CN109765908A

CN109765908A - A kind of six wheel drives quickly unmanned cruiser system and working method

Info

Publication number: CN109765908A
Application number: CN201910170483.2A
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: 2019-03-07
Publication date: 2019-05-17
Also published as: CN108268045A

Abstract

The invention discloses a kind of six wheel drives quickly unmanned cruiser system and working methods, including six 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 in real time and navigate afterwards, whether there are obstacles around determining simultaneously, and data Real-time Feedback is analyzed and processed to central control system, central control system controls the operating status that six wheel drive systems change cruiser, so that acceleration passes through or cut-through object, and then guarantee that cruiser normally goes on patrol traveling.The present invention guarantees the stabilization and precision navigation patrol of cruiser operation by three nuclear control of ARM controller+NUC computer+FPGA programmable controller, and is suitable for outdoor rugged and rough road conditions and the region of emergency case occurs.

Description

A kind of six wheel drives quickly unmanned cruiser system and working method

Technical field

The present invention relates to a kind of unmanned cruiser system and working method, specifically a kind of six wheel drive quickly nobody Drive cruiser system and working method.

Background technique

As the speed of modernization construction is accelerated, 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 It is not able to satisfy the security demand of existing large-scale complex environment, is gone on patrol using the security of safety protection robot substitution mankind's patrol automatic Change system can solve the matter of great urgency at the moment, because security patrol automated system not only can be further improved security system Stability, safety and real-time, and can effectively save cost of labor.

Unmanned cruiser can perceive environment and this by sensor as a kind of novel special security class robot 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 Composite system, it perceives vehicle-periphery using onboard sensor, and according to perception road obtained, patrol vehicle position It sets, barrier and suspicious danger information, the steering and speed of vehicle is controlled, to enable the vehicle to reliably and securely patrolling It patrols on path and travels.Unmanned cruiser collect automatic control, architecture, artificial intelligence, vision calculate etc. numerous technologies in One, is the product of computer science, pattern-recognition and intelligent control technology high development, is had 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, just more fills to environment description Point, the requirement of algorithm can also be reduced in this way.3D multi-line laser radar passes through the available robot of laser scanning 3D model, can be relatively easy to detect robot week with the variation that related algorithm compares previous frame and next frame environment The pedestrian enclosed and other obstacle informations, while another big characteristic of 3D laser radar is to synchronize to build figure, is obtained in real time globally The positioning accuracy for navigating and reinforcing robot may be implemented by comparing 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, and biggish convenience can be provided for control decision, above Advantage makes multi-line laser radar become the preferential selection that unmanned cruiser perceives 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 passes through coded treatment, sends control instruction 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 single-chip 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, the service life is short, 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 to adjust the speed, 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 lower, and only tens Hertz, it is unable to satisfy the control that unmanned cruiser interferes various complex environments, 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 that quickly can not 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 Can not real-time perfoming quickly analyze and calculate, master station can only by analysis storage image data could find patrol in asking 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) based on the unmanned cruiser of multi-line laser radar 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) based on the unmanned cruiser of multi-line laser radar actually reversing 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.

(12) fast response servo that direct current generator can not be rapidly completed in ARM controller is adjusted, and increases unmanned cruiser The adjustment time of posture, unmanned cruiser can not quickly walk.

(13) image delivering system of ARM controller, by capacity itself, transmission time is longer, causes unmanned Vehicle can not quickly walk.

(14) the unmanned cruiser of Two-wheeled is since only there are two power points, although can also be in rugged room Outer road traveling, but often there is a phenomenon where a driving wheels to skid, and causes unmanned cruiser out of hand.In addition The unmanned cruiser of Two-wheeled generally meets power requirement when climbing by motor overload, but once encounters Complicated state needs to injure the performance of motor when long-play, causes the reliability of entire unmanned cruiser system big Amplitude reduction.

(15) unmanned cruiser needs quickly to accelerate and run with higher speed under many state of emergency, at this The power of system requirements is larger under the conditions of kind, and the two spindle motor power for meeting normally travel are unable to satisfy system and accelerate to want for a long time It asks, entire unmanned cruiser system suitability is caused to be greatly lowered.

(16) although the unmanned cruiser of four-wheel drive has better driving force relative to two-wheel drive, by There are four the Dynamic Contact contact area points on the ground Yu Qiyu, and when encountering a driving wheel stall, system becomes two again again Wheel drive causes its obstacle climbing ability weaker, even can not cross higher barrier sometimes, is finally unable to complete patrol and appoints Business.

Summary of the invention

In view of the above existing problems in the prior art, the present invention provides a kind of quick unmanned cruiser systems of six wheel drives 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 that: a kind of six wheel drives quickly unmanned patrol Vehicle system, including six wheel drive systems, front blind-area detection obstacle avoidance system, rear blind area detection obstacle avoidance system, environmental detecting system and Central control system,

Six wheel drive system includes direct current brushless servo motor driver, direct current brushless servo motor X, 90 degree of planets Speed reducer X, direct current brushless servo motor Y, 90 degree of planetary reducer Y, direct current brushless servo motor Z, 90 degree of planetary reducer Z, Direct current brushless servo motor R, 90 degree of planetary reducer R, direct current brushless servo motor U, 90 degree of planetary reducer U, brush DCs Servo motor V and 90 degree of planetary reducer V, direct current brushless servo motor driver respectively with direct current brushless servo motor X, direct current Brushless servo motor Y, direct current brushless servo motor Z, direct current brushless servo motor R, direct current brushless servo motor U and brush DC The input terminal of servo motor V connection, direct current brushless servo motor X and 90 degree of planetary reducer X are sequentially connected, 90 degree of planetary reduction gears The output end and driving wheel I of machine X is sequentially connected, and the input terminal of direct current brushless servo motor Y and 90 degree of planetary reducer Y, which are driven, to be connected It connects, the output end and driving wheel II of 90 degree of planetary reducer Y is sequentially connected, direct current brushless servo motor Z and 90 degree of planetary reduction gears The input terminal of machine Z is sequentially connected, and the output end and driving wheel III of 90 degree of planetary reducer Z is sequentially connected, brush DC servo electricity The input terminal of machine R and 90 degree of planetary reducer R are sequentially connected, and output end and driving wheel IV transmission of 90 degree of planetary reducer R connects It connects, the input terminal of direct current brushless servo motor U and 90 degree of planetary reducer U are sequentially connected, the output end of 90 degree of planetary reducer U It is sequentially connected with driving wheel V, the input terminal of direct current brushless servo motor V and 90 degree of planetary reducer V are sequentially connected, 90 degree of rows The output end and driving wheel VI of star speed reducer V is sequentially connected；Driving wheel I, driving wheel II, driving wheel III, driving wheel IV, driving wheel V and driving wheel VI be equipped with speed and acceleration 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 Cruiser front end is in up to L2 and detection direction is horizontally forward, and single line laser radar L3 is in cruiser rear end and detection direction After horizontal direction；

The central control system includes master controller, ARM controller and FPGA programmable controller, master controller With ARM controller and FPGA programmable controller data connection, single line laser radar L1~L3 and CCD camera and center are controlled Device data connection, encoder and FPGA programmable controller data connection, ARM controller and FPGA programmable controller and ultrasound Wave detector US1~US6 data connection, FPGA programmable controller are connect with direct current brushless servo motor driver, and power supply is Direct current brushless servo motor driver power supply, power supply by power conversion module be ARM controller, FPGA programmable controller, Ultrasonic detector US1~US6, single line laser radar L1~L3 and CCD camera power supply.

Further, the master controller is the NUC computer based on NUC7, and the ARM controller is STM32F767 control Device processed.

Further, the detection direction of single line laser radar L1 and the angle of horizontal plane are 4~6 °；Single line laser radar L2 away from Height from the 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, direct current brushless servo motor Y, direct current brushless servo motor Z, direct current Brushless servo motor R, direct current brushless servo motor U and direct current brushless servo motor V are rare earth permanent magnet brushless DC servo electricity Machine.

A kind of working method of the quick unmanned cruiser system of six wheel drive, specific steps are as follows:

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 passes through single line laser radar L1~L3 and CCD camera real-time perfoming environment in the process of walking Detection, and the data of detection are returned to NUC computer and FPGA programmable controller, NUC computer and FPGA PLC technology The environmental map that entire beat is ultimately formed after device analysis processing, is then sent to master station by ARM controller and is deposited Storage, while the location information of cruiser each patrol point in beat is stored in master station；

B, before unmanned cruiser starting patrol, NUC computer transfers 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 open, If ultrasonic detector US1~US6 feedback detects obstacle information, it is programmable that ARM controller issues signal control FPGA Controller stops working, so make FPGA programmable controller block direct current brushless servo motor X, direct current brushless servo motor Y, Direct current brushless servo motor Z, direct current brushless servo motor R, direct current brushless servo motor U and direct current brushless servo motor V are watched Clothes control, and wait the removing of barrier；If clear information is fed back, ARM controller issues signal control FPGA and can compile Range controller start to work, and then FPGA programmable controller unlock direct current brushless servo motor X, direct current brushless servo motor Y, Direct current brushless servo motor Z, direct current brushless servo motor R, direct current brushless servo motor U and direct current brushless servo motor V are watched Clothes control, makes cruiser start to start；

C, after the patrol of cruiser starts starting, single line laser radar L1~L3 and CCD camera real-time perfoming environment are visited It surveys, and the real-time ring for giving NUC computer, NUC computer and FPGA programmable controller to generate feedback data data feedback Condition figure is compared with the environmental map of storage, so that it is determined that real time position locating for unmanned cruiser, ARM controller By the image data of single line laser radar L1~L3 and CCD camera that NUC computer is fed back, ARM controller passes through FPGA Programmable controller adjust direct current brushless servo motor X, direct current brushless servo motor Y, direct current brushless servo motor Z, direct current without The SERVO CONTROL of brush servo motor R, direct current brushless servo motor U and direct current brushless servo motor V, and then complete unmanned patrol The initialized location adjustment for patrolling vehicle, is in unmanned cruiser on pre- driving path and enters automatic patrol mode；

D, when unmanned cruiser is in automatic patrol mode, single line laser radar L1~L3 and CCD camera continue Real-time perfoming environment detection, while the speed and acceleration information of encoder real-time detection cruiser, and by data feedback to NUC The determination after analysis is handled of computer and FPGA programmable controller, NUC computer and FPGA programmable controller is unmanned Real time position locating for cruiser, and determining offset distance is compared with pre- driving path in the real time position, then NUC is counted Calculation machine issues offset distance data to ARM controller, and ARM controller adjusts brush DC servo by FPGA programmable controller Motor X, direct current brushless servo motor Y, direct current brushless servo motor Z, direct current brushless servo motor R, direct current brushless servo motor U With the SERVO CONTROL of direct current brushless servo motor V, and then go on patrol unmanned cruiser entirely along pre- driving path Process；

If E, single line laser radar L1~L3 and CCD camera detect the presence of barrier in traveling path process in advance, Give data feedback to NUC computer, NUC computer and FPGA programmable controller control unmanned patrol after analysis is handled Vehicle throwing over barrier or cut-through object finally keep unmanned cruiser entirely to go on patrol along the progress of pre- driving path Journey.

Further, the single line laser radar L1~L3 and CCD camera progress environment detection and real time position determine Detailed process are as follows:

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 computer, NUC computer and FPGA programmable controller and determines the hole that rises and falls at this through analysis processing The maximum whether hollow or barrier height exceeds unmanned cruiser setting crosses height, if the NUC computer without departing from if Send a signal to ARM controller, ARM controller by FPGA programmable controller increase direct current brushless servo motor X, direct current without Brush servo motor Y, direct current brushless servo motor Z, direct current brushless servo motor R, direct current brushless servo motor U and brush DC are watched The power of motor V is taken, while passing through the speed and acceleration information of encoder real-time detection cruiser, makes unmanned cruiser Pass through along pre- driving path normally travel, NUC computer issues evacuation signal to ARM controller if exceeding, while NUC is calculated Machine determines unmanned cruiser from fluctuating hollow according to the width of fluctuating hollow or barrier and in the position of driving path Or barrier left or right side detour, detour turning when ARM controller by FPGA programmable controller block direct current without The PWM control letter of brush servo motor Z, direct current brushless servo motor R, direct current brushless servo motor U and direct current brushless servo motor V Number, while the pwm control signal of direct current brushless servo motor X and direct current brushless servo motor Y are adjusted, keep brush DC servo electric The output power of machine X and direct current brushless servo motor Y reach power of turning needed for cruiser, and unmanned cruiser enters at this time Two axis cornering modes, and then so that unmanned cruiser is deviated to the left or be deviated to the right setting driving path and detour, when completion is hided After keeping away movement, ARM controller restores direct current brushless servo motor X, direct current brushless servo motor by FPGA programmable controller Y, direct current brushless servo motor Z, direct current brushless servo motor R, direct current brushless servo motor U and direct current brushless servo motor V Power makes unmanned cruiser restore six drive states again and drives on driving path.

Further, when unmanned cruiser is in automatic patrol mode, single line laser radar L3 and ultrasonic sensor US4~US6 real-time detection rear blind area environment is simultaneously transferred to NUC computer, ARM controller and the progress of FPGA programmable controller Data fusion, after data are analyzed if it is determined that when rear is close to unmanned cruiser there are barrier, NUC computer to ARM controller sends data, and input minimum deflection position signal gives FPGA programmable controller after ARM controller analysis processing, FPGA programmable controller controls direct current brushless servo motor X, direct current brushless servo motor Y, direct current brushless servo motor Z, straight The power increase of stream brushless servo motor R, direct current brushless servo motor U and direct current brushless servo motor V make unmanned patrol Vehicle speed increases to increase at a distance from rear obstacle；Until single line laser radar L3 and ultrasonic sensor US4~US6 Do not detect that there are barriers in investigative range, then NUC computer, ARM controller and FPGA programmable controller control nobody Cruiser is driven to be travelled according to the patrol speed of setting；

Ultrasonic sensor US1~US3 real-time detection front blind area environment is simultaneously transferred to NUC computer, NUC computer warp If there are barrier in the environment of front blind area after data analysis, NUC computer sends data, ARM controller point to ARM controller Input minimum deflection position signal gives FPGA programmable controller after analysis processing, and FPGA programmable controller control brush DC is watched Take motor X, direct current brushless servo motor Y, direct current brushless servo motor Z, direct current brushless servo motor R, brush DC servo electricity Machine U and direct current brushless servo motor V emergency braking make unmanned cruiser crash-stop, prevent unmanned cruiser from injuring Meiofauna life, after which, without not detecting there are after barrier, NUC computer, ARM controller and FPGA can in the environment of front blind area Programmable controller controls unmanned cruiser and is travelled according to the patrol speed of setting.

Further, when unmanned cruiser is in automatic patrol mode, the speed of six driving wheels of encoder real-time detection Degree and acceleration information feed back to ARM controller, if in ARM controller feedback data any one driving wheel speed and acceleration When degree data exception stall occurs, then ARM controller and FPGA programmable controller are adjusted processing, specific as follows:

When 90 degree of planetary reduction gears that encoder feedback is connect with direct current brushless servo motor Z or direct current brushless servo motor R When machine stall, ARM controller blocks direct current brushless servo motor Z and direct current brushless servo motor by FPGA programmable controller The pwm control signal of R, at the same it is FPGA programmable controller adjustment direct current brushless servo motor X, direct current brushless servo motor Y, straight The pwm control signal for flowing brushless servo motor U and direct current brushless servo motor V, makes direct current brushless servo motor X, brush DC The output power of servo motor Y, direct current brushless servo motor U and direct current brushless servo motor V reach power needed for cruiser, this When unmanned cruiser enter preceding middle four-wheel drive contingency mode, the speed and acceleration information of the driving wheel to stall are restored Afterwards, ARM controller unlocks the PWM of direct current brushless servo motor Z and direct current brushless servo motor R by FPGA programmable controller Signal is controlled, and FPGA programmable controller adjusts direct current brushless servo motor X, direct current brushless servo motor Y, brush DC The control signal of servo motor Z, direct current brushless servo motor R, direct current brushless servo motor U and direct current brushless servo motor V, make Cruiser reenters six drive states；

When 90 degree of planetary reduction gears that encoder feedback is connect with direct current brushless servo motor X or direct current brushless servo motor Y When machine stall, ARM controller blocks direct current brushless servo motor X and direct current brushless servo motor by FPGA programmable controller The pwm control signal of Y, at the same it is FPGA programmable controller adjustment direct current brushless servo motor X, direct current brushless servo motor Y, straight The pwm control signal for flowing brushless servo motor U and direct current brushless servo motor V, makes direct current brushless servo motor X, brush DC The output power of servo motor Y, direct current brushless servo motor U and direct current brushless servo motor V reach power needed for cruiser, this When unmanned cruiser enter front and back four-wheel drive contingency mode, the speed and acceleration information of the driving wheel to stall are restored Afterwards, ARM controller unlocks the PWM of direct current brushless servo motor X and direct current brushless servo motor Y by FPGA programmable controller Signal is controlled, and FPGA programmable controller adjusts direct current brushless servo motor X, direct current brushless servo motor Y, brush DC The control signal of servo motor Z, direct current brushless servo motor R, direct current brushless servo motor U and direct current brushless servo motor V, make Cruiser reenters six drive states；

When 90 degree of planetary reduction gears that encoder feedback is connect with direct current brushless servo motor U or direct current brushless servo motor V When machine stall, ARM controller blocks direct current brushless servo motor U and direct current brushless servo motor by FPGA programmable controller The pwm control signal of V, at the same it is FPGA programmable controller adjustment direct current brushless servo motor X, direct current brushless servo motor Y, straight The pwm control signal for flowing brushless servo motor Z and direct current brushless servo motor R, makes direct current brushless servo motor X, brush DC The output power of servo motor Y, direct current brushless servo motor Z and direct current brushless servo motor R reach power needed for cruiser, this When unmanned cruiser enter in after four-wheel drive contingency mode, the speed and acceleration information of the driving wheel to stall restores Afterwards, ARM controller unlocks the PWM of direct current brushless servo motor U and direct current brushless servo motor V by FPGA programmable controller Signal is controlled, and FPGA programmable controller adjusts direct current brushless servo motor X, direct current brushless servo motor Y, brush DC The control signal of servo motor Z, direct current brushless servo motor R, direct current brushless servo motor U and direct current brushless servo motor V, make Cruiser reenters six drive states.

Compared with prior art, the present invention is kept away using six 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 combine, has the advantage that

1, it during the motion, has fully considered the effect of battery in this system, has been calculated based on ARM controller+NUC Three nuclear control of machine+FPGA programmable controller are all monitored and transport in the operating status to unmanned cruiser in real time It calculates, improves the utilization rate of the energy content of battery, be 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 battery are introduced Etc. parameters so that end voltage is closer to actual parameter, the advantageous low-voltage variation for using battery.

3, the picture number of the CCD camera of unmanned cruiser is handled by NUC computer and FPGA programmable controller According to the data fusion with multisensor, arithmetic speed is substantially increased, single ARM controller software is solved and runs slower bottle It is short to shorten the development cycle for neck, and program transportability ability is strong.

4, a large amount of single line laser radar sensings are handled using NUC computer and FPGA programmable controller due to this controller The data and algorithm of device, and fully considered the interference source of surrounding, ARM controller is freed from hard work amount, " run and fly " of motion control main program is effectively prevented, 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 that can find in moving line the fluctuating of road conditions in advance very well and can find that movement road surface temporarily loses in advance very well 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 cooperates 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 lower 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 cooperates CCD camera, can effectively detect direction of motion two side columns The presence of shape object and the presence of two sides free area position when can advance for unmanned cruiser and advances is turned and avoidance 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 detection 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 the walking of unmanned cruiser and reliable Property.

10, direct current brushless servo motor PWM modulation signal and direction signal are exported by FPGA programmable controller, passes through drive Dynamic circuit can directly drive direct current generator, not only alleviate the burden of ARM controller, simplify interface circuit, and save The trouble of ARM controller internal composition position, speed control program and various pid algorithms, so that the debugging letter of system It is single.

11, in unmanned cruiser operational process, FPGA programmable controller can to direct current brushless servo motor X, Y, the torque of Z, R, U and V are carried out on-line identification and are compensated using the relationship of motor torque and electric current, reduce brush DC The influence to the unmanned cruiser servo-system of high speed is shaken in servo motor torque.

12, relative to the mode of two-wheel drive, it is excellent that the structure of six wheel drives has that bearing capacity is stronger, movement speed is fast Point, in the case where road conditions are severe, relative to the bearing structure of two-wheel drive, the structure of six wheel drives can improve unmanned patrol Patrol the passability and dynamic property of vehicle.

13, since there are six power points for the structure tool of six wheel drives, when any one power wheel has skidded When, controller can cut off a driving wheel with its opposite position other side, system automatically into four-wheel drive state, from And effectively prevent the out of control of unmanned cruiser.

14, when the present invention, which needs to turn, to detour, FPGA programmable controller can block four axis direct current brushless servo motors Z, the control signal of R, U and V, system switch to two-wheel drive cornering mode, are conducive to improve the unmanned cruiser of six axis Turning dynamic property.

Detailed description of the invention

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 motor of the invention arranges two-dimensional structure figure

Fig. 4 is NUC+FPGA image procossing schematic diagram in the present invention

Fig. 5 is that sensor of the invention arranges two-dimensional structure figure

Fig. 6 is the arrangement two-dimensional structure figure of upfront sensor group in the present invention

Fig. 7 is the arrangement two-dimensional structure figure of rear sensor group in the present invention

Fig. 8 is detection of the invention and obstacle avoidance system schematic diagram

Fig. 9 is operation schematic diagram of the invention

Figure 10 is schematic diagram of the present invention using bilateral navigation

Figure 11 is schematic diagram of the present invention using unilateral navigation

Figure 12 is the schematic diagram that the present invention uses inertial navigation

Figure 13 is the schematic diagram that the present invention detours when turning

Specific embodiment

The invention will be further described below.

As shown, a kind of six wheel drives quickly unmanned cruiser system, including six wheel drive systems, front blind-area spy Obstacle avoidance system, rear blind area detection obstacle avoidance system, environmental detecting system and central control system are surveyed,

It further, in most cases due to unmanned cruiser, is not one-stop service mode, the patrol of arrival Point is more, is especially emphasis beat, and unmanned cruiser skip emphasis beat, which is added, in order to prevent has centainly The site sensor S1 and S2 of redundancy, when unmanned cruiser will reach emphasis patrol website, ARM controller is first Turn on sensor S1 and S2, while being watched by FPGA programmable controller adjustment control direct current brushless servo motor X, brush DC Take motor Y, direct current brushless servo motor Z, direct current brushless servo motor R, direct current brushless servo motor U and brush DC servo electricity Machine V runs at a low speed unmanned cruiser, and is read out to the site identity of beat, when any one sensing Device be triggered Shi Ze represent unmanned cruiser arrived setting emphasis patrol website；

When unmanned cruiser enters emphasis beat, CCD camera will carry out image to emphasis beat Acquire and by radioing to master station, master station stores keynote message first and is analyzed, if master station is to the picture of transmission It was found that suspicious information, will issue stop sign to ARM controller, ARM controller blocks direct current by FPGA programmable controller Brushless servo motor X, direct current brushless servo motor Y, direct current brushless servo motor Z, direct current brushless servo motor R, brush DC The control signal of servo motor U and direct current brushless servo motor V, so that unmanned cruiser be made to stop in emergency, then ARM is controlled Device control CCD camera processed carries out secondary image acquisition and is transferred to master station；When unmanned cruiser completes the patrol of this website After task, adjustment is controlled direct current brushless servo motor X, direct current brushless servo motor Y, brush DC by FPGA programmable controller Servo motor Z, direct current brushless servo motor R, direct current brushless servo motor U and direct current brushless servo motor V SERVO CONTROL make Unmanned cruiser continues to travel according to set speed, and the live image in CCD real-time Transmission current path is to master station.It is this Mode not only contributes to the positioning of unmanned cruiser, and is also beneficial to tracking of the master station to unmanned cruiser.

In order to meet the actual functional capability needs of unmanned cruiser in special circumstances in hazardous environment etc., nobody is driven It sails cruiser and is additionally provided with urgent stop selection function: can nobody being freely set in unmanned cruiser initial operating stage master station and is driven Sail cruiser and need the patrol website that goes, then unmanned cruiser by itself navigation sensor 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 computer, walking path is then changed by NUC computer and patrols Information is patrolled, the unmanned cruiser path of real-time update and patrol bus stop after NUC computer and ARM controller communication control Point information, FPGA programmable controller is according to new requirement adjustment direct current brushless servo motor X, direct current brushless servo motor Y, straight Flow the servo of brushless servo motor Z, direct current brushless servo motor R, direct current brushless servo motor U and direct current brushless servo motor V Newly assigned patrol mission is completed in control.

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 issued, the direct original place of FPGA programmable controller locks the direct current brushless servo motor of unmanned cruiser X, direct current brushless servo motor Y, direct current brushless servo motor Z, direct current brushless servo motor R, direct current brushless servo motor U and straight Flow brushless servo motor V, unmanned cruiser will not collide or hurt people because of uncontrolled, at this time main website by It, will be according to a upper patrol bus stop information to unmanned patrol in the transmission information that can not be collected into unmanned cruiser Vehicle carries out fast track, and solves failure problems.

Claims

1. a kind of quick unmanned cruiser system of six wheel drives, which is characterized in that visited including six 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,

Six wheel drive system includes direct current brushless servo motor driver, direct current brushless servo motor X, 90 degree of planetary reduction gears Machine X, direct current brushless servo motor Y, 90 degree of planetary reducer Y, direct current brushless servo motor Z, 90 degree of planetary reducer Z, direct currents Brushless servo motor R, 90 degree of planetary reducer R, direct current brushless servo motor U, 90 degree of planetary reducer U, brush DC servo Motor V and 90 degree of planetary reducer V, direct current brushless servo motor driver respectively with direct current brushless servo motor X, brush DC Servo motor Y, direct current brushless servo motor Z, direct current brushless servo motor R, direct current brushless servo motor U and brush DC servo The input terminal of motor V connection, direct current brushless servo motor X and 90 degree of planetary reducer X are sequentially connected, 90 degree of planetary reducer X Output end and driving wheel I be sequentially connected, the input terminal transmission connection of direct current brushless servo motor Y and 90 degree of planetary reducer Y, The output end and driving wheel II of 90 degree of planetary reducer Y is sequentially connected, direct current brushless servo motor Z and 90 degree of planetary reducer Z Input terminal transmission connection, the output end of 90 degree planetary reducer Z and the transmission connection of driving wheel III, direct current brushless servo motor R It being sequentially connected with the input terminal of 90 degree of planetary reducer R, the output end and driving wheel IV of 90 degree of planetary reducer R is sequentially connected, The input terminal of direct current brushless servo motor U and 90 degree of planetary reducer U is sequentially connected, the output end of 90 degree planetary reducer U and Driving wheel V is sequentially connected, and the input terminal of direct current brushless servo motor V and 90 degree of planetary reducer V are sequentially connected, 90 degree of planets The output end and driving wheel VI of speed reducer V is sequentially connected；Driving wheel I, driving wheel II, driving wheel III, driving wheel IV, driving wheel V Speed and acceleration detection encoder are equipped with driving wheel VI；

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 In cruiser front end and detection direction is that horizontally forward, single line laser radar L3 is in cruiser rear end and detection direction is water It puts down backward；

The central control system includes master controller, ARM controller and FPGA programmable controller, master controller with ARM controller and FPGA programmable controller data connection, single line laser radar L1~L3 and CCD camera and master controller Data connection, encoder and FPGA programmable controller data connection, ARM controller and FPGA programmable controller and ultrasonic wave Detector US1~US6 data connection, FPGA programmable controller are connect with direct current brushless servo motor driver, and power supply is straight The power supply of brushless servo motor driver is flowed, power supply passes through power conversion module and is ARM controller, FPGA programmable controller, surpasses Acoustic detector US1~US6, single line laser radar L1~L3 and CCD camera power supply.

2. a kind of quick unmanned cruiser system of six wheel drive according to claim 1, which is characterized in that in described Heart controller is the NUC computer based on NUC7, and the ARM controller is STM32F767 controller.

3. a kind of quick unmanned cruiser system of six wheel drive 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 °；Height of the single line laser radar L2 apart from ground be 10cm~30cm；Height of the single line laser radar L3 apart from ground is 10cm~30cm.

4. a kind of quick unmanned cruiser system of six wheel drive according to claim 1, which is characterized in that described straight Flow brushless servo motor X, direct current brushless servo motor Y, direct current brushless servo motor Z, direct current brushless servo motor R, direct current without Brush servo motor U and direct current brushless servo motor V is rare earth permanent magnet brushless DC servo motor.

5. a kind of working method of the quick unmanned cruiser system of six wheel drives, which is characterized in that specific steps are as follows:

A, it before unmanned cruiser does not carry out patrol work, is controlled needed for cruiser is completed and is patrolled by way of manual remote control The walking in the region patrolled is visited by single line laser radar L1~L3 and CCD camera real-time perfoming environment in the process of walking It surveys, and the data of detection is returned to NUC computer and FPGA programmable controller, NUC computer and FPGA programmable controller The environmental map that entire beat is ultimately formed after analysis processing, is then sent to master station by ARM controller and is stored, Storage cruiser each location information for going on patrol point in beat in master station simultaneously；

B, before unmanned cruiser starting patrol, NUC computer transfers the patrol point of unmanned cruiser by master station Information, in combination with the environmental map and navigation information for forming entire beat, the navigation information is that determination is unmanned The navigation mode of cruiser is one in bilateral navigation, left unilateral navigation, right unilateral navigation and inertial navigation based on gyroscope Kind, the pre- traveling path planning of cruiser is completed, then ARM controller control ultrasonic detector US1~US6 is opened, if super Acoustic detector US1~US6 feedback detects obstacle information, then ARM controller issues signal and controls FPGA PLC technology Device stops working, and then FPGA programmable controller is made to block direct current brushless servo motor X, direct current brushless servo motor Y, direct current The servo control of brushless servo motor Z, direct current brushless servo motor R, direct current brushless servo motor U and direct current brushless servo motor V System, and wait the removing of barrier；If clear information is fed back, ARM controller issues signal and controls FPGA programmable control Device processed is started to work, and then FPGA programmable controller unlocks direct current brushless servo motor X, direct current brushless servo motor Y, direct current The servo control of brushless servo motor Z, direct current brushless servo motor R, direct current brushless servo motor U and direct current brushless servo motor V System, makes cruiser start to start；

C, after the patrol of cruiser starts starting, single line laser radar L1~L3 and CCD camera real-time perfoming environment detection, and The real time environment map for giving NUC computer, NUC computer and FPGA programmable controller to generate feedback data data feedback It is compared with the environmental map of storage, so that it is determined that real time position locating for unmanned cruiser, ARM controller pass through Single line laser radar L1~L3 of NUC computer feedback and the image data of CCD camera, ARM controller can be compiled by FPGA Range controller adjustment direct current brushless servo motor X, direct current brushless servo motor Y, direct current brushless servo motor Z, brush DC are watched The SERVO CONTROL of motor R, direct current brushless servo motor U and direct current brushless servo motor V are taken, and then completes unmanned cruiser Initialized location adjustment, be in unmanned cruiser on pre- driving path into automatic patrol mode；

D, when unmanned cruiser is in automatic patrol mode, single line laser radar L1~L3 and CCD camera continue in real time Environment detection, while the speed and acceleration information of encoder real-time detection cruiser are carried out, and data feedback is calculated to NUC Machine and FPGA programmable controller, NUC computer and FPGA programmable controller determine unmanned patrol after analysis is handled Real time position locating for vehicle, and determining offset distance is compared with pre- driving path in the real time position, then NUC computer Offset distance data are issued to ARM controller, ARM controller adjusts direct current brushless servo motor by FPGA programmable controller X, direct current brushless servo motor Y, direct current brushless servo motor Z, direct current brushless servo motor R, direct current brushless servo motor U and straight The SERVO CONTROL of brushless servo motor V is flowed, and then unmanned cruiser is made to carry out entire patrol process along pre- driving path；

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 computer is fed back to, NUC computer and FPGA programmable controller control unmanned cruiser after analysis is handled and turn over Obstacle-overpass object or cut-through object finally keep unmanned cruiser to carry out entire patrol process along pre- driving path.

6. a kind of working method of the quick unmanned cruiser system of six wheel drive according to claim 5, feature It is, the single line laser radar L1~L3 and CCD camera carry out the detailed process that environment detection and real time position determine are as follows:

If single line laser radar L1 and CCD camera detect on traveling ahead path, there are fluctuating hollow or barriers, will visit Measured data feed back to NUC computer, NUC computer and FPGA programmable controller through analysis processing determine this at fluctuating hollow or The maximum whether height of barrier exceeds the setting of unmanned cruiser crosses height, if without departing from if NUC computer send Signal is to ARM controller, and ARM controller increases direct current brushless servo motor X by FPGA programmable controller, brush DC is watched Take motor Y, direct current brushless servo motor Z, direct current brushless servo motor R, direct current brushless servo motor U and brush DC servo electricity The power of machine V, while passing through the speed and acceleration information of encoder real-time detection cruiser, make unmanned cruiser along pre- Driving path normally travel passes through, and NUC computer issues evacuation signal to ARM controller if exceeding, while NUC computer root According to the width of fluctuating hollow or barrier and in the position of driving path, determine unmanned cruiser from fluctuating hollow or barrier The left or right side of object is hindered to be detoured, ARM controller is blocked brush DC by FPGA programmable controller and watched when detouring turning The pwm control signal of motor Z, direct current brushless servo motor R, direct current brushless servo motor U and direct current brushless servo motor V are taken, The pwm control signal for adjusting direct current brushless servo motor X and direct current brushless servo motor Y simultaneously, makes direct current brushless servo motor X Reach power of turning needed for cruiser with the output power of direct current brushless servo motor Y, unmanned cruiser enters two at this time Axis cornering mode, and then so that unmanned cruiser is deviated to the left or be deviated to the right setting driving path and detour, when completion is hidden After movement, ARM controller by FPGA programmable controller restore direct current brushless servo motor X, direct current brushless servo motor Y, The function of direct current brushless servo motor Z, direct current brushless servo motor R, direct current brushless servo motor U and direct current brushless servo motor V Rate makes unmanned cruiser restore six drive states again and drives on driving path.

7. a kind of working method of the quick unmanned cruiser system of six wheel drive according to claim 5, feature It is, when unmanned cruiser is in automatic patrol mode, single line laser radar L3 and ultrasonic sensor US4~US6 are real When detection rear blind area environment and be transferred to NUC computer, ARM controller and FPGA programmable controller carry out data fusion, After data are analyzed if it is determined that when rear is close to unmanned cruiser there are barrier, NUC computer is sent out to ARM controller Data are sent, input minimum deflection position signal gives FPGA programmable controller, FPGA programmable control after ARM controller analysis processing Device processed controls direct current brushless servo motor X, direct current brushless servo motor Y, direct current brushless servo motor Z, brush DC servo electricity The power increase of machine R, direct current brushless servo motor U and direct current brushless servo motor V make unmanned patrol vehicle speed increase from And it increases at a distance from rear obstacle；Until single line laser radar L3 and ultrasonic sensor US4~US6 is in investigative range It does not detect there are barrier, then NUC computer, ARM controller and FPGA programmable controller control unmanned cruiser and press It is travelled according to the patrol speed of setting；

Ultrasonic sensor US1~US3 real-time detection front blind area environment is simultaneously transferred to NUC computer, and NUC computer is through data If there are barrier in the environment of front blind area after analysis, NUC computer sends data to ARM controller, at ARM controller analysis Minimum deflection position signal is inputted after reason and gives FPGA programmable controller, and FPGA programmable controller controls brush DC servo electricity Machine X, direct current brushless servo motor Y, direct current brushless servo motor Z, direct current brushless servo motor R, direct current brushless servo motor U and Direct current brushless servo motor V emergency braking makes unmanned cruiser crash-stop, prevents unmanned cruiser from injuring small-sized Animal life, after which, without not detecting there are after barrier, NUC computer, ARM controller and FPGA are programmable in the environment of front blind area Controller controls unmanned cruiser and is travelled according to the patrol speed of setting.

8. a kind of working method of the quick unmanned cruiser system of six wheel drive according to claim 5, feature It is, when unmanned cruiser is in automatic patrol mode, the speed and acceleration of six driving wheels of encoder real-time detection Data feedback is to ARM controller, if the speed of any one driving wheel and acceleration information are abnormal in ARM controller feedback data When there is stall, then ARM controller and FPGA programmable controller are adjusted processing, specific as follows:

When 90 degree of planetary reducers that encoder feedback is connect with direct current brushless servo motor Z or direct current brushless servo motor R lose When fast, ARM controller blocks direct current brushless servo motor Z's and direct current brushless servo motor R by FPGA programmable controller Pwm control signal, while FPGA programmable controller adjusts direct current brushless servo motor X, direct current brushless servo motor Y, direct current The pwm control signal of brushless servo motor U and direct current brushless servo motor V watch direct current brushless servo motor X, brush DC The output power for taking motor Y, direct current brushless servo motor U and direct current brushless servo motor V reaches power needed for cruiser, at this time Unmanned cruiser enters preceding middle four-wheel drive contingency mode, and the speed and acceleration information of the driving wheel to stall are restored Afterwards, ARM controller unlocks the PWM of direct current brushless servo motor Z and direct current brushless servo motor R by FPGA programmable controller Signal is controlled, and FPGA programmable controller adjusts direct current brushless servo motor X, direct current brushless servo motor Y, brush DC The control signal of servo motor Z, direct current brushless servo motor R, direct current brushless servo motor U and direct current brushless servo motor V, make Cruiser reenters six drive states；

When 90 degree of planetary reducers that encoder feedback is connect with direct current brushless servo motor X or direct current brushless servo motor Y lose When fast, ARM controller blocks direct current brushless servo motor X's and direct current brushless servo motor Y by FPGA programmable controller Pwm control signal, while FPGA programmable controller adjusts direct current brushless servo motor X, direct current brushless servo motor Y, direct current The pwm control signal of brushless servo motor U and direct current brushless servo motor V watch direct current brushless servo motor X, brush DC The output power for taking motor Y, direct current brushless servo motor U and direct current brushless servo motor V reaches power needed for cruiser, at this time Unmanned cruiser enters front and back four-wheel drive contingency mode, and the speed and acceleration information of the driving wheel to stall are restored Afterwards, ARM controller unlocks the PWM of direct current brushless servo motor X and direct current brushless servo motor Y by FPGA programmable controller Signal is controlled, and FPGA programmable controller adjusts direct current brushless servo motor X, direct current brushless servo motor Y, brush DC The control signal of servo motor Z, direct current brushless servo motor R, direct current brushless servo motor U and direct current brushless servo motor V, make Cruiser reenters six drive states；

When 90 degree of planetary reducers that encoder feedback is connect with direct current brushless servo motor U or direct current brushless servo motor V lose When fast, ARM controller blocks direct current brushless servo motor U's and direct current brushless servo motor V by FPGA programmable controller Pwm control signal, while FPGA programmable controller adjusts direct current brushless servo motor X, direct current brushless servo motor Y, direct current The pwm control signal of brushless servo motor Z and direct current brushless servo motor R watch direct current brushless servo motor X, brush DC The output power for taking motor Y, direct current brushless servo motor Z and direct current brushless servo motor R reaches power needed for cruiser, at this time Four-wheel drive contingency mode after in unmanned cruiser entrance, the speed and acceleration information of the driving wheel to stall are restored Afterwards, ARM controller unlocks the PWM of direct current brushless servo motor U and direct current brushless servo motor V by FPGA programmable controller Signal is controlled, and FPGA programmable controller adjusts direct current brushless servo motor X, direct current brushless servo motor Y, brush DC The control signal of servo motor Z, direct current brushless servo motor R, direct current brushless servo motor U and direct current brushless servo motor V, make Cruiser reenters six drive states.