CN110207705A - A kind of indoor navigation vehicle based on laser SLAM - Google Patents
A kind of indoor navigation vehicle based on laser SLAM Download PDFInfo
- Publication number
- CN110207705A CN110207705A CN201910444797.7A CN201910444797A CN110207705A CN 110207705 A CN110207705 A CN 110207705A CN 201910444797 A CN201910444797 A CN 201910444797A CN 110207705 A CN110207705 A CN 110207705A
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- miniature
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- machine
- laser slam
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- 238000004891 communication Methods 0.000 claims description 13
- 238000012545 processing Methods 0.000 claims description 6
- 241000209140 Triticum Species 0.000 claims description 2
- 235000021307 Triticum Nutrition 0.000 claims description 2
- 230000006837 decompression Effects 0.000 claims 1
- 238000010586 diagram Methods 0.000 description 5
- 238000013461 design Methods 0.000 description 3
- 238000011161 development Methods 0.000 description 3
- 230000000694 effects Effects 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
- 230000002708 enhancing effect Effects 0.000 description 1
- 238000003780 insertion Methods 0.000 description 1
- 230000037431 insertion Effects 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 230000004807 localization Effects 0.000 description 1
- 238000013507 mapping Methods 0.000 description 1
- 238000010408 sweeping Methods 0.000 description 1
Classifications
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/20—Instruments for performing navigational calculations
- G01C21/206—Instruments for performing navigational calculations specially adapted for indoor navigation
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/88—Lidar systems specially adapted for specific applications
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- Engineering & Computer Science (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Computer Networks & Wireless Communication (AREA)
- Electromagnetism (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
- Toys (AREA)
Abstract
The invention discloses a kind of indoor navigation vehicles based on laser SLAM, including vehicle chassis, four Mecanum wheels, chassis drive system, laser SLAM navigation system and DC power system for power supply, the chassis drive system includes driving chip and microcontroller, the Mecanum wheel is distributed in the vehicle chassis two sides in a manner of two one group, the microcontroller, driving chip and Mecanum wheel are sequentially connected, the laser SLAM navigation system includes laser radar and miniature PC machine, the laser radar is arranged in the top of the vehicle chassis and does not block in side at least, the DC power system is separately connected the power interface for connecing electric pin and miniature PC machine of the microcontroller, the present invention combines X86-based and embedded system, system can be greatly improved Continuation of the journey.
Description
Technical field
The present invention relates to a kind of indoor navigation robot, especially a kind of indoor navigation vehicle based on laser SLAM.
Background technique
With the rise of the Indoor Robot of self-navigation, such as sweeping robot, how robot to be allowed to calculate more
Accurate mobile route is added to become each producer's issues that need special attention, at present positioning immediately and map structuring (Simultaneous
Localization and Mapping, i.e. SLAM) it is more mature scheme, SLAM technology is combined into different types of sensing
Device is adapted to different scenes, but since the floating-point operation of SLAM algorithm is to the more demanding of processor, currently based on
The navigating robot of SLAM substantially uses x86 processor to carry out global control, and power consumption is higher, is unfavorable for the continuous of navigating robot
Boat.
Summary of the invention
To solve the above problems, the present invention provides a kind of indoor navigation vehicle based on laser SLAM, by miniature PC machine and embedding
Enter the combination of formula processing system, reduces the power consumption of overall system control, improve the cruising ability of navigation vehicle.
Technical solution used by the present invention solves the problems, such as it is:
A kind of indoor navigation vehicle based on laser SLAM, including vehicle chassis, four Mecanum wheels, chassis driving system
System, laser SLAM navigation system and the DC power system for power supply, the vehicle chassis carry the chassis drive system,
Laser SLAM navigation system and DC power supply, the chassis drive system include driving chip and microcontroller, and the Mike receives
Nurse wheel is distributed in the vehicle chassis two sides, the microcontroller, driving chip and Mecanum wheel in a manner of two one group
It is sequentially connected, the laser SLAM navigation system includes laser radar and miniature PC machine, and the laser radar is arranged in the vehicle
It the top on chassis and is not blocked in side at least, the miniature PC machine connects the laser radar, the microcontroller
The miniature PC machine is connected, the DC power system is separately connected the electricity for connecing electric pin and miniature PC machine of the microcontroller
Source interface.
Further, the driving chip includes front-wheel drive module and rear wheel drive module, and the front-wheel drive module connects
Two Mecanum wheels positioned at front are connect, the rear wheel drive module connects two Mecanums being located behind
Wheel, the front-wheel drive module and rear wheel drive module are TB6612 chip.
Further, the microcontroller is the STM32F407ZGT6 in embedded processing systems.
Further, the laser radar is RPLIDAR A1, and the laser radar is connected to the network by ROS to described miniature
PC machine.
Further, the DC power system includes the DC source that there is two-way 24V to export, the first reduction voltage circuit and second
Reduction voltage circuit, wherein exporting all the way for the DC source connects the microcontroller by first reduction voltage circuit, described straight
The another output in stream source connects the miniature PC machine by second reduction voltage circuit.
Further, first reduction voltage circuit includes that 24V turns 12V circuit, 12V turns 5V circuit and 5V turns 3.3V circuit, institute
It states 24V and turns driving chip described in 12V circuit connection and Mecanum wheel, the 24V turns 12V circuit, 12V turns 5V circuit, 5V turns
3.3V circuit, microprocessor are sequentially connected.
It further, further include motor encoder, the motor encoder is arranged on the Mecanum wheel, the motor
Encoder connects on the timer pin of the microprocessor.
Further, the chassis drive system further includes IIC communication interface, USART interface and remains for burning in advance and can hold
The STLINK download interface of style of writing part, the IIC communication interface are drawn by the IIC pin of the microprocessor, the micro process
Device connects the miniature PC machine by the USART interface, the STLINK download interface by the microprocessor STLINK
Pin is drawn.
Further, the miniature PC machine further includes wireless communication module, the control outside the wireless communication module connection
Terminal.
The embodiment of the present invention at least has the following beneficial effects: that the microprocessor of chassis drive system of the invention is based on
The miniature PC machine of embedded system, laser SLAM navigation system is based on X86-based, using embedded system in addition to that can guarantee
The structure and motion mode of enough freely design robots, it is often more important that embedded system has very aobvious in terms of low-power consumption
The advantage of work, the simple computation little to this kind of data processing amount of chassis drive system, can greatly improve the continuation of the journey of system.
Detailed description of the invention
Present invention will be further explained below with reference to the attached drawings and examples.
Fig. 1 is the module connection diagram of the embodiment of the present invention；
Fig. 2 is the driving chip connection schematic diagram of the embodiment of the present invention；
Fig. 3 is the vehicle body of the embodiment of the present invention and the overlooking structure diagram of Mecanum wheel；
Fig. 4 is that the 12V of the embodiment of the present invention turns the circuit diagram of 5V；
Fig. 5 is that the 5V of the embodiment of the present invention turns the circuit diagram of 3.3V.
Specific embodiment
This part will be described in specific embodiments of the present invention, and the preferred embodiments of the invention is shown in the accompanying drawings, attached
The effect of figure be with figure remark additionally book word segment description, enable a person to intuitively, visually understand of the invention
Each technical characteristic and overall technical architecture, but it should not be understood as limiting the scope of the invention.
In the description of the present invention, it is to be understood that, be related to orientation description, for example, above and below, front, rear, left and right etc.
The orientation or positional relationship of instruction is to be based on the orientation or positional relationship shown in the drawings, and is merely for convenience of the description present invention and letter
Change description, rather than the device or element of indication or suggestion meaning must have a particular orientation, with specific orientation construct and
Operation, therefore be not considered as limiting the invention.
In the description of the present invention, several to be meant that one or more, it is multiple to be meant that two or more, be greater than,
Be less than, more than etc. be interpreted as not including this number, it is above, following, within etc. be interpreted as including this number.If there is being described to first,
Second is only intended to for the purpose of distinguishing technical characteristic, is not understood to indicate or imply relative importance or implicitly indicates institute
The quantity of the technical characteristic of instruction or the precedence relationship for implicitly indicating indicated technical characteristic.
In description of the invention, unless otherwise restricted clearly, the words such as setting, installation, connection be shall be understood in a broad sense, institute
Above-mentioned word in the present invention specific can rationally be determined with the particular content of combination technology scheme by belonging to technical field technical staff
Meaning.
Referring to Figure 1 and Figure 3, the embodiment provides a kind of indoor navigation vehicles based on laser SLAM, including vehicle
100, four, chassis Mecanum wheel 200, chassis drive system, laser SLAM navigation system and the DC power supply for power supply
System, the vehicle chassis 100 carry the chassis drive system, laser SLAM navigation system and DC power supply, the chassis
Drive system includes driving chip and microcontroller, and the Mecanum wheel 200 is distributed in the vehicle in a manner of two one group
100 two sides of chassis, the microcontroller, driving chip and Mecanum wheel 200 are sequentially connected, laser SLAM navigation system
System includes laser radar and miniature PC machine, and the laser radar is arranged in the top of the vehicle chassis 100 and at least in side
Face is not blocked, and the miniature PC machine connects the laser radar, and the microcontroller connects the miniature PC machine, the direct current
Power-supply system is separately connected the power interface for connecing electric pin and miniature PC machine of the microcontroller.
Referring to Fig. 2, the driving chip includes front-wheel drive module and rear wheel drive module, and the front-wheel drive module connects
Two Mecanum wheels 200 positioned at front are connect, the rear wheel drive module connects two Mikes being located behind
Na Mu wheel 200, the front-wheel drive module and rear wheel drive module are TB6612 chip.One TB6612 chip can drive
Two motors, since the present invention is four-wheel drive, it is therefore desirable to which two pieces of TB6612 chips, one piece of control front two Mike receive
Nurse wheel 200, another piece controls two Mecanum wheels 200 below.
In the present embodiment, for the scalability for enhancing modularized design, improving system, the microcontroller is insertion
STM32F407ZGT6 in formula processing system, microcontroller chip of the invention are based on Cortex-M4 kernel, and frequency is
168MHz, while STM32 official provides a very complete library function development library, relative to that the operation deposit of 51 single-chip microcontrollers
The development scheme of device, greatly improves development efficiency.
In the present embodiment, the laser radar is RPLIDAR A1, and the laser radar is connected to the network by ROS to institute
State miniature PC machine.12 meters of the comprehensive laser scanning and ranging of 360 deg may be implemented in RPLIDAR A1, therefore is arranged
The top of entire navigation vehicle,
Referring to Fig. 4 and Fig. 5, the DC power system includes the DC source that there is two-way 24V to export, the first reduction voltage circuit
With the second reduction voltage circuit, wherein exporting all the way for the DC source connects the microcontroller by first reduction voltage circuit,
The another output of the DC source connects the miniature PC machine, the first reduction voltage circuit packet by second reduction voltage circuit
Include that 24V turns 12V circuit, 12V turns 5V circuit and 5V turns 3.3V circuit, the 24V turns driving chip described in 12V circuit connection and wheat
Ke Namu wheel 200, the 24V turns 12V circuit, 12V turns 5V circuit, 5V turns 3.3V circuit, microprocessor is sequentially connected.This implementation
DC source described in example is big boundary TB48 power supply, and the second pressure drop circuit is that 24V turns 19V, provides normal voltage for miniature PC machine.
It further include motor encoder, the motor encoder is arranged on the Mecanum wheel 200, the motor encoder
Device connects on the timer pin of the microprocessor.Motor encoder is magnetic encoder in the present embodiment, is driven for measuring
The angle of dynamic motor rotation is to calculate driving motor revolving speed.
The chassis drive system further includes IIC communication interface, USART interface and remains for burning executable file in advance
STLINK download interface, the IIC communication interface are drawn by the IIC pin of the microprocessor, and the microprocessor passes through institute
It states USART interface and connects the miniature PC machine, the STLINK download interface is drawn by the STLINK pin of the microprocessor.
The miniature PC machine further includes wireless communication module, the controlling terminal outside the wireless communication module connection.It is logical
Wireless communication module is crossed, user can be remotely controlled by controlling terminals such as mobile phones.
The microprocessor of the chassis drive system of the embodiment of the present invention is based on embedded system, laser SLAM navigation system
Miniature PC machine be based on X86-based, using embedded system in addition to can guarantee freely the structure of design robot and
Motion mode, it is often more important that embedded system in terms of low-power consumption with highly significant advantage, to chassis drive system this
The little simple computation of class data processing amount, can greatly improve the continuation of the journey of system
More than, only presently preferred embodiments of the present invention, the invention is not limited to above embodiment, as long as its with
Identical means reach technical effect of the invention, all should belong to protection scope of the present invention.
Claims (9)
1. a kind of indoor navigation vehicle based on laser SLAM, it is characterised in that: including vehicle chassis, four Mecanum wheels, bottoms
Disc driving system, laser SLAM navigation system and the DC power system for power supply, the vehicle chassis carry the chassis
Drive system, laser SLAM navigation system and DC power supply, the chassis drive system include driving chip and microcontroller, institute
It states Mecanum wheel and is distributed in the vehicle chassis two sides, the microcontroller, driving chip and wheat in a manner of two one group
Ke Namu wheel is sequentially connected, and the laser SLAM navigation system includes laser radar and miniature PC machine, the laser radar setting
The vehicle chassis top and do not blocked in side at least, the miniature PC machine connects the laser radar, described
Microcontroller connects the miniature PC machine, and what the DC power system was separately connected the microcontroller connects electric pin and miniature
The power interface of PC machine.
2. a kind of indoor navigation vehicle based on laser SLAM according to claim 1, it is characterised in that: the driving chip
Including front-wheel drive module and rear wheel drive module, the front-wheel drive module connection is located at two Mecanums in front
Wheel, the rear wheel drive module connect two Mecanum wheels being located behind, and the front-wheel drive module and rear-wheel drive
Dynamic model block is TB6612 chip.
3. a kind of indoor navigation vehicle based on laser SLAM according to claim 1, it is characterised in that: the microcontroller
For the STM32F407ZGT6 in embedded processing systems.
4. a kind of indoor navigation vehicle based on laser SLAM according to claim 1, it is characterised in that: the laser radar
For RPLIDAR A1, the laser radar is connected to the network by ROS to the miniature PC machine.
5. a kind of indoor navigation vehicle based on laser SLAM according to claim 1, it is characterised in that: the DC power supply
System includes DC source, the first reduction voltage circuit and the second reduction voltage circuit that there is two-way 24V to export, and wherein the one of the DC source
Road output connects the microcontroller by first reduction voltage circuit, and the another output of the DC source passes through described second
Reduction voltage circuit connects the miniature PC machine.
6. a kind of indoor navigation vehicle based on laser SLAM according to claim 5, it is characterised in that: first decompression
Circuit includes that 24V turns 12V circuit, 12V turns 5V circuit and 5V turns 3.3V circuit, and the 24V turns to drive core described in 12V circuit connection
Piece and Mecanum wheel, the 24V turns 12V circuit, 12V turns 5V circuit, 5V turns 3.3V circuit, microprocessor is sequentially connected.
7. a kind of indoor navigation vehicle based on laser SLAM according to claim 1, it is characterised in that: further include that motor is compiled
Code device, the motor encoder are arranged on the Mecanum wheel, and the motor encoder connects determining for the microprocessor
When device pin on.
8. a kind of indoor navigation vehicle based on laser SLAM according to claim 1, it is characterised in that: the chassis driving
System further includes IIC communication interface, USART interface and remains for the STLINK download interface of burning executable file in advance, described
IIC communication interface is drawn by the IIC pin of the microprocessor, and the microprocessor passes through described in USART interface connection
Miniature PC machine, the STLINK download interface are drawn by the STLINK pin of the microprocessor.
9. a kind of indoor navigation vehicle based on laser SLAM according to claim 1, it is characterised in that: the miniature PC machine
It further include wireless communication module, the controlling terminal outside the wireless communication module connection.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910444797.7A CN110207705A (en) | 2019-05-27 | 2019-05-27 | A kind of indoor navigation vehicle based on laser SLAM |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910444797.7A CN110207705A (en) | 2019-05-27 | 2019-05-27 | A kind of indoor navigation vehicle based on laser SLAM |
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| CN110207705A true CN110207705A (en) | 2019-09-06 |
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| CN201910444797.7A Pending CN110207705A (en) | 2019-05-27 | 2019-05-27 | A kind of indoor navigation vehicle based on laser SLAM |
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