CN206833250U - A kind of unmanned investigation dolly based on laser radar - Google Patents
A kind of unmanned investigation dolly based on laser radar Download PDFInfo
- Publication number
- CN206833250U CN206833250U CN201720655035.8U CN201720655035U CN206833250U CN 206833250 U CN206833250 U CN 206833250U CN 201720655035 U CN201720655035 U CN 201720655035U CN 206833250 U CN206833250 U CN 206833250U
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- Prior art keywords
- car body
- dolly
- laser radar
- upper strata
- unmanned
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Abstract
The utility model discloses a kind of unmanned investigation dolly based on laser radar, the dolly includes car body, the car body is divided into double-layer structure up and down, the vehicle bottom is provided with wheel, head and camera are provided with front of the car body upper strata, the camera rear is provided with nine axle gyroscopes, laser radar is provided among the car body upper strata, described four corners in car body upper strata are provided with ultrasonic radar, the drill bit for being sampled to soil is provided with front of the car body lower floor, lithium battery and Arduino single-chip microcomputers are provided among the car body lower floor, the Arduino single-chip microcomputers rear is provided with encoder motor, car body lower floor rear is provided with 2.4 GHz wireless communication modules；The utility model realizes position positioning, the traveling of desired path, the passback of surrounding environment realtime graphic, the monitoring of environment temperature, humidity, PM2.5 of unmanned, automatic obstacle-avoiding, peripheral obstacle, and the function such as soil sample.
Description
Technical field
It the utility model is related to a kind of investigation dolly, more particularly to a kind of unmanned investigation based on laser radar is small
Car.
Background technology
At present, unmanned investigation dolly typically uses carry out detection and localization of the ultrasonic wave to surrounding obstacles object, using super ripple
Progress position error is big, orientation range is small；So that the function of investigation dolly is single, can not be to the comprehensive detection of environment；Investigate small
Many blind areas around car be present, dolly institute feedack is not directly perceived；And signal sends and receives time interval phase with signal
To length, dropout is easily caused；Some investigation dollies with Bluetooth technology to dolly carry out short distance control, but for beyond
Distance outside bluetooth relative distance but shows helpless；Existing unmanned dolly is nothing more than can realize tracking, avoidance, shooting
Function, function is relatively simple；Investigation dolly intellectuality composition is few, and relying primarily on the instruction that sends of people makes its execution task；Nothing
People's dolly, can not be in route running as expected at a distance when performing special task.
The content of the invention
For problems of the prior art, the utility model provides a kind of unmanned based on laser radar and detectd
Look into dolly, realize investigation dolly be unmanned, the positioning of the position of automatic obstacle-avoiding, peripheral obstacle, the travelling of desired path, week
The realtime graphic passback of collarette border, the monitoring of environment temperature, humidity, PM2.5, and the function such as soil sample.
Technical scheme is used by the utility model：A kind of unmanned investigation dolly based on laser radar, it is described
Dolly includes car body, and the car body is divided into double-layer structure up and down, and the vehicle bottom is provided with wheel, the car body upper strata front
Head and camera are provided with, the camera is arranged on above head, and the camera rear is provided with nine axle gyroscopes, institute
State and laser radar is provided among car body upper strata, described four corners in car body upper strata are provided with ultrasonic radar, the car body
The drill bit for being sampled to soil is provided with front of lower floor, sets promising dolly to provide the energy among the car body lower floor
Lithium battery, signal transacting is carried out to dolly and controls the Arduino single-chip microcomputers of trolley travelling, the Arduino single-chip microcomputers rear
Encoder motor is provided with, the encoder motor is mainly made up of stepper motor and stepper motor encoder, under the car body
Layer rear is provided with for the GPS of dolly positioning and the 2.4 GHz wireless communication modules for carrying out data exchange with PC.
Preferably, the camera, nine axle gyroscopes, stepper motor encoder, laser radar and ultrasonic radar is defeated
Go out input of the end respectively with the Arduino single-chip microcomputers to be connected, the output ends of the Arduino single-chip microcomputers is respectively with 2.4
GHz wireless communication modules, GPS, head image are connected with the input of stepper motor.
Preferably, the output end of the 2.4 GHz wireless communication modules is connected with PC ends.
Preferably, the sensor of other functions, the sensing of other functions are also provided among the dolly upper strata
Device includes temperature sensor, humidity sensor and PM2.5 sensors.
Preferably, the laser radar is 360 ° of scanning type laser radars of Neato XV-11 LIDAR.
Preferably, the nine axles gyroscope is MPU9250.
The utility model compared with prior art, has the advantages that：
（1）The utility model links together unmanned technology and mobile environment monitoring point, realizes automation
Environmental monitoring and real-time data upload.
（2）360 ° of scanning type laser radars of the utility model, and the determination that ultrasonic radar carries out position is combined, two
Person is mutually compensated for, and object farther out is detected using laser radar, and nearer object is surveyed using ultrasonic radar
Away from improving operating efficiency, eliminate radar mapping blind area.
（3）By utility model periphery obstacle information（Distance, direction）Visualization, can pass through the number of passback at PC ends
According to real-time to monitor trolley travelling state, i.e., the position that dolly is presently in.
（4）The utility model has various modes to select, manual manipulation pattern, automatic obstacle-avoiding pattern, preset path mould
Formula etc., relative to current mapping dolly, there is provided more selectivity.
Brief description of the drawings
The utility model is further illustrated below in conjunction with the accompanying drawings,
Fig. 1 is structural representation of the present utility model.
Fig. 2 is system framework figure of the present utility model.
Wherein, 1, car body, 11, head, 12, camera, 13, nine axle gyroscopes, 14, laser radar, 15, ultrasonic wave thunder
Reach, 16, drill bit, 17, lithium battery, 18, Arduino single-chip microcomputers, 19, encoder motor, 20, GPS, 21,2.4 GHz wireless telecommunications
Module, 22, the sensor of other functions, 3, wheel.
Embodiment
Specific embodiment of the present utility model is described further below in conjunction with the accompanying drawings.
As depicted in figs. 1 and 2, technical scheme is used by the utility model：A kind of nobody based on laser radar drives
Investigation dolly is sailed, the dolly includes car body 1, and the car body 1 divides is provided with car for upper and lower double-layer structure, the bottom of car body 1
Wheel 3, the upper strata of car body 1 front are provided with head 11 and camera 12, and the camera 12 is arranged on the top of head 11, described
The rear of camera 12 is provided with nine axle gyroscopes 13, is provided with laser radar 14 among the upper strata of car body 1, on the car body 1
Four corner of layer are provided with ultrasonic radar 15, and the brill for being sampled to soil is provided with front of the lower floor of car body 1
First 16, the lower floor of car body 1 centre sets promising dolly to provide the lithium battery 17 of the energy, carry out signal transacting and control to dolly
The Arduino single-chip microcomputers 18 of trolley travelling, the rear of Arduino single-chip microcomputers 18 are provided with encoder motor 19, the coding
Device motor 19 is mainly made up of stepper motor and stepper motor encoder, and the lower floor rear of car body 1 is provided with determines for dolly
The GPS 20 of position and the 2.4 GHz wireless communication modules 21 for carrying out data exchange with PC.
Preferable scheme is, the camera 12, nine axle gyroscopes 13, stepper motor encoder, laser radar 14 and super
Input of the output end of sound radar 15 respectively with the Arduino single-chip microcomputers 18 is connected, the Arduino single-chip microcomputers 18
Input of the output end respectively with 2.4 GHz wireless communication modules 21, GPS 20, head image and stepper motor be connected.
Preferable scheme is that the output end of the 2.4 GHz wireless communication modules 21 is connected with PC ends.
Preferable scheme is that the sensor 22 of other functions, other described work(are also provided among the dolly upper strata
The sensor of energy includes temperature sensor, humidity sensor and PM2.5 sensors.
Preferable scheme is that the laser radar 14 is 360 ° of scanning type laser radars of Neato XV-11 LIDAR.
Preferable scheme is that the nine axles gyroscope 13 is MPU9250.
In the utility model, the car body 1 is the carrier of all parts；The camera 12 is arranged on head 11
Side, for carrying out captured in real-time to surrounding environment, wherein head 11 can rotate along horizontal and vertical directions, expand shooting
First 12 visual field, the image that the camera 12 gathers the wide visual field are sent to PC ends by GHz；The nine axles gyroscope
MPU9250 13 is judgment means, real with the collective effects of GPS 20 for judging the size of the travel direction of dolly and its speed
Now dolly is unmanned；The laser radar 14 is scanned with 160 turns/min speed to surrounding environment, by what is scanned
As a result pass back to computer end in the form of dot matrix, while after computer carries out data processing to dot chart, correlation is sent to dolly and referred to
Order, instructs dolly to travel；The ultrasonic radar 15 can measure distance of the barrier away from dolly, dolly is realized avoidance work(
Energy；The drill bit 16 can be used to be sampled destination soil；The lithium battery 17 is power supply device, for all electronic components
Power supply is provided；The Arduino single-chip microcomputers 18 are control and processing unit, and the electric signal on the one hand transmitting each sensor is carried out
Processing, is converted to intuitively data signal, on the other hand, the signal sent by PC ends is switched to perform signal, to drive stepping
Motor makes corresponding action；The encoder motor 19 can be controlled accurately, when single-chip microcomputer sends pulse, encoder
The rotatable corresponding angle number of motor 19；The GPS 20 is used for positioning small truck position and motion state, realizes dolly
Remote control, the data transfer of dolly and computer terminal is realized by 2.4 GHz wireless communication modules 21, and is passed through
GPS 20 can make dolly realize path automatic running as expected；The 2.4 GHz wireless communication modules 21 are used to realize dolly
With PC data exchange, the image shot is passed back to PC ends, given people around dolly by the 2.4 GHz wireless communication modules 21
Intuitively real time environment, 2.4 GHz wireless communication modules 21 can carry out data dissemination at a distance, so as to realize the remote of dolly
Process control；Finally, multiple sensors 22, such as temperature, humidity, PM2.5 sensors are also equipped with dolly, are realized to environment
Comprehensively, three-dimensional detection.
Above is preferred embodiment of the present utility model, not makees any formal limitation to the utility model,
It is every according to the technical essence of the utility model to any simple modification, equivalent change and modification made for any of the above embodiments,
Belong in the range of utility model technical scheme.
Claims (6)
1. a kind of unmanned investigation dolly based on laser radar, it is characterised in that the dolly includes car body, the car body
It is divided into double-layer structure up and down, the vehicle bottom is provided with wheel, is provided with head and camera in front of the car body upper strata, institute
State camera to be arranged on above head, the camera rear is provided with nine axle gyroscopes, is provided among the car body upper strata
Laser radar, described four corners in car body upper strata are provided with ultrasonic radar, be provided with front of the car body lower floor for pair
The drill bit that soil is sampled, the car body lower floor centre set promising dolly to provide the lithium battery of the energy, carry out letter to dolly
Number processing and control trolley travelling Arduino single-chip microcomputers, the Arduino single-chip microcomputers rear is provided with encoder motor, institute
State encoder motor to be mainly made up of stepper motor and stepper motor encoder, car body lower floor rear is provided with for dolly
The GPS of positioning and the 2.4 GHz wireless communication modules for carrying out data exchange with PC.
2. a kind of unmanned investigation dolly based on laser radar according to claim 1, it is characterised in that described to take the photograph
As head, nine axle gyroscopes, stepper motor encoder, laser radar and ultrasonic radar output end respectively with the Arduino
The input of single-chip microcomputer is connected, the output ends of the Arduino single-chip microcomputers respectively with 2.4 GHz wireless communication modules, GPS,
Head image is connected with the input of stepper motor.
3. a kind of unmanned investigation dolly based on laser radar according to claim 1, it is characterised in that described
The output end of 2.4 GHz wireless communication modules is connected with PC ends.
4. a kind of unmanned investigation dolly based on laser radar according to claim 1, it is characterised in that described small
The sensor of other functions is also provided among car upper strata, the sensor of other functions includes temperature sensor, humidity
Sensor and PM2.5 sensors.
5. a kind of unmanned investigation dolly based on laser radar according to claim 1, it is characterised in that described to swash
Optical radar is 360 ° of scanning type laser radars of Neato XV-11 LIDAR.
6. a kind of unmanned investigation dolly based on laser radar according to claim 1, it is characterised in that described nine
Axle gyroscope is MPU9250.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720655035.8U CN206833250U (en) | 2017-06-07 | 2017-06-07 | A kind of unmanned investigation dolly based on laser radar |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720655035.8U CN206833250U (en) | 2017-06-07 | 2017-06-07 | A kind of unmanned investigation dolly based on laser radar |
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| Publication Number | Publication Date |
|---|---|
| CN206833250U true CN206833250U (en) | 2018-01-02 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201720655035.8U Expired - Fee Related CN206833250U (en) | 2017-06-07 | 2017-06-07 | A kind of unmanned investigation dolly based on laser radar |
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| CN (1) | CN206833250U (en) |
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108759922A (en) * | 2018-06-12 | 2018-11-06 | 哈尔滨工程大学 | Chemical defence detection system based on miniature self-service vehicle and combinations thereof air navigation aid |
| CN108805045A (en) * | 2018-05-25 | 2018-11-13 | 郑州思达科锐网络科技有限公司 | A kind of pilotless automobile localization method and system |
| CN108983827A (en) * | 2018-09-14 | 2018-12-11 | 高新兴科技集团股份有限公司 | A kind of Self-stabilization holder |
| CN109633725A (en) * | 2018-10-31 | 2019-04-16 | 百度在线网络技术（北京）有限公司 | Processing method, device and the readable storage medium storing program for executing of positioning initialization |
| CN110221607A (en) * | 2019-05-22 | 2019-09-10 | 北京德威佳业科技有限公司 | A kind of control system and control method holding formula vehicle access AGV |
| CN110470627A (en) * | 2019-08-19 | 2019-11-19 | 三峡大学 | It is a kind of to detect soil nutrient and self-powered device and method with automatic |
| CN112394159A (en) * | 2020-09-30 | 2021-02-23 | 中铁二十三局集团第六工程有限公司 | TBM mechanical improvement surveying device for tunnel measurement and using method thereof |
-
2017
- 2017-06-07 CN CN201720655035.8U patent/CN206833250U/en not_active Expired - Fee Related
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108805045A (en) * | 2018-05-25 | 2018-11-13 | 郑州思达科锐网络科技有限公司 | A kind of pilotless automobile localization method and system |
| CN108759922A (en) * | 2018-06-12 | 2018-11-06 | 哈尔滨工程大学 | Chemical defence detection system based on miniature self-service vehicle and combinations thereof air navigation aid |
| CN108983827A (en) * | 2018-09-14 | 2018-12-11 | 高新兴科技集团股份有限公司 | A kind of Self-stabilization holder |
| CN109633725A (en) * | 2018-10-31 | 2019-04-16 | 百度在线网络技术（北京）有限公司 | Processing method, device and the readable storage medium storing program for executing of positioning initialization |
| CN110221607A (en) * | 2019-05-22 | 2019-09-10 | 北京德威佳业科技有限公司 | A kind of control system and control method holding formula vehicle access AGV |
| CN110470627A (en) * | 2019-08-19 | 2019-11-19 | 三峡大学 | It is a kind of to detect soil nutrient and self-powered device and method with automatic |
| CN110470627B (en) * | 2019-08-19 | 2022-01-25 | 三峡大学 | Device and method for automatically detecting soil nutrients and automatically supplying power |
| CN112394159A (en) * | 2020-09-30 | 2021-02-23 | 中铁二十三局集团第六工程有限公司 | TBM mechanical improvement surveying device for tunnel measurement and using method thereof |
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| Date | Code | Title | Description |
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| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20180102 |
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| CF01 | Termination of patent right due to non-payment of annual fee |