CN111367273A - Unmanned small-sized sweeping machine control system based on path tracking and control method thereof - Google Patents
Unmanned small-sized sweeping machine control system based on path tracking and control method thereof Download PDFInfo
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Abstract
The invention relates to a control system and a control method of an unmanned small-sized sweeping machine based on path tracking. The system comprises an environment sensing unit, a decision control unit, a communication unit and a bottom layer control unit, wherein the environment sensing unit: the system is used for sensing vehicle running state information and surrounding environment state information; the decision control unit: the vehicle control system is used for receiving the relevant instructions, analyzing and processing the relevant instructions and further controlling the vehicle to execute the relevant instructions; the bottom layer control unit: the system is used for controlling the deflection angle of the steering wheel of the vehicle and the deflection angle of the front wheel of the vehicle, so as to realize the tracking of the vehicle on a target front road and the braking and acceleration of the vehicle; the communication unit: for realizing the communication of the above units. The invention designs the path tracking and speed decision algorithm of the unmanned small-sized sweeping machine by using the machine learning algorithm, thereby improving the control precision and the operation safety of the unmanned small-sized sweeping machine.
Description
Technical Field
The invention belongs to the technical field of intelligent control of sanitation special vehicles, and particularly relates to a control technology of an unmanned small-sized sweeping machine based on path tracking.
Background
Compared with the old sanitation operation mode, the unmanned small-sized sweeping machine can actively perform functions of figure identification, route planning, intelligent analysis and the like, realizes complete autonomous operation, improves the operation efficiency, reduces the labor cost, and simultaneously greatly avoids potential safety hazards during operation of sanitation workers.
The unmanned small-sized sweeping machine has the characteristics of intellectualization, autonomy and the like, has higher environment adaptability, and can meet the requirements of complex tasks. The unmanned small-sized sweeping machine has the operation capability under the specific operation requirement, the self-adaption capability to the environment change, the judgment capability to the given track and the intelligent motion control capability, and the core technology comprises the following steps: positioning technology, navigation technology, map creation technology and path planning technology.
A machine learning algorithm is used for designing a path tracking and speed decision algorithm of the unmanned small-sized sweeping machine, and the control precision and the operation safety of the unmanned small-sized sweeping machine are improved. Unmanned path tracking not only needs to control the direction, but also needs to determine the driving speed, and further needs to make a speed decision on some specific planned paths. The method is based on a machine learning algorithm and combines a mature automatic control algorithm to design and optimize the path tracking direction, the speed controller and the speed decision.
The unmanned small-sized sweeping machine control technology based on path tracking can intelligently process road surface information collected by equipment such as a camera, a radar and the like, the virtual signals can form digital signals and digital symbolic languages through intelligent processing and can be identified by a computer system, and the data information resources are subjected to operation processing, so that a signal sending instruction can be given to a running vehicle to give correct guidance.
Describe a road autonomous sweeper based on laser and vision in the patent that application number is CN 205530067U, the outside place ahead of automobile body is equipped with laser scanning range radar and camera, the top of automobile body is equipped with GPS orientation module, the inside of automobile body is equipped with on-vehicle computer mainboard and whole car control system, on-vehicle computer mainboard connection laser scanning range radar, the camera, GPS orientation module and whole car control system, and realize data communication through wireless data transmission basic station network and man-machine interaction platform, can independently carry out path planning and navigation positioning under unmanned driving's the condition, accomplish the operation of cleaning of path planning road. This patent only describes the general approach of unmanned driving macroscopically, and is practically difficult to implement.
Patent application No. CN 108755530 a describes an unmanned sweeper, which includes a chassis assembly, a frame assembly and a body assembly; the chassis assembly comprises a chassis body, front wheels, rear wheels, wheel speed devices and a steering control system; the frame assembly comprises an equipment mounting frame assembly, a front frame assembly, a rear frame assembly and a top plate supporting assembly; the equipment mounting frame assembly comprises an equipment mounting bracket and an equipment mounting plate; the front frame assembly comprises a front frame support, an LED screen support, a first GPS antenna support and a second GPS antenna support; the rear frame assembly comprises a rear frame bracket and a hinge bracket; the top plate supporting assembly comprises a top plate bracket and a locking device; the vehicle body assembly comprises a side wall assembly and a vehicle roof assembly; the front end of the side wall assembly is fixedly connected with the front frame assembly, and the rear end of the side wall assembly is fixedly connected with the rear frame assembly and the equipment mounting frame assembly; the roof assembly is fixedly connected with the roof support assembly and buckled at the top end of the side wall assembly. There is essentially no specific unmanned implementation of this patent.
The patent with the application number of CN 109235332A describes and provides an unmanned multifunctional road sweeper, which comprises a scheme planning system, an environment detection system, a warning system, a watering system, an ice and snow system, a sweeping system and a garden system; the environment investigation system can acquire surrounding environment information in real time; the scheme planning system is a general system and is used for planning and making specific driving and road cleaning schemes of the sweeper and monitoring the condition of the sweeper; according to the collected environmental information and the task information issued by the road administration department, different systems are started, and the functions of sprinkling water, sweeping snow, melting ice, cleaning roads, irrigating trees and the like can be realized; the warning system can send out warning reminding to surrounding vehicles, pedestrians and the like. The multifunctional road sweeper is a multifunctional road sweeper driven by people, and the vehicle can manually select an operation mode.
A system and a method for accurately classifying and positioning target garbage of a park unmanned sweeper are described and proposed in the patent with the application number of CN 109629490 a, wherein the system comprises a processor, a vehicle control module, a storage module, a wireless communication module, a map module, a GPS module, a positioning camera, a driving mechanism and a plurality of sweeping heads; the vehicle control module, the storage module, the wireless communication module, the map module, the GPS module, the positioning camera, the driving mechanism and the plurality of cleaning heads are all connected with the processor, the positioning camera is obliquely arranged in the middle of the front side of the unmanned sweeper towards the ground in a manner of being capable of being universally rotated, and the driving mechanism is arranged on the unmanned sweeper and drives the positioning camera to universally rotate. The driving mechanism is used for driving the positioning camera to rotate in a universal direction, and the positioning camera is matched for positioning and identifying the target garbage so as to control the corresponding cleaning head to work, so that the target garbage can be classified in the cleaning process. The patent does not mention a control method of the vehicle.
In order to solve the existing problems, the unmanned small-sized sweeping machine control technology based on the path tracking is used for the small-sized sweeping machine. The unmanned small-sized sweeping machine can realize two driving modes of unmanned driving and manned driving. The control method is provided for functions of unmanned path planning, driving process monitoring, vehicle remote data transmission and acquisition, remote automobile start-stop control and the like.
Disclosure of Invention
The invention aims to obtain a control technology of an unmanned small-sized sweeping machine based on path tracking. The system can be divided into three parts, namely a decision control unit consisting of an environment sensing unit consisting of a radar, a camera and a combined navigation module, a central decision control industrial personal computer, a communication unit consisting of communication equipment and a bottom layer control unit consisting of an execution mechanism and a controller thereof.
The technical scheme adopted by the invention is as follows: the unmanned small-sized sweeping machine control system based on path tracking is composed of the following units: comprises an environment sensing unit, a decision control unit, a communication unit and a bottom layer control unit,
the environment sensing unit: the system is used for sensing vehicle running state information and surrounding environment state information;
the decision control unit: the vehicle control system is used for receiving the relevant instructions, analyzing and processing the relevant instructions and further controlling the vehicle to execute the relevant instructions;
the bottom layer control unit: the system is used for controlling the deflection angle of the steering wheel of the vehicle and the deflection angle of the front wheel of the vehicle, so as to realize the tracking of the vehicle on a target front road and the braking and acceleration of the vehicle;
the communication unit: for realizing the communication of the above units.
Furthermore, the environment sensing unit consists of a radar, a camera and a combined navigation module;
the decision control unit is a central decision control industrial personal computer, the bottom layer control unit is composed of an execution mechanism and a controller thereof, and the communication unit is composed of communication equipment.
Further, the environment sensing unit: the environment sensing unit acquires the information of the position and the posture of the vehicle by depending on a GPS, an inertial navigation module and an odometer; the acquisition of obstacle information and the acquisition of information of a vehicle travelable area rely on a laser radar and a camera module.
Further, data communication between each module of the environment sensing unit and the decision control unit adopts network communication of a UDP protocol.
The control method of the unmanned small-sized sweeping machine control system based on the path tracking is characterized by comprising the following steps of:
1) firstly, an environment sensing unit: the system comprises a decision control unit, a bottom layer control unit, a communication unit and a vehicle running state information acquisition unit, wherein the decision control unit is used for acquiring vehicle running state information and surrounding environment state information and transmitting the information to the decision control unit and the bottom layer control unit through the communication unit;
2) the relevant unit receives the relevant information and then performs the following operations:
the path tracking module calculates a target front wheel deflection angle of the current vehicle according to the relation between the target path and the current vehicle position; then the target front wheel deflection angle is transmitted to a steering controller through a serial port, the steering controller outputs a torque value according to the deviation of the actual value of the front wheel deflection angle and the target value of the front wheel deflection angle value, and a steering motor is controlled to make corresponding steering action through the controller, so that the tracking of the actual front wheel deflection angle of the vehicle on the target front wheel deflection angle is realized;
the speed planning module plans a vehicle planning speed which is continuous in time according to the curvature information of a target path to be driven and the highest speed, then the longitudinal controller makes a speed control strategy according to the actual speed of the current vehicle and the planned speed, and respectively controls the accelerator motor and the brake motor to realize braking and acceleration of the controlled vehicle, realize tracking of the vehicle on the target speed and realize following of the actual speed of the vehicle on the target speed.
Further, a machine learning algorithm is loaded on the hardware module to design a path tracking and speed decision algorithm.
The invention has the advantages that: the invention designs the path tracking and speed decision algorithm of the unmanned small-sized sweeping machine by using the machine learning algorithm, thereby improving the control precision and the operation safety of the unmanned small-sized sweeping machine. The unmanned path tracking not only needs to control the direction, but also needs to determine the driving speed, and further makes speed decision on some specific planned paths. The invention designs and optimizes the path tracking direction, the speed controller and the speed decision based on a machine learning algorithm and by combining a mature automatic control algorithm.
Drawings
Figure 1 shows a structural framework diagram of the overall control scheme of the present invention.
Fig. 2 shows a schematic diagram of the structural framework of the steering control system of the present invention.
Fig. 3 shows the principle of electronic control of the walking system of the present invention.
Detailed Description
The invention relates to a control technology of an unmanned small-sized sweeping machine based on path tracking. In the general scheme, the platform is provided with an environment sensing module, a decision control module and a bottom layer control module, and the communication mode adopted between the interior of the modules and the modules adopts network communication. The upper layer human body tracking function and the lower layer vehicle body control are completed from the structure separately. The upper layer operator dresses the mark tracking function and the lower layer vehicle body control are completed from the structure separately. The CPU module collects images of the USB camera and completes detection and tracking of the dressing identification of an operator. The processor control circuit board completes the control function of the driving motor and the steering of the small-sized sweeping machine.
And the data communication between each environment perception module and the decision control module adopts network communication of a UDP protocol. The data communication between the decision control module and the bottom layer driving module and between the devices in the bottom layer driving module is mainly completed.
The invention relates to a control technology of an unmanned small-sized sweeping machine based on path tracking. The environment sensing unit mainly acquires the information of the position and the posture of the vehicle by depending on a GPS, an inertial navigation module and a milemeter which are arranged on the environment sensing unit; and the intelligent vehicle for acquiring the information of the obstacles and the information of the driving area of the vehicle mainly depends on a laser radar and a camera module which are arranged on the vehicle body.
The invention relates to a bottom layer control system of a unmanned small-sized sweeping machine control technology based on path tracking, which controls the deflection angle of a steering wheel of a vehicle, controls the deflection angle of a front wheel of the vehicle and realizes the tracking of the vehicle on a target front road; the control objects of the longitudinal control system are braking and acceleration of the vehicle, and the aim of the longitudinal control system is to realize tracking of the target vehicle speed by the vehicle.
The invention relates to a steering control method of a small-sized sweeping machine.A path tracking module calculates a target front wheel deflection angle of a current vehicle according to the relation between a target path and the current vehicle position in each control period; and then the target front wheel deflection angle is transmitted to a steering controller through a serial port, the steering controller outputs a torque value according to the deviation of the actual value of the front wheel deflection angle and the target value of the front wheel deflection angle value, and a steering motor is controlled to make corresponding steering action through the controller, so that the tracking of the actual vehicle front wheel deflection angle on the target front wheel deflection angle is realized.
The invention relates to a path control technology of a small-sized sweeping machine, which mainly comprises a longitudinal controller, an accelerator control system, a brake control system and a speed sensor. The speed planning module plans a vehicle planning speed which is continuous in time according to the curvature information of a target path to be driven and the highest speed, and then the longitudinal controller makes a speed control strategy according to the actual speed of the current vehicle and the planned speed and respectively controls the accelerator motor and the brake motor, so that the braking and the acceleration of the controlled vehicle are realized, and the target speed of the vehicle is tracked. Following of the target speed by the actual speed of the vehicle.
Further as shown in the figures:
fig. 1 shows a structural framework diagram of a general control scheme of a small-sized sweeping machine, in the general scheme, a platform is provided with an environment sensing module, a decision control module and a bottom layer control module, and the communication modes adopted inside the modules and among the modules are mainly two, namely serial port communication and network communication. The upper layer human body tracking function and the lower layer vehicle body control are completed from the structure separately. The upper layer operator dresses the mark tracking function and the lower layer vehicle body control are completed from the structure separately. The CPU module collects images of the USB camera and completes detection and tracking of the dressing identification of an operator. The processor control circuit board completes the control function of the driving motor and the steering of the small-sized sweeping machine.
And the data communication between each environment perception module and the decision control module adopts network communication of a UDP protocol. The data communication between the decision control module and the bottom layer driving module and between the devices in the bottom layer driving module is mainly completed.
FIG. 2 shows a steering motor control structure frame, which controls the steering wheel deflection angle of the vehicle and the front wheel deflection angle of the vehicle of the small-sized sweeping machine, and realizes the tracking of the vehicle on a target front road;
fig. 3 shows a walking motor control structural framework, and the control objects of the longitudinal control system of the small-sized sweeping machine are braking and acceleration of the vehicle, and the aim of the longitudinal control system is to realize the tracking of the vehicle to the target speed.
Claims (6)
1. The unmanned small-sized sweeping machine control system based on path tracking is characterized by comprising the following units: comprises an environment sensing unit, a decision control unit, a communication unit and a bottom layer control unit,
the environment sensing unit: the system is used for sensing vehicle running state information and surrounding environment state information;
the decision control unit: the vehicle control system is used for receiving the relevant instructions, analyzing and processing the relevant instructions and further controlling the vehicle to execute the relevant instructions;
the bottom layer control unit: the system is used for controlling the deflection angle of the steering wheel of the vehicle and the deflection angle of the front wheel of the vehicle, so as to realize the tracking of the vehicle on a target front road and the braking and acceleration of the vehicle;
the communication unit: for realizing the communication of the above units.
2. The unmanned road sweeper control system based on path tracking of claim 1, wherein the environment sensing unit is comprised of a radar, a camera and a combined navigation module;
the decision control unit is a central decision control industrial personal computer, the bottom layer control unit is composed of an execution mechanism and a controller thereof, and the communication unit is composed of communication equipment.
3. The unmanned road sweeper control system based on path tracking of claim 2, wherein the environment sensing unit: the environment sensing unit acquires the information of the position and the posture of the vehicle by depending on a GPS, an inertial navigation module and an odometer; the acquisition of obstacle information and the acquisition of information of a vehicle travelable area rely on a laser radar and a camera module.
4. The unmanned road sweeper control system based on path tracking of claim 1,
and the data communication between each module of the environment sensing unit and the decision control unit adopts network communication of a UDP protocol.
5. The control method of the unmanned small-sized sweeping machine control system based on the path tracking is characterized by comprising the following steps of:
1) firstly, an environment sensing unit: the system comprises a decision control unit, a bottom layer control unit, a communication unit and a vehicle running state information acquisition unit, wherein the decision control unit is used for acquiring vehicle running state information and surrounding environment state information and transmitting the information to the decision control unit and the bottom layer control unit through the communication unit;
2) the relevant unit receives the relevant information and then performs the following operations:
the path tracking module calculates a target front wheel deflection angle of the current vehicle according to the relation between the target path and the current vehicle position; then the target front wheel deflection angle is transmitted to a steering controller through a serial port, the steering controller outputs a torque value according to the deviation of the actual value of the front wheel deflection angle and the target value of the front wheel deflection angle value, and a steering motor is controlled to make corresponding steering action through the controller, so that the tracking of the actual front wheel deflection angle of the vehicle on the target front wheel deflection angle is realized;
the speed planning module plans a vehicle planning speed which is continuous in time according to the curvature information of a target path to be driven and the highest speed, then the longitudinal controller makes a speed control strategy according to the actual speed of the current vehicle and the planned speed, and respectively controls the accelerator motor and the brake motor to realize braking and acceleration of the controlled vehicle, realize tracking of the vehicle on the target speed and realize following of the actual speed of the vehicle on the target speed.
6. The control method of the unmanned road sweeper based on path tracking control system according to claim 4 or 5, wherein the path tracking and speed decision algorithm is designed by using a machine learning algorithm loaded on a hardware module.
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