CN109857113A - A kind of independent navigation trolley of view-based access control model SLAM method - Google Patents
A kind of independent navigation trolley of view-based access control model SLAM method Download PDFInfo
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- CN109857113A CN109857113A CN201910132685.8A CN201910132685A CN109857113A CN 109857113 A CN109857113 A CN 109857113A CN 201910132685 A CN201910132685 A CN 201910132685A CN 109857113 A CN109857113 A CN 109857113A
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Abstract
The invention discloses a kind of independent navigation trolleies of view-based access control model SLAM method, comprising: small vehicle main body and trolley peripheral hardware；Small vehicle main body includes trolley lower plate and trolley upper plate；Trolley peripheral hardware includes depth camera head splint, laser radar supporting plate, drive control device supporting plate, while being fixedly connected by copper post with small vehicle main body；The present invention is by the way of peripheral hardware vertical arrangement, increase the vacant area of trolley body surfaces, it is tested for load-carrying, simultaneously, universal wheel adapts to the anti-pulley of different radii by fixed lifting connector, to keep trolley overall stability, the accuracy for improving SLAM algorithm for verifying provides hardware experiment platform.
Description
Technical field
The present invention relates to a kind of independent navigation trolleies of view-based access control model SLAM method, belong to moving trolley device.
Background technique
With the rapid development of society, the scale of building increasingly increases with area, due to receiving under GPS indoors environment
Less than the satellite positioning signal of preparation, people are difficult to find destination indoors, can not make real-time friendship to actual environment situation
Mutually.
For carrying the mobile vehicle of perception environmental information sensor, movement is explored in circumstances not known, it can be real-time
Ground positions self-position, and can complete the description to environment, and generating map indicates, this process is called while positioning and ground
Figure building (Simultaneous Localization and Mapping, SLAM).SLAM technology is autokinetic movement carrier
Basic core technology, motion planning to robot and all has great importance from main task completion.
For experimental provision required for SLAM, easy experiment porch can be built.Since trolley pose is that basis is adopted
What the matching adjacent color image and depth image characteristic point of collection obtained, so needing depth camera, trolley avoidance needs to swash
Optical radar, while the operation of SLAM needs to complete on computers, so needing a laptop.Due to trolley surface product one
Fixed, the placement of computer, depth camera, laser radar needs rational deployment.
Summary of the invention
Goal of the invention: it in order to which SLAM technology is applied to practice, needs to be verified in SLAM technology by means of experimental vehicle
The accuracy of algorithm.The present invention proposes a kind of independent navigation trolley of view-based access control model SLAM method.The invention device uses device
Vertical arrangement mode increases the vacant area on trolley upper and lower bottom plate surface.Rear and front end is universal using the connection of liftable device
Wheel, to adapt to the demand of the anti-pulley of different radii.It is flat that hardware experiments are provided for the algorithm accuracy in verifying SLAM technology
Platform.
The present invention uses following technical scheme
One, a kind of independent navigation trolley of view-based access control model SLAM method.
The independent navigation trolley of the view-based access control model SLAM method, including small vehicle main body and trolley peripheral hardware.
The small vehicle main body includes trolley upper plate and trolley lower plate, is passed through between trolley upper plate and trolley lower plate
Copper post is fixedly connected, and the height of copper post can be adjusted according to actual needs.
The trolley peripheral hardware includes laser radar supporting plate, depth camera head splint and motor driven supporting plate, and trolley peripheral hardware is equal
It is fixedly connected by height-adjustable copper post with small vehicle main body.
A Hall decelerating motor is fixed in the position of trolley lower plate two sides respectively, and Hall decelerating motor passes through carbon steel
Mounting bracket is fixedly connected with the trolley bottom plate surface for being drilled with screw hole, and the output shaft of each motor is all connected with an antiskid cart
Wheel, so trolley integrally uses two-wheel differential driving formula structure；It is provided in the trolley lower plate of Hall decelerating motor rear upper
Square mouth, for hall electric machine power supply line and driving line to be connect with power supply and drive and control of electric machine plate.
Liftable connector is fixed in the position of trolley lower plate rear and front end respectively, and the other end of liftable connector is fixed
Universal wheel realizes the movement of different directions, and the height of universal wheel can be determined according to liftable connector, to be adapted to different radii
Snow tire, keep the stability of trolley.
The motor driven supporting plate is placed in trolley lower plate upper surface, has screw thread in four angular bits of motor driven supporting plate
Hole, corresponding trolley lower plate are also drilled with equidistant threaded hole, by copper post bolt after threaded hole is mutually aligned
Fixed, the rest between motor driven supporting plate and trolley lower plate upper surface is placed the power supply of trolley, is used in combination
Band is fixed in four copper posts, by vertical arrangement, increases the vacant area of trolley bottom plate surface.
The depth camera head splint is placed in trolley upper plate surface, passes through the screw thread being drilled near four angles in advance
Hole is fixed with trolley lower plate with bolt, meanwhile, laser radar supporting plate, laser radar support are placed on depth camera head splint top
Plate and depth camera head splint are drilled with 3 equidistant threaded holes at intermediate position respectively, after the threaded hole of the two is mutually aligned
It is fixed by copper post with bolt, and the height of copper post is adjustable according to actual needs, laser radar supporting plate and depth camera
Head splint increases the vacant area on trolley upper plate surface, for placing laptop by vertical arrangement.
The depth camera is placed in the front end of depth camera head splint, and the lower part of depth camera is equipped with screw hole
Bracket the big threaded hole such as is also provided on depth camera head splint, is fixed after the two alignment by hex bolts, depth is taken the photograph
As head is for acquiring color image and depth image, computer controller, extra data line are sent to by USB3.0 data line
With band bundled fixed, and it is fixed on double-sided adhesive the lower surface of camera shooting head splint.
The laser radar is placed in the middle part of laser radar supporting plate, and laser radar lower part has the bracket of 3 threaded holes,
It the big equidistant threaded hole such as is also provided on laser radar supporting plate, is fixed after alignment with bolt, in laser radar supporting plate and depth
The big square hole such as it is provided on degree camera shooting head splint, laser radar acquires laser data, passes through by USB3.0 data line rectangular
Hole is sent to computer controller, is used for trolley ranging and avoidance.
The small vehicle main body and the material of trolley peripheral hardware are acrylic board, and the shape of the main body of the trolley is circle,
The shape of trolley peripheral hardware is rectangle.
Two, the method for realizing view-based access control model SLAM independent navigation using above-mentioned trolley.
Trolley obtains external environment during the motion, by the depth camera and laser radar that are mounted on trolley
On the one hand image information is transmitted to front-end vision odometer by image information and range information, calculate the motion transform between image
Then relationship carries out nonlinear optimization processing in rear end to motion transform relationship, to obtain the cartographic information for navigation, separately
On the one hand in image cromogram and depth image combination range information carry out winding detection, for reduce accumulation drift mistake
Difference.
The method of motion transform relationship between the calculating image is that adjacent two image that will be acquired carries out spy
Sign matching, obtains the motion pose of trolley；The rear end is optimized for collected continuous key frame carrying out re-projection, utilizes
The method of optimization least square obtains accurate posture information；The winding is detected as arriving when trolley is moved to previous time
Place, utilize bag of words to optimize whole map.
As the movement of trolley and the winding at moment detect, the movement of the cartographic information and trolley of ambient enviroment can be obtained
Track.
Beneficial effects of the present invention: for the present invention by the way of peripheral hardware vertical arrangement, the surface for increasing small vehicle main body is vacant
Area, universal wheel with liftable connector by the way of connecting, and to adapt to the snow tire of different radii, surveys for load-carrying
Examination is realized to the purpose of load-carrying experiment measuring accuracy requirement during autonomous, and verify to SLAM algorithm improvement
Purpose.
Detailed description of the invention
Fig. 1 is the front view of independent navigation trolley.
Fig. 2 is the left view of independent navigation trolley.
Fig. 3 is the top view of independent navigation trolley.
Fig. 4 is control principle block diagram of the invention.
It include: laser radar 1, laser radar supporting plate 2, depth camera 3, depth camera head splint 4, computer control in figure
Device 5, trolley upper plate 6, motor drive controller supporting plate 7, model airplane battery 8, trolley lower plate 9, carbon steel mounting bracket 10 are anti-skidding
Wheel 11, universal wheel 12, liftable connector 13, Hall decelerating motor 14.
Specific embodiment
The present invention will be described in more detail with reference to the accompanying drawing.
It is as shown in Figs. 1-3 a kind of independent navigation trolley of view-based access control model SLAM technology, including outside small vehicle main body and trolley
If；Small vehicle main body includes trolley lower plate 9 and trolley upper plate 6, the copper post that trolley upper and lower bottom plate is 2mm by screw thread pore radius
Connection；Trolley peripheral hardware includes motor drive controller supporting plate 7, depth camera head splint 4, laser radar supporting plate 2, liftable connection
The hex(agonal)screw of device 13, copper post and M6 model that trolley peripheral hardware passes through aperture 2mm with small vehicle main body is fixedly connected.
The trolley lower plate 9, trolley upper plate 6, motor drive controller supporting plate 7, depth camera head splint 4, laser
The material of radar supporting plate 2 selects acrylic board, and with a thickness of 15mm, wherein trolley upper plate 6 and trolley lower plate 9 select radius
For the circular configuration of 200mm.
The trolley lower plate 9 is fixedly connected with trolley upper plate 6 by copper post, and the height of copper post is according to actually can be into
Row is adjusted, and the hex(agonal)screw for the copper post and M6 model that aperture is 2mm is selected to be fixedly connected.
Such as Fig. 2, the trolley lower plate 9 and motor drive controller supporting plate 7 are fixed by the hex(agonal)screw of M6 model and are connected
It connects, the length of the motor drive controller supporting plate 7 is 100mm, width 100mm, is driven in the trolley lower plate 9 with motor
By the fixed model airplane battery 8 of band between movement controller supporting plate 7, the sky of trolley bottom plate surface 9 is increased by vertical arrangement
Lap product, model airplane battery 8 select rectangular model airplane battery, and battery size is up to general 5200mAh-25C.
It is fixed with motor drive controller on the motor drive controller supporting plate 7, is exported for parsing computer controller 5
Differential signal, by differential signal be converted into PWM wave driving Hall decelerating motor 14 rotate, wherein the drive and control of electric machine
Device is selected using STM32f407 as the kibot-v2 of main control chip.
9 left and right sides of trolley lower plate and Hall decelerating motor 14 are fixed on described small by carbon steel mounting bracket 10
9 surface of vehicle lower plate, the output shaft of each Hall decelerating motor 14 pass through copper shaft coupling and connect with anti-pulley 11, each suddenly
The output shaft radius of your decelerating motor 14 is 35mm, and trolley uses two-wheel differential type driving structure, realizes movement.
The depth camera 3 selects Intel Realsense D435, depth camera 3 for acquire color image and
Depth image is sent to computer controller 5 by USB3.0, constructs navigation map with SLAM algorithm.
The length of the depth camera head splint 4 is 100mm, width 100mm, after being arranged in the trolley upper plate 6
Portion, and 6 rear upper surface of trolley upper plate is fixedly connected on by copper post, the depth camera head splint 4 passes through hexagonal
The fixed Intel Realsense D435 depth camera 3 of screw.
The model yplidar2.0 that the laser radar 1 is selected, laser radar are used for trolley ranging and avoidance, pass through
USB3.0 is sent to the computer controller 5.
The length of the laser radar supporting plate 2 is 100mm, width 100mm, is arranged in the depth camera head splint 4
Top, and be fixedly connected by copper post, laser radar supporting plate 2 is fixedly connected on the depth camera head splint 4 by copper post
Surface, the laser radar 1 that laser radar supporting plate 2 passes through yplidar2.0 described in hex(agonal)screw.
The laser radar supporting plate 2 is laid out with depth camera head splint 4 using vertical mode, and it is vacant to increase trolley upper surface
Area, for placing computer controller 5.
The color image information and depth map acquired such as Fig. 4, the depth camera 3 of the Intel Realsense D435
As information, it is transmitted to computer controller 5 in conjunction with the radar information of the acquisition of laser radar 1 of yplidar2.0, computer controller 5 connects
After receiving information, data fusion is carried out with SLAM method, navigation map is generated according to currently detected environmental information, it will be poor
Sub-signal is sent to kibot-v2 drive control device, then the rotation of PWM wave driving motor is converted by the signal of parsing, to realize
The navigation of trolley autonomous.
The workflow that the present invention is embodied is that trolley during the motion, passes through the Intel being mounted on trolley
Realsense D435 depth camera and yplidar2.0 laser radar obtain the image information and range information of external environment,
On the one hand image information is transmitted to front-end vision odometer, the motion transform relationship between image is calculated, then to motion transform
Relationship carries out nonlinear optimization processing in rear end, so that the cartographic information for navigation is obtained, on the other hand to the coloured silk in image
Chromatic graph and depth image combination range information carry out winding detection, for reducing accumulation drift error.
The method of motion transform relationship between the calculating image is that adjacent two image that will be acquired carries out spy
Sign matching, obtains the motion pose of trolley；The rear end is optimized for collected continuous key frame carrying out re-projection, utilizes
The method of optimization least square obtains accurate posture information；The winding is detected as arriving when trolley is moved to previous time
Place, utilize bag of words to optimize whole map.
As the movement of trolley and the winding at moment detect, the movement of the cartographic information and trolley of ambient enviroment can be obtained
Track.
The above is only a preferred embodiment of the present invention, it should be pointed out that: for the ordinary skill people of the art
For member, various improvements and modifications may be made without departing from the principle of the present invention, these improvements and modifications are also answered
It is considered as protection scope of the present invention.
Claims (9)
1. a kind of independent navigation trolley of view-based access control model SLAM method, it is characterised in that: including small vehicle main body and trolley peripheral hardware；It is small
Vehicle main body includes trolley lower plate 9 and trolley upper plate 6, and trolley upper and lower bottom plate is fixedly connected by copper post；Trolley peripheral hardware includes
Motor drive controller supporting plate 7, depth camera head splint 4, laser radar supporting plate 2, liftable connector 13, trolley peripheral hardware with it is small
Vehicle main body is fixedly connected by height-adjustable copper post, and the position of 9 left and right sides of trolley lower plate is solid respectively
A fixed Hall decelerating motor 14, Hall decelerating motor 14 pass through carbon steel mounting bracket 10 and the trolley lower plate 9 for being drilled with screw hole
Lower surface be fixedly connected, the output shaft of each motor is all connected with a snow tire 11；On 14 rear portion of Hall decelerating motor
It is provided with square mouth at the trolley lower plate 9 of side, is used for 14 power supply line of Hall decelerating motor and driving line and power supply 8 and motor
Drive control plate 7 connects.
2. a kind of independent navigation trolley of view-based access control model SLAM method according to claim 1, which is characterized in that described small
Power supply model airplane battery 8 is placed in rest installation between vehicle lower plate 9 and drive and control of electric machine plate 7.
3. a kind of independent navigation trolley of view-based access control model SLAM method according to claim 1, which is characterized in that described small
The lower surface of 6 rear and front end of vehicle lower plate is fixed with liftable connector 13, and trolley lower plate is fixed with motor among 6 upper surface
Drive control device supporting plate 7.
4. a kind of independent navigation trolley of view-based access control model SLAM method according to claim 3, which is characterized in that it is described can
The fixed universal wheel 12 of the other end of connector 13 is gone up and down, the height of universal wheel 12 from the ground can be according to 13 basis of liftable connector
Actual demand determines.
5. a kind of independent navigation trolley of view-based access control model SLAM method according to claim 1, which is characterized in that on trolley
6 rear end upper surface of bottom plate is fixed with depth camera head splint 4 and laser radar supporting plate 2.
6. a kind of independent navigation trolley of view-based access control model SLAM method according to claim 5, which is characterized in that the depth
Degree camera shooting head splint 4, which passes through the threaded hole being drilled near four angles in advance, to be fixed with trolley upper plate 6 with bolt, is taken the photograph in depth
Depth camera is placed as 4 top of head splint placement laser radar supporting plate 2, while in the front end of 4 upper surface of depth camera head splint
First 3, laser radar 1 is placed in the upper surface of laser radar supporting plate 2.
7. a kind of independent navigation trolley of view-based access control model SLAM method according to claim 5 and 6, which is characterized in that swash
Optical radar supporting plate 2 and depth camera head splint 4 are drilled with 3 equidistant threaded holes, the threaded hole phase of the two at intermediate position respectively
It is mutually fixed by copper post with bolt after alignment, and the height of copper post is adjustable according to actual needs, in trolley upper plate 6
Rest is for placing laptop 5.
8. a kind of independent navigation trolley of view-based access control model SLAM method according to claim 6, which is characterized in that the depth
The lower part for spending camera 3 is equipped with the bracket with screw hole, and it is right big threaded hole, the two such as to be also provided on depth camera head splint 4
It is fixed after neat by hex bolts.
9. a kind of independent navigation trolley of view-based access control model SLAM method according to claim 6, which is characterized in that described to swash
The lower part of optical radar 1 has the bracket of 3 threaded holes, and equal big equidistant threaded hole is also provided on laser radar supporting plate 2, is aligned
The big square hole such as fix, while being provided on laser radar supporting plate 1 and depth camera head splint 4 with bolt later.
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| CN201910132685.8A CN109857113A (en) | 2019-02-22 | 2019-02-22 | A kind of independent navigation trolley of view-based access control model SLAM method |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112634362A (en) * | 2020-12-09 | 2021-04-09 | 电子科技大学 | Indoor wall plastering robot vision accurate positioning method based on line laser assistance |
| CN113218384A (en) * | 2021-05-19 | 2021-08-06 | 中国计量大学 | Indoor AGV self-adaptation positioning system based on laser SLAM |
| TWI756844B (en) * | 2020-09-25 | 2022-03-01 | 財團法人工業技術研究院 | Automated guided vehicle navigation device and method thereof |
-
2019
- 2019-02-22 CN CN201910132685.8A patent/CN109857113A/en active Pending
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| TWI756844B (en) * | 2020-09-25 | 2022-03-01 | 財團法人工業技術研究院 | Automated guided vehicle navigation device and method thereof |
| US11636612B2 (en) | 2020-09-25 | 2023-04-25 | Industrial Technology Research Institute | Automated guided vehicle navigation device and method thereof |
| CN112634362A (en) * | 2020-12-09 | 2021-04-09 | 电子科技大学 | Indoor wall plastering robot vision accurate positioning method based on line laser assistance |
| CN113218384A (en) * | 2021-05-19 | 2021-08-06 | 中国计量大学 | Indoor AGV self-adaptation positioning system based on laser SLAM |
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Application publication date: 20190607 |
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