CN206959854U - A kind of dolly based on inertia measurement and laser radar indoor navigation - Google Patents
A kind of dolly based on inertia measurement and laser radar indoor navigation Download PDFInfo
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- CN206959854U CN206959854U CN201720500963.7U CN201720500963U CN206959854U CN 206959854 U CN206959854 U CN 206959854U CN 201720500963 U CN201720500963 U CN 201720500963U CN 206959854 U CN206959854 U CN 206959854U
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- laser radar
- inertia measurement
- vehicle body
- indoor navigation
- dolly based
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Abstract
It the utility model is related to a kind of dolly based on inertia measurement and laser radar indoor navigation, it is characterized in that, including vehicle body (1) and the single-chip microcomputer (2) being arranged on vehicle body (1), laser radar scanner (3), inertia measurement sensor (4), chargeable lithium cell (5) and display (6), single-chip microcomputer (2) is connected with laser radar scanner (3) and inertia measurement sensor (4) respectively, motor of the chargeable lithium cell (5) respectively with display (6) and vehicle body (1) is connected, vehicle body (1) bottom sets three active drive wheels and an auxiliary reverser.Compared with prior art, the utility model combines inertia measurement sensor and laser radar scanner, anti-interference, output consecutive tracking directed information, reduces position error accumulation, real-time map structure can be achieved；Display real-time display electricity, breakdown judge, three driving wheels and an auxiliary reverser are convenient for, are adapted to indoor complex environment.
Description
Technical field
The utility model is related to a kind of autonomous type indoor positioning guider, more particularly, to one kind based on inertia measurement and
The dolly of laser radar indoor navigation.
Background technology
The integrated navigation being most widely used in the world at present is satellite navigation system (GPS) and inertial navigation system
(INS) combine, the combined system mainly utilizes the long-time stability of satellite navigation system and moderate precision, to make up INS mistake
The shortcomings that difference was propagated or increased with the time, while recycle INS short-term high accuracy being disturbed to make up GPS navigation receiver
When error increase or when blocking the shortcomings of lossing signal, antijamming capability is improved, so as to realize that high accuracy, high reliability and height are steady
Qualitatively navigate.But for indoor environment, GPS is simultaneously unavailable, and this navigation system is certainly also just unworkable.
Inertial navigation system (INS) is carried out by carrier angular speed, the acceleration measured to inertia measurement device (IMU)
Computing and conversion obtain various navigation informations, and its advantage is entirely autonomous, strong antijamming capability, and disguise, real-time are good.But
The weak point of inertial navigation system is that navigation positioning error is with accumulated time.In addition, also volume and weight is big, cost is high
And altitude channel it is unstable the problems such as.Laser radar (LIDAR) is the abbreviation of laser acquisition and ranging, and it is that a kind of laser is made
It is the product that laser technology is combined with Radar Technology for the radar of auxiliary source.Because it has, toggle speed is fast, dynamic range
Extensively, good environmental adaptability, cost are cheap, obtain more and more extensive application.IMU and Laser navigation system merge must energy
Overcome the technical defect of inertial navigation system itself, reduce error, improve navigation accuracy.
Laser radar calculates navigation system as context aware systems, the inertia system motion very strong as independence,
Mutually auxiliary can efficiently realize autonomous positioning of the navigating robot dolly in the case of the navigation system such as GPS are unavailable for the two
With navigation.
Utility model content
The purpose of this utility model is exactly a kind of anti-interference, real in order to be provided the defects of overcoming above-mentioned prior art to exist
Shi Lianxu exports location information and without the dolly based on inertia measurement and laser radar indoor navigation of position error accumulation.
The purpose of this utility model can be achieved through the following technical solutions：
A kind of dolly based on inertia measurement and laser radar indoor navigation, including vehicle body and the monolithic that is arranged on vehicle body
Machine, laser radar scanner, inertia measurement sensor, chargeable lithium cell and display, described single-chip microcomputer respectively with laser
Radar scanner connects with inertia measurement sensor, described chargeable lithium cell respectively with display and the motor of vehicle body
Connection, described body bottom set three active drive wheels and an auxiliary reverser.
Described inertia measurement sensor includes three single-axis accelerometers, three single axis gyroscopes and A/D change-over panels, institute
The A/D change-over panels stated are connected with single-axis accelerometer, single axis gyroscope and single-chip microcomputer.
Described vehicle body is in disk form.
Three described active drive wheels are in triangular arranged, and described auxiliary reverser is located at triangle center.
Described active drive wheel is gear-like rubber cortex wheel body.
Described auxiliary reverser is can 360 degree of smooth rubber wheel bodys rotated.
Spring damper is equipped with the top of described active drive wheel and auxiliary reverser.
Described single-chip microcomputer be Android ARM9 it is fast be 4412linux2440 embedded boards be equipped with android control core
Piece Samsung Exynos 4412.
Compared with prior art, the utility model has advantages below：
(1) inertia measurement sensor and laser radar scanner are combined, anti-interference, output consecutive tracking directed information,
Position error accumulation is reduced, real-time map structure can be achieved；Display real-time display electricity, is convenient for breakdown judge, three
Driving wheel and an auxiliary reverser, it is adapted to indoor complex environment.
(2) vehicle body is in disk form, and anti-collision capacity is strong.
(3) three active drive wheels are in triangular arranged, and auxiliary reverser is located at triangle center, both ensures to drive
Stability, in turn ensure that commutation flexibility.
(4) active drive wheel is gear-like rubber cortex wheel body, prevents from skidding.
(5) auxiliary reverser for can 360 degree rotate smooth rubber wheel bodys, be easy to commutate.
(6) spring damper is equipped with the top of active drive wheel and auxiliary reverser, indoor complex environment can be tackled.
(7) single-chip microcomputer be Android ARM9 it is fast be that 4412linux2440 embedded boards are equipped with android control chips three
Star Exynos 4412, the mobile phone of system not only by the movement of computer real time control machine device people's dolly, can be also grasped by Android
To control dolly, computer constraint is broken away from, operation is more versatile and flexible.
Brief description of the drawings
Fig. 1 is the composition structure chart of the present embodiment dolly.
Embodiment
The utility model is described in detail with specific embodiment below in conjunction with the accompanying drawings.The present embodiment is with the utility model
Implemented premised on technical scheme, give detailed embodiment and specific operating process, but guarantor of the present utility model
Shield scope is not limited to following embodiments.
Embodiment
As shown in figure 1, a kind of dolly based on inertia measurement and laser radar indoor navigation, including disc vehicle body 1 and
It is arranged on single-chip microcomputer 2 on vehicle body 1, laser radar scanner 3, inertia measurement sensor 4,12V chargeable lithium cell 5 and aobvious
Show device 6, single-chip microcomputer 2 is connected with laser radar scanner 3 and inertia measurement sensor 4 respectively, and chargeable lithium cell 5 is respectively with showing
Show that device 6 and the motor of vehicle body 1 connect, the bottom of vehicle body 1 sets three active drive wheels and an auxiliary reverser, three masters
Dynamic driving wheel is in triangular arranged, and auxiliary reverser is located at triangle center.Active drive wheel is gear-like rubber cortex
Wheel body.Auxiliary reverser for can 360 degree rotate smooth rubber wheel bodys, facilitate the retroversion and steering of dolly.Active drive wheel and
Spring damper is equipped with the top of auxiliary reverser.Display 6 is 7 cun of LCD Panels, for showing the basic shape of dolly
State and charge condition.
Inertia measurement sensor 4 uses MQ-ARCH, including three single-axis accelerometers, three single axis gyroscopes and
A/D change-over panels, A/D change-over panels are connected with single-axis accelerometer, single axis gyroscope and single-chip microcomputer 2.Accelerometer and gyroscope point
Orientation, posture and three-dimensional instantaneous position are not measured, then data signal is converted analog signals into by A/D change-over panels.
Laser radar scanner 3 uses RPLIDAR 360 degree of three-dimensional lasers around 5.5 hertz of scanners, its work
Principle is by sensor emission laser beam and air-borne transmission to ground or body surface, then surface-reflected, reflected energy
Received by sensor and be recorded as an electric signal.Then the time of emission time and the time of reception are accurately recorded, laser
(c is calculated by formula R=ct/2 to the distance of ground or body surface (R) can：The light velocity, t：Emission time and
Receive the difference at moment).The barrier in environment can be detected by above-mentioned principle, and obstacle information is transferred to ARM and opened
Hair plate is single-chip microcomputer 2, extraction environment characteristic value.Then the obtained data of IMU and laser radar scanner are merged, and led to
EKF is crossed to realize the optimization processing of data, completes positioning and the map structuring of robot car.
ARM development boards are equipped with using four core Cortex-A9A8 Androids ARM9 are fast for 4412linux2440 embedded boards
Android control chip Samsungs Exynos 4412, advantage is not only can be by the shifting of computer real time control machine device people's dolly
It is dynamic, also dolly can be controlled by the mobile phone of Android behaviour's system, break away from computer constraint, operation is more versatile and flexible.
The dolly of this indoor Multi-sensor Fusion, optimized by the fusion of multisensor and EKF, overcome inertial navigation system
The defects of navigation positioning error of system increases with time integral, realize anti-interference, real-time continuous output location information.
Claims (8)
1. a kind of dolly based on inertia measurement and laser radar indoor navigation, it is characterised in that including vehicle body (1) and be arranged on
Single-chip microcomputer (2), laser radar scanner (3), inertia measurement sensor (4), chargeable lithium cell (5) on vehicle body (1) and aobvious
Show device (6), described single-chip microcomputer (2) is connected with laser radar scanner (3) and inertia measurement sensor (4) respectively, described
Motor of the chargeable lithium cell (5) respectively with display (6) and vehicle body (1) is connected, and described vehicle body (1) bottom sets three
Individual active drive wheel and an auxiliary reverser.
A kind of 2. dolly based on inertia measurement and laser radar indoor navigation according to claim 1, it is characterised in that
Described inertia measurement sensor (4) includes three single-axis accelerometers, three single axis gyroscopes and A/D change-over panels, described
A/D change-over panels are connected with single-axis accelerometer, single axis gyroscope and single-chip microcomputer (2).
A kind of 3. dolly based on inertia measurement and laser radar indoor navigation according to claim 1, it is characterised in that
Described vehicle body (1) is in disk form.
A kind of 4. dolly based on inertia measurement and laser radar indoor navigation according to claim 1, it is characterised in that
Three described active drive wheels are in triangular arranged, and described auxiliary reverser is located at triangle center.
A kind of 5. dolly based on inertia measurement and laser radar indoor navigation according to claim 1, it is characterised in that
Described active drive wheel is gear-like rubber cortex wheel body.
A kind of 6. dolly based on inertia measurement and laser radar indoor navigation according to claim 1, it is characterised in that
Described auxiliary reverser is can 360 degree of smooth rubber wheel bodys rotated.
A kind of 7. dolly based on inertia measurement and laser radar indoor navigation according to claim 1, it is characterised in that
Spring damper is equipped with the top of described active drive wheel and auxiliary reverser.
A kind of 8. dolly based on inertia measurement and laser radar indoor navigation according to claim 1, it is characterised in that
Described single-chip microcomputer (2) be Android ARM9 it is fast be that 4412linux2440 embedded boards are equipped with android control chip Samsungs
Exynos 4412。
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720500963.7U CN206959854U (en) | 2017-05-08 | 2017-05-08 | A kind of dolly based on inertia measurement and laser radar indoor navigation |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720500963.7U CN206959854U (en) | 2017-05-08 | 2017-05-08 | A kind of dolly based on inertia measurement and laser radar indoor navigation |
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| Publication Number | Publication Date |
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| CN206959854U true CN206959854U (en) | 2018-02-02 |
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| CN201720500963.7U Expired - Fee Related CN206959854U (en) | 2017-05-08 | 2017-05-08 | A kind of dolly based on inertia measurement and laser radar indoor navigation |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108196550A (en) * | 2018-02-08 | 2018-06-22 | 广东工业大学 | A kind of automatic guiding carriage and its autocontrol method |
| CN108345005A (en) * | 2018-02-22 | 2018-07-31 | 重庆大学 | The real-time continuous autonomous positioning orientation system and navigation locating method of tunnelling machine |
| CN109581396A (en) * | 2018-12-25 | 2019-04-05 | 芜湖哈特机器人产业技术研究院有限公司 | A kind of laser radar Position Fixing Navigation System based on laser reflector |
| CN111337021A (en) * | 2020-03-19 | 2020-06-26 | 深圳国信泰富科技有限公司 | Positioning system and positioning method of robot based on complex site |
-
2017
- 2017-05-08 CN CN201720500963.7U patent/CN206959854U/en not_active Expired - Fee Related
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108196550A (en) * | 2018-02-08 | 2018-06-22 | 广东工业大学 | A kind of automatic guiding carriage and its autocontrol method |
| CN108345005A (en) * | 2018-02-22 | 2018-07-31 | 重庆大学 | The real-time continuous autonomous positioning orientation system and navigation locating method of tunnelling machine |
| CN108345005B (en) * | 2018-02-22 | 2020-02-07 | 重庆大学 | Real-time continuous autonomous positioning and orienting system and navigation positioning method of tunnel boring machine |
| CN109581396A (en) * | 2018-12-25 | 2019-04-05 | 芜湖哈特机器人产业技术研究院有限公司 | A kind of laser radar Position Fixing Navigation System based on laser reflector |
| CN111337021A (en) * | 2020-03-19 | 2020-06-26 | 深圳国信泰富科技有限公司 | Positioning system and positioning method of robot based on complex site |
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