CN109782764A - A kind of unmanned logistics distribution system of intelligent solar, control method and dispensing vehicle - Google Patents
A kind of unmanned logistics distribution system of intelligent solar, control method and dispensing vehicle Download PDFInfo
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Abstract
The invention belongs to Intelligent logistics robotic technology fields, disclose a kind of unmanned logistics distribution system of intelligent solar, control method and dispensing vehicle, analysis is acquired to current road environment, when vehicle body detects barrier, car body, which is automatically stopped or goes for a stroll according to the distance of ultrasound examination, avoidance and runs to safety zone；Lane side route mark is acquired by USB camera, collected picture is carried out to the processing of binaryzation, the position that lane sideline is determined by the method for edge detection finds out the area of lane edge area, is then sailed using the method control car body of threshold decision along lane sideline area row；The car status informations such as longitude and latitude, speed, azimuth, the battery capacity of real-time display car body, and remote service center is sent to by wireless module.Present invention reduces vehicles to the uncertainty of external world's perception, greatly improves the correctness of unmanned vehicle control decision.
Description
Technical field
The invention belongs to Intelligent logistics robotic technology field more particularly to a kind of unmanned logistics distribution systems of intelligent solar
System, control method and dispensing vehicle.
Background technique
Shopping at network explosive growth, the portfolios such as logistics distribution, express delivery transmitting-receiving, which also synchronize, to be significantly increased, to logistics distribution
It is launched with Express firm in item parcels, the processing of express mail and dispatching and forms very big pressure, " last one kilometer " is asked
Topic is increasingly becoming the short slab for restricting Express firm development.At home, intelligent express delivery terminal traffic is still in Rapid development stage, no
High and new technology company, few country is proposed the unmanned dispensing vehicle of various express deliveries, such as intelligence passerby's public affairs that Tsinghua University runs in the school one after another
" snail Bi Da-unmanned Distribution logistics vehicle ", the campus unmanned vehicle in Jingdone district etc. of department.The traditional express mail transceiving mode of innovation and development,
It improves logistics distribution type and service quality has become one of the research topic of current hot topic.
With the rapid development of e-commerce, online shopping becomes university student and consumes indispensable a part, and in recent years
It is unsatisfactory that campus logistics " last one kilometer " dispenses status.According to statistics, Chinese Express Service business amount in 2017 break through 40,000,000,000,
Increase by 28% on a year-on-year basis, continues to be sure to occupy the first in the world.China possesses student enrollment nearly 37,000,000, and student at school is as the important of online shopping
Strength, online shopping ratio are up to 96%, and the express delivery number of packages of colleges and universities, the country is 5,000,000 or more average daily.The explosive hair of shopping at network
Exhibition, the portfolios such as logistics distribution, express delivery transmitting-receiving, which also synchronize, to be significantly increased, and brings very big pressure to entire logistics links.
Further, since the closure of school, the outstanding problem of campus express delivery for many years, the method that express delivery still uses " spreading out goods for sale in booth ", which waits, to be learned
It is born from and mentions；Due to managerial confusion, losing part problem is also to happen occasionally, and express mail becomes " regular freight " etc..In recent years, country is also saving
Energy emission reduction and environmental improvement etc. invest more, and practice Green Development theory, improve the ecological environment.Therefore, using most
Have become the master of industry development in conjunction with the technologies such as new science technical equipment logistics express delivery industry, especially new energy and Internet of Things
Stream.
For the status of current delivery industry " last one kilometer ", the current most common way is: being replaced with unmanned plane
The means of distribution of orthodox car solves the problems, such as short distance transportation, although Jingdone district of external Amazon and the country is at present
It is successfully tested in this way, the dispatching of smallclothes short distance can be carried out in country lane, but to realize in complicated city
Realization is precisely sent to also premature in environment, is one by the way of ground transport compared to the aerial dispatching for carrying out express delivery
The more reliable mode of kind.
Currently, more and more extensive industry and the selection of more and more enterprises use material flows automation equipment and system, intelligence
Significant achievement of the energy logistics automobile as the manual intelligent field of 21 century, has close in the production, life of human society
Inseparable effect, use scope is more and more wider, in conjunction with other logistics information techniques, forms a complete intelligentized object
Streaming system, this trend are more and more also obvious.
The intelligence of automobile, which becomes Intelligent logistics trolley, has environment sensing, and the mobile robot of autonomous learning is moved
Conglomerate one of of the mobile robot as 21 century modern high technology makes it from turning to actual road row based on analogue simulation
Test experiments are sailed, up to the present there is the test pilotless automobile for the ability independently exercised on highway, however intelligence is driven
Sailing automobile still cannot be fine to the intelligent effect of the sensing capability, decision judgement and route plan of external environment etc.
Compare favourably with the ability of making decisions on one's own of the mankind.Therefore, the research and development of unmanned intelligent automobile, however it remains huge exploitation
Potentiality and space.Preferable unmanned intelligent automobile foundational development platform is not only able to as the fast of following pilotless automobile
Speed development lays the foundation, and can increase the reusable property of system, to avoid the process for repeating to manufacture well.
Nowadays, the research of pilotless automobile technical field becomes to become more and more popular, along with computer technology and biography
The development of sensor technology, pilotless automobile are increasingly closer to our daily life, especially big data in recent years and machine
The emergence of device language learning, the development for pilotless automobile is even more to play impetus, so that intelligent driving automobile is more
Intelligence, the diversification added.
The unmanned intelligent automobile starting in China is than later, and from the eighties in last century, China, which just starts to set foot in nobody, is driven
The field of automobile is sailed, first Chinese intelligent carriage is researched and developed by Shanghai the First Automobile Group and the National University of Defense technology, unmanned skill
Art really applied to above domestic red flag automobile for the first time in 2003.With the continuous development of intelligent automobile driving technology, and
Left for destination Wuhan from Changsha for the first time in 2011, whole more than 280 kms, complete in the process vehicle cut-ins, lane change,
Doubling and the test of self-steering, bad weather test, and it is finally and successfully completed entire stroke.Domestic major emphasis is high
School, such as Tsinghua University, Zhejiang University, the well-known university such as Shanghai Communications University starts the research of unmanned intelligent vehicle one after another, wherein on
Sea is handed over also set up greatly unmanned intelligent vehicle laboratory in 2006.In addition, domestic many auto makers and internet
Company also starts gradually to set foot in the field of pilotless automobile, such as domestic Baidu, drop drop, optimism, Alibaba, upper vapour
Company has started the research in unmanned intelligent automobile direction, and achieves good achievement.
External major automobile vendor, such as Bmw, Tesla, Benz and LR LAND ROVER are also gradually by computer
And mechanics of communication, start the research of the unmanned intelligent vehicle technical aspect of carry out.Google just issued nobody in 2011
The research and development platform of driving intelligent vehicle, the platform are made using the multi laser scanning instrument of the radar and rotation that are mounted on roof
For sensor, main function is primarily used to be to obtain high-precision 3D cartographic information, and the platform researches and develops Google
The sensor of high price have very strong dependence.In the early 1970s, the U.S. is world-class big under the support of DARPA
All put among the research of pilotless automobile, and has developed the unmanned intelligent vehicle of NaLab series in nineteen ninety, should
Vehicle has installed the equipment such as camera, GPS, gyroscope, laser radar additional using miniature lorry model as chassis on automobile, wherein
The positioning and navigation that vehicle is carried out using GPS carry out short distance and middle apart from detection of obstacles using laser radar.It realizes
Autonomous unmanned function above conventional road.
But due to industrial application limitation, the complexity of road environment and safety, Intelligent unattended logistics distribution vehicle
Starting compare it is later, still in developing stage.Although proposing some solutions in current industrial application, also dash forward
Some problems are shown.On the energy and power, clean energy resource and new energy are not utilized adequately, and power resources are single, continue
Navigating, mileage is poor, and car body is larger, and installation and maintenance is inconvenient.In technical solution, common unmanned middle use cost is high
High-precision sensor be unfavorable for product promotion and industrialization although superior performance.
Based on Such analysis, a kind of unmanned logistics distribution vehicle of intelligent solar is proposed, it is efficiently clear using novel solar
The clean energy and power battery are mixed into trolley and provide power resources, make full use of heterogeneous network technologies, Internet of Things, GPS positioning, figure
As the progress information physical fusion of the technologies such as processing, 3D printing, mobile interchange, the unmanned logistic car of solar energy of low cost is built
System platform.Mainly have including technical problem during realizing: (1) needing to comprehensively consider vehicle volume in terms of car body design
The factors such as size, mechanical structure, shaft coupling transmission mechanism, connector and each module distribution of fixing piece, car body materials, vehicle；(2) figure
Conventional road image information is acquired as processing unit is considered as inexpensive camera, in conjunction with efficient image processing platform and calculation
Method, the accurate reference position for exporting vehicle and advancing；(3) multiple and different types are used from the aspect of data acquisition and fusion treatment
Inexpensive sensor acquires external environmental information, multi-source information and data anastomosing algorithm, reliable information transmission and intelligent decision
To guarantee that car safety travels.
The design of the trolley improves existing some problems of prior art, is easy to the popularization and industry of product
Change, the further intelligentize and informatization for promoting material flow industry has very vast market prospect.
Summary of the invention
In view of the problems of the existing technology, the present invention provides a kind of unmanned logistics distribution systems of intelligent solar, control
Method processed and dispensing vehicle.
The invention is realized in this way a kind of control method of the unmanned logistics distribution system of intelligent solar includes:
Using solar energy and battery hybrid, power source is provided for car body and relevant device；
Analysis is acquired to current road environment, when vehicle body detects barrier, car body is according to ultrasound examination
Distance be automatically stopped or go for a stroll and avoidance and run to safety zone；
Lane side route mark is acquired by USB camera, collected picture is carried out to the processing of binaryzation, passes through edge
The method of detection determines the position in lane sideline, finds out the area of lane edge area, then utilizes the method control of threshold decision
Car body processed is sailed along lane sideline area row；
The longitude and latitude of real-time display car body, speed, azimuth, battery capacity car status information, and pass through wireless module
It is sent to remote service center.
Further, ultrasonic ranging method includes:
From starting counting at the time of emitting ultrasonic wave, when detecting barrier, ultrasonic wave is immediately returned to, trolley main control module
Receiver received, return signal, be simultaneously stopped counting, the signal received handled, with preset survey
Span, by the time t of timing, calculates distance D of the car body apart from barrier from being handled:
D=ct/2
Wherein c=340m/s is propagation rate of the ultrasonic wave in air dielectric condition；And then control car body steering or
Stop；
Wireless communication is transmitted by WIFI and Internet network, establishes connection with mobile phone and PC machine server；
Yellow line road sign is acquired by USB camera, includes: by the processing method that collected picture carries out binaryzation
It reads in binary edge map A (m × n)；
Initialize tired sfp, add matrix A (θ, ρ)；
Scale coefficient sf is setp, to control the size of accumulated matrix A (θ, ρ)；
For each edge pixel point (xi, yi), θ ∈ [0,90] calculates following parameters:
θi=θi×sθ；
ρ=xicoSθi+yiSinθi；
ρ1=ρ × S ρ；
Rewarding parameter carries out accumulation calculating to accumulated matrix；
A(θ1, ρ1)=A (θ1,ρ1)+1；
Carrying out analysis method to current road environment includes:
By adjusting the duty ratio of the input PWM adjustment signal of two wheels, two wheels is made to reach synchronized straight trip；Pass through
Encoder detects the velocity amplitude of two wheels and the feed back input amount as control module, is passed to straight movement control system, and pass through
Output pwm signal makes the car body of unmanned logistics distribution vehicle in auxiliary straight trip process into motor driver after control algolithm calculates
In reach dynamic synchronized straight trip；
Control algolithm preferred site type pid algorithm.
Further, the control method of the energy unmanned logistics distribution system of solar energy further comprises:
The each sensor integrated to posture position measurement module initializes, trolley main control module serial acquisition
Sensing data reads GPS data, gives motor one initial pulse, and the speed of motor operation is read using encoder-side, realizes
Simple fixation locus walking is carried out when accessible,
Tilt angle, acceleration of motion, ultrasound data, the USB camera data for judging car body, to the data of acquisition into
Row Data Fusion, when tilting of car body angle transfinites, vehicle stop motion, when acceleration of motion transfinites, logistics trolley
Stop motion detects barrier when car body Ultrasonic Sensor Data transfinites；
Trolley main control module controls motor and carries out differential steering avoiding obstacles, and USB camera acquires image data, carries out
The data processing of binaryzation sends data to trolley main control module and carries out data processing, and control motor carries out steering operation, most
Judge whether motor arrives at the destination afterwards, if not having, detection sensor data, re-start sensor initializing operation again.
Another object of the present invention is to provide a kind of unmanned logistics distribution systems of intelligent solar to include:
Posture position measurement module is connect with trolley main control module, for detecting the driving states information of vehicle, judges vehicle
Whether body turned on one's side or in the climb and fall stage；
Safe early warning supplementary module is connect with trolley main control module, for detecting the barrier of traveling on the way, carries out safety
Avoidance；
Data communication module is connect with trolley main control module, and the data after fusion treatment are sent to back-stage management terminal；
Power plant module, connect with trolley main control module, provides power resources for motor, realizes straight trip or the differential of car body
It turns to；
Energy management module is connect with trolley main control module, is battery and posture position measurement module, safe early warning auxiliary
Module, data communication module, power plant module, Image Acquisition and processing module are powered, and energy management is carried out；
Image collection pretreatment module is connect with trolley main control module, and by treated, data are sent to trolley master control mould
Block carries out fusion treatment；
Trolley main control module, the data for that will acquire carry out fusion treatment.
Further, the unmanned logistics distribution system of the intelligent solar includes: solar panel, is connected with power plant module
It connects, charges to battery, provide the operation energy for car body and relevant device.
Another object of the present invention is to provide a kind of unmanned logistics distribution vehicles of intelligent solar to include:
Car body, using Solidworks three-dimensional picture software development tool, the equal proportion for establishing trolley in software is three-dimensional
Then model exports to cad software platform and carries out modification of dimension, assembled by corresponding fastener and connector；
Shaft coupling and photoelectric encoder: photoelectric sensor connection gear is printed using 3D printing technique, is connected by shaft coupling
Motor transmission power is connect, photoelectric encoder rotation is driven, the signal of acquisition is converted into pulse signal feedback again by photoelectric encoder
To the chip microcontroller speed feedback of trolley main control module.
Further, the unmanned logistics distribution vehicle of the intelligent solar is into further comprising:
Motor-drive circuit, datel circuit, sensor circuit, system power supply circuit, JTAG debugging interface, energy pipe
Manage circuit；
Motor-drive circuit includes: the bridge circuit chip and the enhanced metal-oxide-semiconductor of N-channel in included dead zone；
Capacitor C1, C3 of the bridge circuit chip in included dead zone are connected in parallel, and for the filtering of power supply, C2 is bootstrap capacitor
VCC charges by diode D1 to capacitor C2, and 2 IR2110 control chips are constituted H bridge with 4 metal-oxide-semiconductors and operated with driving motor；
Datel circuit includes: WiFi wireless transmitter module and serial communication modular；
WiFi wireless transmitter module EPS8266 is protected by power supply 3.3V module for power supply, GPIO15 drop-down and GPIO0 pull-up setting
The normal mode of operation of module is demonstrate,proved, RXD and TXD are connect with main control chip USART4_RX and USART4_TX respectively carries out data receipts
Hair；
Serial communication modular CH430 realizes that USB level conversion is Transistor-Transistor Logic level, by power supply 5V module for power supply, internal USB
Signal end in bus pull-up resistor and piece, UD+ and UD- pin are directly connected on usb bus, RXD and TXD respectively with master control core
Piece USART1_RX is connected with USART1_TX carries out data transmit-receive；
Sensor circuit includes: ultrasonic wave module, GPS module, gyro module and photoelectric encoder；
Ultrasonic wave module HC-SR04 by power supply 5V module for power supply, Trig the and Echo pin of J1 interface respectively with master control
PA0, PE2, PA1, PB0, PA2, PB1, PA3, PE3 pin are connected, and master control sends pulse triggering signal by Trig, and passes through
Echo detection echo-signal determines the distance of barrier；
GPS module NEO-6M is mentioned by power supply 3.3V module for power supply, the external GPS antenna of RF_IN for receiving satellite-signal
For serial data output interface, RXD1 and TXD1 connect with main control chip USART3_RX and USART3_TX carry out data receipts respectively
Hair；
Gyro module MPU6050 by power supply 5V module for power supply, SCL the and SDL pin of I2C interface respectively with master control core
Piece I2C1_SCL is connected with I2C1_SDL pin carries out data transmitting and receiving；
Photoelectric encoder by 5V module for power supply, output interface by two resistance series connection, point be connected to master control PB10 and
PB11 pin, the low and high level umber of pulse by measuring pin calculate vehicle wheel rotational speed；
System power supply circuit includes 24V power supply module, 5V power supply module and 3.3V power supply module；
24V power supply module is connected using two section 12V batteries, is directly powered for motor；
5V power supply module uses LM2596 switching power source chip, and input IN pin 24 connects battery, and output passes through filtering
Device, which exports, stablizes 5V voltage, is other 5V module for power supply；
3.3V power supply module uses AMS1117 linear regulator chip, and the output of input IN pin connection 5V power supply exports logical
Wave filter part, which exports, stablizes 3.3V voltage, is other 3.3V module for power supply；
JTAG debugging interface is directly drawn from the corresponding pin of master control, is connected by JTAG debugger with host computer, with reality
Existing program downloading and online trace debug；
Energy management circuit uses AMC1200 isolation amplifier chip, constitutes partial pressure electricity by R24, R25, R26, R27 resistance
Road is connected with the VINN of amplifier and VINP, ADC123_IN10 and the ADC123_IN11 connection of the output VOUTP and master control of amplifier,
Real-time collection voltages signal realizes energy management.
In conclusion advantages of the present invention and good effect are as follows:
The present invention has the characteristics of energy-saving and emission-reduction, Green Development, utilizes the newest hair of solar panel combination wisdom logistics
Direction is opened up, the technologies such as heterogeneous network technologies, Internet of Things, GPS positioning, image procossing, mobile interchange are subjected to information physical fusion.
The present invention utilizes high-efficiency solar switch technology, heterogeneous network technologies, Internet of Things, GPS positioning, image procossing, 3D printing, movement
The technologies such as interconnection carry out information physical fusion, build the unmanned logistic car system platform of solar energy.Its advantage specifically includes that
Use solar energy and battery hybrid to provide power resources for trolley, realize the trolley power supply control and
Motion control.It relies on solar battery to provide electric energy and gives motor drive module driving motor, and then realize detection moving of car, mistake
Need to complete the hardware components and program part of the detection trolley of solar battery driving in journey.
According to the scheme of unmanned vehicle GPS navigation system, unmanned intelligent vehicle system platform is built.Including to GPS, camera shooting
Head and various obstacle avoidance sensors choose and installation, and rationally design power unit, and whole system has small in size, installation side
Just, cruise-ability is good and high reliablity advantage.It is directed to existing vehicle platform simultaneously, line traffic control is carried out to its executing agency part and is changed
It makes, the steering of trolley, acceleration and deceleration motion is controlled by computer instruction.
Using multisensor Data Fusion technology, the reliable and accurate capture external environment of unmanned logistic car and vehicle are realized
After self performance status information, existing data redundancy contradiction between multisensor is eliminated, vehicle is reduced and the external world is perceived
Uncertainty, greatly improve the correctness of unmanned vehicle control decision.
The present invention passes through test analysis, and circuit power supply is normal, and each sensor module normally works, when unmanned logistics
Driving vehicle when driving, can carry out Analysis of Policy Making to current road environment, when vehicle body detects barrier on normal road
When hindering object, car body, which is automatically stopped or goes for a stroll according to the distance of ultrasound examination, avoidance and runs to safety zone, simultaneously
Image preprocessing system can acquire lane side route mark by USB camera, and collected picture is carried out to the place of binaryzation
Reason, the approximate location in lane sideline is determined by the method for edge detection, finds out the area of lane edge area, then utilizes threshold
The method control car body of value judgement is walked along lane sideline area row, while the longitude and latitude of real-time display car body, speed, orientation
The car status informations such as angle, battery capacity, and remote service center is sent to by wireless module.
Detailed description of the invention
Fig. 1 is the unmanned logistics distribution system figure of intelligent solar provided in an embodiment of the present invention.
In figure: 1, trolley main control module；2, posture position measurement module；3, safe early warning supplementary module；4, data communication
Module；5, power plant module；6, energy management module；7, Image Acquisition and processing module.
Fig. 2 is bridge circuit chip I R2110 internal structure chart provided in an embodiment of the present invention.
Fig. 3 is that bridge circuit chip I R2110 typical case provided in an embodiment of the present invention connects circuit.
Fig. 4 is the integrated circuit of motor provided in an embodiment of the present invention.
Fig. 5 is that motor provided in an embodiment of the present invention rotates forward working principle.
Fig. 6 is WIFI module power supply provided in an embodiment of the present invention and interface circuit.
Fig. 7 is CH340 serial communication chip interface circuit provided in an embodiment of the present invention.
Fig. 8 is the schematic diagram of ultrasonic wave module provided in an embodiment of the present invention.
Fig. 9 is GPS module circuit diagram provided in an embodiment of the present invention.
Figure 10 is MPU6050 modular circuit provided in an embodiment of the present invention.
Figure 11 is the control circuit of encoder provided in an embodiment of the present invention.
Figure 12 is battery supply modular system block diagram provided in an embodiment of the present invention.
Figure 13 is 5V Voltage stabilizing module circuit provided in an embodiment of the present invention.
Figure 14 is AMS1117 circuit diagram provided in an embodiment of the present invention.
Figure 15 is JTAG debugging interface circuit provided in an embodiment of the present invention.
Figure 16 is that solar panel provided in an embodiment of the present invention works normally simple equivalent circuit.
Figure 17 is solar electric power supply system provided in an embodiment of the present invention.
Equivalent model figure when Figure 18 is buck reduction voltage circuit figure provided in an embodiment of the present invention and switching tube turn-on deadline.
Figure 19 is AMC1200 chip circuit figure provided in an embodiment of the present invention.
Figure 20 is governor circuit schematic diagram and PCB figure provided in an embodiment of the present invention.
Figure 21 is ultrasonic measurement module timing provided in an embodiment of the present invention.
Figure 22 is ultrasonic wave software flow provided in an embodiment of the present invention.
Figure 23 is GPS main flow block diagram provided in an embodiment of the present invention.
Figure 24 is wireless sending module main program figure provided in an embodiment of the present invention.
Figure 25 is the duality of Points And lines in image space and parameter space provided in an embodiment of the present invention.
Figure 26 is the cumulative array in parameter space provided in an embodiment of the present invention.
Figure 27 is the polar coordinate representation of straight line provided in an embodiment of the present invention.
Figure 28 is Image Pretreatment Algorithm frame provided in an embodiment of the present invention.
Figure 29 is energy management software algorithm process flow chart provided in an embodiment of the present invention.
Figure 30 is general PID control schematic diagram provided in an embodiment of the present invention.
Figure 31 is trolley wheel speed PID control schematic diagram provided in an embodiment of the present invention.
Figure 32 is logistic car straight trip PID software flow pattern provided in an embodiment of the present invention.
Figure 33 is intelligence Data Fusion of Sensor module main program figure provided in an embodiment of the present invention.
Figure 34 is provided in an embodiment of the present invention based on lane line vehicular attitude orientation schematic diagram.
Specific embodiment
In order to make the objectives, technical solutions, and advantages of the present invention clearer, with reference to embodiments, to the present invention
It is further elaborated.It should be appreciated that the specific embodiments described herein are merely illustrative of the present invention, it is not used to
Limit the present invention.
In the prior art, on the energy and power, clean energy resource and new energy, power resources list are not utilized adequately
One, course continuation mileage is poor, and car body is larger, and installation and maintenance is inconvenient.In technical solution, common unmanned middle use cost
High high-precision sensor is unfavorable for product promotion and industrialization although superior performance.
In order to solve the above technical problems, being described in detail below with reference to concrete scheme to application principle of the invention.
As shown in Figure 1, the unmanned logistics distribution system of intelligent solar provided in an embodiment of the present invention includes:
Trolley main control module 1, posture position measurement module 2, safe early warning supplementary module 3, data communication module 4, power
Module 5, energy management module 6, Image Acquisition and processing module 7；
Trolley main control module 1: the data of each sensor of acquisition and image processing terminal are subjected to fusion treatment；
Posture position measurement module 2: the driving states information such as longitude, latitude, inclination angle, angular speed for detecting vehicle,
Judge whether car body turned on one's side or in climb and fall stage, including gyroscope and GPS positioning；
Safe early warning supplementary module 3: the barrier of detection traveling on the way, and then realize the function of safe avoidance, it is main to wrap
Include multiple ultrasonic distance-measuring sensors；
Data communication module 4: the data after fusion treatment are sent to back-stage management terminal by WiFi, including WIFI leads to
Letter, Bluetooth communication；
Power plant module 5: providing power resources for motor, realizes the straight trip or differential steering of car body, including motor driven
Device, motor；
Energy management module 6: for motor and other module for power supply, realizing the efficient management of energy, including power battery and
Solar panel；
Image collection pretreatment module 7: by halcon image preprocessing platform, by treated, data are sent to trolley
Main control module 1 carries out fusion treatment；Including camera and Halcon platform.
Based on the unmanned logistics distribution system of above-mentioned intelligent solar, the embodiment of the present invention provide a kind of intelligent solar nobody
The control method of logistics distribution system includes:
Using solar energy and battery hybrid, the power resources of operation are provided for car body and relevant device.
Analysis is acquired to current road environment, when vehicle body detects barrier, car body is according to ultrasound examination
Distance be automatically stopped or go for a stroll avoidance, and run to safe distance region.
Lane side route mark is acquired by USB camera, collected picture is carried out to the processing of binaryzation, passes through edge
The method of detection determines the position in lane sideline, finds out the area of lane edge area, then utilizes the method control of threshold decision
Car body processed is sailed along lane sideline area row.
The car status informations such as longitude and latitude, speed, azimuth, the battery capacity of real-time display car body, and pass through wireless mould
Block is sent.
In embodiments of the present invention, ultrasonic ranging method includes:
From starting counting at the time of emitting ultrasonic wave, when detecting barrier, ultrasonic wave is immediately returned to, trolley main control module
Receiver received, return signal, be simultaneously stopped counting, the signal received handled, with preset survey
Span, by the time t of timing, calculates distance D of the car body apart from barrier from being handled:
D=ct/2
Wherein c=340m/s is propagation rate of the ultrasonic wave in air dielectric condition；And then control car body steering or
Stop.
In embodiments of the present invention, wireless communication is transmitted by WIFI and Internet network, with mobile phone and PC machine service
Device establishes connection.
In embodiments of the present invention, lane side route mark is acquired by USB camera, collected picture is subjected to two-value
The processing method of change includes:
It reads in binary edge map A (m × n)；
Initialize tired sfp, add matrix A (θ, ρ)；
Scale coefficient sf is setp, to control the size of accumulated matrix A (θ, ρ)；
For each edge pixel point (xi, yi), θ ∈ [0,90] calculates following parameters:
θi=θi×Sθ；
ρ=xicosθi+yisinθ；
ρ1=ρ × s ρ；
Rewarding parameter carries out accumulation calculating to accumulated matrix；
A(θ1, ρ1)=A (θ1, ρ1)+1。
In embodiments of the present invention, the control method of the energy unmanned logistics distribution system of solar energy further comprises:
The each sensor integrated to posture position measurement module initializes, trolley main control module serial acquisition
Sensing data reads GPS data, gives motor one initial pulse, and the speed of motor operation is read using encoder-side, realizes
Simple fixation locus walking is carried out when accessible,
Tilt angle, acceleration of motion, ultrasound data, the USB camera data for judging car body, to the data of acquisition into
Row Data Fusion, when tilting of car body angle transfinites, vehicle stop motion, when acceleration of motion transfinites, logistics trolley
Stop motion detects barrier when car body Ultrasonic Sensor Data transfinites；
Trolley main control module controls motor and carries out differential steering avoiding obstacles, and USB camera acquires image data, carries out
The data processing of binaryzation sends data to trolley main control module and carries out data processing, and control motor carries out steering operation, most
Judge whether motor arrives at the destination afterwards, if not having, detection sensor data, re-start sensor initializing operation again.
In embodiments of the present invention, the present invention provides a kind of unmanned logistics distribution vehicle of intelligent solar and includes:
Car body, using Solidworks three-dimensional picture software development tool, the equal proportion for establishing trolley in software is three-dimensional
Then model exports to cad software platform and carries out modification of dimension, assembled by corresponding fastener and connector；
Shaft coupling and photoelectric encoder: photoelectric sensor connection gear is printed using 3D printing technique, is connected by shaft coupling
Motor transmission power is connect, photoelectric encoder rotation is driven, the signal of acquisition is converted into pulse signal feedback again by photoelectric encoder
To the chip microcontroller speed feedback of trolley main control module.
In the present invention, the unmanned logistics distribution motor-driven carrier of intelligent solar is into further comprising:
Motor-drive circuit, datel circuit, sensor circuit, system power supply circuit, JTAG debugging interface, energy pipe
Manage circuit.
Motor-drive circuit includes: the bridge circuit chip and the enhanced metal-oxide-semiconductor of N-channel in included dead zone.
Capacitor C1, C3 of the bridge circuit chip in included dead zone are connected in parallel, and for the filtering of power supply, C2 is bootstrap capacitor
VCC charges by diode D1 to capacitor C2, and 2 IR2110 control chips are constituted H bridge with 4 metal-oxide-semiconductors and operated with driving motor.
Datel circuit includes: WiFi wireless module and serial communication modular.
WiFi wireless module EPS8266 guarantees mould by power supply 3.3V module for power supply, GPIO15 drop-down and GPIO0 pull-up setting
The normal mode of operation of block, RXD and TXD are connect with main control chip USART4_RX and USART4_TX respectively carries out data transmit-receive.
Serial communication modular CH430 realizes that USB level conversion is Transistor-Transistor Logic level, by power supply 5V module for power supply, internal USB
Signal end in bus pull-up resistor and piece, UD+ and UD- pin are directly connected on usb bus, RXD and TXD respectively with master control core
Piece USART1_RX is connected with USART1_TX carries out data transmit-receive.
Sensor circuit includes: ultrasonic wave module, GPS module, gyro module and photoelectric encoder.
Ultrasonic wave module HC-SR04 by power supply 5V module for power supply, Trig the and Echo pin of J1 interface respectively with master control
PA0, PE2, PA1, PB0, PA2, PB1, PA3, PE3 pin are connected, and master control sends pulse triggering signal by Trig, and passes through
Echo detection echo-signal determines the distance of barrier.
GPS module NEO-6M is mentioned by power supply 3.3V module for power supply, the external GPS antenna of RF_IN for receiving satellite-signal
For serial data output interface, RXD1 and TXD1 connect with main control chip USART3_RX and USART3_TX carry out data receipts respectively
Hair.
Gyro module MPU6050 by power supply 5V module for power supply, SCL the and SDL pin of I2C interface respectively with master control core
Piece I2C1_SCL is connected with I2C1_SDL pin carries out data transmitting and receiving.
Photoelectric encoder is by 5V module for power supply, and for output interface by two resistance series connection, midpoint is connected to master control
PB10 and PB11 pin, the low and high level umber of pulse by measuring its pin calculate vehicle wheel rotational speed.
System power supply circuit includes 24V power supply module, 5V power supply module and 3.3V power supply module.
24V power supply module is connected using two section 12V batteries, is directly powered for motor.
5V power supply module uses LM2596 switching power source chip, and input IN pin 24 connects battery, and output passes through filtering
Device, which exports, stablizes 5V voltage, is other 5V module for power supply.
3.3V power supply module uses AMS1117 linear regulator chip, and the output of input IN pin connection 5V power supply exports logical
Wave filter part, which exports, stablizes 3.3V voltage, is other 3.3V module for power supply.
JTAG debugging interface is directly drawn from the corresponding pin of master control, is connected by JTAG debugger with host computer, with reality
Existing program downloading and online trace debug.
Energy management circuit uses AMC1200 isolation amplifier chip, constitutes partial pressure electricity by R24, R25, R26, R27 resistance
Road is connected with the VINN of amplifier and VINP, ADC123_IN10 and the ADC123_IN11 connection of the output VOUTP and master control of amplifier,
Real-time collection voltages signal realizes energy management.
In the present invention, solar panel is connect with motor-drive circuit, is charged to battery, be car body and
Relevant device provides the operation energy.
Application principle of the invention is further described below with reference to hardware.
Unmanned logistics distribution vehicle provided in an embodiment of the present invention.
Mechanical structure encoder provided in an embodiment of the present invention includes:
STM32 single-chip microcontroller under normal circumstances timer PWM input capture highest frequency be 100KHz and this sensing
The installation space problem of the shaft coupling of device sets the transmission ratio (mechanical secondary transmission ratio) of driving axle housing and driving sleeve are as follows:
Resolution ratio is the incremental encoder of 1000 lines, that is, 1000 pulses can be generated by turning around, therefore is considering to be driven
In the case where the certain situation of axis perimeter and 3D printer print resolution, the number of gears of motor shaft sleeve is 150 teeth, encoder
The number of teeth of axle sleeve is 75 teeth, and one circle of motor rotation, encoder issue 2000 pulses known to final following formula.
Encoder output umber of pulse=encoder resolution × (motor shaft sleeve/encoder axle sleeve)
Set hardware circuit is further described application principle of the invention below.
The embodiment of the present invention provide unmanned logistics distribution vehicle hardware circuit include: motor-drive circuit, datel circuit,
Sensor circuit, system power supply circuit, JTAG debugging interface, energy management circuit.
As Figure 2-Figure 5, motor-drive circuit provided in an embodiment of the present invention includes:
Using the enhanced metal-oxide-semiconductor of bridge circuit chip I R2110 and IR company's N-channel in the included dead zone of IR company production
The drain electrode rated current of IRF530, the pipe are 14A, and can withstand up to the peak point current of 49A, and maximum conducting resistance is not
Greater than 0.16 Ω, the crest voltage of receiving is 100V.
The maximum operating frequency of IR2110 can achieve 500KHz, and logic voltage is 5V to 15V, oneself outside upper tube
Capacitor is lifted to power on, by floating bootstrap circuit boost, so that driving power number is significantly less compared with the IC of other similar products,
Simultaneously because making the maximum of power drive output stage bear pressure resistance up to 500V using MOS actuation techniques.
The effect of capacitor C1, C3 are to play the role of power filter, and the filter capacitor that general power filter is chosen is one
A bulky capacitor and a small capacitances are connected in parallel, and that bulky capacitor is chosen is 10 μ F, and the value of small capacitances is 1 μ F, R1 and R2
50 Ω are chosen, wherein C2 is that bootstrap capacitor VCC charges by diode D1 to capacitor C2, to ensure when low side metal-oxide-semiconductor is closed,
The grid of high-end metal-oxide-semiconductor can have enough driving currents to drive T1, and the effect of bootstrap capacitor C2 generally has with the frequency of PWM
It closes, when the frequency of PWM is lower, biggish capacitor is selected, conversely, selecting lesser capacitor when frequency is lower.Bootstrap capacitor choosing
The calculation formula taken is as follows:
C1 > Qq/(vcc-10-1.2)
The frequency of motor is 10KHz, and entire circuit to the control of motor is completed by two panels IR2110, therein
The high-side driver HIN of a piece of IR2110 and in addition a piece of low side driving LIN connects together positive and negative to control motor progress in turn
Turn；Current trend known to similarly when motor reversal.
As Figure 6-Figure 7, datel circuit provided in an embodiment of the present invention includes:
WiFi wireless transmission: the wireless data transmission circuit of use, support embedded scm in line development, while
It supports transmitting, connection WIFIb/g/d signal by WIFI gateway, supports wireless SDIO2.0 (4 and 1 up to 50MHZ) letter
Number.Minimum power consumption electric current only has 1 milliampere under Sleep mode.In addition, the module embeds ICP/IP protocol, these do in user
It is highly useful when the application of data transmission.
WIFI wireless transmission carries out the transmission and reading of data, the unmanned logistics distribution vehicle of this system by the way of AT instruction
The transmission that data are carried out using WIFI module, sends computer terminal for the location information of GPS.Real time monitoring logistics is realized with this
The function of the operating status of car body.The optimized operation priority run by setup module realizes that the quick response of module is interrupted.
Serial communication: being transmission rate up to the full duplex serial port circuit of 20kbp.In order to by the USB level conversion of computer
For Transistor-Transistor Logic level, using the CH340 serial communication chip produced by Maxim, which has the two-way dual output of full duplex
Interface, can be the Transistor-Transistor Logic level that can identify of single-chip microcontroller by the USB level conversion of computer, Shi Yong USB turns Serial Port Line and figure
As processing unit is attached, data transmission is realized.
As shown in figure 8, ultrasonic distance measurement provided in an embodiment of the present invention includes:
Ultrasonic wave refers to that the working frequency of system is higher than the mechanical wave of 20KHZ, ultrasonic sensor circuit integration ultrasound
Wave transmitter and ultrasonic receiver are realized mutually converting between electric energy and ultrasonic wave using piezoelectric effect principle, that is, are being sent out
The mechanical shock that ultrasound is converted electrical energy into when sending then is turned the mechanical shock of ultrasonic wave by circuit when emitting ultrasonic wave
It is melted into electric signal, the ranging of unmanned logistics distribution vehicle provided by the invention uses HC-SR04 ultrasonic distance measurement, the ultrasonic wave
Ranging can provide the contactless distance sensing function of 2cm-400cm, and range accuracy can achieve 3mm, be internally integrated super
Pinger, receiver and control circuit.
When providing the pulse signal of 10us or more, inside will issue the level in 8 40KHZ periods and detect echo.One
Denier trolley main control module has detected echo-signal, then exports response signal, the pulsewidth of response signal is at a distance from being surveyed at just
Than the distance that can be calculated by time interval.
As shown in figure 9, GPS positioning provided in an embodiment of the present invention includes:
NEO-6M module of the GPS positioning module for U-BLOX company, detail parameters:
Carried out data transmission using serial communication mode and bottom layer driving controller, communication baud rate 4800, usage mode
It is relatively simple, it is only needed under normal circumstances using three output lines, the direct current supply of the first connection 3.5-5.5V, the 5th foot is electricity
Source, No. second pin are GPS measurement output Transistor-Transistor Logic level signals, and the start and stop of serial output port, follower can be direct
It is controlled by single-chip microcontroller, if single-chip microcontroller directly can read data from asynchronous serial port using default setting.GPS is supplied
Circuit is as shown in Figure 9
Carried out data transmission using serial communication mode and bottom layer driving controller, communication baud rate 4800, usage mode
It is relatively simple, it is only needed under normal circumstances using three output lines, the direct current supply of the first connection 3.5-5.5V, the 5th foot is electricity
Source, No. second pin are GPS measurement output Transistor-Transistor Logic level signals, and the start and stop of serial output port, follower can be direct
It is controlled by single-chip microcontroller, if single-chip microcontroller directly can read data from asynchronous serial port using default setting.GPS mould
Block circuit is as shown in Figure 9.
As shown in Figure 10, MPU6050 module provided in an embodiment of the present invention includes:
MPU6050 is made of 3 axis MEMS gyroscopes and 3 axis mems accelerometers, and the biography of data is carried out by I^2C bus
It is defeated, it can obtain all corresponding one 16 AD conversion values of each of which axis, its resolution ratio is 3.9mg/lsb, can be measured
Change of pitch angle of ^ ° less than " 1.0 ", chip work normally when, trolley main control module by IIC interface read MPU6050x axis,
The data of y-axis and z-axis are converted by certain proportionate relationship, obtain actual angle and angular speed.MPU6050's
Pin function:
Wheel velocity feedback module provided in an embodiment of the present invention includes:
The effect of vehicle wheel rotational speed feedback transducer is to detect the speed of wheel, and the signal of speed is fed back to trolley master control
Module, the wheel speed feedback system of unmanned logistics distribution vehicle of the invention is using photoelectric sensor, such as the control of Figure 11 encoder
Circuit processed is dropped the 5V signal of sensor output at 3.3V for single-chip microcontroller input capture by the way of electric resistance partial pressure, can be effective
Prevent single-chip microcontroller from being broken because input voltage is excessively high.
As shown in figure 12, system power supply circuit provided in an embodiment of the present invention includes:
It is powered using the lead storage battery of two section 12V to unmanned logistics distribution vehicle, because unmanned logistics distribution vehicle is in motion
By ground resistance variation it is more frequent, acceleration and deceleration and braking it is more frequent, such road environment can make DC-DC power source car body into
High-frequency current variation can be introduced when row quick action, causes the voltage fluctuation at cell load both ends larger, so carrying out power supply
Battery both ends are filtered when circuit.
Using the power supply power supply of 24V, therefore in order to meet sensor, the normal work of trolley main control module, this system
Need for voltage value to be divided into two voltage gears of 5V, 3.3V.5V supply voltage uses LM2596 Switching Power Supply, is switching type voltage tune
Economize on electricity source control monolithic integrated optical circuit, which integrates frequency compensation and fixed frequency generator, the switching frequency of circuit
For 150KHz, therefore the filtering original part of very little specification can be used in terms of filtering, output peak-peak driving current is 3A, together
When there is linear well and load regulation.The circuit diagram of 5V Voltage stabilizing module such as Figure 13.
3.3V voltage regulator circuit such as Figure 14 generates stable 3.3V voltage, the core using LDO linear voltage regulator AMS1117
On piece is integrated with the hardware circuits such as the very low metal-oxide-semiconductor of conducting resistance, Schottky diode, sample resistance and divider resistance, has
The functions such as overcurrent protection, overheat protector, accurate a reference source.
As shown in figure 15, JTAG debugging interface provided in an embodiment of the present invention includes:
STM32 trolley main control module is integrated with JTAG debugging port, can be posted controller inside by the port user
Storage is written and read, and can refresh FLASH, realizes the online trace debug of various modes.
As shown in Figure 16-Figure 19, energy management circuit provided in an embodiment of the present invention includes:
Energy Management System is solar panel, also known as photovoltaic battery panel or photocell, and cardinal principle is to pass through
Photoelectric effect or photochemical reaction are directly converted into the luminous energy of nature the optoelectronic semiconductor solar panel of electric energy, by with silicon wafer
The sunlight that manufactured solar panel absorbing wavelength is 0.4-1.1 microns, directly converts light energy into electric energy.
Solar battery can be simulated in normal work with an equivalent circuit, under certain illumination condition,
Photronic photoelectric current under normal running conditions it is directly proportional to its intensity of illumination (proportionality coefficient by solar panel inside
Characteristic and determine), in equivalent circuit, constant-current source can be seen as, a part of photoelectric current flows through load, in load
Both ends generate certain pressure drop U, while being just partial to PN junction, generate one dark current Id opposite with photoelectric current flow direction.?
Series resistance and parallel resistance are introduced in equivalent circuit, form the equivalent electricity of photovoltaic for being more bonded actual equivalent circuit
Road.
It is available by the circuit:
I=Iph-Id-Ip
Wherein, I is the output electric current of solar-energy photo-voltaic cell, IphFor the photoelectric current of photovoltaic cell, IdTo flow through PN junction
Junction current, IpTo flow through its internal parallel resistance RpElectric current.
For electric current IpHave:
Wherein U is the output voltage for loading both ends, RgFor the series resistance of equivalent circuit, RpFor the parallel connection electricity of equivalent circuit
Resistance.
For Id, have:
Wherein IsFor the reverse saturation current (order of magnitude 10 of PN junction-4A usually takes IsIt is 8 × 10-4, and IsCharacteristic meeting
It is reduced with the raising of temperature)；U is the pressure drop of load end, and T is absolute temperature, when n is T=300K, the ideal factor of PN junction,
It and is with this condition n=2.8, q=1.6 × 10-19C is the quantity of electric charge of electronics, K=1.38 × 10^-23J/K is Boltzmann
Constant.
The expression formula between the output electric current of solar battery and output voltage can to sum up be obtained are as follows:
IphAnd IsIt is all related with environmental factor and meet condition:
Wherein ISCRIt is the test short circuit current of the solar panel under standard conditions, K1It is the temperature under short circuit condition
Coefficient is spent, B is the ratio correction coefficient under standard test condition,
In the embodiment of the present invention, solar panel is also that solar energy is small as the core in whole system
Highest part is worth in vehicle system.Its effect is that the radiation energy of the sun is converted to electric energy, is sent in battery and stores,
And push loaded work piece.The utilization efficiency of solar panel and the Charge Management of battery are to entire solar energy trolley electric energy system
System has vital effect.
It include: solar panel, DC-DC circuit, DC speed-reducing load, battery, Acquisition Circuit, control circuit
Etc. modules.Wherein DC-DC circuit is buck reduction voltage circuit.Circuit is Buck conversion circuit, also referred to as Buck circuit.Buck
Average output voltage reduction is that the input of Buck is terminated at photovoltaic cell output end by way of copped wave by converter, is led to
The output voltage of converter is overregulated to achieve the purpose that adjust load.When carrying out parameter, it is necessary to consider buck reduction voltage circuit
Two kinds of operating modes, i.e. continuous current mode operating mode and inductive current discontinuous conduction mode.
In application, circuit should be made to be maintained at the mode of continuous work in solar controller.Therefore use the N ditch of IR company
The drain electrode rated current of the enhanced metal-oxide-semiconductor IRF3205 in road, the pipe are 14A, and can withstand up to the peak point current of 110A,
Maximum conducting resistance is not more than 8m Ω, and the crest voltage of receiving is 55V.
Voltage collection circuit is mainly made of bleeder circuit and AMC1200 chip.Wherein bleeder circuit mainly passes through
Electric resistance partial pressure, and AMC1200 then primarily serves the effect of signal isolation, amplification, and signal is allowed preferably to be input in controller.By
In the peripheral circuit requirement that master control and other sensors form, decompression power supply is individually carried out.
In the embodiment of the present invention, image processing unit provided by the invention includes:
It is communicated between image processing unit and trolley main control module by asynchronous serial port, image processing unit will be taken the photograph
Serial ports is crossed as the environmental information of head acquisition to be sent on trolley main control module STM32, and then is controlled car body and turned to or stopped
Movement.
As shown in figure 20, trolley main control module provided in an embodiment of the present invention includes:
The main task of trolley main control module is acquired to the information of each sensor and to image processing unit
The instruction of transmission carries out parsing and fusion treatment, finally obtains posture of the unmanned logistics distribution vehicle relative to the road environment in lane
Situation.
Unmanned logistics distribution vehicle on real road when testing, the complex and accidental burst of the working condition of operation
Event is more, therefore when minimum system carries out, must pay attention in terms of the performance and anti-interference of system, hardware system into
When row, it should be noted that the volume of interference free performance and whole circuit board between modules is to be easily installed；It uses
The STM32F103VET6 of ST Microelectronics's production is trolley main control module.
Application principle of the invention is described further below with reference to system software.
1, sensor information is acquired and is communicated:
As shown in Figure 21-Figure 22, ultrasonic distance measurement provided in an embodiment of the present invention includes:
Based on the avoiding obstacles by supersonic wave module of STM32 trolley main control module, ultrasonic wave module emits ultrasonic wave to a direction,
From starting counting at the time of emitting ultrasonic wave, when module detects barrier, ultrasonic wave is immediately returned to, while receiver receives
To signal, return signal, trolley main control module are simultaneously stopped counting to receiving module immediately, and the signal received is handled,
It is handled with preset measurement distance, by the time t of timing, distance D of the car body apart from barrier can be calculated:
D=ct/2
Wherein c=340m/s is propagation rate of the ultrasonic wave in air dielectric condition.And then control trolley steering or
Stop.
As shown in figure 23, GPS positioning provided in an embodiment of the present invention includes:
The data format of GPS data frame is the data format of NMEA-0183, can extract the longitude and latitude of car body position
Other positioning states information such as degree, height, speed, azimuth.NEO-6M externally has 4 interfaces: UART, SPI, USB, I2C.With
Family can obtain GSV, RMC, GSA from data parsing, GGA, GLL, the data of the different-formats such as VTG, but for this without personage
One type or partial data may only be used for the car body of dispensing vehicle by flowing, and can be obtained according to data format parsing desired
Data.
Order, which is sent, by serial ports opens or closes corresponding data, interface leaves behind UART, and other interfaces are all closed, if
User wants to be sent such as: " 62 06 01 08 00 F0 00 00 00 00 00 00 of GGA (off) B5 with other interfaces
01 00 24 ", " 62 06 01 08 00 F0 00 00 01 00 00 00 01 01 29 of GGA (on) B5 " etc. is ordered, wherein
Ordering off is to close corresponding data, and on is to open corresponding data.16 bytes of every order, as long as being gone here and there in each be powered
Line mode sends the desired data ready to receive arrived to main control chip with 9600bps baud rate.
As shown in figure 24, wireless communication provided in an embodiment of the present invention includes:
Data transmission is completed by the transmission between WIFI and Internet network, its internal protocol stack is passed through
Carry out the transmission of data.Initial configuration, the various interruptions of setting are carried out most to the corresponding port I/O by trolley main control module
The initial configuration of excellent priority and timer conter used, inquired by a series of code WIFI network whether with
Mobile phone and PC machine server establish connection.
2, image procossing and Lane detection provided in an embodiment of the present invention, as shown in Figure 25 to Figure 26, comprising:
It is as follows using the principle detection and identification image, specific algorithm idea of Hough transformation:
For discrete limited image, the thinking of Hough transform is the ginseng for forming all possible lines parameter
Number space is quantified as limited parameter list.
(1) each element of the table is initialized as 0；
(2) to point each in image, cumulative statistics is carried out to all parameters by the point；
(3) after having counted, the corresponding original image parameter lines for seeking to detection of the parameter of the amplitude point of parameter space.
The advantages of Hough transform is that noiseproof feature is preferable, and can connect conllinear short straight line, the disadvantage is that not accounting for space
Neighbouring characteristic, can to avoid the difficulty for filling up the gap between marginal point, separate isolated edge may be added come, cause
Position inaccurate.And parameter is difficult to select and calculate complicated, and the resolution ratio for extracting straight line is low and lack local characteristics.
The basic ideas of Hough transform are the correspondences of dotted line.In parameter sky after image space, transformation before image transformation
Between.In image space, all straight lines for crossing point σ all meet equation:
Y=px+q
Wherein p is slope, and q is intercept.Above formula is readily modified as:
q-px+y
Above formula may be considered the straight line that point (p, q) is crossed in the PQ of representation parameter space.Figure 28 gives an example,
The left side is image space, and the right is parameter space.Point (x is crossed in image space XYi, yi) y can be written as by linear equation
=pxi- q can also be write as y=-pxi+yi, straight line of the latter's expression in parameter space PQ.Similarly cross point (xi, yi) have
yi=pxi+ q can also be write as qi=-pxi+yi, indicate the another straight line in parameter space PQ.If this two straight lines are being joined
Point (p ', q ') in the PQ of number space intersects, here a mistake (x in point (p ', q ') correspondence image space X Yi, yi) and (xj, yj)
Straight line because they meet yi=pxi+ q and yi=p ' xi+q′.It can be seen that crossing point (x in image space XYi, yi) and (xj,
yj) straight line on the corresponding straight line in parameter space PQ of each point, these straight line intersections are in point (p ', q ')
It follows that conllinear point corresponds to the line intersected in parameter space in image space.In turn, in parameter sky
Between in intersect at same point all straight lines there is conllinear point to be corresponding to it in image space.Here it is points to the antithesis of line
Property.According to point to the duality of line, when some marginal points of given image space, so that it may be determined and be connected by Hough transform
Connect the equation of these points.Hough transform is transformed into straight-line detection problem in image space the inspection in parameter space to point
Survey problem completes Detection task by carrying out simple cumulative statistics in parameter space.
Need to establish the cumulative array of a 2-D in parameter space PQ in specific calculate.If this cumulative array is A
(p, q), as shown, wherein [p_min, p_max] and [q_min, q_max], the value of respectively expected slope and intercept
Range.It is zero that array A (p, q) is set when beginning, then to the given marginal point in each image space, p is allowed to take on P axis
All probable values, and corresponding q is calculated according to formula.It adds up further according to the value (setting all round numbers) of p and q to A (p, q): A
After (p, q)=A (p, q)+1. is cumulative, according to the value of A (p, q) it is known that how many point is conllinear, i.e. A (p, q)
Value be exactly the collinear points at (p, q) number.(p, q) value also gives the parameter of linear equation simultaneously, that is, gives an institute
Straight line.
When actually using Hough transform, one is used according to image concrete condition on the basis of above-mentioned basic skills
A little measures are to improve accuracy and speed.One of classical method is using polar coordinate method, by taking straight line as an example.
The size of accumulated matrix all has a significant impact to the precision and calculation amount of calculating.When solving linear equation, if straight line
Close to vertical direction, then can for p and q value all close to infinite and calculation amount is made to increase (because accumulator size will be very
Greatly).At this point it is possible to use the equation in coordinates of straight line:
ρ=xcos θ+ysin θ
(x, y) represents the point coordinate on straight line L, and θ, ρ are respectively the parameter in the space Hough, and θ was that origin and straight line L hang down
Angle between straight straight line and x-axis, ρ are distance of the origin to straight line L.
One sine curve in the corresponding new parameter space of point in original image image space, i.e., original duality become
Present point chord curve duality.It detects point needs conllinear in image space and detects sinusoidal friendship in parameter space
Point.Particularly as being to allow θ all over taking all possible value in x-axis, and calculate corresponding ρ according to above formula.Further according to θ and ρ value (
Through being rounded) it is cumulative to accumulated matrix A (θ, ρ), the number of collinear points is obtained by the numerical value of A (θ, ρ).Here it is established in parameter space
The method of accumulated matrix is still similar to the above, and only no matter how straight line changes, and the value range of θ and ρ are all finite regions.
Specific algorithm is as follows:
(1) binary edge map A (m × n) is read in；
(2) tired sf is initializedp, add matrix A (θ, ρ)；
(3) scale coefficient sf is setp, to control the size of accumulated matrix A (θ, ρ).
(4) for each edge pixel point (xi, yi), θ ∈ [0,90] calculates following parameters:
θi=θi×sθ
ρ=xicosθi+yisinθi
ρ1=ρ × s ρ
(5) rewarding parameter carries out accumulation calculating to accumulated matrix.
A(θ1, ρ1)=A (θ1, ρ1)+1
Hough transform biggest advantage is that noise resisting ability is strong, can detect straight line in the lower situation of signal-to-noise ratio
Parsing straight line: it the shortcomings that be to need to make first the image preprocessings works such as binaryzation and border detection (or refinement)
Make, input picture is made to be changed into the straight line of one pixel of width or the dot chart of curve form.
Unmanned logistics distribution vehicle system of the invention is the lane using halcon image procossing development platform identification road
Sideline acquires road environment picture with camera, is carried out the picture of acquisition back at binaryzation by computer development platform
Reason, then identified the lane sideline on picture by way of the judgement of threshold value, and extract and choose from whole picture
Lane edge area.Contours extract is carried out to the lane sideline extracted, one is fitted to and crosses lane sideline center seat
Target straight line.The algorithm development packet for recycling halcon image processing platform to provide parses what picture obtained according to processing platform
Coordinate points calculate the mathematic(al) representation of the straight line being fitted to.Finally by identical method in the lane sideline area Shang Quyiduan
Domain measurement, which goes out the centre coordinate in this region and substitutes into the above-mentioned fitting a straight line acquired, to be judged, will be controlled finally by serial ports
System order is input to trolley main control module, is turned to or is stopped by trolley main control module control car body.Figure 27 is the embodiment of the present invention
The polar coordinate representation of the straight line of offer.Figure 28 is Image Pretreatment Algorithm frame provided in an embodiment of the present invention.
3, energy management unit software provided in an embodiment of the present invention, as shown in figure 29, comprising:
It is charged by the way of energy saving and environment friendly to battery, battery is filled using solar panel
Electricity.Since battery is single-unit 12V, system power supply requires to be 24V, to guarantee battery charging safety, and carries out battery list
Block charges respectively.Solar panel first charges to battery one, acquires battery both end voltage by peripheral Acquisition Circuit
It send to single-chip microcontroller and is handled, when it reaches voltage rating, signal is controlled relay by I/O port to disconnect by single-chip microcontroller
The charging circuit of battery one goes to and charges to battery two, until two pieces of batteries are fully charged.
4, in trolley planned orbit motion control arithmetic, planned orbit movement needs analysis bag provided in an embodiment of the present invention
It includes:
Logistic car is required to stable be maintained in scheduled footprint straight during normally travel on road
Row, it is therefore desirable to the planned orbit algorithm of auxiliary be added during logistic car traveling.By to logistic car driving system into
Row analysis is it is found that two high power DCs that the logistic car power that car body travels during execution task is logistic car slow down
What motor provided.Therefore it can learn in unmanned logistics distribution vehicle straight movement control module, control object is car body, and two direct currents subtract
Speed motor is the control input quantity of control module, and the revolving speed difference data of motor is the feed back input amount of control module.
The straight movement control of logistic car is realized by negative-feedback, and two motors of car body contact ground.And due to two
The characteristic of a motor can have a small difference, thus the speed difference of two motors become logistic car straight trip it is unstable because
Element.The duty ratio of the input PWM adjustment signal by adjusting two wheels is needed, it is synchronized straight be finally reached two wheels
Row.By the velocity amplitude of encoder two wheels of detection and as the feed back input amount of control module, it is passed to straight movement control system,
And output pwm signal finally makes unmanned logistics distribution vehicle keep straight in auxiliary into motor driver after control algolithm calculates
Dynamic synchronized straight trip can be reached in the process.
As shown in figure 30, general PID control principle provided in an embodiment of the present invention:
PID controller is very common in Industry Control as feedback loop component, feedback theory three elements are as follows: measurement, ratio
Compared with and execute.Wherein measurement refers to the actual value of measurement controlled variable, is then compared measured value with the desired value of system,
Carry out the corresponding of correcting system by comparing deviation, control, circulating repetition is finally adjusted.Ratio, integral, differential control are real
The control law being most widely used in the engineering of border.Wherein ratio control is by system deviation multiplied by a constant, integral element
It is that the deviation of system is subjected to integral operation, differentiation element is that the deviation of system is differentiated.System deviation is system
The measured value of input and the difference of system desired value.By the demand analysis to control system of balance car, preferred site type of the present invention
PID。
The expression formula of PID control are as follows:
Wherein, e (t) indicates the input quantity of control system and the difference of desired value, and u (t) indicates the control amount of control system, y
It (t) is the output quantity of control system.
In three control parameters of position type PID, the output of ratio control and system deviation e (t) direct proportionality,
It can rapidly make a response to reducing error, but only proportional control when system meeting there are steady-state errors.Integral control
The output quantity of system and the integral of system deviation e (t) are directly proportional, when system there are integral control actions when error will be with the time
Increase constantly accumulated, error is eliminated by output control amount.As long as there is time enough, error can be smaller and smaller
Until completely eliminating error.But if the effect of integration control is too strong, the overshoot of system can be made to increase, even result in and be
System shakes.The output of differential control and the differential of error originated from input data are proportional.It has advanced inhibition error
Effect, the overshoot occurred in control system can be reduced, overcome concussion even unstability the case where, the stability of system can be made
Improve, and the dynamic responding speed of system can be made to accelerate, the time of reduction system adjusting to stable state, and can make be
The dynamic property united in adjustment process is improved.
As shown in Figure 31-Figure 32, trolley wheel speed pid control algorithm provided in an embodiment of the present invention includes:
By above-mentioned analysis, realized in the present invention using pid control algorithm.The wherein input quantity of control system and artificial
The speed difference of two wheels of logistic car of setting because of upright traveling, therefore selects speed difference for zero.The control amount of control system is logical
Cross two wheel speed values obtained after PID arithmetic.The output quantity of control system is that motor drive is input to after velocity amplitude is converted
The PWM wave dutyfactor value of dynamic model block.
Electric machine speed regulation is made of two mutually independent PID controllers.Two controllers respectively control left and right wheels.
During moving of car is advanced.The motor encoder being mounted on trolley driving wheel constantly detects the travel speed of trolley simultaneously
Feed back to single-chip microcontroller.Single-chip microcontroller is compared with a reference value in internal renewal speed data and show that system deviation e (t) ratio is transported
Calculate by deviation carry out Linear Amplifer improve system sensitivity, integral operation velocity deviation e (t) is integrated to obtain advance away from
From fluctuation situation, differentiate to velocity deviation e (t) carry out that differential obtains that acceleration is used to predict subsequent time speed can
It can situation of change.The control pulse of final PID controller in summary three kinds of operations output single-wheels.Of particular note is that two
The a reference value of a PID controller is identical.So two wheels are always intended to the traveling of identical speed.In adjustment process
In due to integrator presence thus can guarantee that the travel distance of left and right two-wheeled is the same.The two, which combines, ensure that the straight of trolley
Line traveling.
It is interrupted, the pulse signal of motor encoder is captured, and then measure logistic car vehicle by the capture of timer
The speed of wheel.By updating the velocity information of wheel in timer interrupt service function, then it is compared simultaneously with setting value
Pid control computation is carried out, and carry out constraint to the PWM wave value of output to prevent motor damage.Finally by the certain PWM base of setting
Value compensates come the mechanical gear dead zone to motor.The execution PID recycled by the timer service function of intercycle
Control program, the final synchronized straight trip for realizing logistic car.
5, data anastomosing algorithm provided in an embodiment of the present invention, as shown in Figure 33-Figure 34, comprising:
In the context aware systems of logistic car, the environment sensing function of vehicle can not be achieved using single sensor,
Therefore need that different sensors is installed in the different positions of the surrounding of car body, each sensor to the environment in corresponding region into
Row detection, and Data Fusion is carried out to the sensor of same kind or different types, to realize to logistics car body
The detection of obstacles of ambient enviroment 360 ° omni-directional.
Environment measuring data fusion module is mainly the data for passing through the multiple and different sensors for detecting multiple orientation, right
The data of the sensor of overlapping region carry out fusion treatment, so that the multi-source information of conventional road environment is got, finally to more
The multi-source information of a sensor carries out Data Fusion, and realizing has higher recognition capability and letter than single sensor
Cease acquisition precision.
Multiple sensor data fusion algorithms use Weighted Fusion algorithm, mainly pass through the inspection of different sensors
The ambient condition information that characteristic is effectively weighted the output of each sensor is surveyed, weighting fusion treatment algorithm is right respectively
The environmental information that each sensor detects adds weight, is carrying out Data Fusion, identical if there is multiple types
Sensor is independent to carry out detection T to same environmental information1, T2, T3…·Tn, the data letter of target detected by sensor
Breath is x1, x2, x3…xnIt is the unbiased esti-mator about x, the variance for the information that each sensor detects is respectivelyEach sensor is w in the weight that fuse information unit is occupied1, w2, w3…wn, then passing through sensor
The state estimation of the information of the fused multiple sensors of use processing unit and its assign and weight ratio
Are as follows:
If weight shared by the sensor of each sensor in formula is mean allocation, such Weighted Fusion side
Method is known as sensor Weighted Fusion algorithm, and medium weight isFused data after being weighted averagelyIt is:
The fused total variance of sample data is:
Because of xi(i=1,2,3..n) is independent from each other, and belongs to estimation error, then just having:
E[(x-xi)(x-xj)]=0
Therefore the deformed equation of above formula are as follows:
So being finally weighted and averaged the population variance of later blending algorithm is:
The detection of obstacles and wheelpath algorithm of unmanned logistics distribution trolley are mainly based upon MPU605, supersonic sensing
The information fusion technology of device and GPS positioning module, wherein barrier is denoted as O as detected target object.The inspection of barrier
Measured data O={ Oc, OrFormed by the data fusion of MPU605, ultrasonic sensor and GPS positioning module.
WhereinIt is the state estimation of barrier, is made of the state estimation of a series of barrier, p is state estimation
Covariance,Barrier object there are a possibility that, c is the target vector for defining barrier.
Sensing data convergence module mainly passes through serial ports or other communication protocols acquisition sensing data, according to sensing
Communication protocol between device and trolley main control module parses sensing data, obtains the timestamp, sensor type, biography of sensor
The data such as sensor numerical value, and the data of sensor are subjected to fusion treatment control logistics car body and the operation such as turned to, stopped.Most
The communication protocol that data after fusion treatment are passed through to bottom layer driving device and wireless transport module afterwards, by the position of unmanned logistic car
Information, the data such as numerical value of sensor set up data packet again and send information to upper computer end.
Sensor data fusion module is acquired mainly for sensor information and location information, parses, and will finally pass
The information of sensor carries out fusion treatment.Concrete implementation method is as follows:
1) each sensor is initialized, trolley main control module serial acquisition sensing data, reads GPS number
According to, give motor one initial pulse, the speed of motor operation read using encoder-side, realize carried out when accessible it is simple
Fixation locus walking,
2)
2) Ultrasonic Sensor Data is read, barrier has been detected whether, has determined barrier by the data of different location
Orientation, detour on the left of trolley or right side is detoured to control,
3) trolley travels across in vehicle, USB camera continuous collecting image data, carries out the detection processing in lane sideline, really
The center reference line for determining vehicle driving is adjusted by PID so that vehicle tracking center line stable operation,
3) continuous collecting gyro data, by each azimuth, acceleration and speed determine the posture of vehicle, and limit
In safe range, the abnormal conditions such as vehicle rollover caused by excessive velocities when upward slope, descending, turning is avoided to occur,
4) multidate information of collected vehicle is sent to by remote service center by data transmission module in real time, is realized
Long-range monitoring and management.
Application principle of the invention is further described below with reference to system testing.
The present invention includes: system power supply test, sensor test, avoidance test, the test of bend situation, lane identification survey
Examination；
The system power supply that the specific embodiment of the invention provides is tested
The hardware operation of circuit board is tested, the hardware configuration of this system includes at sensor hardware circuit major control data
Manage unit and wireless transmission transmission circuit and system power supply circuit.After connecting lead storage battery in the debugging process of system power supply
The voltage that power module is detected in output end is 24V, uses the ripple of the AC measurment gear measurement lead storage battery of oscillograph
The ripple voltage of voltage and Voltage stabilizing module.The ripple voltage of power supply is each after modules power supply within 20mv after tested
Module can normally work.
The sensor that the specific embodiment of the invention provides is tested
After system normally runs work, first checks the working condition of each sensor of system, specifically do
Method is as follows:
1) circuit board when test ultrasonic sensor encounters barrier, is passed through into serial ports as under normal working environment
It shows in the distance to PC machine when ultrasonic sensor detects barrier, ultrasonic test data are as follows；
2) antenna for, connecting GPS module sees whether D5 light emitting diode flashes after powering on one minute, if do not flashed,
The serial ports output pin TXD that GPS module is checked with oscillograph, if there is waveform specification module is normally working.Take another look at D5
Input pin, see if there is the variation of level.If there is the variation of level illustrates that welding diode is anti-or interlock circuit
There is interference to GPS module.If serial ports does not have output waveform, specification module does not work normally.It normally works in circuit
When, unmanned logistics distribution vehicle put to (only signal is stronger when outdoor, can obtain as GPS is tested in outdoor environment
Take certain almanac data) obtain location information the case where, measurement when being placed in outdoor environment by trolley main control module parse
In the position change of car body, longitude and latitude can change correspondingly longitude and latitude afterwards.
3, the power supply and interface circuit of WIFI module are tested, first test supply voltage, sees whether operating voltage is 3.3V
And power supply ripple whether meet module normal starting requirement, cannot normally start if excessive, can it is appropriate again
Add several electrolytic capacitors, after system power supply is normal, tests WIFI module power supply enable end, it is high to the input of the port WIFI-PWR
Whether level is seen can open power supply.
The barrier avoiding function that the specific embodiment of the invention provides is tested
Unmanned logistics trolley is put to outdoor environment, electric supply system is opened, to sensor and wireless hair
It penetrates after module normal work, can observation logistics trolley normally walk along lane sideline edge certain distance, if cannot
It normally normally walks along lane sideline edge, then illustrates that camera module and image processing unit do not have normal work
Make, then detect ultrasonic wave module when avoidance range etc, normal avoidance walking can be carried out.If cannot, it says
Bright ultrasonic wave module does not work normally.
The specific embodiment of the invention provide negotiation of bends functional test include:
Unmanned logistics trolley is put to outdoor environment, electric supply system is opened, to sensor and wireless hair
It penetrates after module normal work, can observation logistics trolley normally walk along lane sideline edge certain distance, if cannot
It normally normally walks along lane sideline edge, then illustrates that camera module and image processing unit do not have normal work
Make, when camera module normally works, logistic car is put to corner, sees whether it can be along the normal row of trapped orbit
It sails.
The Lane detection that the specific embodiment of the invention provides is tested
Unmanned logistics distribution vehicle is mainly to acquire lane line mark by USB camera based on halcon image procossing,
To realize the function of Automatic Track Finding, collected lane line region is sent to software halcon, it is handled.It will adopt
Collect the picture that comes and carry out binary conversion treatment, the edge detection by halcon method, selected determine the big of lane sideline
Cause position.After the approximate location for determining lane sideline, selecting to come out lane side line drawing by threshold value.Finally in lane
On sideline intercept a region get off, find out the area and barycentric coodinates in the region, finally by judge the area and center seat
Target situation of change sends control signals to trolley main control module by the method for serial communication, to control small garage
It sails.
By test analysis, circuit power supply is normal, and each sensor module normally works, when trolley is in normal road
Road face when driving, can carry out Analysis of Policy Making, when vehicle body detects barrier, car body energy to current road environment
It is enough automatically to be run to except safe distance according to the distance of ultrasound examination, while image preprocessing system can pass through USB
Camera acquires lane side route mark, and collected picture is carried out to the processing of binaryzation, is determined by the method for edge detection
The approximate location in lane sideline finds out the area of lane edge area, then using threshold decision method control car body along
Lane sideline area row is walked, the car status informations such as longitude and latitude, speed, azimuth, battery capacity of real-time display car body, and is led to
It crosses wireless module and is sent to remote service center.
The foregoing is merely illustrative of the preferred embodiments of the present invention, is not intended to limit the invention, all in essence of the invention
Made any modifications, equivalent replacements, and improvements etc., should all be included in the protection scope of the present invention within mind and principle.
Claims (7)
1. a kind of control method of the unmanned logistics distribution system of intelligent solar, which is characterized in that the energy solar energy is without personage
The control method of delivery system flow includes:
Using solar energy and battery hybrid, power source is provided for car body and relevant device；
The processing that collected picture is carried out to binaryzation, the position in lane sideline is determined by the method for edge detection, is found out
Then the area of lane edge area is sailed using the method control car body of threshold decision along lane sideline area row；It detects
When barrier, being automatically stopped or go for a stroll according to the distance of ultrasound examination avoidance and runs to safety zone；
The longitude and latitude of real-time display car body, speed, azimuth, battery capacity car status information, and sent by wireless module
To remote service center.
2. the control method of the unmanned logistics distribution system of intelligent solar as described in claim 1, which is characterized in that ultrasonic wave
Distance measuring method includes:
From starting counting at the time of emitting ultrasonic wave, when detecting barrier, ultrasonic wave is immediately returned to, and trolley main control module connects
Receive device received, return signal, be simultaneously stopped countings, the signal received handled, with it is preset measure away from
From being handled, by the time t of timing, distance D of the car body apart from barrier is calculated:
D=ct/2
Wherein c=340m/s is propagation rate of the ultrasonic wave in air dielectric condition；And then control the steering or stopping of car body；
Wireless communication is transmitted by WIFI and Internet network, establishes connection with mobile phone and PC machine server；
Yellow line road sign is acquired by USB camera, includes: by the processing method that collected picture carries out binaryzation
It reads in binary edge map A (m × n)；
Initialize tired sfp, add matrix A (θ, ρ)；
Scale coefficient sf is setp, to control the size of accumulated matrix A (θ, ρ)；
For each edge pixel point (xi, yi), θ ∈ [0,90] calculates following parameters:
θi=θi×sθ；
ρ=xicosθi+yisinθi；
ρ1=ρ × s ρ；
Rewarding parameter carries out accumulation calculating to accumulated matrix；
A(θ1, ρ1)=A (θ1, ρ1)+1；
Carrying out analysis method to current road environment includes:
By adjusting the duty ratio of the input PWM adjustment signal of two wheels, two wheels is made to reach synchronized straight trip；Pass through coding
Device detects the velocity amplitude of two wheels and the feed back input amount as control module, is passed to straight movement control system, and by control
Output pwm signal reaches the car body of unmanned logistics distribution vehicle during assisting straight trip into motor driver after algorithm calculates
To dynamic synchronized straight trip；
Control algolithm preferred site type pid algorithm.
3. the control method of the unmanned logistics distribution system of intelligent solar as described in claim 1, which is characterized in that the energy
The control method of the unmanned logistics distribution system of solar energy further comprises:
The each sensor integrated to posture position measurement module initializes, trolley main control module serial acquisition sensing
Data read GPS data, give motor one initial pulse, and the speed of motor operation is read using encoder-side, realize in nothing
Simple fixation locus walking is carried out when obstacle,
Tilt angle, acceleration of motion, ultrasound data, the USB camera data for judging car body, count the data of acquisition
According to fusion treatment, when tilting of car body angle transfinites, vehicle stop motion, when acceleration of motion transfinites, logistics trolley stops
Movement, when car body Ultrasonic Sensor Data transfinites, detects barrier；
Trolley main control module controls motor and carries out differential steering avoiding obstacles, and USB camera acquires image data, carries out two-value
The data processing of change,
It sends data to trolley main control module and carries out data processing, control motor carries out steering operation, finally judges that motor is
No to arrive at the destination, if not having, detection sensor data, re-start sensor initializing operation again.
4. a kind of unmanned logistics distribution system of intelligent solar of control method as described in claim 1, which is characterized in that described
The unmanned logistics distribution system of intelligent solar includes:
Posture position measurement module is connect with trolley main control module, for detecting the driving states information of vehicle, judges that car body is
No rollover is in the climb and fall stage；
Safe early warning supplementary module is connect with trolley main control module, for detecting the barrier of traveling on the way, is carried out safety and is kept away
Barrier；
Data communication module is connect with trolley main control module, and the data after fusion treatment are sent to back-stage management terminal；
Power plant module, connect with trolley main control module, provides power resources for motor, realizes that the straight trip of car body or differential turn
To；
Energy management module is connect with trolley main control module, is that battery and posture position measurement module, safe early warning assist mould
Block, data communication module, power plant module, Image Acquisition and processing module are powered, and energy management is carried out；
Image collection pretreatment module is connect with trolley main control module, will treated data are sent to trolley main control module into
Row fusion treatment；
Trolley main control module, the data for that will acquire carry out fusion treatment.
5. the unmanned logistics distribution system of intelligent solar as claimed in claim 4, which is characterized in that the intelligent solar without
Personage's delivery system flow includes: solar panel, is connect with power plant module, is charged to battery, is car body and correlation
Equipment provides the operation energy.
6. a kind of unmanned logistics distribution vehicle of intelligent solar of control method as described in claim 1, which is characterized in that the intelligence
Can the unmanned logistics distribution vehicle of solar energy include:
Car body establishes the equal proportion threedimensional model of trolley using Solidworks three-dimensional picture software development tool in software,
Then it exports to cad software platform and carries out modification of dimension, assembled by corresponding fastener and connector；
Shaft coupling and photoelectric encoder: printing photoelectric sensor connection gear using 3D printing technique, connects electricity by shaft coupling
Machine transmit power, drive photoelectric encoder rotation, photoelectric encoder again by the signal of acquisition be converted into pulse signal feed back to it is small
The chip microcontroller speed feedback of vehicle main control module.
7. the unmanned logistics distribution vehicle of intelligent solar as claimed in claim 6, which is characterized in that the intelligent solar nobody
Logistics distribution vehicle is into further comprising:
Motor-drive circuit, datel circuit, sensor circuit, system power supply circuit, JTAG debugging interface, energy management electricity
Road；
Motor-drive circuit includes: the bridge circuit chip and the enhanced metal-oxide-semiconductor of N-channel in included dead zone；
Capacitor C1, C3 of the bridge circuit chip in included dead zone are connected in parallel, and for the filtering of power supply, C2 is bootstrap capacitor VCC
It charges by diode D1 to capacitor C2,2 IR2110 control chips are constituted H bridge with 4 metal-oxide-semiconductors and operated with driving motor；
Datel circuit includes: WiFi wireless transmitter module and serial communication modular；
WiFi wireless transmitter module EPS8266 guarantees mould by power supply 3.3V module for power supply, GPIO15 drop-down and GPIO0 pull-up setting
The normal mode of operation of block, RXD and TXD are connect with main control chip USART4_RX and USART4_TX respectively carries out data transmit-receive；
Serial communication modular is Transistor-Transistor Logic level for realizing USB level conversion, by power supply 5V module for power supply, in serial communication modular
Set signal end in usb bus pull-up resistor and piece, UD+ and UD- pin is directly connected on usb bus, RXD and TXD respectively with
Main control chip USART1_RX is connected with USART1_TX carries out data transmit-receive；
Sensor circuit includes: ultrasonic wave module, GPS module, gyro module and photoelectric encoder；
Ultrasonic wave module HC-SR04 by power supply 5V module for power supply, Trig the and Echo pin of J1 interface respectively with master control PA0,
PE2, PA1, PB0, PA2, PB1, PA3, PE3 pin are connected, and master control sends pulse triggering signal by Trig, and is examined by Echo
Survey the distance that echo-signal determines barrier；
GPS module NEO-6M is by power supply 3.3V module for power supply, and the external GPS antenna of RF_IN is for receiving satellite-signal and providing string
Row data output interface, RXD1 and TXD1 are connect with main control chip USART3_RX and USART3_TX respectively carries out data transmit-receive；
Gyro module MPU6050 by power supply 5V module for power supply, SCL the and SDL pin of I2C interface respectively with main control chip
I2C1_SCL with I2C1_SDL pin, which is connected, carries out data transmitting and receiving；
Photoelectric encoder is connected to master control PB10 and PB11 and is drawn by 5V module for power supply, output interface by two resistance series connection, point
Foot, the low and high level umber of pulse by measuring pin calculate vehicle wheel rotational speed；
System power supply circuit includes 24V power supply module, 5V power supply module and 3.3V power supply module；
24V power supply module is connected using two section 12V batteries, is directly powered for motor；
5V power supply module uses LM2596 switching power source chip, and input IN pin 24 connects battery, and output passes through filtering device
It exports and stablizes 5V voltage, be other 5V module for power supply；
3.3V power supply module uses AMS1117 linear regulator chip, the output of input IN pin connection 5V power supply, and output passes through filter
Wave device, which exports, stablizes 3.3V voltage, is other 3.3V module for power supply；
JTAG debugging interface is directly drawn from the corresponding pin of master control, is connected by JTAG debugger with host computer, to realize journey
Sequence downloading and online trace debug；
Energy management circuit use AMC1200 isolation amplifier chip, by R24, R25, R26, R27 resistance constitute bleeder circuit with
The VINN of amplifier is connected with VINP, ADC123_IN10 and the ADC123_IN11 connection of the output VOUTP and master control of amplifier, in real time
Collection voltages signal realizes energy management.
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN110118974A (en) * | 2019-05-31 | 2019-08-13 | 哈尔滨工业大学（深圳） | A kind of multiframe fusion method based on three-dimensional laser thickening mechanism |
| CN110238879A (en) * | 2019-05-22 | 2019-09-17 | 菜鸟智能物流控股有限公司 | Positioning method and device and robot |
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| CN110238879A (en) * | 2019-05-22 | 2019-09-17 | 菜鸟智能物流控股有限公司 | Positioning method and device and robot |
| CN110118974B (en) * | 2019-05-31 | 2021-05-25 | 哈尔滨工业大学（深圳） | Multiframe fusion method based on three-dimensional laser thickening mechanism |
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| CN110333724A (en) * | 2019-07-22 | 2019-10-15 | 西北工业大学 | The control method of multirobot group movement in a kind of circumstances not known |
| CN110333724B (en) * | 2019-07-22 | 2022-03-15 | 西北工业大学 | Control method for multi-robot group body movement in unknown environment |
| CN114365055B (en) * | 2019-07-24 | 2023-12-08 | 苏州宝时得电动工具有限公司 | Control method for automatic walking equipment to return to stop station and automatic walking equipment |
| CN114365055A (en) * | 2019-07-24 | 2022-04-15 | 苏州宝时得电动工具有限公司 | Control method for automatic walking equipment to return to stop station and automatic walking equipment |
| CN110531772A (en) * | 2019-09-12 | 2019-12-03 | 四川阿泰因机器人智能装备有限公司 | A kind of control method and its system of grain-levelling machine device people |
| CN110531772B (en) * | 2019-09-12 | 2022-12-20 | 四川阿泰因机器人智能装备有限公司 | Control method and system of grain leveling robot |
| CN110830059A (en) * | 2019-10-21 | 2020-02-21 | 河南工业贸易职业学院 | Intelligent logistics system with real-time information exchange function |
| CN110830059B (en) * | 2019-10-21 | 2020-12-25 | 河南工业贸易职业学院 | Intelligent logistics system with real-time information exchange function |
| CN110986383A (en) * | 2019-11-29 | 2020-04-10 | 徐州日托光伏科技有限公司 | Solar module and solar power generation system |
| CN111252402A (en) * | 2020-01-20 | 2020-06-09 | 浙江大工新能源有限公司 | Intelligent transportation system |
| CN111562783A (en) * | 2020-04-23 | 2020-08-21 | 北京踏歌智行科技有限公司 | Domain control system based on unmanned driving of mining wide-body vehicle |
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| CN111856119A (en) * | 2020-08-24 | 2020-10-30 | 上海煜闻电子科技有限公司 | Leakage current detection device and detection method |
| CN112621746A (en) * | 2020-12-02 | 2021-04-09 | 上海交通大学烟台信息技术研究院 | PID control method with dead zone and mechanical arm visual servo grabbing system |
| CN112993968A (en) * | 2021-04-13 | 2021-06-18 | 北京乐研科技有限公司 | Novel multi-source output redundant power supply system and voltage monitoring method thereof |
| CN112993968B (en) * | 2021-04-13 | 2021-08-03 | 北京乐研科技有限公司 | Novel multi-source output redundant power supply system and voltage monitoring method thereof |
| CN115083352A (en) * | 2022-06-22 | 2022-09-20 | 厦门天马显示科技有限公司 | Pixel driving circuit, driving method thereof and display panel |
| CN116360422A (en) * | 2023-02-06 | 2023-06-30 | 重庆理工大学 | Control method of automatic cruising intelligent obstacle avoidance trolley |
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