CN110716563A - Electronic map given trajectory-based electric wheelchair path tracking control method and device - Google Patents
Electronic map given trajectory-based electric wheelchair path tracking control method and device Download PDFInfo
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0223—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory involving speed control of the vehicle
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- A—HUMAN NECESSITIES
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- A61G5/00—Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs
- A61G5/04—Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs motor-driven
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61G—TRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
- A61G5/00—Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs
- A61G5/10—Parts, details or accessories
- A61G5/1051—Arrangements for steering
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- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
- G05D1/0238—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using obstacle or wall sensors
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- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0257—Control of position or course in two dimensions specially adapted to land vehicles using a radar
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0268—Control of position or course in two dimensions specially adapted to land vehicles using internal positioning means
- G05D1/027—Control of position or course in two dimensions specially adapted to land vehicles using internal positioning means comprising intertial navigation means, e.g. azimuth detector
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- G—PHYSICS
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- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0276—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle
- G05D1/0278—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle using satellite positioning signals, e.g. GPS
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
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- A61G2203/00—General characteristics of devices
- A61G2203/10—General characteristics of devices characterised by specific control means, e.g. for adjustment or steering
- A61G2203/22—General characteristics of devices characterised by specific control means, e.g. for adjustment or steering for automatically guiding movable devices, e.g. stretchers or wheelchairs in a hospital
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Abstract
A path tracking control method and a path tracking control device of an electric wheelchair based on a given track of an electronic map are characterized in that control software is programmed in a control computer to call the electronic map, the positions of a starting point and an end point are set, and a planned path is calculated through a distance optimization method. The control computer sends an azimuth angle and speed control instruction through a serial port, controls the steering engines x and y to drive the rocker-slider mechanisms to respectively control the steering-speed control rods to move forwards, backwards, leftwards and rightwards, and controls the electric wheelchair to move forward according to an expected azimuth angle and speed. The actual azimuth angle and speed of the electric wheelchair are obtained by the IMU-GPS combined measuring device to form closed-loop feedback control, and the control precision of the azimuth angle and speed is improved. In the process that the electric wheelchair travels along the optimal track, a laser radar is adopted to scan the surrounding environment in real time, laser point cloud is obtained, a three-dimensional topographic map of the surrounding environment is constructed, the position, the speed and the direction information of a front obstacle are extracted, and then the real-time obstacle avoidance control is realized by controlling the azimuth angle and the speed of the electric wheelchair.
Description
Technical Field
The application relates to the path planning, tracking and obstacle avoidance control of an unmanned electric wheelchair and the real-time three-dimensional reconstruction of the surrounding environment and terrain by adopting an electronic map and a three-dimensional laser scanning technology.
Background
Unmanned driving is receiving increasing attention as an important application of artificial intelligence. The path tracking is an important component in the automatic driving technology of the intelligent vehicle, and the vehicle is driven along a planned path by controlling the azimuth angle and the speed of the intelligent vehicle on the basis of the known vehicle state and the planned path. In the driving process, the influence of factors such as driving speed, road conditions, surrounding environment and the like is considered, a certain deviation is generated between an actual driving path and a planned path, and the key points of path tracking are how to accelerate the speed within a deviation allowable range and how to design a control strategy to reduce the deviation. With the active promotion of new and old kinetic energy conversion engineering in China, the path tracking control system of the electric wheelchair based on the given track of the electronic map is realized, and the system has important significance for the unmanned technology.
Disclosure of Invention
The application provides an electronic map given track-based electric wheelchair path tracking control method and device, which are characterized in that the electronic map given track-based electric wheelchair path tracking control device comprises the following components: the device comprises a control computer (1), an electric wheelchair (2), an IMU-GPS combined measuring device (3), a servo driver (4), a steering engine x (5), a steering engine y (6), a rocker slider mechanism (7) and a laser radar (8). The electric wheelchair (2) comprises a steering-speed control lever (21), an electric wheel driver (22), a left electric wheel (23) and a right electric wheel (24). The control computer (1), the IMU-GPS combined measuring device (3) and the laser radar (8) are all arranged on the electric wheelchair (2). The servo driver (4), the steering engine x (5), the steering engine y (6) and the rocker-slider mechanism (7) are arranged on the steering-speed control rod (21) to form a cross-shaped plane movement mechanism. The method comprises the steps of programming control software in a control computer (1) to call an off-line electronic map, or opening on-line electronic map software through a network port, establishing interface connection between the local computer and the electronic map, setting starting point and end point positions in the electronic map, obtaining a planned path through a distance optimal calculation method, and extracting position information of the planned path, namely longitude and latitude values of each point on the planned path. Calculating an optimal track of the electric wheelchair (2) along the planned path according to the current position of the electric wheelchair (2) and the position of the planned path, and obtaining a control azimuth angle and a speed value of the electric wheelchair (2) capable of realizing the travel along the optimal track; the control computer (1) sends a control azimuth angle and speed control instruction through the serial port 2 and provides the control instruction for the servo driver (4), the control steering engine x (5) and the control steering engine y (6) drive the rocker slider mechanism (7) to control the position change of the steering-speed control rod (21), the steering-speed control rod (21) is a universal rocker, the front and back position change of the universal rocker controls the speed of the electric wheelchair (2), the left and right position change controls the azimuth angle steering of the electric wheelchair (2), the electric wheel driver (22) is used for differentially controlling the rotating speeds of the left electric wheel (23) and the right electric wheel (24), and therefore the electric wheelchair (2) is controlled to advance according to the expected control azimuth angle and speed. The actual control azimuth angle, position and speed information of the electric wheelchair (2) is obtained by the IMU-GPS combined measuring device (3) and is provided to the control computer (1) through the serial port 1 to form closed-loop feedback control, and the control precision of the control azimuth angle and speed is improved. In addition, in the actual process of the electric wheelchair (2) moving along the optimal track, various obstacles such as people and vehicles may be encountered, real-time obstacle avoidance control needs to be carried out, at the moment, the laser radar (8) is adopted to carry out real-time scanning on the surrounding environment of the electric wheelchair (2) to obtain laser point clouds, the laser point clouds are transmitted to the control computer (1) through the serial port 3, a three-dimensional topographic map of the surrounding environment can be constructed through registration and coordinate conversion of adjacent laser scanning frame point clouds, road surrounding environment information is obtained, position speed and azimuth information of the obstacle in front are extracted, and then real-time obstacle avoidance control is achieved through controlling the control azimuth angle and speed of the electric wheelchair (2).
The method comprises the steps of writing an upper computer control program of the electric wheelchair based on MFC in Visual C + +, calling an off-line electronic map packet in the upper computer, opening the electronic map, setting a starting point and a terminal point on the electronic map, and obtaining a planned path. And according to the planned path and the motion control transfer function of the electric wheelchair, a track tracking control instruction is sent to a steering engine x (5) and a steering engine y (6) through serial port communication, so that the electric wheelchair (2) can move along the planned path. Meanwhile, the IMU-GPS combined measuring device (3) is installed on the electric wheelchair (2) to obtain the actual control azimuth angle and speed of the electric wheelchair (2), closed-loop feedback control is adopted to improve the control precision of the azimuth angle and speed of the electric wheelchair (2), and the actual running track is recorded. In addition, the laser radar (8) is installed on the electric wheelchair (2), the surrounding environment is scanned in the process that the electric wheelchair (2) travels along a planned path, a high-precision three-dimensional topographic map of the surrounding environment of the running track of the electric wheelchair (2) is obtained through a point cloud real-time positioning and splicing technology, the spatial position speed and the direction of an obstacle are estimated and then are provided for the control computer (1), and real-time obstacle avoidance control of the electric wheelchair (2) is achieved.
Wherein, according to the electronic map, a planned path from a starting point to a terminal point is obtained, and the electric wheelchair travels along the planned path. The planning path is composed of a series of discrete points with the same time interval, the planning path is divided into a straight line section and a curve section by performing combination analysis on each discrete point, and turning points of each straight line section and each curve section are marked for sequential numbering. The control of the electric wheelchair (2) is also divided into a linear travel control and a curve travel control. On each segment of the trajectory, the included angle between the tangential direction and the x-axis is the control azimuth, the travel speed is related to the curvature of the segment, the curvature is the inverse of the curvature radius r, and the speed is slower when the curvature is larger. The control azimuth angle in the straight traveling control is zero. The control angle is constant and proportional to the curvature in curve advance control. The actual position of the electric wheelchair (2) is obtained by the IMU-GPS combined measuring device (3) and outputs a coordinate point, when the actual position of the electric wheelchair (2) and the turning point position of the nearest planned path are within 0.1m of error, the point is abandoned, the advancing control of the next stage is started, the coordinate of the next turning point is tracked, and the tracking is stopped until the last turning point is tracked.
The method comprises the following steps of determining an expected control azimuth angle and speed of a control computer (1) according to planned path position information set by an electronic map or real-time obstacle space position speed and azimuth information obtained by a laser radar (8); the actual azimuth angle and speed of the electric wheelchair (2) are measured by the IMU-GPS combined measuring device (3) and transmitted to the control computer (1), the difference value between the actual control azimuth angle and speed and an expected value is obtained through difference calculation and provided to the PID controller to obtain a control instruction, the control instruction is provided to the steering engine x (5) and the steering engine y (6) through the serial port 2 to drive the rocker slider mechanism (7), a steering-speed control lever (21) on the electric wheelchair (2) is controlled according to the expected control azimuth angle and speed, differential motion of the left electric wheel (23) and the right electric wheel (24) is controlled, and the actual control azimuth angle and speed track the expected control azimuth angle and speed value.
Wherein, two steering engines are adopted to control the steering-speed control lever (21) of the electric wheelchair (2) to move forwards and backwards and leftwards and rightwards. Install two mutually perpendicular's steering wheel x (5) and steering wheel y (6) additional on turning to-speed control pole (21), install the optical axis rocker of an L shape respectively on the output shaft of steering wheel x (5) and steering wheel y (6): an x-axis rocker (71) and a y-axis rocker (72) which are respectively sleeved with an inline ball bearing: an x-axis inline bearing (73) and a y-axis inline bearing (74), and two inline ball bearings are further mounted on the steering-speed lever (21): the steering engine x (5) and the steering engine y (6) are vertically hinged with an x-axis in-line bearing (73) and a y-axis in-line bearing (74) through rubber bands respectively by an x-axis rocker (71) and a y-axis rocker (72) on output shafts of the steering engine x (75) and the steering engine y (6). When the steering engine x (5) and the steering engine y (6) rotate, the steering-speed control lever (21) can be driven to freely rotate in the front-back direction and the left-right direction simultaneously, and the steering azimuth angle and the advancing speed of the electric wheelchair (2) can be controlled.
The method comprises the steps that a control interface program is compiled by VC + + software in a control computer (1) to call and operate an electronic map, MFC and HTML are interacted on the left side of the control interface, an OSM offline tile map is loaded, a right button is clicked by a mouse to set a starting point and a terminal point, then the operation is clicked, and software can automatically draw a planned path on the electronic map. Before the route planning is operated, a route planning optimal algorithm needs to be operated in another terminal, OSM map node information of an area shown by a map is analyzed, a Graphhopper open source map navigation engine is used, firstly, Windows + R inputs cmd to enter a computer console, then a file storage path is changed into a path for storing OSM map resources, and finally, a Graphhopper program is operated, so that the route node information in the OSM can be extracted. And a data acquisition working area of the IMU-GPS combined measuring device (3) is arranged at the upper right part of the control interface, the IMU-GPS combined measuring device (3) is associated with the MFC through serial port communication in the MFC, and then GPS longitude and latitude information of the current position and three-axis acceleration and Euler angle of an X, Y, Z axis are obtained according to a communication protocol of the IMU-GPS combined measuring device (3). The steering engine control working area is arranged on the lower right of the control interface, the main functions of the area are data processing and control signal sending, the two steering engines are vertically arranged on the electric wheelchair to model a control system of the electric wheelchair, and when the electric wheelchair receives a corresponding control rotation angle, the control system is converted into rotation control signals of the two steering engines according to a control system transfer function. Meanwhile, the area also needs to process the information received by the IMU-GPS combined measuring device (3), compare and analyze the information with a given planned path, and convert the information into steering and speed control signals of the electric wheelchair. The data acquisition and control process of the laser radar (8) starts to work when a program is started, and no operation instruction is needed on an interface.
Drawings
FIG. 1 is a diagram of the system hardware components and operating principles.
Fig. 2 is a flow chart of the design of the electric wheelchair path tracking control software based on a given trajectory.
Fig. 3 is a schematic diagram of a method for tracking an unmanned path of an electric wheelchair.
Fig. 4 is a flow chart of the electric wheelchair path tracking closed-loop control based on path planning.
Fig. 5 is a block diagram of steering engine versus steering-speed joystick control hardware in the electric wheelchair.
FIG. 6 is a diagram of an interface for implementing path planning and steering engine control based on the main control program of the MFC.
Detailed Description
The embodiments of the present patent application are described in further detail below with reference to the accompanying drawings.
FIG. 1 is a diagram of the system hardware components and operating principles. The electronic-map-based given-track path tracking control device of the electric wheelchair comprises the following components: the device comprises a control computer (1), an electric wheelchair (2), an IMU-GPS combined measuring device (3), a servo driver (4), a steering engine x (5), a steering engine y (6), a rocker slider mechanism (7) and a laser radar (8). The electric wheelchair (2) comprises a steering-speed control lever (21), an electric wheel driver (22), a left electric wheel (23) and a right electric wheel (24). The control computer (1), the IMU-GPS combined measuring device (3) and the laser radar (8) are all arranged on the electric wheelchair (2). The servo driver (4), the steering engine x (5), the steering engine y (6) and the rocker-slider mechanism (7) are arranged on the steering-speed control rod (21) to form a cross-shaped plane movement mechanism. Control software is programmed in a control computer (1) to call an off-line electronic map, or online electronic map software is opened through a network port, interface connection between a local computer and the electronic map is established, starting point and end point positions are set in the electronic map, a planned path is obtained through a distance optimal calculation method, and position information of the planned path, namely the longitude and latitude values of each point on the planned path, is extracted. Calculating an optimal track of the electric wheelchair (2) along the planned path according to the current position of the electric wheelchair (2) and the position of the planned path, and obtaining a control azimuth angle and a speed value of the electric wheelchair (2) capable of realizing the travel along the optimal track; the control computer (1) sends a control azimuth angle and speed control instruction through the serial port 2 and provides the control instruction for the servo driver (4), the control steering engine x (5) and the control steering engine y (6) drive the rocker slider mechanism (7) to control the position change of the steering-speed control rod (21), the steering-speed control rod (21) is a universal rocker, the front and back position change of the universal rocker controls the speed of the electric wheelchair (2), the left and right position change controls the azimuth angle steering of the electric wheelchair (2), the electric wheel driver (22) is used for differentially controlling the rotating speeds of the left electric wheel (23) and the right electric wheel (24), and therefore the electric wheelchair (2) is controlled to advance according to the expected control azimuth angle and speed. The actual control azimuth angle, position and speed information of the electric wheelchair (2) is obtained by the IMU-GPS combined measuring device (3) and is provided to the control computer (1) through the serial port 1 to form closed-loop feedback control, and the control precision of the control azimuth angle and speed is improved. In addition, in the actual process of the electric wheelchair (2) moving along the optimal track, various obstacles such as people and vehicles may be encountered, real-time obstacle avoidance control needs to be carried out, at the moment, the laser radar (8) is adopted to carry out real-time scanning on the surrounding environment of the electric wheelchair (2) to obtain laser point clouds, the laser point clouds are transmitted to the control computer (1) through the serial port 3, a three-dimensional topographic map of the surrounding environment can be constructed through registration and coordinate conversion of adjacent laser scanning frame point clouds, road surrounding environment information is obtained, position speed and azimuth information of the obstacle in front are extracted, and then real-time obstacle avoidance control is achieved through controlling the control azimuth angle and speed of the electric wheelchair (2).
Fig. 2 is a flow chart of the design of the electric wheelchair path tracking control software based on a given trajectory. An upper computer control program of the electric wheelchair is written in Visual C + + based on MFC, an off-line electronic map packet is called in the upper computer, the electronic map is opened, a starting point and a terminal point are set on the electronic map, and a planned path is obtained. And according to the planned path and the motion control transfer function of the electric wheelchair, a track tracking control instruction is sent to a steering engine x (5) and a steering engine y (6) through serial port communication, so that the electric wheelchair (2) can move along the planned path. Meanwhile, the IMU-GPS combined measuring device (3) is installed on the electric wheelchair (2) to obtain the actual control azimuth angle and speed of the electric wheelchair (2), closed-loop feedback control is adopted to improve the control precision of the azimuth angle and speed of the electric wheelchair (2), and the actual running track is recorded. In addition, the laser radar (8) is installed on the electric wheelchair (2), the surrounding environment is scanned in the process that the electric wheelchair (2) travels along a planned path, a high-precision three-dimensional topographic map of the surrounding environment of the running track of the electric wheelchair (2) is obtained through a point cloud real-time positioning and splicing technology, the spatial position speed and the direction of an obstacle are estimated and then are provided for the control computer (1), and real-time obstacle avoidance control of the electric wheelchair (2) is achieved.
Fig. 3 is a schematic diagram of a method for tracking an unmanned path of an electric wheelchair. And obtaining a planned path from the starting point to the end point according to the electronic map, wherein the electric wheelchair travels along the planned path. The planning path is composed of a series of discrete points with the same time interval, the planning path is divided into a straight line section and a curve section by performing combination analysis on each discrete point, and turning points of each straight line section and each curve section are marked for sequential numbering. The control of the electric wheelchair (2) is also divided into a linear travel control and a curve travel control. On each segment of the trajectory, the included angle between the tangential direction and the x-axis is the control azimuth, the travel speed is related to the curvature of the segment, the curvature is the inverse of the curvature radius r, and the speed is slower when the curvature is larger. The control azimuth angle in the straight traveling control is zero. The control angle is constant and proportional to the curvature in curve advance control. The actual position of the electric wheelchair (2) is obtained by the IMU-GPS combined measuring device (3) and outputs a coordinate point, when the actual position of the electric wheelchair (2) and the turning point position of the nearest planned path are within 0.1m of error, the point is abandoned, the advancing control of the next stage is started, the coordinate of the next turning point is tracked, and the tracking is stopped until the last turning point is tracked.
Fig. 4 is a flow chart of the electric wheelchair path tracking closed-loop control based on path planning. Determining an expected control azimuth angle and speed of a control computer (1) according to planned path position information set by an electronic map or real-time obstacle space position speed and azimuth information obtained by a laser radar (8); the actual azimuth angle and speed of the electric wheelchair (2) are measured by the IMU-GPS combined measuring device (3) and transmitted to the control computer (1), the difference value between the actual control azimuth angle and speed and an expected value is obtained through difference calculation and provided to the PID controller to obtain a control instruction, the control instruction is provided to the steering engine x (5) and the steering engine y (6) through the serial port 2 to drive the rocker slider mechanism (7), a steering-speed control lever (21) on the electric wheelchair (2) is controlled according to the expected control azimuth angle and speed, differential motion of the left electric wheel (23) and the right electric wheel (24) is controlled, and the actual control azimuth angle and speed track the expected control azimuth angle and speed value.
Fig. 5 is a block diagram of steering engine versus steering-speed joystick control hardware in the electric wheelchair. Two steering engines are adopted to control the steering-speed control lever (21) of the electric wheelchair (2) to move forwards and backwards and leftwards and rightwards. Install two mutually perpendicular's steering wheel x (5) and steering wheel y (6) additional on turning to-speed control pole (21), install the optical axis rocker of an L shape respectively on the output shaft of steering wheel x (5) and steering wheel y (6): an x-axis rocker (71) and a y-axis rocker (72) which are respectively sleeved with an inline ball bearing: an x-axis inline bearing (73) and a y-axis inline bearing (74), and two inline ball bearings are further mounted on the steering-speed lever (21): the steering engine x (5) and the steering engine y (6) are vertically hinged with an x-axis in-line bearing (73) and a y-axis in-line bearing (74) through rubber bands respectively by an x-axis rocker (71) and a y-axis rocker (72) on output shafts of the steering engine x (75) and the steering engine y (6). When the steering engine x (5) and the steering engine y (6) rotate, the steering-speed control lever (21) can be driven to freely rotate in the front-back direction and the left-right direction simultaneously, and the steering azimuth angle and the advancing speed of the electric wheelchair (2) can be controlled.
FIG. 6 is a diagram of an interface for implementing path planning and steering engine control based on the main control program of the MFC. And a control interface program is compiled by VC + + software in the control computer (1) to call and operate the electronic map, the left side of the control interface is used for MFC and HTML interaction, an OSM offline tile map is loaded, a right button is clicked by a mouse to set a starting point and a terminal point, then the operation is clicked, and the software can automatically draw a planned path on the electronic map. Before the route planning is operated, a route planning optimal algorithm needs to be operated in another terminal, OSM map node information of an area shown by a map is analyzed, a Graphhopper open source map navigation engine is used, firstly, Windows + R inputs cmd to enter a computer console, then a file storage path is changed into a path for storing OSM map resources, and finally, a Graphhopper program is operated, so that the route node information in the OSM can be extracted.
And a data acquisition working area of the IMU-GPS combined measuring device (3) is arranged at the upper right part of the control interface, the IMU-GPS combined measuring device (3) is associated with the MFC through serial port communication in the MFC, and then GPS longitude and latitude information of the current position and three-axis acceleration and Euler angle of an X, Y, Z axis are obtained according to a communication protocol of the IMU-GPS combined measuring device (3).
The steering engine control working area is arranged on the lower right of the control interface, the main functions of the area are data processing and control signal sending, the two steering engines are vertically arranged on the electric wheelchair to model a control system of the electric wheelchair, and when the electric wheelchair receives a corresponding control rotation angle, the control system is converted into rotation control signals of the two steering engines according to a control system transfer function. Meanwhile, the area also needs to process the information received by the IMU-GPS combined measuring device (3), compare and analyze the information with a given planned path, and convert the information into steering and speed control signals of the electric wheelchair. The data acquisition and control process of the laser radar (8) starts to work when a program is started, and no operation instruction is needed on an interface.
The above description of the present application and its specific embodiments is not intended to be limiting, and the illustrations in the accompanying drawings are only one embodiment of the present application. Without departing from the spirit of the invention, it is within the scope of the present application to design structures or embodiments similar to the technical solution without creation.
Claims (4)
1. The application provides an electronic map given track-based electric wheelchair path tracking control method and device, which are characterized in that the electronic map given track-based electric wheelchair path tracking control device comprises the following components: the device comprises a control computer (1), an electric wheelchair (2), an IMU-GPS combined measuring device (3), a servo driver (4), a steering engine x (5), a steering engine y (6), a rocker slider mechanism (7) and a laser radar (8); the electric wheelchair (2) comprises a steering-speed control lever (21), an electric wheel driver (22), a left electric wheel (23) and a right electric wheel (24); the control computer (1), the IMU-GPS combined measuring device (3) and the laser radar (8) are all arranged on the electric wheelchair (2); the servo driver (4), the steering engine x (5), the steering engine y (6) and the rocker-slider mechanism (7) are arranged on the steering-speed control rod (21) to form a cross-shaped plane movement mechanism; programming control software in a control computer (1) to call electronic map software, establishing interface connection between a local computer and an electronic map, setting starting point and end point positions in the electronic map, obtaining a planned path by a distance optimal calculation method, and extracting position longitude and latitude values of the planned path; calculating an optimal track of the electric wheelchair (2) along the planned path according to the current position of the electric wheelchair (2) and the position of the planned path, and obtaining a control azimuth angle and a speed value of the electric wheelchair (2) capable of realizing the travel along the optimal track; the control computer (1) sends a control azimuth angle and speed control instruction through the serial port 2 and provides the control azimuth angle and speed control instruction for the servo driver (4), the steering engine x (5) and the steering engine y (6) are controlled to drive the rocker slider mechanism (7) to control the position change of the steering-speed control lever (21), the steering-speed control lever (21) is a universal rocker, the front and back position change of the universal rocker controls the speed of the electric wheelchair (2), the left and right position change controls the azimuth angle steering of the electric wheelchair (2), and the electric wheel driver (22) controls the rotating speeds of the left electric wheel (23) and the right electric wheel (24) in a differential mode, so that the electric wheelchair (2) is controlled to move according to the expected control azimuth angle and speed; the actual control azimuth angle, position and speed information of the electric wheelchair (2) is obtained by the IMU-GPS combined measuring device (3) and is provided to the control computer (1) through the serial port 1 to form closed-loop feedback control, so that the control precision of the control azimuth angle and speed is improved; in addition, in the actual process of the electric wheelchair (2) moving along the optimal track, the laser radar (8) is adopted to scan the surrounding environment of the electric wheelchair (2) in real time to obtain laser point clouds, the laser point clouds are transmitted to the control computer (1) through the serial port 3, the three-dimensional topographic map of the surrounding environment is constructed through the registration and coordinate conversion of adjacent laser scanning frame point clouds, the surrounding environment information of the road is obtained, the position speed and the azimuth information of the front obstacle are extracted, and then the real-time obstacle avoidance control is realized by controlling the control azimuth angle and the speed of the electric wheelchair (2).
2. The method and the device for tracking and controlling the path of the electric wheelchair based on the given track of the electronic map as claimed in claim 1, wherein the planned path is composed of a series of discrete points with the same time interval, the planned path is divided into a straight line segment and a curve segment by performing combined analysis on each discrete point, and turning points of each straight line segment and each curve segment are marked for sequential numbering; the control of the electric wheelchair (2) is divided into a linear advancing control and a curve advancing control; on each section of the track, an included angle between the tangential direction and the x axis is a control azimuth angle, the traveling speed is related to the curvature of the section, the curvature is the reciprocal of the curvature radius r, and the speed is slower when the curvature is larger; the control azimuth angle during the linear travel control is zero; the control position angle is constant and is in direct proportion to the curvature when curve advancing control is carried out; the actual position of the electric wheelchair (2) is obtained by the IMU-GPS combined measuring device (3) and outputs a coordinate point, when the actual position of the electric wheelchair (2) and the turning point position of the nearest planned path are within 0.1m of error, the point is abandoned, the advancing control of the next stage is started, the coordinate of the next turning point is tracked, and the tracking is stopped until the last turning point is tracked.
3. The method and the device for the path tracking control of the electric wheelchair based on the given track of the electronic map as claimed in claim 1 are characterized in that two steering engines x (5) and y (6) which are perpendicular to each other are additionally arranged on a steering-speed control lever (21), and an L-shaped optical axis rocker is respectively arranged on output shafts of the steering engines x (5) and y (6): an x-axis rocker (71) and a y-axis rocker (72) which are respectively sleeved with an inline ball bearing: an x-axis inline bearing (73) and a y-axis inline bearing (74), and two inline ball bearings are further mounted on the steering-speed lever (21): an X-axis rocker (71) and a Y-axis rocker (72) on output shafts of the steering engine x (5) and the steering engine y (6) are vertically hinged with an X-axis inline bearing (73) and a Y-axis inline bearing (74) by rubber bands respectively; when the steering engine x (5) and the steering engine y (6) rotate, the steering-speed control lever (21) can be driven to freely rotate in the front-back direction and the left-right direction simultaneously, and the steering azimuth angle and the advancing speed of the electric wheelchair (2) can be controlled.
4. The method and the device for the path tracking control of the electric wheelchair based on the given track of the electronic map as claimed in claim 1 are characterized in that a control interface program is programmed by VC + + software in a control computer (1) to call and run the electronic map, MFC and HTML are interacted on the left side of the control interface, an OSM offline tile map is loaded, a starting point and an end point can be set by clicking a right button with a mouse, then the operation is clicked, and the software can automatically draw a planned path on the electronic map; a data acquisition working area of the IMU-GPS combined measuring device (3) is arranged at the upper right part of the control interface, the IMU-GPS combined measuring device (3) is associated with the MFC through serial port communication in the MFC, and then GPS longitude and latitude information of the current position and three-axis acceleration and Euler angle of an X, Y, Z axis are obtained according to a communication protocol of the IMU-GPS combined measuring device (3); the steering engine control working area is arranged at the lower right part of the control interface, the main function of the area is data processing and control signal sending, the two steering engines are vertically arranged on the electric wheelchair to model a control system of the electric wheelchair, and when the electric wheelchair receives a corresponding control rotation angle, the control system is converted into rotation control signals of the two steering engines according to a control system transfer function; meanwhile, the area also needs to process the information received by the IMU-GPS combined measuring device (3), compare and analyze the information with a given planned path, and convert the information into steering and speed control signals of the electric wheelchair; the data acquisition and control process of the laser radar (8) starts to work when a program is started, and no operation instruction is needed on an interface.
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