CN101864745B - Control system of visual aid based ground advertisement clearance robot and control equipment thereof - Google Patents
Control system of visual aid based ground advertisement clearance robot and control equipment thereof Download PDFInfo
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Abstract
基于视觉辅助的地面广告清除机器人控制系统及控制设备。国外在清除地面广告的技术方法上，主要是应用高压水来解决。通过高压泵产生的强大的水压力冲刷小广告的表面来清除广告。本发明由主控模块发出指令直接控制图像控制模块，由图像控制模块发出信号应用到单目摄像头对要清除的地面进行图像采集和处理，处理后的数据信息反馈给电机控制模块和舵机控制模块进行控制，并动态扫描电机反馈模块的实时状态，使机器人能够自动寻找地面广告并清除；同时，由无线通信模块发出的指令，控制上位机和小广告清除机器人的直接通信，可完成远程控制、数据跟踪；应用程序下载调试模块与上位机搭配编程开发环境，进行程序修改和维护。本发明用于地面广告清除机器人。
The invention relates to a robot control system and control equipment for removing advertisements on the ground based on visual aids. Foreign countries mainly use high-pressure water to solve the technical method of removing ground advertisements. The surface of the small advertisement is washed away by the powerful water pressure generated by the high-pressure pump to remove the advertisement. In the present invention, the main control module sends instructions to directly control the image control module, and the signal sent by the image control module is applied to the monocular camera for image acquisition and processing of the ground to be cleared, and the processed data information is fed back to the motor control module and steering gear control The module controls and dynamically scans the real-time status of the motor feedback module, so that the robot can automatically find and clear the ground advertisements; at the same time, the instructions issued by the wireless communication module control the direct communication between the upper computer and the small advertisement removal robot, and can complete remote control , Data tracking; the application program download and debugging module works with the host computer to match the programming development environment for program modification and maintenance. The invention is used for a ground advertisement removal robot.
Description
Technical field:
The invention belongs to Robot Control Technology field.Be specifically related to a kind of based on vision auxiliary ground advertisement clearance robot control system and relevant device.
Background technology:
The small advertisement that is called as " city psoriasis " is ubiquitous, and the existence of " city psoriasis " has become city discordant view together.On the one hand city look and feel are polluted, be repugnant to the eye, have a strong impact on city image; Also bring on the other hand much social hidden danger, affect citizen's life.Therefore removing ground stain (small advertisement) is one of vital task of city cleaning.Along with developing rapidly of Robotics and supporting technology thereof, the application of robot is the field infiltration such as from industrial circle to military affairs, medical treatment, agricultural, service gradually.If can design a kind of ground advertisement clearance robot control system, will can solve the problems referred to above.
, removing on the technical method of ground advertisement, be abroad mainly that applying high voltage water solves.The powerful water pressure producing by high-pressure pump is washed away the surface of small advertisement and is removed advertisement.Some companies of Germany are on the forefront in this respect, and as god of unusual strength's product of German Kranzle company production, but its high-pressure wash effect is at home undesirable.Mainly utilization and energy utilization aspect existing problems.Beijing Kang Bosi inscription company has developed a advertisement and has removed product, its principle is to utilize high-temperature steam as cleansing medium, do fuel with liquefied petroleum gas, after start, in a period of time, can produce high-temperature steam, then utilize the high-temperature gas of ejection to remove to wash away small advertisement.This product has had certain specific aim with respect to god of unusual strength, should say a large progress, still, also has in design some problems.Such as, high-temperature steam is easily hurted sb.'s feelings; Still there is the waste of water resource, high as power source danger with liquid gas storage tank; Hand-held handle under long high temperature action, the easy problems such as heat injury operator of crossing.
Summary of the invention:
The object of this invention is to provide a kind of ground advertisement clearance robot control system; This control system is designed and developed based on vision is auxiliary, and application monocular-camera carries out real-time dynamic acquisition and processes accordingly state of ground; Because data after treatment are less, be convenient to storage and the calculating of system, structural module is well arranged, implements relatively simple and convenient.
The object of foregoing invention realizes by following technical scheme:
Based on the auxiliary ground advertisement clearance robot control device of vision, its composition comprises: support, main control module, control device also comprises the monocular cam being connected with described main control module, the motor control module being connected with described monocular cam and steering wheel control module, with the wireless communication module that small advertisement cleaning robot contacts, application program is downloaded debugging module and upper Industrial Personal Computer (IPC); Described main control module and power supply are all connected respectively the image control mold, described wireless communication module, described motor control module, described steering wheel control module and described program and download debugging module, motor feedback module.
Described based on the auxiliary ground advertisement clearance robot control device of vision, described support comprises the lateral stiffness support with wheel, described lateral stiffness support connects vertical rigid support, the described bistrique being connected with described lateral stiffness support is housed in the left side of described vertical rigid support, described bistrique top connects the bistrique rotary drive motor being contained on described lateral stiffness support, described bistrique rotary drive motor connects grinding head lifting drive motors and grinding head lifting spring by grinding head lifting connecting rod, the control system being connected with described lateral stiffness support is housed on the right side of described vertical rigid support, described control system connects wireless communication apparatus, the afterbody of described lateral stiffness support connects advance drive motors and external encoder, the drive motors that turns to being connected with described bistrique rotary drive motor is equipped with in the front portion of described lateral stiffness support, described monocular cam is equipped with on described vertical rigid support top.
Described based on the auxiliary ground advertisement clearance robot control device of vision, described main control module moves removing with auxiliary vision system; Main control chip take 16 single-chip microcomputer model MC9S12XS128B of Freescale Semiconductor as core and chip initiation the electric circuit constitute, described image capture module is to adopt camera model OV6620 to drive chip to carry out webcam driver, for main control chip provides good digital image information, row to interrupt and an interruption flag, and there is the resolution ratio of 356*292 and the high picking rate of 50 per second, catch corresponding signal by main control chip, or generation is interrupted or input ratio judges reception view data.
Described based on the auxiliary ground advertisement clearance robot control device of vision, described motor control module is made up of motor drive ic and two direct current generators, adopts 2 direct current generators of 1 L298n motor drive ic control.
Described based on the auxiliary ground advertisement clearance robot control device of vision, described steering wheel control module comprises controls drive unit that ground advertisement clearance robot turns to and the drive unit of bistrique oscilaltion; Described wireless communication module adopts Zigbee as communications carrier, uses serial ports connected mode, and selected Zigbee has external antenna 3db and can establish arbitrarily the performance of baud rate, controls the direct communication of host computer and small advertisement cleaning robot.
Described based on the auxiliary ground advertisement clearance robot control device of vision, described program is downloaded debugging module and adopts the download debugging module MC908JB16 chip design of special Freescale single-chip microcomputer; This module is the special programming development environment of collocation and on-line tracing debugging enironment, completes the special module of modification and the maintenance of program.
Based on the auxiliary ground advertisement clearance robot control system of vision, send instruction control based on direct control chart as control module by main control module, send signal application by the image control mold, to monocular cam, IMAQ and processing are carried out in the ground that will remove, data message after treatment feeds back to motor control module and steering wheel control module is controlled, and the real-time status of dynamic scan motor feedback module, robot can also be removed by Automatic-searching ground advertisement; Meanwhile, the instruction of being sent by wireless communication module, controls the direct communication of host computer and small advertisement cleaning robot, completes Long-distance Control, data tracking; Application program is downloaded debugging module and host computer builds programming environment, carries out modification of program and maintenance.
Described based on the auxiliary ground advertisement clearance robot control system of vision, described motor feedback module by the rotation number of turns of mobile device and position feedback to the external encoder in the middle of main control chip, make the moving situation of main control chip perception motor, know the move distance of dolly; Described motor control module direct current generator is respectively as the mobile drive deivce of ground advertisement clearance robot with remove drive unit; Mobile drive deivce connects moving wheel bar gear train, realizes the synchronous of tire; Remove drive unit and be used for driving bottom bistrique, complete the rod end that turns to of removing the described steer-drive of action and be connected in respectively two wheels, complete the go to action of wheel; The drive unit of bistrique oscilaltion carries out angle rotation, promotes the lifting of spring lever.
Beneficial effect:
1. the present invention is based on the auxiliary control system of vision, robot can identify size and the position of ground advertisement comparatively accurately, and can automatically remove advertisement, and dynamic property is good, and error is less, and stability and the antijamming capability of system are strong.
2. the present invention has avoided the safety problem and the system misoperation that cause due to people's participation.
3. the present invention can complete identification and the removing of advertisement on a surface target, is one of key technology of ground advertisement clearance robot, and its control system has determined that can robot complete the task of regulation.
4. the instruction that employing wireless communication module of the present invention is sent, controls the direct communication of host computer and small advertisement cleaning robot, can complete Long-distance Control, data tracking, experimental debugging, and simple to operate, practicality is good.
Accompanying drawing explanation:
Fig. 1 is control system structure chart of the present invention.
Fig. 2 is the structure chart of ground advertisement clearance robot of the present invention.
Fig. 3 is the top view of Fig. 2.
Fig. 4 system circuit diagram of the present invention.
7.2V-5V mu balanced circuit figure in Fig. 5 the present invention.
The circuit diagram of motor interface in Fig. 6 the present invention.
The circuit diagram of test signal lamp in Fig. 7 the present invention.
In Fig. 8 the present invention, motor drives peripheral circuit circuit diagram.
Steering wheel interface circuit figure in Fig. 9 the present invention.
In Figure 10 the present invention, download debug i/f circuit figure.
Supply module circuit diagram in Figure 11 the present invention.
Wireless communication module circuit diagram in Figure 12 the present invention.
Photoelectric coding input circuit figure in Figure 13 the present invention.
Camera input interface circuit figure in Figure 14 the present invention.
The specific embodiment:
Embodiment 1:
Based on the auxiliary ground advertisement clearance robot control system of vision, support, main control module, the monocular cam being connected with described main control module, the motor control module being connected with described monocular cam and steering wheel control module, with the wireless communication module that small advertisement cleaning robot contacts, application program is downloaded debugging module and upper Industrial Personal Computer (IPC).Described main control module 1 connects the image control mold 2, wireless communication module 3, motor control module 4, steering wheel control module 5 and program and downloads debugging module 6, described the image control mold 2, wireless communication module 3, motor control module 4, steering wheel control module 5 and program downloaded debugging module 6 and is connected power supply 7, described power supply 7 connects motor feedback module 8, and described motor feedback module 8 connects main control module 1.
Based on the auxiliary ground advertisement clearance robot control system of vision, send instruction control based on direct control chart as control module by main control module, send signal application by the image control mold, to monocular cam, IMAQ and processing are carried out in the ground that will remove, data message after treatment feeds back to motor control module and steering wheel control module is controlled, and the real-time status of dynamic scan motor feedback module, robot can also be removed by Automatic-searching ground advertisement; Meanwhile, the instruction of being sent by wireless communication module, controls the direct communication of host computer and small advertisement cleaning robot, completes Long-distance Control, data tracking; Application program is downloaded debugging module and host computer builds programming environment, carries out modification of program and maintenance.
Described based on the auxiliary ground advertisement clearance robot control system of vision, described motor feedback module by the rotation number of turns of mobile device and position feedback to the external encoder in the middle of main control chip, make the moving situation of main control chip perception motor, know the move distance of dolly; Described motor control module direct current generator is respectively as the mobile drive deivce of ground advertisement clearance robot with remove drive unit; Mobile drive deivce connects moving wheel bar gear train, realizes the synchronous of tire; Remove drive unit and be used for driving bottom bistrique, complete the rod end that turns to of removing the described steer-drive of action and be connected in respectively two wheels, complete the go to action of wheel; The drive unit of bistrique oscilaltion carries out angle rotation, promotes the lifting of spring lever.
Embodiment 2:
Described in embodiment 1 based on the auxiliary ground advertisement clearance robot control system of vision, described main control module moves removing with auxiliary vision system; Main control chip take 16 single-chip microcomputer model MC9S12XS128B of Freescale Semiconductor as core and chip initiation the electric circuit constitute.
Described based on the auxiliary ground advertisement clearance robot control system of vision, described image capture module is to adopt camera model OV6620 to drive chip to carry out webcam driver, can be main control chip provides good digital image information, row to interrupt and an interruption flag, and there is the resolution ratio of 356*292 and the high picking rate of 50 per second, can catch corresponding signal by main control chip, or generation is interrupted or input ratio judges reception view data.
Described based on the auxiliary ground advertisement clearance robot control system of vision, described motor control module is made up of motor drive ic and two direct current generators, adopts 2 direct current generators of 1 L298n motor drive ic control; Two direct current generators are respectively as the mobile drive deivce of ground advertisement clearance robot with remove drive unit; Mobile drive deivce connects moving wheel bar gear train, realizes the synchronous of tire; Remove drive unit and be used for driving bottom bistrique, complete and remove action.
Described based on the auxiliary ground advertisement clearance robot control system of vision, described steering wheel control module comprises controls drive unit that ground advertisement clearance robot turns to and the drive unit of bistrique oscilaltion; Steer-drive is connected in respectively the rod end that turns to of two wheels, completes the go to action of wheel; The drive unit of bistrique oscilaltion can carry out angle rotation, promotes the lifting of spring lever.
Described based on the auxiliary ground advertisement clearance robot control system of vision, described motor feedback module by the rotation number of turns of mobile device and position feedback to the external encoder in the middle of main control chip, make the moving situation of main control chip perception motor, know the move distance of dolly.
Described based on the auxiliary ground advertisement clearance robot control system of vision, described wireless communication module adopts Zigbee as communications carrier, use serial ports connected mode, selected Zigbee has external antenna (amplitude of 3db) and can establish arbitrarily the performance of baud rate, can control the direct communication of host computer and small advertisement cleaning robot.
Described based on the auxiliary ground advertisement clearance robot control system of vision, described program is downloaded debugging module and adopts the download debugging module MC908JB16 chip design of special Freescale single-chip microcomputer; This module arrange in pairs or groups special programming development environment and on-line tracing debugging enironment, complete modification and the maintenance of program.
Embodiment 3:
Described in embodiment 1 or 2 based on the auxiliary ground advertisement clearance robot control device of vision, its composition comprises: with wheel 22 lateral stiffness supports 9 and vertical rigid support 10, described lateral stiffness support 9 connects vertical rigid support 10, the bistrique 11 being connected with lateral stiffness support 9 is housed in the left side of described vertical rigid support 10, described bistrique 11 tops connect the bistrique rotary drive motor 12 being contained on lateral stiffness support, described bistrique rotary drive motor 12 connects grinding head lifting drive motors 14 and grinding head lifting spring 15 by grinding head lifting connecting rod 13, the control system 16 being connected with lateral stiffness support 9 is housed on the right side of described vertical rigid support 10, described control system 16 connects wireless communication apparatus 17, the afterbody of described lateral stiffness support 9 connects advance drive motors 18 and external encoder 19, the front portion of described lateral stiffness support 9 be equipped be connected with bistrique rotary drive motor 12 turn to drive motors 21, monocular cam 20 is equipped with on described vertical rigid support top.
Operating process:
(1) first, send scan instruction control based on direct control chart as module by the main control module of main control chip and chip initiation the electric circuit constitute, make monocular cam carry out IMAQ and processing to the ground that will remove;
(2) ground advertisement picture size after treatment and respective image co-ordinate position information are fed back to main control module by image acquisition and processing module;
(3) main control module, by the size obtaining and position data, is controlled motor control module and steering wheel control module by the mode that sends instruction simultaneously; Wherein the mobile drive deivce in the middle of motor control module and removing drive unit are realized respectively the rotation removing motion of the synchronous and bistrique of tire; Wherein the steer-drive in the middle of steering wheel control module and grinding head lifting drive unit are realized respectively turning to and the lifting of bistrique of wheel;
(4) information of main control chip dynamic scan motor feedback module, makes robot can adjust in time orientation and bistrique position, and Automatic-searching ground advertisement is also removed;
(5) instruction that employing wireless communication module is sent, controls host computer and small advertisement cleaning robot and carries out direct communication, completes Long-distance Control, data tracking.
(6) application program is downloaded debugging module, completes at any time modification and the maintenance of program.
Claims (1)
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| CN201010158888.3A CN101864745B (en) | 2010-04-29 | 2010-04-29 | Control system of visual aid based ground advertisement clearance robot and control equipment thereof |
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| CN101864745A CN101864745A (en) | 2010-10-20 |
| CN101864745B true CN101864745B (en) | 2014-06-25 |
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Families Citing this family (8)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN103161133B (en) * | 2013-02-22 | 2015-08-05 | 上海市金山区青少年活动中心 | Based on Intelligent road road-sweeper and the control method thereof of machine vision |
| CN104090574A (en) * | 2014-07-03 | 2014-10-08 | 邢淦琛 | Intelligent environment cleaning machine |
| CN104404904A (en) * | 2014-11-21 | 2015-03-11 | 安徽省库仑动力自动化科技有限公司 | Factory sweeper utilizing visual tracking |
| CN106101634A (en) * | 2016-07-06 | 2016-11-09 | 武汉科技大学 | A kind of Mobile Robot Control System for indoor environment video monitoring |
| CN106245567B (en) * | 2016-08-31 | 2018-02-23 | 重庆广播电视大学 | A kind of road-cleaning System and method for based on cloud platform |
| CN106354101A (en) * | 2016-11-30 | 2017-01-25 | 哈尔滨理工大学 | Derusting wall-climbing robot electrical control system |
| CN108385588A (en) * | 2018-03-13 | 2018-08-10 | 哈尔滨理工大学 | road cleaning vehicle with automatic control function |
| CN110847104A (en) * | 2019-10-25 | 2020-02-28 | 深圳市宝政通环境有限公司 | Road cleaning vehicle for cleaning small advertisements |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE102005039210A1 (en) * | 2005-08-17 | 2007-02-22 | Cft Gmbh Compact Filter Technic | Reversible suction machine for cleaning road- and large surfaces, has ventilator arranged in area of driver`s cab and connected with filter via raw air flowing flat channel that is correspondingly oblong and overstretches cover |
| CN101561683A (en) * | 2009-04-01 | 2009-10-21 | 东南大学 | Motion control device of robot for detecting environmental pollution |
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Patent Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE102005039210A1 (en) * | 2005-08-17 | 2007-02-22 | Cft Gmbh Compact Filter Technic | Reversible suction machine for cleaning road- and large surfaces, has ventilator arranged in area of driver`s cab and connected with filter via raw air flowing flat channel that is correspondingly oblong and overstretches cover |
| CN101561683A (en) * | 2009-04-01 | 2009-10-21 | 东南大学 | Motion control device of robot for detecting environmental pollution |
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