CN102085664A - Autonomous operation forestry robot intelligent control system - Google Patents
Autonomous operation forestry robot intelligent control system Download PDFInfo
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Abstract
本发明公开了一种自主作业林业机器人智能控制系统，应用于林业装备智能化技术领域，包括中央控制计算机、运动控制模块、导航定位模块、激光测量模块、双目视觉模块、电机驱动模块、无线通讯模块、电源模块、CAN通信模块等。将复杂的任务调度和控制算法等在中央控制计算机中实现，而较简单和实时性要求高的控制算法在运动控制模块和电机驱动模块中实现，保证了系统的整体处理能力和实时性。对运动控制模块等采取了冗余设计，提高了系统可靠性。可满足自主作业型林业机器人智能决策和环境建模的任务需求，具有数据处理能力强、智能化和可靠性高的特点，提高了传统林业机器人控制系统的智能化程度。
The invention discloses an intelligent control system for an autonomous forestry robot, which is applied in the technical field of forestry equipment intelligence, and includes a central control computer, a motion control module, a navigation positioning module, a laser measurement module, a binocular vision module, a motor drive module, a wireless Communication module, power module, CAN communication module, etc. The complex task scheduling and control algorithms are implemented in the central control computer, while the simpler and more real-time demanding control algorithms are implemented in the motion control module and the motor drive module, which ensures the overall processing capability and real-time performance of the system. A redundant design is adopted for the motion control module, etc., which improves the reliability of the system. It can meet the task requirements of intelligent decision-making and environment modeling of autonomous forestry robots. It has the characteristics of strong data processing capability, intelligence and high reliability, and improves the intelligence of traditional forestry robot control systems.
Description
Technical field
The present invention relates to a kind of forestry Robot Control Technology, relate in particular to a kind of AUTONOMOUS TASK forestry intelligent robot control system.
Background technology
Its operating environment information of the research of AUTONOMOUS TASK forestry robot detects, improve production of forestry efficient, alleviate forest worker's labour intensity and improve aspects such as work safety all plays a very important role.The forestry robot develops towards intelligent direction at present, the forestry robot need carry out complex tasks such as dynamic 3 D environmental modeling, motion control and path planning in the unknown dynamic environment in forest zone, information needed need get from multiple sensors, needs to be equipped with high-performance, computer system highly reliable and lower power consumption simultaneously and finishes the complex environment modeling and coordinate control algolithm.
The sensor disposal ability less, microcomputer of installing in the forestry robot control system of the prior art is lower, causes the intellectuality of robot, autonomous degree and reliability lower.
Summary of the invention
The purpose of this invention is to provide a kind of AUTONOMOUS TASK forestry intelligent robot control system that has than high-intelligentization degree and data-handling capacity, can satisfy system reliability requirement under the demand of forestry robot complicated control task, forest operation environmental modeling in real time and the forest operation environment.
The objective of the invention is to be achieved through the following technical solutions:
AUTONOMOUS TASK forestry intelligent robot control system of the present invention, it is characterized in that, comprise central control computer, motion-control module, navigation positioning module, laser measurement module, binocular vision module, motor drive module, wireless communication module, power module, CAN communication module;
Described central control computer is finished overall task scheduling, control strategy planning, man-machine communication, Vision information processing and the forest operation environmental modeling function of AUTONOMOUS TASK type forestry robot by software, gathers simultaneously by binocular vision system and laser measurement module to merge the motion state information of the forest operation environment threedimensional model information that obtains and robot and be shown on the LCD in real time;
Described motion-control module comprises the master control borad of two redundancy backups, and described master control borad receives the movement instruction of central control computer, controls the coordinated movement of various economic factors of brush direct current motor on four driving wheels finishing robot;
Described motor drive module comprises horizontal stage electric machine control module and four brush direct current motor motion-control modules, four brush direct current motor motion-control modules receive the motor rotational angular velocity and the angular displacement feedback signal of the absolute optical encoder on four driving wheels of robot respectively, finish the current drives of brush direct current motor, position ring control, speed ring control and current loop control, the overcurrent protection function that has motor simultaneously, and for robot global and local positioning provide information, described horizontal stage electric machine control module is finished the rotation control of two-degree-of-freedom cradle head at horizontal plane and vertical plane;
Described navigation positioning module comprises three acceleration transducers, a magnetic field sensor, three angular-rate sensors and a GPS module, three acceleration transducers are gathered the three-dimensional motion acceleration of robot, and then calculate the angle of pitch and the roll angle of robot, magnetic field sensor collection and calculate the course heading of robot, rate of pitch in the motion process of three angular-rate sensor collection robots, rate of roll, course angle speed, described GPS module is according to three acceleration transducers, the image data of a magnetic field sensor and three angular-rate sensors obtains the robot global locator data;
Described laser measurement module comprises two-degree-of-freedom cradle head, two-dimensional laser measuring system, described two-degree-of-freedom cradle head can be finished the rotation of horizontal plane 360 degree rotations and vertical 105 degree, the two-dimensional laser measuring system is placed on the two-degree-of-freedom cradle head, and the deal with data that merges the binocular vision module is finished the structure of forest zone forest and landform dynamic 3 D map;
Described binocular vision module is finished the collection and the processing of operating environment coloured image in forest zone in robot motion's operation process, and the data of fusion laser scanning module are finished the real-time three-dimensional structure of forest zone forest and landform;
Described power module comprises lithium manganate battery, DC conversion module and protection module, described lithium manganate cell volume is 40 ampere-hours, output voltage is direct current+36V, be the robot power supply, the input of described DC conversion module connects lithium manganate battery, be output as direct current+24V, direct current+12V, direct current+5V, ATX normal voltage, be each motor in the robot, circuit and sensor power supply, described protection module provides overcurrent and current-limiting protection for system;
Described wireless communication module comprises data radio station and the antenna of 433MHz, finishes the man-machine interaction of robot and human operator may;
Described CAN communication bus comprises two CAN bus control units, two CAN bus transceivers, two CAN bus cables, and integral body has the framework of two redundancy backups, finishes the communication between central control computer, motion-control module, the motor drive module.
Connect by two redundant CAN buses between described central control computer, motion-control module, the motor drive module, be connected by the RS232 interface between described navigation positioning module and the central control computer, be connected by the IEEE1394 interface between described binocular vision module and the central control computer, be connected by the RS422 interface between described laser measurement module and the central control computer.
As seen from the above technical solution provided by the invention, AUTONOMOUS TASK forestry intelligent robot control system of the present invention, made full use of the method for Design of Distributed Control System, task scheduling with complexity, path planning, control decision, functions such as Vision information processing and forest operation environmental modeling realize in central control computer, and simple and demanding motion control arithmetic of real-time and motor closed-loop control realize in motion-control module and motor drive module, improve the disposed of in its entirety ability and the real-time of robot control system, can satisfy the demand of complex tasks such as the autokinetic movement of robot and forestry modeling.Simultaneously motion-control module and CAN communication module are taked the redundancy fault-tolerant design, improved robot motion's control and the reliability of communicating by letter.Acceleration transducer, magnetic field sensor and multiple sensors and measurement devices such as GPS, laser measurement have been installed simultaneously, have been strengthened the ability of forestry robot motion location, environmental modeling and intelligent decision, overcome the low shortcoming of the intelligent degree of traditional forestry robot control system.
Description of drawings
Fig. 1 is the whole hardware design block diagram of AUTONOMOUS TASK forestry intelligent robot control system of the present invention;
Fig. 2 is motion-control module structured flowchart among the present invention;
Fig. 3 is master control borad structured flowchart among the present invention;
Fig. 4 is master control board state transition diagram among the present invention;
Fig. 5 is power module structure chart among the present invention.
The specific embodiment
AUTONOMOUS TASK forestry intelligent robot control system of the present invention, the specific embodiment that it is preferable such as Fig. 1 are to shown in Figure 5:
In Fig. 1, functional unit of each box indicating, forestry AUTONOMOUS TASK robot control system is divided into by its function: central control computer, motion-control module, navigation positioning module, laser measurement module, binocular vision module, motor drive module, wireless communication module, power module, CAN communication bus etc.
Among the present invention, central control computer, motion-control module, power module are installed in the industry control cabinet, and each input and output electrical interface uses plug connector to be installed in a side of cabinet outer surface, conveniently debugs and disassembles.Navigation positioning module is installed in robot middle part, isolates with iron material and motor simultaneously, prevents to produce magnetic interference, and is connected by the RS232 interface between the central control computer, and communication frequency is 19200bps; The laser measurement module is installed on the The Cloud Terrace of robot top layer front portion, and is connected by the RS422 interface between the central control computer, and communication frequency is 500kbps; The binocular vision module is installed in robot top layer front portion by support, and is connected by the IEEE1394 interface between the central control computer; Wireless communication module adopts the 433mhz communication frequency, and external antenna is installed in the robot top, connects by the RS232 interface between the central control computer, and communication frequency is 38400bps.Motor drive module is installed near each drive motors and the horizontal stage electric machine, is connected with adopting the CAN bus between central control computer and the motion-control module.
Among the present invention, central control computer adopts technical grade control mainboard, and CPU adopts the Pentium Dual Core processor of dominant frequency 2.7HZ, memory size 4GB, hard disk size 160G has ten road RS232 interfaces simultaneously, two-way CAN EBI, the two-way pci interface, one road PCI-e interface, power consumption are less than 120W, and combination property satisfies arithmetic speed, system reliability, the low-power consumption of the complicated control algolithm of forestry AUTONOMOUS TASK robot and enriches interface requirement;
In Fig. 2, the core of motion-control module is master control borad first and master control borad second, two master control borads adopt identical principle design, backup each other, can finish the movement instruction that receives central control computer, control the coordinated movement of various economic factors of brush direct current motor on four driving wheels finishing robot, simple control algolithm is calculated, major functions such as CAN bus communication.The design principle block diagram of master control borad veneer as shown in Figure 3.Main composition and function are as follows:
Primary processor adopts 32 arm processors, and (type selecting of the present invention is the AT91SAM7A3 chip, but be not limited to this matrix), (type selecting of the present invention is the uCOS-II real time operating system to operation real time operating system on it, but be not limited to this matrix), and the coordinated movement of various economic factors of brush direct current motor on the operation robot driving wheel, data processing softwares such as simple control algolithm calculating;
Possesses 256K Byte Flash memory in the ARM primary processor sheet, as the program storage area of software;
Possess 64KB Byte SRAM memory in the ARM primary processor sheet, be used as the program Operational Zone of software;
Possess one road CAN controller in the ARM primary processor sheet, compatible CAN2.0A/B agreement, its output meets CAN driver 82C250.The communication bus of effect and central control computer and motion driver module;
Asynchronous serial communication control USART0 in the ARM primary processor sheet, its output meets RS232 and drives chip MAX233 as RS232 interface 0, as with the spare communication line of central control computer;
Asynchronous serial communication control USART1 in the ARM primary processor sheet, its output meets RS233 and drives chip MAX233 as RS232 interface 1, as and slave board between the two machine communication line;
Road input interface PB12 in the ARM primary processor sheet, the heartbeat signal of reception slave board, one road output interface PB13, the heartbeat signal that sends this machine is to slave board;
Four road output interface PB0-PB3 in the ARM primary processor sheet connect LED light, show the duty of this machine;
The power utilization LM1117-33 and the LM1117-50 of master control borad carry out block supply and current limliting;
Reset and watchdog circuit can be manually or dog sting signal and carry out system and reset;
Jtag interface is a debugging interface.
Interface board in the motion-control module provides bus to connect for master control borad first and master control borad second and is coupled to each other, and is convenient to debugging, maintenance and function and expands.Interface board provides active and standby machine power switch logic on duty (adopt in the CPLD chip and realize) and over-current detection function (adopting the LM139 chip) etc. simultaneously, can carry out the power switching active and standby on duty and the Switching Power Supply of two master control borads by the outside manual command that advocates peace certainly, with the realization dual-computer redundancy, and be convenient to debugging and emergency cutoff.
Master control borad first and master control borad second adopt the redundancy fault-tolerant mode of two-node cluster hot backup, and its state conversion logic as shown in Figure 4.Be divided into outage, startup, work three phases:
Power-down phase, master control borad first and second all do not have;
The startup stage, system power-up, interface board at first powers up the master control borad first, master control borad second does not power up; The master control borad first is carried out System self-test, if do not have the self check problem, the master control borad first is made as main frame, and this moment, interface board powered up master control borad second again, and master control borad second is set to standby host; Self check is not passed through as the master control borad first, and then interface board powers up master control borad second, carries out self check, and is designed to master control borad second main frame, and master control borad second is set to standby host; Do not pass through as two master control borad self checks, then interface board sends alarm.
At working stage, when main frame breaks down, carry out that active and standby machine switches or outside manual command carries out active and standby machine and switches by power supply and arbitration plate hardware and in conjunction with software.Standby host can pass through heartbeat signal, RS232 interface or CAN monitoring bus host work state, if main frame breaks down, then standby host power becomes standby host, simultaneously in the operation phase, mainboard is undertaken from monitoring by program and house dog periodic monitor, as find faults itself, also possess initiatively and give the authority to the function of standby host.
Four brush direct current motor motion-control modules in the motor drive module.Four brush direct current motor motion-control modules receive the motor rotational angular velocity and the angular displacement signal of absolute optical encoder feedback on four driving wheels respectively; the PID of dsp processor position ring, speed ring and electric current loop by inside drives; adopt high-power MOS tube to build the H bridge circuit; finish the current drives of motor, have the overcurrent protection function of motor simultaneously.The current drives of the main The Cloud Terrace motor internal of cradle head control module, angle control and location.
Navigation positioning module inside comprises that three acceleration transducers, a magnetic field sensor, three angular-rate sensors and a GPS module constitute.Three acceleration transducers are gathered the three-dimensional motion acceleration of robots, in conjunction with acceleration of gravity, and then calculate the angle of pitch and the roll angle of robot.Magnetic field sensor collection and calculate the course heading of robot.Three angular-rate sensors are gathered rate of pitch, rate of roll, the course angle speed of robot in motion process, simultaneously can obtain the robot position of coordinate system relative to the earth by the GPS module, and then for the overall situation location and the path planning of robot provides active data, the The data dsp processor in the navigation positioning module is finished the fusion and the calculating of data.
The laser measurement module comprises two-degree-of-freedom cradle head and two-dimensional laser measuring system, and the two-dimensional laser measuring system can be carried out the laser ranging scanning of interior 180 ° of horizontal plane, and angle precision is 0.25 °, and measuring ultimate range is 80 meters, and certainty of measurement is ± 45mm.The two-dimensional laser measuring system is placed on the two-degree-of-freedom cradle head, two-degree-of-freedom cradle head can be finished 360 ° of rotations of horizontal plane and vertical 105 ° rotation, thereby finish three-dimensional laser measurement data, handle to obtain forest zone forest and landform three-dimensional map through central control computer.Cooperates simultaneously further to obtain complete forest zone forest and landform three-dimensional information model, thereby provide active data for autokinetic movement, production of forestry operation and the detection of operating environment information of robot with the binocular vision module.
Among Fig. 5, the lithium manganate battery output voltage of power module is direct current+36V, and capacity is 40 ampere-hours, maximum current 100 peaces, and its output part connects four brush direct current motor motion-control modules in the motor drive module, for it provides electric current; The DC modular converter is received in another output of lithium manganate battery, and the DC modular converter is converted to direct current+24V, direct current+12V, direct current+5V voltage, ATX normal voltage respectively with direct current+36V input.Wherein the Maximum Power Output of direct current+24V is 200 watts, mainly gives cradle head control module and laser measurement module for power supply.Direct current+12V power output is 100 watts, is mainly binocular vision module and power supply, and direct current+12V power output is 50 watts, is mainly power supplies such as motion-control module, and the output of ATX normal voltage is 200 watts to the maximum, is the central control computer power supply.Use current-limiting resistance to protect at the lithium manganate battery output, and adopt high power relay that the power supply of lithium manganate battery output is carried out switch control, the switch electric control can be by outside manual remote control or is manually carried out.
Wireless communication module has adopted the data radio station of communication frequency 433MHz, adopts RS232 to be connected with central control computer, and antenna is installed in the robot top, returns the robotary data to human operator may in real time, receives the instruction of human operator may simultaneously.
The above; only for the preferable specific embodiment of the present invention, but protection scope of the present invention is not limited thereto, and anyly is familiar with those skilled in the art in the technical scope that the present invention discloses; the variation that can expect easily or replacement all should be encompassed within protection scope of the present invention.
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