CN202677195U - Navigation control system based on vision and ultrasonic waves - Google Patents
Navigation control system based on vision and ultrasonic waves Download PDFInfo
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- CN202677195U CN202677195U CN 201220163645 CN201220163645U CN202677195U CN 202677195 U CN202677195 U CN 202677195U CN 201220163645 CN201220163645 CN 201220163645 CN 201220163645 U CN201220163645 U CN 201220163645U CN 202677195 U CN202677195 U CN 202677195U
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Abstract
The utility model discloses a navigation control system based on vision and ultrasonic waves, which comprises a caterpillar robot body, an ultrasonic ranging subsystem, a vision subsystem and a motion control subsystem, wherein the ultrasonic ranging subsystem is arranged in front of the robot, the vision subsystem is arranged over the robot, and the motion control subsystem is positioned above the robot. The ultrasonic ranging subsystem comprises ultrasonic transmitters, ultrasonic receivers and a signal processing circuit, and a plurality of transmitters and a plurality of receivers are evenly spaced. The vision subsystem comprises a CCD (Charge Coupled Device) camera, an analog-to-digital conversion circuit and a DSP (Digital Signal Processor) image processor. The motion control subsystem comprises a DSP motion controller and corresponding peripheral circuits. Information processed by the vision subsystem and the ultrasonic ranging subsystem is transmitted to a fuzzy controller embedded in the motion control subsystem, and the fuzzy controller outputs control information to control the motion of the robot. The system is advantageous in that, the advantages of visual navigation and ultrasonic navigation are combined, and the navigation accuracy is increased; as the DSP high-speed processor is adopted, the instantaneity and the expandability are increased; and the anti-interference capability is improved by applying a fuzzy control method.
Description
Technical field
The utility model belongs to robot navigation and control technology field, relates to a kind of based on vision and hyperacoustic caterpillar type robot navigation control system.
Background technology
Airmanship is that the mobile robot realizes intelligent and complete autonomous gordian technique, and the precision of navigation and real-time still remain further to be improved.Vision guided navigation has the advantages such as acquisition of signal wide ranges, target information is complete, sensitivity is high, is robot navigation's a main development direction.In the vision guided navigation mode, using maximum is to adopt the navigate mode based on local visual that vehicle-mounted vidicon is installed in robot.Adopt this navigate mode, opertaing device and sensor device all are loaded on the robot car body, and the decision-making of image recognition, path planning contour level is all finished by truck-mounted computer, and the image computational processing is large, thus real-time poor be a problems to be solved.In addition, when barrier not within the visual field or light when very dark, the robotic vision navigation activity is restricted; The ultrasound wave navigation has simple in structure, and Information Monitoring speed is fast, the temporal resolution high, and ultrasonic sensor is not vulnerable to the impact of the external environmental conditions such as weather condition, ambient lighting simultaneously.At present ultrasound wave navigation technology maturation has been widely applied in various mobile robots' the sensory perceptual system.But because there is detection blind area in ultrasonic sensor self defectiveness, cause difficulty for fully acquisition robot surrounding enviroment information.Different robot navigation's sensors reflects the navigational state of robot from different aspects, in order to fully utilize to greatest extent these sensor informations, avoid the work blind area of single-sensor, the multi-sensor combined navigation system that necessary foundation is suitable, thereby make robot adapt to complex environment, improve the reliability of navigation.
The utility model content
The deficiencies such as general robot navigation's control system real-time is lower, navigation accuracy is not high in order to overcome, mobile dumb, it is a kind of based on vision and hyperacoustic navigation control system that the utility model provides.
The technical solution of the utility model is: a kind of based on vision and hyperacoustic navigation control system, comprise the crawler frame human body, be arranged on caterpillar type robot left front, dead ahead, right front the ultrasonic ranging subsystem and directly over vision subsystem, and the motion control subsystem that is positioned at caterpillar type robot top.
Vision subsystem comprises two ccd video cameras and DSP image processor, two ccd video cameras be installed in caterpillar type robot directly over, the video information of video camera Real-time Collection the place ahead road conditions when caterpillar type robot walking, this video information sends to the DSP image processor through analog to digital conversion circuit; Image processing algorithm in the DSP image processor is processed this digital video information, obtains navigational parameter, and this navigational parameter that will obtain by interface circuit again is transferred to motion control subsystem.
The ultrasonic ranging subsystem comprises ultrasonic transmitter and ultrasonic receiver and corresponding circuit, caterpillar type robot when work three groups of ultrasonic transmitters are launched continuously ultrasonic signal and are used for surveying barrier around the caterpillar type robot, when barrier had the echoed signal that reflects, ultrasonic receiver received this echoed signal and produces range information and is transferred to motion control subsystem.
Motion control subsystem comprises DSP motion controller and peripheral circuit, and the DSP motion controller receives the navigational parameter of vision subsystem transmission and the range information of ultrasonic ranging subsystem transmission, and these signals are merged.Adopt fuzzy control method, design two fuzzy control subsystems.The first is based on the fuzzy control subsystem of ultrasonic sensor, namely three groups of distance values according to the transmission of ultrasonic ranging subsystem are fuzzy input quantity, the duration of clutch coupling under off-state of two driving wheels about described caterpillar type robot designed a fuzzy controller as output quantity, and this controller is embedded in the motion control subsystem.Its two fuzzy control subsystem that is based on vision sensor, namely blur input quantity according to the navigational parameter conduct of vision subsystem transmission, with the duration of clutch coupling under off-state of two driving wheels about described caterpillar type robot as output quantity, and according to the pose of caterpillar type robot, design a fuzzy controller, also this controller is embedded in the motion control subsystem.Two designed fuzzy controllers come co-ordination by a setting value, when the barrier distance that has at least one group of ultrasonic ranging subsystem to obtain is less than or equal to this setting value, enter the fuzzy control subsystem based on ultrasonic sensor; Otherwise, enter the fuzzy control subsystem based on vision sensor.Motion control subsystem produces control signal according to the motion conditions of caterpillar type robot, by driving circuit this control signal is processed, and then control caterpillar type robot left and right driving wheel is in the controlled quentity controlled variable in next cycle, realize caterpillar type robot turning, keep straight on and stop.
The navigation control system that technical solutions of the utility model provide compared with prior art, it possesses following some beneficial effect:
(1) the utility model merges the navigation of vision guided navigation and ultrasound wave to get up, and comprehensive both advantages have that navigation accuracy is high, a good reliability, adaptable characteristics;
(2) vision subsystem and motion control subsystem all adopt the DSP high speed processor, can solve the not high problem of navigation real-time, also can utilize the abundant interface of this processor to carry out the expansion of corresponding function, have improved the dirigibility of expansion upgrading;
(3) motion control subsystem adopts fuzzy control, and fuzzy rule base is from operator and expert's experience, and is easy to operate, and improved robustness, the anti-interference of system.
Description of drawings
Fig. 1 is the general structure block diagram of the utility model embodiment;
Fig. 2 is the process flow diagram of the navigation control method of the utility model embodiment;
Fig. 3 is caterpillar type robot in the vision subsystem of the utility model embodiment and the position relationship schematic diagram of guidance path;
Fig. 4 is the fuzzy control subsystem schematic diagram based on vision sensor of the utility model embodiment;
Fig. 5 is the fuzzy control subsystem schematic diagram based on ultrasonic sensor of the utility model embodiment;
Among the figure: 1 is vision subsystem, and 2 for the ultrasonic ranging subsystem, and 3 is motion control subsystem, and 4 is world coordinate system, and 5 is the guidance path center line, 6 directions of travelling for caterpillar type robot.
Embodiment:
(1) principle of work of the present utility model is: after caterpillar robot was started working, vision subsystem and ultrasonic ranging subsystem began co-ordination simultaneously.Caterpillar type robot is in moving process, the video information of the ccd video camera of vision subsystem (be installed in caterpillar type robot directly over) Real-time Collection robot the place ahead road conditions, convert this video information to digital signal by analog to digital conversion circuit, send DSP image processor (adopting the TMS320DM642 chip) to by video interface and carry out information processing, obtain navigational parameter, and the UART serial ports that the information exchange that this vision subsystem obtains is crossed DSP (adopt TMS320C2812 chip) motion controller is transferred in the motion control subsystem; Simultaneously also collaborative work of ultrasonic ranging subsystem, ultrasonic resonator frequency generating circuit, modulate circuit produce ultrasonic signal and are launched by ultrasonic transmitter, the ultrasonic echo receiving processing circuit carries out reception ﹠ disposal to the ultrasonic signal that barrier reflects, and the signal that the ultrasonic ranging subsystem is obtained by ultrasonic receiver is transferred to motion control subsystem by the digital input interface of DSP motion controller.So far, divide two-way to carry out work, ultrasonic ranging subsystem and motion control subsystem are one the tunnel, this road is operated in the situation that the obstacle distance that has one group of ultrasound examination at least is less than or equal to setting value, obtained the duration signal of clutch coupling under off-state of left and right sidesing driving wheel by the designed fuzzy control subsystem based on ultrasonic sensor, solenoidoperated cluthes disconnect after corresponding driving circuit is processed, thus the mobile status of control caterpillar type robot; Vision subsystem and motion control subsystem are another road, when the obstacle distance of ultrasound examination all in the situation greater than setting value, the clutch coupling that obtains left and right sidesing driving wheel by the designed fuzzy control subsystem based on vision sensor under off-state the time continue between signal, moved by this signal controlling caterpillar type robot.
(2) fuzzy controller based on vision sensor of the utility model structure, its input quantity is navigational parameter: drift angle, course ψ
WWith lateral deviation ρ, the controlled quentity controlled variable of output is for turning to control u
1Lateral deviation ρ is positioned at Z
WThe left side is for negative, and ρ is positioned at Z
WThe right side is for just; Drift angle, course ψ
WBe positioned at Z
WThe left side is for bearing ψ
WBe positioned at Z
WThe right side is for just, and scope is [90 °, 90 °].With the domain of drift angle, course be defined as 7 grades 3 ,-2 ,-1,0,1,2,3}, linguistic variable be 7 grades NB, NM, NS, O, PS, PM, PB}, quantizing factor is controlled through the fuzzy control parameter optimizing.Lateral deviation is divided into 7 grades equally, but is not uniform distribution, and quantification gradation is { 5 ,-4 ,-3 ,-2 ,-1,0,1,2,3,4,5}, linguistic variable is 7 grades of { NB (5), NM (2.5), NS (1), O (0), PS (1), PM (2.5), PB (5) }.Output variable turns to control u
1To the steering direction of working rig and the control of degree, by descriptive language divide 7 grades LB, LM, LS, O, RS, RM, RB}, LB, LM, LS all represent left steering, represent respectively left steering and keep 1.8s, 1.3s, 0.8s; O represents to keep the current driving state, does not turn to; RS, RM, RB all represent right turn, represent that respectively right turn keeps 0.8s, 1.3s, 1.8s.
Fuzzy controller adopts operating personnel and expertise to work out out fuzzy control rule, and is as shown in the table:
Table 1 is based on the fuzzy control rule of vision sensor
This fuzzy controller adopts gravity model appoach to realize fuzzy judgment, obtains the fuzzy control decision table, deposits in the fuzzy controller based on vision sensor, and the navigational parameter that is obtained in real time by vision subsystem when controlling is in real time looked into decision table and obtained controlled quentity controlled variable u
1
(3) fuzzy controller based on ultrasonic sensor of the utility model structure, the obstacle distance that its input quantity detects from caterpillar type robot left front, dead ahead, the three groups of ultrasonic sensors in right front, and get value less in every group as the distance value of this sensor group, the controlled quentity controlled variable of output is for turning to control u
2Fuzzy transmission range variable be 5 grades very near (CLOSE), nearly (NEAR), in (MED), (FAR) far away, far (VFAR) }, output variable turns to control u
2By descriptive language divide 7 grades NB, NM, NS, O, PS, PM, PB}, NB, NM, NS all represent left steering, represent respectively left steering and keep 1.8s, 1.3s, 0.8s; O represents to keep the current driving state, does not turn to; STOP represents to stop; PS, PM, PB all represent right turn, represent that respectively right turn keeps 0.8s, 1.3s, 1.8s.Fuzzy control rule such as the following table summed up:
Table 2 is based on the fuzzy control rule of ultrasonic sensor
This fuzzy controller adopts the maximum membership degree method to realize fuzzy judgment, obtain the fuzzy control decision table, deposit in the fuzzy controller based on ultrasonic sensor, three groups of obstacle distances that obtained in real time by the ultrasound wave control subsystem when controlling are in real time looked into decision table and are obtained controlled quentity controlled variable u
2
The above is explained the course of work of the present utility model to be embodied as example, certainly, the utility model is not limited in above embodiment, according to above-mentioned description, the relevant staff can in the scope that does not depart from this utility model technological thought, carry out various change and modification fully.The technical scope of this utility model is not limited to the content on the instructions, all any modifications of doing within spirit of the present utility model and principle, is equal to and replaces and improvement etc., all should be included within the protection domain of the present utility model.
Claims (5)
1. one kind based on vision and hyperacoustic navigation control system, it is characterized in that: this system comprises the crawler frame human body, be arranged on caterpillar type robot left front, dead ahead, right front the ultrasonic ranging subsystem and directly over vision subsystem, and the motion control subsystem that is positioned at caterpillar type robot top; The guidance path that described crawler frame human body is used for providing according to vision subsystem moves, and realizes Real Time Obstacle Avoiding thereby detect caterpillar type robot barrier on every side according to the ultrasonic ranging subsystem in the motion process.
2. as claimed in claim 1 based on vision and hyperacoustic navigation control system, it is characterized in that described crawler frame human body turning, keep straight on and stop to move and coordinate control by the clutch coupling of caterpillar type robot left and right sidesing driving wheel, the action of clutch coupling is controlled automatically by corresponding hydraulic cylinder.
3. as claimed in claim 1 based on vision and hyperacoustic navigation control system, it is characterized in that vision subsystem comprises two ccd video cameras, two analog to digital conversion circuits and a DSP image processor, two ccd video cameras are used for the video information of Real-time Collection caterpillar type robot the place ahead road conditions, and the video information of extracting is sent to the DSP image processor behind analog to digital conversion circuit; The DSP image processor is processed the gained video information and is obtained guidance path and navigational parameter.
4. as claimed in claim 1 based on vision and hyperacoustic navigation control system, it is characterized in that described ultrasonic ranging subsystem comprises ultrasonic transmitter and ultrasonic receiver and signal processing circuit, transmitter is launched continuously ultrasonic signal and is surveyed caterpillar type robot dead ahead, left front, right front whether barrier is arranged, and ultrasonic receiver receives echoed signal that barrier reflects and it is transferred to signal processing circuit; Signal processing circuit processes to obtain range information to received signal, then this range information is sent to motion control subsystem and controls caterpillar type robot and keep away barrier.
5. as claimed in claim 1 based on vision and hyperacoustic navigation control system, it is characterized in that described motion control subsystem comprises DSP motion controller and peripheral circuit, the range information that described motion control subsystem the navigational parameter that provides according to described DSP image processor and ultrasonic ranging subsystem is provided provides is controlled the caterpillar type robot autonomous and is kept away barrier; Described motion control subsystem is divided into based on the control subsystem of ultrasonic sensor with based on the control subsystem of vision sensor.
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| CN 201220163645 CN202677195U (en) | 2012-04-13 | 2012-04-13 | Navigation control system based on vision and ultrasonic waves |
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Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102621986A (en) * | 2012-04-13 | 2012-08-01 | 西北农林科技大学 | Navigation control system based on vision and ultrasonic waves |
| CN103487812A (en) * | 2013-08-30 | 2014-01-01 | 江苏大学 | Ultrasonic navigation unit of greenhouse automatic moving vehicle and method |
| CN104898665A (en) * | 2015-04-16 | 2015-09-09 | 山东建筑大学 | Method and device for programming track of tour inspection robot |
| CN106483956A (en) * | 2016-09-23 | 2017-03-08 | 珠海巧力林业机械科技有限公司 | A kind of intelligent brush cutter control system and method |
| CN106553647A (en) * | 2016-12-05 | 2017-04-05 | 上海振华重工(集团)股份有限公司 | A kind of flat car DAS (Driver Assistant System) and method |
| CN107368067A (en) * | 2016-05-12 | 2017-11-21 | 深圳市朗驰欣创科技股份有限公司 | A kind of pavement detection method and system of automatic navigation vehicle |
| CN109343346A (en) * | 2018-10-09 | 2019-02-15 | 浙江工业大学 | A kind of balance car automatic obstacle-avoiding method based on fuzzy control |
-
2012
- 2012-04-13 CN CN 201220163645 patent/CN202677195U/en not_active Expired - Fee Related
Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102621986A (en) * | 2012-04-13 | 2012-08-01 | 西北农林科技大学 | Navigation control system based on vision and ultrasonic waves |
| CN103487812A (en) * | 2013-08-30 | 2014-01-01 | 江苏大学 | Ultrasonic navigation unit of greenhouse automatic moving vehicle and method |
| CN103487812B (en) * | 2013-08-30 | 2015-11-04 | 江苏大学 | The ultrasound wave navigation device and method of a kind of greenhouse autonomous vehicle |
| CN104898665A (en) * | 2015-04-16 | 2015-09-09 | 山东建筑大学 | Method and device for programming track of tour inspection robot |
| CN107368067A (en) * | 2016-05-12 | 2017-11-21 | 深圳市朗驰欣创科技股份有限公司 | A kind of pavement detection method and system of automatic navigation vehicle |
| CN107368067B (en) * | 2016-05-12 | 2022-08-23 | 深圳市朗驰欣创科技股份有限公司 | Road surface detection method and system of automatic navigation vehicle |
| CN106483956A (en) * | 2016-09-23 | 2017-03-08 | 珠海巧力林业机械科技有限公司 | A kind of intelligent brush cutter control system and method |
| CN106553647A (en) * | 2016-12-05 | 2017-04-05 | 上海振华重工(集团)股份有限公司 | A kind of flat car DAS (Driver Assistant System) and method |
| CN106553647B (en) * | 2016-12-05 | 2020-02-18 | 上海振华重工(集团)股份有限公司 | Auxiliary driving system and method for flat car |
| CN109343346A (en) * | 2018-10-09 | 2019-02-15 | 浙江工业大学 | A kind of balance car automatic obstacle-avoiding method based on fuzzy control |
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Granted publication date: 20130116 Termination date: 20140413 |