CN106200638A - A kind of intelligent vehicle with obstacle avoidance function - Google Patents
A kind of intelligent vehicle with obstacle avoidance function Download PDFInfo
- Publication number
- CN106200638A CN106200638A CN201610548717.9A CN201610548717A CN106200638A CN 106200638 A CN106200638 A CN 106200638A CN 201610548717 A CN201610548717 A CN 201610548717A CN 106200638 A CN106200638 A CN 106200638A
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- intelligent vehicle
- obstacle avoidance
- microsystem
- avoidance function
- photographic head
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- 230000004888 barrier function Effects 0.000 claims abstract description 18
- 239000002131 composite material Substances 0.000 claims description 5
- 150000001875 compounds Chemical class 0.000 claims 1
- 230000005611 electricity Effects 0.000 claims 1
- 238000009434 installation Methods 0.000 abstract description 3
- 230000002708 enhancing effect Effects 0.000 abstract description 2
- 230000002093 peripheral effect Effects 0.000 abstract description 2
- 230000000007 visual effect Effects 0.000 description 5
- 238000001514 detection method Methods 0.000 description 4
- 230000008859 change Effects 0.000 description 2
- 239000004744 fabric Substances 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 230000008569 process Effects 0.000 description 2
- 230000008901 benefit Effects 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 239000012530 fluid Substances 0.000 description 1
- 230000010365 information processing Effects 0.000 description 1
- 239000000203 mixture Substances 0.000 description 1
- 230000003287 optical effect Effects 0.000 description 1
- 230000005622 photoelectricity Effects 0.000 description 1
- 238000000926 separation method Methods 0.000 description 1
- 239000007787 solid Substances 0.000 description 1
Classifications
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
- G05D1/0246—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using a video camera in combination with image processing means
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- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- Computer Vision & Pattern Recognition (AREA)
- Multimedia (AREA)
- Electromagnetism (AREA)
- Aviation & Aerospace Engineering (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Traffic Control Systems (AREA)
- Optical Radar Systems And Details Thereof (AREA)
Abstract
The invention discloses the intelligent vehicle with obstacle avoidance function, belong to intelligent vehicle field, intelligent vehicle includes car body, photographic head, multiple laser induced module and microsystem, described photographic head is fixed on the front portion of described car body, multiple described laser induced modules are separately fixed at rear portion and the both sides of described car body, and described photographic head, multiple described laser induced module all electrically connect with described microsystem.The above-mentioned intelligent vehicle with obstacle avoidance function disclosed by the invention passes through at its multiple barrier detecting apparatus of peripheral installation, it is achieved the omnibearing barrier of intelligent vehicle is evaded, and further enhancing the practicality of intelligent vehicle.
Description
Technical field
The present invention relates to intelligent vehicle field, particularly relate to a kind of intelligent vehicle with obstacle avoidance function.
Background technology
Intelligent vehicle typically refers to be had automatic Pilot, fluid drive and automatically identifies the car of the functions such as road.For side
Just road is identified by intelligent vehicle, it will usually anterior at intelligent vehicle installs photographic head or other road Identification devices, in fact
The existing intelligent vehicle identification to road.
The mode of intelligent vehicle identification road has a variety of, and Chinese patent literature CN103941731A discloses a kind of based on nothing
The intelligent vehicle of the photographic head identification of line power technology, it includes power pack, information acquiring portion, information processing part, control
Part and input/output section；Information treatment part is divided into MC9S12XSl28 single-chip microcomputer, and information acquiring portion includes photographic head and car
Speed detector, control part includes steering engine controller, steering gear, electrode driver and direct current generator, and input/output section includes
In order to the display screen shown and in order to input the input equipment of order, power pack includes that the radio source of wireless connections occurs
Device and radio source receptor.This intelligent vehicle is generally realized the identification to path by single photographic head, the barrier that intelligent vehicle is anterior
Hinder thing to have and certain evade effect, it is impossible to reply comes from the barrier of intelligent vehicle side and threatens, and cannot tackle other vehicles
Suddenly the emergency case produced when intelligent vehicle side, intelligent vehicle is limited to the dodging ability of barrier.
Summary of the invention
In order to overcome the defect of prior art, the technical problem to be solved is that proposing one has obstacle rule
Keep away the intelligent vehicle of function, by its multiple barrier detecting apparatus of peripheral installation, it is achieved the omnibearing barrier of intelligent vehicle is advised
Keep away, further enhancing the practicality of intelligent vehicle.
For reaching this purpose, the present invention by the following technical solutions:
A kind of intelligent vehicle with obstacle avoidance function that the present invention provides, including car body, photographic head, multiple laser induced
Module and microsystem, described photographic head is fixed on the front portion of described car body, and multiple described laser induced modules are fixed respectively
In rear portion and the both sides of described car body, described photographic head, multiple described laser induced module all electrically connect with described microsystem.
Further, described laser induced module is made up of with multiple photodetectors multiple generating lasers, described sharp
Optical transmitting set and described photodetector one_to_one corresponding, described generating laser is used for launching laser beam, described photodetector
The laser beam reflected by barrier for reception.
Further, multiple described generating lasers are word row's distribution, and multiple described photodetectors are a word row point
Cloth.
Further, described intelligent vehicle also includes that binarization circuit, described binarization circuit are electrically connected with described microsystem
Connect, for video signal is carried out binaryzation visual processes.
Further, described intelligent vehicle also includes synchronizing separator circuit, described synchronizing separator circuit and described microsystem
Electrical connection, for isolating composite synchronizing signal from described video signal, then embarks on journey same by the separation of described composite synchronizing signal
Step signal and field sync signal.
Further, described intelligent vehicle also includes that steering wheel, described steering wheel electrically connect with described microsystem, is used for adjusting institute
State the direction of advance of intelligent vehicle.
Further, described intelligent vehicle also includes driving motor, and described driving motor is controlled by described microsystem, is used for
Drive described intelligent vehicle to advance or retreat.
Further, described intelligent vehicle also includes rotary encoder, one end of described rotary encoder and described microcomputer system
System electrical connection, its other end electrically connects with described driving motor, and described rotary encoder is used for measuring the angular velocity of output shaft, and
Pwm signal is coordinated to realize the control to described driving motor.
The invention have the benefit that
The intelligent vehicle with obstacle avoidance function that the present invention provides, before being fixed on car body by the photographic head of intelligent vehicle
Multiple laser induced modules are separately fixed at rear portion and the both sides of car body by portion, and owing to photographic head and laser induced module are equal
There is the function that barrier is evaded, thus realize the omnidirectional detection of intelligent vehicle periphery barrier, thus enhance intelligent vehicle
Practicality and reliability.The program evading sudden barrier can be previously written in microsystem, in conjunction with being positioned at intelligence simultaneously
The multiple laser induced module of energy car both sides so that intelligent vehicle copes with other vehicles suddenly when above-mentioned intelligent vehicle side
The emergency case produced, it is to avoid adjacent vehicle clashes into.
Accompanying drawing explanation
Fig. 1 is the circuit diagram of the intelligent vehicle with obstacle avoidance function that the specific embodiment of the invention provides；
Fig. 2 is the scheme of installation of the laser cruise module that the specific embodiment of the invention provides.
In figure: 1, car body；2, photographic head；3, laser induced module；4, microsystem；31, generating laser；32, photoelectricity
Detector；5, binarization circuit；6, synchronizing separator circuit；7, steering wheel；8, motor is driven；9, rotary encoder.
Detailed description of the invention
Further illustrate technical scheme below in conjunction with the accompanying drawings and by detailed description of the invention.
As it is shown in figure 1, in the present embodiment provide the intelligent vehicle with obstacle avoidance function, including car body 1, photographic head 2,
Multiple laser induced modules 3, microsystem 4, binarization circuit 5, synchronizing separator circuit 6, steering wheel 7, driving motor 8 and rotation
Encoder 9, photographic head 2 is fixed on the front portion of car body 1, is used for obtaining the procephalic video signal of shooting, thus Intelligent Optimal car
Advance track, it is ensured that can effective avoiding obstacles when intelligent vehicle travels forward.As in figure 2 it is shown, multiple laser induced modules 3 points
Not being fixed on the rear portion of car body 1, left side and right side, photographic head 2, multiple laser induced module 3 are all electrically connected with microsystem 4
Connect.In order to realize the omnidirectional detection of intelligent vehicle, laser induced module 3 is by multiple generating lasers 31 and multiple photodetectors
32 compositions, generating laser 31 and photodetector 32 one_to_one corresponding, generating laser 31 is used for launching laser beam, photodetection
Device 32 is for receiving the laser beam reflected by barrier, and is analyzed processing by the signal received transmission to microsystem 4,
Thus judge the position of barrier.Owing to photographic head 2 and multiple laser induced module 3 are respectively provided with the function that barrier is evaded,
Thus realize the omnidirectional detection of intelligent vehicle periphery barrier.
Wider for laser induced module 3 visual angle, further, multiple generating lasers 31 are in a word row point
Cloth, multiple photodetectors 32 in one word row distribution so that the visual angle of laser induced module 3 cover intelligent vehicle rear portion,
Left side and the four corner on right side.
Intelligent vehicle also includes that binarization circuit 5, binarization circuit 5 electrically connect with microsystem 4, for entering video signal
Row binaryzation visual processes, also the pixel gray scale of image of video signal will be set to 0 or 225 so that image presents
The visual effect of black and white, in order to route is identified by microsystem 4.
Intelligent vehicle also includes that synchronizing separator circuit 6, synchronizing separator circuit 6 electrically connect with microsystem 4, for believing from video
Isolate composite synchronizing signal in number, then composite synchronizing signal is separated into line synchronising signal and field sync signal, in order to microcomputer
Change in video signal is compared by system 4, revises the running orbit of intelligent vehicle in real time.Steering wheel 7 is electrically connected with microsystem 4
Connect, for adjusting the direction of advance of intelligent vehicle, the left-hand rotation of major control intelligent vehicle and right-hand rotation.Intelligent vehicle also includes driving motor 8,
Drive motor 8 to be controlled by microsystem 4, be used for driving intelligent vehicle forward travel, setback and divertical motion, drive motor
8 are typically direct current generator, preferably reducing motor.
In order to provide the stability driving motor 8 to run, intelligent vehicle also includes rotary encoder 9, the one of rotary encoder 9
End electrically connects with microsystem 4, and its other end electrically connects with driving motor 8, and rotary encoder 9 is for measuring the angle speed of output shaft
Degree, and coordinate pwm signal to realize the control driving motor 8, for driving the control of motor 8 usually to use PID control, effectively
Ensure intelligent vehicle even running.
In sum, the intelligent vehicle with obstacle avoidance function provided in the present embodiment, by solid for the photographic head 2 of intelligent vehicle
Be scheduled on the front portion of car body 1, multiple laser induced modules 3 be separately fixed at rear portion and the both sides of car body, and due to photographic head 2 and
Laser induced module 3 is respectively provided with the function that barrier is evaded, thus realizes the omnidirectional detection of intelligent vehicle periphery barrier.
The present invention is described with reference to the preferred embodiments, and those skilled in the art know, without departing from the present invention's
In the case of spirit and scope, these features and embodiment can be carried out various change or equivalence is replaced.The present invention is not by this
The restriction of specific embodiment disclosed in place, other embodiments fallen in claims hereof broadly fall into present invention protection
Scope.
Claims (8)
1. there is an intelligent vehicle for obstacle avoidance function, including car body (1), photographic head (2) and multiple laser induced module
(3), it is characterised in that:
Also include microsystem (4)；
Described photographic head (2) is fixed on the front portion of described car body (1)；
Multiple described laser induced modules (3) are separately fixed at rear portion and the both sides of described car body (1)；
Described photographic head (2), multiple described laser induced module (3) all electrically connect with described microsystem (4).
The intelligent vehicle with obstacle avoidance function the most according to claim 1, it is characterised in that:
Described laser induced module (3) is made up of with multiple photodetectors (32) multiple generating lasers (31)；
Described generating laser (31) and described photodetector (32) one_to_one corresponding；
Described generating laser (31) is used for launching laser beam；
Described photodetector (32) is for receiving the laser beam reflected by barrier.
The intelligent vehicle with obstacle avoidance function the most according to claim 2, it is characterised in that:
Multiple described generating lasers (31) are in word row's distribution；
Multiple described photodetectors (32) are in word row's distribution.
The intelligent vehicle with obstacle avoidance function the most according to claim 1, it is characterised in that:
Also include binarization circuit (5)；
Described binarization circuit (5) electrically connects with described microsystem (4), for carrying out video signal at binaryzation vision
Reason.
The intelligent vehicle with obstacle avoidance function the most according to claim 1, it is characterised in that:
Also include synchronizing separator circuit (6)；
Described synchronizing separator circuit (6) electrically connects with described microsystem (4), compound for isolating from described video signal
Synchronizing signal, more described composite synchronizing signal is separated into line synchronising signal and field sync signal.
The intelligent vehicle with obstacle avoidance function the most according to claim 1, it is characterised in that:
Also include steering wheel (7)；
Described steering wheel (7) electrically connects with described microsystem (4), for adjusting the direction of advance of described intelligent vehicle.
The intelligent vehicle with obstacle avoidance function the most according to claim 1, it is characterised in that:
Also include driving motor (8)；
Described driving motor (8) is controlled by described microsystem (4), is used for driving described intelligent vehicle to advance or retreating.
The intelligent vehicle with obstacle avoidance function the most according to claim 7, it is characterised in that
Also include rotary encoder (9)；
One end of described rotary encoder (9) electrically connects with described microsystem (4), its other end and described driving motor (8)
Electrical connection, described rotary encoder (9) is for measuring the angular velocity of output shaft, and coordinates pwm signal to realize described driving electricity
The control of machine (8).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610548717.9A CN106200638A (en) | 2016-07-11 | 2016-07-11 | A kind of intelligent vehicle with obstacle avoidance function |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610548717.9A CN106200638A (en) | 2016-07-11 | 2016-07-11 | A kind of intelligent vehicle with obstacle avoidance function |
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| CN106200638A true CN106200638A (en) | 2016-12-07 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201610548717.9A Pending CN106200638A (en) | 2016-07-11 | 2016-07-11 | A kind of intelligent vehicle with obstacle avoidance function |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110989601A (en) * | 2019-12-11 | 2020-04-10 | 许昌学院 | Road green belt trimmer based on image recognition |
Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US6061015A (en) * | 1998-01-14 | 2000-05-09 | Honda Giken Kogyo Kabushiki Kaisha | Vehicle obstacle detecting system |
| CN102510475A (en) * | 2011-10-21 | 2012-06-20 | 上海交通大学 | Automobile panoramic imaging device and method based on infrared calibration |
| CN202764905U (en) * | 2012-09-26 | 2013-03-06 | 长安大学 | A car collision avoidance warning system |
| CN103389734A (en) * | 2013-08-12 | 2013-11-13 | 贵州大学 | Intelligent patrol monitoring trolley |
| CN204229228U (en) * | 2014-11-03 | 2015-03-25 | 天津宏盛怿翔科技发展有限公司 | A kind of complete unattended control device of intelligent solar automobile |
| CN204989975U (en) * | 2015-08-04 | 2016-01-20 | 内蒙古麦酷智能车技术有限公司 | Self -driving car with driving safety ensures function |
| CN105549591A (en) * | 2015-12-22 | 2016-05-04 | 刘莹瑜 | Information system for automobile unmanned driving |
| CN105711586A (en) * | 2016-01-22 | 2016-06-29 | 江苏大学 | Front collision avoiding system based on driving behavior of front vehicle driver and vehicle collision avoiding algorithm |
-
2016
- 2016-07-11 CN CN201610548717.9A patent/CN106200638A/en active Pending
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US6061015A (en) * | 1998-01-14 | 2000-05-09 | Honda Giken Kogyo Kabushiki Kaisha | Vehicle obstacle detecting system |
| CN102510475A (en) * | 2011-10-21 | 2012-06-20 | 上海交通大学 | Automobile panoramic imaging device and method based on infrared calibration |
| CN202764905U (en) * | 2012-09-26 | 2013-03-06 | 长安大学 | A car collision avoidance warning system |
| CN103389734A (en) * | 2013-08-12 | 2013-11-13 | 贵州大学 | Intelligent patrol monitoring trolley |
| CN204229228U (en) * | 2014-11-03 | 2015-03-25 | 天津宏盛怿翔科技发展有限公司 | A kind of complete unattended control device of intelligent solar automobile |
| CN204989975U (en) * | 2015-08-04 | 2016-01-20 | 内蒙古麦酷智能车技术有限公司 | Self -driving car with driving safety ensures function |
| CN105549591A (en) * | 2015-12-22 | 2016-05-04 | 刘莹瑜 | Information system for automobile unmanned driving |
| CN105711586A (en) * | 2016-01-22 | 2016-06-29 | 江苏大学 | Front collision avoiding system based on driving behavior of front vehicle driver and vehicle collision avoiding algorithm |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110989601A (en) * | 2019-12-11 | 2020-04-10 | 许昌学院 | Road green belt trimmer based on image recognition |
| CN110989601B (en) * | 2019-12-11 | 2023-05-02 | 许昌学院 | Road green belt trimmer based on image recognition |
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Application publication date: 20161207 |