CN117400752A - Autonomous traveling trolley device based on multisensor fusion slam - Google Patents
Autonomous traveling trolley device based on multisensor fusion slam Download PDFInfo
- Publication number
- CN117400752A CN117400752A CN202210778199.5A CN202210778199A CN117400752A CN 117400752 A CN117400752 A CN 117400752A CN 202210778199 A CN202210778199 A CN 202210778199A CN 117400752 A CN117400752 A CN 117400752A
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- Prior art keywords
- fixedly connected
- chassis
- top side
- device based
- autonomous traveling
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- 230000004927 fusion Effects 0.000 title claims abstract description 18
- 230000007246 mechanism Effects 0.000 claims abstract description 21
- 230000005540 biological transmission Effects 0.000 claims abstract description 18
- 230000001502 supplementing effect Effects 0.000 claims abstract description 12
- 238000004891 communication Methods 0.000 claims description 9
- 238000013016 damping Methods 0.000 claims description 4
- 238000000034 method Methods 0.000 description 4
- 230000006978 adaptation Effects 0.000 description 3
- 238000010276 construction Methods 0.000 description 3
- 230000007613 environmental effect Effects 0.000 description 3
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000006870 function Effects 0.000 description 1
- 238000007499 fusion processing Methods 0.000 description 1
- 230000008447 perception Effects 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L50/00—Electric propulsion with power supplied within the vehicle
- B60L50/50—Electric propulsion with power supplied within the vehicle using propulsion power supplied by batteries or fuel cells
- B60L50/60—Electric propulsion with power supplied within the vehicle using propulsion power supplied by batteries or fuel cells using power supplied by batteries
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G17/00—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load
- B60G17/02—Spring characteristics, e.g. mechanical springs and mechanical adjusting means
- B60G17/04—Spring characteristics, e.g. mechanical springs and mechanical adjusting means fluid spring characteristics
- B60G17/052—Pneumatic spring characteristics
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L53/00—Methods of charging batteries, specially adapted for electric vehicles; Charging stations or on-board charging equipment therefor; Exchange of energy storage elements in electric vehicles
- B60L53/10—Methods of charging batteries, specially adapted for electric vehicles; Charging stations or on-board charging equipment therefor; Exchange of energy storage elements in electric vehicles characterised by the energy transfer between the charging station and the vehicle
- B60L53/14—Conductive energy transfer
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L8/00—Electric propulsion with power supply from forces of nature, e.g. sun or wind
- B60L8/003—Converting light into electric energy, e.g. by using photo-voltaic systems
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60Q—ARRANGEMENT OF SIGNALLING OR LIGHTING DEVICES, THE MOUNTING OR SUPPORTING THEREOF OR CIRCUITS THEREFOR, FOR VEHICLES IN GENERAL
- B60Q9/00—Arrangement or adaptation of signal devices not provided for in one of main groups B60Q1/00 - B60Q7/00, e.g. haptic signalling
- B60Q9/008—Arrangement or adaptation of signal devices not provided for in one of main groups B60Q1/00 - B60Q7/00, e.g. haptic signalling for anti-collision purposes
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D5/00—Power-assisted or power-driven steering
- B62D5/04—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G2202/00—Indexing codes relating to the type of spring, damper or actuator
- B60G2202/10—Type of spring
- B60G2202/15—Fluid spring
- B60G2202/152—Pneumatic spring
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G2800/00—Indexing codes relating to the type of movement or to the condition of the vehicle and to the end result to be achieved by the control action
- B60G2800/90—System Controller type
- B60G2800/91—Suspension Control
- B60G2800/914—Height Control System
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Transportation (AREA)
- Power Engineering (AREA)
- Life Sciences & Earth Sciences (AREA)
- Sustainable Development (AREA)
- Sustainable Energy (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Human Computer Interaction (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The invention discloses an autonomous traveling trolley device based on a multisensor fusion slam, which comprises a chassis, wherein a transmission shaft is arranged at the rear part of the chassis, the transmission shaft penetrates through the chassis from left to right, rear wheels are rotatably connected to the two ends of the transmission shaft, steering mechanisms are arranged on two sides of the front part of the chassis, the steering mechanisms are connected with front wheels, a rectangular notch is formed in the rear part of the top side of the chassis, a battery is fixedly connected in the notch, air springs are fixedly connected to four corners of the top side of the chassis, the top sides of the air springs are fixedly connected with the same trolley body, and a charging contact, a camera and a light supplementing lamp are sequentially and fixedly connected to the front part of the trolley body from bottom to top.
Description
Technical Field
The invention relates to the technical field of robots, in particular to an autonomous traveling trolley device based on a multi-sensor fusion slam.
Background
The SLAM refers to real-time positioning and map construction or concurrent map construction and positioning, and has the main effects that the robot completes autonomous positioning, map construction and path planning by means of sensors in an unknown environment, and particularly refers to the fact that when the robot starts moving from an unknown position in the unknown environment, the robot performs self-positioning according to the position and the map in the moving process, meanwhile, an incremental map is built on the basis of self-positioning, so that autonomous positioning and navigation of the robot are realized, and an autonomous driving trolley device is often needed when SLAM technology is actually applied.
The traditional autonomous traveling trolley device based on the slam is single in structure and function, map building and navigation are generally carried out by adopting only a single type of sensor, such as a laser radar or a camera, complex environment perception and dynamic scene adaptation force cannot be possessed, the recognition accuracy of a front object is low, a map built once the trolley is blocked is incomplete, and the trolley using the camera cannot work continuously in a dark-light environment.
Disclosure of Invention
The invention provides an autonomous traveling trolley device based on a multi-sensor fusion slam, which solves the problems that the traditional slam autonomous traveling trolley device only depends on a single type of sensor, cannot accurately sense and adapt to the environment, has poor obstacle crossing capability, is greatly influenced by environmental factors, has high power consumption and cannot be automatically recharged.
In order to solve the technical problems, the invention provides an autonomous traveling trolley device based on a multisensor fusion slam, which comprises a chassis, wherein a transmission shaft is arranged at the rear part of the chassis, the transmission shaft penetrates through the chassis from left to right and both ends of the transmission shaft are rotationally connected with rear wheels, steering mechanisms are arranged on both sides of the front part of the chassis, the steering mechanisms are connected with front wheels, a rectangular notch is formed in the rear part of the top side of the chassis, a battery is fixedly connected in the notch, air springs are fixedly connected to four corners of the top side of the chassis, the top sides of the air springs are fixedly connected with the same vehicle body, and charging contacts, cameras and light supplementing lamps are sequentially and fixedly connected to the front part of the vehicle body from bottom to top.
Preferably, square notch and notch internal fixation have industrial computer, CAN card, GPS and 5G mobile router are opened at the topside center of automobile body, the top of automobile body topside notch is rotated through the damping pivot and is connected with the access cover, the equal fixedly connected with warning light in topside four corners of automobile body, the upside of automobile body still fixedly connected with laser radar, GPS antenna, two WIFI antennas, light sensor and display screen, the topside fixedly connected with solar panel of access cover.
Preferably, the left side and the right side of the car body are fixedly connected with speakers and the two speakers are symmetrically distributed, and the left side and the right side of the car body are fixedly connected with a plurality of radars.
Preferably, the input end of battery and contact, solar panel electric connection charge, the output end and laser radar, camera, light filling lamp, speaker, industrial computer, CAN card, GPS, warning light, display screen electric connection of battery.
Preferably, the industrial personal computer is in communication connection with the CAN card, the CAN card is in communication connection with the transmission shaft and the steering mechanism, the steering mechanism consists of two motors fixed on the side surface of the chassis and two rotating shafts fixedly connected with the output end of the motors, the rotating shafts are fixedly connected with front wheels, and the CAN card is in communication connection with the motors in the steering mechanism.
Preferably, the industrial personal computer is electrically connected with the laser radar, the camera, the light supplementing lamp, the loudspeaker, the light sensor, the GPS, the 5G mobile router, the prompting lamp, the display screen, the pressure sensor and the radar, the GPS is electrically connected with the GPS antenna, and the 5G mobile router is electrically connected with the WIFI antenna.
Compared with the related art, the autonomous driving trolley device based on the multi-sensor fusion slam has the following beneficial effects: the invention provides an autonomous driving trolley device based on a multi-sensor fusion slam, which can accurately sense and adapt to the environment through the fusion of a laser radar, a camera, a radar and a GPS, enhance the environment sensing force and the dynamic scene adaptation force of the device, greatly improve the accuracy of the device for identifying objects in front, dynamically adjust the height of a trolley body according to the identified environment data through the arrangement of an air spring, improve the obstacle crossing capability of the device, enable the camera to work in a dark environment through the arrangement of a light sensor and a light supplementing lamp, reduce the influence of environmental factors on the normal operation of the device, enable the device to be more energy-saving and environment-friendly through the arrangement of a solar panel, and be matched with the environment data identified by various sensors to construct a map and a path, enable the device to realize automatic recharging, and enable the device to give a prompt in terms of sound and vision when identifying and analyzing obstacles through the arrangement of a loudspeaker, a prompt lamp and a display screen.
Drawings
Fig. 1 is a perspective view of an autonomous traveling trolley device based on a multisensor fusion slam of the present invention.
Fig. 2 is an exploded view of an autonomous traveling car apparatus based on a multisensor fusion slam of the present invention.
Fig. 3 is a cross-sectional view of an autonomous traveling car apparatus based on a multisensor fusion slam of the present invention.
Reference numerals in the drawings: 1. a chassis; 2. a transmission shaft; 3. a rear wheel; 4. a steering mechanism; 5. a front wheel; 6. an air spring; 7. a vehicle body; 8. a charging contact; 9. a laser radar; 10. a camera; 11. a light supplementing lamp; 12. a speaker; 13. a light sensor; 14. an industrial personal computer; 15. a CAN card; 16. a GPS; 17. a 5G mobile router; 18. a warning light; 19. a solar panel; 20. a display screen; 21. a battery; 22. a pressure sensor; 23. damping the rotating shaft; 24. an access cover; 25. a radar; 26. a GPS antenna; 27. and a WIFI antenna.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and fully with reference to the accompanying drawings, in which it is evident that the embodiments described are only some, but not all embodiments of the invention; all other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
The embodiment is given by fig. 1-3, the autonomous traveling trolley device based on the multisensor fusion slam comprises a chassis 1, wherein a transmission shaft 2 is arranged at the rear part of the chassis 1, the transmission shaft 2 penetrates through the chassis 1 from left to right, rear wheels 3 are rotatably connected to two ends of the transmission shaft, steering mechanisms 4 are arranged on two sides of the front part of the chassis 1, front wheels 5 are connected to the steering mechanisms 4, a rectangular notch is formed in the rear part of the top side of the chassis 1, a battery 21 is fixedly connected in the notch, air springs 6 are fixedly connected to four corners of the top side of the chassis 1, the top side of each air spring 6 is fixedly connected with the same trolley body 7, and charging contacts 8, cameras 10 and light supplementing lamps 11 are sequentially and fixedly connected to the front part of the trolley body 7 from bottom to top.
The intelligent automobile comprises an automobile body 7, wherein a square notch is formed in the center of the top side of the automobile body 7, an industrial personal computer 14, a CAN card 15, a GPS16 and a 5G mobile router 17 are fixedly connected in the notch, an access cover 24 is rotatably connected above the notch of the top side of the automobile body 7 through a damping rotating shaft 23, a prompting lamp 18 is fixedly connected to four corners of the top side of the automobile body 7, a laser radar 9, a GPS antenna 26, two WIFI antennas 27, a light sensor 13 and a display screen 20 are fixedly connected to the top side of the automobile body 7, a solar panel 19 is fixedly connected to the top side of the access cover 24, the industrial personal computer 14 CAN process data identified by various sensors and process the data, the CAN card 15 CAN receive information of the industrial personal computer 14 and control a transmission shaft 2 and a steering mechanism 4 to operate, the access cover 24 CAN be overhauled conveniently, the prompting lamp 18 and the display screen 20 CAN send prompting when the device encounters an obstacle, and the solar panel 19 enables the device to be more energy-saving and environment-friendly.
The two speakers 12 are fixedly connected to the left and right sides of the vehicle body 7, and the two speakers 12 are symmetrically distributed, and the multiple radars 25 are fixedly connected to the left and right sides and the rear side of the vehicle body 7, so that the speakers 12 can correspondingly send prompts when the radars 25 detect obstacles.
The input end of the battery 21 is electrically connected with the charging contact 8 and the solar panel 19, the output end of the battery 21 is electrically connected with the laser radar 9, the camera 10, the light supplementing lamp 11, the loudspeaker 12, the industrial personal computer 14, the CAN card 15, the GPS16, the prompting lamp 18 and the display screen 20, the solar panel 19 CAN supply power for the battery 21, so that the battery charging contact 8 is more energy-saving and environment-friendly, and a hardware foundation CAN be provided for automatic recharging.
The industrial personal computer 14 is in communication connection with the CAN card 15, the CAN card 15 is in communication connection with the transmission shaft 2 and the steering mechanism 4, the steering mechanism 4 consists of two motors fixed on the side face of the chassis 1 and two rotating shafts fixedly connected to the output end of the motors, the rotating shafts are fixedly connected with the front wheels 5, the CAN card 15 is in communication connection with the motors in the steering mechanism 4, so that the industrial personal computer 14 CAN send signals to the CAN card 15, and the CAN card 15 CAN send instructions to enable the transmission shaft 2 and the steering mechanism 4 to operate according to corresponding instructions after receiving the signals.
The industrial personal computer 14 is electrically connected with the laser radar 9, the camera 10, the light supplementing lamp 11, the loudspeaker 12, the light sensor 13, the GPS16, the 5G mobile router 17, the prompt lamp 18, the display screen 20, the pressure sensor 22 and the radar 25, the GPS16 is electrically connected with the GPS antenna 26, the 5G mobile router 17 is electrically connected with the WIFI antenna 27, so that the industrial personal computer 14 can receive and process data of the laser radar 9, the camera 10, the light sensor 13, the GPS16, the pressure sensor 22 and the radar 25, and can control the light supplementing lamp 11, the loudspeaker 12, the prompt lamp 18 and the display screen 20 to operate, and the data can be uploaded to the cloud in time through the 5G mobile router 17.
Working principle: the industrial personal computer 14 CAN receive the data identified by the laser radar 9, the camera 10 and the radar 25, and combine the data provided by the GPS16 to perform fusion processing, so that the device CAN accurately sense and adapt to the environment, the environment sensing force and the dynamic scene adaptation force of the device are enhanced, the accuracy of the device for identifying the front object is greatly improved, the CAN card 15 CAN receive corresponding signals sent by the industrial personal computer 14 after processing the identified data, then CAN send instructions according to the signals to enable the transmission shaft 2, the steering mechanism 4 and the air spring 6 to operate according to the corresponding instructions, thereby enabling the device to dynamically adjust the height of the vehicle body 7 according to the identified environment data, improving the obstacle crossing capability of the device, detecting the current light environment through the light sensor 13 to control the operation of the light supplementing lamp 11, enabling the camera 10 to work in the dark environment, the influence of environmental factors on the normal operation of the device is reduced, the solar panel 19 CAN supply power to the battery 21, so that the device is more energy-saving and environment-friendly, environment data which CAN be identified by various sensors when the electric quantity of the device is lower, the industrial personal computer 14 constructs a map and a path, and is combined with the positioning of the GPS16 to automatically find a matched charging base station, when the device reaches the charging base station, the charging contact 8 is gradually attached to the contact of the charging base station until the pressure sensor 22 detects the pressure, at the moment, the contact on the charging contact 8 is completely attached to the contact of the charging base station, the device stops travelling, so as to realize automatic recharging, the loudspeaker 12, the prompting lamp 18 and the display screen 20 CAN give out prompts in terms of sound and vision when the device is identified and analyzed and is determined to meet the incapable obstacle, the GPS antenna 26 CAN enhance the receiving and transmitting signal energy of the GPS16, WIFI antenna 27 may enhance the ability of 5G mobile router 17 to receive and transmit signals.
Claims (6)
1. The utility model provides an autonomous traveling trolley device based on multisensor fuses slam, includes chassis (1), its characterized in that, the rear portion of chassis (1) is equipped with transmission shaft (2), transmission shaft (2) from left to right runs through chassis (1) and both ends all rotate and are connected with rear wheel (3), steering mechanism (4) are all installed to the front portion both sides of chassis (1), steering mechanism (4) all are connected with front wheel (5), rectangular notch and notch fixedly connected with battery (21) are opened at the top side rear portion of chassis (1), equal fixedly connected with air spring (6) in top side four corners of chassis (1), equal automobile body (7) of top side fixedly connected with of air spring (6), the front portion from the bottom up of automobile body (7) fixedly connected with contact (8), camera (10), light filling lamp (11) in proper order.
2. The autonomous traveling trolley device based on the multi-sensor fusion slam according to claim 1, wherein a square notch is formed in the center of the top side of the trolley body (7), an industrial personal computer (14), a CAN card (15), a GPS (16) and a 5G mobile router (17) are fixedly connected in the notch, an access cover (24) is rotatably connected above the notch on the top side of the trolley body (7) through a damping rotating shaft (23), prompting lamps (18) are fixedly connected to four corners on the top side of the trolley body (7), a laser radar (9), a GPS antenna (26), two WiFi antennas (27), a light sensor (13) and a display screen (20) are fixedly connected to the top side of the access cover (24), and a solar panel (19) is fixedly connected to the top side of the access cover.
3. The autonomous traveling trolley device based on the multi-sensor fusion slam according to claim 1, wherein speakers (12) are fixedly connected to the left and right sides of the vehicle body (7) and two speakers (12) are symmetrically distributed, and a plurality of radars (25) are fixedly connected to the left and right sides and the rear side of the vehicle body (7).
4. The autonomous traveling trolley device based on the multi-sensor fusion slam according to claim 1, wherein the input end of the battery (21) is electrically connected with the charging contact (8) and the solar panel (19), and the output end of the battery (21) is electrically connected with the laser radar (9), the camera (10), the light supplementing lamp (11), the loudspeaker (12), the industrial personal computer (14), the CAN card (15), the GPS (16), the prompting lamp (18) and the display screen (20).
5. The autonomous traveling trolley device based on the multi-sensor fusion slam according to claim 2, wherein the industrial personal computer (14) is in communication connection with a CAN card (15), the CAN card (15) is in communication connection with a transmission shaft (2) and a steering mechanism (4), the steering mechanism (4) is composed of two motors fixed on the side face of the chassis (1) and two rotating shafts fixedly connected with the output ends of the motors, the rotating shafts are fixedly connected with front wheels (5), and the CAN card (15) is in communication connection with the motors in the steering mechanism (4).
6. The autonomous driving trolley device based on the multi-sensor fusion slam according to claim 2, wherein the industrial personal computer (14) is electrically connected with a laser radar (9), a camera (10), a light supplementing lamp (11), a loudspeaker (12), a light sensor (13), a GPS (16), a 5G mobile router (17), a prompting lamp (18), a display screen (20), a pressure sensor (22) and a radar (25), the GPS (16) is electrically connected with a GPS antenna (26), and the 5G mobile router (17) is electrically connected with a WIFI antenna (27).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210778199.5A CN117400752A (en) | 2022-07-04 | 2022-07-04 | Autonomous traveling trolley device based on multisensor fusion slam |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210778199.5A CN117400752A (en) | 2022-07-04 | 2022-07-04 | Autonomous traveling trolley device based on multisensor fusion slam |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN117400752A true CN117400752A (en) | 2024-01-16 |
Family
ID=89487608
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202210778199.5A Pending CN117400752A (en) | 2022-07-04 | 2022-07-04 | Autonomous traveling trolley device based on multisensor fusion slam |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN117400752A (en) |
-
2022
- 2022-07-04 CN CN202210778199.5A patent/CN117400752A/en active Pending
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