摘要
为了使无人船在水域能够顺利的避开障碍,提出的无人船是以树莓派为核心,包括电器驱动模块、超声波模块、红外模块、摄像头模块、LED灯、语音模块、雨滴传感器。由于考虑到水面的情况复杂,通过多传感器融合的方式进行避障,通过雷达模块进行对动态障碍的避障,通过红外进行静态避障。可以探测水面4.5m的障碍,并且精度可达7%。通过树莓派的WiFi通信技术将船体与上位机连接,可以事实观测无人船运行情况。可以广泛应用于湖泊内河作业,具有广泛的应用前景。
In order to make the unmanned ship avoid obstacles smoothly in the waters,the unmanned ship proposed in this paper is raspberry Pi as the core,including electrical drive module,ultrasonic module,infrared module,camera module,LED lamp,voice module,rain sensor.Considering the complexity of the water surface,obstacle avoidance is carried out by means of multi-sensor fusion,dynamic obstacle avoidance is carried out by radar module,and static obstacle avoidance is carried out by infrared.It can detect obstacles up to 4.5 meters above the water with an accuracy of 7%.By connecting the ship hull to the upper computer through the raspberry Pi′s WiFi communication technology,the unmanned ship can be observed in fact.It can be widely used in inland water operation of lakes and has a wide application prospect.
作者
崔昊明
王艳红
Cui Haoming;Wang Yanhong(Information Science and Engineering College,Shenyang University of Technology,Shenyang 110000,China)
出处
《国外电子测量技术》
2020年第3期139-142,共4页
Foreign Electronic Measurement Technology
基金
辽宁省科学技术计划项目(2018229003)资助。
关键词
树莓派
WiFi通信
避障
raspberry Pi
WiFi communication
obstacle avoidance
