CN110032183A - A kind of round-the-clock unmanned cruiser system of four-wheel drive - Google Patents

A kind of round-the-clock unmanned cruiser system of four-wheel drive Download PDF

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Publication number
CN110032183A
CN110032183A CN201910184632.0A CN201910184632A CN110032183A CN 110032183 A CN110032183 A CN 110032183A CN 201910184632 A CN201910184632 A CN 201910184632A CN 110032183 A CN110032183 A CN 110032183A
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China
Prior art keywords
cruiser
line laser
radar
laser radar
ccd camera
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CN201910184632.0A
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Chinese (zh)
Inventor
杨锐敏
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Xuzhou Aiqi Robot Technology Co Ltd
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Xuzhou Aiqi Robot Technology Co Ltd
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Priority to CN201810224648.5A priority Critical patent/CN108205325A/en
Priority to CN201810224174.4A priority patent/CN108227720A/en
Priority to CN2018102246485 priority
Priority to CN2018102241744 priority
Application filed by Xuzhou Aiqi Robot Technology Co Ltd filed Critical Xuzhou Aiqi Robot Technology Co Ltd
Publication of CN110032183A publication Critical patent/CN110032183A/en
Pending legal-status Critical Current

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    • BPERFORMING OPERATIONS; TRANSPORTING
    • B62LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62DMOTOR VEHICLES; TRAILERS
    • B62D61/00Motor vehicles or trailers, characterised by the arrangement or number of wheels, not otherwise provided for, e.g. four wheels in diamond pattern
    • B62D61/10Motor vehicles or trailers, characterised by the arrangement or number of wheels, not otherwise provided for, e.g. four wheels in diamond pattern with more than four wheels
    • GPHYSICS
    • G05CONTROLLING; REGULATING
    • G05DSYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
    • G05D1/02Control of position or course in two dimensions
    • G05D1/021Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0231Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
    • GPHYSICS
    • G05CONTROLLING; REGULATING
    • G05DSYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
    • G05D1/02Control of position or course in two dimensions
    • G05D1/021Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0231Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
    • G05D1/0246Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using a video camera in combination with image processing means
    • GPHYSICS
    • G05CONTROLLING; REGULATING
    • G05DSYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
    • G05D1/02Control of position or course in two dimensions
    • G05D1/021Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0257Control of position or course in two dimensions specially adapted to land vehicles using a radar
    • GPHYSICS
    • G08SIGNALLING
    • G08CTRANSMISSION SYSTEMS FOR MEASURED VALUES, CONTROL OR SIMILAR SIGNALS
    • G08C17/00Arrangements for transmitting signals characterised by the use of a wireless electrical link
    • G08C17/02Arrangements for transmitting signals characterised by the use of a wireless electrical link using a radio link
    • GPHYSICS
    • G05CONTROLLING; REGULATING
    • G05DSYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D2201/00Application
    • G05D2201/02Control of position of land vehicles

Abstract

A kind of round-the-clock unmanned cruiser system of four-wheel drive, including cruiser ontology and control system;Cruiser ontology has two pairs of front and back driving wheel, and a pair of driving wheels is driven by four direct current generators;Direct current generator is connected with planetary reducer;First forward and backward side's environment detection and protection system in control system are mainly made of single line laser radar, single line laser radar and CCD camera;Second forward and backward side's environment detection and protection system are mainly made of two microwave radars;Forward and backward blind area detection and obstacle avoidance system are made of three ultrasonic sensors;Single line laser radar, microwave radar, CCD camera, wireless communication module and assistant controller are connect with master controller;Ultrasonic sensor and motor driver are connect with assistant controller, and motor driver is connect with four direct current generators respectively.The system stability, reliability and cost performance are high, and calculation process speed is fast, and flexibility is high, and can successfully manage bad weather.

Description

A kind of round-the-clock unmanned cruiser system of four-wheel drive
Technical field
The invention belongs to unmanned technical fields, and in particular to a kind of round-the-clock unmanned cruiser system of four-wheel drive System.
Background technique
As the speed of modernization construction is accelerated, supermarket, large pier, International airport, various conference and exhibition centers, large size The quantity and scale in the places such as logistics warehouse, saloon bar, hospital are continuously increased, various large size residence districts and playground day Benefit increases, and mankind's activity and logistics transportation etc. become increasingly complex, and a large amount of human and material resources and security resource is needed to ensure this System safe operation.Current security technology is mainly based on manpower patrol and CCD camera locating and monitoring, both modes are It is not able to satisfy the security demand of existing large-scale complex environment, is gone on patrol using the security of safety protection robot substitution mankind's patrol automatic Change system can solve the matter of great urgency at the moment, because security patrol automated system not only can be further improved security system Stability, safety and real-time, and can effectively save cost of labor.
Unmanned cruiser can perceive environment and this by sensor as a kind of novel special security class robot Body state simultaneously realizes avoidance, shuttles in bustling crowd and various barrier, completes autonomous patrol mission.Nobody Driving cruiser is timed, pinpoints, uninterrupted mobile monitoring and patrol are that solution security patrol automates best solution Certainly scheme.Unmanned cruiser system is that environment sensing, dynamic decision, route planning and behaviour control are concentrated on one Multi-functional composite system, it perceives vehicle-periphery using onboard sensor, and according to perceiving road obtained, patrol Patrol vehicle location, barrier and suspicious danger information, control the steering and speed of vehicle, thus enable the vehicle to safety, can It is travelled on patrol path by ground.The crowds such as unmanned cruiser collection automatic control, architecture, artificial intelligence, vision calculating More technologies are the products of computer science, pattern-recognition and intelligent control technology high development in one, and measure a state One important symbol of family research strength and industrial level, has broad application prospects in national defence and national economy field.
It is still in infancy currently, Intelligent unattended drives cruiser development, either the intelligent driving of which kind of degree, the The perception of one step is all primary, that is, perceives unmanned cruiser periphery complex environment, on this basis could Corresponding path planning and driving behavior decision are made, before the selection of detecting sensor is unmanned cruiser success avoidance It mentions.Multi-line laser radar is exactly distribution in vertical direction by multiple laser emitters, passes through motor as its name suggests Rotation forms the scanning of a plurality of harness.Theoretically, certainly harness is more, closeer, just more abundant to environment description, in this way The requirement of algorithm can also be reduced.3D multi-line laser radar passes through the 3D mould of the available robot of laser scanning Type can be relatively easy to detect the row around robot with the variation that related algorithm compares previous frame and next frame environment People and other obstacle informations, while another big characteristic of 3D laser radar is to synchronize to build figure, the global map obtained in real time passes through It is compared with the characteristic body in high-precision map, the positioning accuracy for navigating and reinforcing robot may be implemented.Multi-line laser radar is visited It is relatively wide to survey range, a large amount of environment range informations can be provided, biggish convenience can be provided for control decision, the above advantage makes Obtaining multi-line laser radar becomes a preferential selection of unmanned cruiser perception circumstances not known.
The electromechanics arrangement architecture of general common simple unmanned patrol motor vehicle drive system is as shown in Figure 1.Nobody It drives cruiser to detect environment by multi-line laser radar sensor detection system and be conveyed to PC machine, then PC machine is by coding Reason sends control instruction to SCM Based slave computer, and single chip control module sends control instruction after communication decoding To Direct Current Servo Motor Controller, controller drives four direct current generators movements, and then by being directly connected to direct current generator Driving wheel drives unmanned cruiser walking;The variation for the peripheral environment that single-chip computer control system is acquired according to laser radar is real When adjust the movement of direct current generator, and then control the position of unmanned cruiser in the actual environment, CCD camera is responsible for reality When acquire the image in unmanned cruiser patrol path and stored in real time by PC machine.Existing simple unmanned patrol Vehicle control is that single multi-line laser radar sensor is controlled by single single-chip microcontroller to realize above-mentioned function.
There is problems for existing unmanned cruiser, mainly have:
(1) due to being influenced by direct current generator feature itself, the volume and weight of direct current generator is relatively large, is unfavorable for nobody Drive the raising of cruiser dynamic property.
(2) sliding contact of the brush and commutator of direct current generator causes mechanical wear and spark, makes direct current generator Failure is more, reliability is low, the service life is short, maintenance heavy workload.
(3) since the direct current generator length of cruiser is larger, using the unmanned patrol vehicle width of traditional mechanical structure It spends larger, some narrow spaces can not be passed through.
(4) existing unmanned cruiser direct current generator is directly mechanically connected with driving wheel, passes through controller tune The voltage of direct current generator is saved to complete to adjust the speed, although meeting the requirement of the speed of travel, drives entire unmanned patrol The torque of vehicle is smaller, and the ability for adapting to outdoor rugged and rough road conditions is poor.
(5) existing unmanned cruiser is all made of rudimentary singlechip chip, and working frequency is lower, and only tens Hertz, it is unable to satisfy the control that unmanned cruiser interferes various complex environments, unmanned cruiser is easily caused and loses Control.
(6) it is influenced by unmanned cruiser PC machine performance, the environment detection sensor of unmanned cruiser acquires number According to that quickly can not calculate and store, judgement of the unmanned cruiser to ambient enviroment is affected.
(7) it is influenced by unmanned cruiser PC machine performance, the ccd sensor image acquisition data of unmanned cruiser Can not real-time perfoming quickly analyze and calculate, master station can only by analysis storage image data could find patrol in asking Topic.
(8) although 3D data may be implemented in multi-line laser radar, it can be determined that the height of barrier handles the information on ground Deng, but price is relatively expensive, can not promote the use of a large area.
(9) present unmanned cruiser substantially only considers forward detection and avoidance, does not consider the obstacle at rear Object information, sometimes the cruiser barrier that rear occurs in reversing can enter unmanned cruiser protection zone, make At unnecessary injury.
(10) based on the unmanned cruiser of multi-line laser radar in forward movement there is a detection blind area, Once there is barrier to be in blind area, it is easy to generate traffic accident.
(11) based on the unmanned cruiser of multi-line laser radar actually reversing reverse procedure in also will appear detection it is blind Area, once traffic accident can also be generated by having barrier to enter movement blind area during the motion.
(12) fast response servo that two axis direct current generators can not be rapidly completed in SCM Based control system is adjusted, and is increased The adjustment time of unmanned cruiser posture, unmanned cruiser can not quickly walk.
(13) SCM Based lower computer control system will complete the parts of images acquisition process later period by wireless system Transformation task, by capacity itself, transmission time is longer, and automatic driving car is caused not walk quickly.
(14) only there are two power points for the unmanned cruiser of Two-wheeled, although can be preferable on smooth indoor road surface Completion patrol mission the phenomenon that often a power wheel skids, lead but when encountering rugged outdoor road surface Cause unmanned cruiser out of hand.
(15) the unmanned cruiser of Two-wheeled generally meets power requirement by motor overload when climbing, But the performance of motor can be injured when encountering complicated state and needing long-play, cause entire unmanned cruiser system The reliability of system is greatly lowered.
(16) unmanned cruiser needs quickly to accelerate and run with higher speed under many state of emergency, at this The power of system requirements is larger under the conditions of kind, and the power of motor for meeting normally travel is unable to satisfy system long-time acceleration request, Entire unmanned cruiser system suitability is caused to be greatly lowered.
(17) existing unmanned cruiser is to realize environment detection by navigation forward sensor, dead when encountering When lane, u-turn, when centainly encountering small space, unmanned patrol can only be realized by way of rotating in place 180 degree Vehicle will be unable to realize u-turn, and patrol mission is caused to fail.
(18) laser radar is very sensitive to the weather for having misty rain, and misty rain absorbs terribly, so having laser radar Rain has the weather of mist, and laser radar performance can be greatly reduced, and causes large effect to the safety of unmanned cruiser.
(19) laser radar is very sensitive to the environment for having smog, and smog absorbs terribly, so having laser radar Under the operating condition of smog, laser radar performance can be greatly reduced, and cause large effect to the safety of unmanned cruiser.
(20) laser radar is very sensitive to the environment for having dust, and dust absorbs terribly, so having laser radar Under the operating condition of dust, laser radar performance can be greatly reduced, and cause large effect to the safety of unmanned cruiser.
(21) laser radar is very sensitive to the weather for having strong light, and strong sunlight can sometimes make laser radar performance It can be greatly reduced, sometimes be exported even without signal, large effect is caused to the safety of unmanned cruiser.
Therefore, it is necessary to carry out weight based on the unmanned cruiser system of monolithic processor controlled multi-line laser radar to existing New design, seek it is a kind of it is cheap, cost performance is relatively high, the practical of multiclass sensor fusion round-the-clock unmanned is patrolled Patrol vehicle system.
Summary of the invention
In view of the above existing problems in the prior art, the present invention provides a kind of round-the-clock unmanned cruisers of four-wheel drive System, which can effectively improve the stability and reliability of unmanned cruiser, and can reduce unmanned cruiser Frequency of maintenance;The system can effectively improve anti-interference ability, can improve unmanned cruiser and cope with boisterous ability, and Its with rear detect and barrier avoiding function, detection blind area can be effectively eliminated, make unmanned cruiser walk when safety and Reliability is higher;The system can effectively shorten unmanned cruiser the pose adjustment time, effectively improve unmanned patrol The control performance of vehicle effectively improves flexibility and dynamic property that nobody steps up patrols in vehicle motion process, makes unmanned patrol It patrols the passability of vehicle more preferably and is less prone to slipping phenomenon and unmanned cruiser can be promoted to outdoor rugged and rough road conditions Adaptability;The system can effectively improve the cost performance of unmanned cruiser, be conducive to the big face of unmanned cruiser Product is promoted.
To achieve the goals above, the present invention provides a kind of round-the-clock unmanned cruiser system of four-wheel drive, including Cruiser ontology and the control system being arranged on cruiser ontology;
The cruiser body lower part is respectively equipped with a pair of driving wheels, cruiser ontology in the front and rear of length direction Mounted inside has four direct current generators for respectively driving four driving wheels;
The control system include power supply, power conversion module, motor driver, wireless communication module, master controller and Assistant controller;
The cruiser body interior is additionally provided with four planets being located on the outside of four direct current generator motor shafts and subtracts Fast machine;The planetary reducer is 90 degree of corner planetary reducers;
The direction that the length direction of four direct current generators prolongs cruiser body length extends, and four direct current generators are located at The inside of four driving wheels;The direct current generator is rare earth permanent magnet brushless DC servo motor, the motor shaft and row of direct current generator The input terminal of star speed reducer connects, and the output shaft of planetary reducer drives driving wheel by gear set;The gear set is by vertical Distribution and pitch wheel one and gear two composition upwards;The gear one is set on the output shaft of planetary reducer, The gear two is set in the shaft at driving wheel center;
The control system further includes the first front environment detection and protection system, the second front environment detection and protection system System, the first rear environment detection and protection system, the second rear environment detection and protection system, front blind-area detection and avoidance system System, the detection of rear blind area and obstacle avoidance system and 360 degree of CCD cameras one that cruiser bodies top center is set;
First front environment detection and protection system mainly by single line laser radar L1, single line laser radar L2 and CCD camera two forms;The forward position of cruiser bodies top is obliquely arranged in the single line laser radar L1 left low and right high It sets, the single line laser radar L2 is horizontally disposed at the front end of cruiser body lower part, and the setting of CCD camera two is being patrolled The front of vehicle ontology is patrolled, and close to the center of short transverse;
Second front environment detection and protection system are mainly made of microwave radar M1 and microwave radar M2;It is described micro- The front of cruiser ontology is arranged in wave radar M1, and between single line laser radar L1 and CCD camera two;The microwave The front end of the lower part of cruiser ontology is arranged in radar M2, and is located at the lower part of single line laser radar L2;
First rear environment detection and protection system mainly by single line laser radar L3, single line laser radar L4 and CCD camera three forms;The position of cruiser bodies top rearward is obliquely arranged in the single line laser radar L3 right low left high It sets, the single line laser radar L4 is horizontally disposed at the rear end of cruiser body lower part, and the setting of CCD camera three is being patrolled The rear portion of vehicle ontology is patrolled, and close to the center of short transverse;
Second rear environment detection and protection system are mainly made of microwave radar M3 and microwave radar M4;It is described micro- The front and rear part of cruiser ontology is arranged in wave radar M3, and between single line laser radar L3 and CCD camera three;It is described micro- The front end of the lower part of cruiser ontology is arranged in wave radar M4, and is located at the lower part of single line laser radar L4;
The front blind-area detection and obstacle avoidance system and the detection of rear blind area and obstacle avoidance system are separately positioned on cruiser ontology Bottom front and bottom rear end;Front blind-area detection and obstacle avoidance system are made of ultrasonic sensor US1, US2 and US3, wherein surpassing Sonic sensor US1, US2 and US3 are evenly distributed in the width direction, and rear blind area detection and obstacle avoidance system are by ultrasonic sensor US4, US5 and US6 composition, wherein ultrasonic sensor US4, US5 and US6 is evenly distributed in the width direction;
Single line laser radar L1~the L4, microwave radar M1~M4, CCD camera one, CCD camera two, CCD camera shooting Machine three, wireless communication module and assistant controller are connect with master controller;Ultrasonic sensor US1~the US6 and motor drive Dynamic device is connect with assistant controller, and motor driver is connect with four direct current generators respectively;Power supply respectively with motor driver and Power conversion module connection, power conversion module is for providing the supply of DC power supply;Wireless communication module is used for by wireless Mode establishes the communication connection between the master station of distal end.
In the technical scheme, CCD camera one is responsible for the collection of patrol environment, and module is sent out in real time by wireless communication Give master station.By the first front or behind environment detection and protection system setting can accurately and fast detect front or It is stepped up patrols vehicle and front or behind moving obstacle so as to effectively detect nobody apart from farther away environmental aspect at rear Distance;Inclination on roof and for detecting front is provided in first front or behind environment detection and protection system The single line laser radar of setting and be arranged in lower car body and horizontally disposed single line laser radar, can not only reach multi-thread and swash The Effect on Detecting of optical radar, the barrier that can effectively detect the unmanned cruiser direction of motion or the position where people, notice Unmanned patrol vehicle control realizes Emergency avoidance, and low compared to the hardware cost of multi-line laser radar, is conducive to nothing The popularization of people's driving cruiser practical application.It is provided in first front or behind environment detection and protection system and swashs positioned at single line CCD camera two or three between optical radar and single line laser radar can not only assist single line laser radar and single line laser radar Detection and navigation accuracy are improved, video analysis can be also more advantageous to, and on the one hand can find that movement road surface temporarily loses in advance Small obstacle and moving line in road conditions fluctuating situation, can make realtime graphic obtain performance it is more preferable, can be to unmanned Cruiser, which advanced optimizes path or regulation power throwing over barrier, has significant help.On the other hand it can effectively detect The presence of two sides free area, to provide certain help for unmanned cruiser advance turning and avoidance, moreover it is possible to effectively visit The presence of direction of motion two sides columnar object is measured, to provide certain side to position when unmanned cruiser forward or backward It helps.By enabling the second front or behind environment detection and the setting of system being protected quickly and accurately to detect front or behind The short-distance blind section being closer especially is accelerated forwardly in rigid starting or is fallen backward can effectively eliminate unmanned cruiser The short-distance blind section occurred when vehicle improves the safety and reliability when walking of unmanned cruiser.In addition, the second front Or rear environment detection and protection system use the microwave radar group positioned at the microwave radar of vehicle body upper portion and positioned at lower car body At since microwave is the very short radio wave of wavelength, directionality is fine, and speed is equal to the light velocity.It is stood when microwave encounters barrier It is reflected back, the distance of barrier, and the ability of microwave penetration mist, cigarette, dust can be measured according to electromagnetic wave two-way time By force, have the characteristics that round-the-clock, round-the-clock can work, in this way once encountering bad weather, system can excise laser radar detection System relies only on microwave radar systems work, meets the normal patrol work of unmanned cruiser under round-the-clock adverse circumstances, And then boisterous patrol operation can be successfully managed, but microwave radar is lower relative to lidar measurement precision, therefore, As the supplement of the first front or behind environment detection and protection system, the detection effect of short-distance blind section can be effectively improved Fruit.In addition, system has two-way navigation sensor, when encountering blind alley, the mode of 180 degree is not needed to rotate in place to realize U-turn need to only switch the control logic of front and back group navigation sensor and motor driver, so that it may realize u-turn, increase nobody It drives cruiser and passes through the flexibility of the ability of small space and patrol operation.Furthermore make master controller to focus on patrol Image data, single line laser radar signal and the microwave radar signal that the CCD camera of vehicle acquires in real time, receive assistant controller Processing result from master controller, and handle the feedback signal of ultrasonic sensor group and motor driver is controlled, The speed of image procossing and multisensor data fusion processing can not only be greatly improved, and the negative of assistant controller can be effectively reduced Lotus can effectively prevent " run and fly " of motion control main program, so as to make unmanned cruiser anti-interference ability significantly Enhancing.Relative to two driving wheel bearing structures, four driving wheel structures in the application have that bearing capacity is stronger, movement speed is fast The advantages that, the dynamic characteristic of unmanned cruiser can be effectively improved.In addition, the unmanned patrol bassinet structure of the 4 wheel driven is simpler It is single, and good reliability, cost is lowly lower than full-time four-wheel drive, and controller acquires extraneous ring in real time in practical walking process Border, adjusts the driving power of four axis in real time, and economy practicability is higher.Relative to two driving wheel bearing structures, in the application There are four power points for four driving wheel structures tool, and when one of power wheel has skidded, controller can cut off corresponding with it One power wheel of position other side, system effectively prevent unmanned cruiser automatically into two-wheel drive state It is out of control.In the case where road conditions are severe, relative to two driving wheel bearing structures, unmanned patrol is can be improved in four driving wheel structures Patrol the passability of vehicle.
Further, the CCD camera two and the equal left low and right high of microwave radar M1 are obliquely arranged;The CCD camera The equal right low left high of three and microwave radar M3 is obliquely arranged.
In the technical scheme, by the way that CCD camera two and three is arranged obliquely, and make superposed microwave radar M1 and M3 are obliquely arranged, and can not only more effectively find the fluctuating of road conditions in moving line, moreover it is possible to be more conducive to discovery fortune in advance The small obstacle that dynamic road surface temporarily loses.
Further, the tilt angle of the single line laser radar L1 and L3 is 5 degree;Single line laser radar L2 and L4 distance The distance on ground is 15cm~30cm.
In the technical scheme, the tilt angle of single line laser radar L1 and L3 is 5 degree, can not only make single line laser thunder More effectively cooperate up to L1 and L2, single line laser radar L3 and L4, to effectively improve the detection of equidirectional two single line radars Effect, and can be conducive to the fluctuating for finding road conditions in moving line in advance by the setting of the tilt angle and move road surface face When lose small obstacle the case where so that cruiser can make in advance reply reaction, be conducive to improve cruiser went on patrol Safety and reliability in journey.
Further, the master controller is NUC7 processor;The core of the assistant controller uses STM32F767.
In the technical scheme, make master controller NUC7 processor, assistant controller uses STM32F767, to make to patrol Patrol pair that the control of vehicle is made of the master system based on vehicle-mounted computer NUC and the ARM lower computer system based on STM32F767 Nuclear control system carries out, wherein being mainly used for working in unmanned cruiser system based on vehicle-mounted computer NUC master system Measure maximum more single line laser radar signal processings, microwave radar signal processing, ccd image acquisition and analysis and the friendship with master station Mutual communication simultaneously completes the input in path and map, the processing of each Data Fusion of Sensor;Unmanned cruiser is handled by NUC7 The data fusion of multisensor substantially increases arithmetic speed, and then it is fast to give full play to NUC microcomputer data processing speed The characteristics of, it solves single arm processor and runs slower bottleneck, shorten that the development cycle is short, and enable the portable of program Power is stronger.ARM lower computer control system based on STM32F767 is mainly used for the upper of real-time reception NUC microcomputer composition Machine multisensor digital convergence signal, and realize the reality of the Digital Signal Processing of part, response various interruptions and realization and master station When data communication and storage.Complete brush DC servo SERVO CONTROL, the data storage, I/O control of unmanned cruiser system The functions such as system, blind area detection and avoidance signal processing, image analysis and transmission, can be such that the maximum brush DC of workload watches in this way STM32F767 processing is given in dress system control, thus make whole system with STM32F767 kinetic control system processing core, The very fast advantage of STM32F767 data processing can be given full play to, the rational division of work of NUC and ARM are thereby realized, sufficiently with energy Using the fast feature of NUC data processing speed, quickly handle at a large amount of Multi-sensor Fusion signal and the algorithm of various data Reason, effectively frees arm processor from hard work amount, can effectively prevent motion control main program " run and fly ", and can fully consider the interference source of surrounding, significantly enhance the anti-interference ability of unmanned cruiser.Simultaneously The calling of the communication of energy real-time perfoming and data exchange and mutual required data, can effectively improve nobody and drive between NUC and ARM Sail the environment detection function of cruiser.The front and rear of the unmanned cruiser of the present invention is all made of identical in same position Laser radar, microwave radar, CCD camera and ultrasonic sensor can be realized unmanned cruiser and lead in small space The accuracy of boat and the flexibility of u-turn.
Further, as a preference, the model LMS151-10100 of single line laser radar.
Further, in order to realize closed-loop control, so that assistant controller can preferably control the operating condition of driving wheel, it is described Encoder is connected on driving wheel, the encoder is connect with assistant controller, with for Real-time Feedback cruiser ontology displacement, Velocity and acceleration.
It further, further include four charging modules, four charging modules point for the ease of charging to cruiser ontology It is not distributed in the surrounding of cruiser ontology, and connects to power supply, the power supply is battery group.
In view of the above-mentioned problems of the prior art, the present invention also provides a kind of round-the-clock unmanned patrols of four-wheel drive Vehicle system, which can effectively improve the stability and reliability of unmanned cruiser, and can reduce unmanned cruiser Frequency of maintenance;The system can improve the control calculation process speed of unmanned cruiser, and can effectively shorten data transmission Time, make unmanned cruiser rapidly ambient enviroment is accurately judged and have quick walking function;This is System can effectively improve anti-interference ability, can improve unmanned cruiser and cope with boisterous ability, and it is visited with rear Survey and barrier avoiding function, can effectively eliminate detection blind area, and safety and reliability when unmanned cruiser being made to walk is higher;It should System can effectively shorten unmanned cruiser the pose adjustment time, effectively improve unmanned cruiser control performance, Flexibility and dynamic property that nobody steps up patrols in vehicle motion process are effectively improved, makes the passability of unmanned cruiser more Well and it is less prone to slipping phenomenon and unmanned cruiser can be promoted to the adaptability of outdoor rugged and rough road conditions;This is System can effectively improve the cost performance of unmanned cruiser, be conducive to being widely applied for unmanned cruiser.
To achieve the goals above, the present invention provides a kind of round-the-clock unmanned cruiser system of four-wheel drive, including Cruiser ontology and the control system being arranged on cruiser ontology;
The cruiser body lower part is respectively equipped with a pair of driving wheels, cruiser ontology in the front and rear of length direction Mounted inside has four direct current generators for respectively driving four driving wheels;
The control system includes power supply, power conversion module, motor driver, wireless communication module, master controller, auxiliary Controller one and assistant controller two;
The cruiser body interior is additionally provided with four planets being located on the outside of four direct current generator motor shafts and subtracts Fast machine;The planetary reducer is 90 degree of corner planetary reducers;
The direction that the length direction of four direct current generators prolongs cruiser body length extends, and four direct current generators are located at The inside of four driving wheels;The direct current generator is rare earth permanent magnet brushless DC servo motor, the motor shaft and row of direct current generator The input terminal of star speed reducer connects, and the output shaft of planetary reducer drives driving wheel by gear set;The gear set is by vertical Distribution and pitch wheel one and gear two composition upwards;The gear one is set on the output shaft of planetary reducer, The gear two is set in the shaft at driving wheel center;
The control system further includes the first front environment detection and protection system, the second front environment detection and protection system System, the first rear environment detection and protection system, the second rear environment detection and protection system, front blind-area detection and avoidance system System, the detection of rear blind area and obstacle avoidance system and 360 degree of CCD cameras one that cruiser bodies top center is set;
First front environment detection and protection system mainly by single line laser radar L1, single line laser radar L2 and CCD camera two forms;The forward position of cruiser bodies top is obliquely arranged in the single line laser radar L1 left low and right high It sets, the single line laser radar L2 is horizontally disposed at the front end of cruiser body lower part, and the setting of CCD camera two is being patrolled The front of vehicle ontology is patrolled, and close to the center of short transverse;
Second front environment detection and protection system are mainly made of microwave radar M1 and microwave radar M2;It is described micro- The front of cruiser ontology is arranged in wave radar M1, and between single line laser radar L1 and CCD camera two;The microwave The front end of the lower part of cruiser ontology is arranged in radar M2, and is located at the lower part of single line laser radar L2;
First rear environment detection and protection system mainly by single line laser radar L3, single line laser radar L4 and CCD camera three forms;The position of cruiser bodies top rearward is obliquely arranged in the single line laser radar L3 right low left high It sets, the single line laser radar L4 is horizontally disposed at the rear end of cruiser body lower part, and the setting of CCD camera three is being patrolled The rear portion of vehicle ontology is patrolled, and close to the center of short transverse;
Second rear environment detection and protection system are mainly made of microwave radar M3 and microwave radar M4;It is described micro- The front and rear part of cruiser ontology is arranged in wave radar M3, and between single line laser radar L3 and CCD camera three;It is described micro- The front end of the lower part of cruiser ontology is arranged in wave radar M4, and is located at the lower part of single line laser radar L4;
The front blind-area detection and obstacle avoidance system and the detection of rear blind area and obstacle avoidance system are separately positioned on cruiser ontology Bottom front and bottom rear end;Front blind-area detection and obstacle avoidance system are made of ultrasonic sensor US1, US2 and US3, wherein surpassing Sonic sensor US1, US2 and US3 are evenly distributed in the width direction, and rear blind area detection and obstacle avoidance system are by ultrasonic sensor US4, US5 and US6 composition, wherein ultrasonic sensor US4, US5 and US6 is evenly distributed in the width direction;
Single line laser radar L1~the L4, microwave radar M1~M4, CCD camera one, CCD camera two, CCD camera shooting Machine three, wireless communication module, assistant controller one and assistant controller two are connect with master controller;The ultrasonic sensor US1 ~US6 is connect with assistant controller one, and assistant controller two is connect with assistant controller one and motor driver respectively;Motor driver It is connect respectively with four direct current generators;Power supply is connect with motor driver and power conversion module respectively, and power conversion module is used In the supply of offer DC power supply;Wireless communication module is for wirelessly establishing the communication link between the master station of distal end It connects.
In the technical scheme, CCD camera one is responsible for the collection of patrol environment, and module is sent out in real time by wireless communication Give master station.By the first front or behind environment detection and protection system setting can accurately and fast detect front or It is stepped up patrols vehicle and front or behind moving obstacle so as to effectively detect nobody apart from farther away environmental aspect at rear Distance;Inclination on roof and for detecting front is provided in first front or behind environment detection and protection system The single line laser radar of setting and be arranged in lower car body and horizontally disposed single line laser radar, can not only reach multi-thread and swash The Effect on Detecting of optical radar, the barrier that can effectively detect the unmanned cruiser direction of motion or the position where people, notice Unmanned patrol vehicle control realizes Emergency avoidance, and low compared to the hardware cost of multi-line laser radar, is conducive to nothing The popularization of people's driving cruiser practical application.It is provided in first front or behind environment detection and protection system and swashs positioned at single line CCD camera two or three between optical radar and single line laser radar can not only assist single line laser radar and single line laser radar Detection and navigation accuracy are improved, video analysis can be also more advantageous to, and on the one hand can find that movement road surface temporarily loses in advance Small obstacle and moving line in road conditions fluctuating situation, can make realtime graphic obtain performance it is more preferable, can be to unmanned Cruiser, which advanced optimizes path or regulation power throwing over barrier, has significant help.On the other hand it can effectively detect The presence of two sides free area, to provide certain help for unmanned cruiser advance turning and avoidance, moreover it is possible to effectively visit The presence of direction of motion two sides columnar object is measured, to provide certain side to position when unmanned cruiser forward or backward It helps.By enabling the second front or behind environment detection and the setting of system being protected quickly and accurately to detect front or behind The short-distance blind section being closer especially is accelerated forwardly in rigid starting or is fallen backward can effectively eliminate unmanned cruiser The short-distance blind section occurred when vehicle improves the safety and reliability when walking of unmanned cruiser.In addition, the second front Or rear environment detection and protection system use the microwave radar group positioned at the microwave radar of vehicle body upper portion and positioned at lower car body At since microwave is the very short radio wave of wavelength, directionality is fine, and speed is equal to the light velocity.It is stood when microwave encounters barrier It is reflected back, the distance of barrier, and the ability of microwave penetration mist, cigarette, dust can be measured according to electromagnetic wave two-way time By force, have the characteristics that round-the-clock, round-the-clock can work, in this way once encountering bad weather, system can excise laser radar detection System relies only on microwave radar systems work, meets the normal patrol work of unmanned cruiser under round-the-clock adverse circumstances, And then boisterous patrol operation can be successfully managed, but microwave radar is lower relative to lidar measurement precision, therefore, As the supplement of the first front or behind environment detection and protection system, the detection effect of short-distance blind section can be effectively improved Fruit.In addition, system has two-way navigation sensor, when encountering blind alley, the mode of 180 degree is not needed to rotate in place to realize U-turn need to only switch the control logic of front and back group navigation sensor and motor driver, so that it may realize u-turn, increase nobody It drives cruiser and passes through the flexibility of the ability of small space and patrol operation.Furthermore make master controller to focus on patrol Image data, single line laser radar signal and the microwave radar signal that the CCD camera of vehicle acquires in real time, connect assistant controller one The processing result from master controller is received, and handles the feedback signal of ultrasonic sensor group and motor driver is controlled System, can not only greatly improve the speed of image procossing and multisensor data fusion processing, and assistant controller can be effectively reduced One load can effectively prevent " run and fly " of motion control main program, so as to make the anti-interference energy of unmanned cruiser Power greatly enhances.Relative to two driving wheel bearing structures, four driving wheel structures in the application have bearing capacity stronger, mobile The advantages that speed is fast can effectively improve the dynamic characteristic of unmanned cruiser.In addition, the unmanned patrol bassinet structure of the 4 wheel driven It is fairly simple, and good reliability, cost is lowly lower than full-time four-wheel drive, and controller acquires in real time in practical walking process External environment, adjusts the driving power of four axis in real time, and economy practicability is higher.Relative to two driving wheel bearing structures, this Shen Please in four driving wheel structures tool there are four power point, when one of power wheel has skidded, controller can be cut off and it One power wheel of opposite position other side, system effectively prevent unmanned patrol automatically into two-wheel drive state Patrol the out of control of vehicle.In the case where road conditions are severe, relative to two driving wheel bearing structures, nobody is can be improved in four driving wheel structures Drive the passability of cruiser.Due to on-line storage and wireless transmission function, the unmanned cruiser master station of four axis can be with The information gone on patrol easily is transferred, patrol mission can be adjusted according to peripheral situations in real time, improve unmanned cruiser Automate the efficiency of patrol.The fast response servo that direct current generator can be rapidly completed in SERVO CONTROL based on FPGA is adjusted, and is given full play to The very fast feature of FPGA arithmetic speed, greatly reduces the adjustment time of unmanned cruiser posture, so that unmanned patrol Vehicle can quickly walk.Direct current generator is controlled by assistant controller two, further mitigates the burden of assistant controller one, energy Accelerate the sending of one processor of assistant controller control signal, and then can be further improved the speed of travel of automatic driving car, thus This nobody vehicle of stepping up patrols can be made to be able to achieve high speed walking function.
Further, the CCD camera two and the equal left low and right high of microwave radar M1 are obliquely arranged;The CCD camera The equal right low left high of three and microwave radar M3 is obliquely arranged.
In the technical scheme, by the way that CCD camera two and three is arranged obliquely, and make superposed microwave radar M1 and M3 are obliquely arranged, and can not only more effectively find the fluctuating of road conditions in moving line, moreover it is possible to be more conducive to discovery fortune in advance The small obstacle that dynamic road surface temporarily loses.
Further, the tilt angle of the single line laser radar L1 and L3 is 5 degree;Single line laser radar L2 and L4 distance The distance on ground is 15cm~30cm.
In the technical scheme, the tilt angle of single line laser radar L1 and L3 is 5 degree, can not only make single line laser thunder More effectively cooperate up to L1 and L2, single line laser radar L3 and L4, to effectively improve the detection of equidirectional two single line radars Effect, and can be conducive to the fluctuating for finding road conditions in moving line in advance by the setting of the tilt angle and move road surface face When lose small obstacle the case where so that cruiser can make in advance reply reaction, be conducive to improve cruiser went on patrol Safety and reliability in journey.
Further, the master controller is NUC7 processor;The core of the assistant controller one uses STM32F767;Institute The core of assistant controller two is stated using FPGA.
In the technical scheme, make master controller NUC7 processor, assistant controller one uses STM32F767, auxiliary control system Device two uses FPGA, to make the control of cruiser by the master system based on vehicle-mounted computer NUC and based on STM32F767's Three nuclear control systems of the lower computer system composition of ARM and FPGA carry out, wherein main based on vehicle-mounted computer NUC master system Handled for the maximum more single line laser radar signal processings of workload in unmanned cruiser system, microwave radar signal, Ccd image acquisition and analysis and at the input for interactively communicating and completing path and map of master station, each Data Fusion of Sensor Reason;The data fusion that the multisensor of unmanned cruiser is handled by NUC7 substantially increases arithmetic speed, and then can be sufficiently The fast feature of NUC microcomputer data processing speed is played, monokaryon NUC7 processor is solved and runs slower bottleneck, shorten Development cycle is short, and keeps the portable ability of program stronger.ARM lower computer control system based on STM32F767 is mainly used In the host computer multisensor digital convergence signal of real-time reception NUC microcomputer composition, and realize at the digital signal of part It manages, respond the real-time data communication and storage of various interruptions and realization with master station.Unmanned cruiser system data is completed to deposit The functions such as storage, I/O control, blind area detection and avoidance signal processing, image analysis and transmission can make workload maximum straight in this way FPGA processing is given in stream brushless servo system control, to make whole system with FPGA kinetic control system processing core, energy It gives full play to FPGA data and handles very fast advantage, thereby realize the rational division of work of NUC, FPGA and ARM, with energy sufficiently benefit With the fast feature of NUC data processing speed, the algorithm process of a large amount of Multi-sensor Fusion signal and various data is quickly handled, NUC processor is freed from hard work amount effectively, " running for motion control main program can be effectively prevented Fly ", and can fully consider the interference source of surrounding, significantly enhance the anti-interference ability of unmanned cruiser.Simultaneously The calling of the communication of energy real-time perfoming and data exchange and mutual required data, can effectively improve between NUC, FPGA and ARM The environment detection function of unmanned cruiser.The front and rear of the unmanned cruiser of the present invention is all made of in same position Identical laser radar, microwave radar, CCD camera and ultrasonic sensor can be realized unmanned cruiser narrow The accuracy of space navigation and the flexibility of u-turn.
Further, as a preference, the model LMS151-10100 of single line laser radar.
Further, in order to realize closed-loop control, so that assistant controller one can preferably control the operating condition of driving wheel, institute It states and is connected with encoder on driving wheel, the encoder is connect with assistant controller one, for Real-time Feedback cruiser ontology Displacement, velocity and acceleration.
It further, further include four charging modules, four charging modules point for the ease of charging to cruiser ontology It is not distributed in the surrounding of cruiser ontology, and connects to power supply, the power supply is battery group.
Detailed description of the invention
Fig. 1 is the structural schematic diagram of existing unmanned cruiser motor internal arrangement;
Fig. 2 is the structural representation structure chart of the unmanned cruiser motor arrangement of four-wheel of the invention;
Fig. 3 is the structural schematic diagram of the unmanned cruiser sensor of the present invention and camera alignment;
Fig. 4 is the left view of Fig. 3;
Fig. 5 is the right view of Fig. 3;
Fig. 6 is the functional block diagram of the control system of one embodiment in the present invention;
Fig. 7 is unmanned cruiser operation schematic diagram in the present invention;
Fig. 8 is the unmanned bilateral navigation scheme of cruiser in the present invention;
Fig. 9 is the unmanned unilateral navigation scheme of cruiser in the present invention;
Figure 10 is unmanned cruiser inertial navigation schematic diagram in the present invention;
Figure 11 is that unmanned cruiser reverses end for end schematic diagram in the present invention;
Figure 12 is the functional block diagram of the control system of another embodiment in the present invention;
Figure 13 is that NUC matches the functional block diagram for carrying out image procossing with FPGA in the present invention.
In figure: 1, cruiser ontology, 2, driving wheel, 4, direct current generator, 5, planetary reducer, 6, gear one, 7, gear two, 8, CCD camera one, 9, single line laser radar L1,10, single line laser radar L2,11, CCD camera two, 12, microwave radar M1,13, microwave radar M2,14, single line laser radar L3,15, single line laser radar L4,16, CCD camera three, 17, microwave thunder Up to M3,18, microwave radar M4,19, ultrasonic sensor US1,20, ultrasonic sensor US2,21, ultrasonic sensor US3, 22, ultrasonic sensor US4,23, ultrasonic sensor US5,24, ultrasonic sensor US6,25, charging module, 26, preceding blind Area's detection and obstacle avoidance system, 27, the detection of rear blind area and obstacle avoidance system.
Specific embodiment
Below with reference to embodiment, the invention will be further described.
Embodiment 1:
As shown in Figures 1 to 5, the round-the-clock unmanned cruiser system of a kind of four-wheel drive, including 1 He of cruiser ontology Control system on cruiser ontology 1 is set;It is respectively assembled in the front and rear of length direction 1 lower part of cruiser ontology There is a pair of driving wheels 2,1 mounted inside of cruiser ontology there are four direct current generators 4 for respectively driving four driving wheels 2.It patrols Patrolling 1 mounted inside of vehicle ontology has four direct current generators 4 for respectively driving four driving wheels 2;Inside the cruiser ontology 1 Four planetary reducers 5 being located on the outside of four 4 motor shafts of direct current generator are additionally provided with, the planetary reducer 5 is 90 Spend corner planetary reducer;The direction that the length direction of four direct current generators 4 prolongs 1 length of cruiser ontology extends, and four Direct current generator 4 is located at the inside of four driving wheels 2;The direct current generator 4 is rare earth permanent magnet brushless DC servo motor, and rare earth is forever The stator and common DC motor stator structure having the same of magnetic brushless DC servomotor, only with Nd-Fe-B rare-earth permanent magnet Material as magnetic pole instead of the excitation pole and excitation winding of direct current generator so that the structure of direct current brushless servo motor is more Simply, and electronic commutation eliminates and is easy out of order collector ring and brush, realizes non-brushing, and improve motor operation can By property.Rare earth permanent-magnetic material uses so that power of motor density is higher, and the volume of motor be can be made smaller.Rare earth permanent magnet without Brush servo has small in size with respect to traditional servo motor, and light-weight, power output is big, and response is fast, and inertia is small, and rotation is smooth, and torque is steady It is fixed, non-maintaining, high-efficient, the advantages that running temperature is low, and electromagnetic radiation is small, and the service life is long.These characteristics make rare-earth permanent magnet brushless DC servo motor is particularly suitable for substitution direct current generator, and is applied to the more special machine of unmanned cruiser these requirements In people's control system.The motor shaft of direct current generator 4 is connect with the input terminal of planetary reducer 5, and the output shaft of planetary reducer 5 is logical Cross gear set driving driving wheel 2;Planetary reducer 5 is 90 degree of planetary reducers, the i.e. input shaft and output shaft of planetary reducer 5 It is perpendicular;The gear set by being distributed and pitch wheel 1 and gear 27 form in the longitudinal direction;One 6 sets of the gear On output shaft loaded on planetary reducer 5, the gear 27 is set in the shaft at 2 center of driving wheel;Direct current generator 4 passes through Its motor shaft and 90 degree of planetary reducers 5 are directly mechanically connected, and then 5 output shafts of planetary reducer pass through gear 1 and tooth It takes turns 27 to be mechanically connected with driving wheel, cooperates this combination of planetary reducer 5 to be able to achieve unmanned patrol using direct current generator 4 The matching between the vehicle speed of travel and demand torque is patrolled, the torque when walking of unmanned cruiser can be effectively increased, meanwhile, It can be reduced the width of unmanned cruiser.As a preference, gear 1 and gear 27 can use the gear ratio of 1:1. Due to the axial position for the direct current brushless servo motor that has been staggered, so that the width of unmanned cruiser is greatly lowered, favorably Pass through some narrow regions in unmanned cruiser.Planetary reducer 5 is a kind of between prime mover and working machine Independent type closed driving device, main function are exactly to turn round for reducing load/motor rotary inertia ratio and reducing revolving speed increase Square, and under the premise for guaranteeing precision drive.Precise planet-gear speed reducer is small with structure size, volume is light and handy, passes It is dynamic than range, reduction range is wide, low noise, the advantages that transmission efficiency is high, output torque is high, due to the above advantage planetary gear reduction Fast machine is widely used in can be used for lifting in the electronic products such as DC servo motor, AC servo motor, stepper motor Transport, engineering machinery, metallurgy, mine, petrochemical industry, building machinery, industry light industry textile industry, medical instrument, instrument and meter, ship, vapour The fields such as vehicle.
As shown in fig. 6, the control system include power supply, power conversion module, motor driver, wireless communication module, Master controller, assistant controller, the first front environment detection and protection system, the second front environment detection and protection system, first Rear environment detection and protection system, the second rear environment detection and protection system, front blind-area detection and obstacle avoidance system 26, rear blind Area's detection and obstacle avoidance system 27 and 360 degree of CCD cameras 1 that 1 top center of cruiser ontology is set;
In order to realize that unmanned cruiser navigates and reverses end for end in small space, the unmanned cruiser sheet of the present invention The front and rear of body is all made of identical laser radar, microwave radar, CCD camera and supersonic sensing in same position Device.First front environment detection and protection system are mainly by single line laser radar L1 9,10 and of single line laser radar L2 CCD camera 2 11 forms;It is forward that 1 top of cruiser ontology is obliquely arranged in 9 left low and right high of single line laser radar L1 Position, the single line laser radar L2 10 is horizontally disposed at the front end of 1 lower part of cruiser ontology, the CCD camera two 11 are arranged in the front of cruiser ontology 1, and close to the center of short transverse;First rear environment detection and protection System is mainly made of single line laser radar L3 14, single line laser radar L4 15 and CCD camera 3 16;The single line laser 1 top rearward position of cruiser ontology, the single line laser radar L4 15 is obliquely arranged in 14 right low left high of radar L3 It is horizontally disposed at the rear end of 1 lower part of cruiser ontology, the rear portion of cruiser ontology 1 is arranged in the CCD camera 3 16, and Close to the center of short transverse;Due to being provided with the first rear environment detection and protection system, when unmanned cruiser Once movement is got up, reversed single line laser radar can effectively detect unmanned cruiser and rear moving obstacle away from From playing the unmanned cruiser of protection when in case of emergency, unmanned cruiser can accelerate to flee danger region The effect of ontology.
Second front environment detection and protection system are mainly made of microwave radar M1 12 and microwave radar M2 13; The front of cruiser ontology 1 is arranged in the microwave radar M1 12, and is located at single line laser radar L1 9 and CCD camera two Between 11;The front end of the lower part of cruiser ontology 1 is arranged in the microwave radar M2 13, and is located at single line laser radar L2 10 Lower part;Second rear environment detection and protection system are mainly made of microwave radar M3 17 and microwave radar M4 18; The front and rear part of cruiser ontology 1 is arranged in the microwave radar M3 17, and is located at single line laser radar L3 14 and CCD camera Between 3 16;The front end of the lower part of cruiser ontology 1 is arranged in the microwave radar M4 18, and is located at single line laser radar L4 15 lower part;Since microwave radar is insensitive to misty rain, hazy weather, to having dust, have the environment of strong light insensitive, so Rain has the weather of mist, the patrol vehicle control can directly excise laser radar and navigated using microwave radar, improve The safety of unmanned cruiser.
In addition, in order to meet a wide range of multi-site operation, can be added for the unmanned cruiser of this structure Site sensor with certain redundancy (can for connect with assistant controller GPS positioning module), not only conducive to nobody The positioning of cruiser is driven, and is also beneficial to tracking of the master station to unmanned cruiser.
Preferably, the model of single line laser radar is LMS151-10100.
As a preference, the first front environment detection and protection system and the first rear environment detection and protection system pair It is arranged with claiming ground setting, the second front environment detection and protection system and the second rear environment detection and protection symmetry system having symmetry.For Can precision navigation and video analysis, CCD camera of the invention uses two groups, wherein CD video camera 2 11 and CCD camera shooting Machine 3 16 is responsible for vision guided navigation use as one group, and CCD camera 1 is responsible for going on patrol environment as another group to be collected, can be through For the environmental information flowed again by wireless real-time transmission after arm processor decoding to master station, master station can find suspicious letter in time Breath.
As a preference, the CCD camera 2 11 and the equal left low and right high of microwave radar M1 12 are obliquely arranged;Institute It states CCD camera 3 16 and the equal right low left high of microwave radar M3 17 is obliquely arranged.
As a preference, the tilt angle of the single line laser radar L1 and L3 is 5 degree;Single line laser radar L2 and Distance of the L4 apart from ground is 15cm~30cm.With ground there is the unmanned patrol bus-top single line of certain angle to swash Optical radar, microwave radar combine the fluctuating that can find road conditions in moving line in advance very well with CCD camera acquisition, to nobody Driving cruiser path optimizing has certain help.There is the unmanned patrol bus-top single line of certain angle with ground Laser radar data, microwave radar can also find that movement road surface temporarily loses in conjunction with CCD camera acquisition data in advance very well Small obstacle, advanced optimizing path or regulation power throwing over barrier to unmanned cruiser has certain side It helps.
Due to sensor combinations, unmanned cruiser is when starting moves forward generally in forward region There are a blind area, collide when starting in order to prevent, the front blind-area detection and obstacle avoidance system 26 and the detection of rear blind area and Obstacle avoidance system 27 is separately positioned on bottom front and the bottom rear end of cruiser ontology 1;Front blind-area detection and obstacle avoidance system 26 by Ultrasonic sensor US1, US2 and US3 composition, wherein ultrasonic sensor US1, US2 and US3 equably divides in the width direction Cloth, the detection of rear blind area and obstacle avoidance system 27 are made of ultrasonic sensor US4, US5 and US6, wherein ultrasonic sensor US4, US5 and US6 are evenly distributed in the width direction;Due to being added one group by ultrasonic sensor in the bottom of unmanned cruiser The front blind-area detection of US1, US2, US3 composition and obstacle avoidance system.In unmanned cruiser driving process, CCD camera meeting Environmental information is acquired in real time and is sent to vehicle-mounted NUC7 processor and master station, it, can remotely pilotless when master station finds doubtful information The cruiser starting secondary determining suspicious information of reversing back, which is driven, at this time generally in rear moving region there are a blind area is Prevent to collide, the present invention is added one group by ultrasonic sensor US4, US5, US6 in the bottom of unmanned cruiser The rear blind area detection of composition and obstacle avoidance system.Start reversing back moment, rear single line laser radar in unmanned cruiser It can work with ultrasonic sensor group, prevent from colliding when reversing.
The blind area detection system being made of multiple ultrasonic sensors can effectively eliminate unmanned cruiser and just start forward The short-distance blind section occurred when acceleration or reversing back improves the safety and reliability when walking of unmanned cruiser. Simultaneously as being equipped with two-way navigation sensor group, when encountering blind alley, the mode for not needing to rotate in place 180 degree is come in fact It now reverses end for end, need to only switch the SERVO CONTROL logic of front and back group navigation sensor and left and right servo motor, so that it may realize u-turn, increase Ability of the unmanned cruiser by small space is added.
Single line laser radar L1~the L4, microwave radar M1~M4, CCD camera 1, CCD camera 2 11, CCD Video camera 3 16, wireless communication module and assistant controller are connect with master controller;Ultrasonic sensor US1~the US6 and Motor driver is connect with assistant controller, and motor driver is connect with four direct current generators 4 respectively;Power supply drives with motor respectively Dynamic device is connected with power conversion module, and power conversion module is for providing the supply of DC power supply;Wireless communication module is for leading to Cross the communication connection that wireless mode is established between the master station of distal end.
In order to improve the environment detection function of unmanned cruiser, the master controller is preferably NUC7 processor;Institute The core of assistant controller is stated using STM32F767.STM32F756 processor is that STM company completely new ARM series produced produces Product, are global first volume production and the microcontroller for possessing 32 bit ARM Cortex-M7 processors, product be all equipped with possess it is floating The Cortex-M7 core of point processing unit and DSP extended function, arithmetic speed highest 216MHz;With towards kernel, peripheral hardware and The AXI of memory interconnection and more ahb bus matrixes, using 6 grades of super scalar pipelines and floating point unit;Two general DMA controls Device and one are exclusively used in the DMA of graphics accelerator;Compared to STM32 series before, possess richer peripheral hardware;Simultaneously STM32F7 has excellent instruction and pin compatibility: Cortex-M4 instruction set that Cortex-M7 is backward compatible, STM32F7 system Column and STM32F4 series pin compatibility;ARM Cortex-M7 efficiency is surmounted early stage core (example by STM32F7MCU series of products Such as Cortex-M4) advantage apply to ultimate attainment, efficiency reaches nearly twice of DSP, and These characteristics are very suitable to STM32F7 Substitution partial lower ARM family chip or dsp chip do the number of unmanned cruiser direct current brushless servo motor control system According to processing.
The traditional two-wheeled mechanical structure and multi-line laser radar Working mould that domestic existing unmanned cruiser mostly uses Formula, therefore existing unmanned cruiser has the shortcomings that stability is poor, rapidity difference and sexual valence are poor, in order to guarantee nobody The stability and reliability of patrol vehicle control are driven, while in order to improve cost performance and control calculation process speed, this Shen The novel four-wheel mechanical mechanism based on planetary reducer please be propose, and introduces Intel in being based on STM32F767 controller 7th generation NUC microcomputer of state-of-the-art technology forms (newest embedded based on Intel the 7th generation microcomputer NUC7+ARM STM32F767) the completely new control model of dual-core controller.In order to improve the environment detection function of unmanned cruiser, use More single line laser radars, microwave radar, CCD camera and ultrasonic sensor based on Intel's the 7th generation NUC microcomputer Integration technology realizes the detection of cruiser ambient enviroment, and introduces the figure of Image Acquisition and ARM based on high definition CCD camera As data analysis system, and by wireless in real time acquisition information back to master station.Whole system is that four axis are watched with STM32F767 Control system processing core, the host computer multisensor digital convergence signal of real-time reception NUC microcomputer composition are taken, and is realized Real-time data communication and storage of the partial Digital Signal Processing, the various interruptions of response and realization with master station.The control system handle More single line laser radar detections, microwave radar detection, ccd image acquisition and analysis system concentrate design, can be in the control system The battery management module connected to power supply is set in system, and controls connection battery management module, battery management by assistant controller Module includes for measuring the voltage sensor one of assembled battery total voltage, the voltage sensor two for measuring monomer voltage, measurement electricity Current sensor, the temperature sensing one of each battery temperature of measurement and the resistance for measuring battery internal resistance of the size of stream pass Sensor, rationally to monitor the parameters situations such as battery total voltage, monomer voltage, the internal resistance of battery, temperature, so that it is fast in on-vehicle battery It in fast discharge process, opposite end voltage can be detected in real time, guarantee that battery terminal voltage closer to actual parameter, is conducive to battery Low-voltage variation.In this way, the control system can be made fully to consider that battery in the effect of this system, is based on ARM+NUC double-core Controller can the operating status constantly to unmanned cruiser be monitored and operation, improve the utilization of the energy of battery Rate is conducive to the continuation of the journey of unmanned cruiser, realize unmanned cruiser it is stable, it is reliable, constantly in each region Patrol operation.
The control system is maximum more single line laser radar signal processings of workload in unmanned cruiser system, micro- The processing of NUC microcomputer is given in wave Radar Signal Processing and ccd image acquisition and analysis, handles unmanned cruiser by NUC7 CCD camera image data and multisensor data fusion signal, substantially increase arithmetic speed, give full play to NUC The very fast feature of microcomputer data processing speed solves single ARM software and runs slower bottleneck, shortens the development cycle It is short, and enhance program transportability ability effectively.Since this control system handles a large amount of single line laser radar sensings using NUC The data and algorithm of device and microwave radar sensor, and fully considered the interference source of surrounding, ARM from hard work amount It frees, effectively prevents " run and fly " of motion control main program, unmanned cruiser anti-interference ability greatly enhances. And blind area detection and the functions such as avoidance, image analysis and transmission, data storage, I/O control give STM32F767 completion, in this way It is achieved that the division of labor of ARM Yu NUC microcomputer, while improving control system operation and processing speed, also further mentions The high stability and reliability of control system, at the same can also make master controller and assistant controller therebetween can real-time perfoming it is logical News carry out data exchange and calling.Meanwhile single line laser radar, microwave radar cooperate ccd image acquisition system, can not only have The barrier or the position where people that effect detects the unmanned cruiser direction of motion, notify unmanned patrol vehicle control It realizes Emergency avoidance, and lower compared to multi-line laser radar hardware cost, is conducive to unmanned cruiser practical application It promotes.Meanwhile the presence of direction of motion two sides columnar object can be effectively detected, it is positioned when can advance for unmanned cruiser Certain help is provided.The presence of two sides free area can also effectively be detected, can for unmanned cruiser advance turning and Avoidance provides certain help.
Further, encoder can also be connected on the driving wheel 2, the encoder is connect with assistant controller, with Displacement, velocity and acceleration for Real-time Feedback cruiser ontology 1.
It further include four charging modules, four charging modules are respectively distributed to cruiser for the ease of realizing charging process The surrounding of ontology 1, and connect to power supply, the power supply is battery group.Preferably, the charging module is preferably wireless Charging module, in this way, can automatically carry out charging operation after cruiser reaches specified region.
In order to make the cruiser that there is warning function, the acousto-optic report connecting with assistant controller or master controller can also be increased Alert system.In order to understand ambient weather situation in time, can also increase on cruiser ontology and assistant controller or main control The photosensitive sensor of device connection comes.
In order to further enhance the control precision for having no way of driving cruiser, in order to perceive rotation angle and maintenance side To, meanwhile, also for navigation and locating effect can be improved, it is additionally provided with the gyroscope connecting with assistant controller.
Working principle: unmanned cruiser system is divided into two parts by the present invention: the Novel machine based on planetary reducer Tool system and double-core control system based on NUC7+ARM, double-core control system is by the master system based on vehicle-mounted computer NUC With the ARM lower computer system composition based on STM32F767.Path and ground are wherein completed based on vehicle-mounted computer NUC master system Scheme input, more single line laser radars, the data fusion of microwave radar sensor and the functions such as the acquisition of CCD figure and processing;It is based on The ARM lower computer control system of STM32F767 completes brush DC servo SERVO CONTROL, the data of unmanned cruiser system The functions such as storage, I/O control, wherein the maximum brush DC servo system control of workload gives STM32F767 processing, sufficiently The very fast advantage of STM32F767 data processing is played, the division of labor of NUC and ARM are thereby realized, while therebetween again can be with It is communicated, real-time perfoming data exchange and calling.
For the unmanned cruiser dual-core controller based on ARM (STM32F767)+NUC7 that designs of the present invention, Under power-on state, arm processor and NUC controller are completed to initialize first, and then vehicle-mounted computer NUC7 is driven by nobody Sail cruiser control master station and transfer cruiser driving path and cartographic information, subsequent blind-spot sensor is started to work, and at ARM Device communication is managed, arm processor, which determines, opens unmanned four axis of cruiser driving patrol mould after clear enters working region Formula, while mutually being communicated with NUC controller, NUC real-time reception laser radar, microwave radar and CCD camera feedback signal are simultaneously Then decoding communicates with arm processor and transmits input control signal to arm processor, arm processor passes through decoded input control Signal processed controls direct current brushless servo motor, and direct current brushless servo motor drives nothing after planetary reducer conversion rate and torque People drives cruiser fast running, and is given by signals such as the displacement of encoder Real-time Feedback, velocity and accelerations on moving wheel Arm processor.In unmanned cruiser motion process, the patrol image capturing system real-time Transmission based on CCD camera Scene patrol information is to master station.Once encountering bad weather, system meeting excise laser radar-probing system relies only on microwave thunder It works up to system, meets the normal patrol work of unmanned cruiser under round-the-clock adverse circumstances.Unmanned cruiser one Denier opens patrol mode, and 360 degree of CCD cameras 1 will return in real time patrol environment by arm processor.
In conjunction with Fig. 7, into Figure 11 introduction present invention, the specific function of unmanned cruiser is accomplished by
1) for unmanned cruiser before patrol mission, master station generally can recognize first patrol by it by remote control mode The Essential Environment in region passes through mobile lidar L1~L4, microwave radar M1 in unmanned cruiser walking process ~M4 and CCD camera two and CCD camera three carry out environment detection and build figure, while by WLAN in real time environment Map transmission stores after being handled by master station to master station and forms entire beat map, if region is larger, total standing-meeting is to patrolling The map for patrolling region is split, and is divided into several mapping modules, conducive to the calling in unmanned cruiser later period, once it completes The foundation of area map, unmanned cruiser are returned to master station and enter patrol state of awaiting orders.
2) before unmanned cruiser is not connected to patrol order, it generally can be in master station's hair to be controlled such as waiting area Out go out say the word, if voltage is lower, unmanned cruiser can charge automatically.Unmanned cruiser is waiting After period after being connected to the task of setting out, unmanned cruiser will detect extraneous environmental aspect, if environment compares Badly, it will not participate in navigation for laser radar L1~L4 of navigation, CCD camera two and CCD camera three, system will be opened only Open microwave radar, ultrasonic sensor navigates.Vehicle-mounted computer NUC7 transfers unmanned cruiser by master station and goes on patrol point Information forms the driving path and navigation map information of new period patrol then in conjunction with master station's cartographic information, is then based on The arm processor of STM32F767 is opened front and back blind-spot sensor and is scanned to blind area, if there is to enter movement blind for barrier Area, arm processor can sound an alarm and block the PWM wave control signal of four axis direct current brushless servo motors, and wait barrier Removing;If clear enters movement blind area, ARM controller enables the PWM wave of four axis direct current brushless servo motors again Signal is controlled, unmanned cruiser starts to go on patrol automatically.
3) after unmanned cruiser starts starting, arm processor opens each single line laser thunder according to ambient weather situation Real time environment scanning is carried out up to sensor L1~L4, microwave radar M1~M4 and CCD camera two and CCD camera three, then The real-time map of generation and original map, which compare, determines the location of unmanned cruiser and posture, ARM processing Laser radar sensor L1~L4, microwave radar M1~M4, CCD camera two and the CCD camera three that device is fed back by NUC7 Image data, the PWM wave for adjusting four axis direct current brushless servo motors in real time controls signal, and then completes unmanned cruiser Initialization pose adjustment, unmanned cruiser enters automatic patrol mode.
4) when unmanned cruiser injection is gone on patrol automatically, sensor L1~L4, the microwave radar M1 of navigation Feedback signal, and is conveyed to NUC and arm processor by~M4 and the work of CCD camera two and CCD camera three, first have NUC into Row Data Fusion and STM32F767 respond various interruption protections and image analysis, and then NUC and ARM is communicated, at ARM Device environment according to locating for the unmanned cruiser that NUC is fed back is managed, determines that unmanned cruiser is being worked as according to Fig. 8, Fig. 9 and Figure 10 It is bilateral navigation, left unilateral navigation, right unilateral navigation or the inertial navigation based on gyroscope under premode, then ARM is handled Device send control signal to motor driver, and four axis direct current brushless servo motors drive the movement of four 90 degree of accurate planetary reducers of axis Come realize unmanned cruiser speed and the direction of motion change, unmanned cruiser is easily completed automatically Patrol.
5) after unmanned cruiser enters moving line, the single line laser sensor L1 and microwave radar of front obliquely M1, front parallel to the ground detection single line laser radar group L2 and microwave radar M2 and CCD camera two (or laser sensor L3 and microwave radar M3, front detection single line laser radar group L4 and microwave radar M4 and CCD camera three parallel to the ground) The environment that front can be detected the moment forms new environmental map, and the map transmitted with master station compares, and determines fixed obstacle With mobile people and object location information etc..
If single line laser sensor L1, microwave radar M1 cooperate CCD camera two (or single line laser sensor L3, micro- Wave radar M3 cooperates CCD camera three) detect fluctuating pitting or the small-scale obstacle in forward path there are certain altitude Object will be into assistant controller (STM32F767) sending if height and width have been more than the requirement that unmanned cruiser is crossed Fluctuating pitting data are transferred to NUC simultaneously and are handled by disconnected request, and STM32F767 can be to interrupting priority processing and enter front Hide protection subprogram: if having enough walking spaces on the left of unmanned cruiser, arm processor will adjust four direct currents The control of motor moves unmanned cruiser to the left according to different navigation modes, after completing to hide movement, at ARM The SERVO CONTROL for adjusting four direct current generators deviates unmanned cruiser to the right according to navigation mode and again by reason device Drive into the optimized path NUC7;If there is enough walking spaces on the right side of unmanned cruiser, arm processor will be adjusted The SERVO CONTROL of four direct current generators moves unmanned cruiser to the right according to navigation mode, when movement is hidden in completion Afterwards, the SERVO CONTROL for adjusting four direct current generators is made unmanned cruiser according to navigation mode lateral deviation to the left by arm processor It moves and drives into the optimized path NUC7 again;If the height and width or small obstacle of fluctuating pitting are unmanned Cruiser tolerance, arm processor will increase the power of four direct current generators, and unmanned cruiser is according to the normal of setting Path optimizing is travelled.
If single line laser sensor L1 and L2, microwave radar M1 and M2 and CCD camera two (or single line laser sensor L3, L4, microwave radar M3, M4 cooperate CCD camera three) it detects and temporarily there is large obstacle in path optimizing left front, NUC will issue interrupt requests to ARM (STM32F767) and handle barrier data simultaneously, and ARM can go forward side by side to priority processing is interrupted Enter left front avoidance protection subprogram: NUC and ARM communicate and transmit barrier data information, if barrier is patrolled with unmanned Patrol immediately ahead of vehicle has enough spaces that unmanned cruiser can be allowed to pass through between projection, and arm processor will maintain current four The SERVO CONTROL of a direct current generator, unmanned cruiser continue to keep current running state;If barrier with it is unmanned There is overlapping between projection immediately ahead of cruiser, arm processor will adjust watching for four direct current generators according to barrier data information Clothes control moves unmanned cruiser to the right according to different navigation modes, after completing to hide movement, arm processor It deviates unmanned cruiser to the left according to navigation mode the SERVO CONTROL for adjusting four direct current generators and drives into again NUC7 optimized path.
If single line laser sensor L1 and L2, microwave radar M1 and M2 and CCD camera two (or single line laser sensor L3 and L4, microwave radar M3 and M4 cooperate CCD camera three) it detects and temporarily there is large-scale obstacle in path optimizing right front Object, NUC will issue interrupt requests to ARM (STM32F767) and handle barrier data simultaneously, and ARM (STM32F767) can centering Disconnected priority processing simultaneously enters avoidance protection subprogram before the right side: NUC and ARM communicate and transmit barrier data information, if obstacle There are enough spaces that unmanned cruiser can be allowed to pass through between projection immediately ahead of object and unmanned cruiser, ARM processing Device will maintain the SERVO CONTROL for working as first four direct current generator, and unmanned cruiser continues to keep current running state;If barrier Hindering immediately ahead of object and unmanned cruiser has overlapping between projection, arm processor will adjust four according to barrier data information The SERVO CONTROL of a direct current generator moves unmanned cruiser to the left according to navigation mode, after completing to hide movement, The control for adjusting four direct current generators deviates unmanned cruiser to the right according to navigation mode and again by arm processor Drive into the optimized path NUC7.
During unmanned cruiser is gone on patrol forward, when encountering blind alley shown in Figure 11, arm processor will be adjusted The control of four direct current generators makes unmanned cruiser smoothly stop in safe range, and then arm processor will be cut automatically Change front and back navigation sensor group, the laser sensor L3 and microwave radar M3, rear detection parallel to the ground of rear obliquely Single line laser radar group L4 and microwave radar M4, CCD camera three are by work, and the environment for detecting the direction of motion forms new ring Condition figure, the map transmitted with master station compare, and determine the location of fixed unmanned cruiser information etc., unmanned cruiser Into reverse group sensor navigational state, while arm processor can switch the control logic of four direct current brushless servo motors simultaneously. In unmanned cruiser by reverse group sensor group navigation driving process, one moment of CCD camera detects ambient enviroment, and passes through Wireless real-time transmission is analyzed to master station, until encountering next blind alley, arm processor switches to positive group sensor again and leads Boat state.
6) when unmanned cruiser enters moving line and moves forward, detection single line laser radar L4 parallel to the ground It is anti-that movement is detected with blind-spot sensor group US4~US6 (or single line laser radar L2 and blind-spot sensor group US1~US3) moment The environment in direction is simultaneously transferred to NUC and ARM progress data fusion, if after sensor fusion system judges unmanned cruiser When side is close to unmanned cruiser there are barrier, NUC will issue interrupt requests to ARM and barrier data will be transmitted simultaneously To ARM, arm processor can be to interrupting priority processing, protecting subprogram subsequently into rear avoidance and sounding an alarm, and ARM is handled The power for increasing by four direct current generators is made unmanned cruiser acceleration flee danger region by device;If unmanned cruiser Rear enters protection scope there is no barrier, and unmanned cruiser will be travelled according to the normal speed of setting.
7) after unmanned cruiser enters moving line, blind-spot sensor group US1~US3 parallel to the ground (or it is blind Zone sensors group US4~US6) moment detection direction of motion blind area environment, if (or the blind area blind-spot sensor group US1~US3 Sensor group US4~US6) judgement temporarily have barrier enter unmanned cruiser movement blind area when, will be issued to ARM promptly Barrier data are transferred to ARM simultaneously and are handled by interrupt requests, and ARM can be kept away subsequently into blind area priority processing is interrupted Barrier protection subprogram simultaneously sounds an alarm, and arm processor, which will control four direct current generator emergency brakings, keeps unmanned cruiser anxious Speed parking, prevents unmanned cruiser from injuring meiofauna life, and after danger releases, arm processor will readjust four The SERVO CONTROL of a direct current generator travels unmanned cruiser according to the normal speed of setting.
8) in most cases due to unmanned cruiser, be not one-stop service mode, the patrol place of arrival compared with More, by being emphasis beat, unmanned cruiser skip emphasis beat, the present invention have given up generally in order to prevent Website read method, site sensor S1 and S2 with certain redundancy can also be added in the present invention, when unmanned patrol When vehicle will reach emphasis patrol website, arm processor first turns on sensor S1 and S2, while adjustment is controlled four direct currents Motor runs at a low speed unmanned cruiser, and is read out to the site identity of beat, when any one biography Sensor be triggered Shi Ze represent unmanned cruiser arrived setting emphasis patrol website.
9) when unmanned cruiser enters emphasis patrol point, CCD camera one will carry out figure to emphasis beat As acquisition and Real-time Feedback is to arm processor, and arm processor is total by radioing to after internal image analysis system coding It stands, master station decodes image information first and stores keynote message, will be to ARM and NUC if master station finds suspicious decoded information Controller issues parking interrupt requests, and adjustment four direct current generators of control stop unmanned cruiser promptly by arm processor Vehicle, then arm processor control CCD camera one carries out secondary image acquisition and is transferred to master station after analysis of encoding again;When After unmanned cruiser completes this website patrol mission, adjustment is controlled the SERVO CONTROL of four direct current generators by arm processor Unmanned cruiser is set to continue to travel according to set speed, arm processor relies on one real-time Transmission current path of CCD camera In live image to master station.
10) after unmanned cruiser enters moving line, the encoder moment detection being connected with four driving wheels is driven The speed of driving wheel is simultaneously conveyed to ARM controller, and when ARM controller detects that stall occurs in any one driving wheel, ARM can be excellent First handle this emergency situations.
When 90 degree of planetary reducer stall of a pair of of DC brushless motor of encoder feedback and front connection, ARM control Device processed blocks the pwm control signal of a pair of of DC brushless motor of front at once, and adjusts a pair of of direct current generator at rear portion immediately Synchronization pwm control signal to meet requirement of the operating condition to power, unmanned cruiser enters two axis rear-guard contingency modes, to After emergency releases, ARM controller enables the control signal of a pair of of direct current generator at rear portion again at once, readjusts four The control signal of direct current brushless servo motor, system reenter 4 wheel driven state.
When 90 degree of planetary reducer stall of the DC brushless motor of encoder feedback and aft pair connection, ARM control Device processed blocks the pwm control signal of the direct current generator of aft pair at once, and immediately adjust forward pair direct current generator it is same Step pwm control signal is to meet requirement of the operating condition to power, and unmanned cruiser enters two axis forerunner's contingency modes, to urgent Situation release after, ARM controller at once again enable aft pair DC MOTOR CONTROL signal, readjust four direct currents without The control signal of brush servo motor, system reenter 4 wheel driven state.
11) in order to meet the actual functional capability needs of unmanned cruiser in special circumstances in hazardous environment etc., this Urgent stop selection function can also be added in invention: nobody can be freely arranged in unmanned cruiser initial operating stage master station and drive Sail cruiser and need the patrol website that goes, then unmanned cruiser by itself navigation sensor can with complete independently this A setting, when if an emergency situation is encountered during patrol, master station needs to change operating path or urgent patrol website, main website It is communicated by wireless device and unmanned cruiser NUC, walking path and patrol point information is then changed by NUC, The unmanned cruiser path of real-time update and patrol stop site information after NUC and ARM communication control, arm processor according to The SERVO CONTROL that new requirement controls four direct current generators completes newly assigned patrol mission.
12) when unmanned cruiser is gone on patrol by fixed route, a variety of acoustooptic alarm systems in system propose work The presence of the awake unmanned cruiser of surrounding pedestrian, when unmanned cruiser loses communication with main website, arm processor can be sent out Automatic stop sign out, the direct original place of arm processor lock four direct current generators of unmanned cruiser, unmanned patrol Vehicle will not collide or hurt people because of uncontrolled, and main website is due to that can not be collected into unmanned cruiser at this time Information is transmitted, fast track will be carried out to unmanned cruiser according to a upper patrol bus stop information, and solve failure and ask Topic.
Embodiment 2:
As shown in Figures 1 to 5, the round-the-clock unmanned cruiser system of a kind of four-wheel drive, including 1 He of cruiser ontology Control system on cruiser ontology 1 is set;It is respectively assembled in the front and rear of length direction 1 lower part of cruiser ontology There is a pair of driving wheels 2,1 mounted inside of cruiser ontology there are four direct current generators 4 for respectively driving four driving wheels 2.It patrols Patrolling 1 mounted inside of vehicle ontology has four direct current generators 4 for respectively driving four driving wheels 2;Inside the cruiser ontology 1 Four planetary reducers 5 being located on the outside of four 4 motor shafts of direct current generator are additionally provided with, the planetary reducer 5 is 90 Spend corner planetary reducer;;The direction that the length direction of four direct current generators 4 prolongs 1 length of cruiser ontology extends, and four Direct current generator 4 is located at the inside of four driving wheels 2;The direct current generator 4 is rare earth permanent magnet brushless DC servo motor, and rare earth is forever The stator and common DC motor stator structure having the same of magnetic brushless DC servomotor, only with Nd-Fe-B rare-earth permanent magnet Material as magnetic pole instead of the excitation pole and excitation winding of direct current generator so that the structure of direct current brushless servo motor is more Simply, and electronic commutation eliminates and is easy out of order collector ring and brush, realizes non-brushing, and improve motor operation can By property.Rare earth permanent-magnetic material uses so that power of motor density is higher, and the volume of motor be can be made smaller.Rare earth permanent magnet without Brush servo has small in size with respect to traditional servo motor, and light-weight, power output is big, and response is fast, and inertia is small, and rotation is smooth, and torque is steady It is fixed, non-maintaining, high-efficient, the advantages that running temperature is low, and electromagnetic radiation is small, and the service life is long.These characteristics make rare-earth permanent magnet brushless DC servo motor is particularly suitable for substitution direct current generator, and is applied to the more special machine of unmanned cruiser these requirements In people's control system.The motor shaft of direct current generator 4 is connect with the input terminal of planetary reducer 5, and the output shaft of planetary reducer 5 is logical Cross gear set driving driving wheel 2;Planetary reducer 5 is 90 degree of planetary reducers, the i.e. input shaft and output shaft of planetary reducer 5 It is perpendicular;The gear set by being distributed and pitch wheel 1 and gear 27 form in the longitudinal direction;One 6 sets of the gear On output shaft loaded on planetary reducer 5, the gear 27 is set in the shaft at 2 center of driving wheel;Direct current generator 4 passes through Its motor shaft and 90 degree of planetary reducers 5 are directly mechanically connected, and then 5 output shafts of planetary reducer pass through gear 1 and tooth It takes turns 27 to be mechanically connected with driving wheel, cooperates this combination of planetary reducer 5 to be able to achieve unmanned patrol using direct current generator 4 The matching between the vehicle speed of travel and demand torque is patrolled, the torque when walking of unmanned cruiser can be effectively increased, meanwhile, It can be reduced the width of unmanned cruiser.As a preference, gear 1 and gear 27 can use the gear ratio of 1:1. Due to the axial position for the direct current brushless servo motor that has been staggered, so that the width of unmanned cruiser is greatly lowered, favorably Pass through some narrow regions in unmanned cruiser.Planetary reducer 5 is a kind of between prime mover and working machine Independent type closed driving device, main function are exactly to turn round for reducing load/motor rotary inertia ratio and reducing revolving speed increase Square, and under the premise for guaranteeing precision drive.Precise planet-gear speed reducer is small with structure size, volume is light and handy, passes It is dynamic than range, reduction range is wide, low noise, the advantages that transmission efficiency is high, output torque is high, due to the above advantage planetary gear reduction Fast machine is widely used in can be used for lifting in the electronic products such as DC servo motor, AC servo motor, stepper motor Transport, engineering machinery, metallurgy, mine, petrochemical industry, building machinery, industry light industry textile industry, medical instrument, instrument and meter, ship, vapour The fields such as vehicle.
As shown in figure 12, the control system include power supply, power conversion module, motor driver, wireless communication module, Master controller, assistant controller one, assistant controller two, the first front environment detection and protection system, the second front environment detection and Protection system, the first rear environment detection and protection system, the second rear environment detection and protection system, front blind-area detect and keep away Barrier system 26 and the detection of rear blind area and obstacle avoidance system 27 and 360 degree of CCD camera shooting that 1 top center of cruiser ontology is set Machine 1;
In order to realize that unmanned cruiser navigates and reverses end for end in small space, the unmanned cruiser sheet of the present invention The front and rear of body is all made of identical laser radar, microwave radar, CCD camera and supersonic sensing in same position Device.First front environment detection and protection system are mainly by single line laser radar L1 9,10 and of single line laser radar L2 CCD camera 2 11 forms;It is forward that 1 top of cruiser ontology is obliquely arranged in 9 left low and right high of single line laser radar L1 Position, the single line laser radar L2 10 is horizontally disposed at the front end of 1 lower part of cruiser ontology, the CCD camera two 11 are arranged in the front of cruiser ontology 1, and close to the center of short transverse;First rear environment detection and protection System is mainly made of single line laser radar L3 14, single line laser radar L4 15 and CCD camera 3 16;The single line laser 1 top rearward position of cruiser ontology, the single line laser radar L4 15 is obliquely arranged in 14 right low left high of radar L3 It is horizontally disposed at the rear end of 1 lower part of cruiser ontology, the rear portion of cruiser ontology 1 is arranged in the CCD camera 3 16, and Close to the center of short transverse;Due to being provided with the first rear environment detection and protection system, when unmanned cruiser Once movement is got up, reversed single line laser radar can effectively detect unmanned cruiser and rear moving obstacle away from From playing the unmanned cruiser of protection when in case of emergency, unmanned cruiser can accelerate to flee danger region The effect of ontology.
Second front environment detection and protection system are mainly made of microwave radar M1 12 and microwave radar M2 13; The front of cruiser ontology 1 is arranged in the microwave radar M1 12, and is located at single line laser radar L1 9 and CCD camera two Between 11;The front end of the lower part of cruiser ontology 1 is arranged in the microwave radar M2 13, and is located at single line laser radar L2 10 Lower part;Second rear environment detection and protection system are mainly made of microwave radar M3 17 and microwave radar M4 18; The front and rear part of cruiser ontology 1 is arranged in the microwave radar M3 17, and is located at single line laser radar L3 14 and CCD camera Between 3 16;The front end of the lower part of cruiser ontology 1 is arranged in the microwave radar M4 18, and is located at single line laser radar L4 15 lower part;Since microwave radar is insensitive to misty rain, hazy weather, to having dust, have the environment of strong light insensitive, so Rain has the weather of mist, the patrol vehicle control can directly excise laser radar and navigated using microwave radar, improve The safety of unmanned cruiser.
In addition, in order to meet a wide range of multi-site operation, can be added for the unmanned cruiser of this structure Site sensor with certain redundancy (can for connect with assistant controller one GPS positioning module), not only conducive to nothing People drives the positioning of cruiser, and is also beneficial to tracking of the master station to unmanned cruiser.
Preferably, the model of single line laser radar is LMS151-10100.
As a preference, the first front environment detection and protection system and the first rear environment detection and protection system pair It is arranged with claiming ground setting, the second front environment detection and protection system and the second rear environment detection and protection symmetry system having symmetry.For Can precision navigation and video analysis, CCD camera of the invention uses two groups, wherein CD video camera 2 11 and CCD camera shooting Machine 3 16 is responsible for vision guided navigation use as one group, and CCD camera 1 is responsible for going on patrol environment as another group to be collected, can be through For the environmental information flowed again by wireless real-time transmission after arm processor decoding to master station, master station can find suspicious letter in time Breath.
As a preference, the CCD camera 2 11 and the equal left low and right high of microwave radar M1 12 are obliquely arranged;Institute It states CCD camera 3 16 and the equal right low left high of microwave radar M3 17 is obliquely arranged.
As a preference, the tilt angle of the single line laser radar L1 and L3 is 5 degree;Single line laser radar L2 and Distance of the L4 apart from ground is 15cm~30cm.With ground there is the unmanned patrol bus-top single line of certain angle to swash Optical radar, microwave radar combine the fluctuating that can find road conditions in moving line in advance very well with CCD camera acquisition, to nobody Driving cruiser path optimizing has certain help.There is the unmanned patrol bus-top single line of certain angle with ground Laser radar data, microwave radar can also find that movement road surface temporarily loses in conjunction with CCD camera acquisition data in advance very well Small obstacle, advanced optimizing path or regulation power throwing over barrier to unmanned cruiser has certain side It helps.
Due to sensor combinations, unmanned cruiser is when starting moves forward generally in forward region There are a blind area, collide when starting in order to prevent, the front blind-area detection and obstacle avoidance system 26 and the detection of rear blind area and Obstacle avoidance system 27 is separately positioned on bottom front and the bottom rear end of cruiser ontology 1;Front blind-area detection and obstacle avoidance system 26 by Ultrasonic sensor US1, US2 and US3 composition, wherein ultrasonic sensor US1, US2 and US3 equably divides in the width direction Cloth, the detection of rear blind area and obstacle avoidance system 27 are made of ultrasonic sensor US4, US5 and US6, wherein ultrasonic sensor US4, US5 and US6 are evenly distributed in the width direction;Due to being added one group by ultrasonic sensor in the bottom of unmanned cruiser The front blind-area detection of US1, US2, US3 composition and obstacle avoidance system.In unmanned cruiser driving process, CCD camera meeting Environmental information is acquired in real time and is sent to vehicle-mounted NUC7 processor, FPGA and master station, when master station finds doubtful information, can be remotely controlled Unmanned cruiser starts the secondary determining suspicious information of reversing back, generally blind there are one in rear moving region at this time Area collides in order to prevent, the present invention unmanned cruiser bottom be added one group by ultrasonic sensor US4, The rear blind area detection of US5, US6 composition and obstacle avoidance system.Start reversing back moment in unmanned cruiser, rear single line swashs Optical radar and ultrasonic sensor group can work, and prevent from colliding when reversing.
The blind area detection system being made of multiple ultrasonic sensors can effectively eliminate unmanned cruiser and just start forward The short-distance blind section occurred when acceleration or reversing back improves the safety and reliability when walking of unmanned cruiser. Simultaneously as being equipped with two-way navigation sensor group, when encountering blind alley, the mode for not needing to rotate in place 180 degree is come in fact It now reverses end for end, need to only switch the SERVO CONTROL logic of front and back group navigation sensor and left and right servo motor, so that it may realize u-turn, increase Ability of the unmanned cruiser by small space is added.
Single line laser radar L1~the L4, microwave radar M1~M4, CCD camera 1, CCD camera 2 11, CCD Video camera 3 16, wireless communication module, assistant controller one and assistant controller two are connect with master controller;The supersonic sensing Device US1~US6 is connect with assistant controller one, and assistant controller two is connect with assistant controller one and motor driver respectively;Motor Driver is connect with four direct current generators 4 respectively;Power supply is connect with motor driver and power conversion module respectively, power supply conversion Module is for providing the supply of DC power supply;Wireless communication module is logical between the master station of distal end for wirelessly establishing Letter connection.
In order to improve the environment detection function of unmanned cruiser, the master controller is preferably NUC7 processor;Institute The core of assistant controller one is stated using STM32F767;The core of the assistant controller two uses FPGA.STM32F756 processor It is STM company completely new ARM series of products produced, is global first volume production and possesses at 32 bit ARM Cortex-M7 The microcontroller of device is managed, product is all equipped with the Cortex-M7 core for possessing floating-point operation unit and DSP extended function, operation speed Spend highest 216MHz;With AXI and more ahb bus matrixes towards kernel, peripheral hardware and memory interconnection, using 6 grades of superscales Assembly line and floating point unit;Two general dma controllers and one are exclusively used in the DMA of graphics accelerator;Compared to STM32 before Series possesses richer peripheral hardware;STM32F7 has excellent instruction and pin compatibility simultaneously: Cortex-M7 is backward compatible Cortex-M4 instruction set, STM32F7 series and STM32F4 series pin compatibility;STM32F7MCU series of products are by ARM The advantage that Cortex-M7 efficiency surmounts early stage core (for example Cortex-M4) applies to ultimate attainment, and efficiency reaches nearly twice of DSP, These characteristics make STM32F7 be very suitable to substitution partial lower ARM family chip or dsp chip do data processing.
FPGA itself is the cell array of standard, and user can be according to oneself design needs, by being specifically laid out Wiring tool carries out its inside to reconfigure connection, designs the specific integrated circuit of client's needs, while FPGA is by soft Part design realizes that hardware circuit function, the system of FPGA design have good reusable and modification property.In order to improve system Arithmetic speed, improves the patrol speed and stability of unmanned cruiser, and the present invention completes two important function using FPGA Can: first is that the servo control algorithm of four axis direct current brushless servo motors is realized by FPGA, second is that realizing part by FPGA The function of image procossing primary stage: the data volume of image rudimentary processing stage is big, and algorithm is simple, and there is biggish parallel Property;Being handled using software is a very time-consuming process, but utilizes hardware handles, so that it may be located parallel to mass data Reason, can greatly improve processing speed, in order to increase the processing capacity of host computer, introduce the newest 7th generation processing of Intel Device NUC7, FPGA and NUC7 image procossing catenation principle such as Figure 13.
The traditional two-wheeled mechanical structure and multi-line laser radar Working mould that domestic existing unmanned cruiser mostly uses Formula, therefore existing unmanned cruiser has the shortcomings that stability is poor, rapidity difference and sexual valence are poor, in order to guarantee nobody The stability and reliability of patrol vehicle control are driven, while in order to improve cost performance and control calculation process speed, this Shen The novel four-wheel mechanical mechanism based on planetary reducer please be propose, and introduces Intel in being based on STM32F767 controller The 7th generation NUC microcomputer and FPGA of state-of-the-art technology are formd based on Intel the 7th generation microcomputer NUC7+FPGA+ARM The completely new three nuclear control mode of (newest embedded STM32F767).In order to improve the environment detection function of unmanned cruiser, It is passed using more single line laser radars, microwave radar, CCD camera and ultrasonic wave based on Intel's the 7th generation NUC microcomputer Sensor integration technology realizes the detection of cruiser ambient enviroment, and introduces Image Acquisition and ARM based on high definition CCD camera Analysis of image data system, and by wireless in real time acquisition information back to master station.Whole system is that four axis are watched with FPGA Control system processing core, the digital convergence signal that 7 microcomputer of real-time reception NUC issues are taken, and realizes the number letter of part Number processing responds various interruptions and realization and the real-time data communication of master station and storage.The control system is more single line laser thunders Design is concentrated up to detection, microwave radar detection, ccd image acquisition and analysis system, can be arranged in the control system and electricity The battery management module of source connection, and connection battery management module is controlled by assistant controller one, battery management module includes using In the size for measuring the voltage sensor one of assembled battery total voltage, the voltage sensor two of measurement monomer voltage, measurement electric current Current sensor, the temperature sensing one of each battery temperature of measurement and the electric resistance sensor for measuring battery internal resistance, with reasonable The parameters situations such as battery total voltage, monomer voltage, the internal resistance of battery, temperature are monitored, and then in on-vehicle battery fast discharge process In, it opposite end voltage can be detected in real time, guarantee battery terminal voltage closer to actual parameter, the low pressure for being conducive to battery is protected Shield.In this way, the control system can be made fully to consider that battery in the effect of this system, is based on tri- nuclear control of ARM+FPGA+NUC Device can the operating status constantly to unmanned cruiser be monitored and operation, improve the utilization rate of the energy of battery, have Conducive to the continuation of the journey of unmanned cruiser, realize unmanned cruiser it is stable, it is reliable, constantly in the patrol of each region Operation.
The control system is maximum more single line laser radar signal processings of workload in unmanned cruiser system, micro- NUC microcomputer and FPGA processing are given in wave Radar Signal Processing and ccd image acquisition and analysis, handle nothing by NUC7 and FPGA People drives the image data of the CCD camera of cruiser and the data fusion signal of multisensor, is handled by FPGA unmanned The independent SERVO CONTROL of four axis direct current brushless servo motors of cruiser servo-system greatly improves so that control is fairly simple Arithmetic speed has given full play to NUC microcomputer and the very fast feature of FPGA data processing speed, meanwhile, also give full play to It is relatively slow to solve the monokaryon NUC7 image procossing speed of service for the very fast feature of FPGA arithmetic speed and program portable function Bottleneck, it is short to shorten the development cycle, and enhance program transportability ability effectively.And blind area detection and avoidance, image point The functions such as analysis and transmission, data storage, I/O control give STM32F767 completion, and it is micro- to thereby realize ARM, FPGA and NUC The rational division of work of type computer also further improves control system while improving control system operation and processing speed Stability and reliability, while can also make energy real-time perfoming between two three of master controller, assistant controller one and assistant controller logical News carry out data exchange and calling.Meanwhile single line laser radar, microwave radar cooperate ccd image acquisition system, can not only have The barrier or the position where people that effect detects the unmanned cruiser direction of motion, notify unmanned patrol vehicle control It realizes Emergency avoidance, and lower compared to multi-line laser radar hardware cost, is conducive to unmanned cruiser practical application It promotes.Since this control system handles a large amount of single line laser radar sensors and microwave radar sensor using NUC and FPGA Data and algorithm, and fully considered the interference source of surrounding, NUC is freed from hard work amount, is effectively prevented " run and fly " of motion control main program, unmanned cruiser anti-interference ability greatly enhances.Meanwhile it can effectively detect fortune The presence of dynamic direction two sides columnar object can provide certain help to position when the advance of unmanned cruiser.It can also be effective The presence of two sides free area is detected, turning and the avoidance of can advancing for unmanned cruiser provide certain help.By FPGA exports the unmanned cruiser direct current brushless servo motor PWM modulation signal of four axis and direction signal, passes through driving circuit Direct current generator can be directly driven, the burden of ARM is not only alleviated, simplifies interface circuit, and eliminates ARM internal composition The trouble of position, speed control program and various pid algorithms, so that the debugging of system is simple.It is transported in unmanned cruiser During row, FPGA can the torque to four direct current brushless servo motors carry out on-line identification and utilize motor torque and electric current Relationship compensates, and reduces direct current brushless servo motor torque shake to the unmanned cruiser servo-system of four-shaft high-speed It influences.In the control of unmanned cruiser, FPGA is anti-according to sensor L1~L4, M1~M4 and ccd image acquisition system Feedback signal determines that unmanned cruiser deviates the offset of optimal path center, then real-time according to different offsets The pid parameter inside FPGA is adjusted, easily realizes segmentation P, PD, PID control and nonlinear PID controller, there is system certain It is adaptive.FPGA moment and NUC and ARM are communicated, their interruptive command of real-time reception, when in case of emergency, NUC and ARM can block the PWM output of FPGA at the first time, prevent the unmanned cruiser of four axis from injuring due to failure.
Further, encoder can also be connected on the driving wheel 2, the encoder is connect with assistant controller one, With the displacement for Real-time Feedback cruiser ontology 1, velocity and acceleration.
It further include four charging modules, four charging modules are respectively distributed to cruiser for the ease of realizing charging process The surrounding of ontology 1, and connect to power supply, the power supply is battery group.Preferably, the charging module is preferably wireless Charging module, in this way, can automatically carry out charging operation after cruiser reaches specified region.
In order to make the cruiser that there is warning function, the acousto-optic connecting with assistant controller one or master controller can also be increased Alarm system.In order to understand ambient weather situation in time, can also increase on cruiser ontology and assistant controller one or master The photosensitive sensor of controller connection comes.
In order to further enhance the control precision for having no way of driving cruiser, in order to perceive rotation angle and maintenance side To, meanwhile, also for navigation and locating effect can be improved, it is additionally provided with the gyroscope connecting with assistant controller one.
Working principle: unmanned cruiser system is divided into two parts by the present invention: the Novel machine based on planetary reducer Tool system and three nuclear control systems based on NUC7+FPGA+ARM, three nuclear control systems are by the host computer based on vehicle-mounted computer NUC System and based on STM32F767 ARM and FPGA lower computer system composition.It is wherein complete based on vehicle-mounted computer NUC master system At path and map input, more single line laser radars, the data fusion of microwave radar sensor and the acquisition of CCD figure and processing etc. Function;ARM lower computer control system based on STM32F767 completes the data storage of unmanned cruiser system, image is adopted The functions such as collection and transmission, I/O control, give full play to the very fast advantage of STM32F767 data processing, wherein workload is maximum straight FPGA processing is given in stream brushless servo system control, so that the speed control of unmanned cruiser is faster, is thereby realized The rational division of work of NUC, FPGA and ARM, while can be communicated again between three, real-time perfoming data exchange and calling.
Three nuclear control of unmanned cruiser based on ARM (STM32F767)+FPGA+NUC7 designed for the present invention Device, under power-on state, arm processor and NUC controller are completed to initialize first, and then vehicle-mounted computer NUC7 passes through nothing People drives cruiser control master station and transfers cruiser driving path and cartographic information, and subsequent blind-spot sensor is started to work, and with Arm processor communication, arm processor determine that unmanned four axis of cruiser driving is opened after clear enters working region patrols Mode is patrolled, while mutually being communicated with NUC controller and FPGA, NUC and FPGA real-time reception laser radar, microwave radar and CCD Video camera feedback signal simultaneously decodes, and then communicates with arm processor and transmits control letter, arm processor passes through decoded input control Signal processed controls four direct current brushless servo motors to FPGA, FPGA, and direct current brushless servo motor converts speed through planetary reducer Unmanned cruiser fast running is driven after degree and torque, and passes through the encoder Real-time Feedback displacement on moving wheel, speed With the signals such as acceleration to FPGA.In unmanned cruiser motion process, the patrol Image Acquisition system based on CCD camera Real-time Transmission scene patrol information unite to master station.Once encountering bad weather, system understands excise laser radar-probing system, only It works by microwave radar systems, meets the normal patrol work of unmanned cruiser under round-the-clock adverse circumstances.Nobody drives Cruiser is sailed once opening patrol mode, 360 degree of CCD cameras 1 will return in real time patrol environment by arm processor.
In conjunction with Fig. 7, into Figure 11 introduction present invention, the specific function of unmanned cruiser is accomplished by
1) for unmanned cruiser before patrol mission, master station generally can recognize first patrol by it by remote control mode The Essential Environment in region passes through mobile lidar L1~L4, microwave radar M1 in unmanned cruiser walking process ~M4 and CCD camera two and CCD camera three carry out environment detection, and NUC7 and FPGA will be analyzed and be built to acquisition image Figure, while environmental map is transferred in real time by WLAN by master station, stored after being handled by master station and forms entire patrol Area map, if region is larger, total standing-meeting is split the map of beat, is divided into several mapping modules, is conducive to The calling in unmanned cruiser later period, once completing the foundation of area map, unmanned cruiser is returned to master station's entrance It awaits orders patrol state.
2) before unmanned cruiser is not connected to patrol order, it generally can be in master station's hair to be controlled such as waiting area Out go out say the word, if voltage is lower, unmanned cruiser can charge automatically.Unmanned cruiser is waiting After period after being connected to the task of setting out, unmanned cruiser will detect extraneous environmental aspect, if environment compares Badly, it will not participate in navigation for laser radar L1~L4 of navigation, CCD camera two and CCD camera three, system will be opened only Open microwave radar, ultrasonic sensor navigates.Vehicle-mounted computer NUC7 transfers unmanned cruiser by master station and goes on patrol point Information forms the driving path and navigation map information of new period patrol then in conjunction with master station's cartographic information, is then based on The arm processor of STM32F767 is opened front and back blind-spot sensor and is scanned to blind area, if there is to enter movement blind for barrier Area, arm processor can sound an alarm and FPGA forbidden to work, and the PWM that FPGA blocks four axis direct current brushless servo motors exports letter Number, the unmanned cruiser of four axis removes the locked waiting barrier in original place;If clear enters movement blind area or obstacle Object is removed, and ARM controller will enable FPGA work again, and FPGA is straight according to control deviation signal four axis of output that ARM is inputted The PWM wave for flowing brushless servo motor controls signal, and four axis direct current brushless servo motors are through 90 degree of accurate planetary reducer transformation speed Unmanned cruiser is driven to start to go on patrol automatically after degree and torque.
3) after unmanned cruiser starts starting, arm processor opens each single line laser thunder according to ambient weather situation Real time environment scanning is carried out up to sensor L1~L4, microwave radar M1~M4 and CCD camera two and CCD camera three, then It is compared by the NUC and FPGA real-time map generated and original map and determines the location of unmanned cruiser and appearance State, NUC transmission deviation signal is to ARM controller, and input deviation signal adjusts in real time to FPGA, FPGA after ARM controller decoding The PWM wave of four axis direct current brushless servo motors controls signal, and then completes the initialization pose adjustment of unmanned cruiser, nothing People drives cruiser and enters automatic patrol mode.
4) when unmanned cruiser injection is gone on patrol automatically, sensor L1~L4, the microwave radar M1 of navigation Feedback signal, and is conveyed to NUC and arm processor by~M4 and the work of CCD camera two and CCD camera three, first have NUC and FPGA carries out Data Fusion and STM32F767 responds various interruption protections and image analysis, and then NUC and ARM is communicated, Arm processor environment according to locating for the unmanned cruiser that NUC is fed back determines unmanned patrol according to Fig. 8, Fig. 9 and Figure 10 Vehicle is bilateral navigation, left unilateral navigation, right unilateral navigation or the inertial navigation based on gyroscope under the current model, then ARM controller input control deviation signal to FPGA, FPGA according to deviation signal through internal servo programe generate four axis direct currents without The PWM wave of brush servo motor controls signal, four axis direct current brushless servo motors through 90 degree accurate planetary reducer conversion rates with The speed and the direction of motion that unmanned cruiser is realized after torque change, and unmanned cruiser is easily completed Automatic patrol.
5) after unmanned cruiser enters moving line, the single line laser sensor L1 and microwave radar of front obliquely M1, front parallel to the ground detection single line laser radar group L2 and microwave radar M2 and CCD camera two (or laser sensor L3 and microwave radar M3, front detection single line laser radar group L4 and microwave radar M4 and CCD camera three parallel to the ground) The environment in front can be detected the moment and input to NUC and FPGA, NUC and FPGA can handle front environmental data in real time and pass through NUC7 forms new environmental map, and the map that NUC7 is transmitted with master station compares, and determines fixed obstacle and mobile people and object Body position information etc..
If single line laser sensor L1, microwave radar M1 cooperate CCD camera two (or single line laser sensor L3, micro- Wave radar M3 cooperates CCD camera three) detect fluctuating pitting or the small-scale obstacle in forward path there are certain altitude Object, if height and width have been more than the requirement that unmanned cruiser is crossed, NUC will be to assistant controller one (STM32F767) It issues interrupt requests and fluctuating pitting data is come into capable processing simultaneously, STM32F767 can be to interrupting priority processing and enter front Hide protection subprogram: if having enough walking spaces on the left of unmanned cruiser, ARM will be communicated in FPGA and be inputted most The PWM wave that four axis direct current brushless servo motors are adjusted according to ARM input control signal is controlled letter by large deviation position signal, FPGA Number, four axis direct current brushless servo motors realize unmanned cruiser after 90 degree of accurate planetary reducer conversion rates and torque Speed and the direction of motion change, unmanned cruiser determines navigation mode and to the left according to the location of oneself difference Side automatically moves, and after completing to hide movement, FPGA controller will readjust four according to unmanned cruiser navigation mode The PWM wave of axis direct current brushless servo motor controls signal, and four axis direct current brushless servo motors become through 90 degree of accurate planetary reducers Realize that unmanned cruiser deviates to the right automatically and drives into the optimized path NUC7 again after throw-over degree and torque;Such as There are enough walking spaces on the right side of unmanned cruiser in the new map of fruit NUC feedback, ARM will be communicated in FPGA and be inputted most Large deviation position signal, it is straight that FPGA will adjust four axis according to the navigation mode of ARM input control signal and unmanned cruiser The PWM wave for flowing brushless servo motor controls signal, and four axis direct current brushless servo motors are through 90 degree of accurate planetary reducer transformation speed Realize that unmanned cruiser moves to the right automatically after degree and torque, after completing to hide movement, FPGA controller is according to nothing People drive cruiser navigation mode will readjust four axis direct current brushless servo motors PWM wave control signal, four axis direct currents without Brush servo motor realizes unmanned cruiser lateral deviation to the left automatically after 90 degree of accurate planetary reducer conversion rates and torque It moves and drives into the optimized path NUC7 again;If the height and width or small obstacle of the fluctuating pitting of NUC7 feedback The data information tolerance cross-country in the unmanned cruiser of four axis, and the unmanned cruiser left-right position of map denotation When not having enough mobile spaces, FPGA controller watches the power of four axis direct current brushless servo motors, four axis brush DCs Take motor driven after 90 degree of accurate planetary reducer conversion rates and torque unmanned cruiser automatically according to setting just Normal path optimizing travels and throwing over barrier and pitting.
If single line laser sensor L1 and L2, microwave radar M1 and M2 and CCD camera two (or single line laser sensor L3, L4, microwave radar M3, M4 cooperate CCD camera three) it detects and temporarily there is large obstacle in path optimizing left front, NUC will issue interrupt requests to ARM (STM32F767) and handle barrier data simultaneously, and ARM can go forward side by side to priority processing is interrupted Enter left front avoidance protection subprogram: NUC and ARM communicate and transmit barrier data information, if barrier is patrolled with unmanned Patrol immediately ahead of vehicle has enough spaces that unmanned cruiser can be allowed to pass through between projection, and FPGA controller will remain current straight The SERVO CONTROL of brushless servo motor is flowed, unmanned cruiser continues to keep current running state;If barrier and nobody Driving immediately ahead of cruiser has overlapping between projection, and input maximum deviation position signal is given after ARM controller analysis processing The navigation mode according to locating for ARM input control signal and unmanned cruiser is automatically adjusted four axis direct currents by FPGA, FPGA The PWM wave of brushless servo motor controls signal, and four axis direct current brushless servo motors are through 90 degree of accurate planetary reducer conversion rates With unmanned cruiser automatic deviation to the right is realized after torque, when complete hide movement after, FPGA controller is according to nobody It drives cruiser navigation mode and the PWM wave for readjusting four axis direct current brushless servo motors is controlled into signal, four axis brush DCs Servo motor realizes that unmanned cruiser deviates to the left automatically after 90 degree of accurate planetary reducer conversion rates and torque And the optimized path NUC7 is driven into again.
If single line laser sensor L1 and L2, microwave radar M1 and M2 and CCD camera two (or single line laser sensor L3 and L4, microwave radar M3 and M4 cooperate CCD camera three) it detects and temporarily there is large-scale obstacle in path optimizing right front Object, NUC will issue interrupt requests to ARM (STM32F767) and handle barrier data simultaneously, and ARM (STM32F767) can centering Disconnected priority processing simultaneously enters avoidance protection subprogram before the right side: NUC and ARM communicate and transmit barrier data information, control through ARM Input maximum deviation position signal is to FPGA after device analysis processing, and FPGA according to ARM input control signal and unmanned will be patrolled Navigation mode locating for vehicle is patrolled, the PWM wave of four axis direct current brushless servo motors of automatic adjustment controls signal, and four axis brush DCs are watched It takes motor and realizes unmanned cruiser automatic deviation to the left after 90 degree of accurate planetary reducer conversion rates and torque, when After movement is hidden in completion, FPGA controller will readjust four axis brush DC servos according to unmanned cruiser navigation mode The PWM wave of motor controls signal, and four axis direct current brushless servo motors are after 90 degree of accurate planetary reducer conversion rates and torque Realize that unmanned cruiser deviates to the right automatically and drives into the optimized path NUC7 again.
During unmanned cruiser is gone on patrol forward, when encountering blind alley shown in Figure 11, ARM controller will be in The control for adjusting four axis direct current brushless servo motors is kept unmanned cruiser smooth in safe range by FPGA communication, FPGA Parking, then ARM controller will automatically switch front and back navigation sensor group, the laser sensor L3 and microwave thunder of rear obliquely Up to M3, rear parallel to the ground detection single line laser radar group L4 and microwave radar M4, CCD camera three by work, NUC and FPGA is by the environment of the real-time detection direction of motion and forms new environmental map, and the map transmitted with master station compares, and determines solid The location of fixed unmanned cruiser information etc., unmanned cruiser enters reverse group sensor navigational state, while FPGA is controlled Device can switch the control logic of four axis direct current brushless servo motors.It is run in unmanned cruiser by the navigation of reverse group sensor group Cheng Zhong, one moment of CCD camera detects ambient enviroment, and is analyzed by wireless real-time transmission to master station, until under encountering One blind alley, arm processor switch to positive group sensor navigational state again.
6) when unmanned cruiser enters moving line and moves forward, detection single line laser radar L4 parallel to the ground It is anti-that movement is detected with blind-spot sensor group US4~US6 (or single line laser radar L2 and blind-spot sensor group US1~US3) moment The environment in direction is simultaneously transferred to NUC and ARM progress data fusion, if after sensor fusion system judges unmanned cruiser When side is close to unmanned cruiser there are barrier, NUC will issue interrupt requests to ARM and barrier data will be transmitted simultaneously To ARM, arm processor can be to interrupting priority processing, protecting subprogram subsequently into rear avoidance and sounding an alarm, and ARM is controlled Input minimum deflection position signal will increase four axis direct currents according to ARM input control signal to FPGA, FPGA after device analysis processing The PWM wave duty ratio of brushless servo motor, four axis direct current brushless servo motors through 90 degree of accurate planetary reducer conversion rates and Realize that unmanned cruiser acceleration flees danger region after torque;If unmanned cruiser rear there is no barrier into Enter protection scope, unmanned cruiser will be travelled according to the normal speed of setting.
7) after unmanned cruiser enters moving line, blind-spot sensor group US1~US3 parallel to the ground (or it is blind Zone sensors group US4~US6) moment detection direction of motion blind area environment, if (or the blind area blind-spot sensor group US1~US3 Sensor group US4~US6) judgement temporarily have barrier enter unmanned cruiser movement blind area when, will be issued to ARM promptly Barrier data are transferred to ARM simultaneously and are handled by interrupt requests, and ARM can be kept away subsequently into blind area priority processing is interrupted Barrier protection subprogram simultaneously sounds an alarm, and ARM will forbid FPGA to work, and FPGA will block the PWM of four axis direct current brushless servo motors Wave control signal, and emergency braking makes unmanned cruiser crash-stop, prevents unmanned cruiser from injuring meiofauna Life, after danger releases, ARM enables FPGA again, and FPGA accounts for the PWM wave for readjusting four axis direct current brushless servo motors Empty ratio, four axis direct current brushless servo motors drive unmanned patrol after 90 degree of accurate planetary reducer conversion rates and torque Vehicle is travelled according to the normal speed of setting.
8) after unmanned cruiser enters moving line, the encoder moment detection being connected with four axis driving wheels is driven The speed of wheel is simultaneously conveyed to ARM and FPGA controller, and when FPGA detects that stall occurs in any one driving wheel, FPGA can be excellent First handle this emergency situations.
When 90 degree of planetary reducer stall of a pair of of DC brushless motor of encoder feedback and front connection, FPGA control Device processed blocks the pwm control signal of a pair of of DC brushless motor of front at once, and adjusts a pair of of brush DC at rear portion immediately For the synchronization pwm control signal of motor to meet requirement of the operating condition to power, unmanned cruiser enters two axis rear-guards emergency mould Formula, after emergency releasing, FPGA controller enables the control signal of a pair of of DC brushless motor at rear portion, weight again at once The control signal of four axis direct current brushless servo motors of new adjustment, system reenter 4 wheel driven state.
When 90 degree of planetary reducer stall of a pair of of DC brushless motor at encoder feedback and rear portion connection, FPGA control Device processed blocks the pwm control signal of a pair of of DC brushless motor at rear portion at once, and adjusts a pair of of brush DC of front immediately To meet requirement of the operating condition to power, unmanned cruiser enters two axis forerunners and answers the two-axis synchronization pwm control signal of motor Anxious mode, after emergency releasing, FPGA controller enables a pair of of Brush-Less DC motor control signal at rear portion again at once, The control signal of four axis direct current brushless servo motors is readjusted, system reenters 4 wheel driven state.
9) in most cases due to unmanned cruiser, be not one-stop service mode, the patrol place of arrival compared with More, by being emphasis beat, unmanned cruiser skip emphasis beat, the present invention have given up generally in order to prevent Website read method, site sensor S1 and S2 with certain redundancy can also be added in the present invention, when unmanned patrol When vehicle will reach emphasis patrol website, arm processor first turns on sensor S1 and S2, while FPGA will weaken four axis direct currents The PWM wave duty ratio of brushless servo motor, four axis direct current brushless servo motors through 90 degree of accurate planetary reducer conversion rates and It drives unmanned cruiser to run at a low speed after torque, and the site identity of beat is read out, when any of them one A sensor be triggered Shi Ze represent unmanned cruiser arrived setting emphasis patrol website.
10) when unmanned cruiser enters emphasis patrol point, CCD camera one will carry out figure to emphasis beat As acquisition and Real-time Feedback is to arm processor, and arm processor is total by radioing to after internal image analysis system coding It stands, master station decodes image information first and stores keynote message, will be to ARM, FPGA if master station finds suspicious decoded information Parking interrupt requests are issued with NUC controller, ARM will forbid FPGA to work, and FPGA will block four axis direct current brushless servo motors Control signal, four axis direct current brushless servo motors make 90 degree of precision planetary reducer emergency brakings, and unmanned cruiser is anxious Speed parking, then CCD camera one carries out secondary image acquisition, and ARM will acquire information to suspicious points and be analyzed again, works as nothing After people's driving cruiser confirmation is errorless, FPGA will readjust the PWM wave duty ratio of four axis direct current brushless servo motors, and four axis are straight Stream brushless servo motor driven after 90 degree accurate planetary reducer conversion rates and torque unmanned cruiser continuation according to Set speed travels, and the live image in one real-time Transmission current path of CCD camera is to master station.
11) in order to meet the actual functional capability needs of unmanned cruiser in special circumstances in hazardous environment etc., this Urgent stop selection function can also be added in invention: nobody can be freely arranged in unmanned cruiser initial operating stage master station and drive Sail cruiser and need the patrol website that goes, then unmanned cruiser by itself navigation sensor can with complete independently this A setting, when if an emergency situation is encountered during patrol, master station needs to change operating path or urgent patrol website, main website It is communicated by wireless device and unmanned cruiser NUC, walking path and patrol point information is then changed by NUC, NUC stops site information with the unmanned cruiser path of real-time update after ARM communication control and patrol, and FPGA is controlled according to ARM The new job requirement of device input processed adjusts the PWM wave duty ratio of four axis direct current brushless servo motors, four axis brush DC servo electricity Machine drives unmanned cruiser to patrol according to new requirement to realize after 90 degree of accurate planetary reducer conversion rates and torque Patrol task.
12) when unmanned cruiser is gone on patrol by fixed route, a variety of acoustooptic alarm systems in system propose work The presence of the awake unmanned cruiser of surrounding pedestrian, when unmanned cruiser loses communication with main website, ARM controller can be sent out For automatic stop sign to FPGA, the direct original place FPGA locks the control of four axis direct current brushless servo motors of unmanned cruiser out Signal processed, four axis direct current brushless servo motors make 90 degree of precision planetary reducers stop in emergency, and unmanned cruiser will not be sent out Raw collision hurts people because of uncontrolled, and main website is believed due to that can not be collected into the transmission of unmanned cruiser at this time Breath will stop site information according to a upper patrol and carry out fast track to unmanned cruiser, and solve failure problems.

Claims (10)

1. a kind of round-the-clock unmanned cruiser system of four-wheel drive, including cruiser ontology (1) and setting are in cruiser sheet Control system on body (1);
Cruiser ontology (1) lower part is respectively equipped with a pair of driving wheels (2), cruiser sheet in the front and rear of length direction Body (1) mounted inside has four direct current generators (4) for respectively driving four driving wheels (2);
The control system includes power supply, power conversion module, motor driver, wireless communication module, master controller and auxiliary control Device processed;
It is located on the outside of four direct current generator (4) motor shafts it is characterized in that, being additionally provided with inside the cruiser ontology (1) Four planetary reducers (5);The planetary reducer (5) is 90 degree of corner planetary reducers;
The direction that the length direction of four direct current generators (4) prolongs cruiser ontology (1) length extends, and four direct current generators (4) it is located at the inside of four driving wheels (2);The direct current generator (4) is rare earth permanent magnet brushless DC servo motor, direct current generator (4) motor shaft is connect with the input terminal of planetary reducer (5), and the output shaft of planetary reducer (5) is driven by gear set to be driven Driving wheel (2);The gear set by being distributed and pitch wheel one (6) and gear two (7) form in the longitudinal direction;The gear One (6) are set on the output shaft of planetary reducer (5), and the gear two (7) is set in the shaft at driving wheel (2) center;
The control system further include the first front environment detection and protection system, the second front environment detection and protection system, First rear environment detection and protection system, the second rear environment detection and protection system, front blind-area detection and obstacle avoidance system (26), rear blind area detection and obstacle avoidance system (27) and setting are imaged in 360 degree of CCD of cruiser ontology (1) top center Machine one (8);
First front environment detection and protection system are mainly by single line laser radar L1 (9), single line laser radar L2 (10) It is formed with CCD camera two (11);Cruiser ontology (1) is obliquely arranged in single line laser radar L1 (9) left low and right high The forward position in top, the single line laser radar L2 (10) is horizontally disposed at the front end of cruiser ontology (1) lower part, described CCD camera two (11) is arranged in the front of cruiser ontology (1), and close to the center of short transverse;
Second front environment detection and protection system are mainly made of microwave radar M1 (12) and microwave radar M2 (13);Institute It states microwave radar M1 (12) to be arranged in the front of cruiser ontology (1), and is located at single line laser radar L1 (9) and CCD camera Between two (11);The microwave radar M2 (13) is arranged in the front end of the lower part of cruiser ontology (1), and is located at single line laser thunder Up to the lower part of (10) L2;
First rear environment detection and protection system are mainly by single line laser radar L3 (14), single line laser radar L4 (15) It is formed with CCD camera three (16);Cruiser ontology (1) is obliquely arranged in single line laser radar L3 (14) right low left high Top rearward position, the single line laser radar L4 (15) is horizontally disposed at the rear end of cruiser ontology (1) lower part, described CCD camera three (16) is arranged at the rear portion of cruiser ontology (1), and close to the center of short transverse;
Second rear environment detection and protection system are mainly made of microwave radar M3 (17) and microwave radar M4 (18);Institute It states microwave radar M3 (17) to be arranged in the front and rear part of cruiser ontology (1), and is located at single line laser radar L3 (14) and CCD camera shooting Between machine three (16);The microwave radar M4 (18) is arranged in the front end of the lower part of cruiser ontology (1), and is located at single line laser The lower part of radar L4 (15);
The front blind-area detection and obstacle avoidance system (26) and the detection of rear blind area and obstacle avoidance system (27) are separately positioned on cruiser sheet The bottom front of body (1) and bottom rear end;Front blind-area detection and obstacle avoidance system (26) are by ultrasonic sensor US1, US2 and US3 Composition, wherein ultrasonic sensor US1, US2 and US3 is evenly distributed in the width direction, rear blind area detection and obstacle avoidance system (27) it is made of ultrasonic sensor US4, US5 and US6, wherein ultrasonic sensor US4, US5 and US6 is uniform in the width direction Ground distribution;
Single line laser radar L1~the L4, microwave radar M1~M4, CCD camera one (8), CCD camera two (11), CCD Video camera three (16), wireless communication module and assistant controller are connect with master controller;Ultrasonic sensor US1~the US6 It is connect with assistant controller with motor driver, motor driver is connect with four direct current generators (4) respectively;Power supply respectively with electricity Machine driver is connected with power conversion module, and power conversion module is for providing the supply of DC power supply;Wireless communication module is used In the communication connection wirelessly established between the master station of distal end.
2. the round-the-clock unmanned cruiser system of a kind of four-wheel drive according to claim 1, which is characterized in that described CCD camera two (11) and microwave radar M1 (12) left low and right high are obliquely arranged;The CCD camera three (16) and microwave Radar M3 (17) right low left high is obliquely arranged;The tilt angle of the single line laser radar L1 and L3 is 5 degree;Single line swashs Distance of the optical radar L2 and L4 apart from ground is 15cm~30cm.
3. the round-the-clock unmanned cruiser system of a kind of four-wheel drive according to claim 1 or 2, which is characterized in that The master controller is NUC7 processor;The core of the assistant controller uses STM32F767;The model of single line laser radar LMS151-10100。
4. the round-the-clock unmanned cruiser system of a kind of four-wheel drive according to claim 3, which is characterized in that described Encoder is connected on driving wheel (2), the encoder is connect with assistant controller, to be used for Real-time Feedback cruiser ontology (1) Displacement, velocity and acceleration.
5. the round-the-clock unmanned cruiser system of a kind of four-wheel drive according to claim 4, which is characterized in that also wrap Four charging modules are included, four charging modules are respectively distributed to the surrounding of cruiser ontology (1), and connect to power supply, described Power supply is battery group.
6. a kind of round-the-clock unmanned cruiser system of four-wheel drive, including cruiser ontology (1) and setting are in cruiser sheet Control system on body (1);
Cruiser ontology (1) lower part is respectively equipped with a pair of driving wheels (2), cruiser sheet in the front and rear of length direction Body (1) mounted inside has four direct current generators (4) for respectively driving four driving wheels (2);
The control system includes power supply, power conversion module, motor driver, wireless communication module, master controller, auxiliary control system Device one and assistant controller two;
It is located on the outside of four direct current generator (4) motor shafts it is characterized in that, being additionally provided with inside the cruiser ontology (1) Four planetary reducers (5);The planetary reducer (5) is 90 degree of corner planetary reducers;
The direction that the length direction of four direct current generators (4) prolongs cruiser ontology (1) length extends, and four direct current generators (4) it is located at the inside of four driving wheels (2);The direct current generator (4) is rare earth permanent magnet brushless DC servo motor, direct current generator (4) motor shaft is connect with the input terminal of planetary reducer (5), and the output shaft of planetary reducer (5) is driven by gear set to be driven Driving wheel (2);The gear set by being distributed and pitch wheel one (6) and gear two (7) form in the longitudinal direction;The gear One (6) are set on the output shaft of planetary reducer (5), and the gear two (7) is set in the shaft at driving wheel (2) center;
The control system further include the first front environment detection and protection system, the second front environment detection and protection system, First rear environment detection and protection system, the second rear environment detection and protection system, front blind-area detection and obstacle avoidance system (26), rear blind area detection and obstacle avoidance system (27) and setting are imaged in 360 degree of CCD of cruiser ontology (1) top center Machine one (8);
First front environment detection and protection system are mainly by single line laser radar L1 (9), single line laser radar L2 (10) It is formed with CCD camera two (11);Cruiser ontology (1) is obliquely arranged in single line laser radar L1 (9) left low and right high The forward position in top, the single line laser radar L2 (10) is horizontally disposed at the front end of cruiser ontology (1) lower part, described CCD camera two (11) is arranged in the front of cruiser ontology (1), and close to the center of short transverse;
Second front environment detection and protection system are mainly made of microwave radar M1 (12) and microwave radar M2 (13);Institute It states microwave radar M1 (12) to be arranged in the front of cruiser ontology (1), and is located at single line laser radar L1 (9) and CCD camera Between two (11);The microwave radar M2 (13) is arranged in the front end of the lower part of cruiser ontology (1), and is located at single line laser thunder Up to the lower part of (10) L2;
First rear environment detection and protection system are mainly by single line laser radar L3 (14), single line laser radar L4 (15) It is formed with CCD camera three (16);Cruiser ontology (1) is obliquely arranged in single line laser radar L3 (14) right low left high Top rearward position, the single line laser radar L4 (15) is horizontally disposed at the rear end of cruiser ontology (1) lower part, described CCD camera three (16) is arranged at the rear portion of cruiser ontology (1), and close to the center of short transverse;
Second rear environment detection and protection system are mainly made of microwave radar M3 (17) and microwave radar M4 (18);Institute It states microwave radar M3 (17) to be arranged in the front and rear part of cruiser ontology (1), and is located at single line laser radar L3 (14) and CCD camera shooting Between machine three (16);The microwave radar M4 (18) is arranged in the front end of the lower part of cruiser ontology (1), and is located at single line laser The lower part of radar L4 (15);
The front blind-area detection and obstacle avoidance system (26) and the detection of rear blind area and obstacle avoidance system (27) are separately positioned on cruiser sheet The bottom front of body (1) and bottom rear end;Front blind-area detection and obstacle avoidance system (26) are by ultrasonic sensor US1, US2 and US3 Composition, wherein ultrasonic sensor US1, US2 and US3 is evenly distributed in the width direction, rear blind area detection and obstacle avoidance system (27) it is made of ultrasonic sensor US4, US5 and US6, wherein ultrasonic sensor US4, US5 and US6 is uniform in the width direction Ground distribution;
Single line laser radar L1~the L4, microwave radar M1~M4, CCD camera one (8), CCD camera two (11), CCD Video camera three (16), wireless communication module, assistant controller one and assistant controller two are connect with master controller;The ultrasonic wave passes Sensor US1~US6 is connect with assistant controller one, and assistant controller two is connect with assistant controller one and motor driver respectively;Electricity Machine driver is connect with four direct current generators (4) respectively;Power supply is connect with motor driver and power conversion module respectively, power supply Conversion module is for providing the supply of DC power supply;Wireless communication module is for wirelessly establishing between the master station of distal end Communication connection.
7. the round-the-clock unmanned cruiser system of a kind of four-wheel drive according to claim 6, which is characterized in that described CCD camera two (11) and microwave radar M1 (12) left low and right high are obliquely arranged;The CCD camera three (16) and microwave Radar M3 (17) right low left high is obliquely arranged;The tilt angle of the single line laser radar L1 and L3 is 5 degree;Single line swashs Distance of the optical radar L2 and L4 apart from ground is 15cm~30cm.
8. the round-the-clock unmanned cruiser system of a kind of four-wheel drive according to claim 7, which is characterized in that described Master controller is NUC7 processor;The core of the assistant controller one uses STM32F767;The core of the assistant controller two is adopted Use FPGA;The model LMS151-10100 of single line laser radar.
9. the round-the-clock unmanned cruiser system of a kind of four-wheel drive according to claim 8, which is characterized in that described Encoder is connected on driving wheel (2), the encoder is connect with assistant controller one, to be used for Real-time Feedback cruiser ontology (1) displacement, velocity and acceleration.
10. the round-the-clock unmanned cruiser system of a kind of four-wheel drive according to claim 9, which is characterized in that also Including four charging modules, four charging modules are respectively distributed to the surrounding of cruiser ontology (1), and connect to power supply, institute Stating power supply is battery group.
CN201910184632.0A 2018-03-19 2019-03-12 A kind of round-the-clock unmanned cruiser system of four-wheel drive Pending CN110032183A (en)

Priority Applications (4)

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CN201810224648.5A CN108205325A (en) 2018-03-19 2018-03-19 A kind of round-the-clock unmanned cruiser system of four-wheel drive low speed
CN201810224174.4A CN108227720A (en) 2018-03-19 2018-03-19 A kind of round-the-clock unmanned cruiser system of four-wheel drive high speed
CN2018102246485 2018-03-19
CN2018102241744 2018-03-19

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Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN111941428A (en) * 2020-08-17 2020-11-17 上海快仓智能科技有限公司 Obstacle avoidance control method and device

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN111941428A (en) * 2020-08-17 2020-11-17 上海快仓智能科技有限公司 Obstacle avoidance control method and device

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