CN114750834A - AI beach vehicle chassis discernment control system based on ecological protection - Google Patents
AI beach vehicle chassis discernment control system based on ecological protection Download PDFInfo
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- CN114750834A CN114750834A CN202210493403.9A CN202210493403A CN114750834A CN 114750834 A CN114750834 A CN 114750834A CN 202210493403 A CN202210493403 A CN 202210493403A CN 114750834 A CN114750834 A CN 114750834A
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- 238000001931 thermography Methods 0.000 claims abstract description 20
- 238000001514 detection method Methods 0.000 claims abstract description 16
- XAGFODPZIPBFFR-UHFFFAOYSA-N aluminium Chemical compound [Al] XAGFODPZIPBFFR-UHFFFAOYSA-N 0.000 claims abstract description 12
- 229910052782 aluminium Inorganic materials 0.000 claims abstract description 12
- 238000012545 processing Methods 0.000 claims description 18
- 238000013016 damping Methods 0.000 claims description 7
- 230000001360 synchronised effect Effects 0.000 claims description 6
- 229910000838 Al alloy Inorganic materials 0.000 claims description 5
- 238000000034 method Methods 0.000 abstract description 10
- 238000013135 deep learning Methods 0.000 abstract description 4
- 230000033001 locomotion Effects 0.000 abstract description 4
- 239000004576 sand Substances 0.000 abstract description 4
- 238000012549 training Methods 0.000 abstract description 4
- 238000013528 artificial neural network Methods 0.000 abstract description 2
- 239000002689 soil Substances 0.000 abstract description 2
- 230000006870 function Effects 0.000 description 8
- 238000011160 research Methods 0.000 description 5
- 230000006378 damage Effects 0.000 description 4
- 230000000694 effects Effects 0.000 description 4
- 230000009471 action Effects 0.000 description 3
- 230000004888 barrier function Effects 0.000 description 3
- 238000013527 convolutional neural network Methods 0.000 description 3
- 230000002265 prevention Effects 0.000 description 3
- 230000008569 process Effects 0.000 description 3
- 230000000007 visual effect Effects 0.000 description 3
- 230000001133 acceleration Effects 0.000 description 2
- 230000009977 dual effect Effects 0.000 description 2
- 208000027418 Wounds and injury Diseases 0.000 description 1
- 238000010521 absorption reaction Methods 0.000 description 1
- 230000004075 alteration Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000007613 environmental effect Effects 0.000 description 1
- 230000004927 fusion Effects 0.000 description 1
- 238000007654 immersion Methods 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 208000014674 injury Diseases 0.000 description 1
- 230000003137 locomotive effect Effects 0.000 description 1
- 230000007246 mechanism Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000035939 shock Effects 0.000 description 1
- 241000894007 species Species 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D21/00—Understructures, i.e. chassis frame on which a vehicle body may be mounted
- B62D21/18—Understructures, i.e. chassis frame on which a vehicle body may be mounted characterised by the vehicle type and not provided for in groups B62D21/02 - B62D21/17
- B62D21/183—Understructures, i.e. chassis frame on which a vehicle body may be mounted characterised by the vehicle type and not provided for in groups B62D21/02 - B62D21/17 specially adapted for sports vehicles, e.g. race, dune buggies, go-karts
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06N—COMPUTING ARRANGEMENTS BASED ON SPECIFIC COMPUTATIONAL MODELS
- G06N3/00—Computing arrangements based on biological models
- G06N3/02—Neural networks
- G06N3/04—Architecture, e.g. interconnection topology
- G06N3/045—Combinations of networks
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06N—COMPUTING ARRANGEMENTS BASED ON SPECIFIC COMPUTATIONAL MODELS
- G06N3/00—Computing arrangements based on biological models
- G06N3/02—Neural networks
- G06N3/08—Learning methods
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
- B60W2050/0001—Details of the control system
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Abstract
The invention relates to the technical field of intelligent robots, in particular to an AI beach vehicle chassis recognition control system based on ecological protection, which comprises beach wheels and aluminum profiles, wherein the tops of the aluminum profiles are fixedly provided with motors, the bottoms of the aluminum profiles are provided with chassis recognition control units, and the chassis recognition control units comprise biological recognition modules, sinking-prevention and sinking-prevention modules, obstacle avoidance modules and movement control modules. The control chip receives the sensor information to realize anti-trap detection and obstacle avoidance detection; biological identification is realized through the combination of sensor and deep learning technique, can let the vehicle prepare in advance when there is the biology around, through carrying out two neural network training to characteristics such as the shape of common biological species on the beach, temperature, colour, carry out two network training through thermal imaging image data and high definition RGB image data, can effectively detect the existence of being covered by sand and soil surface biology, avoid because of the machine work harms biology.
Description
Technical Field
The invention relates to the technical field of intelligent robots, in particular to an AI beach vehicle chassis recognition control system based on ecological protection.
Background
The beach vehicle is an all-terrain vehicle (a vehicle suitable for all terrains), is commonly called ATV (all terrain vehicle), and is also called an all-terrain four-wheel off-road locomotive. The research on beach vehicles has been carried out for a long time at present, and the main research direction is to increase the damping capacity of the chassis by adjusting the mechanical structure of the chassis. The flexibility of the vehicle is difficult to guarantee while the shock absorption function is considered by the adjustment of a pure mechanical structure. Secondly, the beach vehicle has low intelligent degree and limits the exertion of functions to a certain extent, and more functions cannot be added on the beach vehicle. At present, the research on the environmental influence of the beach vehicle in the market is not much. However, the beach vehicle usually runs in ecologically rich areas, but not urban areas, and often causes certain damage to the environment, such as easy sinking, damage to organisms, and the like.
The chassis system of the beach vehicle in the prior art is low in intelligentization, only depends on a mechanical structure in the aspects of sinking prevention and the like, and does not use a certain intelligent method for prevention, so that the beach vehicle cannot be easy as walking on the flat ground when running on the beach, and the risk of sinking needs to be worried at any time. The intelligent degree of beach vehicle chassis is lower, relies on manual operation mostly, and to intelligent machine, it is indispensable to keep away the barrier. Meanwhile, the beach vehicle is not developed much in the aspects of biological identification and intelligent detection due to low intelligent degree.
Disclosure of Invention
The invention aims to provide an AI beach vehicle chassis identification control system based on ecological protection, so as to solve the problems in the background technology.
In order to achieve the purpose, the invention provides the following technical scheme:
an AI beach vehicle chassis recognition control system based on ecological protection comprises a beach wheel and an aluminum profile, wherein the top of the aluminum profile is fixedly provided with a motor, and the bottom of the aluminum profile is provided with a chassis recognition control unit; the chassis identification control unit comprises a biological identification module, an anti-sinking and anti-sinking module, an obstacle avoidance module and a mobile control module.
Preferably, the hold-in range has been cup jointed to the output shaft surface of motor, the one end that the motor output shaft was kept away from to the hold-in range is connected with the synchronizing wheel, hard axle is installed at the center of sandy beach wheel, the bottom fixed mounting of hard axle has the bearing frame, the tripod is installed at the top of bearing frame, the side fixedly connected with damping spring of tripod, the positive fixed mounting of aluminium alloy has anti unrestrained to help the outfit, the device of getting rid of poverty is installed to the surface bottom of sandy beach wheel.
Preferably, the biological recognition module comprises a thermal imaging camera, a high-definition camera and a central processing unit, the thermal imaging camera and the high-definition camera are installed at the distance of 10cm from the beach vehicle chassis head, and the central processing unit is electrically connected with the thermal imaging camera and the high-definition camera.
Preferably, the motor comprises four 200W dc brushless motors and four 400W drives.
Preferably, the anti-trap detection module comprises a pressure sensor and a control chip, the anti-trap escaping device comprises a pressurizing nail, and the obstacle avoidance module comprises a laser radar.
Compared with the prior art, the invention has the beneficial effects that:
1. the AI beach vehicle chassis recognition control system based on ecological protection is more intelligent, expands more functions of the beach vehicle, and receives sensor information through the control chip to realize anti-trap detection and obstacle avoidance detection; through the combination realization biological identification of sensor and deep learning technique, these techniques also provide the basis for further research in the future, provide new thinking for the beach car is intelligent, pay attention to the protection to the ecology, and biological identification module can let the vehicle prepare in advance when there is the biology around to the phenomenon of the collision biology that significantly reduces.
2. According to the AI beach vehicle chassis identification control system based on ecological protection, a set of complete identification control scheme is provided for the intelligent robot to work on the beach through the fusion of the multiple sensors and the deep learning algorithm, the problems of ecological damage, pedestrian injury, muddy immersion, out-of-control driving and the like are effectively avoided, and a scheme on power running is provided for the full automation of the intelligent robot; through carrying out the dual neural network training to characteristics such as shape, temperature, colour of common biological species on the beach, carry out the dual network training through thermal imaging image data and high definition RGB image data, can effectively detect the existence of being covered by sand soil surface biology, avoid because of the machine work harms biology.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings needed to be used in the description of the embodiments will be briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without inventive labor.
FIG. 1 is a schematic view of the overall structure of a beach vehicle chassis identification control system according to an embodiment of the invention;
fig. 2 is a schematic structural diagram and a schematic flow chart of a chassis identification control unit module according to an embodiment of the present invention.
In the figure: 1. a beach wheel; 2. an aluminum profile; 3. a motor; 4. a synchronous belt; 5. a synchronizing wheel; 6. a bearing seat; 7. a hard shaft; 8. a tripod; 9. a damping spring; 10. a wave-resisting walking aid device; 11. an anti-trap escaping device.
Detailed Description
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 only a part of the embodiments of the present invention, and not all of the embodiments. 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.
In the present invention, unless otherwise expressly stated or limited, the terms "mounted," "connected," "secured," and the like are to be construed broadly and can, for example, be fixedly connected, detachably connected, or integrally formed; can be mechanically or electrically connected; either directly or indirectly through intervening media, either internally or in any other relationship. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.
Referring to fig. 1-2, an AI beach vehicle chassis recognition control system based on ecological protection provided by the embodiment of the invention comprises a beach wheel 1 and an aluminum profile 2, a motor 3 is fixedly installed at the top of the aluminum profile 2, a synchronous belt 4 is sleeved on the outer surface of an output shaft of the motor 3, one end of the synchronous belt 4 away from the output shaft of the motor 3 is connected with a synchronous wheel 5, a hard shaft 7 is installed at the center of the beach wheel 1, a bearing seat 6 is fixedly installed at the bottom of the hard shaft 7, a tripod 8 is installed at the top of the bearing seat 6, a damping spring 9 is fixedly connected to the side surface of the tripod 8, one end of the damping spring 9 away from the tripod 8 is fixedly connected with the aluminum profile 2, an anti-wave walking aid 10 is fixedly installed at the front of the aluminum profile 2, an anti-trap escaping device 11 is installed at the bottom of the outer surface of the beach wheel 1, the motor 3 comprises four 200W dc brushless motors and four 400W drivers, the anti-trapping detection module comprises a pressure sensor and a control chip, the anti-trapping and escaping device 11 consists of a pressurizing nail, and the obstacle avoidance module comprises a laser radar.
The bottom of aluminium alloy 2 is provided with chassis discernment the control unit, chassis discernment the control unit include biological identification module, prevent sinking and prevent sinking the module, keep away barrier module and mobile control module, biological identification module includes thermal imaging camera, high definition digtal camera and central processing unit, thermal imaging camera and high definition digtal camera install in beach vehicle chassis head apart from ground 10cm department, central processing unit and thermal imaging camera and high definition digtal camera electric connection.
The whole chassis identification control unit is composed of a biological identification module, an anti-sinking and anti-sinking module, an obstacle avoidance module and a mobile control module, the chassis realizes normal work of the beach robot by using a deep convolutional neural network which runs on a high-performance processor and is matched with sensing equipment such as a thermal imaging sensor, a high-definition camera, a pressure sensor, an ultrasonic sensor, a laser radar and a speed sensor, and biological identification, obstacle avoidance, sinking prevention and anti-sinking control are covered. When the machine starts to work, the thermal imaging camera and the high-definition camera which are located at the position 10cm away from the beach vehicle chassis head part start to work, the thermal imaging image data and the high-definition RGB image data are continuously returned to the central processing unit, the central processing unit puts the image transmitted by the thermal imaging sensor and the image transmitted by the high-definition camera into a deep convolutional neural network (such as a yolov5 target detection algorithm) for identification and detection, whether a target object is a living body is detected through the weighting analysis layer, if the confidence coefficient of the living body is greater than 0.5 as a visual feedback result, the machine plans a route again, avoids the area where the living body is located, the normal work of the machine is guaranteed, the living body is not damaged, the ecological diversity and the biological diversity are not damaged, the coexistence of human and natural harmony principles is complied, otherwise, the machine normally runs according to the planned route. When the machine works, the vehicle-mounted laser radar acquires the surrounding environment information of the trolley in real time, and the acquired laser radar data records the distance of obstacles of the laser radar in each direction within a period of time. The obstacle avoidance controller judges whether the obstacle is in a safe area of the robot or not by using data of the laser radar. If the machine detects the obstacle, firstly calculating the direction of the obstacle relative to the machine through laser radar data, then calculating the control output quantity of the machine by using an obstacle avoidance controller, and controlling the machine to avoid the obstacle; if the machine does not detect an obstacle, a motion controller is used so that the machine can reach the target point. The robot can quickly detect the direction of an obstacle, and the mobile robot generates a smooth and continuous track through the switching of the obstacle avoidance controller and the motion controller and the constraint of the linear acceleration and the angular acceleration of the robot. When the machine works, the chassis whole-body environment detection sensor continuously detects machine environment information including information such as land texture and humidity, and the central processing unit judges whether the moving area has the risk of getting into the muddy state (the threshold value is set according to the weight and the power of the machine, when the analyzed numerical value of the sensor incoming information is greater than the threshold value, the moving area continues to move forward, and otherwise, the moving area normally moves forward without the risk of getting into the muddy state). If the risk of getting into mud exists, the machine plans the route again, avoids the risk area, otherwise, normally runs. If the machine is trapped in the mire and can not rely on self power to move ahead, the pressure sensor that is located on the wheel can send signal to central processing unit, and central processing unit transmission signal is to the next machine department of the device of saving oneself that prevents sinking in the control chassis, expandes the supercharging nail, and help the machine to climb out the mire. The machine is realized by four 200W brushless DC motors and four 400W drivers, can realize closed-loop control in function, realizes about 0.5% of error, and can realize the electronic brake function simultaneously so as to realize the effect of driving the chassis. And the chassis carrying speed sensor is used for detecting whether the running speed of the machine is at a danger threshold value or not. If the speed of the machine exceeds the normal running speed due to external factors such as landslide and the like, the speed sensor sends a signal to the central processing unit, and the central processing unit transmits the signal to control the lower computer to slow down the speed by using the electronic brake.
The thermal imaging camera and the high-definition camera which are positioned at the position of the beach vehicle chassis head part with a distance of 10cm from the ground start to work, and continuously return a thermal imaging image and a high-definition RGB image to the central processing unit; the central processing unit puts the image transmitted by the thermal imaging sensor and the high-definition camera into a deep convolutional neural network (such as yolov5) for identification and detection, and detects whether the target object is a living body or not through the output result of the weighted analysis layer, if so, the machine plans the route again to avoid the area where the target object is located, and if not, the machine runs according to the originally planned route.
When the machine works, the vehicle-mounted laser radar acquires the surrounding environment information of the trolley in real time, and the acquired laser radar data records the distance of obstacles of the laser radar in each direction within a period of time. The obstacle avoidance controller judges whether the obstacle is in the established planned route area of the robot by using the data of the laser radar. If the obstacle avoidance controller is used for calculating the control output quantity of the trolley, the trolley is controlled to avoid the obstacle, and if the obstacle avoidance controller is not used, the movement controller is used for enabling the trolley to reach the eye religion.
When the machine works, the environment detection sensor around the chassis continuously detects the environment information of the machine, including the information such as land texture and humidity, and the central processing unit judges whether the moving area has the risk of getting into the muddy state (the threshold value is set according to the weight and the power of the machine, when the analyzed numerical value of the information transmitted by the sensor is greater than the threshold value, the moving area continues to move forward, and otherwise, the moving area normally moves forward). If yes, the machine plans the route again and avoids the risk area, and if not, the machine runs according to the planned route. If the machine wheel can not advance in the muddy state, the pressure sensor on the wheel can send a signal to the central processing unit, and the central processing unit transmits the signal to the lower computer of the self-rescue device for preventing the chassis from sinking, so that the pressurizing nail is unfolded to help the machine climb out of the muddy state.
The chassis driving device is realized by four 200w direct current brushless motors and four 40Ow drivers, can realize closed-loop control in function, realizes about 0.5% of error, and can realize an electronic braking function at the same time so as to realize the effect of driving the chassis. And the chassis carrying speed sensor is used for detecting whether the running speed of the machine is at a danger threshold value or not. If not, starting the electronic brake to slow down the speed, avoiding possible risks, and if not, enabling the machine to normally run.
According to the invention, the anti-sinking detection module composed of the pressure sensor and the like is adopted, and the control chip is used for controlling the change of the mechanical mechanism in real time, so that the failure activity is avoided while the damping performance is ensured; the beach vehicle is more intelligent and accords with the harmonious coexistence principle of human and nature. The system carries out anti-trap detection through pressure sensor detection, and when the system identifies that the vehicle is trapped in a sand pit, the vehicle is enabled to easily cross the sand pit by adjusting a mechanical structure; whether organisms exist around the machine or not can be detected by combining the visual camera, the thermal imaging sensor and the deep learning algorithm, so that the biodiversity is protected, and the ecological protection effect is achieved; the machine accessible lidar keeps away the barrier and detects and evade the driving out of control through speed sensor, to the ecological protection problem, through the biological identification module by visual sensor, thermal imaging sensor is constituteed, whether have biology around the two vehicles through AI algorithm discernment, has still designed the obstacle-avoiding module that has constitutions such as lidar simultaneously, and the electron brake module that speed sensor constitutes further improves beach car intelligent degree, provides the basis for subsequent research and improvement.
It is noted that, herein, relational terms such as first and second, and the like may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. The term "comprising", without further limitation, means that the element so defined is not excluded from the group consisting of additional identical elements in the process, method, article, or apparatus that comprises the element.
Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and alterations can be made in these embodiments without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.
Claims (5)
1. The utility model provides an AI beach vehicle chassis discernment control system based on ecological protection, its characterized in that, it includes sandy beach wheel (1) and aluminium alloy (2), the top fixed mounting of aluminium alloy (2) has motor (3), its characterized in that: a chassis identification control unit is arranged at the bottom of the aluminum profile (2);
the chassis identification control unit comprises a biological identification module, an anti-sinking and anti-sinking module, an obstacle avoidance module and a mobile control module.
2. The AI beach vehicle chassis identification control system based on ecological protection of claim 1, wherein: synchronous belt (4) have been cup jointed to the output shaft surface of motor (3), the one end that motor (3) output shaft was kept away from in synchronous belt (4) is connected with synchronizing wheel (5), hard axle (7) are installed at the center of sandy beach wheel (1), the bottom fixed mounting of hard axle (7) has bearing frame (6), tripod (8) are installed at the top of bearing frame (6), the side fixedly connected with damping spring (9) of tripod (8), the positive fixed mounting of aluminium alloy (2) has anti-wave to help outfit of a journey to put (10), the outer surface bottom of sandy beach wheel (1) is installed and is prevented catching and get rid of poverty device (11).
3. The AI beach vehicle chassis identification control system based on ecological protection of claim 1, wherein: biological identification module includes thermal imaging camera, high definition digtal camera and central processing unit, thermal imaging camera and high definition digtal camera install in beach vehicle chassis head apart from ground 10cm department, central processing unit and thermal imaging camera and high definition digtal camera electric connection.
4. The AI beach vehicle chassis identification control system based on ecological protection of claim 1, wherein: the motor (3) comprises four 200W direct current brushless motors and four 400W drivers.
5. The AI beach vehicle chassis identification control system based on ecological protection of claim 2, which is characterized in that: the anti-trap detection module comprises a pressure sensor and a control chip, the anti-trap escaping device (11) consists of a pressurizing nail, and the obstacle avoidance module comprises a laser radar.
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2022
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| CN1509908A (en) * | 2002-12-25 | 2004-07-07 | 朱健声 | Wheel vehicular cross-country extended wheel |
| US20180058823A1 (en) * | 2015-12-08 | 2018-03-01 | Kevin Mark Diaz | Hybrid Chassis Breaching System |
| CN106945460A (en) * | 2017-02-22 | 2017-07-14 | 中国汽车技术研究中心 | A kind of automobile tire antiskid system and shoe |
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Application publication date: 20220715 |