Navigation control system based on vision and ultrasonic waves

A control system, ultrasonic technology, applied in two-dimensional position/channel control, sound wave re-radiation, radio wave measurement system and other directions, can solve the problems of low real-time performance, low navigation accuracy, inflexible movement, etc. The effect of convenience, high navigation accuracy, and improved flexibility

Inactive Publication Date: 2012-08-01
NORTHWEST A & F UNIV
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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 na...

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  • Navigation control system based on vision and ultrasonic waves
  • Navigation control system based on vision and ultrasonic waves
  • Navigation control system based on vision and ultrasonic waves

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Embodiment Construction

[0018] (1) The working principle of the present invention is: after the crawler robot starts to work, the vision subsystem and the ultrasonic ranging subsystem start to coordinate work simultaneously. During the moving process of the crawler robot, the CCD camera of the vision subsystem (installed directly above the crawler robot) collects video information of the road conditions in front of the robot in real time, and converts the video information into digital signals through the analog-to-digital conversion circuit. Send it to the DSP image processor (using TMS320DM642 chip) for information processing to obtain navigation parameters, and transmit the information obtained by the visual subsystem to the motion control subsystem through the UART serial port of the DSP (using TMS320C2812 chip) motion controller; at the same time The ultrasonic ranging subsystem also works together. The ultrasonic resonance frequency generating circuit and the conditioning circuit generate ultras...

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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...

Claims

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Application Information

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IPC IPC(8): G05D1/02G01S15/93
Inventor 杨福增陈晨宗徐新星蒲应俊孙立江夏海生苏磊
Owner NORTHWEST A & F UNIV
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