无线遥控智能车控制系统
|
摘要
智能车整合了自动控制、人工智能、信息融合、传感器技术、图像处理技术及计算机等多门学科的最新研究成果,是当前最为活跃的研究领域之一。无线遥控智能车控制系统由智能车和控制台两部分组成,智能车除具有传统汽车功能外,还可以在控制台对其进行远程监视和控制,包括视觉和车体状态反馈信息监控,启动、停止、加减速、按照程序运行等操作,同时具有自动报警、自动制动等功能。
本文提出了一种新的图像校正方法——仰角校正算法,并结合桶形畸变校正技术对监控图像进行处理,取得了良好的视觉效果;设计并实现了一种高效、可靠的通信协议,用于控制台与智能车之间控制指令与监控信息的通信;搭建了用于远程监视和控制的操作平台。试验结果表明:该系统达到了预定设计效果,满足了实际需求。
Intelligence vehicle collects many new achievements of some academic subjects such as automatic control, Artificial Intelligence, information fusion, sensor technology, image processing technology and computer etc., which is one of the most active fields within research. The wireless control system of intelligence vehicle is composed of intelligence vehicle and control platform, besides of its traditional function the same as other vehicles, intelligence vehicle also can be remote monitored and controlled by the platform, which contains the monitor of vision and status information feedback, the manipulation of motion such as start, increase and decrease velocity, stop and the motion based on the programs.
The issue presents a new revising method----elevation revising algorithm, and combines the radial deformation revising techniques to handle the monitored images, which gets the satisfactory visual performance. Meanwhile, through designing and realizing an efficient and reliable communication protocol, we have realized the communication of control orders and monitor information between control platform and intelligence vehicle. In addition, we design the manipulate platform for remote monitor and control. The experimental results show that the per-designed parameters of the system are realized and the practical operation’s performances meet with the user’s requirements.
本文提出了一种新的图像校正方法——仰角校正算法,并结合桶形畸变校正技术对监控图像进行处理,取得了良好的视觉效果;设计并实现了一种高效、可靠的通信协议,用于控制台与智能车之间控制指令与监控信息的通信;搭建了用于远程监视和控制的操作平台。试验结果表明:该系统达到了预定设计效果,满足了实际需求。
Intelligence vehicle collects many new achievements of some academic subjects such as automatic control, Artificial Intelligence, information fusion, sensor technology, image processing technology and computer etc., which is one of the most active fields within research. The wireless control system of intelligence vehicle is composed of intelligence vehicle and control platform, besides of its traditional function the same as other vehicles, intelligence vehicle also can be remote monitored and controlled by the platform, which contains the monitor of vision and status information feedback, the manipulation of motion such as start, increase and decrease velocity, stop and the motion based on the programs.
The issue presents a new revising method----elevation revising algorithm, and combines the radial deformation revising techniques to handle the monitored images, which gets the satisfactory visual performance. Meanwhile, through designing and realizing an efficient and reliable communication protocol, we have realized the communication of control orders and monitor information between control platform and intelligence vehicle. In addition, we design the manipulate platform for remote monitor and control. The experimental results show that the per-designed parameters of the system are realized and the practical operation’s performances meet with the user’s requirements.
引文
[1] 国家 863 计划智能机器人专家组.机器人博览.北京:中国科学技术出版社.2001(1).16-19.
[2] 朱森庆,杨建刚.自主式智能系统.杭州:浙江大学出版社.2000.
[3] 孙晋文.智能运输系统与汽车的智能化技术.汽车研究与开发.2000,3.15-16.
[4] Howard, H.Seraji. Real-time Assessment of Terrain Travels-ability for Autonomous Rover Navigation. In Proceeding of the IEEE IROS. 2000. 925-930.
[5] 凯文涯维克.机器的征途.呼和浩特:内蒙古人民出版社.1998.
[6] P.Jensfelt, D.Austin, O.Wilk etc. Feature Based Consideration for Mobile Robot Localization. In Proceeding of the IEEE ICRA,2000. 2531-2537.
[7] 王荣本.图像识别自动引导车辆系统的研究.博士学位论文.吉林工业大学.1995.2-9.
[8] 徐国华,谭民.移动机器人的发展现状及其趋势.机器人技术与应用.2001(3).26-29.
[9] 郭烈.高速智能车电器与控制系统设计开发.硕士学位论文.吉林大学.2003.4-19.
[10] C.Thorpe. Vision and Navigation. The Carnegie Mellon Navlab: Kluwer Academic Publishers, 1990. 128-163.
[11] M. Bertozzi, A. Broggi, A. Fascioli. Vision-based Intelligent Vehicles. State of the Art and Perspectives: Robotics and Autonomous Systems. 2000. 1-16.
[12] 蒋杰.新型智能车辆视觉系统及图像处理技术的研究.硕士学位论文.吉林大学.2003.3-9.
[13] 梁斌,工巍,工存恩.未来我国发展月球车的初步构想.中国航天.2003(1).29-33.
[14] Broggi. The ARGO Autonomous Vehicle's Vision and Control Systems. International Journal of Intelligent Control and Systems. Vol.3, No.4, 1999. 409-441.
[15] Broggi. M. Bertozzi and A. Fascioli. Visual Perception of Obstacles and Vehicles for Platting. IEEE Transactions on Intelligent Transportation Systems. Vol.1, No.3, 2000. 164-176.
[16] Broggi, M. Bertozzi, and A. Fascioli. The 2000 km Test of the ARGO Vision-Based Autonomous Vehicle. IEEE Intelligent Systems 14, Jan, 1999. 55-64.
[17] 欧青立,何克忠.室外智能移动机器人的发展及其关键技术研究.机器人.2000(11).22-26.
[18] 王宏,何克忠,张钹.智能车辆的自主驾驶与辅助导航.机器人.1997,3.27-30.
[19] 杨欣欣.智能移动机器人导航与控制技术的研究.博士学位论文.清华大学.1999.24-36.
[20] 刘建华,韩兵欣,王硕和.CRC校验及其在温室测控系统中的应用.工业计量.2006(2).20-21.
[21] 韩俊淑,韩佳文,高翔等.智能车辆的研究及发展.汽车世界.2003,9.79-81.
[22] 徐友春,王荣本,级寿文.智能车辆视野及其图像变形矫正的研究.公路交通科技.2002(10).76-80.
[23] 刘祚时,张海英,林桂娟.能力风暴智能机器人无线通信系统的研究.传感器技术.2004(4).25-27.
[24] J.Miller and H.Kramer. Analysis of multi-process specifications with a petri-net model. in Proceedings EURODAC93. European Design Automation Conference with EURO-VHDL93. 1993. 474-479.
[25] F.Martinolle. Fusion of vhdl processes. Technical Report, Center For Reliable Computing, Computer Systems Laboratory. Department of Electrical and Computer Engineering, Stanford University. 1991. 132-156.
[26] Ulrich Kramer. Continuous Testing as a Strategy of Improving the PLC Software Development Cycles. 2001 IEEE/ASME International Conference on Advanced Intelligent Mechatronics Proceedings. July, 2001. 8-12.
[27] Shuichiro Asakawa, Masaru Kobayashi and Toshimi Kominato. PLC Connector With PLC-Fiber Physical Contact for Multi-channel Receptacle PLC Models for Optical Circuit Board Integration. IEEE. Sept, 1973. 1238-242.
[28] 王建强,刘刚,李克强等.复杂路况下汽车主动避撞报警技术研究.公路交通科技.2005(4).132-134.
[29] 刘金.PLC 在供水水泵控制系统中的应用.机床与液压.2005(8).182-183.
[30] Robert F. Stengel. Stochastic Optimal Control. Princeton: New Jersey. 1987.299-350.
[31] Hachenberg O, Grahl B.H, Wielebinski R. The 100-meter radio telescope at Effelsberg. IEEE. Sept, 1973. 1288-1295.
[32] Willig A, Matheus K, Wolisz A. Wireless technology in industrial networks. IEEE. June, 2005. 1130-1151.
[33] Cagalj M, Capkun S, Hubaux J.P. Key agreement in peer-to-peer wireless networks. IEEE. Feb, 2006. 467-478.
[34] Ippolito L.J. Radio propagation for space communications systems. IEEE. June, 1981. 697-727.
[35] Vinding J.P, Koelle A.R. Short-range radio-telemetry for electronic identification, using modulated RF backscatter. IEEE. Aug, 1976. 1255-1255.
[36] Kahn R.E, Gronemeyer S.A, Burchfiel J etc. Advances in packet ratio technology. IEEE. Nov, 1978. 1468-1496.
[37] Rozenberg A.D, Ritter M.J, Melville W.K etc. Smirnov A.V. Free and bound capillary waves as microwave scatters: laboratory studies. IEEE. March, 1999. 1052-1065.
[38] Laster J.D, Reed J.H. Interference rejection in digital wireless communications. IEEE. May, 1997. 37-62.
[39] Qian F, Van Veen B.D. Partially adaptive beam forming for correlated interference rejection. IEEE. Feb, 1995. 506-515.
[40] David A.Forsyth, Jean Ponce. Computer Vision-A Modern Approach. Pearson Education, Inc., Prentice Hall, Inc., 2003. 191-356.
[41] Wesley E.Snyder, Hairong Qi. Machine Vision. Press of the University of Cambridge, 2004. 244-315.
[42] 张兴会,杜升之,陈增强等.基于神经网络的车牌照自动识别系统.仪器仪表学报,2001(22).210-213.
[43] 苏彦华.Visual C++数字图像识别技术典型案例.北京:人民邮电出版社,2004.
[44] 阮秋琦.数字图像处理学.北京:电子工业出版社,2001.
[45] 宋亦旭,谈大龙.基于内部传感器的轮式移动机器人运动速度估计.控制理论与应用.2003(8).537-542.
[46] 刘子玉,张宁,谢吉龙.一种基于无线数传电台通讯的远程监控系统.工业控制计算机.2006(19).32-33.
[47] 路红,谢吉华.端口通信协议及软件设计.计算机工程.2003(29).184-186.
[48] 廖常初.FX 系列 PLC 编程及应用.北京:机械工业出版社,2006.
[49] 辛长安,梅林.VC++编程技术与难点剖析.北京:清华大学出版社,2002.
[2] 朱森庆,杨建刚.自主式智能系统.杭州:浙江大学出版社.2000.
[3] 孙晋文.智能运输系统与汽车的智能化技术.汽车研究与开发.2000,3.15-16.
[4] Howard, H.Seraji. Real-time Assessment of Terrain Travels-ability for Autonomous Rover Navigation. In Proceeding of the IEEE IROS. 2000. 925-930.
[5] 凯文涯维克.机器的征途.呼和浩特:内蒙古人民出版社.1998.
[6] P.Jensfelt, D.Austin, O.Wilk etc. Feature Based Consideration for Mobile Robot Localization. In Proceeding of the IEEE ICRA,2000. 2531-2537.
[7] 王荣本.图像识别自动引导车辆系统的研究.博士学位论文.吉林工业大学.1995.2-9.
[8] 徐国华,谭民.移动机器人的发展现状及其趋势.机器人技术与应用.2001(3).26-29.
[9] 郭烈.高速智能车电器与控制系统设计开发.硕士学位论文.吉林大学.2003.4-19.
[10] C.Thorpe. Vision and Navigation. The Carnegie Mellon Navlab: Kluwer Academic Publishers, 1990. 128-163.
[11] M. Bertozzi, A. Broggi, A. Fascioli. Vision-based Intelligent Vehicles. State of the Art and Perspectives: Robotics and Autonomous Systems. 2000. 1-16.
[12] 蒋杰.新型智能车辆视觉系统及图像处理技术的研究.硕士学位论文.吉林大学.2003.3-9.
[13] 梁斌,工巍,工存恩.未来我国发展月球车的初步构想.中国航天.2003(1).29-33.
[14] Broggi. The ARGO Autonomous Vehicle's Vision and Control Systems. International Journal of Intelligent Control and Systems. Vol.3, No.4, 1999. 409-441.
[15] Broggi. M. Bertozzi and A. Fascioli. Visual Perception of Obstacles and Vehicles for Platting. IEEE Transactions on Intelligent Transportation Systems. Vol.1, No.3, 2000. 164-176.
[16] Broggi, M. Bertozzi, and A. Fascioli. The 2000 km Test of the ARGO Vision-Based Autonomous Vehicle. IEEE Intelligent Systems 14, Jan, 1999. 55-64.
[17] 欧青立,何克忠.室外智能移动机器人的发展及其关键技术研究.机器人.2000(11).22-26.
[18] 王宏,何克忠,张钹.智能车辆的自主驾驶与辅助导航.机器人.1997,3.27-30.
[19] 杨欣欣.智能移动机器人导航与控制技术的研究.博士学位论文.清华大学.1999.24-36.
[20] 刘建华,韩兵欣,王硕和.CRC校验及其在温室测控系统中的应用.工业计量.2006(2).20-21.
[21] 韩俊淑,韩佳文,高翔等.智能车辆的研究及发展.汽车世界.2003,9.79-81.
[22] 徐友春,王荣本,级寿文.智能车辆视野及其图像变形矫正的研究.公路交通科技.2002(10).76-80.
[23] 刘祚时,张海英,林桂娟.能力风暴智能机器人无线通信系统的研究.传感器技术.2004(4).25-27.
[24] J.Miller and H.Kramer. Analysis of multi-process specifications with a petri-net model. in Proceedings EURODAC93. European Design Automation Conference with EURO-VHDL93. 1993. 474-479.
[25] F.Martinolle. Fusion of vhdl processes. Technical Report, Center For Reliable Computing, Computer Systems Laboratory. Department of Electrical and Computer Engineering, Stanford University. 1991. 132-156.
[26] Ulrich Kramer. Continuous Testing as a Strategy of Improving the PLC Software Development Cycles. 2001 IEEE/ASME International Conference on Advanced Intelligent Mechatronics Proceedings. July, 2001. 8-12.
[27] Shuichiro Asakawa, Masaru Kobayashi and Toshimi Kominato. PLC Connector With PLC-Fiber Physical Contact for Multi-channel Receptacle PLC Models for Optical Circuit Board Integration. IEEE. Sept, 1973. 1238-242.
[28] 王建强,刘刚,李克强等.复杂路况下汽车主动避撞报警技术研究.公路交通科技.2005(4).132-134.
[29] 刘金.PLC 在供水水泵控制系统中的应用.机床与液压.2005(8).182-183.
[30] Robert F. Stengel. Stochastic Optimal Control. Princeton: New Jersey. 1987.299-350.
[31] Hachenberg O, Grahl B.H, Wielebinski R. The 100-meter radio telescope at Effelsberg. IEEE. Sept, 1973. 1288-1295.
[32] Willig A, Matheus K, Wolisz A. Wireless technology in industrial networks. IEEE. June, 2005. 1130-1151.
[33] Cagalj M, Capkun S, Hubaux J.P. Key agreement in peer-to-peer wireless networks. IEEE. Feb, 2006. 467-478.
[34] Ippolito L.J. Radio propagation for space communications systems. IEEE. June, 1981. 697-727.
[35] Vinding J.P, Koelle A.R. Short-range radio-telemetry for electronic identification, using modulated RF backscatter. IEEE. Aug, 1976. 1255-1255.
[36] Kahn R.E, Gronemeyer S.A, Burchfiel J etc. Advances in packet ratio technology. IEEE. Nov, 1978. 1468-1496.
[37] Rozenberg A.D, Ritter M.J, Melville W.K etc. Smirnov A.V. Free and bound capillary waves as microwave scatters: laboratory studies. IEEE. March, 1999. 1052-1065.
[38] Laster J.D, Reed J.H. Interference rejection in digital wireless communications. IEEE. May, 1997. 37-62.
[39] Qian F, Van Veen B.D. Partially adaptive beam forming for correlated interference rejection. IEEE. Feb, 1995. 506-515.
[40] David A.Forsyth, Jean Ponce. Computer Vision-A Modern Approach. Pearson Education, Inc., Prentice Hall, Inc., 2003. 191-356.
[41] Wesley E.Snyder, Hairong Qi. Machine Vision. Press of the University of Cambridge, 2004. 244-315.
[42] 张兴会,杜升之,陈增强等.基于神经网络的车牌照自动识别系统.仪器仪表学报,2001(22).210-213.
[43] 苏彦华.Visual C++数字图像识别技术典型案例.北京:人民邮电出版社,2004.
[44] 阮秋琦.数字图像处理学.北京:电子工业出版社,2001.
[45] 宋亦旭,谈大龙.基于内部传感器的轮式移动机器人运动速度估计.控制理论与应用.2003(8).537-542.
[46] 刘子玉,张宁,谢吉龙.一种基于无线数传电台通讯的远程监控系统.工业控制计算机.2006(19).32-33.
[47] 路红,谢吉华.端口通信协议及软件设计.计算机工程.2003(29).184-186.
[48] 廖常初.FX 系列 PLC 编程及应用.北京:机械工业出版社,2006.
[49] 辛长安,梅林.VC++编程技术与难点剖析.北京:清华大学出版社,2002.