Design of Ultrasonic Obstacle Avoidance System of Fruit-Transportation GyrocarBased on ARM
Yang Kai, Zhang Junmei, Li Wenbin, Yang Liu, Gao Lin,Xue Huixia
Beijing Forestry UniversityBeijing, ChinaCorresponding author: Zhang Junmei, email@example.com
The pilotless fruit-transportation gyrocar works inthe economic forest, avoiding the obstacle on the rail is theprerequisite of its safe working. An ultrasonic obstacleavoidance system of fruit-transportation gyrocar based onARM embedded system is introduced in this article. Thefunctions of the system are implemented. It could make thegyrocar stop when detect an obstacle and sends theinformation of obstacle to the monitoring client throughGPRS. Through the test, the ultrasonic obstacle avoidancesystem performs well and reliable.
Fruit-transportation gyrocar; ARM; Ultrasonicobstacle avoidance; GPRS
Automatic fruit-transportation gyrocar, which working ineconomic forest area, has become a development trend of novel fruit-transportation vehicle. It has many advantagessuch as strong climbing ability, safe and steady movement,high carrying ability, flexible installation, and convenientdismantlement. However, the rail of the automatic fruit-transportation gyrocar is settled in the economic forest, sodesigning a system for avoiding the accident of obstaclessuch as the falling branches on the rail is essential to makethe gyrocar’s safe working.The work described in this paper is mainly concernedwith the ultrasonic obstacle avoidance system based onGPRS+ARM of the fruit-transportation gyrocar. The wholearchitecture, hardware and software design of the obstacleavoidance system will be discussed in the followingsections.II.
SYSTEMThe core of fruit-transportation gyrocar's ultrasonicobstacle avoidance system is ARM9 processor; the moduleswhich are connected with the processor are ultrasonicsensors, GPRS module, power supply module and thecontrol circuit of emergency shutdown. Its main function ismonitoring the obstacles within 4m in front of the gyrocar’sorbit, making the gyrocar stop timely if there are obstacles,sending the information of obstacle’s distance to themonitoring client.The hardware schematic of the system is depicted inFigure 1.
Figure 1. Structure of hardware
The Central Processing Unit
In the ultrasonic obstacle avoidance system of fruit-transportation gyrocar, S3C2410 chip is chosen as the signal processing and control unit. It integrates an 8 channels 10 bitanalog to digital converter (ADC), 4 channels of PulseWidth Modulation (PWM) outputs, USB interface, 117 bituniversal I/O port and 24 bit exterior interrupt, 3 channelsUART, watch dog timer (WDT), JTAG interface, etc. Thischip is manufactured with CMOS technique and could work under 3.3V. This CPU provides the integrated functionalmodules thereby lowering the complexity of the wholecontrol system and making the system tightly packed, faster,accurate and reliable
The Ultrasonic Sensor
The pilotless fruit-transportation gyrocar’s average speedis 2m/s; the braking safety distance is 3m, so the SRF05ultrasonic sensor whose effective distance is 1cm~4m waschosen. This ultrasonic sensor’s accuracy is 1cm, a problemthat general ultrasonic sensor has the blind spot whenmeasuring in short distance could be solved. SRF05ultrasonic sensor also saves the external infrared rangemodule’s hardware resources.
Figure 2. Schematic between SRF05 and CPUARM9CPUGPRSmoduleThe controlcircuit of emergencyshutdownUltrasonicsensor The power supply circuitSRF05EchoTrigger S3C2410int0GPG0
2011 Third International Conference on Measuring Technology and Mechatronics Automation
978-0-7695-4296-6/11 $26.00 © 2011 IEEEDOI 10.1109/ICMTMA.2011.8551010