CN112214039A - Photoelectric target search vehicle based on machine vision and control method thereof - Google Patents
Photoelectric target search vehicle based on machine vision and control method thereof Download PDFInfo
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- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
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- G05D1/12—Target-seeking control
Abstract
The invention belongs to the technical field of intelligent vehicles, and particularly relates to a photoelectric target searching vehicle based on machine vision and a control method thereof. The photoelectric target searching vehicle based on machine vision is good in robustness and strong in operability. The invention can realize the tracking approach of the target by adopting a single camera, thereby reducing the cost; the use of a gyroscope and orthogonal gyro wheel arrangement provides high accuracy positioning and good motion performance.
Description
Technical Field
The invention belongs to the technical field of intelligent vehicles, and particularly relates to a photoelectric target searching vehicle based on machine vision and a control method thereof.
Background
With the advent of the artificial intelligence era and the acceleration of industrial upgrading, both in the traditional manufacturing industry and in the e-commerce enterprises which are distributed all over the country at present, the technical upgrading and the industrial transformation of the enterprises are firmly carried out. The greatest application advantage of artificial intelligence is that the labor cost can be reduced. Because the effect of the accompanying population dividend is gradually exhausted with the progress of the aging of the Chinese society, the labor cost is gradually increased. On the other hand, the industry upgrading in China is aggravating, and the increase of the duty ratio of the service industry is a necessary matter, which means that more and more people will be engaged in the service industry in the future, and the duty ratio of the labor positions provided by the manufacturing industry will be decreased inevitably, so the development of the manufacturing industry to high automation, no humanization and intellectualization is in line with the social development trend.
In the field of intelligent logistics, electronic commerce logistics enterprises represented by the kyotong are accelerating upgrading and reconstruction, building unmanned warehouses and the like. Therefore, various intelligent delivery vehicles in the intelligent warehouse are the leading roles of the intelligent warehouse. At some terminals, unmanned vehicles are also replacing manned engineering vehicles.
And for the current intelligent vehicle, the customization degree is high, the cost is high, the upgrading and the transformation of small and medium enterprises are not facilitated, and the requirements of the small and medium enterprises are diversified. Therefore, development of low-cost intelligent vehicle with target recognition and specific mechanical action is necessary.
Disclosure of Invention
The invention aims to provide a photoelectric target search vehicle based on machine vision, which has good robustness and strong operability.
The purpose of the invention is realized by the following technical scheme: the four-wheel double-drive vehicle comprises a four-wheel double-drive vehicle body and an expansion plate; the four-wheel double-drive vehicle body comprises a chassis, and the head part and the tail part of the chassis are respectively provided with a group of double-wheel drive devices; the chassis is provided with a steering engine, an orthogonal Foley wheel device and a battery; the expansion board is arranged above the chassis and is connected with the chassis through the supporting columns; the lower surface of the expansion board is provided with a control core board, the front part of the upper surface of the expansion board is provided with a mechanical action device, the middle part of the upper surface of the expansion board is provided with a column, and the column is provided with a camera; the mechanical action device comprises a telescopic rod and a shielding steering engine; the shielding steering engine is arranged in front of the upper surface of the expansion plate; the head of the telescopic rod is of an arc-shaped structure, and the tail of the telescopic rod is connected with the shielding steering engine; the control core board is integrated with an STM32 chip, a gyroscope, a voltage stabilizing module, a serial port, a shielding steering engine interface, a steering engine interface and a power supply interface; the shielding steering engine, the steering engine and the battery are respectively connected with the control core board through corresponding interfaces.
The present invention may further comprise:
the orthogonal Foley wheel device comprises a first Foley wheel, a first encoder, a second Foley wheel and a second encoder; the first Foley wheel and the second Foley wheel are orthogonally fixed on a chassis of the four-wheel double-drive vehicle body, the first Foley wheel is connected with the first encoder, the second Foley wheel is connected with the second encoder, and signal lines of the first encoder and the second encoder are connected with the control core board.
The telescopic rod comprises a straight rod and a special-shaped rod, and the straight rod and the special-shaped rod are both flaky; one end of the straight rod is provided with a steering engine rudder disc, and the other end of the straight rod is provided with a long through hole; the special-shaped rod comprises an upper straight rod and an arc-shaped rod; one end of the upper straight rod is provided with a long through hole, and the other end of the upper straight rod is connected with the arc-shaped rod; the end part of the straight rod, which is provided with the long through hole, is connected with the end part of the upper straight rod, which is provided with the long through hole, through a bolt, and the other end of the straight rod is connected with the shielding steering engine through a steering engine steering wheel.
The invention also aims to provide a control method of the photoelectric target searching vehicle based on machine vision.
The purpose of the invention is realized by the following technical scheme: the method specifically comprises the following steps:
step 1: initializing a program;
step 2: rotating in situ, fixing the angle of a steering engine, fixing the speed and searching for a target;
and step 3: judging whether to capture the target: if the target is captured, entering step 4; if the target is not captured, returning to the step 2;
and 4, step 4: judging whether the target is at the near end or the far end: if the target is at the near end, entering step 8; if the target is at the far end, entering step 5;
and 5: judging the orientation of a target according to the camera, adjusting a steering engine, and driving a motor to be close to the target;
step 6: judging whether the target is lost: if the target is lost, entering the step 2; if the target is not lost, entering step 7;
and 7: judging whether the probe is at the near end: if the proximal end is located, entering step 8; if the target is not at the near end, entering step 5;
and 8: carrying out first-stage deceleration: reducing the output power of the motor;
and step 9: judging whether the target is lost: if the target is lost, go to step 17; if the target is not lost, entering step 10;
step 10: and carrying out forced deceleration at the second stage: reversing the motor;
step 11: judging whether the target is lost: if the target is lost, go to step 17; if the target is not lost, go to step 12;
step 12: and (3) microspur discrimination: judging whether the target is at a specified distance according to the information captured by the camera;
step 13: judging whether the target is lost: if the target is lost, go to step 17; if the target is not lost, go to step 14;
step 14: parking;
step 15: judging whether the target is lost: if the target is lost, go to step 17; if the target is not lost, go to step 16;
step 16: executing the mechanical action, and then entering step 17;
and step 17: reversing the vehicle and then entering the step 2.
The invention has the beneficial effects that:
the photoelectric target searching vehicle based on machine vision is good in robustness and strong in operability. The invention can realize the tracking approach of the target by adopting a single camera, thereby reducing the cost; the use of a gyroscope and orthogonal gyro wheel arrangement provides high accuracy positioning and good motion performance.
Drawings
Fig. 1 is a schematic diagram of the general structure of an optoelectronic target search vehicle based on machine vision according to the present invention.
FIG. 2 is a front view of an electro-optical target search vehicle based on machine vision in accordance with the present invention.
FIG. 3 is a top view of an electro-optical target search vehicle based on machine vision in accordance with the present invention.
FIG. 4 is a front view of an electro-optical target search vehicle based on machine vision in accordance with the present invention.
FIG. 5 is a rear view of an electro-optical target search vehicle based on machine vision in accordance with the present invention.
FIG. 6 is a detailed view of a mechanical action device of an electro-optical target search vehicle based on machine vision according to the present invention.
Fig. 7 is a flowchart of a method for controlling an electro-optical target search vehicle based on machine vision according to the present invention.
Detailed Description
The invention is further described below with reference to the accompanying drawings.
The invention belongs to the field of intelligent vehicles, and particularly relates to a photoelectric target searching vehicle based on machine vision and a control method thereof. The photoelectric target searching vehicle based on machine vision is good in robustness and strong in operability.
A photoelectric target search vehicle based on machine vision comprises a mechanical action device, a camera module and a vehicle body; the vehicle body comprises a four-wheel double-drive vehicle body 1, an orthogonal Fulai wheel device 2, an expansion board 3, a control core board 4, a steering engine 5 and a battery 6; the control core board 4 is integrated with an STM32 chip, a gyroscope, a voltage stabilizing module, a serial port, a shielding steering engine interface, a steering engine interface and a power supply interface; a steering engine 5 and a battery 6 are fixed on a chassis of the four-wheel double-drive vehicle body 1, the steering engine 5 is connected with the control core plate 4 through a steering engine interface, and the battery 6 is connected with the control core plate 4 through a power interface; the expansion plate 3 is fixed above a chassis of the four-wheel double-drive vehicle body 1 through a stud; the control core board 4 is fixed on the lower surface of the expansion board 3 and is positioned between the expansion board 3 and the chassis of the four-wheel double-drive vehicle body 1; the orthogonal Fulai wheel device 2 is fixed on a chassis of the four-wheel double-drive vehicle body 1; the mechanical actuator and the camera module are fixed to the expansion board 3.
The mechanical action device comprises a telescopic rod and a shielding steering engine 7, the telescopic rod comprises a straight rod 8 and a special-shaped rod 9, and the straight rod 8 and the special-shaped rod 9 are both flaky; one end of the straight rod 8 is a steering engine rudder disc, and the other end of the straight rod 8 is provided with a long through hole; the special-shaped rod 9 comprises an upper straight rod and an arc-shaped rod, a long through hole is formed in one end of the upper straight rod, and the other end of the upper straight rod is connected with the arc-shaped rod; the straight rod 8 and the special-shaped rod 9 are connected through a first bolt 10 and a second bolt 11, and the first bolt 10 and the second bolt 11 both penetrate through the long through hole of the straight rod 8 and the long through hole of the special-shaped rod 9; the steering engine rudder disc of the telescopic rod is connected with the shielding steering engine 7.
The camera module comprises a camera 12 and a camera support 13; the camera post 13 is fixed on the expansion plate 3 through a screw, and the camera 12 is fixed on the camera post 13;
mechanical action device shelter from steering wheel 7 pass through the bolt fastening on expansion board 3, camera 12 and the control of camera module core plate 4 pass through serial ports and are connected, mechanical action device shelter from steering wheel 7 and the control core plate 4 through sheltering from steering wheel interface connection.
The orthogonal Foley wheel device 2 comprises a first Foley wheel, a first encoder, a second Foley wheel and a second encoder; the first Foley wheel and the second Foley wheel are orthogonally fixed on a chassis of the four-wheel double-drive vehicle body, the first Foley wheel is connected with the first encoder, the second Foley wheel is connected with the second encoder, and signal lines of the first encoder and the second encoder are connected with the control core board 4.
A control method of a photoelectric target search vehicle based on machine vision comprises the following steps:
step (1): initializing a program;
step (2): rotating in situ, fixing the angle of a steering engine, fixing the speed and searching for a target;
and (3): judging whether to capture the target: if the target is captured, entering the step (4); if the target is not captured, returning to the step (2);
and (4): judging whether the target is at the near end or the far end: if the target is at the near end, entering the step (8); if the target is at the far end, entering the step (5);
and (5): judging the orientation of a target according to the camera, adjusting a steering engine, and driving a motor to be close to the target;
and (6): judging whether the target is lost: if the target is lost, entering the step (2); if the target is not lost, entering the step (7);
and (7): judging whether the probe is at the near end: if the proximal end is located, entering the step (8); if the target is not at the near end, entering the step (5);
and (8): carrying out first-stage deceleration: reducing the output power of the motor;
and (9): judging whether the target is lost: if the target is lost, entering the step (17); if the target is not lost, entering the step (10);
step (10): and carrying out forced deceleration at the second stage: reversing the motor;
step (11): judging whether the target is lost: if the target is lost, entering the step (17); if the target is not lost, entering the step (12);
step (12): and (3) microspur discrimination: judging whether the target is at a specified distance according to the information captured by the camera;
step (13): judging whether the target is lost: if the target is lost, entering the step (17); if the target is not lost, entering the step (14);
step (14): parking;
step (15): judging whether the target is lost: if the target is lost, entering the step (17); if the target is not lost, entering the step (16);
step (16): executing mechanical action, and then entering step (17);
step (17): reversing the vehicle and then entering the step (2).
The invention has the beneficial effects that:
the invention can realize the tracking approach of the target by adopting a single camera, thereby reducing the cost; the use of a gyroscope and orthogonal gyro wheel arrangement provides high accuracy positioning and good motion performance.
Example 1:
in order to control the cost and consider the future application scene, the camera of image recognition selects OPENMV, and the processor chip of the OPENMV module is STM32F7 chip, and can be matched with a standard M12 lens or other lenses, and the interfaces can be compatible. The STM32F7 chip is based on the ARMCortex M7 architecture, with a core frequency of 216MHz, 512KBRAM and 2 MBflash. And all I/O pins can output 3.3V, and can bear 5V at most. The frequency of 216MHz of the STM32F7 chip is enough to process static picture data or dynamic video data received by the M12 lens, and 512KBRAM and 2MBflash can also meet the requirements of program programming and data processing in most cases. The STM32F7 can meet the requirements of the expected usage scenario on the operation speed and the operation scale of image processing.
In order to process data sent by a camera module, provide a peripheral interface and run a control main program, a control core board is required to be designed. Considering the size of the data throughput of the control core board in practical use, STM32F103RBT6 is selected as the processor, the main frequency of STM32F103RBT6 is 72MHz, 20KB of RAM and 128KB of flash, and 51 general IO ports. STM32F103RBT6 also has two advantages of low voltage and energy saving. The packaging structure can be compatible with mainstream battery technologies, such as a lithium battery and a nickel-hydrogen battery, and a special battery working mode pin Vbat is arranged in the packaging of the STM32F103RBT 6; when the program was executed, only 27mA of current was consumed. The number of general IO ports is sufficient for the use of other external devices as required. The external equipment for which the interface is required to be reserved comprises an infrared pair tube, a steering engine, a motor and a camera. The STM32F103RBT6 chip has enough interfaces, abundant output choices and strong data processing capacity, and can meet the requirement on the data processing capacity in the moving process of a mobile carrier.
The control core board integrates a single power supply level conversion chip MAX232, a low-dropout voltage regulator LM1117 and a brush motor driving IC TB6612 FNG. The single power supply level conversion chip MAX232 has the function of converting TTL level output by the singlechip into 232 level which can be received by a PC; alternatively, the 232 level output from the PC is converted into the TTL level that the one-chip microcomputer can receive, and therefore, when the PC communicates with the PC using a serial port, the one-chip microcomputer can perform serial communication, but the standards of the signal levels of the PC and the one-chip microcomputer are not the same, and thus, conversion using MAX232 is required. The MAX232 chip has the following characteristics: only a single 5V power supply is needed for supplying power, and two RS-232C drivers are integrated inside. When in use, the hot plug cannot be carried out. The low-dropout voltage regulator LM1117 is used for stabilizing 5V voltage at 3.3V in controlling nuclear core plate to for the singlechip power supply, in addition, low-dropout voltage regulator LM1117 still provides current limiting function and overheat protection function, can improve the life of controlling nuclear core plate, improves the fault-tolerant rate. The brush motor driving IC TB6612FNG is used for driving two brush motors for providing power for the moving carrier, the TB6612FNG is double-driving, namely the two motors can be directly driven, and the frequency supported by PWM of the motor driving IC TB6612FNG can reach 100kHz at most. TB6612FNG makes the electrical machinery rotate forward, reverse, or brake freely, or brake by force according to the control signal, the usage is simple, the function is stable, the reliability is high.
The steering engine adopts an MG995 metal steering engine, the working torque can reach 13KG/cm, and the maximum rotation angle is 180 degrees. MG995 metal steering wheel is comparatively wear-resisting, and the price is low, and weight is lighter.
The battery adopts a lithium battery, and the lithium battery adopts lithium metal or lithium alloy as a negative electrode material and uses a nonaqueous electrolyte solution. Compared with other energy storage batteries, the lithium battery has the characteristics of high energy density, long service life and high rated voltage. On the other hand, the lithium battery has high power bearing capacity and can even provide power for starting of the electric automobile. The lithium battery pack is used for supplying power, so that the capacity can be further improved, and the cruising ability of the mobile carrier is improved. In addition, the voltage reduction switch type integrated voltage stabilization chip LM2596 is used for stabilizing the output voltage of the lithium battery pack to be about 5 volts and supplying power to the control core board. The buck switch type integrated voltage stabilization chip LM2596 is provided with a protection circuit, a current limiting circuit, a thermal shutoff circuit and the like. And a voltage stabilizing circuit with high reliability can be easily manufactured by using a plurality of peripheral circuits, and the voltage stabilizing circuit is very suitable for the assumed use scene.
The control method comprises the following analysis:
in order to search and track an approaching target, a program is initialized at first, and the initialization comprises setting of some flag bits in the program, initialization of a steering engine and the like; then, the mobile carrier is rotated in situ, namely the steering engine angle and the fixed speed are fixed, a target is searched, and during actual application, the steering engine angle and the advancing speed need to be set according to the field size and the data throughput of a camera module processor chip; in the process, whether the target is captured or not is judged, and if not, the target is continuously searched in situ in a rotating mode; if so, then judging that the target is at the far end or the near end, wherein the speed of moving the carrier at the far end can be faster, and the speed of moving the carrier at the near end is slightly slower; at the far end, the direction of the target is judged according to the data transmitted to the control core board by the camera, and the steering engine is adjusted to be close to the target; in the process, whether the target is lost or not is judged, if the target is lost, the step of the previous in-situ rotation is returned, and because the moving carrier is still far away from the target, the moving carrier does not have to worry about collision with the target and does not need to back up; at the near end, performing first-stage deceleration mainly aiming at reducing the moving carrier from the far end to a faster speed for facilitating the subsequent approach to the target, and then performing second-stage deceleration, wherein the second-stage deceleration directly gives a reverse speed to the motor when the moving carrier is very close to the target, forcibly reduces the speed, and then enters micro-distance judgment; the microspur judgment is to make the mobile carrier move back and forth for a short distance so as to further approach the target until the parking condition is reached, then the vehicle is parked, then specified external equipment is loaded according to the requirement, mechanical action is carried out on the target, then the target is removed, here, the red LED lamp is turned off, then the mobile carrier backs up, and the next target searching is carried out. In the part of the near end, whether the target is lost or not is always judged, if the target is lost, the vehicle is backed up firstly, and then the step of rotating in situ to search the target is carried out, wherein the target is close to the near end, and the backing up is carried out firstly to avoid collision with the target. The above is the overall logic of the control program, and the mobile vehicle can realize the search, tracking, approaching and executing mechanical actions of a single photoelectric target in a fully autonomous and continuous manner.
Since the STM32F7 chip of the camera module has limited computing power, and needs to control the in-situ rotation speed and the number of frames per second of pictures processed, this time it is done to identify a hemispherical red LED lamp with a diameter of 10 cm and a height of about 5 cm, with a lampshade, so the required image processing power is not high, and 20 frames per second is sufficient. In consideration of a future use scene, after an image is extracted, Gaussian filtering is needed, the adaptive capacity is mainly improved, and the noise can be well reduced in both a night light room and a window light-transmitting day room, so that the accuracy of target identification is improved. In addition, the treatment is resistant to a certain degree of reflection. In addition, after a camera carried on a mobile carrier captures a target in a program, for the judgment of the target distance, when the target is far away from the camera, the camera can feed back the height information of the target in the visual field to the control core board, the distance of the target at the moment is judged according to measured data, the area of the target in the visual field is also judged by one choice, and the two methods can meet the requirement of the last program for micro-distance judgment on the precision. In addition, the camera still needs to be passed to the control core board through the cluster and about the angle information of target in the field of vision to the angle that the steering engine was adjusted to the confession core board.
The method is characterized in that the selection of hardware is controlled from the design of the hardware, the quality and the price are comprehensively considered, a circuit diagram is designed and drawn, a required circuit is integrated on a control core board, the hardware arrangement is simplified, then on the whole control logic, the related optimization is performed on speed control, target identification and image processing according to the performance characteristics of the hardware, the performance of a hardware system is utilized to the maximum extent, the identification, tracking and approaching of a photoelectric target are finally realized within the expected precision range, and the cost is controlled at a reasonable level.
The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (6)
1. The utility model provides a photoelectric target search car based on machine vision which characterized in that: the four-wheel double-drive vehicle comprises a four-wheel double-drive vehicle body and an expansion plate; the four-wheel double-drive vehicle body comprises a chassis, and the head part and the tail part of the chassis are respectively provided with a group of double-wheel drive devices; the chassis is provided with a steering engine, an orthogonal Foley wheel device and a battery; the expansion board is arranged above the chassis and is connected with the chassis through the supporting columns; the lower surface of the expansion board is provided with a control core board, the front part of the upper surface of the expansion board is provided with a mechanical action device, the middle part of the upper surface of the expansion board is provided with a column, and the column is provided with a camera; the mechanical action device comprises a telescopic rod and a shielding steering engine; the shielding steering engine is arranged in front of the upper surface of the expansion plate; the head of the telescopic rod is of an arc-shaped structure, and the tail of the telescopic rod is connected with the shielding steering engine; the control core board is integrated with an STM32 chip, a gyroscope, a voltage stabilizing module, a serial port, a shielding steering engine interface, a steering engine interface and a power supply interface; the shielding steering engine, the steering engine and the battery are respectively connected with the control core board through corresponding interfaces.
2. The machine vision-based electro-optical target search vehicle as claimed in claim 1, wherein: the orthogonal Foley wheel device comprises a first Foley wheel, a first encoder, a second Foley wheel and a second encoder; the first Foley wheel and the second Foley wheel are orthogonally fixed on a chassis of the four-wheel double-drive vehicle body, the first Foley wheel is connected with the first encoder, the second Foley wheel is connected with the second encoder, and signal lines of the first encoder and the second encoder are connected with the control core board.
3. A machine vision based electro-optical target search vehicle as claimed in claim 1 or 2, characterized in that: the telescopic rod comprises a straight rod and a special-shaped rod, and the straight rod and the special-shaped rod are both flaky; one end of the straight rod is provided with a steering engine rudder disc, and the other end of the straight rod is provided with a long through hole; the special-shaped rod comprises an upper straight rod and an arc-shaped rod; one end of the upper straight rod is provided with a long through hole, and the other end of the upper straight rod is connected with the arc-shaped rod; the end part of the straight rod, which is provided with the long through hole, is connected with the end part of the upper straight rod, which is provided with the long through hole, through a bolt, and the other end of the straight rod is connected with the shielding steering engine through a steering engine steering wheel.
4. A control method of a photoelectric target search vehicle based on machine vision is characterized in that: the photoelectric target search vehicle based on machine vision comprises a four-wheel double-drive vehicle body and an expansion board; the four-wheel double-drive vehicle body comprises a chassis, and the head part and the tail part of the chassis are respectively provided with a group of double-wheel drive devices; the chassis is provided with a steering engine, an orthogonal Foley wheel device and a battery; the expansion board is arranged above the chassis and is connected with the chassis through the supporting columns; the lower surface of the expansion board is provided with a control core board, the front part of the upper surface of the expansion board is provided with a mechanical action device, the middle part of the upper surface of the expansion board is provided with a column, and the column is provided with a camera; the mechanical action device comprises a telescopic rod and a shielding steering engine; the shielding steering engine is arranged in front of the upper surface of the expansion plate; the head of the telescopic rod is of an arc-shaped structure, and the tail of the telescopic rod is connected with the shielding steering engine; the control core board is integrated with an STM32 chip, a gyroscope, a voltage stabilizing module, a serial port, a shielding steering engine interface, a steering engine interface and a power supply interface; the shielding steering engine, the steering engine and the battery are respectively connected with the control core board through corresponding interfaces; the method specifically comprises the following steps:
step 1: initializing a program;
step 2: rotating in situ, fixing the angle of a steering engine, fixing the speed and searching for a target;
and step 3: judging whether to capture the target: if the target is captured, entering step 4; if the target is not captured, returning to the step 2;
and 4, step 4: judging whether the target is at the near end or the far end: if the target is at the near end, entering step 8; if the target is at the far end, entering step 5;
and 5: judging the orientation of a target according to the camera, adjusting a steering engine, and driving a motor to be close to the target;
step 6: judging whether the target is lost: if the target is lost, entering the step 2; if the target is not lost, entering step 7;
and 7: judging whether the probe is at the near end: if the proximal end is located, entering step 8; if the target is not at the near end, entering step 5;
and 8: carrying out first-stage deceleration: reducing the output power of the motor;
and step 9: judging whether the target is lost: if the target is lost, go to step 17; if the target is not lost, entering step 10;
step 10: and carrying out forced deceleration at the second stage: reversing the motor;
step 11: judging whether the target is lost: if the target is lost, go to step 17; if the target is not lost, go to step 12;
step 12: and (3) microspur discrimination: judging whether the target is at a specified distance according to the information captured by the camera;
step 13: judging whether the target is lost: if the target is lost, go to step 17; if the target is not lost, go to step 14;
step 14: parking;
step 15: judging whether the target is lost: if the target is lost, go to step 17; if the target is not lost, go to step 16;
step 16: executing the mechanical action, and then entering step 17;
and step 17: reversing the vehicle and then entering the step 2.
5. The method for controlling an optoelectronic target searching vehicle based on machine vision as claimed in claim 4, wherein: the orthogonal Foley wheel device comprises a first Foley wheel, a first encoder, a second Foley wheel and a second encoder; the first Foley wheel and the second Foley wheel are orthogonally fixed on a chassis of the four-wheel double-drive vehicle body, the first Foley wheel is connected with the first encoder, the second Foley wheel is connected with the second encoder, and signal lines of the first encoder and the second encoder are connected with the control core board.
6. The control method of the electro-optical target search vehicle based on machine vision according to claim 4 or 5, characterized in that: the telescopic rod comprises a straight rod and a special-shaped rod, and the straight rod and the special-shaped rod are both flaky; one end of the straight rod is provided with a steering engine rudder disc, and the other end of the straight rod is provided with a long through hole; the special-shaped rod comprises an upper straight rod and an arc-shaped rod; one end of the upper straight rod is provided with a long through hole, and the other end of the upper straight rod is connected with the arc-shaped rod; the end part of the straight rod, which is provided with the long through hole, is connected with the end part of the upper straight rod, which is provided with the long through hole, through a bolt, and the other end of the straight rod is connected with the shielding steering engine through a steering engine steering wheel.
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