CN109765911A

CN109765911A - A kind of round-the-clock unmanned cruiser system of novel two-wheel drive

Info

Publication number: CN109765911A
Application number: CN201910185088.1A
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: 2019-03-12
Publication date: 2019-05-17

Abstract

A kind of round-the-clock unmanned cruiser system of novel two-wheel drive, including cruiser ontology and control system；Cruiser ontology has driving wheel and driven wheel, and a pair of driving wheels is driven by two direct current generators being staggered；Direct current generator is connected with planetary reducer；Control system includes the CCD camera that top is arranged in, fore front environment detection is arranged and protects system, the bottom front for being separately positioned on cruiser ontology and the detection of the forward and backward blind area of bottom rear end and obstacle avoidance system；Single line laser radar L1, microwave radar M1, wireless communication module and assistant controller are connect with master controller；Ultrasonic sensor, CCD camera and motor driver are connect with assistant controller；Power supply is connect with motor driver and power conversion module respectively, and power conversion module is for providing the supply of DC power supply.The system stability, reliability and cost performance are high, and 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 novel two-wheel drive

Technical field

The invention belongs to unmanned technical fields, and in particular to a kind of novel two-wheel drive is round-the-clock unmanned to patrol Patrol vehicle system.

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 determined using a large amount of easy safety protection robot substitution mankind When, fixed point, uninterrupted mobile monitoring with patrol can solve the matter of great urgency at the moment because not only can be further Stability, safety and the real-time of security system are improved, 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.Intelligence The unmanned cruiser first step is all perception, that is, perceives unmanned cruiser periphery complex environment, in this base Corresponding path planning and driving behavior decision can be just made on plinth, the selection of detecting sensor is unmanned cruiser success The premise of avoidance.3D multi-line laser radar passes through the 3D model of the available robot of laser scanning, with correlation The variation of algorithm comparison previous frame and next frame environment can be relatively easy to detect pedestrian and other barriers around robot Hinder object information, while another big characteristic of 3D laser radar is to synchronize to build figure, the global map obtained in real time pass through and accurately Characteristic body in figure compares, and the positioning accuracy for navigating and reinforcing robot may be implemented.Multi-line laser radar investigative range is opposite It is relatively wide, a large amount of environment range informations can be provided, biggish convenience can be provided for control decision, the above advantage makes multi-thread laser Radar becomes a preferential selection of unmanned cruiser perception circumstances not known.

The electromechanics arrangement architecture of general common unmanned patrol motor vehicle drive system is as shown in Figure 1.It is unmanned Cruiser detects environment by multi-line laser radar sensor detection system and is conveyed to PC machine, and then PC machine passes through coded treatment, Control instruction is sent to SCM Based slave computer, single chip control module sends control instruction to straight after communication decoding Flow servo motor controller, controller drive two direct current generator movements, and then the driving by being directly connected to direct current generator Wheel drives unmanned cruiser walking；The variation for the peripheral environment that single-chip computer control system is acquired according to laser radar is adjusted in real time The movement of direct current generator is saved, and then controls the position of unmanned cruiser in the actual environment, CCD camera is responsible for adopting in real time Collect the image in unmanned cruiser patrol path and is stored in real time by PC machine.Existing simple unmanned cruiser control System processed is that single multi-line laser radar sensor is controlled by single single-chip 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, 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) 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 the cruiser barrier that rear occurs in reversing can enter unmanned cruiser protection zone, make At unnecessary 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 traffic accident can also be generated by having barrier to enter movement blind area during the motion.

(12) fast response servo that two axis direct current generators can not be rapidly completed in SCM Based control system is adjusted, and is increased The adjustment time of unmanned cruiser posture, unmanned cruiser can not quickly walk.

(13) SCM Based slave computer image delivering system, by capacity itself, transmission time is longer, leads to nothing People drives vehicle and can not quickly walk.

Single line laser radar only emits all the way and receives all the way, has the scan period shorter, angular resolution is higher, body The advantages that product is smaller, and weight is relatively light, and power consumption is also relatively low, and reliability is higher, relative inexpensiveness, the above advantage makes list Line laser radar can be used as the replacement selection of unmanned cruiser perception circumstances not known.But whether multi-thread laser Radar or single line laser radar, treating bad weather has its weakness:

(1) laser radar is very sensitive to the weather for having misty rain, and misty rain absorbs terribly, so in rain laser radar There is the weather of mist, laser radar performance can be greatly reduced, and cause large effect to the safety of unmanned cruiser.

(2) laser radar is very sensitive to the environment for having smog, and smog absorbs terribly, so there is cigarette laser radar Under the operating condition of mist, laser radar performance can be greatly reduced, and cause large effect to the safety of unmanned cruiser.

(3) laser radar is very sensitive to the environment for having dust, and dust absorbs terribly, so there is ash laser radar Under the operating condition of dirt, laser radar performance can be greatly reduced, and cause large effect to the safety of unmanned cruiser.

(4) 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.

Summary of the invention

In view of the above existing problems in the prior art, the present invention provides a kind of novel two-wheel drive is round-the-clock unmanned Cruiser system, which can effectively improve the stability and reliability of unmanned cruiser, and can reduce unmanned patrol Patrol the frequency of maintenance of vehicle；The system can effectively improve anti-interference ability, and it is boisterous to improve unmanned cruiser reply Ability, and it is detected with rear and barrier avoiding function, can effectively eliminate detection blind area, peace when unmanned cruiser being made to walk Full property and reliability are higher；The system can effectively shorten unmanned cruiser the pose adjustment time, effectively improve nobody and drive It sails the control performance of cruiser, effectively improve flexibility and dynamic property that nobody steps up patrols in vehicle motion process, make nobody The passability for driving cruiser is more preferable and be less prone to slipping phenomenon and to promote unmanned cruiser rugged to outdoor not The adaptability of level road condition；The system can effectively improve the cost performance of unmanned cruiser, be conducive to unmanned cruiser Be widely applied.

To achieve the goals above, the present invention provides a kind of novel round-the-clock unmanned cruiser system of two-wheel drive System, 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 in the middle part of and after 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 include power supply, power conversion module, motor driver, wireless communication module, master controller and Assistant controller；

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 driving wheel；The gear set by being distributed and pitch wheel one and gear two form in the longitudinal direction；It is described 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 include 360 degree of CCD cameras that cruiser bodies top center is set, setting exist Behind the front environment detection and protection system of cruiser body portion, the bottom front for being separately positioned on cruiser ontology and bottom The front blind-area detection at end and obstacle avoidance system and the detection of rear blind area and obstacle avoidance system；

The front environment detection and protection system are mainly made of single line laser radar L1 and microwave radar M1；

The front blind-area detection and obstacle avoidance system are made of ultrasonic sensor US1, US2 and US3, wherein supersonic sensing Device US1, US2 and US3 are evenly distributed in the width direction, it is described after blind area detection and obstacle avoidance system by ultrasonic sensor US4, US5 and US6 composition, wherein ultrasonic sensor US4, US5 and US6 is evenly distributed in the width direction；

The single line laser radar L1, microwave radar M1, wireless communication module and assistant controller connect with master controller It connects；Ultrasonic sensor US1~the US6, CCD camera and motor driver are connect with assistant controller, motor driver It is connect respectively with two direct current generators；Power supply is connect with motor driver and power conversion module respectively, and power conversion module is used In the supply of offer DC power supply；Wireless communication module is for wirelessly establishing the communication link between the master station of distal end It connects.

In the technical scheme, CCD camera is responsible for going on patrol the collection of environment, and module is sent in real time by wireless communication To master station.The environmental aspect in front can accurately and fast be detected by the setting of front environment detection and protection system, thus Nobody can effectively be detected and step up patrols vehicle at a distance from the moving obstacle of front；By list in front environment detection and protection system Line laser radar and microwave radar composition, can not only reach the Effect on Detecting of multi-line laser radar, can effectively detect unmanned The barrier of the cruiser direction of motion or the position where people, to notify that it is urgent that unmanned patrol vehicle control is realized in time Evacuation, and the cost of hardware can be greatly reduced in the technology for comparing multi-line laser radar, and it is real to be conducive to unmanned cruiser The popularization of border application.Since microwave is the very short radio wave of wavelength, directionality is fine, and speed is equal to the light velocity.When microwave is met Be reflected back immediately to barrier, can measure the distance of barrier according to electromagnetic wave two-way time, and microwave penetration mist, cigarette, The ability of dust is strong, has the characteristics that round-the-clock, round-the-clock can work, and in this way once encountering bad weather, system can cut off sharp Optical radar detection system relies only on microwave radar systems work, is meeting under round-the-clock adverse circumstances unmanned cruiser just Often patrol work, and then boisterous patrol operation can be successfully managed, but microwave radar is relative to lidar measurement essence It spends lower, therefore, as the supplement of single line laser radar, the Effect on Detecting of short-distance blind section can be effectively improved.Make master control Device processed focuses on the single line laser radar signal and microwave radar signal of cruiser, receives assistant controller and carrys out autonomous control The image data that the processing result and CCD camera of device acquire in real time, and handle the feedback signal of ultrasonic sensor group and right Motor driver is controlled, and the speed of image procossing and multisensor data fusion processing, Er Qieneng can not only be greatly improved The load of assistant controller is effectively reduced, can effectively prevent " run and fly " of motion control main program, it is unmanned so as to make Cruiser anti-interference ability greatly enhances.In addition, with rare earth direct current brushless servo motor substitute traditional direct current generator also just like Lower advantage: can effectively improve the efficiency of motor, be conducive to the utilization rate for improving the energy；The power density of motor can be effectively improved, The volume for being conducive to reduce motor, reduces the length and width of unmanned cruiser；The noise of motor can be effectively reduced, favorably Noise jamming when improving the walking of unmanned cruiser.

As a preference, the single line laser radar L1 and microwave radar M1 are longitudinally abreast arranged, and single line laser Radar L1 is located at the top of microwave radar M1.

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 processor；The core of the assistant controller uses STM32F767.

In the technical scheme, make master controller NUC7 processor, assistant controller uses STM32F767, to make to patrol Patrol pair that the control of vehicle is made of the master system based on vehicle-mounted computer NUC and the ARM lower computer system based on STM32F767 Nuclear control system carries out, wherein being mainly used for working in unmanned cruiser system based on vehicle-mounted computer NUC master system Measure maximum single line laser radar signal processing, microwave radar signal processing, ccd image acquisition and analysis and the interaction with master station Communicate and complete input, the processing of each Data Fusion of Sensor in path and map；Unmanned cruiser are handled by NUC7 more The data fusion of sensor substantially increases arithmetic speed, and then it is fast to give full play to NUC microcomputer data processing speed Feature solves single arm processor and runs slower bottleneck, shortens that the development cycle is short, and makes the portable ability of program It is stronger.ARM lower computer control system based on STM32F767 is mainly used for the host computer of real-time reception NUC microcomputer composition Multisensor digital convergence signal, and realize the various interruptions of the Digital Signal Processing of part, response and realize real-time with master station Data communication and storage.Complete two axis brush DC servo SERVO CONTROLs, the data storage, I/O of unmanned cruiser system The functions such as control, blind area detection and avoidance signal processing, image analysis and transmission, can make the maximum two axis direct current of workload in this way STM32F767 processing is given in the control of brushless servo system, so that whole system be made to handle with STM32F767 kinetic control system Core can give full play to the very fast advantage of STM32F767 data processing, thereby realize the rational division of work of NUC and ARM, with The feature that NUC data processing speed can be made full use of fast quickly handles a large amount of Multi-sensor Fusion signal and various data Algorithm process effectively frees arm processor from hard work amount, can effectively prevent the main journey of motion control " run and fly " of sequence, and can fully consider the interference source of surrounding, significantly enhance the anti-interference ability of unmanned cruiser. Simultaneously between NUC and ARM can real-time perfoming communication and data exchange and the calling of required data between each other, nothing can be effectively improved The environment detection function of people's driving cruiser.The front and rear of the unmanned cruiser of the present invention is all made of phase in same position Same laser radar, microwave radar, CCD camera and ultrasonic sensor, can be realized unmanned cruiser in narrow sky Between the flexibility of accuracy and u-turn navigated.

Further, as a preference, the model LMS151-10100 of single line laser radar L1.

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

It 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 connects to power supply, the power supply is battery group.

In view of the above-mentioned problems of the prior art, the present invention also provides a kind of novel two-wheel drive it is round-the-clock nobody drive Cruiser system is sailed, which can effectively improve the stability and reliability of unmanned cruiser, and can reduce unmanned The frequency of maintenance of cruiser；The system can improve the control calculation process speed of unmanned cruiser, and can effectively shorten number According to the time of transmission, judges that unmanned cruiser rapidly accurately ambient enviroment and there is quickly walking function Energy；The system can effectively improve anti-interference ability, can improve unmanned cruiser and cope with boisterous ability, and it has Rear detection and barrier avoiding function, can effectively eliminate detection blind area, safety and reliability when unmanned cruiser being made to walk It is higher；The system can effectively shorten unmanned cruiser the pose adjustment time, effectively improve the control of unmanned cruiser Performance processed effectively improves flexibility and dynamic property that nobody steps up patrols in vehicle motion process, makes unmanned cruiser Passability is more preferable and is less prone to slipping phenomenon and can promote adaptation of the unmanned cruiser to outdoor rugged and rough road conditions Ability；The system can effectively improve the cost performance of unmanned cruiser, be conducive to being widely applied for unmanned cruiser.

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

The single line laser radar L1, microwave radar M1, wireless communication module, assistant controller one and assistant controller two with Master controller connection；Ultrasonic sensor US1~the US6, CCD camera are connect with assistant controller one, the auxiliary control Device two processed is connect with assistant controller one and motor driver motor driver respectively；Motor driver respectively with two direct current generators Connection；Power supply is connect with motor driver and power conversion module respectively, and power conversion module is for providing the confession of DC power supply It answers；Wireless communication module is for wirelessly establishing the communication connection between the master station of distal end.

In the technical scheme, CCD camera is responsible for going on patrol the collection of environment, and module is sent in real time by wireless communication To master station.The environmental aspect in front can accurately and fast be detected by the setting of front environment detection and protection system, thus Nobody can effectively be detected and step up patrols vehicle at a distance from the moving obstacle of front；By list in front environment detection and protection system Line laser radar and microwave radar composition, can not only reach the Effect on Detecting of multi-line laser radar, can effectively detect unmanned The barrier of the cruiser direction of motion or the position where people, to notify that it is urgent that unmanned patrol vehicle control is realized in time Evacuation, and the cost of hardware can be greatly reduced in the technology for comparing multi-line laser radar, and it is real to be conducive to unmanned cruiser The popularization of border application.Since microwave is the very short radio wave of wavelength, directionality is fine, and speed is equal to the light velocity.When microwave is met Be reflected back immediately to barrier, can measure the distance of barrier according to electromagnetic wave two-way time, and microwave penetration mist, cigarette, The ability of dust is strong, has the characteristics that round-the-clock, round-the-clock can work, and in this way once encountering bad weather, system can cut off sharp Optical radar detection system relies only on microwave radar systems work, is meeting under round-the-clock adverse circumstances unmanned cruiser just Often patrol work, and then boisterous patrol operation can be successfully managed, but microwave radar is relative to lidar measurement essence It spends lower, therefore, as the supplement of single line laser radar, the Effect on Detecting of short-distance blind section can be effectively improved.Make master control Device processed focuses on the single line laser radar signal and microwave radar signal of cruiser, receives assistant controller one from master control The image data that the processing result and CCD camera of device processed acquire in real time, and handle ultrasonic sensor group feedback signal and Motor driver is controlled, the speed of image procossing and multisensor data fusion processing can not only be greatly improved, and The load of assistant controller one can be effectively reduced, " run and fly " of motion control main program can be effectively prevented, so as to make nobody Cruiser anti-interference ability is driven to greatly enhance.In addition, substituting traditional direct current generator also with rare earth direct current brushless servo motor It has the following advantages: the efficiency of motor can be effectively improved, be conducive to the utilization rate for improving the energy；The power that motor can be effectively improved is close Degree is conducive to the volume for reducing motor, reduces the length and width of unmanned cruiser；The noise of motor can be effectively reduced, Be conducive to improve the noise jamming when walking of unmanned cruiser.Due to on-line storage and wireless transmission function, nobody The information gone on patrol can easily be transferred by driving cruiser master station, can be adjusted patrol mission according to peripheral situations in real time, be mentioned The high efficiency of unmanned cruiser automation patrol.

Further, the master controller is NUC7 processor；The core of the assistant controller one uses STM32F767；Institute Assistant controller two is stated using FPGA.

In the technical scheme, make master controller NUC7 processor, assistant controller one uses STM32F767, to make The control of cruiser is by the master system based on vehicle-mounted computer NUC and based on the ARM lower computer system of FPGA and STM32F767 Three nuclear control systems of composition carry out, wherein being mainly used for unmanned cruiser system based on vehicle-mounted computer NUC master system The maximum single line laser radar signal processing of workload in system, microwave radar signal processing and with master station interactively communicate and it is complete At the input of path and map, the processing of each Data Fusion of Sensor；The multisensor of unmanned cruiser is handled by NUC7 Data fusion substantially increases arithmetic speed, and then can give full play to the fast feature of NUC microcomputer data processing speed, solution The single arm processor of having determined runs slower bottleneck, shortens that the development cycle is short, and keeps the portable ability of program stronger.Base It is mainly used for the host computer multisensor of real-time reception NUC microcomputer composition in the ARM lower computer control system of STM32F767 Digital convergence signal receives ccd image, and realizes the various interruptions of the Digital Signal Processing of part, response and realization and master station Real-time data communication and storage, complete unmanned cruiser system two axis brush DC servo SERVO CONTROLs, data storage, The functions such as I/O control, 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, thus make whole system with FPGA 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, sufficiently with energy Using the fast feature of NUC and FPGA data processing speed, a large amount of Multi-sensor Fusion signal and various data are quickly handled Algorithm process effectively frees arm processor from hard work amount, can effectively prevent the main journey of motion control " run and fly " of sequence, and can fully consider the interference source of surrounding, significantly enhance the anti-interference ability of unmanned cruiser. Simultaneously between NUC and FPGA and ARM can real-time perfoming communication and data exchange and the calling of required data between each other, can be effective Improve the environment detection function of unmanned cruiser.The front and rear of the unmanned cruiser of the present invention is equal in same position Using identical laser radar, microwave radar, CCD camera and ultrasonic sensor, it can be realized unmanned cruiser and exist The accuracy of small space navigation and the flexibility of u-turn.

Further, as a preference, the model LMS151-10100 of single line laser radar L1.

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, velocity and acceleration.

Detailed description of the invention

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 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 the control system of one embodiment 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 the functional block diagram of the control system of one embodiment in the present invention；

Figure 12 is that NUC matches the schematic 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, 9, single line laser radar L1,10, microwave radar M1,11, front blind-area detection and obstacle avoidance system, 12, rear blind area detection and obstacle avoidance system, 13, ultrasonic sensor US1,14, ultrasonic sensor US2,15, ultrasonic sensor US3,16, ultrasonic sensor US4,17, ultrasonic sensor US5,18, ultrasonic sensor US6.

Specific embodiment

Below with reference to embodiment, the invention will be further described.

Embodiment 1:

As shown in Figures 1 to 5, the round-the-clock unmanned cruiser system of a kind of novel two-wheel drive, including cruiser Ontology 1 and the control system being arranged on cruiser ontology 1；It is assembled at the middle part of length direction 1 lower part of cruiser ontology A pair of driving wheels 2, length direction in the middle part of and rear portion be respectively equipped with a pair of driven 3, as a preference, each driven wheel 3 be universal wheel.1 mounted inside of cruiser ontology has two direct current generators 4 for respectively driving two driving wheels 2；It is described Two planetary reducers 5 being located on the outside of two 4 motor shafts of direct current generator are additionally provided with inside cruiser ontology 1；Two The direction that the length direction of direct current generator 4 prolongs 1 width of cruiser ontology extends, and two direct current generators 4 are alternate in the longitudinal direction It is arranged every ground, the motor shaft of two direct current generators 4 is arranged to ground opposite to each other；The direct current generator 4 is watched for rare earth permanent magnet brushless DC Take motor, the stator and common DC motor stator structure having the same of rare earth permanent magnet brushless DC servo motor, only with Nd-Fe-B rare earth permanent magnetic material as magnetic pole instead of the excitation pole and excitation winding of direct current generator so that brush DC servo The structure of motor is relatively simple, and electronic commutation eliminates and is easy out of order collector ring and brush, realizes non-brushing, improves The reliability of motor operation.Rare earth permanent-magnetic material uses so that power of motor density is higher, and the volume of motor can be made It is smaller.Rare-earth permanent magnet brushless servo has small in size with respect to traditional servo motor, and light-weight, power output is big, and response is fast, and inertia is small, The advantages that rotation is smooth, and torque is stablized, non-maintaining, high-efficient, and running temperature is low, and electromagnetic radiation is small, and the service life is long.These characteristics make It obtains rare earth permanent magnet brushless DC servo motor and is particularly suitable for substitution direct current generator, and be applied to unmanned cruiser these requirements In more special robot control system.The motor shaft of direct current generator 4 is connect with the input terminal of planetary reducer 5, and planet subtracts The output shaft of fast machine 5 drives driving wheel 2 by gear set；Planetary reducer 5 is 90 degree of planetary reducers, i.e. planetary reducer 5 Input shaft and output shaft it is perpendicular；The gear set by being distributed and pitch wheel 1 and 27 groups of gear in the longitudinal direction At；The gear 1 is set on the output shaft of planetary reducer 5, and the gear 27 is set in the shaft at 2 center of driving wheel On；Direct current generator 4 is directly mechanically connected by its motor shaft and 90 degree of planetary reducers 5, then 5 output shafts of planetary reducer It is mechanically connected by gear 1 and gear 27 and driving wheel, this combination energy of planetary reducer 5 is cooperated using direct current generator 4 The matching between the unmanned cruiser speed of travel and demand torque is realized, when can effectively increase the walking of unmanned cruiser Torque, meanwhile, also can be reduced the width of unmanned cruiser.As a preference, gear 1 and gear 27 can be adopted With the gear ratio of 1:1.Due to the axial position for the direct current brushless servo motor that has been staggered, so that the width of unmanned cruiser is big Amplitude reduction is conducive to unmanned cruiser and passes through some narrow regions.Planetary reducer 5 be it is a kind of be used in prime mover and Independent type closed driving device between working machine, main function are exactly for reducing load/motor rotary inertia ratio and drop The slow-speed of revolution increases torque, and under the premise for guaranteeing precision drive.Precise planet-gear speed reducer have structure size it is small, The advantages that volume is light and handy, gear range, reduction range are wide, low noise, transmission efficiency are high, output torque is high, due to above excellent Point planet-gear speed reducer is widely used in electronic products such as DC servo motor, AC servo motor, stepper motors In, it can be used for lifting transport, engineering machinery, metallurgy, mine, petrochemical industry, building machinery, industry light industry textile industry, medical instrument, instrument The fields such as instrument, ship, automobile.

As shown in fig. 6, the control system include power supply, power conversion module, motor driver, wireless communication module, Master controller, 360 degree of CCD cameras 8 that 1 top center of cruiser ontology is arranged in, is arranged in cruiser assistant controller The front environment detection and protection system of 1 front of ontology, the bottom front for being separately positioned on cruiser ontology 1 and bottom rear end Front blind-area detection and obstacle avoidance system 11 and the detection of rear blind area and obstacle avoidance system 12；

The front environment detection and protection system are mainly made of single line laser radar L19 and microwave radar M1；Due to Microwave radar is insensitive to misty rain, hazy weather, to having dust, having the environment of strong light insensitive, so having the day of mist in rain Gas, the patrol vehicle control can directly excise laser radar and navigated using microwave radar, improve unmanned patrol The safety of vehicle.

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

Preferably, the model LMS151-10100 of single line laser radar L1 9.LMS151 is that SICK company newly releases High-performance be directed to the laser radar of proximity detection respectively, LMS151 series is directed to the object of 10% reflectivity, and distance can be with Reach 50 meters.In view of the above feature, the present invention uses the spy that unmanned cruiser is formed based on LMS151 microwave radar group Survey and protect system.Once encountering bad weather, system meeting excise laser radar-probing system relies only on microwave radar systems work Make, meets the normal patrol work of unmanned cruiser under round-the-clock adverse circumstances.Unmanned cruiser patrols once opening Mode is patrolled, 360 degree of CCD cameras will return in real time patrol environment by ARM controller.

Due to sensor combinations, unmanned cruiser is when starting moves forward generally in forward region There are a blind areas, collide when starting in order to prevent, and the front blind-area detection and obstacle avoidance system 11 are by ultrasonic sensor US1, US2 and US3 composition, wherein ultrasonic sensor US1, US2 and US3 is evenly distributed in the width direction, the rear blind area Detection and obstacle avoidance system 12 are made of ultrasonic sensor US4, US5 and US6, wherein the edge ultrasonic sensor US4, US5 and US6 Width direction is evenly distributed；Due to the bottom of unmanned cruiser be added one group by ultrasonic sensor US1, US2, The front blind-area detection of US3 composition and obstacle avoidance system, can effectively eliminate unmanned cruiser and just start and occur when being accelerated forwardly Short-distance blind section improves the safety and reliability when walking of unmanned cruiser.It is run in unmanned cruiser Cheng Zhong, CCD camera can acquire in real time environmental information and be sent to arm processor, send after ARM internal processes image analysis To master station, when master station finds doubtful information, meeting drone's cruiser starts the secondary determining suspicious information of reversing back, At this time generally in rear moving region there are a blind area, collide in order to prevent, the present invention is in unmanned cruiser Bottom is added one group by ultrasonic sensor US4, US5, US6 rear blind area detection formed and obstacle avoidance system.Rear ultrasonic wave passes Sensor can effectively detect unmanned cruiser at a distance from the moving obstacle of rear, when in case of emergency, nobody drives Sailing cruiser can accelerate to flee danger region, play the role of the unmanned cruiser ontology of protection.By more supersonic sensings The blind area detection system of device composition, which can effectively eliminate unmanned cruiser and just start, to be accelerated forwardly or when reversing back occurs Short-distance blind section improves the safety and reliability when walking of unmanned cruiser.

The single line laser radar L1, microwave radar M1, wireless communication module and assistant controller connect with master controller It connects；Ultrasonic sensor US1~the US6, CCD camera 8 and motor driver are connect with assistant controller, motor driver It is connect respectively with two direct current generators 4；Power supply is connect with motor driver and power conversion module respectively, and power conversion module is used In the supply of offer DC power supply；Wireless communication module is for wirelessly establishing the communication link between the master station of distal end It connects.

The single line laser radar L1 9 and microwave radar M1 10 is longitudinal to be abreast arranged, and single line laser radar L19 In the top of microwave radar M110.Single line laser radar L1 9 and 10 ground clearance of microwave radar M1 are between 15cm~30cm；

In order to keep turning process more flexible, and there can be smaller turning radius, each driven wheel 3 is universal wheel.

In order to improve the environment detection function of unmanned cruiser, the master controller is preferably NUC7 processor；Institute The core of assistant controller is stated using STM32F767.STM32F756 processor is that STM company completely new ARM series produced produces Product, are global first volume production and the microcontroller for possessing 32 bit ARM Cortex-M7 processors, product be all equipped with possess it is floating The Cortex-M7 core of point processing unit and DSP extended function, arithmetic speed highest 216MHz；With towards kernel, peripheral hardware and The AXI of memory interconnection and more ahb bus matrixes, using 6 grades of super scalar pipelines and floating point unit；Two general DMA controls Device and one are exclusively used in the DMA of graphics accelerator；STM32 series between comparing, possesses richer peripheral hardware；Simultaneously STM32F7 has excellent instruction and pin compatibility: Cortex-M4 instruction set that Cortex-M7 is backward compatible, STM32F7 system Column and STM32F4 series pin compatibility；ARM Cortex-M7 efficiency is surmounted early stage core (example by STM32F7MCU series of products Such as Cortex-M4) advantage apply to ultimate attainment, efficiency reaches nearly twice of DSP, and These characteristics are very suitable to STM32F7 Substitution partial lower ARM family chip or dsp chip do unmanned two axis direct current brushless servo motor control system of cruiser Data processing.

The traditional two-wheeled mechanical structure and multi-line laser radar Working mould that domestic existing unmanned cruiser mostly uses Formula, therefore existing unmanned cruiser has the shortcomings that stability is poor, rapidity difference and sexual valence are poor, in order to guarantee nobody The stability and reliability of patrol vehicle control are driven, while in order to improve cost performance and control calculation process speed, this Shen The novel two-wheeled mechanical mechanism based on planetary reducer please be propose, and introduces Intel in being based on STM32F767 controller 7th generation NUC microcomputer of state-of-the-art technology forms (newest embedded based on Intel the 7th generation microcomputer NUC7+ARM STM32F767) the completely new control model of dual-core controller.In order to improve the environment detection function of unmanned cruiser, use Cruiser is realized based on the single line laser radar of Intel's the 7th generation NUC microcomputer, microwave radar sensor fusion techniques The detection of ambient enviroment, and the high definition CCD camera Image Acquisition analysis system based on ARM is introduced, and pass through wireless handle in real time Information back is acquired to master station.For whole system using STM32F767 as kinetic control system processing core, real-time reception NUC is miniature Computer composition host computer multisensor digital convergence signal, and realize part Digital Signal Processing, response it is various interruption and It realizes and the real-time data communication of master station and storage.The control system can also be arranged in the control system to be connected to power supply Battery management module, and connection battery management module is controlled by assistant controller, battery management module includes for measuring battery The current sensor of the size of the voltage sensor one of group total voltage, the voltage sensor two for measuring monomer voltage, measurement electric current, The temperature sensing one of each battery temperature and the electric resistance sensor for measuring battery internal resistance are measured, it is total rationally to monitor battery The parameters situations such as voltage, monomer voltage, the internal resistance of battery, temperature, and then in on-vehicle battery fast discharge process, it can be right in real time End voltage is detected, and guarantees that battery terminal voltage closer to actual parameter, is conducive to the low-voltage variation of battery.In this way, can make The control system fully considers that battery in the effect of this system, can constantly drive nobody based on ARM+NUC dual-core controller The operating status for sailing cruiser is monitored and operation, improves the utilization rate of the energy of battery, is conducive to unmanned patrol The continuation of the journey of vehicle, realize unmanned cruiser it is stable, it is reliable, constantly in the patrol operation of each region.

The control system is the maximum single line laser radar signal processing of workload, microwave in unmanned cruiser system The processing of NUC microcomputer is given in Radar Signal Processing and analysis, and the number of the multisensor of unmanned cruiser is handled by NUC7 According to fusion signal, arithmetic speed is substantially increased, the very fast feature of NUC microcomputer data processing speed is given full play to, solved Single ARM software runs slower bottleneck, it is short to shorten the development cycle, and enhance program transportability ability effectively.Due to This control system handles the data and algorithm of a large amount of single line laser radar sensors and microwave radar sensor using NUC, and fills Divide the interference source for considering surrounding, ARM is freed from hard work amount, effectively prevents motion control main program " run fly ", unmanned cruiser anti-interference ability greatly enhances.And blind area detection and avoidance, Image Acquisition, analysis and biography The functions such as defeated, data storage, I/O control give STM32F767 completion, thereby realize point of ARM and NUC microcomputer Work while improving control system operation and processing speed, also further improves the stability and reliability of control system, It can also make master controller and assistant controller therebetween can real-time perfoming communication progress data exchange and calling simultaneously.

Further, encoder can also be connected on the driven wheel 3, the encoder is connect with assistant controller, with Displacement, velocity and acceleration for Real-time Feedback cruiser ontology 1.

It 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 to power supply, the power supply is battery group.Preferably, the charging module is preferably wireless Charging module, in this way, can automatically carry out charging operation after cruiser reaches specified region.

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

In order to further enhance the control precision 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 connecting with assistant controller.

Working principle: unmanned cruiser system is divided into two parts by the present invention: the Novel machine based on planetary reducer Tool system and double-core control system based on NUC7+ARM, double-core control system is by the master system based on vehicle-mounted computer NUC With the ARM lower computer system composition based on STM32F767.Path and ground are wherein completed based on vehicle-mounted computer NUC master system The functions such as figure input, single line laser radar and the analysis of microwave radar sensor data acquisition；ARM based on STM32F767 is the next Machine control system completes two axis brush DC servo SERVO CONTROLs of unmanned cruiser system, ccd image analysis transmission, I/ The functions such as O control, wherein the maximum two axis brush DC servo system control of workload and the transmission of ccd image collection analysis are given STM32F767 processing, gives full play to the very fast advantage of STM32F767 data processing, thereby realizes the division of labor of NUC and ARM, It can be communicated again therebetween simultaneously, real-time perfoming data exchange and calling.

For the unmanned cruiser dual-core controller based on ARM (STM32F767)+NUC7 that designs of the present invention, Under power-on state, arm processor and NUC controller are completed to initialize first, and then vehicle-mounted computer NUC7 is driven by nobody Sail cruiser control master station and transfer cruiser driving path and cartographic information, subsequent blind-spot sensor is started to work, and at ARM Device communication is managed, arm processor, which determines, opens unmanned cruiser patrol mode after clear enters working region, while with NUC controller mutually communicates, and NUC real-time reception laser radar, microwave radar feedback signal simultaneously decode, then transmission of control signals To arm processor, arm processor controls signal by decoded input and controls direct current brushless servo motor, brush DC servo electricity Machine drives unmanned cruiser fast running after planetary reducer conversion rate and torque, and passes through the coding on moving wheel The signals such as the displacement of device Real-time Feedback, velocity and acceleration are to arm processor.In unmanned cruiser motion process, it is based on The patrol image capturing system real-time Transmission scene patrol information of CCD camera is to master station.Once encountering bad weather, system Meeting excise laser radar-probing system relies only on microwave radar systems work, meets unmanned under round-the-clock adverse circumstances patrol Patrol the normal patrol work of vehicle.Unmanned cruiser once open patrol mode, 360 degree of CCD cameras 8 will be by ARM at Reason device returns patrol environment in real time.

In conjunction with Fig. 7, into Figure 10 introduction present invention, the specific function of unmanned cruiser is accomplished by

1) for unmanned cruiser between patrol mission, master station generally can recognize first patrol by it by remote control mode The Essential Environment in region is carried out in unmanned cruiser walking process by mobile lidar L1, microwave radar M1 Environment detection simultaneously establishes X-Y scheme, and environmental map is transferred to master station in real time by WLAN, deposits after being handled by master station It stores up and forms entire beat map, if region is larger, total standing-meeting is split the map of beat, is divided into several A mapping module, conducive to the calling in unmanned cruiser later period, once complete the foundation of area map, unmanned cruiser It is returned to master station and enters patrol state of awaiting orders.

2) it is not connected between patrol order in unmanned cruiser, it generally can be in master station's hair to be controlled such as waiting area Out go out say the word, if voltage is lower, unmanned cruiser can charge automatically.Unmanned cruiser is waiting After period after being connected to the task of setting out, unmanned cruiser will detect extraneous environmental aspect, if environment compares Badly, it will not participate in navigation for the laser radar L1 of navigation, system leads a unlatching microwave radar, ultrasonic sensor Boat.Vehicle-mounted computer NUC7 transfers unmanned cruiser patrol point information by master station, is formed then in conjunction with master station's cartographic information The driving path and navigation map information of new period patrol, then the arm processor based on STM32F767 is opened front and back blind area and is passed Sensor is scanned blind area, and if there is barrier enters movement blind area, arm processor can be sounded an alarm, and wait barrier Removing；If clear enters movement blind area, unmanned cruiser starts to go on patrol automatically.

3) after unmanned cruiser starts starting, arm processor opens each single line laser thunder according to ambient weather situation Real time environment scanning is carried out up to sensor L1 and microwave radar M1, the real-time map then generated and original map compare really The location of fixed unmanned cruiser and posture, it is laser radar sensor L1 that arm processor is fed back by NUC7, micro- The image data of wave radar M1, the SERVO CONTROL of two direct current generators is adjusted by motor driver, and then is completed nobody and driven The initialization pose adjustment of cruiser is sailed, unmanned cruiser enters automatic patrol mode.

4) when unmanned cruiser injection is gone on patrol automatically, sensor L1, the microwave radar M1 of navigation are real-time It opens, and feedback signal is conveyed to NUC, first have the warm STM32F767 response of NUC analysis single line laser radar L1 data various Protection is interrupted, then NUC and ARM is communicated, arm processor environment according to locating for the unmanned cruiser that NUC is fed back, according to It is bilateral navigation, left unilateral navigation, right unilateral navigation or base that Fig. 8, Fig. 9 and Figure 10, which determine unmanned cruiser under the current model, In the inertial navigation of gyroscope.

5) after unmanned cruiser enters moving line, laser sensor L1 and microwave radar M1 moment detect front Environment forms new environmental map, and the map transmitted with master station compares, and determines fixed obstacle and mobile people and object Location information etc..

If single line laser sensor L1, microwave radar M1 detect the fluctuating in forward path there are certain altitude Pitting or small obstacle, if height and width have been more than requirement that unmanned cruiser is crossed, master controller will be to auxiliary Controller (STM32F767) issues interrupt requests and small obstacle data is transferred to ARM progress calculation processing, ARM control simultaneously Device processed will increase the power of two direct current brushless servo motors based on the analysis results, and unmanned cruiser is according to the normal excellent of setting Change path and carries out throwing over barrier.In unmanned cruiser walking process, the real-time collection site picture of CCD camera is given ARM controller is sent to master station after ARM controller is analyzed and carries out suspicious information judgement.

If single line laser sensor L1 and microwave radar M1, which are detected, temporarily has large-scale barrier in path optimizing left front Hinder object, NUC will issue interrupt requests to ARM (STM32F767) and handle barrier data simultaneously, and ARM can be to the preferential place of interruption Manage and enter left front avoidance protection subprogram: NUC and ARM communicate and transmit barrier data information, if barrier and nobody Drive immediately ahead of cruiser has enough spaces that unmanned cruiser can be allowed to pass through between projection, and arm processor will maintain The SERVO CONTROL of current two direct current generator, unmanned cruiser continue to keep current running state；If barrier and nobody Driving has overlapping between projection immediately ahead of cruiser, arm processor will adjust two direct current generators according to barrier data information Control moves unmanned cruiser to the right according to different navigation modes, and after completing to hide movement, arm processor will The control for adjusting two direct current generators deviates unmanned cruiser to the left according to navigation mode and drives into NUC7 again The path of optimization.In unmanned cruiser walking process, the real-time collection site picture of CCD camera is to ARM controller, warp Master station, which is sent to, after ARM controller analysis carries out suspicious information judgement.

If single line laser sensor L1 and microwave radar M1, which are detected, temporarily has large-scale barrier in path optimizing right front Hinder object, NUC will issue interrupt requests to ARM (STM32F767) and handle barrier data simultaneously, ARM (STM32F767) meeting pair Avoidance protects subprogram before interrupting priority processing and entering the right side: NUC and ARM communicate and transmit barrier data information, if barrier Hinder immediately ahead of object and unmanned cruiser has enough spaces that unmanned cruiser can be allowed to pass through between projection, at ARM Reason device will maintain the SERVO CONTROL of current two direct current generator, and unmanned cruiser continues to keep current running state；If barrier Hindering immediately ahead of object and unmanned cruiser has overlapping between projection, arm processor will adjust two according to barrier data information The control of direct current generator moves unmanned cruiser to the left according to navigation mode, after completing to hide movement, ARM processing The control for adjusting two direct current generators deviates unmanned cruiser to the right according to navigation mode and drives into NUC7 again by device Optimized path.In unmanned cruiser walking process, the real-time collection site picture of CCD camera is controlled to ARM Device is sent to master station after ARM controller is analyzed and carries out suspicious information judgement.

6) when unmanned cruiser enters moving line and moves forward, blind-spot sensor group US4 parallel to the ground~ The US6 moment, which detects the environment at movement rear and is transferred to ARM, carries out data analysis, if sensor fusion system judges that nobody drives Sail cruiser rear it is close to unmanned cruiser there are barrier when, arm processor can this emergency situations of priority processing, Subprogram is protected subsequently into rear avoidance and is sounded an alarm, and the speed for increasing by two direct current generators drives nobody by arm processor It sails cruiser acceleration and flees danger region；If unmanned cruiser rear enters protection scope there is no barrier, nobody Driving cruiser will travel according to the normal speed of setting.

7) after unmanned cruiser enters moving line, blind-spot sensor group US1~US3 moment parallel to the ground is examined The environment of the blind area in front is surveyed, if blind-spot sensor group US1~US3 judgement temporarily has barrier to enter unmanned cruiser When moving blind area, urgent interrupt request will be issued to ARM while barrier data are transferred to ARM handle, ARM understands centering Disconnected priority processing is protected subprogram subsequently into blind area avoidance and is sounded an alarm, and it is urgent that arm processor will control two direct current generators Braking makes unmanned cruiser crash-stop, prevents unmanned cruiser from injuring meiofauna life, after danger releases, The SERVO CONTROL for readjusting two direct current generators carries out unmanned cruiser according to the normal speed of setting by arm processor Traveling.

8) in most cases due to unmanned cruiser, be not one-stop service mode, the patrol place of arrival compared with More, by being emphasis beat, unmanned cruiser skip emphasis beat, the present invention have given up generally in order to prevent Website read method, site sensor S1 and S2 with certain redundancy can also be added in the present invention, when unmanned patrol When vehicle will reach emphasis patrol website, arm processor first turns on sensor S1 and S2, while adjustment is controlled two direct currents Machine 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.

9) when unmanned cruiser enters emphasis patrol point, CCD camera will carry out image to emphasis beat It acquires and is transferred to ARM and handled, the data after analysis decode image information simultaneously first by radioing to master station, master station Keynote message is stored, if master station finds suspicious decoded information, parking interrupt requests, ARM processing will be issued to arm processor Adjustment two direct current generators of control are made unmanned cruiser stop in emergency by device, and then arm processor control CCD camera carries out Secondary image acquisition is transferred to master station after analysis of encoding again；After unmanned cruiser completes this website patrol mission, The SERVO CONTROL of adjustment two direct current generators of control is made unmanned cruiser continue to travel according to set speed by arm processor, Arm processor is by the live image in CCD camera real-time Transmission current path 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 and drive Sail cruiser and need the patrol website that goes, then unmanned cruiser by itself navigation sensor can with complete independently this A setting, when if an emergency situation is encountered during patrol, master station needs to change operating path or urgent patrol website, main website It is communicated by wireless device and unmanned cruiser NUC, walking path and patrol point information is then changed by NUC, The unmanned cruiser path of real-time update and patrol stop site information after NUC and ARM communication control, arm processor according to The SERVO CONTROL that new requirement controls two direct current generators completes 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 The presence of the awake unmanned cruiser of surrounding pedestrian, when unmanned cruiser loses communication with main website, arm processor can be sent out Automatic stop sign out, the direct original place of arm processor lock two direct current generators of unmanned cruiser, unmanned cruiser It will not collide or hurt people because of uncontrolled, at this time biography of the main website since unmanned cruiser can not be collected into Defeated information will carry out fast track to unmanned cruiser according to a upper patrol bus stop information, and solve failure problems.

Embodiment 2:

As shown in Figures 1 to 5, the round-the-clock unmanned cruiser system of a kind of novel two-wheel drive, including cruiser Ontology 1 and the control system being arranged on cruiser ontology 1；It is assembled at the middle part of length direction 1 lower part of cruiser ontology A pair of driving wheels 2, length direction in the middle part of and rear portion be respectively equipped with a pair of driven 3, as a preference, each driven wheel 3 be universal wheel.1 mounted inside of cruiser ontology has two direct current generators 4 for respectively driving two driving wheels 2；It is described Two planetary reducers 5 being located on the outside of two 4 motor shafts of direct current generator are additionally provided with inside cruiser ontology 1, it is described Planetary reducer 5 is 90 degree of corner planetary reducers；；The length direction of two direct current generators 4 prolongs 1 width of cruiser ontology Direction extends, 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 set to ground opposite to each other It sets；The direct current generator 4 be rare earth permanent magnet brushless DC servo motor, the stator of rare earth permanent magnet brushless DC servo motor with it is general Logical direct current generator stator structure having the same, only using Nd-Fe-B rare earth permanent magnetic material as magnetic pole instead of direct current generator Excitation pole and excitation winding, so that the structure of direct current brushless servo motor is relatively simple, and electronic commutation eliminates and is easy The collector ring and brush of failure, realize non-brushing, improve the reliability of motor operation.Rare earth permanent-magnetic material use so that Power of motor density is higher, and the volume of motor be can be made smaller.Rare-earth permanent magnet brushless servo has with respect to traditional servo motor Small in size, light-weight, power output is big, and response is fast, and inertia is small, and rotation is smooth, and torque is stablized, non-maintaining, high-efficient, running temperature It is low, the advantages that electromagnetic radiation is small, and the service life is long.It is straight that these characteristics make rare earth permanent magnet brushless DC servo motor be particularly suitable for substitution Galvanic electricity machine, and be applied in the more special robot control system of unmanned cruiser these requirements.The electricity of direct current generator 4 Arbor is connect with the input terminal of planetary reducer 5, and the output shaft of planetary reducer 5 drives driving wheel 2 by gear set；Planet subtracts Fast machine 5 is 90 degree of planetary reducers, i.e. the input shaft of planetary reducer 5 and output shaft is perpendicular；The gear set is by longitudinal direction Upper distribution and pitch wheel 1 and the composition of gear 27；The gear 1 is set in the output shaft of planetary reducer 5 On, 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 planetary reducers 5 are directly mechanically connected, and then 5 output shafts of planetary reducer are mechanically connected by gear 1 and gear 27 and driving wheel, adopt With direct current generator 4 cooperate planetary reducer 5 this combination be able to achieve the unmanned cruiser speed of travel and demand torque it Between matching, can effectively increase unmanned cruiser walking when torque, meanwhile, also can be reduced the width of unmanned cruiser Degree.As a preference, gear 1 and gear 27 can use the gear ratio of 1:1.Due to the brush DC servo electricity that has been staggered The axial position of machine is conducive to unmanned cruiser and passes through so that the width of unmanned cruiser is greatly lowered Narrow region.Planetary reducer 5 is a kind of independent type closed driving device between prime mover and working machine, main to make Increase torque with being exactly for reducing load/motor rotary inertia ratio and reducing revolving speed, and before guaranteeing precision drive Under mentioning.Precise planet-gear speed reducer is small with structure size, volume is light and handy, gear range, reduction range are wide, noise Low, the advantages that transmission efficiency is high, output torque is high, since the above advantage planet-gear speed reducer is widely used in direct current In the electronic products such as servo motor, AC servo motor, stepper motor, can be used for lifting transport, engineering machinery, metallurgy, mine, The fields such as petrochemical industry, building machinery, industry light industry textile industry, medical instrument, instrument and meter, ship, automobile.

As shown in figure 11, the control system include power supply, power conversion module, motor driver, wireless communication module, Master controller, assistant controller one, 360 degree of CCD cameras 8 that 1 top center of cruiser ontology is arranged in, setting are being gone on patrol The front environment detection and protection system of 1 front of vehicle ontology, the bottom front for being separately positioned on cruiser ontology 1 and bottom rear end Front blind-area detection and obstacle avoidance system 11 and rear blind area detection and obstacle avoidance system 12；

In addition, in order to meet a wide range of multi-site operation, can be added for the unmanned cruiser of this structure Site sensor with certain redundancy (can for connect with assistant controller one GPS positioning module), 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 LMS151-10100 of single line laser radar L1 9.LMS151 is that SICK company newly releases High-performance be directed to the laser radar of proximity detection respectively, LMS151 series is directed to the object of 10% reflectivity, and distance can be with Reach 50 meters.In view of the above feature, the present invention uses the spy that unmanned cruiser is formed based on LMS151 laser radar group Survey and protect system.Once encountering bad weather, system meeting excise laser radar-probing system relies only on microwave radar systems work Make, meets the normal patrol work of unmanned cruiser under round-the-clock adverse circumstances.Unmanned cruiser patrols once opening Mode is patrolled, 360 degree of CCD cameras will return in real time patrol environment by ARM controller.

Due to sensor combinations, unmanned cruiser is when starting moves forward generally in forward region There are a blind areas, collide when starting in order to prevent, and the front blind-area detection and obstacle avoidance system 11 are by ultrasonic sensor US1, US2 and US3 composition, wherein ultrasonic sensor US1, US2 and US3 is evenly distributed in the width direction, the rear blind area Detection and obstacle avoidance system 12 are made of ultrasonic sensor US4, US5 and US6, wherein the edge ultrasonic sensor US4, US5 and US6 Width direction is evenly distributed；Due to the bottom of unmanned cruiser be added one group by ultrasonic sensor US1, US2, The front blind-area detection of US3 composition and obstacle avoidance system, can effectively eliminate unmanned cruiser and just start and occur when being accelerated forwardly Short-distance blind section improves the safety and reliability when walking of unmanned cruiser.It is run in unmanned cruiser Cheng Zhong, CCD camera can acquire in real time environmental information and be sent to ARM and FPGA controller, through ARM and FPGA internal processes figure As being sent to master station after analysis, master station can find suspicious information after decoding in time, when master station finds doubtful information, meeting Drone's cruiser starts the secondary determining suspicious information of reversing back, and generally in rear moving region, there are one at this time Blind area collides in order to prevent, the present invention unmanned cruiser bottom be added one group by ultrasonic sensor US4, The rear blind area detection of US5, US6 composition and obstacle avoidance system.Rear ultrasonic sensor 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, rise To the effect for protecting unmanned cruiser ontology.The blind area detection system being made of multiple ultrasonic sensors can effectively eliminate nothing People, which drives cruiser and just started, to be accelerated forwardly or short-distance blind section that when reversing back occurs, and unmanned patrol garage is improved Safety and reliability when walking.

The single line laser radar L1, microwave radar M1, wireless communication module, assistant controller one and assistant controller two with Master controller connection；Ultrasonic sensor US1~the US6, CCD camera 8 are connect with assistant controller one, the auxiliary control Device two processed is connect with assistant controller one and motor driver motor driver respectively；Motor driver respectively with two direct current generators 4 connections；Power supply is connect with motor driver and power conversion module respectively, and power conversion module is for providing the confession of DC power supply It answers；Wireless communication module is for wirelessly establishing the communication connection between the master station of distal end.

In order to improve the environment detection function of unmanned cruiser, the master controller is preferably NUC7 processor；Institute The core of assistant controller one is stated using STM32F767；The assistant controller two uses FPGA.STM32F756 processor is STM public affairs Completely new ARM series of products produced are taken charge of, is global first volume production and possesses the micro- of 32 bit ARM Cortex-M7 processors Controller, product are all equipped with the Cortex-M7 core for possessing floating-point operation unit and DSP extended function, arithmetic speed highest 216MHz；With AXI and more ahb bus matrixes towards kernel, peripheral hardware and memory interconnection, using 6 grades of super scalar pipelines And floating point unit；Two general dma controllers and one are exclusively used in the DMA of graphics accelerator；STM32 series between comparing, Possess richer peripheral hardware；STM32F7 has excellent instruction and pin compatibility simultaneously: Cortex-M7 is backward compatible Cortex-M4 instruction set, STM32F7 series and STM32F4 series pin compatibility；STM32F7MCU series of products are by ARM The advantage that Cortex-M7 efficiency surmounts early stage core (for example Cortex-M4) applies to ultimate attainment, and efficiency reaches nearly twice of DSP, These characteristics make STM32F7 be very suitable to substitution partial lower ARM family chip or dsp chip do unmanned cruiser two The data processing of axis direct current brushless servo motor control system.

FPGA itself is the cell array of standard, and user can be according to oneself design needs, by being specifically laid out Wiring tool carries out its inside to reconfigure connection, designs the specific integrated circuit of client's needs, while FPGA is by 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 function using FPGA Can: first is that 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 biggish parallel Property；Being handled using software is a very time-consuming process, but utilizes hardware handles, so that it may be located parallel to mass data Reason, can greatly improve processing speed, be based on FPGA+ARM image procossing catenation principle such as 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 guarantee nobody The stability and reliability of patrol vehicle control are driven, while in order to improve cost performance and control calculation process speed, this Shen The novel two-wheeled mechanical mechanism based on planetary reducer please be propose, and introduces Intel in being based on STM32F767 controller 7th generation NUC microcomputer of state-of-the-art technology forms (newest based on Intel the 7th generation microcomputer NUC7+FPGA+ARM Embedded STM32F767) three nuclear control devices completely new control model.In order to improve the environment detection function of unmanned cruiser Can, it is realized using based on the single line laser radar of Intel's the 7th generation NUC microcomputer, microwave radar sensor fusion techniques The detection of cruiser ambient enviroment, and the high definition CCD camera Image Acquisition analysis system based on ARM+FPGA is introduced, and pass through Wirelessly in real time acquisition information back to master station.Whole system is using FPGA as kinetic control system processing core, real-time reception NUC The host computer multisensor digital convergence signal of microcomputer composition, and realize the Digital Signal Processing of part, respond in various Disconnected and realization and master station real-time data communication and storage.The control system can also be arranged in the control system to be connected with power supply The battery management module connect, and connection battery management module is controlled by assistant controller one, battery management module includes for surveying The electric current of the size of the voltage sensor one for measuring assembled battery total voltage, the voltage sensor two for measuring monomer voltage, measurement electric current Sensor, the temperature sensing one of each battery temperature of measurement and the electric resistance sensor for measuring battery internal resistance, rationally to monitor The parameters situations such as battery total voltage, monomer voltage, the internal resistance of battery, temperature, and then in on-vehicle battery fast discharge process, energy Real-time opposite end voltage is detected, and guarantees that battery terminal voltage closer to actual parameter, is conducive to the low-voltage variation of battery.This Sample can make the control system fully consider that battery in the effect of this system, is based on tri- nuclear control device energy of ARM+FPGA+NUC Moment is monitored to the operating status of unmanned cruiser and operation, improves the utilization rate of the energy of battery, is conducive to The continuation of the journey of unmanned cruiser realizes stable, reliable, constantly in each region the patrol of unmanned cruiser and makees Industry.

The control system is the maximum single line laser radar signal processing of workload, microwave in unmanned cruiser system The processing of NUC microcomputer is given in Radar Signal Processing and analysis, and the number of the multisensor of unmanned cruiser is handled by NUC7 According to fusion signal, arithmetic speed is substantially increased, the very fast feature of NUC microcomputer data processing speed is given full play to, by FPGA handles the independent SERVO CONTROL of two axis direct current brushless servo motors of unmanned cruiser servo-system, gives full play to The very fast feature of FPGA arithmetic speed and program portable function substantially increase arithmetic speed so that control is fairly simple, solution Single ARM software of having determined runs slower bottleneck, it is short to shorten the development cycle, and enhance program transportability ability effectively.By The a large amount of data of unmanned cruiser servo-system and algorithm are handled using FPGA in this controller, are handled using NUC a large amount of The data and algorithm of single line laser radar sensor and microwave radar sensor, and fully considered the interference source of surrounding, ARM It frees from hard work amount with NUC, effectively prevents " run and fly " of program, the unmanned cruiser servo of two axis System rejection to disturbance ability greatly enhances, and effectively prevents " run and fly " of motion control main program, and unmanned cruiser is anti-dry The ability of disturbing greatly enhances.And blind area detects and avoidance, ccd image acquisition and analysis, man-machine interface, online output, data store, The functions such as I/O control are given ARM and FPGA and are completed, and the division of labor of ARM, FPGA and NUC microcomputer, while three are thereby realized Real-time perfoming communication carries out data exchange and calling between person, while improving control system operation and processing speed, also into One step improves the stability and reliability of control system, while can also make master controller, assistant controller one and assistant controller two It can real-time perfoming communication progress data exchange and calling between three.The unmanned cruiser brush DC of two axis is exported by FPGA Servo motor PWM modulation signal and direction signal can directly drive direct current generator by driving circuit, not only alleviate ARM Burden, simplify interface circuit, and eliminate ARM internal composition position, speed control program and various pid algorithms Trouble so that the debugging of system is simple.In unmanned cruiser operational process, FPGA can be to direct current brushless servo motor Torque on-line identification and compensated using the relationship of motor torque and electric current, reduce direct current brushless servo motor and turn Square shakes the influence to the unmanned cruiser servo-system of high speed.In the control of unmanned cruiser, FPGA is according to sensing The feedback signal of device L1 image capturing system determines that unmanned cruiser deviates the offset of optimal path center, then The pid parameter inside FPGA is adjusted in real time according to different offsets, easily realizes segmentation P, PD, PID control and non-linearity PID Control makes system have centainly 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 output of FPGA at the first time, prevent unmanned cruiser from going out due to failure Now injure.

Further, encoder can also be connected on the driven wheel 3, the encoder is connect with assistant controller one, With the displacement for Real-time Feedback cruiser ontology 1, velocity and acceleration.

In order to make the cruiser that there is warning function, the acousto-optic connecting 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 precision 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 connecting with assistant controller one.

Working principle: unmanned cruiser system is divided into two parts by the present invention: the Novel machine based on planetary reducer Tool system and three nuclear control systems based on NUC7+FPGA+ARM, three nuclear control systems are by the host computer based on vehicle-mounted computer NUC System and based on FPGA and STM32F767 ARM lower computer system composition.It is wherein complete based on vehicle-mounted computer NUC master system At the functions such as path and map input, single line laser radar and the analysis of microwave radar sensor data acquisition；Based on STM32F767 ARM and FPGA lower computer control system complete unmanned cruiser system two axis brush DC servo SERVO CONTROLs, The functions such as image analysis and transmission, data transmission, I/O control, the wherein maximum two axis brush DC servo-system control of workload System gives FPGA processing, gives full play to FPGA data and handles very fast advantage, and image transmitting gives ARM processing, thus real The division of labor of NUC, FPGA and ARM are showed, while can have been communicated again between three, real-time perfoming data exchange and calling.

Three nuclear control of unmanned cruiser based on ARM (STM32F767)+FPGA+NUC7 designed for the present invention Device, under power-on state, arm processor, FPGA and NUC controller are completed to initialize first, then vehicle-mounted computer NUC7 Master station is controlled by unmanned cruiser and transfers cruiser driving path and cartographic information, and subsequent blind-spot sensor starts work Make, and communicated with arm processor, arm processor determines that opening unmanned cruiser after clear enters working region patrols Mode is patrolled, while mutually being communicated with NUC and FPGA, NUC real-time reception laser radar, microwave radar feedback signal simultaneously decode, so Simultaneously transmission of control signals, ARM controller control signal by decoded input and control to FPGA, FPGA with ARM controller communication afterwards Two axis direct current brushless servo motors, direct current brushless servo motor drive unmanned after planetary reducer conversion rate and torque Cruiser fast running, and give FPGA to control by signals such as the displacement of encoder Real-time Feedback, velocity and accelerations on moving wheel Device processed.

In unmanned cruiser motion process, the patrol image capturing system real-time Transmission based on CCD camera is existing Field patrol information is to master station.Once encountering bad weather, system meeting excise laser radar-probing system relies only on microwave radar System work, meets the normal patrol work of unmanned cruiser under round-the-clock adverse circumstances.Unmanned cruiser is once Patrol mode is opened, 360 degree of CCD cameras 8 will return in real time patrol environment by arm processor.

1) for unmanned cruiser between patrol mission, master station generally can recognize first patrol by it by remote control mode The Essential Environment in region passes through mobile lidar sensor L1 and microwave thunder in unmanned cruiser walking process Environment detection is carried out up to sensor M1 and two-dimensional map is established by NUC, and is transferred to master station by WLAN, by master station It is stored after processing and forms entire beat map, if region is larger, total standing-meeting is split the map of beat, It is divided into several mapping modules, conducive to the calling in unmanned cruiser later period, once completing the foundation of area map, nobody is driven It sails cruiser and is returned to master station into patrol state of awaiting orders.

2) it is not connected between patrol order in unmanned cruiser, it generally can be in master station's hair to be controlled such as waiting area Out go out say the word, if voltage is lower, unmanned cruiser can charge automatically.Unmanned cruiser is waiting After period after being connected to the task of setting out, unmanned cruiser will detect extraneous environmental aspect, if environment compares Badly, it will not participate in navigation for the laser radar L1 of navigation, system leads a unlatching microwave radar, ultrasonic sensor Boat.Vehicle-mounted computer NUC7 transfers unmanned cruiser patrol point information by master station, is formed then in conjunction with master station's cartographic information The driving path and navigation map information of new period patrol, then the arm processor based on STM32F767 is opened front and back blind area and is passed Sensor is scanned blind area, and if there is barrier enters movement blind area, arm processor can be sounded an alarm, and forbid FPGA work Make, FPGA blocks the pwm control signal of two axis direct current brushless servo motors, and original place is locked and waits barrier by unmanned cruiser Object is hindered to be removed；If clear enters movement blind area or barrier is removed, ARM controller can enable FPGA work, FPGA The pwm control signal of two axis direct current brushless servo motors is exported, two axis direct current brushless servo motors become through accurate planetary reducer Unmanned cruiser is driven to start to go on patrol automatically after the power that moves.

3) after unmanned cruiser starts starting, ARM controller just opens each single line laser radar sensor L1 and M1 Real time environment scanning is carried out, the real-time map and original map then generated through NUC7, which compares, determines unmanned cruiser Location and posture, NUC transmission deviation signal is to ARM controller, and input deviation signal is given after ARM controller decoding FPGA, FPGA adjust the SERVO CONTROL of direct current brushless servo motor in real time, and then complete the initialization appearance of unmanned cruiser State adjustment, unmanned cruiser enter automatic patrol mode.

4) when unmanned cruiser injection is gone on patrol automatically, sensor L1, the microwave radar M1 of navigation are real-time It opens, and feedback signal is conveyed to NUC, first there is NUC analysis single line laser radar L1 and microwave radar sensor M1 data to melt Various interruption protection is responded with STM32F767, then NUC and ARM communication, arm processor unmanned is patrolled according to what NUC was fed back Environment locating for vehicle is patrolled, unmanned cruiser is determined under the current model according to Fig. 8, Fig. 9 and Figure 10 is bilateral navigation, left unilateral lead Boat, right unilateral navigation are still based on the inertial navigation of gyroscope.

If single line laser sensor L1, microwave radar M1 detect the fluctuating in forward path there are certain altitude Pitting or small obstacle, if height and width have been more than requirement that unmanned cruiser is crossed, NUC will be to STM32F767 issue interrupt requests simultaneously small obstacle data be transferred to ARM carry out calculation processing, ARM controller according to It analyzes result input control signal and will increase the power of direct current brushless servo motor to FPGA, FPGA, unmanned cruiser is pressed Throwing over barrier is carried out according to the normal path optimizing of setting.In unmanned cruiser walking process, CCD camera is adopted in real time Collect live view to ARM and FPGA controller, master station's progress suspicious information is sent to after ARM and FPGA controller analysis and is sentenced It is fixed.

If single line laser sensor L1 and microwave radar M1, which are detected, temporarily has large-scale barrier in path optimizing left front Hinder object, NUC will issue interrupt requests to ARM (STM32F767) and handle barrier data simultaneously, and ARM can be to the preferential place of interruption Manage and enter left front avoidance protection subprogram: NUC and ARM communicate and transmit barrier data information, if barrier and nobody Drive immediately ahead of cruiser has enough spaces that unmanned cruiser can be allowed to pass through between projection, and FPGA processor will maintain The SERVO CONTROL of current two direct current generator, unmanned cruiser continue to keep current running state；If barrier and nobody Driving immediately ahead of cruiser has overlapping between projection, and input maximum deviation position signal is given after ARM controller analysis processing FPGA, FPGA processor by according to barrier data information by adjust two direct current generators control make unmanned cruiser according to Different navigation modes move to the right, and after completing to hide movement, FPGA processor makes the control for adjusting two direct current generators Unmanned cruiser deviates to the left according to navigation mode and drives into the optimized path NUC7 again.It is patrolled unmanned It patrols in vehicle walking process, the real-time collection site picture of CCD camera is to ARM and FPGA controller, through ARM and FPGA controller point It is sent to master station after analysis and carries out suspicious information judgement.

If single line laser sensor L1 and microwave radar M1, which are detected, temporarily has large-scale barrier in path optimizing right front Hinder object, NUC will issue interrupt requests to ARM (STM32F767) and handle barrier data simultaneously, ARM (STM32F767) meeting pair Avoidance protects subprogram before interrupting priority processing and entering the right side: NUC and ARM communicate and transmit barrier data information, if barrier Hinder immediately ahead of object and unmanned cruiser has enough spaces that unmanned cruiser can be allowed to pass through between projection, at FPGA Reason device will maintain the SERVO CONTROL of current two direct current generator, and unmanned cruiser continues to keep current running state；If barrier Hindering immediately ahead of object and unmanned cruiser has overlapping, the input maximum deviation position after ARM controller analysis processing between projection Confidence number gives FPGA, FPGA the control for adjusting two direct current generators will to be made unmanned cruiser root according to barrier data information It is moved to the left according to navigation mode, after completing to hide movement, the control for adjusting two direct current generators is made nobody by FPGA processor Cruiser is driven to be deviated to the right according to navigation mode and drive into the optimized path NUC7 again.In unmanned cruiser In walking process, the real-time collection site picture of CCD camera to ARM controller, be sent to after ARM controller is analyzed master station into Row suspicious information determines.

6) when unmanned cruiser enters moving line and moves forward, blind-spot sensor group US4 parallel to the ground~ The US6 moment, which detects the environment at movement rear and is transferred to ARM, carries out data analysis, if sensor fusion system judges that nobody drives Sail cruiser rear it is close to unmanned cruiser there are barrier when, ARM controller can this emergency situations of priority processing, Subprogram is protected subsequently into rear avoidance and is sounded an alarm, and inputs minimum deflection position signal after ARM controller analysis processing To FPGA, the speed for adjusting direct current brushless servo motor X and Y according to ARM input control signal is made unmanned patrol by FPGA Vehicle acceleration flees danger region；If unmanned cruiser rear enters protection scope there is no barrier, unmanned to patrol Patrolling vehicle will travel according to the normal speed of setting.

7) after unmanned cruiser enters moving line, blind-spot sensor group US1~US3 moment parallel to the ground is examined The environment of the blind area in front is surveyed, if blind-spot sensor group US1~US3 judgement temporarily has barrier to enter unmanned cruiser When moving blind area, urgent interrupt request will be issued to ARM while barrier data are transferred to ARM handle, ARM understands centering Disconnected priority processing is protected subprogram subsequently into blind area avoidance and is sounded an alarm, and ARM will forbid FPGA to work, and FPGA will be blocked The pwm control signal of direct current brushless servo motor, and emergency braking makes unmanned cruiser crash-stop, prevents unmanned Cruiser injures meiofauna life, and after danger releases, ARM enables FPGA again, and FPGA will readjust brush DC and watch The SERVO CONTROL for taking motor travels unmanned cruiser according to the normal speed of setting.

8) in most cases due to unmanned cruiser, be not one-stop service mode, the patrol place of arrival compared with More, by being emphasis beat, unmanned cruiser skip emphasis beat, the present invention have given up generally in order to prevent Website read method, site sensor S1 and S2 with certain redundancy can also be added in the present invention, when unmanned patrol When vehicle will reach emphasis patrol website, arm processor first turns on sensor S1 and S2, while FPGA will adjust brush DC The SERVO CONTROL of servo motor X and Y run at a low speed unmanned cruiser, and read the site identity of beat Take, when any one sensor be triggered Shi Ze represent unmanned cruiser arrived setting emphasis patrol website.

9) when unmanned cruiser enters emphasis patrol point, CCD camera will carry out image to emphasis beat It acquires and is transferred to ARM and FPGA is handled, the data after analysis are by ARM controller by radioing to master station, master station Image information is decoded first and stores keynote message, if master station finds suspicious decoded information, will be issued and be stopped to arm processor Vehicle interrupt requests, ARM will forbid FPGA to work, and FPGA will block the pwm control signal of direct current brushless servo motor, and promptly make Dynamic to make unmanned cruiser crash-stop, then CCD camera carries out secondary image acquisition, and ARM and FPGA will be to suspicious points Acquisition information is analyzed again, and after the confirmation of unmanned cruiser is errorless, FPGA will readjust brush DC servo electricity The servo-control signal of machine makes unmanned cruiser continue to travel according to set speed, in CCD real-time Transmission current path Live image 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 and drive Sail cruiser and need the patrol website that goes, then unmanned cruiser by itself navigation sensor 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 control 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 X and Y to realize 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 The presence of the awake unmanned cruiser of surrounding pedestrian, when unmanned cruiser loses communication with main website, ARM controller can be sent out Automatic stop sign locks the direct current brushless servo motor of unmanned cruiser to FPGA, the direct original place FPGA out, nobody drives Sailing cruiser will not collide or hurt people because of uncontrolled, and main website is due to that can not be collected into unmanned patrol at this time The transmission information of vehicle is patrolled, site information will be stopped according to a upper patrol and fast track is carried out to unmanned cruiser, and solved Certainly failure problems.

Claims

1. a kind of novel round-the-clock unmanned cruiser system of two-wheel drive, including cruiser ontology (1) and setting are being patrolled Patrol the 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 in the middle part of and Rear portion is respectively equipped with a pair of driven (3), and cruiser ontology (1) mounted inside has 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 and auxiliary control Device processed；

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 driving wheel (2) by gear set；The gear set by being distributed and intermeshing in the longitudinal direction Gear one (6) and gear two (7) composition；The gear one (6) is set on the output shaft of planetary reducer (5), the gear Two (7) are set in the shaft at driving wheel (2) center；

The control system further include setting cruiser ontology (1) top center 360 degree CCD cameras (8), be arranged Front environment detection and protection system, the bottom front for being separately positioned on cruiser ontology (1) in cruiser ontology (1) front Front blind-area detection and obstacle avoidance system (11) and the detection of rear blind area and obstacle avoidance system (12) with bottom rear end；

The front environment detection and protection system are mainly made of single line laser radar L1 (9) and microwave radar M1；

The front blind-area detection and obstacle avoidance system (11) are made of ultrasonic sensor US1, US2 and US3, wherein supersonic sensing Device US1, US2 and US3 are evenly distributed in the width direction, and the rear blind area detection and obstacle avoidance system (12) are by ultrasonic sensor US4, US5 and US6 composition, wherein ultrasonic sensor US4, US5 and US6 is evenly distributed in the width direction；

The single line laser radar L1, microwave radar M1, wireless communication module and assistant controller are connect with master controller；Institute It states ultrasonic sensor US1~US6, CCD camera (8) and motor driver to connect with assistant controller, motor driver point It is not connect with two direct current generators (4)；Power supply is connect with motor driver and power conversion module respectively, and power conversion module is used In the supply of offer DC power supply；Wireless communication module is for wirelessly establishing the communication link between the master station of distal end It connects.

2. the round-the-clock unmanned cruiser system of the novel two-wheel drive of one kind according to claim 1, feature exist In the single line laser radar L1 (9) and microwave radar M1 (10) are longitudinally abreast arranged, and single line laser radar L1 (9) position In the top of (10) microwave radar M1.

3. the round-the-clock unmanned cruiser system of the novel two-wheel drive of one kind according to claim 1 or 2, feature It is, the master controller is NUC7 processor；The core of the assistant controller uses STM32F767；Single line laser radar L1 (9) model LMS151-10100.

4. the round-the-clock unmanned cruiser system of the novel two-wheel drive of one kind according to claim 3, feature exist In, be connected with encoder on the driven wheel (3), the encoder is connect with assistant controller, be used for Real-time Feedback cruiser The displacement of ontology (1), velocity and acceleration.

5. the round-the-clock unmanned cruiser system of the novel two-wheel drive of one kind according to claim 4, feature exist In further including four charging modules, four charging modules are respectively distributed to the surrounding of cruiser ontology (1), and connect with power supply It connects, the power supply is battery group.

6. a kind of novel round-the-clock unmanned cruiser system of two-wheel drive, including cruiser ontology (1) and setting are being patrolled Patrol the control system on vehicle ontology (1)；

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；

The single line laser radar L1, microwave radar M1, wireless communication module, assistant controller one and assistant controller two are and master control Device connection processed；Ultrasonic sensor US1~the US6, CCD camera (8) are connect with assistant controller one, the auxiliary control Device two is connect with assistant controller one and motor driver motor driver respectively；Motor driver respectively with two direct current generators (4) it connects；Power supply is connect with motor driver and power conversion module respectively, and power conversion module is for providing DC power supply Supply；Wireless communication module is for wirelessly establishing the communication connection between the master station of distal end.

7. the round-the-clock unmanned cruiser system of the novel two-wheel drive of one kind according to claim 6, feature exist In the single line laser radar L1 (9) and microwave radar M1 (10) are longitudinally abreast arranged, and single line laser radar L1 (9) position In the top of (10) microwave radar M1.

8. the round-the-clock unmanned cruiser system of the novel two-wheel drive of one kind according to claim 6 or 7, feature It is, the master controller is NUC7 processor；The core of the assistant controller one uses STM32F767；The assistant controller Two use FPGA；The model LMS151-10100 of single line laser radar L1 (9).

9. the round-the-clock unmanned cruiser system of the novel two-wheel drive of one kind according to claim 8, feature exist In, be connected with encoder on the driven wheel (3), the encoder is connect with assistant controller one, with for Real-time Feedback go on patrol The displacement of vehicle ontology (1), velocity and acceleration.

10. the round-the-clock unmanned cruiser system of the novel two-wheel drive of one kind according to claim 9, feature exist In further including four charging modules, four charging modules are respectively distributed to the surrounding of cruiser ontology (1), and connect with power supply It connects, the power supply is battery group.