Remote Control System Of Tracked Vehicle Based On The Internet And Machine Vision

In order to meet the needs of real-time monitoring,remote control and autonomous navigation of tracked vehicles,a remote control system based on Internet and machine vision is designed in this paper.The system consists of three subsystems:remote monitoring,remote control and visual navigation.In the Internet monitoring subsystem,the sensor data are collected and processed by the lower computer NI cRIO9030 under the control of LabVIEW software.The data processed by the lower computer is transmitted to the monitoring center in the form of embedded on the on-board computer.In the process of active control,the on-board computer receives the control commands issued by the monitoring center,and controls the speed and steering angle of the tracked vehicle by Labveiw.The tracked vehicle is driven by two stepping motor and the speed of the stepping motor is controlled by a frequency converter.The vision navigation control subsystem can control the vehicle traveling along the navigation line.First,the front camera collects the navigation line information.Then,the collected image is processed by filtering,gray processing,binarization processing and interference elimination to obtain the center points coordinates of the navigation line.Finally,obtain the navigation curve by fitting the center points.Based on the distance deviation and angle deviation of the preview point,edit PID,fuzzy PID and neural network control algorithm to control the operation of tracked vehicles in RecurDyn and Simulink software.The simulation results show that the fuzzy PID control algorithm has good control precision,convergence speed and good dynamic performance.Therefore,the fuzzy PID control algorithm is used to control the tracked vehicle.Finally,the Internet remote control system is tested on a tracked vehicle.During the experiment,the system's network delay,the linear navigation deviation data and the curve navigation data are recorded.System network delay is about 250 ms.For low-speed tracked vehicles,the delay can meet the requirements of condition monitoring and control for Tracked Vehicles.In the process of vision navigation,the control precision of the distance deviation of thetracked vehicle is within 5cm,and the control precision of the angle deviation is within 5 degrees.The trajectory of the tracked vehicle is well fitted with the navigation line.The experiment has achieved very good results.