CN216116055U

CN216116055U - Indoor SLAM dolly based on multisensor fuses

Info

Publication number: CN216116055U
Application number: CN202122679141.9U
Authority: CN
Inventors: 刘家麒; 高永彬
Original assignee: Shanghai University of Engineering Science
Current assignee: Shanghai University of Engineering Science
Priority date: 2021-11-03
Filing date: 2021-11-03
Publication date: 2022-03-22
Anticipated expiration: 2031-11-03

Abstract

The utility model discloses an indoor SLAM trolley based on multi-sensor fusion, which belongs to the field of indoor map construction equipment and comprises a trolley body, wherein the upper end of the trolley body is movably connected with a first bottom plate, Mecanum wheels are symmetrically arranged at the left end and the right end of the trolley body, a plurality of motors are movably connected inside the trolley body, output shafts of the motors are fixedly connected with the Mecanum wheels, sliding windows are symmetrically arranged at the left end and the right end of the trolley body, and the upper ends of the motors are rotatably connected with telescopic rods. According to the utility model, the positions of the mechanical laser radar, the IMU inertial sensor and the RGBD binocular camera can be changed at any time by connecting the mechanical laser radar, the IMU inertial sensor and the RGBD binocular camera with the second bottom plate through the clamping rod, so that the flexibility between the mechanical laser radar, the IMU inertial sensor and the RGBD binocular camera and the second bottom plate is increased, and the practicability of the utility model is increased.

Description

Indoor SLAM dolly based on multisensor fuses

Technical Field

The utility model relates to the field of indoor map construction equipment, in particular to an indoor SLAM trolley based on multi-sensor fusion.

Background

The SLAM trolley is frequently needed to be used when indoor information is collected, most of sensors on the traditional SLAM trolley are fixed on a trolley body, the positions of the sensors cannot be adjusted according to actual use conditions, the SLAM trolley does not have a damping function, and the practicability is poor. Therefore, the present invention provides an indoor SLAM car based on multi-sensor fusion to solve the above-mentioned problems.

SUMMERY OF THE UTILITY MODEL

The utility model aims to provide an indoor SLAM trolley based on multi-sensor fusion, so as to solve the problems in the background technology.

In order to achieve the purpose, the utility model provides the following technical scheme:

an indoor SLAM trolley based on multi-sensor fusion comprises a trolley body, wherein a first bottom plate is movably connected to the upper end of the trolley body, Mecanum wheels are symmetrically arranged at the left end and the right end of the trolley body, a plurality of motors are movably connected to the inside of the trolley body, output shafts of the motors are fixedly connected with the Mecanum wheels, sliding windows are symmetrically arranged at the left end and the right end of the trolley body, telescopic rods are rotatably connected to the upper ends of the motors, one ends of the telescopic rods, far away from the motors, are rotatably connected with the first bottom plate, springs are sleeved on the outer portions of the telescopic rods, an equipment installation box is fixedly connected to the upper end of the first bottom plate, an external interface module is fixedly connected to the front side of the equipment installation box, a lifting rod is fixedly connected to the upper end of the equipment installation box, a top plate is fixedly connected to the upper end of the lifting rod, and a second bottom plate is fixedly connected to the upper end of the top plate, the upper end of second bottom plate is run through and is equipped with a plurality of joint holes, the middle part of second bottom plate is run through and is equipped with the line hole, the upper end swing joint of second bottom plate has mechanical type laser radar, mechanical type laser radar's front side swing joint has IMU inertial sensor, IMU inertial sensor's front side swing joint has RGBD to hold two camera.

As a further scheme of the utility model, a plurality of mounting shells are fixedly connected inside the vehicle body, the motor is positioned in the mounting shells, and the motor is connected with the mounting shells in a sliding manner.

As a further scheme of the present invention, the lifting rod is composed of two circular tubes, the outer diameters of the two circular tubes are different, the outer diameter of one circular tube is larger than that of the other circular tube, the circular tube with the small outer diameter is inserted into the circular tube with the large outer diameter, and the two circular tubes are fixed by a locking screw.

As a further scheme of the utility model, the lower ends of the mechanical laser radar, the IMU inertial sensor and the RGBD binocular camera are all fixedly connected with clamping rods, and the mechanical laser radar, the IMU inertial sensor and the RGBD binocular camera are all clamped with the second bottom plate through mutual matching of the clamping rods and the clamping holes.

As a further scheme of the utility model, the connecting wires on the mechanical laser radar, the IMU inertial sensor and the RGBD binocular camera sequentially penetrate through the wiring hole and the lifting rod to be connected with the control main board in the equipment installation box.

Compared with the prior art, the utility model has the beneficial effects that:

1. when the Mecanum wheel is used, the motor is started to control the Mecanum wheel to rotate, the Mecanum wheel drives the vehicle body to move, the Mecanum wheel has high flexibility and free maneuverability and can move in all directions, and the Mecanum wheel is used in the utility model, so that the practicability of the utility model can be improved.

2. When the mechanical laser radar, the IMU inertial sensor, the RGBD binocular camera and the second bottom plate are connected through the clamping and connecting rod, the positions of the mechanical laser radar, the IMU inertial sensor and the RGBD binocular camera can be changed at any time, calibration among multiple sensors is facilitated, flexibility among the mechanical laser radar, the IMU inertial sensor, the RGBD binocular camera and the second bottom plate is further improved, and therefore the practicability of the mechanical laser radar, the IMU inertial sensor, the RGBD binocular camera and the second bottom plate is improved.

3. When the trolley is used, the round pipe with the small outer diameter can be taken out from the round pipe with the large outer diameter by loosening the locking bolt, and then the round pipe with the small outer diameter is held by a hand to drive the second bottom plate to move, so that scanning and framing can be performed on areas where the trolley cannot be driven in.

4. When the trolley is used, the trolley body can be damped through the mutual matching of the telescopic rod and the spring, so that the trolley is smoother and more stable when walking.

Drawings

Fig. 1 is a schematic structural diagram of an indoor SLAM trolley based on multi-sensor fusion.

Fig. 2 is a perspective view of an indoor SLAM cart based on multi-sensor fusion.

Fig. 3 is a split view of an indoor SLAM cart based on multi-sensor fusion.

In the figure: 1. a vehicle body; 2. a first base plate; 3. a Mecanum wheel; 4. sliding the window; 5. mounting a shell; 6. a motor; 7. a telescopic rod; 8. a spring; 200. an equipment installation box; 201. an external interface module; 202. a protective shell; 203. a lifting rod; 204. a top plate; 205. a second base plate; 206. a clamping hole; 207. a wiring hole; 208. a mechanical lidar; 209. an IMU inertial sensor; 210. an RGBD binocular camera; 211. a clamping and connecting rod.

Detailed Description

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

Referring to fig. 1 to 3, in the embodiment of the present invention, an indoor SLAM trolley based on multi-sensor fusion includes a trolley body 1, a first bottom plate 2 is movably connected to an upper end of the trolley body 1, the first bottom plate 2 is detachably connected to the trolley body 1 through screws, mecanum wheels 3 are symmetrically disposed at left and right ends of the trolley body 1, a plurality of motors 6 are movably connected to an inside of the trolley body 1, the plurality of motors 6 correspond to the mecanum wheels 3, output shafts of the motors 6 are fixedly connected to the mecanum wheels 3, sliding windows 4 are symmetrically disposed at left and right ends of the trolley body 1, output shafts of the motors 6 pass through the sliding windows 4 to be connected to the mecanum wheels 3, a plurality of mounting cases 5 are fixedly connected to an inside of the trolley body 1, the motors 6 are disposed in the mounting cases 5, the motors 6 are slidably connected to the mounting cases 5 up and down, and damping cushions are attached to inner arms of the mounting cases 5, the shock absorption cushion can play a shock absorption role for the motor 6, the shock absorption cushion can be extruded back and forth in the installation shell 5 by the motor 6 to move back and forth, the upper end of the motor 6 is rotatably connected with the telescopic rod 7, one end of the telescopic rod 7 far away from the motor 6 is rotatably connected with the first bottom plate 2, the outer part of the telescopic rod 7 is sleeved with the spring 8, the upper end of the first bottom plate 2 is fixedly connected with the equipment installation box 200, the equipment installation box 200 is internally provided with a control mainboard, a GNSS positioning module, a heat dissipation fan and a battery, the front side of the equipment installation box 200 is fixedly connected with the external interface module 201, the front end of the external interface module 201 is provided with the display screen, the lower part of the display screen is provided with a USC interface, a charging port, an RJ45 and an indicator lamp, a protection shell 202 is arranged between the equipment installation box 200 and the external interface module 201, and the protection shell 202 can protect a connecting wire between the equipment installation box 200 and the external interface module 201, the upper end of the equipment installation box 200 is fixedly connected with a lifting rod 203, the lifting rod 203 is composed of two round pipes, the outer diameters of the two round pipes are different, the outer diameter of one round pipe is larger than that of the other round pipe, the round pipe with the small outer diameter is inserted into the round pipe with the large outer diameter, the two round pipes are fixed through a locking screw, the upper end of the lifting rod 203 is fixedly connected with a top plate 204, the top plate 204 is fixedly connected with the round pipe with the small outer diameter, a through hole is arranged in the middle of the top plate 204, a second bottom plate 205 is fixedly connected with the upper end of the top plate 204, a plurality of clamping holes 206 are arranged at the upper end of the second bottom plate 205 in a penetrating manner, a wire-passing hole 207 is arranged in the middle of the second bottom plate 205 in a penetrating manner, the inner diameter of the wire-passing hole 207 is smaller than the outer diameter of the top plate 204, a mechanical laser radar 208 is movably connected with the upper end of the second bottom plate 205, an IMU inertial sensor 209 is movably connected with an RGBD binocular camera 210, the lower ends of the mechanical laser radar 208, the IMU inertial sensor 209 and the RGBD binocular camera 210 are fixedly connected with clamping rods 211, the mechanical laser radar 208, the IMU inertial sensor 209 and the RGBD binocular camera 210 are clamped with the second bottom plate 205 through the clamping rods 211 and clamping holes 206 in a matched mode, and connecting lines on the mechanical laser radar 208, the IMU inertial sensor 209 and the RGBD binocular camera 210 sequentially penetrate through the wiring holes 207 and the lifting rods 203 to be connected with a control main board in the equipment installation box 200.

The working principle of the utility model is as follows:

when the laser trolley is used, the motor 6 is started to control the Mecanum wheel 3 to rotate, the Mecanum wheel 3 drives the trolley body 1 to move, the telescopic rod 7 and the spring 8 are matched with each other to absorb shock of the trolley body 1, so that the trolley is more smooth and stable when walking, the mechanical laser radar 208, the IMU inertial sensor 209, the RGBD binocular camera 210 and the second base plate 205 are connected through the clamping rod 211 to change the positions of the mechanical laser radar 208, the IMU inertial sensor 209 and the RGBD binocular camera 210 at any time, calibration among multiple sensors is facilitated, flexibility among the mechanical laser radar 208, the IMU inertial sensor 209, the RGBD binocular camera 210 and the second base plate 205 is increased, the practicability of the laser trolley is improved, the round pipe with a small outer diameter can be taken out of the round pipe with a large outer diameter by loosening the locking bolt, and then the round pipe with the small outer diameter is held by hands to drive the second base plate 205 to move, so that some areas where the trolley cannot be swept into can be swept into The view is traced.

The above description is only for the preferred embodiment of the present invention, but the scope of the present invention is not limited thereto, and any person skilled in the art should be considered to be within the technical scope of the present invention, and equivalent alternatives or modifications according to the technical solution of the present invention and the inventive concept thereof should be covered by the scope of the present invention.

Claims

1. An indoor SLAM trolley based on multi-sensor fusion comprises a trolley body (1) and is characterized in that the upper end of the trolley body (1) is movably connected with a first bottom plate (2), the left end and the right end of the trolley body (1) are symmetrically provided with Mecanum wheels (3), the inner part of the trolley body (1) is movably connected with a plurality of motors (6), output shafts of the motors (6) are fixedly connected with the Mecanum wheels (3), the left end and the right end of the trolley body (1) are symmetrically provided with sliding windows (4), the upper ends of the motors (6) are rotatably connected with telescopic rods (7), one ends, far away from the motors (6), of the telescopic rods (7) are rotatably connected with the first bottom plate (2), springs (8) are sleeved outside the telescopic rods (7), the upper end of the first bottom plate (2) is fixedly connected with an equipment installation box (200), and an external interface module (201) is fixedly connected to the front side of the equipment installation box (200), the utility model discloses a two-purpose camera, including equipment fixing box (200), upper end fixedly connected with lifter (203), upper end fixedly connected with roof (204) of lifter (203), upper end fixedly connected with second bottom plate (205) of roof (204), the upper end of second bottom plate (205) is run through and is equipped with a plurality of joint holes (206), the middle part of second bottom plate (205) is run through and is equipped with wire walking hole (207), the upper end swing joint of second bottom plate (205) has mechanical type laser radar (208), the front side swing joint of mechanical type laser radar (208) has IMU inertial sensor (209), the front side swing joint of IMU inertial sensor (209) has RGBD binocular camera (210).

2. The indoor SLAM trolley based on multi-sensor fusion is characterized in that a plurality of installation shells (5) are fixedly connected to the inside of the trolley body (1), the motor (6) is located in the installation shells (5), and the motor (6) is in sliding connection with the installation shells (5).

3. The indoor SLAM trolley based on the multi-sensor fusion as claimed in claim 1, wherein the lifting rod (203) is composed of two round tubes, the outer diameters of the two round tubes are different, the outer diameter of one round tube is larger than that of the other round tube, the round tube with small outer diameter is inserted into the round tube with large outer diameter, and the two round tubes are fixed through locking screws.

4. The indoor SLAM trolley based on multi-sensor fusion as claimed in claim 1, wherein the lower ends of the mechanical laser radar (208), the IMU inertial sensor (209) and the RGBD binocular camera (210) are all fixedly connected with a clamping rod (211), and the mechanical laser radar (208), the IMU inertial sensor (209) and the RGBD binocular camera (210) are all mutually matched through the clamping rod (211) and the clamping hole (206) and clamped with the second bottom plate (205).

5. The indoor SLAM trolley based on multi-sensor fusion as claimed in claim 1, wherein the connecting wires on the mechanical laser radar (208), IMU inertial sensor (209) and RGBD binocular camera (210) are connected with the control main board in the equipment installation box (200) through the wire-going hole (207) and the lifting rod (203) in sequence.