CN118033705A - Robot positioning navigation experiment platform and working method thereof - Google Patents
Robot positioning navigation experiment platform and working method thereof Download PDFInfo
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- CN118033705A CN118033705A CN202410212664.8A CN202410212664A CN118033705A CN 118033705 A CN118033705 A CN 118033705A CN 202410212664 A CN202410212664 A CN 202410212664A CN 118033705 A CN118033705 A CN 118033705A
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Abstract
The invention provides a robot positioning navigation experiment platform and a working method thereof, and relates to the technical field of positioning navigation equipment. The experimental platform comprises a shell, a positioning navigation executing part and a control processing part, wherein the positioning navigation executing part is arranged on the shell, the control processing part is arranged in the inner space of the shell and comprises a satellite antenna, a laser radar and a camera, and the control processing part comprises an RTK satellite receiver, a switch, a navigation controller, a bottom layer controller and a power supply; the bottom of the shell is provided with a chassis control signal interface, and the shell is connected to a disassembly and assembly base below the shell; in the working method, the robot positioning navigation experiment platform executes a positioning navigation mode of combining laser radar positioning navigation and complementary positioning navigation, and is adapted to different robot chassis. Based on the method, the problem that the existing robot positioning navigation experimental platform is not ideal in positioning navigation effect and cannot be suitable for various robot chassis is solved.
Description
Technical Field
The invention relates to the technical field of positioning navigation equipment, in particular to a robot positioning navigation experimental platform and a working method thereof.
Background
Positioning and navigation are important research issues in the directional fields of entity manufacturing of autonomous working machines, college teaching and research, professional scientific research and the like; in the research development process, experiments are a relatively common means, and function development, test and verification can be performed through the experiments, so that the performance of an experimental platform can directly influence the research effect. However, the existing positioning navigation experimental platform has the following limitations:
Firstly, the positioning navigation effect is not ideal enough, and specifically: in the existing robot positioning and navigation technology, a single laser radar map-building positioning mode is generally used, namely, the vehicle-mounted laser radar is used for scanning the surrounding environment in real time, a real-time three-dimensional point cloud model of the surrounding environment of the vehicle is matched with a model scanned in advance, and then the position of the mobile robot in an operation area is confirmed. However, if the environment repetition rate in the autonomous working area is high, and there are several areas (for example, several buildings which are identical and very orderly), which are very close to each other, the working environment is easily matched with similar features, and thus positioning errors are caused. For example, chinese patent publication No. CN112415524a provides a robot, and a positioning navigation method and apparatus thereof, where the robot is provided with a laser radar, determines a position of the robot in a laser radar map, and navigates the robot in combination with obstacle information in the laser radar map; in the patent, only the laser radar is used for navigation, and when the repetition rate of the surrounding environment is high, the navigation effect cannot be ensured.
Secondly, the device cannot be applied to various robot chassis, and specifically: the experiment platform needs to be matched with the robot chassis to be used, so that the practice of positioning and navigation can be realized, but the current experiment platform is integrally connected with the robot chassis, so that the use is limited. For example, chinese patent publication No. CN112147999a provides an automatic driving experiment AGV vehicle platform, which includes an environment sensing system, a positioning navigation system, a path planning system, a control decision system, a motion control system, a manual takeover system, a man-machine interaction system, a data transmission bus, a router, a expandable support and a battery pack, wherein the GV electric vehicle chassis is integrally connected with other structures.
Disclosure of Invention
The invention aims to provide a robot positioning and navigation experiment platform and a working method thereof, which are used for solving the problems that the existing robot positioning and navigation experiment platform is not ideal in positioning and navigation effects and cannot be suitable for various robot chassis.
The invention is realized by adopting the following technical scheme:
The robot positioning navigation experiment platform comprises a shell, a positioning navigation execution part and a control processing part, wherein the positioning navigation execution part is arranged on the shell, the control processing part is arranged in the inner space of the shell and comprises a satellite antenna, a laser radar and a camera, and the control processing part comprises an RTK satellite receiver, a switch, a navigation controller, a bottom layer controller and a power supply; the bottom of the shell is provided with a chassis control signal interface, and the shell is connected to a disassembly and assembly base below the shell.
In the experimental platform, the positioning navigation executing part is used for executing positioning navigation, the control processing part is used for carrying out tasks such as general control and information processing, and the like, and specifically: the satellite antenna is used for receiving satellite signals, the laser radar is used for scanning an environment map and obstacles around the experimental platform, and the camera is used for collecting image information around the experimental platform and identifying the obstacles; the RTK satellite receiver is used for providing positioning service, the exchanger is used for providing a wired/wireless network for each device in the experimental platform, the navigation controller is used for processing data and running a positioning and navigation algorithm, the bottom layer controller is used for cooperating with the action of the robot chassis, and the power supply is used for supplying power for each device in the experimental platform; the chassis control signal interface is used for communicating with an executing mechanism of the robot chassis, and the disassembly base is used for realizing detachable connection between the experiment platform and different robot chassis.
Further, a laser radar and a laser radar tail insert shell are arranged above the shell, a laser radar tail insert is arranged in the laser radar tail insert shell, and the laser radar tail insert extends into the shell. Wherein, hide the laser radar tail through the laser radar tail and insert the shell and insert, possess waterproof dustproof effect.
Further, satellite antennas are mounted on two opposite sides of the shell through antenna supports, and the satellite antennas adopt a double-antenna structure which comprises a positioning antenna and a directional antenna.
Further, the front cover and the rear cover are respectively arranged on the other two opposite sides of the shell, the camera comprises a binocular camera and two monocular cameras, the binocular camera is arranged on the front cover, the two monocular cameras are respectively arranged on the side surfaces of the two antenna brackets, and the shooting directions of the binocular camera and the monocular cameras are provided with overlooking angles. The binocular camera is used for acquiring image information on two sides of the experimental platform, and can identify obstacles and road edges in front of the experimental platform and measure the distance between the experimental platform and the obstacles; the camera lens shooting direction is provided with a overlook angle, so that the sight blind area of the camera can be reduced to a certain extent.
Further, a man-machine interaction screen is arranged on the rear cover, a power switch is arranged above the shell, and a power interface, a debugging interface and a heat dissipation port are arranged at the bottom of the shell. The man-machine interaction screen can be used as a display of the navigation controller, so that a program can be conveniently debugged and the running condition of the program can be conveniently displayed.
Further, be equipped with a plurality of baffles in the inner space of casing, a plurality of baffles divide into a plurality of layers with the inner space of casing, RTK satellite receiver, switch, navigation controller, bottom controller and power disperse set up on a plurality of layers, the power includes battery module and deconcentrator.
The working method of the robot positioning navigation experiment platform is applied to the robot positioning navigation experiment platform, the robot positioning navigation experiment platform executes a positioning navigation form of fusion of laser radar positioning navigation and complementary positioning navigation, and the robot positioning navigation experiment platform is adapted to different robot chassis, wherein:
The laser radar positioning navigation is realized by a laser radar, and the laser radar scans three-dimensional point cloud data around a robot positioning navigation experiment platform and sends the data to a navigation controller; the complementary positioning navigation is realized by a satellite antenna and an RTK satellite receiver, the satellite antenna receives satellite positioning and orientation signals, and the RTK satellite receiver receives satellite signals and outputs position and direction signals;
The shell of the robot positioning navigation experiment platform is detachably mounted on different robot chassis through the dismounting base, and is communicated with the executing mechanism of the robot chassis through the chassis control signal interface so as to externally output motion control signals.
Further, in the positioning navigation form, when the satellite signal is good, information is acquired by using complementary positioning navigation; when the satellite signals are not good and can not provide centimeter-level positioning data, the laser radar positioning navigation is used for acquiring information and providing centimeter-level positioning data. The positioning and navigation of the laser radar may have the problem of positioning and jumping in similar environments, so that complementary positioning and navigation can be used when the positioning and navigation of the laser radar is unstable; the complementary positioning navigation can acquire stable and reliable positioning information under the condition of good satellite signals, but can not provide continuous and stable positioning information due to poor satellite signals in environments with high-rise forestation and dense trees, and the laser radar positioning navigation can also provide stable positioning information at the moment; based on the method, the fusion of laser radar positioning navigation and complementary positioning navigation is realized, and the simple, reliable and lightweight centimeter-level positioning can be further realized.
The beneficial effects achieved by the invention are as follows:
Compared with the prior art, the robot positioning navigation experimental platform and the working method thereof are provided with the laser radar for laser radar positioning navigation, and meanwhile, the satellite antenna and the RTK satellite receiver are arranged for complementary positioning navigation, so that fusion of laser radar positioning navigation and complementary positioning navigation is realized based on the laser radar positioning navigation and the RTK satellite receiver, and further, a good positioning navigation effect can be realized; and set up dismouting base and chassis control signal interface, make the casing of robot location navigation experiment platform pass through dismouting base detachably and install on the different robot chassis, and then improved experiment platform's suitability, effectively enlarged application range.
Drawings
FIG. 1 is a schematic perspective view of an external structure of an experimental platform according to an embodiment of the present invention;
FIG. 2 is a schematic perspective view of an external structure of an experimental platform according to an embodiment of the present invention;
FIG. 3 is a schematic side view of the external structure of the experimental platform according to an embodiment of the invention;
FIG. 4 is a schematic perspective view of an internal structure of an experimental platform according to an embodiment of the present invention;
FIG. 5 is a network topology diagram of various structures of an experimental platform according to an embodiment of the present invention;
FIG. 6 is a schematic view of an experimental platform mounted on a wheeled robot chassis according to an embodiment of the invention;
FIG. 7 is a schematic view of an experimental platform mounted on a chain robot chassis according to an embodiment of the present invention;
In the figure: 1. a housing; 2. a front cover; 3. a rear cover; 4. an antenna support; 5. a satellite antenna; 6. a binocular camera; 7. a monocular camera; 8. a laser radar; 9. a laser radar tail plug shell; 10. a man-machine interaction screen; 11. a power switch; 12. a power interface; 13. a debug interface; 14. a heat radiation port; 15. a partition plate; 16. an RTK satellite receiver; 17. a switch; 18. a navigation controller; 19. a bottom layer controller; 20. a battery module; 21. a wire divider; 22. disassembling and assembling the base; 23. chassis control signal interface.
Detailed Description
For clarity of explanation of the solution of the present invention, the following will be further explained with reference to the accompanying drawings:
Example 1
Referring to fig. 1 to 5, a first aspect of the present embodiment provides a robot positioning and navigation experiment platform, which includes a housing 1, a positioning and navigation executing portion disposed on the housing 1, and a control processing portion disposed in an inner space of the housing 1, wherein the positioning and navigation executing portion includes a satellite antenna 5, a laser radar 8 and a camera, and the control processing portion includes an RTK satellite receiver 16, a switch 17, a navigation controller 18, a bottom layer controller 19 and a power supply; the bottom of the shell 1 is provided with a chassis control signal interface 23, and the shell 1 is connected to a disassembly base 22 positioned below the shell. Specifically:
The front side and the rear side of the shell 1 are respectively provided with a front cover 2 and a rear cover 3; the left side surface and the right side surface of the upper part of the shell 1 are provided with satellite antennas 5 through antenna brackets 4, the satellite antennas 5 adopt a double-antenna structure, and the double-antenna structure comprises a positioning antenna and a directional antenna; the camera comprises a binocular camera 6 and two monocular cameras 7, wherein the binocular camera 6 is arranged on the front cover 2, the two monocular cameras 7 are respectively arranged on the side surfaces of the two antenna brackets 4, and the shooting directions of the lenses of the binocular camera 6 and the monocular cameras 7 are provided with overlooking angles; a laser radar 8 and a laser radar tail insert shell 9 are arranged right above the shell 1, a laser radar tail insert is arranged in the laser radar tail insert shell 9, and the laser radar tail insert extends into the shell 1; the rear cover 3 is provided with a man-machine interaction screen 10, a power switch 11 is arranged above the shell 1, the power switch 11 is positioned on one side of the laser radar 8, and the bottom of the shell 1 is provided with a power interface 12, a debugging interface 13 and a heat dissipation port 14.
In the above structure, the satellite antenna 5 is used for receiving the positioning and orientation signals of the satellites; the laser radar 8 is used for scanning three-dimensional point cloud data around the experimental platform and sending the data to the navigation controller 18 so as to play a role in scanning an environmental map around the experimental platform and obstacles; the monocular camera 7 is used for collecting image information on two sides of the experimental platform, and the binocular camera 6 can identify obstacles and road edges in front of the experimental platform and measure the distance between the experimental platform and the obstacles; the disassembly base 22 is used for realizing the detachable connection between the experiment platform and different robot chassis, the chassis control signal interface is used for communicating with the execution mechanism of the robot chassis to control the robot chassis to walk independently, and the structure of respectively installing the experiment platform on the wheeled robot chassis and the chained robot chassis is shown in fig. 6 and 7.
The inside space of the shell 1 is provided with 2 partition boards 15, the inside space of the shell 1 is divided into 3 layers by the 2 partition boards 15, the uppermost first layer is provided with an RTK satellite receiver 16 and a switch 17, the middle second layer is provided with a navigation controller 18 and a bottom layer controller 19, and the lowermost third layer is provided with a power supply, wherein the power supply comprises a battery module 20 and a deconcentrator 21.
In the above structure, the RTK satellite receiver 16 is configured to receive satellite signals, output position and direction signals, and provide positioning services for the experiment platform; the switch 17 can be inserted into an internet card to provide a wired/wireless network for each device in the experimental platform; the navigation controller 18 is used for processing the laser radar 8 data and satellite data and running a positioning and navigation algorithm; the bottom controller 19 is configured to receive an instruction sent by the navigation controller 18, convert the instruction into a control signal, output a value of the robot chassis through the chassis control signal interface 23, and support multiple communication protocols; the power supply is used for supplying power to all the devices in the experimental platform, and can output 5v, 12v, 24v and 36v voltages to the outside, and the voltages are connected to the deconcentrator 21 and then transmitted to all the devices.
The second aspect of the present embodiment provides a working method of a robot positioning and navigation experiment platform, which is applied to the above robot positioning and navigation experiment platform, wherein the robot positioning and navigation experiment platform executes a positioning and navigation form of combining laser radar positioning and navigation with complementary positioning and navigation, and the robot positioning and navigation experiment platform is adapted to different robot chassis, wherein: the laser radar positioning navigation is realized by a laser radar 8, and the laser radar 8 scans three-dimensional point cloud data around a robot positioning navigation experiment platform and sends the data to a navigation controller 18; the complementary positioning navigation is implemented by a satellite antenna 5 and an RTK satellite receiver 16, the satellite antenna 5 receiving satellite positioning and orientation signals, the RTK satellite receiver 16 receiving satellite signals and outputting position and orientation signals. The shell 1 of the robot positioning navigation experiment platform is detachably mounted on different robot chassis through a dismounting base 22 and is communicated with an executing mechanism of the robot chassis through a chassis control signal interface 23 so as to output motion control signals. Specifically:
In the positioning navigation mode, when the satellite signal is good, information is acquired by using complementary positioning navigation; when the satellite signal is not good and can not provide centimeter-level positioning data, the laser radar positioning navigation is used for acquiring information and providing centimeter-level positioning data; the positioning navigation using the laser radar specifically comprises the following steps:
a. Laser radar positioning detection: judging whether the laser radar 8 positioning is effective or not by detecting whether the laser radar positioning on the front side and the rear side has jumping or not, and storing the effective laser radar positioning at any time; when the positioning fails, executing the step b;
b. Laser radar repositioning: when the laser radar positioning is jumped, if the complementary positioning signal is good, the complementary positioning information is preferentially used, and the coordinate of the complementary positioning corresponding to the map is calculated by using the direction deviation angle of the complementary positioning and the map-building coordinate system; and when the complementary positioning signals are bad, repositioning is realized by using the last valid positioning coordinates of the laser radar positioning.
In summary, according to the robot positioning navigation experimental platform and the working method thereof provided by the embodiment, the laser radar 8 is set to perform laser radar positioning navigation, and the satellite antenna 5 and the RTK satellite receiver 16 are set to perform complementary positioning navigation, so that fusion of laser radar positioning navigation and complementary positioning navigation is realized based on the same, and further a good positioning navigation effect can be realized; and, set up dismouting base 22 and chassis control signal interface 23, make the casing 1 of robot location navigation experiment platform pass through dismouting base 22 detachably and install on the different robot chassis, and then improved experiment platform's suitability, effectively enlarged application range.
It should be specifically noted that, in the above solution, the parts not described in detail or in the development are all in the prior art, and do not belong to the improvement of the present invention with respect to the prior art, and also do not belong to the protection scope of the technical solution of the present invention, so that no redundant description is given herein.
Of course, the foregoing is merely preferred embodiments of the present invention and is not to be construed as limiting the scope of the embodiments of the present invention. The present invention is not limited to the above examples, and those skilled in the art will appreciate that the present invention is capable of equally varying and improving within the spirit and scope of the present invention.
Claims (8)
1. The utility model provides a robot location navigation experiment platform which characterized in that: the positioning navigation system comprises a shell (1), a positioning navigation executing part arranged on the shell (1) and a control processing part arranged in the inner space of the shell (1), wherein the positioning navigation executing part comprises a satellite antenna (5), a laser radar (8) and a camera, and the control processing part comprises an RTK satellite receiver (16), a switch (17), a navigation controller (18), a bottom layer controller (19) and a power supply; the bottom of the shell (1) is provided with a chassis control signal interface (23), and the shell (1) is connected to a disassembly base (22) positioned below the shell.
2. The robotic positioning navigation experiment platform according to claim 1, wherein: the laser radar tail insert is characterized in that a laser radar (8) and a laser radar tail insert shell (9) are arranged above the shell (1), a laser radar tail insert is arranged in the laser radar tail insert shell (9), and the laser radar tail insert extends into the shell (1).
3. The robotic positioning navigation experiment platform according to claim 1, wherein: satellite antennas (5) are arranged on two opposite sides of the shell (1) through antenna supports (4), and each satellite antenna (5) adopts a double-antenna structure which comprises a positioning antenna and a directional antenna.
4. A robotic positioning navigation experiment platform according to claim 3, wherein: the camera comprises a binocular camera (6) and two monocular cameras (7), wherein the binocular camera (6) is arranged on the front cover (2), the two monocular cameras (7) are respectively arranged on the side faces of the two antenna brackets (4), and the shooting directions of the binocular camera (6) and the monocular cameras (7) are both provided with overlooking angles.
5. The robotic positioning and navigation experiment platform according to claim 4, wherein: be equipped with man-machine interaction screen (10) on back lid (3), the top of casing (1) is equipped with switch (11), the bottom of casing (1) is equipped with power source (12), debugging interface (13) and thermovent (14).
6. The robotic positioning navigation experiment platform according to claim 1, wherein: the inside space of casing (1) is equipped with a plurality of baffles (15), a plurality of baffles (15) divide into a plurality of layers with the inside space of casing (1), RTK satellite receiver (16), switch (17), navigation control ware (18), bottom layer controller (19) and power scatter set up on a plurality of layers, the power includes battery module (20) and deconcentrator (21).
7. The working method of the robot positioning and navigation experiment platform is applied to the robot positioning and navigation experiment platform as claimed in any one of claims 1 to 6, and is characterized in that: the robot positioning navigation experiment platform executes a positioning navigation form of fusion of laser radar positioning navigation and complementary positioning navigation, and adapts to different robot chassis, wherein:
The laser radar positioning navigation is realized by a laser radar (8), and the laser radar (8) scans three-dimensional point cloud data around a robot positioning navigation experiment platform and sends the data to a navigation controller (18); the complementary positioning navigation is realized by a satellite antenna (5) and an RTK satellite receiver (16), the satellite antenna (5) receives satellite positioning and orientation signals, and the RTK satellite receiver (16) receives satellite signals and outputs position and direction signals;
The shell (1) of the robot positioning navigation experiment platform is detachably mounted on different robot chassis through a dismounting base (22), and is communicated with an executing mechanism of the robot chassis through a chassis control signal interface so as to output motion control signals outwards.
8. The method for operating a robotic positioning and navigation experiment platform according to claim 7, wherein: in the positioning navigation form, when the satellite signal is good, information is acquired by using complementary positioning navigation; when the satellite signals are not good and can not provide centimeter-level positioning data, the laser radar positioning navigation is used for acquiring information and providing centimeter-level positioning data.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202410212664.8A CN118033705A (en) | 2024-02-27 | 2024-02-27 | Robot positioning navigation experiment platform and working method thereof |
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| CN202410212664.8A CN118033705A (en) | 2024-02-27 | 2024-02-27 | Robot positioning navigation experiment platform and working method thereof |
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