CN111024150A - Perception system of unmanned platform - Google Patents

Perception system of unmanned platform Download PDF

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Publication number
CN111024150A
CN111024150A CN201911117835.4A CN201911117835A CN111024150A CN 111024150 A CN111024150 A CN 111024150A CN 201911117835 A CN201911117835 A CN 201911117835A CN 111024150 A CN111024150 A CN 111024150A
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China
Prior art keywords
unmanned platform
information
perception
unmanned
line laser
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CN201911117835.4A
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Chinese (zh)
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苑士华
刘琦
李雪原
周俊杰
尹旭峰
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Beijing Institute of Technology BIT
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Beijing Institute of Technology BIT
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Priority to CN201911117835.4A priority Critical patent/CN111024150A/en
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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01D—MEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE; ARRANGEMENTS FOR MEASURING TWO OR MORE VARIABLES NOT COVERED IN A SINGLE OTHER SUBCLASS; TARIFF METERING APPARATUS; MEASURING OR TESTING NOT OTHERWISE PROVIDED FOR
    • G01D21/00—Measuring or testing not otherwise provided for
    • G01D21/02—Measuring two or more variables by means not covered by a single other subclass
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C23/00—Combined instruments indicating more than one navigational value, e.g. for aircraft; Combined measuring devices for measuring two or more variables of movement, e.g. distance, speed or acceleration
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/86—Combinations of radar systems with non-radar systems, e.g. sonar, direction finder
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/86—Combinations of radar systems with non-radar systems, e.g. sonar, direction finder
    • G01S13/865—Combination of radar systems with lidar systems
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/86—Combinations of radar systems with non-radar systems, e.g. sonar, direction finder
    • G01S13/867—Combination of radar systems with cameras

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  • Engineering & Computer Science (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Traffic Control Systems (AREA)
  • Navigation (AREA)

Abstract

The invention discloses a sensing system of an unmanned platform, which comprises an external sensing unit and an internal sensing unit, wherein the external sensing unit is used for sensing external environment information, and the internal sensing unit is used for monitoring the vehicle position, the vehicle speed and the posture of the unmanned platform. The environment information is divided into the internal environment information and the external environment information, so that external conditions can be well sensed, internal data can be collected, various environment information can be effectively sensed, and good environment data support is provided for unmanned driving.

Description

Perception system of unmanned platform
Technical Field
The invention relates to the technical field of unmanned driving, in particular to a perception system of an unmanned platform.
Background
With the rapid development of science and technology, the automatic driving industry and the unmanned platform industry are different military projects. For the design of the unmanned platform, factors such as mobility, trafficability, light weight and the like are comprehensively considered, and meanwhile, the sensing capability of the unmanned platform is improved to obtain data such as position and environment so as to adjust the traveling speed, position and the like of the unmanned platform. The existing unmanned platform has single perception capability, many external environments cannot be well explored, the internal travelling speed, the internal angle and the like cannot be well monitored and changed, and the application range of the unmanned platform is limited.
Disclosure of Invention
The invention aims to provide a perception system of an unmanned platform, which well solves the problems, divides environment information into internal environment information and external environment information, can well perceive external conditions, can collect internal data, can effectively perceive various environment information, and provides good environment data support for unmanned driving.
The technical scheme is that the sensing system of the unmanned platform comprises an external sensing unit and an internal sensing unit, wherein the external sensing unit is used for sensing external environment information, and the internal sensing unit is used for monitoring the position, the speed and the posture of a vehicle of the unmanned platform.
Furthermore, the external sensing unit acquires external environment information through a single-line laser radar, a binocular camera, a thirty-two-line laser radar and a millimeter-wave radar.
Furthermore, the single line laser radar is used for acquiring close-range sensing and obstacle position identification information of the unmanned platform, four single line laser radars are arranged on the periphery of the unmanned platform respectively and are fixedly connected with the unmanned platform through bolts.
Furthermore, the binocular camera is used for obtaining barrier semantic segmentation and road environment identification information, the number of the binocular camera is four, and two cameras in each group are symmetrically arranged on the front side and the rear side of the top of the unmanned platform.
Further, thirty-two line laser radar is used for obtaining synchronous positioning and building a picture to and barrier shape, quantity information, still includes the GPS compass, the GPS compass has two to install respectively in the front and back both sides at unmanned platform top, thirty-two line laser radar is provided with one, thirty-two line laser radar installs the GPS compass rear at unmanned platform top front side, thirty-two line laser radar is connected with thirty-two line laser radar control box, thirty-two line laser radar control box installs at unmanned platform middle part.
Furthermore, the millimeter wave radar is used for sensing severe weather conditions, identifying remote obstacles, acquiring obstacle positions and speed information, and four millimeter wave radars are respectively arranged at four corners of the unmanned platform.
Further, the internal sensing unit comprises a combined navigation and angular displacement sensor.
Furthermore, the integrated navigation is used for collecting the position, the speed and the posture information of the unmanned platform, and the integrated navigation is installed in the middle of the unmanned platform.
Furthermore, the angular displacement sensor is used for collecting the angle information of the displacement of the crawler belt of the unmanned platform.
Further, the system also comprises an information transmission unit which is used for transmitting the information collected by the external sensing unit and the internal sensing unit to the control system.
The invention has the beneficial effects that:
1) the unmanned platform environment sensing system is mainly used for sensing the environment and collecting information of the unmanned platform, the environment sensing system of the unmanned platform is divided into an external sensing unit and an internal sensing unit, and meanwhile, the external sensing unit and the internal sensing unit are organically combined, so that various external environment data can be well sensed and collected, meanwhile, information data in the unmanned platform can be well collected, the unmanned platform environment sensing system is convenient to use, the data collection is rapid and comprehensive, and good data support is provided for the subsequent driving of the unmanned platform;
2) the external sensing unit and the internal sensing unit of the invention both adopt various information collection sensing modes, can well collect required information, and simultaneously, the information collection is reasonable and comprehensive.
Drawings
FIG. 1 is a front view of the structure of the present invention;
FIG. 2 is a side view of the structure of the present invention;
FIG. 3 is a flow chart of the operation of the present invention;
FIG. 4 is a circuit diagram of the present invention;
in the figure: 1. an unmanned platform; 21. a single line laser radar; 22. a binocular camera; 23. thirty-two line laser radars; 24. a millimeter wave radar; 25. a GPS compass; 31. and (4) combining navigation.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, but not all, embodiments of the present invention. The components of embodiments of the present invention generally described and illustrated in the figures herein may be arranged and designed in a wide variety of different configurations.
Thus, the following detailed description of the embodiments of the present invention, presented in the figures, is not intended to limit the scope of the invention, as claimed, but is merely representative of selected embodiments of the invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, it need not be further defined and explained in subsequent figures.
In the description of the present invention, it should be noted that the terms "upper", "lower", "inner", etc. indicate orientations or positional relationships based on those shown in the drawings or orientations or positional relationships that the products of the present invention conventionally use, which are merely for convenience of description and simplification of description, but do not indicate or imply that the devices or elements referred to must have a specific orientation, be constructed in a specific orientation, and be operated, and thus, should not be construed as limiting the present invention.
Furthermore, the terms "first," "second," and the like are used merely to distinguish one description from another, and are not to be construed as indicating or implying relative importance.
In the description of the present invention, it should also be noted that, unless otherwise explicitly specified or limited, the terms "disposed," "mounted," "connected," and "connected" are to be construed broadly and may, for example, be fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.
The first embodiment is as follows: as shown in fig. 1 to 4, the present invention provides a sensing system for an unmanned platform, which includes an external sensing unit and an internal sensing unit, wherein the external sensing unit is configured to sense external environment information, and the internal sensing unit is configured to monitor a vehicle position, a vehicle speed and a posture of the unmanned platform 1.
The external sensing unit acquires external environment information through a single-line laser radar 21, a binocular camera 22, a thirty-two-line laser radar 23 and a millimeter-wave radar 23. The single-line laser radar 21 is used for acquiring close-range sensing and obstacle position identification information of the unmanned platform 1, and four single-line laser radars 21 are respectively installed on the periphery of the unmanned platform 1 and fixedly connected with the unmanned platform 1 through bolts. The binocular cameras 22 are used for obtaining barrier semantic segmentation and road environment identification information, four binocular cameras 22 are provided, and two cameras in each group are symmetrically arranged on the front side and the rear side of the top of the unmanned platform 1. Thirty-two line laser radar 23 is used for acquireing synchronous positioning and building the picture to and barrier shape, quantity information, still includes GPS compass 25, GPS compass 25 has two to install respectively in the front and back both sides at unmanned platform 1 top, thirty-two line laser radar 23 is provided with one, thirty-two line laser radar 23 is installed in the GPS compass 25 rear of unmanned platform top front side, thirty-two line laser radar 23 is connected with thirty-two line laser radar control box, thirty-two line laser radar control box is installed in unmanned platform 1 middle part. The millimeter wave radar 24 is used for sensing severe weather conditions, identifying long-distance obstacles, and acquiring obstacle positions and speed information, and four millimeter wave radars 24 are respectively installed at four corners of the unmanned platform 1.
And fusing the data obtained by the external sensing unit and transmitting the fused data to the central processing unit.
The unmanned platform comprises a platform support and a crawler belt for driving the platform support to walk. The caterpillar tracks are driven by the driving wheels to drive the motor controller to control and drive, so that the caterpillar tracks rotate, and the unmanned platform moves forwards or backwards; the driving wheel on the crawler is also connected with a position-changing motor controller for driving the change of the angle of the driving wheel. The driving wheel driving motor controller and the position-changing motor controller are mainly used for controlling the speed angle of the motor and changing the speed and the angle of the unmanned platform crawler.
The internal sensing unit comprises a combined navigation 31 and an angular displacement sensor. The combined navigation device 31 is used for collecting the position, the speed and the posture information of the unmanned platform, and the combined navigation device 31 is installed in the middle of the unmanned platform. The angular displacement sensor is used for collecting the angle information of the unmanned platform crawler belt displacement. The information transmission unit is used for transmitting the information collected by the external sensing unit and the internal sensing unit to the control system. The angular displacement sensors are arranged corresponding to the number of the tracks of the unmanned platform, and the driving wheel of one track corresponds to one angular displacement sensor to collect the angles corresponding to the driving wheel of the track.
The sensing system is powered by 24V direct current, each data collecting device is powered by the 24V direct current power supply, and collected data information is transmitted back to the switchboard and then uploaded to the central processing unit. The information collected by the external sensing unit is subjected to data fusion to become processed environment data, and the processed environment data and the information such as the vehicle position, the vehicle speed, the attitude, the track displacement angle and the like collected by the combined navigation and angular displacement sensor are transmitted to a central controller of a team member combat command department.
The unmanned platform environment sensing system is mainly used for sensing the environment and collecting information, the environment sensing system of the unmanned platform is divided into an external sensing unit and an internal sensing unit, and meanwhile, the external sensing unit and the internal sensing unit are organically combined, so that various external environment data can be well sensed and collected, meanwhile, information data in the unmanned platform can be well collected, the unmanned platform environment sensing system is convenient to use, the data collection is rapid, rapid and comprehensive, and good data support is provided for the subsequent unmanned platform to run; the external sensing unit and the internal sensing unit of the invention both adopt various information collection sensing modes, can well collect required information, and simultaneously, the information collection is reasonable and comprehensive.
The present invention is capable of other embodiments, and various changes and modifications may be made by one skilled in the art without departing from the spirit and scope of the invention.

Claims (10)

1.一种无人平台的感知系统，其特征在于：包括外部感知单元和内部感知单元，所述外部感知单元用以感知外界环境信息，所述内部感知单元用以监测无人平台的车辆位置、车速和姿态。1. a perception system of unmanned platform, it is characterized in that: comprise external perception unit and internal perception unit, described external perception unit is used to perceive external environment information, and described internal perception unit is used to monitor the vehicle position of unmanned platform , speed and attitude. 2.根据权利要求1所述的无人平台的感知系统，其特征在于：所述外部感知单元包括通过单线激光雷达、双目相机、三十二线激光雷达和毫米波雷达获取外界环境信息。2 . The sensing system of an unmanned platform according to claim 1 , wherein the external sensing unit includes acquiring external environment information through a single-line laser radar, a binocular camera, a thirty-two-line laser radar and a millimeter-wave radar. 3 . 3.根据权利要求2所述的无人平台的感知系统，其特征在于：所述单线激光雷达用以获取无人平台近距离的感知和障碍物位置识别信息，所述单线激光雷达有四台，分别安装在无人平台的四周，通过螺栓与无人平台固定连接。3. The perception system of an unmanned platform according to claim 2, characterized in that: the single-line laser radar is used to obtain the perception and obstacle position identification information of the unmanned platform at close range, and the single-line laser radar has four , respectively installed around the unmanned platform, and fixedly connected to the unmanned platform through bolts. 4.根据权利要求2所述的无人平台的感知系统，其特征在于：所述双目相机用以获取障碍物语义分割和道路环境识别信息，所述双目相机有四台，每组两台对称安装在无人平台顶部的前侧和后侧。4 . The perception system of an unmanned platform according to claim 2 , wherein the binocular camera is used to obtain obstacle semantic segmentation and road environment recognition information, and there are four binocular cameras, each group of two The platform is symmetrically installed on the front and rear sides of the top of the unmanned platform. 5.根据权利要求2所述的无人平台的感知系统，其特征在于：所述三十二线激光雷达用以获取同步定位与建图，以及障碍物形状、数量信息，还包括GPS罗盘，所述GPS罗盘有两台分别安装在无人平台顶部的前后两侧，所述三十二线激光雷达设置有一台，所述三十二线激光雷达安装在无人平台顶部前侧的GPS罗盘后方，所述三十二线激光雷达连接有三十二线激光雷达控制盒，所述三十二线激光雷达控制盒安装在无人平台中部。5. The perception system of an unmanned platform according to claim 2, wherein the 32-line laser radar is used to obtain synchronous positioning and mapping, as well as information on the shape and quantity of obstacles, and also includes a GPS compass. There are two GPS compasses installed on the front and rear sides of the top of the unmanned platform respectively, one of the 32-line laser radars is installed, and the 32-line laser radar is installed behind the GPS compass on the front side of the top of the unmanned platform. The 32-line lidar is connected with a 32-line lidar control box, and the 32-line lidar control box is installed in the middle of the unmanned platform. 6.根据权利要求2所述的无人平台的感知系统，其特征在于：所述毫米波雷达用以对恶劣天气条件感知、远距离障碍物识别、障碍物位置、速度信息获取，所述毫米波雷达有四台，分别安装在无人平台的四角位置。6 . The perception system of an unmanned platform according to claim 2 , wherein the millimeter-wave radar is used to perceive severe weather conditions, identify long-distance obstacles, obtain obstacle positions and speed information, and the millimeter-wave radar There are four wave radars, which are installed at the four corners of the unmanned platform. 7.根据权利要求1所述的无人平台的感知系统，其特征在于：所述内部感知单元包括组合导航和角位移传感器。7 . The sensing system of an unmanned platform according to claim 1 , wherein the internal sensing unit comprises a combined navigation and angular displacement sensor. 8 . 8.根据权利要求7所述的无人平台的感知系统，其特征在于：所述组合导航用于收集无人平台的位置、车速以及姿态信息，所述组合导航安装在无人平台中部。8 . The perception system of the unmanned platform according to claim 7 , wherein the integrated navigation is used to collect the position, vehicle speed and attitude information of the unmanned platform, and the integrated navigation is installed in the middle of the unmanned platform. 9 . 9.根据权利要求7所述的无人平台的感知系统，其特征在于：所述角位移传感器用以收集无人平台履带变位的角度信息。9 . The sensing system of the unmanned platform according to claim 7 , wherein the angular displacement sensor is used to collect the angle information of the track displacement of the unmanned platform. 10 . 10.根据权利要求2-9所述的任一无人平台的感知系统，其特征在于：还包括信息输送单元，用以传递外部感知单元和内部感知单元收集的信息至中央处理器。10. The perception system of any unmanned platform according to claim 2-9, characterized in that: it further comprises an information transmission unit for transmitting the information collected by the external perception unit and the internal perception unit to the central processing unit.
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Application publication date: 20200417