CN113276084A

CN113276084A - ROS intelligent vehicle

Info

Publication number: CN113276084A
Application number: CN202110646690.8A
Authority: CN
Inventors: 隆承雨; 孙昕; 束天成; 姜炳旭
Original assignee: Guangxi University
Current assignee: Guangxi University
Priority date: 2021-06-10
Filing date: 2021-06-10
Publication date: 2021-08-20

Abstract

The invention relates to the technical field of ROS intelligent trolleys, in particular to an ROS intelligent trolley. The invention aims to solve the technical problems of low detection speed, low safety coefficient, poor portability, poor working quality and low rescue efficiency. In order to solve the technical problems, the invention provides an ROS intelligent trolley which mainly comprises moving wheels, a trolley body frame, a PLC, a mechanical arm assembly, a camera assembly and an energy source assembly, can realize emergency work under extreme conditions such as earthquake, collapse, nuclear radiation monitoring, severe weather, chemical plant inspection and the like, integrates an optimization algorithm of the trolley and an assembled mechanical structure to greatly enhance the anti-interference performance of the trolley, can continuously and stably work in most extreme environments, obtains point cloud data by scanning surrounding environment information, transmits the point cloud data back to a terminal to establish a high-precision map, provides accurate reference information for rescuers, and provides great convenience for the rescuers to carry out rescue work at the first time.

Description

ROS intelligent vehicle

Technical Field

The invention relates to the technical field of ROS intelligent trolleys, in particular to an ROS intelligent trolley.

Background

In recent years, the frequency of natural disasters is sharply increased, the requirements on rescue speed and efficiency are higher and higher, and in the face of various disasters such as geological disasters and meteorological disasters in the past year, the disasters are still difficult to effectively avoid in advance at the level of the current disaster prediction in the world, and meanwhile, under the conditions that most of the disasters are wide in influence range and strong in destructive power, the disasters arrive at the scene at the first time after the disaster, and the rescue in the same gold time for accurately surveying and mapping the scene condition is very important. After a disaster occurs, the propelling of rescue work is greatly hindered due to the problems that rescue manpower and material resources are seriously insufficient, rescue goods and materials are difficult to transport, surveying and mapping instruments are not intelligent enough, and life threats still exist in rescuers entering a disaster area all the time. Therefore, the problem of how to develop and upgrade mechanized and automated products into the rescue field needs to be solved urgently.

The existing manual rescue always faces the problems of low detection speed, low safety factor and the like, most of rescue equipment on the market has the defects of poor portability, poor working quality, low rescue efficiency and the like, and along with the continuous development and promotion of industrial intelligence and automation, although some relatively practical intelligent rescue equipment appears, the defects of scientific and advanced technology, narrow applicable scene and the like are still caused, and the gap of the disaster rescue problem cannot be filled.

Disclosure of Invention

The invention aims to provide an ROS intelligent trolley, which solves the problems of poor portability, poor working quality and low rescue efficiency in the background technology by arranging a mechanical arm assembly and an energy assembly.

In order to achieve the purpose, the invention provides the following technical scheme: the utility model provides a ROS intelligent vehicle, is including removing wheel, automobile body frame, PLC, robotic arm assembly, camera subassembly and energy subassembly, automobile body frame's internally mounted has the energy subassembly, PLC, robotic arm assembly, camera subassembly and radar subassembly are installed to automobile body frame's roof top surface, install laser radar module, camera module, wifi module, wireless charging module, DC motor control module, central processing unit module, gyroscope accelerometer sensor module and ultrasonic ranging module on the PLC, install four DC motor, four on the automobile body frame DC motor's output all installs the removal wheel.

Preferably, a speed sensor, an ultrasonic ranging sensor and a gyroscope are mounted on the vehicle body frame.

Preferably, the mechanical arm assembly comprises a mechanical arm base, a main supporting piece, a rotating motor box and an auxiliary supporting piece, the mechanical arm base is fixedly installed on the top surface of a top plate of the vehicle body frame, a rotation motor is installed in the mechanical arm base, the main supporting piece is installed on the top of the mechanical arm base in a rotating mode through the rotation motor, and three rotating motor boxes and two auxiliary supporting pieces are sequentially installed on the top of the main supporting piece.

Preferably, a connecting piece is fixedly mounted at one end, far away from the auxiliary supporting piece, of the rotating motor box at the top, and an electric clamp is mounted on the connecting piece.

Preferably, the camera subassembly includes camera roating seat, support column, camera and spliced pole, the roof top surface of spliced pole fixed mounting automobile body frame is close to the position of locomotive, the top fixed mounting of spliced pole has the camera roating seat, install the support column on the camera roating seat, the camera is installed on the top of support column.

Preferably, the radar subassembly includes radar and radar base, radar base fixed mounting is in body frame's roof top surface middle part, the radar is installed at the top of radar base.

Preferably, the four moving wheels are Mecanum wheels, the camera is a three-dimensional RGBD depth camera, and the radar is a laser radar.

Preferably, the energy assembly comprises a storage battery and a plurality of super capacitors, and a wireless charging and receiving end is installed in the energy assembly.

Preferably, the PLC comprises an STM single chip microcomputer and a Jetson nano module, and an antenna is installed on the PLC.

Preferably, a hydraulic independent suspension system is installed between the moving wheel and the vehicle body frame.

Compared with the prior art, the invention has the beneficial effects that:

(1) the mobile wheel, the vehicle body frame, the PLC, the mechanical arm assembly, the camera assembly and the energy assembly are matched with each other, so that emergency work under extreme conditions such as earthquake, collapse, nuclear radiation monitoring, severe weather, chemical plant inspection and the like can be realized, the anti-interference performance of the trolley is greatly enhanced by integrating the optimization algorithm of the trolley and the assembled mechanical structure, and the trolley can continuously and stably work in most extreme environments;

(2) according to the invention, the point cloud data is obtained by scanning the surrounding environment information and is transmitted back to the terminal to establish the high-precision map, so that accurate reference information is provided for rescue workers, great convenience is provided for the rescue workers to carry out rescue work at the first time, the path planning and autonomous navigation of the trolley are automated to the greatest extent, and the control and the intervention of people are basically not needed;

(3) the invention can realize the work of the vehicle group, the emergency work efficiency and the quality of the trolley can be greatly improved by introducing the work of the vehicle group, the hybrid energy system of the trolley ensures the continuity of energy supply, the cruising ability of the trolley is greatly improved, and the stability of the trolley under the high-strength work is ensured.

Drawings

FIG. 1 is a schematic front view of the present invention;

FIG. 2 is a left side view of the present invention;

FIG. 3 is a schematic top view of the present invention;

FIG. 4 is a front view of a robot arm assembly of the present invention;

FIG. 5 is a left side view of the robot assembly of the present invention;

FIG. 6 is a schematic front view of a camera module according to the present invention;

FIG. 7 is a left side view of the camera module of the present invention;

FIG. 8 is a schematic front view of a radar assembly according to the present invention;

FIG. 9 is a schematic top view of a radar assembly of the present invention;

fig. 10 is a circuit diagram of an energy source assembly of the present invention.

In the figure: 1. a moving wheel; 2. a vehicle body frame; 3. an antenna; 4. a PLC; 5. a mechanical arm assembly; 6. a camera assembly; 7. an energy source component; 8. a radar component; 501. a mechanical arm base; 502. a main support; 503. rotating a motor box; 504. a secondary support member; 505. a connecting member; 506. an electric clamp; 601. a camera rotating base; 602. a support pillar; 603. a camera; 604. connecting columns; 801. a radar; 802. a radar base.

Detailed Description

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

The first embodiment is as follows:

referring to fig. 1-10, an ROS intelligent cart comprises a moving wheel 1, a body frame 2, a PLC4, a mechanical arm assembly 5, a camera assembly 6 and an energy assembly 7, wherein the energy assembly 7 is installed inside the body frame 2, a PLC4, the mechanical arm assembly 5, the camera assembly 6 and a radar assembly 8 are installed on the top surface of a top plate of the body frame 2, a laser radar module, a camera module, a wifi module, a wireless charging module, a dc motor control module, a central processing unit module, a gyro accelerometer sensor module and an ultrasonic ranging module are installed on the PLC4, four dc motors are installed on the body frame 2, the moving wheel 1 is installed at the output ends of the four dc motors, and the dc motor control module is used for controlling the moving wheel 1; the three-dimensional RGBD depth camera can directly read the distance between a target point and the camera 603 through pixels by utilizing an infrared structured light technology or a Time-of-Flight technology, firstly, the Time interval of light between a pulse emitter and the target is calculated when the three-dimensional RGBD depth camera works, and then the distance of the target is calculated by measuring Time difference; the laser radar is a measuring instrument for measuring the distance of a target by irradiating the target by pulse laser and measuring the return time of a reflected pulse by a sensor, and can generate a three-dimensional digital image by judging the difference between the time difference value and the wavelength of laser emission and return by utilizing the sensor.

Example two:

referring to fig. 1-10, an ROS intelligent cart comprises a moving wheel 1, a body frame 2, a PLC4, a mechanical arm assembly 5, a camera assembly 6 and an energy assembly 7, wherein the energy assembly 7 is installed inside the body frame 2, a PLC4, the mechanical arm assembly 5, the camera assembly 6 and a radar assembly 8 are installed on the top surface of a top plate of the body frame 2, a laser radar module, a camera module, a wifi module, a wireless charging module, a dc motor control module, a central processing unit module, a gyro accelerometer sensor module and an ultrasonic ranging module are installed on the PLC4, four dc motors are installed on the body frame 2, the moving wheel 1 is installed at the output ends of the four dc motors, and the dc motor control module is used for controlling the moving wheel 1; the three-dimensional RGBD depth camera can directly read the distance between a target point and the camera 603 through pixels by utilizing an infrared structured light technology or a Time-of-Flight technology, firstly, the Time interval of light between a pulse emitter and the target is calculated when the three-dimensional RGBD depth camera works, and then the distance of the target is calculated by measuring Time difference; the lidar is a measuring instrument for measuring a target distance by irradiating a target with a pulse laser and measuring a return time of a reflected pulse with a sensor, and a three-dimensional digital image can be generated by judging a difference in time and a difference in wavelength between laser emission and return with the sensor. Because the laser radar uses ultraviolet rays, infrared rays or other light waves to image an object, the laser radar is less influenced by the characteristics of materials, the imaging range is wider, and the laser radar contains various substances such as metal, liquid and even aerosol.

In order to obtain running information in time in the running process, the sensors can acquire the speed, the inclination angle and the distance between the trolley and an obstacle and transmit the acquired parameters to the PLC4, the PLC4 can integrate the parameters into a core driving strategy to improve the reliability and the stability of the trolley in work, a speed sensor, an ultrasonic distance measuring sensor and a gyroscope are installed on the trolley body frame 2, in order to realize simple road obstacle sweeping and the transportation of some necessary materials, the mechanical arm assembly 5 comprises a mechanical arm base 501, a main supporting piece 502, a rotating motor box 503 and an auxiliary supporting piece 504, the mechanical arm base 501 is fixedly installed on the top plate top surface of the trolley body frame 2, a self-rotating motor is installed in the mechanical arm base 501, the main supporting piece 502 is rotatably installed on the top of the mechanical arm base 501 through the self-rotating motor, three rotating motor boxes 503 and two auxiliary supporting pieces 504 are sequentially installed on the top of the main supporting piece 502, a connecting piece 505 is fixedly installed at one end, far away from the secondary support piece 504, of the top rotating motor box 503, an electric clamp 506 is installed on the connecting piece 505, the camera assembly 6 comprises a camera rotating seat 601, a supporting column 602, a camera 603 and a connecting column 604, the connecting column 604 is fixedly installed at the position, close to the vehicle head, of the top plate top surface of the vehicle body frame 2, the camera rotating seat 601 is fixedly installed at the top of the connecting column 604, the supporting column 602 is installed on the camera rotating seat 601, the camera 603 is installed at the top end of the supporting column 602, in order to achieve an environment component three-dimensional map, a point cloud data matrix based on three-dimensional coordinates is generated by detecting laser signals sent and received by a laser radar, then the point cloud data matrix is optimized through an NVIDIA Jetson nano graphic processor, the optimized three-dimensional map data matrix can be obtained, finally the data matrix is transmitted back to a terminal through a wifi module, the three-dimensional map can be constructed on the terminal, the radar assembly 8 comprises a radar 801 and a radar base 802, the radar base 802 is fixedly installed in the middle of the top plate top surface of the vehicle body frame 2, the radar 801 is installed on the top of the radar base 802, in order to improve the accuracy of a constructed map, an RGBD three-dimensional RGBD depth camera and an angle control module are also utilized, when the radar base 802 works, the depth camera generates a point cloud data matrix based on the three-dimensional RGBD depth camera by collecting image data, the point cloud data matrix of the three-dimensional RGBD depth camera is fused with a laser radar point cloud data matrix by matrix coordinate transformation through NVIDIA Jetson nano, the three-dimensional map constructed by transmitting the data back to a terminal has higher accuracy and better effect, in order to enable the trolley to flexibly run, the trolley is provided with a microphone wheel, the wheel is characterized in that rollers which are distributed obliquely are installed on the wheel rim of the wheel, so that the trolley can also realize oblique movement while realizing front and back driving, and in order to enable the trolley to be more flexible in, a differential driving mode is adopted, each McOm wheel is controlled by an independent motor, each motor can provide about 10kg of traction force to the maximum extent, the trolley has good performance in the aspects of driving performance and operation flexibility, four moving wheels 1 are Mecanum wheels, a camera 603 is a three-dimensional RGBD depth camera, a radar 801 is a laser radar, in order to solve the problems that a traditional vehicle-mounted energy system is slow in charging and poor in adaptability, the trolley is provided with a hybrid energy system of a super capacitor and a storage battery independently and matched with an induction coil to realize wireless high-power charging and discharging, an energy component 7 comprises the storage battery and a plurality of super capacitors, a wireless charging and receiving end is installed in the energy component 7, a PLC4 adopts an STM32 single chip microcomputer and a Jetson nano module, and the Jetson nano module is mainly responsible for processing data collected by the laser radar and the three-dimensional RGBD depth camera, the STM32 singlechip is supplementary Jetson nano data processing then, the two can be interactive transmission information and the motion of tracking dolly is sought to the common control intelligence, PLC4 includes STM32 singlechip and Jetson nano module, install antenna 3 on the PLC4, in order to make the dolly can adapt to rugged topography, the dolly has still designed independent suspension, the independent suspension of fluid pressure type, compare in other structures, when facing rugged topography, the hydraulic pressure independent suspension system is installed between jolt more little movable wheel 1 and the automobile body frame 2 of production.

The working principle is as follows: the energy component 7 and the control switch are internally connected in the electric appliance elements during use, the data returned from the trolley to the terminal need to be transmitted by means of a wireless network, therefore, when the trolley works, a wireless network hotspot module is firstly required to be opened, then a computer provided with an Ubuntu system is required to be connected with a hotspot of the trolley, the computer is ensured to be successfully connected with the hotspot module of the trolley, the control and data return of the trolley can be ensured to be completed, in order to realize the three-dimensional map of an environmental component, a point cloud data matrix based on three-dimensional coordinates is generated by detecting laser signals sent and received by a laser radar, then an optimized three-dimensional map data matrix can be obtained by optimizing through an IDIA Jetnano graphic processor, finally the data matrix is returned to the terminal through a wifi module, the three-dimensional map can be constructed at the terminal, in order to improve the precision of the constructed map, a three-dimensional RGBD depth camera and an angle control module are also utilized, when the three-dimensional RGBD depth camera works, the three-dimensional RGBD depth camera generates a point cloud data matrix based on the three-dimensional RGBD depth camera by collecting image data, the point cloud data matrix of the three-dimensional RGBD depth camera is fused with a laser radar point cloud data matrix by carrying out matrix coordinate transformation through NVIDIA Jetson nano, and the three-dimensional map established by the three-dimensional RGBD depth camera is higher in precision and better in effect.

In order to enable the trolley to flexibly run, the trolley is provided with the McOm wheels, and the wheels are characterized in that the wheel rims of the wheels are provided with obliquely distributed rollers, so that the trolley can be obliquely moved while being driven forwards and backwards, and in order to enable the trolley to be more flexible in control and driving, a differential driving mode is adopted, each McOm wheel is controlled by an independent motor, each motor can provide about 10kg of traction force to the maximum extent, and therefore the trolley has good performance in the aspects of driving performance and operation flexibility.

In order to enable the trolley to adapt to rugged terrain, the trolley is further provided with an independent suspension structure, and compared with other structures, the hydraulic independent suspension structure generates smaller jolts when facing the rugged terrain.

In order to solve the problems of slow charging and poor adaptability of the traditional vehicle-mounted energy system, the trolley is automatically designed with a hybrid energy system of a super capacitor and a storage battery, matched with an induction coil, the wireless high-power charging and discharging can be realized, the common high-power charging is a positive and negative pulse charging method, but the charging method needs a resistor as a negative pulse channel, the heating problem can be generated during charging, a super capacitor and a storage battery are used for charging in parallel, the super capacitor is used as a negative pulse channel, and the flyback converter is used for absorbing the negative pulse, thereby reducing the heating problem and improving the charging efficiency, when the trolley normally works, the energy is provided by the storage battery, when the trolley is required to be driven at high power in a special environment, the energy of the storage battery is firstly released to the super capacitor by the trolley, and then the driving power of the trolley is improved by utilizing the characteristic that the super capacitor can discharge at high power.

In order to obtain driving information in time in the running process, a plurality of sensors such as an acceleration sensor, an ultrasonic distance measuring sensor, a gyroscope and the like are arranged on the vehicle, the sensors can acquire the speed, the inclination angle and the distance between the vehicle and an obstacle, acquired parameters are transmitted to a central processing unit, and the central processing unit can integrate the parameters into a core driving strategy, so that the reliability and the stability of the vehicle are improved.

The central processing unit module is the core of dolly, the STM32 chip is the central processing unit of dolly, the drive and the control strategy of dolly are not only decided to this module, also monitor and control the normal operating of each module, this module can be according to the demand at terminal, other modules such as sensor that will need to come into service put into use, in addition, when the module that needs work breaks down or the dolly can't normally work, this treater also can be correct makes the judgement, in time make the feedback to the terminal, so that the reliability of system is improved.

In order to enable the trolley to be suitable under various conditions, all elements of the trolley are reasonably placed in a specially designed shell frame, the shell is mainly made of low-carbon steel, the mechanical strength of the shell is high, the weight of 10kg can be loaded, 1000N impact force can be borne, internal elements can be well protected from being damaged in case of sudden situations, and in order to prevent the frame from being damaged in case of various sudden situations, the outer portion of the frame of the trolley is galvanized, and the damage to the frame in case of scratching or corrosive gas can be reduced.

The present invention relates to circuits, electronic components and control modules all of which are well within the skill of those in the art and, needless to say, the present invention is not directed to software and process improvements.

In the description of the present invention, it is to be understood that the terms "center", "middle", "eccentric", "longitudinal", "lateral", "length", "width", "thickness", "height", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential", and the like, indicate the orientation or positional relationship indicated based on the orientation or positional relationship shown in the drawings, and are only for convenience of describing and simplifying the description, but do not indicate or imply that the device or element referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus, should not be construed as limiting the invention.

It will be evident to those skilled in the art that the invention is not limited to the details of the foregoing illustrative embodiments, and that the present invention may be embodied in other specific forms without departing from the spirit or essential attributes thereof. The present embodiments are therefore to be considered in all respects as illustrative and not restrictive, the scope of the invention being indicated by the appended claims rather than by the foregoing description, and all changes which come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein. Any reference sign in a claim should not be construed as limiting the claim concerned.

Claims

1. The utility model provides a ROS intelligent vehicle which characterized in that: including removing wheel (1), automobile body frame (2), PLC (4), arm subassembly (5), camera subassembly (6) and energy subassembly (7), the internally mounted of automobile body frame (2) has energy subassembly (7), PLC (4), arm subassembly (5), camera subassembly (6) and radar subassembly (8) are installed to the roof top surface of automobile body frame (2), install laser radar module, camera module, wifi module, wireless module, DC motor control module, central processing unit module, gyroscope accelerometer sensor module and ultrasonic ranging module on PLC (4), install four DC motor on automobile body frame (2), four DC motor's output all is installed and is removed wheel (1).

2. The ROS intelligent cart of claim 1, wherein: and a speed sensor, an ultrasonic distance measuring sensor and a gyroscope are mounted on the vehicle body frame (2).

3. The ROS intelligent cart of claim 1, wherein: the mechanical arm assembly (5) comprises a mechanical arm base (501), a main supporting piece (502), a rotating motor box (503) and an auxiliary supporting piece (504), the mechanical arm base (501) is fixedly installed on the top surface of a top plate of the vehicle body frame (2), a rotation motor is installed in the mechanical arm base (501), the main supporting piece (502) is installed at the top of the mechanical arm base (501) in a rotating mode through the rotation motor, and three rotating motor boxes (503) and two auxiliary supporting pieces (504) are sequentially installed at the top of the main supporting piece (502).

4. The ROS intelligent cart of claim 3, wherein: the top is that one end fixed mounting that vice support piece (504) is kept away from in rotating electrical machine case (503) has connecting piece (505), install electronic anchor clamps (506) on connecting piece (505).

5. The ROS intelligent cart of claim 1, wherein: the camera assembly (6) comprises a camera rotating seat (601), a supporting column (602), a camera (603) and a connecting column (604), the top surface of a top plate of the connecting column (604) fixedly installed on the vehicle body frame (2) is close to the position of a vehicle head, the top of the connecting column (604) is fixedly installed with the camera rotating seat (601), the supporting column (602) is installed on the camera rotating seat (601), and the camera (603) is installed on the top end of the supporting column (602).

6. The ROS intelligent cart of claim 1, wherein: radar subassembly (8) include radar (801) and radar base (802), radar base (802) fixed mounting is in the roof top surface middle part of automobile body frame (2), radar (801) are installed to the top of radar base (802).

7. The ROS intelligent cart of claim 1, wherein: the four moving wheels (1) are Mecanum wheels, the camera (603) is a three-dimensional RGBD depth camera, and the radar (801) is a laser radar.

8. The ROS intelligent cart of claim 1, wherein: the energy component (7) comprises a storage battery and a plurality of super capacitors, and a wireless charging and receiving end is installed in the energy component (7).

9. The ROS intelligent cart of claim 1, wherein: PLC (4) include STM32 singlechip and Jetson nano module, install antenna (3) on PLC (4).

10. The ROS intelligent cart of claim 1, wherein: a hydraulic independent suspension system is arranged between the moving wheel (1) and the vehicle body frame (2).