servo motor, the motor shaft of direct current generator and the input terminal of planetary reducer connect, and the output shaft of planetary reducer passes through Gear set drives the shaft at driving wheel center；The gear set by being distributed and pitch wheel one and gear two in the longitudinal direction Composition；The gear one is set on the output shaft of planetary reducer, and the gear two is set in the shaft at driving wheel center；

The control system further includes the first front environment detection and protection system, the second front environment detection and protection system System, the first rear environment detection and protection system, the second rear environment detection and protection system, front blind-area detection and avoidance system System, the detection of rear blind area and obstacle avoidance system and 360 degree of CCD cameras one in cruiser bodies top center are set；

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 one, CCD camera two, CCD camera shootings Machine 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 driver point It is not connect with two direct current generators；Power supply is connect with motor driver and power conversion module respectively, and power conversion module is used for The supply of DC power supply is provided；Wireless communication module is for wirelessly establishing the communication connection between the master station of distal end.

In the technical scheme, CCD camera one is responsible for the collection of patrol environment, and module is sent out in real time by radio communication Give master station.By the first front or behind environment detection and protection system setting can accurately and fast detect front or Distance environmental aspect farther out in rear is stepped up patrols vehicle and front or behind moving obstacle so as to effectively detect nobody Distance；Inclination on roof and for detecting front is provided in first front or behind environment detection and protection system The single line laser radar of setting and in lower car body and horizontally disposed single line laser radar is set, can not only reach multi-thread and swash The Effect on Detecting of optical radar, the barrier that can effectively detect the unmanned cruiser direction of motion or the position where people, notice Unmanned patrol vehicle control realizes Emergency avoidance, and low compared to the hardware cost of multi-line laser radar, is conducive to nothing People drives the popularization of cruiser practical application.It is provided in first front or behind environment detection and protection system and swashs positioned at single line CCD camera two or three between optical radar and single line laser radar can not only assist single line laser radar and single line laser radar Detection and navigation accuracy are improved, video analysis can be also more advantageous to, and on the one hand can find that movement road surface loses temporarily in advance Small obstacle and moving line in road conditions fluctuating situation, can make realtime graphic obtain performance it is more preferable, can be to unmanned Cruiser, which advanced optimizes path or regulation power throwing over barrier, has significant help.On the other hand it can effectively detect The presence of both sides clear area, to provide certain help for unmanned cruiser advance turning and avoidance, moreover it is possible to effectively visit The presence for measuring direction of motion both sides columnar object positions when being moved forward or back for unmanned cruiser and provides certain side It helps.By enabling the second front or behind environment detection and the setting of system being protected quickly and accurately to detect front or behind The closer short-distance blind section of distance is especially accelerated forwardly in rigid startup or is fallen backward can effectively eliminate unmanned cruiser The short-distance blind section occurred when vehicle improves safety and reliability when unmanned cruiser walking.In addition, the second front Or rear environment detection and protection system use the microwave radar group positioned at the microwave radar of vehicle body upper portion and positioned at lower car body At since microwave is the very short radio wave of wavelength, directionality is fine, and speed is equal to the light velocity.It is stood when microwave encounters barrier It is reflected back, the distance of barrier, and the ability of microwave penetration mist, cigarette, dust can be measured according to electromagnetic wave two-way time By force, have the characteristics that round-the-clock, round-the-clock can work, in this way once encountering bad weather, system can excise laser radar detection System relies only on microwave radar systems work, meets the normal patrol work of unmanned cruiser under round-the-clock adverse circumstances, And then boisterous patrol operation can be successfully managed, but microwave radar is relatively low relative to lidar measurement precision, therefore, As the supplement of the first front or behind environment detection and protection system, the detection effect of short-distance blind section can be effectively improved Fruit.In addition, there is system two-way navigation sensor need not rotate in place the mode of 180 degree when encountering blind alley to realize U-turn need to only switch the control logic of front and back group navigation sensor and motor driver, so that it may to realize u-turn, increase nobody Drive flexibility of the cruiser by the ability of small space and patrol operation.Furthermore make master controller to focus on patrol Image data, single line laser radar signal and the microwave radar signal that the CCD camera of vehicle acquires in real time, make assistant controller 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.The fast response servo that direct current generator can be rapidly completed in SERVO CONTROL based on FPGA is adjusted, and has given full play to FPGA The very fast feature of arithmetic speed greatly reduces the adjustment time of unmanned cruiser posture so that unmanned cruiser can Quickly walking.Direct current generator is controlled by assistant controller two, further mitigates the burden of assistant controller one, can be accelerated auxiliary One processor of controller control signal is sent out, and then can further increase the speed of travel of automatic driving car.

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, each driven wheel is universal wheel.In order to improve the flexibility of cruiser movement, meanwhile, can also it make Turn radius when cruiser turns in situ is smaller.

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, auxiliary control system Device two uses FPGA, to make the control of cruiser by based on vehicle-mounted computer NUC master system and based on STM32F767's Three nuclear control systems of ARM lower computer systems and FPGA compositions carry out, wherein mainly being used based on vehicle-mounted computer NUC master systems The maximum more single line laser radar signal processings of workload, microwave radar signal processing, CCD in unmanned cruiser system Image Acquisition and analysis and with the interactive communication of master station and complete the inputting of path and map, the processing of each Data Fusion of Sensor； The data fusion that the multisensor of unmanned cruiser is handled by NUC7 substantially increases arithmetic speed, and then can fully send out The fast feature of NUC microcomputer data processing speeds is waved, single arm processor is solved and runs slower bottleneck, shorten exploitation Period is short, and keeps the portable ability of program stronger.ARM lower computer control systems based on STM32F767 are mainly used for reality When receive the host computer multisensor digital convergence signal of NUC microcomputers composition, and realize the Digital Signal Processing of part, sound Answer the real-time data communication and storage of various interruptions and realization with master station.Complete unmanned cruiser system data storage, The functions such as I/O controls, blind area detection and avoidance signal processing, image analysis and transmission, can make maximum two axis of workload in this way Brush DC servo system control gives FPGA processing, to make whole system using FPGA as kinetic control system processing core, FPGA data can be given full play to and handle very fast advantage, thereby realize the rational division of work of NUC, FPGA and ARM, fully with energy Using the fast feature of NUC data processing speeds, quickly handle at a large amount of Multi-sensor Fusion signal and the algorithm of various data Reason, effectively frees arm processor from hard work amount, can effectively prevent motion control main program " run and fly ", and can fully consider the interference source of surrounding, significantly enhance the anti-interference ability of unmanned cruiser.Simultaneously Communication and data exchange and the between each other calling of required data can be carried out between NUC, FPGA and ARM in real time, can be effectively improved The environment detection function of unmanned cruiser.The front and rear of the unmanned cruiser of the present invention is all made of in same position Identical laser radar, microwave radar, CCD camera and ultrasonic sensor can realize unmanned cruiser narrow The accuracy of space 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 driven 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 two-wheeled 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 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, 3, driven 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 radar M3,18, microwave radar M4,19, ultrasonic sensor US1,20, ultrasonic sensor US2,21, ultrasonic wave passes Sensor US3,22, ultrasonic sensor US4,23, ultrasonic sensor US5,24, ultrasonic sensor US6,25, charging module, 26, front blind-area detection 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 two-wheel drive high speed, including cruiser sheet Body 1 and the control system being arranged on cruiser ontology 1；One is assembled at the middle part of length direction in 1 lower part of cruiser ontology To driving wheel 2, length direction left part and right part be respectively equipped with a pair of driven 3, as a preferred embodiment, each driven wheel 3 It is universal wheel.1 mounted inside of cruiser ontology is useful for respectively driving two direct current generators 4 of two driving wheels 2；It is described to patrol Patrol two planetary reducers 5 for being additionally provided with and being located on the outside of two 4 motor shafts of direct current generator inside vehicle ontology 1, the row Star speed reducer 5 is 90 degree of corner planetary reducers；The length direction of two direct current generators 4 prolongs the side of 1 width of cruiser ontology To extension, and two direct current generators 4 are arranged at intervals in the longitudinal direction, and the motor shaft of two direct current generators 4 is arranged to ground opposite to each other； The direct current generator 4 is rare earth permanent magnet brushless DC servo motor, the stator of rare earth permanent magnet brushless DC servo motor with it is common Direct current generator stator structure having the same, only the encouraging instead of direct current generator using Nd-Fe-B rare earth permanent magnetic material as magnetic pole Magnetic magnetic pole and Exciting Windings for Transverse Differential Protection so that the structure of direct current brushless servo motor is relatively simple, and electronic commutation eliminates and is easy out event The collector ring and brush of barrier, realize non-brushing, improve the reliability of motor operation.Rare earth permanent-magnetic material uses so that electricity Acc power density is higher, and the volume of motor be can be made smaller.Rare-earth permanent magnet brushless servo has body with respect to traditional servo motor Product is small, light-weight, contributes big, and response is fast, and inertia is small, and rotation is smooth, and torque is stablized, and non-maintaining, efficient, running temperature is low, The advantages that electromagnetic radiation is small, long lifespan.These characteristics make rare earth permanent magnet brushless DC servo motor be particularly suitable for substituting direct current Motor, and in the robot control system more special applied to unmanned cruiser these requirements.The motor of direct current generator 4 Axis is connect with the input terminal of planetary reducer 5, and the output shaft of planetary reducer 5 drives turning for 2 center of driving wheel by gear set Axis；Planetary reducer 5 is 90 degree of planetary reducers, i.e. the input shaft of planetary reducer 5 and output shaft is perpendicular；The gear set By being distributed in the longitudinal direction and pitch wheel 1 and gear 27 form；The gear 1 is set in planetary reducer 5 On output shaft, the gear 27 is set in the shaft at 2 center of driving wheel；Direct current generator 4 passes through its motor shaft and 90 degree of planets Speed reducer 5 is directly mechanically connected, and then 5 output shafts of planetary reducer are connected by gear 1 and gear 27 with driving wheel mechanical It connects, coordinates this combination of planetary reducer 5 that can realize the unmanned cruiser speed of travel and demand force using direct current generator 4 Matching between square can be effectively increased torque when unmanned cruiser walking, meanwhile, it can also reduce unmanned cruiser Width.As a preferred embodiment, gear 1 and gear 27 may be used 1:1 gear ratio.Due to being staggered, brush DC is watched Take the axial position of motor so that the width of unmanned cruiser is greatly lowered, and is conducive to unmanned cruiser and passes through Some narrow regions.Planetary reducer 5 is a kind of independent type closed driving device being used between prime mover and working machine, main It acts on the rotary inertia ratio for exactly being used for reducing load/motor and reduces rotating speed and increase torque, and ensureing precision drive Premise under.Precise planet-gear speed reducer is small with structure size, volume is light and handy, gear range, reduction range are wide, makes an uproar The advantages that sound is low, transmission efficiency, high output torque, since the above advantage planet-gear speed reducer is widely used in straight In the electronic products such as flow servo motor, AC servo motor, stepper motor, it can be used for lifting transport, engineering machinery, metallurgy, mine The fields such as mountain, 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, assistant controller two, the first front environment detection and protection system, the second front environment detection and Protection system, the first rear environment detection and protection system, the second rear environment detection and protection system, front blind-area detect and keep away Barrier system 26, rear blind area detection and obstacle avoidance system 27 and be arranged 1 top center of cruiser ontology 360 degree CCD image Machine 1；

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 processors and master station, it, can remotely pilotless when master station finds doubtful information Drive the cruiser startup secondary determining suspicious information of reversing back is at this time generally in rear moving region there are a blind area Prevent to collide, the present invention is added one group by ultrasonic sensor US4, US5, US6 in the bottom of unmanned cruiser The rear blind area detection of composition and obstacle avoidance system.The blind area detecting system being made of multiple ultrasonic sensors can effectively eliminate nobody and drive It sails cruiser and has just started and be accelerated forwardly or short-distance blind section that when reversing back occurs, when improving unmanned cruiser walking Safety and reliability.Simultaneously as being equipped with two-way navigation sensor group, when encountering blind alley, original place rotation is not needed The mode of turnback is reversed end for end to realize, need to only switch the SERVO CONTROL logic of front and back group navigation sensor and left and right servo motor, It can realize u-turn, increase ability of the unmanned cruiser by small space.

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 two 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.STM32F767 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；STM32F7MCU series of products efficiency reaches nearly twice of DSP, and the STM32 series between comparing possesses more Abundant peripheral hardware, while the backward compatible Cortex-M4 instruction set of Cortex-M7, STM32F7 series and STM32F4 series pins Compatible, 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 two 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, the newest 7th generation processing of Intel is introduced Device NUC7, FPGA and NUC7 image procossing catenation principle is as shown in figure 12.

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 Please propose the novel two-wheeled mechanical mechanism based on planetary reducer, and using based on Intel's the 7th generation NUC microcomputer+ The completely new control model of ARM (newest embedded STM32F767)+FPGA.In order to improve the environment detection of unmanned cruiser Function, using more single line laser radars, microwave radar, CCD camera and ultrasound based on Intel's the 7th generation NUC microcomputer Wave sensor integration technology realizes the detection of cruiser ambient enviroment, and introduces the Image Acquisition based on high definition CCD camera With the analysis of image data system of ARM, and by wirelessly in real time acquisition information back to master station.Whole system is fortune with FPGA Autocontrol system processing core, the host computer multisensor digital convergence signal of real-time reception NUC microcomputers composition and ARM controls Signal processed, 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. The control system detects more single line laser radars, microwave radar detection, ccd image acquires and analysis system concentrates design, can The battery management module being connect with power supply to be arranged in the control system, and connection battery management is controlled by assistant controller one Module, battery management module include the voltage biography for measuring the voltage sensor one of assembled battery total voltage, measuring monomer voltage The current sensor of the size of sensor two, measurement electric current measures the temperature sensing one of each battery temperature and for measuring in battery The electric resistance sensor of resistance, rationally to monitor the parameters situations such as battery total voltage, monomer voltage, the internal resistance of battery, temperature, in turn In on-vehicle battery fast discharge process, terminal voltage can be detected in real time, ensure battery terminal voltage closer to practical ginseng Number, is conducive to the low-voltage variation of battery.In this way, the control system can be made fully to consider effect of the battery in this system, base The operating status of unmanned cruiser can be monitored constantly and operation, be improved in tri- nuclear control devices of ARM+NUC+FPGA The utilization rate of the energy of battery is conducive to the continuation of the journey of unmanned cruiser, realize unmanned cruiser it is stable, it is reliable, Constantly in the patrol operation of each region.

The control system is maximum more single line laser radar signal processings of workload in unmanned cruiser system, micro- NUC microcomputers and FPGA processing, direct current generator (brush DC are given in wave Radar Signal Processing and ccd image acquisition and analysis Servo motor) SERVO CONTROL give FPGA processing.The CCD camera of unmanned cruiser is jointly processed by by NUC7 and FPGA Image data and multisensor data fusion signal, substantially increase arithmetic speed, give full play to NUC microcomputers and The very fast feature of FPGA data processing speed solves the slower bottleneck of single ARM running softwares, and it is short to shorten the development cycle, and And program transportability ability is made effectively to enhance.The SERVO CONTROL that direct current brushless servo motor is handled by FPGA, can give full play to The function that the very fast feature of FPGA arithmetic speeds and program are easily transplanted so that control is fairly simple, substantially increases operation speed Degree further solves monolithic ARM and runs slower bottleneck, and it is short to further shorten the development cycle, and program transportability Ability further enhances, simultaneously, moreover it is possible to quickly respond control instruction, achieve the purpose that quickly to control.Due to this control system The data and algorithm of a large amount of single line laser radar sensors and microwave radar sensor are handled using NUC microcomputers and FPGA, And the interference source around having fully considered, meanwhile, use, the unmanned a large amount of data of cruiser servo-drive system of FPGA processing with Algorithm fully frees ARM from hard work amount, effectively prevents " run and fly " of motion control main program, Unmanned cruiser anti-interference ability greatly enhances.And blind area detection and avoidance, image analysis and transmission, data storage, I/O The functions such as control give STM32F767 completions, thereby realize the rational division of work of ARM, FPGA and NUC microcomputer, improve While control system operation and processing speed, the stability and reliability of control system are also further improved, while Can make that between two three of master controller, assistant controller one and assistant controller communication progress data exchange and calling can be carried out in real time. Meanwhile single line laser radar, microwave radar coordinate ccd image acquisition system, not only can effectively detect unmanned cruiser The barrier of the direction of motion or the position where people notify unmanned patrol vehicle control to realize Emergency avoidance, Er Qiexiang It is more relatively low than multi-line laser radar hardware cost, be conducive to the popularization of unmanned cruiser practical application.Meanwhile it can effectively detect It is positioned to the presence of direction of motion both sides columnar object, when can advance for unmanned cruiser and certain help is provided.Also may be used The presence of both sides clear area is effectively detected, turning and the avoidance of can advancing for unmanned cruiser provide certain help. Furthermore unmanned cruiser direct current brushless servo motor PWM modulation signal and direction signal are exported by FPGA, by driving electricity Road can directly drive direct current generator, not only alleviate the burden of ARM, simplify interface circuit, and eliminate and compiled inside ARM The trouble of writing position, speed control program and various pid algorithms so that the debugging of system is simpler.It is patrolled unmanned It patrols in vehicle operational process, FPGA can also carry out the torque of two direct current generators on-line identification and utilize motor torque and electric current Relationship compensates, and reduces shadow of the direct current brushless servo motor torque shake to the unmanned cruiser servo-drive system of high speed It rings.In the control of unmanned cruiser, FPGA is according to sensor L1~L4, M1~M4 and CCD2 and CCD3 image capturing systems Feedback signal determine that unmanned cruiser deviates the offset of optimal path center, then according to different offsets Pid parameter inside adjustment FPGA in real time, easily realizes segmentation P, PD, PID control and nonlinear PID controller, system is made to have Certain is adaptive.FPGA moment and NUC and ARM are communicated, their interruptive command of real-time reception, when in case of emergency, NUC and ARM can block the PWM outputs of FPGA at the first time, prevent unmanned cruiser from being injured due to failure.Due to having On-line storage and wireless transmission function, unmanned cruiser master station can easily transfer the information gone on patrol, can be real-time Patrol mission is adjusted according to peripheral situations, improves the efficiency of unmanned cruiser automation patrol.

Further, encoder can also be connected on the driven wheel 3, 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：The unmanned cruiser based on ARM (STM32F767)+NUC7+FPGA designed for the present invention Three nuclear control devices, under power-on state, then vehicle-mounted computer NUC7 is transferred by unmanned cruiser control master station and is patrolled Vehicle driving path and cartographic information are patrolled, subsequent blind-spot sensor is started to work, and is communicated with ARM and FPGA processor, ARM processing Device, which determines, opens unmanned cruiser patrol pattern after clear enters working region, at the same with NUC and FPGA controller Mutually communication, NUC real-time receptions laser radar, microwave radar and CCD camera feedback signal simultaneously decode, then with ARM processing Device communicates and transmits input control signal to FPGA processor, FPGA processor by decode input control signal control direct current without Brush servo motor, direct current brushless servo motor drive unmanned cruiser quick after planetary reducer conversion rate and torque Traveling, and by signals such as the displacement of encoder Real-time Feedback, speed and acceleration on moving wheel to arm processor.At nobody It drives in cruiser motion process, the patrol image capturing system real-time Transmission scene patrol information based on CCD camera is to total It stands.Once encountering bad weather, system meeting excise laser radar-probing system relies only on microwave radar systems work, meets The normal patrol work of unmanned cruiser under round-the-clock adverse circumstances.Unmanned cruiser once opens patrol pattern, 360 degree of CCD cameras 1 will return patrol environment in real time by arm processor.

Unmanned cruiser system is divided into two parts：Novel mechanical system based on planetary reducer and it is based on NUC7 The three nuclear control systems of+ARM+FPGA, control system mainly by based on vehicle-mounted computer NUC master system and be based on The lower computer system of the ARM and FPGA of STM32F767 form.Wherein be based on vehicle-mounted computer NUC master systems complete path and Map input, more single line laser radars, the data fusion of microwave radar sensor and the functions such as the acquisition of CCD figures and processing；Base Two axis brush DC servo SERVO CONTROLs, the data of unmanned cruiser system are completed in ARM+FPGA lower computer control systems Functions, the wherein maximum two axis brush DC servo system controls of workload such as storage, I/O controls give FPGA processing, fully It plays FPGA data and handles very fast advantage, thereby realize the rational division of work between NUC, ARM and FPGA three, while three It can be communicated again between person, carry out data exchange and calling in real time.

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

1) for unmanned cruiser between 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 build figure, while by WLAN in real time environment Map transmission stores after being handled by master station to master station and forms entire beat map, if region is larger, total standing-meeting is to patrolling The map for patrolling region is split, and is divided into several mapping modules, is conducive to the calling in unmanned cruiser later stage, once it completes The foundation of area map, unmanned cruiser are returned to master station and enter patrol state of awaiting orders.

2) between 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 is forbidden to work, and FPGA blocks the PWM output letters of two direct current brushless servo motors Number, unmanned cruiser removes the locked waiting barrier in original place；If clear enters movement blind area or barrier quilt It removes, ARM controller can enable FPGA work, and FPGA exports the pwm control signal of direct current brushless servo motor, two brush DCs Servo motor drives unmanned cruiser to start to go on patrol automatically by planetary reducer.

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 adjustment output bias signal adjust the SERVO CONTROL of direct current brushless servo motor in real time to FPGA, FPGA, in turn The initialization pose adjustment of unmanned cruiser is completed, unmanned cruiser enters automatic 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 and FPGA carries out Data Fusion and STM32F767 responds various interruption protections and image analysis, and then NUC and ARM is communicated, The environment residing for unmanned cruiser that arm processor is fed back according to NUC determines unmanned patrol according to Fig. 8, Fig. 9 and Figure 10 Vehicle is bilateral navigation, left unilateral navigation, right unilateral navigation or the inertial navigation based on gyroscope under the current model, then Arm processor input control deviation signal to FPGA, FPGA according to deviation signal through internal servo programe generate driving direct current without The servo-control signal of brush servo motor, direct current brushless servo motor are realized unmanned after speed reducer conversion rate and torque The speed and the direction of motion of cruiser change so that unmanned cruiser can easily be completed to go on patrol automatically.

5) 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 will be sent out if height and width have been more than the requirement that unmanned cruiser is crossed to assistant controller one (STM32F767) Fluctuating pitting data are transferred to NUC processing by interrupt requests simultaneously, before STM32F767 can be to interrupting priority processing and entrance Hide protection subprogram in side：If having enough walking spaces, ARM on the left of unmanned cruiser in the new map of NUC feedbacks Maximum deviation position signal will be communicated and inputted in FPGA, and FPGA will be according to ARM input control Signal Regulation brush DC servos The SERVO CONTROL of motor, unmanned cruiser according to oneself the location of difference come determine navigation mode and to the left automatically Mobile, after completing to hide action, the SERVO CONTROL for readjusting direct current brushless servo motor is made nobody drive by FPGA controller Sailing cruiser, automatic side deviates and drives into the optimized paths NUC7 again to the right according to navigation mode；If NUC feedbacks There are enough walking spaces, ARM that will be communicated in FPGA and input maximum deviation position on the right side of unmanned cruiser in new map Signal, FPGA will be according to the SERVO CONTROL of ARM input control Signal Regulation direct current brushless servo motors, unmanned cruiser roots Navigation mode is determined according to the location of oneself difference and is automatically moved to the right, after completing to hide action, FPGA controls The SERVO CONTROL for readjusting direct current brushless servo motor is made unmanned cruiser according to navigation mode automatic side to the left by device It deviates and drives into the optimized paths NUC7 again；If the height and width or the small-scale obstacle of the fluctuating pitting of NUC7 feedbacks The object data information tolerance cross-country in unmanned cruiser, and the unmanned cruiser left and right position of map denotation is equal When not having enough mobile spaces, FPGA controller will increase the power of direct current brushless servo motor, and unmanned cruiser will Simultaneously throwing over barrier is travelled according to the normal path optimizing of setting.

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 current two The SERVO CONTROL of direct current generator, unmanned cruiser continue to keep current running state；If barrier is patrolled with unmanned Patrol immediately ahead of vehicle has overlapping between projection, and maximum deviation position signal is inputted after ARM controller analyzing processing to FPGA, FPGA By according to the SERVO CONTROL of ARM input control Signal Regulation direct current brushless servo motors, unmanned cruiser is according to oneself institute The position difference at place determines navigation mode and automatically moves to the right that after completing to hide action, FPGA controller will again The SERVO CONTROL of adjusting direct current brushless servo motor makes unmanned cruiser, and according to navigation mode, automatic side offset is laid equal stress on to the left Newly drive into 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 processing Device will maintain the SERVO CONTROL of current two direct current generator, unmanned cruiser to continue to keep current running state；If obstacle There is overlapping, the input maximum deviation position after ARM controller analyzing processing immediately ahead of object and unmanned cruiser between projection For signal to FPGA, FPGA is unmanned to patrol by according to the SERVO CONTROL of ARM input control Signal Regulation direct current brushless servo motors It patrols vehicle and navigation mode is determined according to the location of oneself difference and is automatically moved to the left, after completing to hide action, FPGA controller by the SERVO CONTROL for readjusting direct current brushless servo motor make unmanned cruiser according to navigation mode to Right automatic side deviates and drives into the optimized paths NUC7 again.

During unmanned cruiser is gone on patrol forward, when encountering blind alley shown in Figure 11, FPGA processor will be adjusted Saving the control of two direct current generators makes unmanned cruiser smoothly stop in safe range, and then arm processor will be cut automatically Change front and back navigation sensor group, rear laser sensor L3 obliquely and microwave radar M3, rear parallel to the ground detection Single line laser radar group L4 and microwave radar M4, CCD camera three are by work, and the environment for detecting the direction of motion forms new ring Condition figure, the map transmitted with master station compare, and determine the location of fixed unmanned cruiser information etc., unmanned cruiser Into contrary class sensor navigational state, while FPGA processor can switch the control logic of direct current brushless servo motor.At nobody Cruiser is by contrary class sensor group navigation driving process, and one moment of CCD camera detects ambient enviroment, and by wireless real When be transferred to master station and analyzed, until encountering next blind alley, arm processor switches to positive group sensor navigation shape again State.

6) 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 be protected subprogram subsequently into rear avoidance and send out alarm to interrupting priority processing, ARM controls Minimum deflection position signal is inputted after device analyzing processing to FPGA, FPGA will be according to ARM input control Signal Regulation brush DCs The speed of servo motor makes unmanned cruiser acceleration flee danger region；If there is no barriers at unmanned cruiser rear Object is hindered to enter protection domain, unmanned cruiser will be travelled according to the normal speed of setting.

7) 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 block is controlled the PWM of direct current brushless servo motor by FPGA Signal is controlled, and emergency braking makes unmanned cruiser crash-stop, prevents unmanned cruiser from injuring meiofauna life Life, after danger releases, ARM enables FPGA again, and the SERVO CONTROL for readjusting direct current brushless servo motor is made nothing by FPGA People drives cruiser and is travelled according to the normal speed of setting.

8) 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 is straight by adjustment control two Galvanic electricity machine makes unmanned cruiser run at a low speed, and is read out to the site identity of beat, when any of which one Sensor be triggered Shi Ze represent unmanned cruiser arrived setting emphasis patrol website.

9) 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, NUC if master station finds suspicious decoded information Parking interrupt requests are sent out with FPGA processor, adjustment control direct current brushless servo motor is made unmanned patrol by FPGA processor It patrols vehicle to stop in emergency, then arm processor control CCD camera 1 carries out secondary image acquisition and is transferred to master station；When nobody drives Sail after cruiser completes this website patrol mission, FPGA processor will adjustment control direct current brushless servo motor X and Y servo control System makes unmanned cruiser continue to travel according to set speed, and arm processor relies on the current road of 1 real-time Transmission of CCD camera Image scene in diameter is to master station.

10) 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 SERVO CONTROL of direct current brushless servo motor to complete newly assigned patrol mission.

11) when unmanned cruiser is gone on patrol by fixed route, a variety of acoustooptic alarm systems in system propose work It wakes up the presence of surrounding pedestrian unmanned cruiser, when unmanned cruiser and main website lose communication, arm processor can be to FPGA sends out automatic stopping signal, and two direct current generators of unmanned cruiser are locked to the direct original place of FPGA processor, nobody Driving cruiser will not collide or hurt people because of uncontrolled, and main website is unmanned due to that can not be collected at this time The transmission information of cruiser will carry out fast track to unmanned cruiser according to a upper patrol bus stop information, and solve Certainly failure problems.

Claims

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

Cruiser ontology (1) lower part the middle part of length direction assemble a pair of driving wheels (2), length direction left part and Right part is respectively equipped with a pair of driven (3), and cruiser ontology (1) mounted inside is useful for respectively driving two driving wheels (2) Two direct current generators (4)；

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

The direction that the length direction of two direct current generators (4) prolongs cruiser ontology (1) width extends, and two direct current generators (4) it is arranged at intervals in the longitudinal direction, the motor shaft of two direct current generators (4) is arranged to ground opposite to each other；The direct current generator (4) is The motor shaft of rare earth permanent magnet brushless DC servo motor, direct current generator (4) is connect with the input terminal of planetary reducer (5), planet The output shaft of speed reducer (5) drives the shaft at driving wheel (2) center by gear set；The gear set by being distributed in the longitudinal direction and Pitch wheel one (6) and gear two (7) composition；The gear one (6) is set in the output shaft of planetary reducer (5) On, 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 two 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 two-wheel drive 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 two-wheel drive 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 two-wheel drive high speed according to claim 3, which is characterized in that Each driven wheel (3) is universal wheel.

5. the round-the-clock unmanned cruiser system of a kind of two-wheel drive high speed according to claim 4, 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.

6. the round-the-clock unmanned cruiser system of a kind of two-wheel drive high speed according to claim 5, which is characterized in that The model LMS151-10100 of single line laser radar.

7. the round-the-clock unmanned cruiser system of a kind of two-wheel drive high speed according to claim 6, which is characterized in that It is connected with encoder on the driven wheel (3), the encoder is connect with assistant controller one, for Real-time Feedback cruiser sheet Displacement, speed and the acceleration of body (1).

8. the round-the-clock unmanned cruiser system of a kind of two-wheel drive high speed according to claim 7, 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.