Two-wheel-drive low-speed unmanned patrol car system and working method thereof

Abstract

The invention discloses a two-wheel-drive low-speed unmanned patrol car system and a working method thereof, comprising a two-wheel drive system, a front blind zone detection and obstacle avoidance system, a rear blind zone detection and obstacle avoidance system, an environment detection system and a central control system. The blind zone detection and obstacle avoidance system, the rear blind zone detection and obstacle avoidance system and the environment detection system determine the location of the patrol car and navigate in real time, determine whether there are obstacles around at thesame time, and feedback the data to the central control system for analysis and processing. The control system controls the two-wheel drive system to change the operating state of the patrol car, thereby passing or avoiding obstacles in an accelerated manner, and further ensuring the normal patrol of the patrol car. The system ensures the stable operation and precise navigation patrol of the patrol car through the three-core control of the ARM controller + NUC computer+ FPGA programmable controller, and can adapt to rugged outdoor road conditions and areas with unexpected situations.

Description

technical field [0001] The invention relates to an unmanned patrol car system and a working method, in particular to a two-wheel drive fast patrol car system and a working method. Background technique [0002] With the acceleration of modernization, the number and scale of supermarkets, large docks, international airports, various exhibition centers, large logistics warehouses, high-end hotels, hospitals and other places are increasing, and various large living quarters and activity places are increasing day by day. Human activities and logistics and transportation have become more complex, requiring a lot of manpower, material resources and security resources to ensure the safe operation of this system. The current security technology is mainly based on human patrol and CCD camera positioning monitoring. These two methods can no longer meet the security needs of the existing large-scale and complex environments. The security patrol automation system that uses security robot...

AI Technical Summary

Problems solved by technology

[0007] (1) Due to the influence of the characteristics of the DC motor itself, the volume and weight of the DC motor are relatively large, which is not conducive to the improvement of the dynamic performance of the unmanned patrol car

[0008] (2) The sliding contact between the brushes of the DC motor and the commutator during operation causes mechanical wear and sparks, which causes many faults, low reliability, short life and heavy maintenance workload of the DC motor

[0009] (3) Due to the large length of the DC motor of the patrol car, the unmanned patrol car with a traditional mechanical structure has a large width and cannot pass through some narrow spaces

[0010] (4) The DC motors of existing unmanned patrol vehicles are directly mechanically connected to the driving wheels, and the speed regulation is completed by adjusting the voltage of the DC motors through the controller. Although the requirements for walking speed are met, the driving of the entire unmanned patrol vehicle The torque of the car is small, and the ability to adapt to rough outdoor conditions is poor

[0011] (5) The existing unmanned patrol vehicles all use low-level single-chip microcomputer chips, and the operating frequency is low, only tens of megahertz, which cannot satisfy the control of unmanned patrol vehicles on various complex environmental disturbances, which is likely to cause unmanned driving. patrol car out of control

[0012] (6) Affected by the performance of the PC of the unmanned patrol car, the data collected by the environmental detection sensor of the unmanned patrol car cannot be quickly calculated and stored, which affects the judgment of the unmanned patrol car on the surrounding environment

[0013] (7) Affected by the performance of the PC of the unmanned patrol car, the image acquisition data of the CCD sensor of the unmanned patrol car cannot be quickly analyzed and calculated in real time, and the total station can only find problems in the patrol by analyzing the stored image data

[0017] (11) The unmanned patrol car based on multi-line lidar will also have a detection blind spot during the actual reversing and reverse process. Once an obstacle enters the motion blind spot during the movement, it will easily lead to traffic accidents.

[0018] (12) The ARM controller cannot quickly complete the fast servo adjustment of the DC motor, which increases the adjustment time of the attitude of the unmanned patrol car, and the unmanned patrol car cannot walk quickly

[0019] (13) The image transmission system of the ARM controller is affected by its own ability, and the transmission time is long, which makes the unmanned vehicle unable to move quickly

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