Two-wheel-driving type low-speed all-weather unmanned cruiser system

Abstract

Provided in the invention is a two-wheel-driving type low-speed all-weather unmanned cruiser system comprising a cruiser body and a control system. The cruiser body has driving wheels and driven wheels; and one pair of driving wheels are driven by two direct-current motors connected with planetary gears. Each of a first front environmental detection and protection system and a first rear environmental detection and protection system in the control system is composed of a single-line laser radar, a single-line laser radar and a CCD camera; each of a second front environmental detection and protection system and a second rear environmental detection and protection system consists of two microwave radars; and each of a front blind zone detection and obstacle avoidance system and a rear blindzone detection and obstacle avoidance system includes three ultrasonic sensors. The single-line laser radars, the microwave radars, the CCD cameras, a wireless communication module, a wireless communication module and an auxiliary controller are connected with a main controller; the ultrasonic sensors and the motor drivers are connected with an auxiliary controller; and motor drivers are connectedwith the two direct-current motors. The system has high stability, reliability and cost performance, fast operation processing speed, high flexibility, and effective coping with bad weather.

Description

technical field [0001] The invention belongs to the technical field of unmanned driving, and in particular relates to a two-wheel drive low-speed all-weather unmanned patrol vehicle system. 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 secu...

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 causes mechanical wear and sparks, resulting in 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

[0018] (12) Existing unmanned patrol cars use forward navigation sensors to detect the environment. When encountering a dead end, they can only turn around by rotating 180 degrees on the spot. When encountering a narrow space, The unmanned patrol car will not be able to make a U-turn, resulting in the failure of the patrol mission

[0019] (13) The lidar is very sensitive to rainy and foggy weather, which absorbs the lidar very strongly. Therefore, in rainy and foggy weather, the performance of the lidar will be greatly reduced, which will cause a greater impact on the safety of the unmanned patrol car. influences

[0020] (14) The lidar is very sensitive to the environment with smog, and the smoke absorbs the lidar very badly. Therefore, under the working condition of smog, the performance of the lidar will be greatly reduced, which will cause a greater impact on the safety of the unmanned patrol car. influences

[0021] (15) The lidar is very sensitive to dusty environments, and dust absorbs the lidar very strongly. Therefore, under dusty conditions, the performance of the lidar will be greatly reduced, which will cause a greater impact on the safety of the unmanned patrol car. influences

[0022] (16) The lidar is very sensitive to the weather with strong light. Sometimes the strong sunlight can greatly reduce the performance of the lidar, and sometimes there is no signal output, which has a greater impact on the safety of the unmanned patrol car.

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