A kind of unmanned cruiser system of two-wheel drive low speed and working methodTechnical field
The present invention relates to a kind of unmanned cruiser system and working method, specifically a kind of two-wheel drive low speed nobodyDrive cruiser system and working method.
Background technique
As the speed of modernization construction is accelerated, supermarket, large pier, International airport, various conference and exhibition centers, large sizeThe quantity and scale in the places such as logistics warehouse, saloon bar, hospital are continuously increased, various large size residence districts and playground dayBenefit increases, and mankind's activity and logistics transportation etc. become increasingly complex, and a large amount of human and material resources and security resource is needed to ensure thisSystem safe operation.Current security technology is mainly based on manpower patrol and CCD camera locating and monitoring, both modes areIt is not able to satisfy the security demand of existing large-scale complex environment, is gone on patrol using the security of safety protection robot substitution mankind's patrol automaticChange system can solve the matter of great urgency at the moment, because security patrol automated system not only can be further improved security systemStability, safety and real-time, and can effectively save cost of labor.
Unmanned cruiser can perceive environment and this by sensor as a kind of novel special security class robotBody state simultaneously realizes avoidance, shuttles in bustling crowd and various barrier, completes autonomous patrol mission.Nobody drivesSail that cruiser is timed, pinpoints, uninterrupted mobile monitoring with patrol is to solve security patrol to automate best solutionScheme.Unmanned cruiser concentrates on environment sensing, dynamic decision, route planning and behaviour control integrated multi-functionalComposite system, it perceives vehicle-periphery using onboard sensor, and according to perception road obtained, patrol vehicle positionIt sets, barrier and suspicious danger information, the steering and speed of vehicle is controlled, to enable the vehicle to reliably and securely patrollingIt patrols on path and travels.Unmanned cruiser collect automatic control, architecture, artificial intelligence, vision calculate etc. numerous technologies inOne, is the product of computer science, pattern-recognition and intelligent control technology high development, is had in national defence and national economy fieldHave broad application prospects.
It is still in infancy, either the intelligent driving of which kind of degree, patrols currently, Intelligent unattended drives cruiser developmentThe problem of sensing capability for patrolling vehicle is all overriding concern, that is, unmanned cruiser periphery complex environment is perceived, at thisCorresponding path planning and driving behavior decision can be just made on the basis of a, the selection of detecting sensor is unmanned cruiserThe premise of success avoidance.Multi-line laser radar is exactly as its name suggests point in vertical direction by multiple laser emittersCloth forms the scanning of a plurality of harness by the rotation of motor.Theoretically, harness is more, closeer, just more fills to environment descriptionPoint, the requirement of algorithm can also be reduced in this way.3D multi-line laser radar passes through the available robot of laser scanning3D model, can be relatively easy to detect robot week with the variation that related algorithm compares previous frame and next frame environmentThe pedestrian enclosed and other obstacle informations, while another big characteristic of 3D laser radar is to synchronize to build figure, is obtained in real time globallyThe positioning accuracy for navigating and reinforcing robot may be implemented by comparing with the characteristic body in high-precision map in figure.Multi-thread laserRadar coverage is relatively wide, can provide a large amount of environment range informations, and biggish convenience can be provided for control decision, aboveAdvantage makes multi-line laser radar become the preferential selection that unmanned cruiser perceives circumstances not known.
The electromechanics arrangement architecture of general common simple unmanned patrol motor vehicle drive system is as shown in Figure 1, it is controlledSystem principle processed is as shown in Figure 2.Unmanned cruiser is detected environment by multi-line laser radar sensor detection system and is conveyedTo PC machine, then PC machine passes through coded treatment, sends control instruction to SCM Based slave computer, single chip control module warpControl instruction is sent to Direct Current Servo Motor Controller after crossing communication decoding, and controller drives two direct current generator movements, in turnUnmanned cruiser walking is driven by the driving wheel being directly connected to direct current generator；Single-chip computer control system is according to laser thunderIt adjusts the movement of direct current generator in real time up to the variation of acquisition peripheral environment, and then controls unmanned cruiser in the actual environmentPosition, the image that CCD camera is responsible for acquiring in real time in unmanned cruiser patrol path simultaneously stored by PC machine in real time.Existing simple unmanned patrol vehicle control be by the single multi-line laser radar sensor of single single-chip microcontroller control LaiRealize above-mentioned function.
Long-play finds it, and there are the following problems:
(1) due to being influenced by direct current generator feature itself, the volume and weight of direct current generator is relatively large, is unfavorable for nobodyDrive the raising of cruiser dynamic property.
(2) sliding contact of the brush and commutator of direct current generator causes mechanical wear and spark in operational process, makesThe failure of direct current generator is more, reliability is low, the service life is short, maintenance heavy workload.
(3) since the direct current generator length of cruiser is larger, using the unmanned patrol vehicle width of traditional mechanical structureIt spends larger, some narrow spaces can not be passed through.
(4) existing unmanned cruiser direct current generator is directly mechanically connected with driving wheel, passes through controller tuneThe voltage of direct current generator is saved to complete to adjust the speed, although meeting the requirement of the speed of travel, drives entire unmanned patrolThe torque of vehicle is smaller, and the ability for adapting to outdoor rugged and rough road conditions is poor.
(5) existing unmanned cruiser is all made of rudimentary singlechip chip, and working frequency is lower, and only tensHertz, it is unable to satisfy the control that unmanned cruiser interferes various complex environments, unmanned cruiser is easily caused and losesControl.
(6) it is influenced by unmanned cruiser PC machine performance, the environment detection sensor of unmanned cruiser acquires numberAccording to that quickly can not calculate and store, judgement of the unmanned cruiser to ambient enviroment is affected.
(7) it is influenced by unmanned cruiser PC machine performance, the ccd sensor image acquisition data of unmanned cruiserCan not real-time perfoming quickly analyze and calculate, master station can only by analysis storage image data could find patrol in askingTopic.
(8) it although multi-line laser radar can realize 3D data, and can determine whether the height of barrier, handle the information on groundDeng, but price is relatively expensive, can not promote the use of a large area.
(9) present unmanned cruiser only considers forward detection and avoidance, does not consider the obstacle information at rear,Sometimes the cruiser barrier that rear occurs in reversing can enter unmanned cruiser protection zone, and it is unnecessary to causeInjury.
(10) based on the unmanned cruiser of multi-line laser radar in forward movement there is a detection blind area,Once there is barrier to be in blind area, it is easy to generate traffic accident.
(11) based on the unmanned cruiser of multi-line laser radar actually reversing reverse procedure in also will appear detection it is blindArea, once having barrier to enter movement blind area during the motion also easily leads to traffic accident.
Summary of the invention
In view of the above existing problems in the prior art, the present invention provides a kind of unmanned cruiser systems of two-wheel drive low speedSystem and working method, can effectively solve above-mentioned technical problem.
To achieve the goals above, the technical solution adopted by the present invention is that: a kind of unmanned patrol of two-wheel drive low speedVehicle system, including two wheel drive systems, front blind-area detection obstacle avoidance system, rear blind area detection obstacle avoidance system, environmental detecting system andCentral control system,
The two wheel drive systems include direct current brushless servo motor driver, direct current brushless servo motor X, planetary reduction gearMachine X, direct current brushless servo motor Y and planetary reducer Y, direct current brushless servo motor driver are electric with brush DC servo respectivelyMachine X is connected with direct current brushless servo motor Y, and the input terminal of direct current brushless servo motor X and planetary reducer X are sequentially connected, rowThe output end and driving wheel I of star speed reducer X is sequentially connected, and the input terminal of direct current brushless servo motor Y and planetary reducer Y are drivenConnection, the output end and driving wheel II of planetary reducer Y are sequentially connected；Driving wheel I and driving wheel II are equipped with speed and accelerationDegree detection encoder；
The front blind-area detection obstacle avoidance system is made of ultrasonic detector US1~US3, ultrasonic detector US1~US3It is fixed on the front end of cruiser；
Blind area detection obstacle avoidance system is made of ultrasonic detector US4~US6 after described, ultrasonic detector US4~US6It is fixed on the rear end of cruiser；
The environmental detecting system is made of single line laser radar L1~L3 and CCD camera, and CCD camera, which is fixed on, to patrolRoof is patrolled, single line laser radar L1 is at the top of cruiser and detection direction is at an angle to the horizontal surface, single line laser thunderCruiser front end is in up to L2 and detection direction is horizontally forward, and single line laser radar L3 is in cruiser rear end and detection directionAfter horizontal direction；
The central control system includes master controller and ARM controller, and master controller and ARM controller data connectConnect, single line laser radar L1~L3, CCD camera and encoder with master controller data connection, ARM controller and direct currentBrushless servo motor driver and ultrasonic detector US1~US6 data connection, power supply are direct current brushless servo motor driverPower supply, power supply are ARM controller, ultrasonic detector US1~US6, single line laser radar L1~L3 by power conversion moduleIt powers with CCD camera.
Further, the master controller is the NUC computer based on NUC7, and the ARM controller is STM32F767 controlDevice processed.
Further, the angle of the detection direction of the single line laser radar L1 and horizontal plane is 4~6 °, single line laser radarHeight of the L2 apart from ground is 10cm~30cm；Height of the single line laser radar L3 apart from ground is 10cm~30cm.
Further, the direct current brushless servo motor X and direct current brushless servo motor Y is that rare earth permanent magnet brushless DC is watchedTake motor.
A kind of working method of the unmanned cruiser system of two-wheel drive low speed, specific steps are as follows:
A, before unmanned cruiser does not carry out patrol work, cruiser is controlled by way of manual remote control and completes instituteThe walking in the region that need to be gone on patrol passes through single line laser radar L1~L3 and CCD camera real-time perfoming environment in the process of walkingFeedback data is sent to after master station is analyzed and processed by detection, and the data of detection are returned to NUC computer, NUC computerThe environmental map for ultimately forming entire beat is stored, while cruiser is each in beat patrols for storage in master stationPatrol location information a little；
B, before unmanned cruiser starting patrol, NUC computer transfers patrolling for unmanned cruiser by master stationInformation is patrolled, in combination with the environmental map and navigation information for forming entire beat, completes the pre- driving path of cruiserPlanning, then ARM controller control ultrasonic detector US1~US6 is opened, if ultrasonic detector US1~US6 feedback detectionTo obstacle information, then ARM controller sounds an alarm, and waits the removing of barrier；If clear information is fed back, ARMController controls direct current brushless servo motor driver and opens, and cruiser is made to start to start；
C, after the patrol of cruiser starts starting, single line laser radar L1~L3 and CCD camera real-time perfoming environment are visitedIt surveys, and gives data feedback to NUC computer, NUC computer is by the environment of the feedback data real time environment map generated and storageMap is compared, so that it is determined that real time position locating for unmanned cruiser, ARM controller are fed back by NUC computerSingle line laser radar L1~L3 and CCD camera image data, adjust direct current brushless servo motor X and brush DC servoThe SERVO CONTROL of motor Y, and then the initialized location adjustment of unmanned cruiser is completed, so that unmanned cruiser is in pre-Enter automatic patrol mode on driving path；
D, when unmanned cruiser is in automatic patrol mode, single line laser radar L1~L3 and CCD camera continueReal-time perfoming environment detection, while the speed and acceleration information of encoder real-time detection cruiser, and by data feedback to NUCComputer, NUC computer determine real time position locating for unmanned cruiser after analysis is handled, and by the real time position withDetermining offset distance is compared in pre- driving path, and then NUC computer issues offset distance data to ARM controller, ARM controlThe SERVO CONTROL of device adjustment direct current brushless servo motor X and direct current brushless servo motor Y processed, and then make unmanned cruiser edgePre- driving path carry out entire patrol process；
If E, single line laser radar L1~L3 and CCD camera detect the presence of barrier in traveling path process in advance,Give data feedback to NUC computer, NUC computer controls unmanned cruiser throwing over barrier or bypassed after analysis is handledBarrier finally keeps unmanned cruiser to carry out entire patrol process along pre- driving path.
Further, the single line laser radar L1~L3 and CCD camera progress environment detection and real time position determineDetailed process are as follows:
If single line laser radar L1 and CCD camera detect on traveling ahead path there are fluctuating hollow or barrier,Detection data is fed back into NUC computer, NUC computer determines that height of fluctuating hollow or barrier is at this through analysis processingIt is no beyond unmanned cruiser setting maximum cross height, if without departing from if NUC computer send a signal to ARM controlDevice, ARM controller increase the power of direct current brushless servo motor X and direct current brushless servo motor Y, while real-time by encoderThe speed and acceleration information for detecting cruiser, pass through unmanned cruiser along pre- driving path normally travel, if exceedingThen NUC computer issues evacuation signal to ARM controller, at the same NUC computer according to the width of fluctuating hollow or barrier andPosition in driving path determines that unmanned cruiser detours from the left or right side of fluctuating hollow or barrier, at this timeARM controller adjusts the power of direct current brushless servo motor X and direct current brushless servo motor Y, and then makes unmanned cruiserIt is deviated to the left or is deviated to the right setting driving path to detour, after completing to hide movement, ARM controller adjusts brush DC servoThe power of motor X and direct current brushless servo motor Y drive into unmanned cruiser on driving path again.
Further, when unmanned cruiser is in automatic patrol mode, single line laser radar L3 and ultrasonic sensorUS4~US6 real-time detection rear blind area environment is simultaneously transferred to NUC computer and ARM controller progress data fusion, through data pointWhen after analysis if it is determined that rear is close to unmanned cruiser there are barrier, NUC computer sends data to ARM controller,The power increase of ARM controller control direct current brushless servo motor X and direct current brushless servo motor Y makes unmanned patrol speedDegree increases to increase at a distance from rear obstacle；Until single line laser radar L3 and ultrasonic sensor US4~US6 is being visitedIt surveys in range and does not detect that there are barriers, then NUC computer and ARM controller control unmanned cruiser patrolling according to settingSpeed is patrolled to be travelled；
Ultrasonic sensor US1~US3 real-time detection front blind area environment is simultaneously transferred to NUC computer, NUC computer warpIf there are barrier in the environment of front blind area after data analysis, NUC computer sends data, ARM controller control to ARM controllerDirect current brushless servo motor X and direct current brushless servo motor Y emergency braking processed makes unmanned cruiser crash-stop, prevents nothingPeople drives cruiser and injures meiofauna life, after in the environment of front blind area without not detecting there are after barrier, NUC computer andARM controller controls unmanned cruiser and is travelled according to the patrol speed of setting.
Compared with prior art, the present invention is kept away using two wheel drive systems, front blind-area detection obstacle avoidance system, the detection of rear blind areaThe mode that barrier system, environmental detecting system and central control system combine, has the advantage that
1, it during the motion, has fully considered the effect of battery in this system, has been calculated based on ARM controller+NUCThe double-core control of machine is all monitored and operation in the operating status to unmanned cruiser in real time, improves the energy content of batteryUtilization rate is conducive to the continuation of the journey of unmanned cruiser.
2, in on-vehicle battery fast discharge process, in the voltage detecting process of opposite end, internal resistance, the temperature of battery are introducedEtc. parameters so that end voltage is closer to actual parameter, the advantageous low-voltage variation for using battery.
3, by the image data of the CCD camera of the unmanned cruiser of NUC computer disposal and the data of multisensorFusion, substantially increases arithmetic speed, solves single ARM controller software and runs slower bottleneck, and it is short to shorten the development cycle,And program transportability ability is strong.
4, the data and algorithm of a large amount of single line laser radar sensors are handled using NUC due to this controller, and sufficiently examinedInterference source around having considered, frees ARM controller from hard work amount, effectively prevents the main journey of motion control" run and fly " of sequence, unmanned cruiser anti-interference ability greatly enhances.
5, there is the unmanned patrol bus-top single line laser radar L1 and CCD camera phase of certain angle with groundIt is small-sized in conjunction with that can find in moving line the fluctuating of road conditions in advance very well and can find that movement road surface temporarily loses in advance very wellBarrier, advanced optimizing path or regulation power throwing over barrier for unmanned cruiser has certain help.
6, two, front single line laser radar L1 and L2 cooperates CCD camera, not only can effectively detect unmanned patrolThe barrier for patrolling the vehicle direction of motion or the position where people notify unmanned patrol vehicle control to realize Emergency avoidance, andAnd it is lower compared to multi-line laser radar hardware cost, be conducive to the popularization of unmanned cruiser practical application.
7, two, front single line laser radar L1 and L2 cooperates CCD camera, can effectively detect direction of motion two side columnsThe presence of shape object and the presence of two sides free area position when can advance for unmanned cruiser and advances is turned and avoidanceBooster action is provided.
8, single line laser radar L3 in rear can effectively detect unmanned cruiser at a distance from the moving obstacle of rear,When in case of emergency, unmanned cruiser can accelerate to flee danger region, the unmanned cruiser sheet of protection is playedThe effect of body.
9, the blind area detection system being made of multiple ultrasonic sensors can effectively eliminate unmanned cruiser and just startIt is accelerated forwardly or short-distance blind section that when reversing back occurs, improves safety when the walking of unmanned cruiser and reliableProperty.
Detailed description of the invention
Fig. 1 is that the motor of existing unmanned cruiser arranges two-dimensional structure figure
Fig. 2 is detection and the obstacle avoidance system schematic diagram of existing unmanned cruiser
Fig. 3 is that motor of the invention arranges two-dimensional structure figure
Fig. 4 is that sensor of the invention arranges two-dimensional structure figure
Fig. 5 is the arrangement two-dimensional structure figure of upfront sensor group in the present invention
Fig. 6 is the arrangement two-dimensional structure figure of rear sensor group in the present invention
Fig. 7 is detection of the invention and obstacle avoidance system schematic diagram
Fig. 8 is operation schematic diagram of the invention
Fig. 9 is schematic diagram of the present invention using bilateral navigation
Figure 10 is schematic diagram of the present invention using unilateral navigation
Figure 11 is the schematic diagram that the present invention uses inertial navigation.
Specific embodiment
The invention will be further described below.
As shown, a kind of unmanned cruiser system of two-wheel drive low speed, including two wheel drive systems, front blind-area are visitedObstacle avoidance system, rear blind area detection obstacle avoidance system, environmental detecting system and central control system are surveyed,
The two wheel drive systems include direct current brushless servo motor driver, direct current brushless servo motor X, planetary reduction gearMachine X, direct current brushless servo motor Y and planetary reducer Y, direct current brushless servo motor driver are electric with brush DC servo respectivelyMachine X is connected with direct current brushless servo motor Y, and the input terminal of direct current brushless servo motor X and planetary reducer X are sequentially connected, rowThe output end and driving wheel I of star speed reducer X is sequentially connected, and the input terminal of direct current brushless servo motor Y and planetary reducer Y are drivenConnection, the output end and driving wheel II of planetary reducer Y are sequentially connected；Driving wheel I and driving wheel II are equipped with speed and accelerationDegree detection encoder；
The front blind-area detection obstacle avoidance system is made of ultrasonic detector US1~US3, ultrasonic detector US1~US3It is fixed on the front end of cruiser；
Blind area detection obstacle avoidance system is made of ultrasonic detector US4~US6 after described, ultrasonic detector US4~US6It is fixed on the rear end of cruiser；
The environmental detecting system is made of single line laser radar L1~L3 and CCD camera, and CCD camera, which is fixed on, to patrolRoof is patrolled, single line laser radar L1 is at the top of cruiser and detection direction is at an angle to the horizontal surface, single line laser thunderCruiser front end is in up to L2 and detection direction is horizontally forward, and single line laser radar L3 is in cruiser rear end and detection directionAfter horizontal direction；
The central control system includes master controller and ARM controller, and master controller and ARM controller data connectConnect, single line laser radar L1~L3, CCD camera and encoder with master controller data connection, ARM controller and direct currentBrushless servo motor driver and ultrasonic detector US1~US6 data connection, power supply are direct current brushless servo motor driverPower supply, power supply are ARM controller, ultrasonic detector US1~US6, single line laser radar L1~L3 by power conversion moduleIt powers with CCD camera.
Further, the master controller is the NUC computer based on NUC7, and the ARM controller is STM32F767 controlDevice processed.
Further, the angle of the detection direction of the single line laser radar L1 and horizontal plane is 4~6 °, single line laser radarHeight of the L2 apart from ground is 10cm~30cm；Height of the single line laser radar L3 apart from ground is 10cm~30cm.
Further, the direct current brushless servo motor X and direct current brushless servo motor Y is that rare earth permanent magnet brushless DC is watchedTake motor.
A kind of working method of the unmanned cruiser system of two-wheel drive low speed, specific steps are as follows:
A, before unmanned cruiser does not carry out patrol work, cruiser is controlled by way of manual remote control and completes instituteThe walking in the region that need to be gone on patrol passes through single line laser radar L1~L3 and CCD camera real-time perfoming environment in the process of walkingFeedback data is sent to after master station is analyzed and processed by detection, and the data of detection are returned to NUC computer, NUC computerThe environmental map for ultimately forming entire beat is stored, while cruiser is each in beat patrols for storage in master stationPatrol location information a little；
B, before unmanned cruiser starting patrol, NUC computer transfers patrolling for unmanned cruiser by master stationInformation is patrolled, in combination with the environmental map and navigation information for forming entire beat, the navigation information is to determine nobodyThe navigation mode for driving cruiser is in bilateral navigation, left unilateral navigation, the unilateral navigation in the right side and inertial navigation based on gyroscopeOne kind, complete the pre- traveling path planning of cruiser, then ARM controller control ultrasonic detector US1~US6 open,If ultrasonic detector US1~US6 feedback detects obstacle information, ARM controller is sounded an alarm, and waits barrierIt removes；If clear information is fed back, ARM controller controls direct current brushless servo motor driver and opens, and opens cruiserBegin to start；
C, after the patrol of cruiser starts starting, single line laser radar L1~L3 and CCD camera real-time perfoming environment are visitedIt surveys, and gives data feedback to NUC computer, NUC computer is by the environment of the feedback data real time environment map generated and storageMap is compared, so that it is determined that real time position locating for unmanned cruiser, ARM controller are fed back by NUC computerSingle line laser radar L1~L3 and CCD camera image data, adjust direct current brushless servo motor X and brush DC servoThe SERVO CONTROL of motor Y, and then the initialized location adjustment of unmanned cruiser is completed, so that unmanned cruiser is in pre-Enter automatic patrol mode on driving path；
D, when unmanned cruiser is in automatic patrol mode, single line laser radar L1~L3 and CCD camera continueReal-time perfoming environment detection, while the speed and acceleration information of encoder real-time detection cruiser, and by data feedback to NUCComputer, NUC computer determine real time position locating for unmanned cruiser after analysis is handled, and by the real time position withDetermining offset distance is compared in pre- driving path, and then NUC computer issues offset distance data to ARM controller, ARM controlThe SERVO CONTROL of device adjustment direct current brushless servo motor X and direct current brushless servo motor Y processed, and then make unmanned cruiser edgePre- driving path carry out entire patrol process；
If E, single line laser radar L1~L3 and CCD camera detect the presence of barrier in traveling path process in advance,Give data feedback to NUC computer, NUC computer controls unmanned cruiser throwing over barrier or bypassed after analysis is handledBarrier finally keeps unmanned cruiser to carry out entire patrol process along pre- driving path.
Further, the single line laser radar L1~L3 and CCD camera progress environment detection and real time position determineDetailed process are as follows:
If single line laser radar L1 and CCD camera detect on traveling ahead path there are fluctuating hollow or barrier,Detection data is fed back into NUC computer, NUC computer determines that height of fluctuating hollow or barrier is at this through analysis processingIt is no beyond unmanned cruiser setting maximum cross height, if without departing from if NUC computer send a signal to ARM controlDevice, ARM controller increase the power of direct current brushless servo motor X and direct current brushless servo motor Y, while real-time by encoderThe speed and acceleration information for detecting cruiser, pass through unmanned cruiser along pre- driving path normally travel, if exceedingThen NUC computer issues evacuation signal to ARM controller, at the same NUC computer according to the width of fluctuating hollow or barrier andPosition in driving path determines that unmanned cruiser detours from the left or right side of fluctuating hollow or barrier, at this timeARM controller adjusts the power of direct current brushless servo motor X and direct current brushless servo motor Y, and then makes unmanned cruiserIt is deviated to the left or is deviated to the right setting driving path to detour, after completing to hide movement, ARM controller adjusts brush DC servoThe power of motor X and direct current brushless servo motor Y drive into unmanned cruiser on driving path again.
Further, when unmanned cruiser is in automatic patrol mode, single line laser radar L3 and ultrasonic sensorUS4~US6 real-time detection rear blind area environment is simultaneously transferred to NUC computer and ARM controller progress data fusion, through data pointWhen after analysis if it is determined that rear is close to unmanned cruiser there are barrier, NUC computer sends data to ARM controller,The power increase of ARM controller control direct current brushless servo motor X and direct current brushless servo motor Y makes unmanned patrol speedDegree increases to increase at a distance from rear obstacle；Until single line laser radar L3 and ultrasonic sensor US4~US6 is being visitedIt surveys in range and does not detect that there are barriers, then NUC computer and ARM controller control unmanned cruiser patrolling according to settingSpeed is patrolled to be travelled；
Ultrasonic sensor US1~US3 real-time detection front blind area environment is simultaneously transferred to NUC computer, NUC computer warpIf there are barrier in the environment of front blind area after data analysis, NUC computer sends data, ARM controller control to ARM controllerDirect current brushless servo motor X and direct current brushless servo motor Y emergency braking processed makes unmanned cruiser crash-stop, prevents nothingPeople drives cruiser and injures meiofauna life, after in the environment of front blind area without not detecting there are after barrier, NUC computer andARM controller controls unmanned cruiser and is travelled according to the patrol speed of setting.
It further, in most cases due to unmanned cruiser, is not one-stop service mode, the patrol of arrivalPoint is more, is especially emphasis beat, and unmanned cruiser skip emphasis beat, which is added, in order to prevent has centainlyThe site sensor S1 and S2 of redundancy, when unmanned cruiser will reach emphasis patrol website, ARM controller is firstTurn on sensor S1 and S2, while run at a low speed unmanned cruiser adjustment control direct current brushless servo motor X and Y,And the site identity of beat is read out, when any one sensor Shi Ze that is triggered represents unmanned patrolVehicle arrived setting emphasis patrol website；
When unmanned cruiser enters emphasis beat, CCD camera will carry out image to emphasis beatAcquire and by radioing to master station, master station stores keynote message first and is analyzed, if master station is to the picture of transmissionIt was found that suspicious information, stop sign will be issued to ARM controller, ARM controller will adjustment control direct current brushless servo motor X andY makes unmanned cruiser stop in emergency, and then ARM controller control CCD camera carries out secondary image acquisition and is transferred toMaster station；After unmanned cruiser completes this website patrol mission, adjustment is controlled direct current brushless servo motor by ARM controllerThe SERVO CONTROL of X and Y makes unmanned cruiser continue to travel according to set speed, showing in CCD real-time Transmission current pathField picture is to master station.This mode not only contributes to the positioning of unmanned cruiser, and is also beneficial to master station and drives to nobodySail the tracking of cruiser.
In order to meet the actual functional capability needs of unmanned cruiser in special circumstances in hazardous environment etc., nobody is drivenIt sails cruiser and is additionally provided with urgent stop selection function: can nobody being freely set in unmanned cruiser initial operating stage master station and is drivenSail cruiser and need the patrol website that goes, then unmanned cruiser by itself navigation sensor can complete independently thisSetting, when if an emergency situation is encountered during patrol, master station needs to change operating path or urgent patrol website, main website is logicalIt crosses wireless device to be communicated with unmanned cruiser NUC computer, walking path is then changed by NUC computer and patrolsInformation is patrolled, the unmanned cruiser path of real-time update and patrol bus stop after NUC computer and ARM controller communication controlPoint information, ARM controller complete newly assigned patrol according to the SERVO CONTROL of new requirement adjustment direct current brushless servo motor X and YPatrol task.
In addition when unmanned cruiser is gone on patrol by fixed route, a variety of acoustooptic alarm systems in system by work,The presence for reminding the unmanned cruiser of surrounding pedestrian, when unmanned cruiser loses communication with main website, ARM controller meetingAutomatic stopping signal is issued, the direct original place of ARM controller locks the direct current brushless servo motor X and Y of unmanned cruiser, nothingPeople drives cruiser and will not collide or hurt people because of uncontrolled, and main website is driven due to that can not be collected into nobody at this timeThe transmission information of cruiser is sailed, fast track will be carried out to unmanned cruiser according to a upper patrol bus stop information, andSolve failure problems.