CN108710376A - The mobile chassis of SLAM and avoidance based on Multi-sensor Fusion - Google Patents
The mobile chassis of SLAM and avoidance based on Multi-sensor Fusion Download PDFInfo
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- CN108710376A CN108710376A CN201810623638.9A CN201810623638A CN108710376A CN 108710376 A CN108710376 A CN 108710376A CN 201810623638 A CN201810623638 A CN 201810623638A CN 108710376 A CN108710376 A CN 108710376A
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
- G05D1/0238—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using obstacle or wall sensors
- G05D1/024—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using obstacle or wall sensors in combination with a laser
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D61/00—Motor vehicles or trailers, characterised by the arrangement or number of wheels, not otherwise provided for, e.g. four wheels in diamond pattern
- B62D61/10—Motor vehicles or trailers, characterised by the arrangement or number of wheels, not otherwise provided for, e.g. four wheels in diamond pattern with more than four wheels
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0214—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory in accordance with safety or protection criteria, e.g. avoiding hazardous areas
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- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0221—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory involving a learning process
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- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0223—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory involving speed control of the vehicle
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- G—PHYSICS
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- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
- G05D1/0242—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using non-visible light signals, e.g. IR or UV signals
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- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
- G05D1/0246—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using a video camera in combination with image processing means
- G05D1/0251—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using a video camera in combination with image processing means extracting 3D information from a plurality of images taken from different locations, e.g. stereo vision
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- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0255—Control of position or course in two dimensions specially adapted to land vehicles using acoustic signals, e.g. ultra-sonic singals
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- G05D1/0257—Control of position or course in two dimensions specially adapted to land vehicles using a radar
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Abstract
The present invention provides a kind of mobile chassis for improving and building figure precision and realizing accurate SLAM and avoidance of the avoidance based on Multi-sensor Fusion, belongs to robotic technology field.The present invention includes：Environmental perception module, for acquiring the environmental data around chassis body by laser sensor and visual sensor；Bottom sensing module, the rotation direction angular displacement for acquiring chassis body and peripheral obstacle information；Control module, to handle environmental data, map is built, according to obstacle information, to determine the position of barrier, and acquisition is to the motion control instruction of chassis body, the instruction is sent to servo-driven module, realizes avoidance, while being additionally operable to receive the straight-line displacement for the chassis body that servo-driven module returns, in conjunction with the rotation direction angular displacement, the current pose of chassis body is obtained；Servo-driven module realizes speed control, while obtaining the straight-line displacement information of chassis body according to motion control instruction, to be driven to chassis body.
Description
Technical field
It is the present invention relates to a kind of mobile chassis carrying mobile tow-armed robot, more particularly to a kind of to be melted based on multisensor
The SLAM of conjunction and the mobile chassis of avoidance, belong to robotic technology field.
Background technology
Because environment is complicated in family or factory floor, channel is narrow crowded, and laying for goods does not have the reasons such as rule,
It requires mobile chassis to have simultaneously and possesses good flexibility among these environment.And have in common chassis type of drive
Differential drives and the driving of Mecanum wheel omnidirectional, and zero turning radius may be implemented in the former, and three planar may be implemented in the latter
Degree of freedom is flexibly walked, but the shock-absorbing performance and load-bearing capacity of the latter are poor, is not suitable for this movement for carrying mechanical arm
Chassis, at the same in view of the task of its grasp handling etc., the ability for needing the chassis that there is load capacity and antidumping, energy
Realize the movement of safety and steady.And in above-mentioned working space, may someone or remaining means of transport presence, and
Belong to dynamic duty environment, it is therefore desirable to by static-obstacle thing therein and dynamic barrier, and in manipulator motion height
On may existing barrier all consider wherein, to need the ability with dynamic interaction.
Mobile robot can reach the understanding to real world by the map of structure local environment, and be to realize to exist
The location navigation of real world then needs map support accurate in detail, and laser radar is as a kind of biography to start to walk very early
Sensor, stable, detection range remote feature high with precision, and the first choice as structure map always.But laser radar
The data of two dimensional surface be can only obtain to build two-dimensional map, the elevation information of barrier in map can be ignored, can be unable to get
Environmental catastrophe can cause the failure of navigation avoidance, and when barrier in the environment has uncertain, local paths planning
Required degree can be not achieved in real-time.And the environmental information in the visual field can then be detected using depth camera sensor,
The initial data characterized by dense point diagram can be obtained, alone as SLAM (simultaneous localization
And mapping, immediately positioning and map structuring) sensor can strong influence algorithm real-time, increase the negative of sensor
Load.Only estimate simultaneously using the data of encoder as the pose of mobile chassis, it can be by the shadow of encoder accumulation drift for a long time
It rings, causes to build figure low precision on a large scale.
Invention content
Against the above deficiency, the present invention is provided a kind of improve and builds figure precision and realize being melted based on multisensor for accurate avoidance
The SLAM of conjunction and the mobile chassis of avoidance.
The mobile chassis of a kind of SLAM and avoidance based on Multi-sensor Fusion of the present invention, the mobile chassis include moving
Mobile robot chassis body, control module, servo-driven module, environmental perception module and bottom sensing module；
Environmental perception module, for being acquired around mobile robot chassis body by laser sensor and visual sensor
Environmental data；
Bottom sensing module, the rotation direction angular displacement for acquiring current mobile robot chassis body and surrounding obstacles
Object information；
Control module is connect respectively with environmental perception module, bottom sensing module and servo-driven module, to environment
The environmental data of sensing module acquisition is handled, and map is built, to the obstacle information acquired according to bottom sensing module,
It determines the position of barrier, and obtains the motion control instruction to mobile robot chassis body, which is sent to servo
Drive module realizes avoidance, while being additionally operable to receive the straight line position for the mobile robot chassis body that servo-driven module returns
It moves, in conjunction with the rotation direction angular displacement for the current mobile robot chassis body that bottom sensing module acquires, obtains mobile machine
The current pose of people's chassis body；
Servo-driven module realizes speed according to motion control instruction, to be driven to mobile robot chassis body
Degree control, while obtaining the straight-line displacement information of mobile robot chassis body.
Preferably, the control module, to the environmental data acquired according to laser sensor, with obtaining local laser
Figure obtains three-dimensional local environment map according to the environmental data of visual sensor acquisition, using Bayesian formula by the three-dimensional
Local environment map is converted to projection environmental map, and the local laser map of acquisition and projection environmental map are merged, obtained
Obtain global grating map.
Preferably, the bottom sensor module includes Inertial Measurement Unit, avoiding obstacles by supersonic wave sensor, safe touch side
Sensor, infrared distance sensor and microprocessor；
Inertial Measurement Unit, the pose for detecting mobile robot chassis body, is sent to microprocessor；
Avoiding obstacles by supersonic wave sensor, for measuring in front of mobile robot chassis body, the barrier of the left and right away from
From being sent to microprocessor；
Safe touch side sensor, for detecting whether the information with bar contact, is sent to microprocessor；
Infrared distance sensor is sent to micro- for detecting mobile robot chassis body bottom surface at a distance from ground
Processor；
Microprocessor obtains current mobile robot chassis body rotation direction angular displacement and barrier according to information is received
The information for hindering object is converted into switching value and is sent to control module.
Preferably, mobile robot chassis body include chassis frame, two independent suspension devices and six wheel, it is described
Six wheels universal wheel and two driving wheels including there are four, wherein four universal wheels are fixed on chassis frame bottom, and two
Driving wheel is connect by an independent suspension device with chassis frame bottom respectively.
Preferably, the servo-driven module includes servo controller, two servo-drivers, two servo motors
With two encoders, a servo-driver is sequentially connected in series with a servo motor, an encoder and a driving wheel,
Electromechanical integration module is formed,
The rate control instruction that servo controller is sent out is sent to wherein No. 1 servo-driver by EtherCAT buses,
And then motion control is carried out to corresponding driving wheel by the servo motor of connection；Meanwhile the No.1 servo-driver will be fast
Degree instruction is sent to No. 2 servo-drivers, and then carries out motion control to corresponding driving wheel by the servo motor of connection；
Two encoders acquire the move distance of the servo motor respectively connected respectively, and code-disc data are sent to respectively
The code-disc data of the servo-driver of connection, No. 1 servo-driver are sent to No. 2 servo-drivers, and No. 2 servo-drivers will connect
The code-disc data received are sent to servo controller.
Preferably, the straight-line displacement of the mobile robot chassis body includes to the vertical of mobile underpan ontology
To the straight-line displacement with transverse direction；
Mileage is obtained according to the code-disc data calculation of encoder to count, the servo controller counts solution according to mileage
Calculate the straight-line displacement for the vertical and horizontal for obtaining mobile underpan ontology.
Preferably, the environmental data of acquisition is transferred to control by the laser sensor by Ethernet communication interfaces
The environmental data of acquisition is then transferred to control module by module, the visual sensor by USB communication interface.
Above-mentioned technical characteristic may be combined in various suitable ways or be substituted by equivalent technical characteristic, as long as can reach
To the purpose of the present invention.
The beneficial effects of the present invention are the present invention is according to the environment number around laser sensor and visual sensor acquisition
According to map is constructed, enhance sensing capability of the mobile robot chassis body for external environment, for navigation or task
Execution sufficient data parameters can be provided, figure precision is built in raising, while the information acquired by bottom sensing module and being watched
The straight-line displacement that drive module returns to mobile robot chassis body is taken, determines Obstacle Position and mobile robot chassis body
Pose, realize positioning and avoidance, increase safety.
Description of the drawings
Fig. 1 is the principle schematic of the mobile chassis of the SLAM and avoidance based on Multi-sensor Fusion of the present invention；
Fig. 2 is the principle schematic of pose estimation of the present invention；
Fig. 3 is the investigative range schematic diagram of laser radar and depth camera；
Fig. 4 is the structural schematic diagram at the top of chassis frame；
Fig. 5 is the structural schematic diagram of chassis frame bottom；
Fig. 6 is the structural schematic diagram of driving wheel；
Fig. 7 is the structural exploded view of driving wheel；
Fig. 8 is two wheel guide robot driving bobbin movement illustraton of model；
Fig. 9 is the flow diagram that control module blends the data of laser sensor and visual sensor.
Specific implementation mode
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation describes, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.It is based on
Embodiment in the present invention, those of ordinary skill in the art obtained under the premise of not making creative work it is all its
His embodiment, shall fall within the protection scope of the present invention.
It should be noted that in the absence of conflict, the feature in embodiment and embodiment in the present invention can phase
Mutually combination.
The invention will be further described in the following with reference to the drawings and specific embodiments, but not as limiting to the invention.
The mobile chassis of a kind of SLAM and avoidance based on Multi-sensor Fusion of the present invention, as shown in Figure 1, including movement
Robot chassis body, control module, servo-driven module, environmental perception module and bottom sensing module；
Environmental perception module, for being acquired around mobile robot chassis body by laser sensor and visual sensor
Environmental data；
Bottom sensing module, the rotation direction angular displacement for acquiring current mobile robot chassis body and surrounding obstacles
Object information；
Control module is connect respectively with environmental perception module, bottom sensing module and servo-driven module, to environment
The environmental data of sensing module acquisition is handled, and map is built, to the obstacle information acquired according to bottom sensing module,
It determines the position of barrier, and obtains the motion control instruction to mobile robot chassis body, which is sent to servo
Drive module realizes avoidance, while being additionally operable to receive the straight line position for the mobile robot chassis body that servo-driven module returns
It moves, in conjunction with the rotation direction angular displacement for the current mobile robot chassis body that bottom sensing module acquires, obtains mobile machine
The current pose of people's chassis body；
Servo-driven module realizes speed according to motion control instruction, to be driven to mobile robot chassis body
Degree control, while obtaining the straight-line displacement information of mobile robot chassis body.
Present embodiment constructs map according to the environmental data around laser sensor and visual sensor acquisition, increases
Strong mobile robot chassis body can provide abundance for the sensing capability of external environment for the execution of navigation or task
Data parameters, figure precision is built in raising, while the information and servo-driven module that are acquired by bottom sensing module return to movement
The straight-line displacement of robot chassis body, determines the pose of Obstacle Position and mobile robot chassis body, realize positioning and
Avoidance increases safety.
In preferred embodiment, as shown in Fig. 2, the control module of present embodiment, to what is acquired according to laser sensor
Environmental data obtains local laser map, and three-dimensional local environment map, profit are obtained according to the environmental data of visual sensor acquisition
The three-dimensional local environment map is converted into projection environmental map with Bayesian formula, by the local laser map of acquisition and throwing
Shadow environmental map is merged, and global grating map is obtained.
The laser sensor of present embodiment realizes that visual sensor is adopted using the laser radar of 270 ° of detection angles of plane
Realized with depth camera, the external environment residing for chassis body perceived, laser radar can on the plane of scanning motion 0.1~
Object features in 10m detection ranges provide data and support for the map structuring of chassis body and navigation, depth camera acquisition
Information includes image information and infrared depth information, existing three-dimensional barrier can be identified, while can also be right
The dynamic objects such as pedestrian are identified, and find that barrier of the identification with certain altitude provides in three dimensions for chassis body
Condition, or navigation of the mobile chassis in dynamic environment is supported with that can interact offer data.Laser radar and depth phase
The investigative range of machine is as shown in Figure 3.
The data of laser sensor are sent to control module, visual sensor data by Ethernet in present embodiment
It is transferred to control module by USB communication interface, two-dimensional map can only be built in order to make up laser radar, and ignores in environment and hinders
The characteristics of hindering the elevation information of object, and then cause mobile chassis that can not detect environmental catastrophe, and caused by navigation and avoidance lose
It loses, the data of laser sensor and visual sensor can be merged, and then complete environmental information data are provided, improve
The Vertical Observation region of SLAM algorithms increases algorithm robustness, improves positioning accuracy.Bayesian iteration formula is used wherein,
To build the grating map of depth camera and laser radar fusion, number is completed by prior model and the estimation of nearest dependent probability
According to update, trellis states could and data associations and Bayesian formula are recycled to obtain new estimated value, to complete data fusion
Process.
In preferred embodiment, as shown in Figure 1, the bottom sensor module of present embodiment includes Inertial Measurement Unit, surpasses
Sound wave avoidance sensor, safe touch side sensor, infrared distance sensor and microprocessor；
Inertial Measurement Unit, the pose for detecting mobile robot chassis body, is sent to microprocessor；
Avoiding obstacles by supersonic wave sensor, for measuring in front of mobile robot chassis body, the barrier of the left and right away from
From being sent to microprocessor；
Safe touch side sensor, for detecting whether the information with bar contact, is sent to microprocessor；
Infrared distance sensor is sent to for detecting mobile robot chassis body bottom surface with at a distance from ground
Microprocessor；
Microprocessor obtains current mobile robot chassis body rotation direction angular displacement and barrier according to information is received
The information for hindering object is converted into switching value and is sent to control module.
Present embodiment is improved safety when robot operation, is passed using avoiding obstacles by supersonic wave for realizing urgent avoidance
Sensor calculates at a distance from front obstacle, to compensate detection blind area of the laser radar with depth camera in low spatial region；
Ensure robot in remaining sensor failure and when having unpredictable collision generation using safe touch side sensor, Neng Gouqi
It being transported to control module to cushioning effect and by collision alarm so that control module timely responds to, and sends out the order of emergency braking,
With the generation to avoid dangerous situation；Using infrared distance sensor, it is arranged in mobile chassis bottom, when its probe value is super
When crossing limit value, path planning circuit can be changed in time, to avoid encounter front step and caused by mobile chassis and mechanical arm
Damage.In view of the output of avoiding obstacles by supersonic wave sensor and infrared distance sensor it is simultaneously distance value, and safe touch side passes
Sensor is then output switching value, the priority of control module cross-thread can be caused chaotic if being transmitted directly to control module, and
And also not enough interface can distribute control module, therefore it is that microprocessor first carries out sensor information to use bottom
Integrated, wherein avoiding obstacles by supersonic wave sensor is connected by IIC interfaces with microprocessor, reads three avoiding obstacles by supersonic wave sensings respectively
Device in the past, the distance of the barriers of three orientation detections in left and right, infrared distance sensor passes through USART and microprocessor phase
Even, mobile chassis is read at a distance from ground, safe touch side sensor is directly connected with the I/O of microprocessor mouths, exports
To switching value.Microprocessor handles three classes sensor signal respectively later, and whether front obstacle is located at Security alert region
Be transformed into switching value is transferred to host computer by RS232 outside.Wherein, microprocessor uses the list of model STM32F407ZGT6
There is piece machine IIC interfaces, USART interfaces, the hardware resources such as I/O mouthfuls and A/D conversions can meet the requirements.
Present embodiment obtains odometer by being fixed on the code-disc data calculation of motor shaft end in servo-driven module
Data can be counted to obtain displacement and the angle variable quantity of robot by mileage, and then obtain current location and deflection；
Inertial Measurement Unit IMU includes three-axis gyroscope, three axis accelerometer and magnetometer.Wherein, the inertia of use
Measuring unit is MPU9250, including required gyroscope, accelerometer and magnetometer, and Inertial Measurement Unit passes through the logical of IIC
Letter mode is connected with micro-control unit, carries out data transmission, to realize the read-write calculating etc. to IMU data.Wherein,
Slave equipment of the MPU9250 as bus, microprocessor are completed as main equipment, IIC communications by two data lines, and data line is fixed
Justice is SDA, and clock line is defined as SCL, and microprocessor will be sent to SDA line from device address, Self address is read from equipment
After make it is corresponding, to which microprocessor can read the initial data of MPU9250 sensors simultaneously.
In preferred embodiment, as shown in Figure 5 and Figure 6, mobile robot chassis body includes 12, two independences of chassis frame
Suspension arrangement 15 and six wheels, six wheels include that there are four universal wheel 13 and two driving wheels 14, wherein four universal wheels
13 are fixed to the bottom of chassis frame 12, and two driving wheels 14 pass through an independent suspension device 15 and chassis frame 12 respectively
Bottom connects.
Two driving wheels 14 are installed on to the position of the intermediate both sides of chassis frame 12, four universal wheels 13 are mounted on bottom
The quadrangle of jiggering frame 12, mounting height can be adjusted according to the decrement of suspension, while keeping stability so that move
The steering on dynamic chassis is more flexible, to adapt to different use environments.
As shown in figure 4, present embodiment is equipped with lithium battery 1, mechanical arm mounting seat 2, driving at the top of chassis frame
It device 3, control module 4, interchanger 5, depth camera 6, laser radar 7, sensor support 8, commutator transformer 9, wire casing 10 and opens
Close 11；
Sensor support 8 is installed on vehicle frame edge, is used to support depth camera 6 and laser radar 7, can give full play to sharp
The measurement advantage of 270 ° of optical radar.
The independent suspension device of present embodiment includes connector, spring conductor rod, damping spring and limit assembly, wherein
Connector for independent suspension device being connected on chassis frame and connect limit assembly, the position-limit mechanism in limit assembly with
Locking nut is used for the limit of Suspension movement, while connecting driving wheel, and damping spring is installed between limit assembly, as by
Die mould spring, the height of driving wheel is adjusted for adaptive ground, and plays the function of buffering decompression, and spring conductor rod is fixed on
In the plane of limit assembly, to ensure the dilatation direction of spring.
The driving wheel of present embodiment, as shown in fig. 7, comprises fixed frame 141, encoder 142, bearing 143, servo motor
144, No. 1 axis 145, sealing ring 146, bearing 147,148, No. 2 axis 149 of wheel, harmonic gear reducer 150 and sealing plate 151；
By No. 1 axis 145 and 2 axis 149 by encoder 142, servo motor 144, wheel 148 and harmonic gear reducer 150
It connects together, then wheel 148 is connected on vehicle frame by fixed frame 141.The wherein design of harmonic gear reducer 150 exists
Inside wheel 148, the flexbile gear of harmonic gear reducer 150 is connected directly with wheel hub, saves transmission shaft, reduces installation volume,
Motor 144 uses hollow cupulate simultaneously so that structure is compacter.
Present embodiment may make the wheel of every side all to be hanged by suspension system using the design of class MacPherson strut
Vehicle frame is hung in the following, to reduce the impact that vehicle body is subject to, wheel is improved for the adhesive force on ground, can make entire movement
Chassis also possesses good passability on the road surface of out-of-flatness, while two driving wheels use Two-wheeled system form, respectively
From independent bounce, do not interfere with each other, ensure that the wheelspan of mobile chassis and wheelbase do not change, effectively reduce the inclination of vehicle body with
Shake increases control accuracy, avoids deviation phenomenon, while improving the perpendicular positioning precision of the mobile platform, facilitates carrying double
Mechanical arm has certain heavy burden ability and resistance to capsizing.
In preferred embodiment, the servo-driven module of present embodiment includes servo controller, two servo-drivers, two
A servo motor and two encoders, a servo-driver and a servo motor, an encoder and a driving wheel according to
It is secondary to be connected in series with, electromechanical integration module is formed,
The rate control instruction that servo controller is sent out is sent to wherein No. 1 servo-driver by EtherCAT buses,
And then motion control is carried out to corresponding driving wheel by the servo motor of connection；Meanwhile the No.1 servo-driver will be fast
Degree instruction is sent to No. 2 servo-drivers, and then carries out motion control to corresponding driving wheel by the servo motor of connection；
Two encoders acquire the move distance of the servo motor respectively connected respectively, and code-disc data are sent to respectively
The code-disc data of the servo-driver of connection, No. 1 servo-driver are sent to No. 2 servo-drivers, and No. 2 servo-drivers will connect
The code-disc data received are sent to servo controller.
The control module of present embodiment using industrial personal computer realize, mainly to sensor acquisition information handled with
And servo-driven module is controlled；The data of sensor acquisition are that external environment is perceived, description robot itself shape
State detects obtained data information, and servo-driven module is then to convert the object form speed of the robot to each drive
The rotating speed of driving wheel is sent to No. 1 servo-driven module, it is contemplated that mobile chassis is using two-wheeled by ModBus communications protocol
Differential drive system, you can to realize the linear movement and rotation of car body by changing the rotating speed of two driving wheels, therefore transport
Dynamic control is that the target travel speed of the robot is calculated to the difference rotating speed for being changed into two driving wheels by speed, together
When need to obtain the relationship of two wheel speeds and car body linear velocity and angular velocity of rotation in SLAM algorithms, derived with next
To each driving wheel speed and angular speed, it sets the systemic velocity for moving chassis to target travel speed Vc, V is set1、V2For
The speed at left and right sidesing driving wheel center, it is assumed that chassis is advanced in the ideal situation, is not considered the factors such as skidding, can be obtained barycenter
Speed is：
Chassis operation angular speed beMobile chassis does clockwise movement, obtains：
And then the angular speed that can obtain mobile chassis is：
Wherein, B is the distance between two wheels, and R is the mobile bottom of instantaneous center of velocity distance of mobile chassis under current state
The distance of the barycenter of disk, it is specific as shown in Figure 8.
In preferred embodiment, the straight-line displacement of the mobile robot chassis body of present embodiment includes being moved to robot
The straight-line displacement of the vertical and horizontal of chassis body；
Mileage is obtained according to the code-disc data calculation of encoder to count, the servo controller counts solution according to mileage
Calculate the straight-line displacement for the vertical and horizontal for obtaining mobile underpan ontology.
As shown in figure 9, the angular speed of three axis can be measured using the gyroscope of Inertial Measurement Unit, can be obtained by integral
To the variation of posture, and accelerometer and accelerometer can be with the 3-axis accelerations of output transducer, and also passing through integral can be with
Obtain speed and the displacement of platform, by resolving and complementary filter and update, can with obtain location information, i.e.,：Robot moves
The displacement of dynamic chassis body rotation direction, and odometer information is obtained by encoder code disc data, robot shifting can be obtained
The straight-line displacement of the vertical and horizontal of dynamic chassis body, controller module are estimated that robot moves according to displacement information is obtained
The pose of dynamic chassis body.IMU obtains displacement information and can help to reduce the cumulative errors of odometer calculating.Present embodiment is adopted
With multi-sensor fusion technology, merging the data information of odometer data information and Inertial Measurement Unit can improve to mobile bottom
The pose and positioning accuracy of disk.
Although describing the present invention herein with reference to specific embodiment, it should be understood that, these realities
Apply the example that example is only principles and applications.It should therefore be understood that can be carried out to exemplary embodiment
Many modifications, and can be designed that other arrangements, without departing from the spirit of the present invention as defined in the appended claims
And range.It should be understood that can be by combining different appurtenances different from mode described in original claim
Profit requires and feature described herein.It will also be appreciated that the feature in conjunction with described in separate embodiments can use
In other described embodiments.
Claims (7)
1. a kind of mobile chassis of SLAM and avoidance based on Multi-sensor Fusion, which is characterized in that the mobile chassis includes
Mobile robot chassis body, control module, servo-driven module, environmental perception module and bottom sensing module；
Environmental perception module, for acquiring the ring around mobile robot chassis body by laser sensor and visual sensor
Border data；
Bottom sensing module, the rotation direction angular displacement for acquiring current mobile robot chassis body and peripheral obstacle letter
Breath；
Control module is connect respectively with environmental perception module, bottom sensing module and servo-driven module, to environment sensing
The environmental data of module acquisition is handled, and map is built, and to the obstacle information acquired according to bottom sensing module, is determined
The position of barrier, and the motion control instruction to mobile robot chassis body is obtained, which is sent to servo-drive
Module realizes avoidance, while being additionally operable to receive the straight-line displacement for the mobile robot chassis body that servo-driven module returns, knot
The rotation direction angular displacement for closing the current mobile robot chassis body of bottom sensing module acquisition, obtains mobile robot chassis
The current pose of ontology；
Servo-driven module realizes speed control according to motion control instruction, to be driven to mobile robot chassis body
System, while obtaining the straight-line displacement information of mobile robot chassis body.
2. the mobile chassis of SLAM and avoidance according to claim 1 based on Multi-sensor Fusion, which is characterized in that institute
Control module is stated, to the environmental data acquired according to laser sensor, local laser map is obtained, is adopted according to visual sensor
The environmental data of collection obtains three-dimensional local environment map, and the three-dimensional local environment map is converted to throwing using Bayesian formula
Shadow environmental map merges the local laser map of acquisition and projection environmental map, obtains global grating map.
3. the mobile chassis of SLAM and avoidance according to claim 2 based on Multi-sensor Fusion, which is characterized in that institute
It states laser sensor and the environmental data of acquisition is transferred to by control module, the visual sensor by Ethernet communication interfaces
The environmental data of acquisition is then transferred to by control module by USB communication interface.
4. the mobile chassis of SLAM and avoidance according to claim 2 based on Multi-sensor Fusion, which is characterized in that institute
It includes Inertial Measurement Unit, avoiding obstacles by supersonic wave sensor, safe touch side sensor, infrared distance measurement sensing to state bottom sensor module
Device and microprocessor；
Inertial Measurement Unit, the pose for detecting mobile robot chassis body, is sent to microprocessor；
Avoiding obstacles by supersonic wave sensor, the obstacle distance for measuring mobile robot chassis body front, the left and right, hair
It send to microprocessor；
Safe touch side sensor, for detecting whether the information with bar contact, is sent to microprocessor；
Infrared distance sensor is sent to microprocessor for detecting mobile robot chassis body bottom surface at a distance from ground
Device；
Microprocessor obtains current mobile robot chassis body rotation direction angular displacement and barrier according to information is received
Information, be converted into switching value and be sent to control module.
5. the mobile chassis of SLAM and avoidance according to claim 4 based on Multi-sensor Fusion, which is characterized in that move
Mobile robot chassis body includes chassis frame, two independent suspension devices and six wheels, and six wheels include that there are four ten thousand
To wheel and two driving wheels, wherein four universal wheels are fixed on chassis frame bottom, and two driving wheels pass through one respectively
Independent suspension device is connect with chassis frame bottom.
6. the mobile chassis of SLAM and avoidance according to claim 5 based on Multi-sensor Fusion, which is characterized in that institute
The servo-driven module stated includes servo controller, and two servo-drivers, two servo motors and two encoders, one is watched
It takes driver to be sequentially connected in series with a servo motor, an encoder and a driving wheel, forms electromechanical integration module,
The rate control instruction that servo controller is sent out is sent to wherein No. 1 servo-driver by EtherCAT buses, in turn
Motion control is carried out to corresponding driving wheel by the servo motor of connection；Meanwhile the No.1 servo-driver refers to speed
Order is sent to No. 2 servo-drivers, and then carries out motion control to corresponding driving wheel by the servo motor of connection；
Two encoders acquire the move distance of the servo motor respectively connected respectively, and code-disc data are sent to respective connection
Servo-driver, the code-disc data of No. 1 servo-driver are sent to No. 2 servo-drivers, and No. 2 servo-drivers will receive
Code-disc data be sent to servo controller.
7. the mobile chassis of SLAM and avoidance according to claim 6 based on Multi-sensor Fusion, which is characterized in that institute
The straight-line displacement for stating mobile robot chassis body includes the straight-line displacement to the vertical and horizontal of mobile underpan ontology；
Mileage is obtained according to the code-disc data calculation of encoder to count, the servo controller is obtained according to odometer data calculation
To the straight-line displacement of the vertical and horizontal of mobile underpan ontology.
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