Navigation control system based on vision and ultrasonic waves

Abstract

The invention relates to 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 distributed in an equally spaced mode. The vision subsystem comprises a CCD (Charge Coupled Device) camera, an analog-to-digital conversion circuit and a DSP (Digital Signal Processor) image processor, and 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 inlaid in the motion control subsystem, and the fuzzy controller outputs control information to control the motion of the robot. The system has the advantages that the advantages of visual navigation and ultrasonic navigation are combined, so the navigation accuracy is increased; as the DSP high-speed processor is adopted, the instantaneity and the expandability are increased; and the anti-jamming capability is enhanced through applying a fuzzy control method.

Description

technical field [0001] The invention belongs to the technical field of robot navigation and control, and relates to a crawler robot navigation control system based on vision and ultrasonic waves. Background technique [0002] Navigation technology is the key technology for mobile robots to realize intelligence and complete autonomy, but the accuracy and real-time performance of navigation still need to be further improved. Visual navigation has the advantages of wide signal detection range, complete target information, and high sensitivity. It is a main development direction of robot navigation. Among the visual navigation methods, the most widely used is the local vision-based navigation method that uses a vehicle-mounted camera installed on the robot. With this navigation method, the control equipment and sensor devices are mounted on the robot body, and high-level decision-making such as image recognition and path planning are all completed by the on-board computer. Imag...

AI Technical Summary

Problems solved by technology

[0003] In order to overcome the shortcomings of the general robot navigation control system, such as low real-time performance, low navigation accuracy, and inflexible movement, the present invention provides a navigation control system based on vision and ultrasonic waves.

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