CN207440612U - A kind of autonomous mobile robot positioned in real time - Google Patents
A kind of autonomous mobile robot positioned in real time Download PDFInfo
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- CN207440612U CN207440612U CN201720391849.5U CN201720391849U CN207440612U CN 207440612 U CN207440612 U CN 207440612U CN 201720391849 U CN201720391849 U CN 201720391849U CN 207440612 U CN207440612 U CN 207440612U
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Abstract
The utility model discloses a kind of autonomous mobile robots positioned in real time, including mechanical trunk, it is characterized in that, the machinery trunk is equipped with control unit, perceives unit, processing unit and driving direct current generator, control unit, perception unit are connected with processing unit, and the lower part that driving direct current generator is arranged on mechanical trunk is connected and is electrically connected with control unit with the idler wheel with crawler belt of mechanical trunk bottom.This robot building is at low cost, it is easy to use, can the autonomous positioning in real time under circumstances not known, automatic obstacle avoiding, this robot localization precision is higher, to strong environmental adaptability, can be used for family sweep the floor, factory's patrol, field detection etc..
Description
Technical field
The utility model is related to robotic technology field, in particular for the mobile robot for performing patrol, independent navigation,
Specially a kind of autonomous mobile robot positioned in real time.
Background technology
With the development of science and technology with the promotion of computing chip ability, intelligent mobile robot becomes scientific and technical hair
One of exhibition field the most active.In the continuous research of several generations and under improving, the performance of mobile robot greatly improves,
It shows one's capabilities in fields such as industry, agricultural and services, especially the contexture by self in the industry unattended, agriculture sows agriculture
In the tasks such as the investigation in medicine and military affairs, the high efficiency and security of mobile robot are even more highlighted.Also, science and technology into
Step promotes the exploration of the mankind more and more deep, and the various limiting cases in exploration have become the yoke of mankind's advance, depend meat alone
Body can not fulfil assignment in circumstances not known complicated and changeable, and the research purpose of mobile robot is exactly to solve the problems, such as this,
Create the instrument that the mankind can be replaced to complete highly difficult, repeated or unsafe task.
Intelligent mobile robot can generally pass through sensor layer when performing an activity and obtain environmental information, computation layer reality
Shi Gengxin running orbits and location information, decision-making level combine the information got and carry out conduct programming and send control instruction, control
Preparative layer executes instruction to carry out multiple steps such as take action.Locating module is played and held as one of wherein most basic module
Important function under opening is basis and premise that robot carries out other work, becomes and have both academic significance and application value
Research hotspot.
The traditional positioning device of previous robot mainly has compass, inertial navigation, wheeled odometer and GPS etc., these equipment can
With the simple positioning function of complete independently, but they are but how much there are some insoluble shortcomings or limitation, in wheeled
The skidding of journey meter causes to calculate mistake, and GPS is difficult with indoors, so also being difficult to even with sensor fusion algorithm
Obtain accurately location information.And in recent years, the rapid development of machine vision brings Gospel to robot localization, based on image
The location algorithm of processing compensates for the limitation of traditional positioning device well, substantially increases the setting accuracy of robot, special
Be not after carrying out data fusion to traditional alignment sensor and visual sensor using sensor fusion algorithm, effect more subject to
Really.
Utility model content
The purpose of this utility model is in view of the deficiencies of the prior art, and to provide a kind of autonomous mobile machine positioned in real time
People, this robot building is at low cost, it is easy to use, can under circumstances not known autonomous positioning in real time, automatic obstacle avoiding, this machine
People's positioning accuracy is higher, to strong environmental adaptability, can be used for family sweep the floor, factory's patrol, field detection etc..
Realizing the technical solution of the utility model aim is：
A kind of autonomous mobile robot positioned in real time, including mechanical trunk, the machinery trunk is equipped with control unit, sense
Know unit, processing unit and driving direct current generator, control unit, perception unit are connected with processing unit, and driving direct current generator is set
It puts and is connected and is electrically connected with control unit with the idler wheel with crawler belt of mechanical trunk bottom in the lower part of mechanical trunk.
Described control unit includes the master control of motor microcontroller and the motor driving plate that is connected with motor microcontroller master control and the
One power module, motor driving plate are equipped with motor-drive circuit, and motor microcontroller master control output PWM wave passes through motor driving plate
On motor-drive circuit to driving direct current generator the output phase induced current to drive driving direct current generator work, drive mechanical trunk
Movement.
The voltage of first power module is 12v, and the first power module is the master control of motor microcontroller and motor driving plate
Power supply.
The unit that perceives includes the photoelectricity volume for perceiving the master control of unit microcontroller and being connected with perceiving unit microcontroller master control
Code device, inertial navigation sensors, infrared distance sensor, ultrasonic sensor and binocular camera, perceive unit monolithic owner
Control effect is to read sensor information.
The processing unit include arm master controls and be connected with arm master controls and for arm master controls power second source mould
Block, arm master controls are connected by the motor control single chip computer master control of serial ports and control unit, send motor control instruction；Arm master controls
It is connected by perception unit microcontroller master control of the USB serial ports with perceiving unit, to perceiving the perception unit microcontroller master control of unit
It powers and receiving sensor information, arm master controls is connected by USB interface with perceiving the binocular camera of unit, read image letter
Breath.
The ultrasonic sensor is at least three, is respectively used to detection front, three azimuth informations of the left and right,
To obtain the distance of the barrier in front, the left and right, decision-making foundation is provided so as to change direct of travel for obstacle avoidance.
This mobile robot is in moving process, each working sensor, and photoelectric encoder obtains rotating speed；Inertial navigation passes
Sensor obtains angular speed and acceleration；Infrared distance sensor disturbance in judgement object；Ultrasonic sensor detects obstacle distance；It is double
Mesh camera shoots three-dimensional environment image, and the data that the sensor obtains are obtained by perception unit microcontroller master control and pass through string
Mouth is sent to arm master controls or is directly acquired by arm master controls by USB interface, and arm master controls are by above-mentioned data prediction and broadcast,
These information are handled by arm master controls again, the location information of mobile robot is calculated, it is autonomous to reach mobile robot
The purpose positioned in real time；The arm master controls can also provide interactive mode, make user that can not only see mobile robot
Binocular video information and location information during autonomous, additionally it is possible to control mobile robot in real time.
The first electric power source pair of module control unit power supply of this mobile robot, second source module is to processing unit
Arm master controls are powered, and the purpose separately powered is in order to avoid multiple master control borads are using the decompression point under an electric source modes
Energy waste caused by stream, to ensure that the computing chip of high energy consumption and motor control can access stable power supply.
This mobile robot there are three master control borad, one be control unit motor control single chip computer master control, one is
Perceive unit microcontroller master control, one be processing unit arm master controls, wherein perceive unit microcontroller master control have it is abundant
Interface resource can connect multiple sensors；The arm master controls of processing unit have serial interface, can connect the motor of control unit
It controls the serial ports of master control, have USB interface, the binocular camera for perceiving unit and the monolithic owner for perceiving unit can be connected simultaneously
Control, and can operation image Processing Algorithm.
The infrared distance sensor of this mobile robot can detect the water of left front, right front, left back, right back
Outside four orientation, four orientation vertically downward that lower left, lower right, lower left, lower right can also be detected are equalled, it can be true
Mobile robot peripheral obstacle situation is determined, so as to provide decision-making foundation for obstacle avoidance, prevention tenesmus.
The photoelectric encoder of this mobile robot is used to obtain wheeled odometer information；Inertial navigation sensors are used to obtain
The inertial navigation information of mobile robot is taken, inertial navigation sensors include gyroscope and accelerometer；In this way, shifting can be obtained
Traditional positioning result of mobile robot, as a basis on location.
The binocular camera of this mobile robot can realize binocular visual positioning, and binocular visual positioning has more traditional
The more accurate effect of positioning device, can be as the strong foundation of localization for Mobile Robot by binocular visual positioning.
This robot building is at low cost, it is easy to use, can the autonomous positioning in real time under circumstances not known, automatic obstacle avoiding, this
Kind of robot localization precision is higher, to strong environmental adaptability, can be used for family sweep the floor, factory's patrol, field detection etc..
Description of the drawings
The structure diagram of Fig. 1 embodiments.
In figure, 1. 2. control units 3. of mechanical trunk perceive 4. processing unit 5. of unit driving direct current generator 6. and roll
It takes turns 7. motor driving plate, 8. motor microcontroller master control, 9. first power module 10. and perceives 11. photoelectricity of unit microcontroller master control
14. ultrasonic sensor of encoder 12. inertial navigation sensors, 13. infrared distance sensor, 15. binocular camera
17. second source module of 16.arm master controls.
Specific embodiment
The utility model content is further elaborated with reference to the accompanying drawings and examples, but is not to the utility model
Restriction.
Embodiment：
With reference to Fig. 1, a kind of autonomous mobile robot positioned in real time, including mechanical trunk 1, the machinery trunk 1 is equipped with
Control unit 2 perceives unit 3, processing unit 4 and driving direct current generator 5, and control unit 2, perception unit 3 connect with processing unit 4
Connect, driving direct current generator 5 be arranged on the lower part of mechanical trunk 1 be connected with the idler wheel 6 with crawler belt of 1 bottom of machinery trunk and with control
Unit 2 processed is electrically connected, and idler wheel 6 is at least four in this example.
Described control unit 2 include motor microcontroller master control 8 and the motor driving plate 7 that is connected with motor microcontroller master control and
First power module 9, motor driving plate 7 are equipped with motor-drive circuit, and motor microcontroller master control 8 exports PWM wave and passes through motor
Motor-drive circuit in driving plate 7 drives direct current generator 5 to work driving 5 the output phase induced current of direct current generator to drive, band
Motivation tool trunk 1 moves.
The voltage of first power module 9 is 12v, and the first power module 9 drives for motor microcontroller master control 8 and motor
Plate 7 is powered.
The unit 3 that perceives includes the light for perceiving unit microcontroller master control 10 and being connected with perceiving unit microcontroller master control 10
Photoelectric coder 11, inertial navigation sensors 12, infrared distance sensor 13, ultrasonic sensor 14 and binocular camera 15, sense
The effect for knowing unit microcontroller master control 10 is to read sensor information.
The processing unit 4 includes arm master controls 16 and being connected with arm master controls 16 and being the power supply of arm master controls 16 second
Power module 17, arm master controls 16 are connected by serial ports with the motor control single chip computer master control 8 of control unit 2, send motor control
Instruction；Arm master controls are led to 16 perception unit microcontroller master controls 10 of the USB serial ports with perceiving unit 3 excessively and are connected, to perceiving unit 3
10 power supply of unit microcontroller master control and receiving sensor information are perceived, arm master controls 16 are by USB interface with perceiving the double of unit 3
Lens camera 15 connects, and reads image information.
The ultrasonic sensor 14 is at least three, is respectively used to detection front, three orientation letter of the left and right
Breath, with obtain front, the left and right barrier distance, so as to for obstacle avoidance change direct of travel provide decision-making according to
According to.
This mobile robot is in moving process, each working sensor, and photoelectric encoder 11 obtains rotating speed, inertial navigation
Sensor 12 obtains angular speed and acceleration, 13 disturbance in judgement object of infrared distance sensor, ultrasonic sensor 14 detect obstacle
Object distance, binocular camera 15 shoot three-dimensional environment image, and the data that the sensor obtains are by perception unit microcontroller master control
10 obtain and pass through serial ports and be sent to arm master controls 16 or directly acquired by arm master controls 16 by USB interface, and arm master controls 16 will
Above-mentioned data prediction is simultaneously broadcasted, then performs algorithm logic by arm master controls 16 and these information are handled, and movement is calculated
The location information of robot achievees the purpose that mobile robot independently positions in real time；The arm master controls 16 can provide man-machine friendship
Mutual pattern makes user that can not only see the binocular video information and location information of mobile robot, additionally it is possible to which control moves in real time
Mobile robot.
First power module 9 of this mobile robot powers to control unit, and second source module 17 is to processing unit
Arm master controls 16 be powered, the purpose separately powered is in order to avoid multiple master control borads are using the drop under electric source modes
Energy waste caused by pressure shunting, to ensure that the computing chip of high energy consumption and motor control can access stable power supply.
This mobile robot there are three master control borad, one be control unit motor control single chip computer master control 8, one is
Perceive unit microcontroller master control 10, one be processing unit arm master controls 16, wherein perceive unit 3 microcontroller master control have
Abundant interface resource can connect multiple sensors；The arm master controls 16 of processing unit 4 have serial interface, and it is single can to connect control
The serial ports of the motor control master control of member, there is USB interface, can connect the binocular camera for perceiving unit simultaneously and perceive unit
Microcontroller master control 10, and can operation image Processing Algorithm.
The infrared distance sensor 14 of this mobile robot can detect left front, right front, left back, right back
Horizontally outward four orientation, four orientation vertically downward of lower left, lower right, lower left, lower right can also be detected, can be with
Mobile robot peripheral obstacle situation is determined, so as to provide decision-making foundation for obstacle avoidance, prevention tenesmus.
The photoelectric encoder 11 of this mobile robot is used to obtain wheeled odometer information；Inertial navigation sensors 12 are used
In the inertial navigation information of mobile robot, inertial navigation sensors include gyroscope and accelerometer, in this way, shifting can be obtained
Traditional positioning result of mobile robot, as a basis on location.
The binocular camera 15 of this mobile robot can realize binocular visual positioning, and binocular visual positioning, which has, relatively to be passed
The system more accurate effect of positioning device, can be as the strong foundation of localization for Mobile Robot by binocular visual positioning.
In this example,
The model GM25-370 band encoder DC speed-reducings of the driving direct current generator 5, rated voltage 12V are empty
Load rotary speed parameter be 350RPM 0.2A, retarder reduction ratio 1:34.
The chip model of the motor driving plate 7 is the dual H-bridge motor drive ic of L298N.
The model STM32F030F4 of the motor microcontroller master control 8, the chip possess 16K FLASH, 4K RAM,
TSSOP20 is encapsulated.
The model for perceiving unit microcontroller master control 10 is arduino mega 2560, possesses 54 and (makees on wherein 16 tunnels
It is exported for PWM）Railway digital I/O pin and 16 tunnel simulation input pins, processor ATmega2560.
The model cubieboard4 of the arm master controls 16, using full will A80 as processor, dominant frequency can reach
2GHz possesses 2G memories, 4 serial interfaces and 4 USB interfaces, and is equipped with 2.4GWIFI chips.
The model of the infrared sensor 13 is Risym multichannel infrared obstacle avoidance modules, and effectively switch distance is 2-30cm
It is adjustable, 35 ° of detection angles.
The model of the ultrasonic sensor 14 is HC-SR04, it is possible to provide the contactless distance perspective measurement of power of 2cm-400cm
Can, range accuracy can reach 3mm.
Claims (4)
1. a kind of autonomous mobile robot positioned in real time, including mechanical trunk, it is characterized in that, the machinery trunk is equipped with control
Unit perceives unit, processing unit and driving direct current generator, and control unit, perception unit are connected with processing unit, drive direct current
The lower part that motor is arranged on mechanical trunk is connected and is electrically connected with control unit with the idler wheel with crawler belt of mechanical trunk bottom；Institute
It states and perceives unit including perceiving the master control of unit microcontroller and being led with photoelectric encoder, the inertia that perception unit microcontroller master control is connected
Navigate sensor, infrared distance sensor, ultrasonic sensor and binocular camera；The processing unit include arm master controls and with
Second source module that is that arm master controls connect and being arm master controls power supply, the motor control that arm master controls pass through serial ports and control unit
Microcontroller master control connection processed, sends motor control instruction；Arm master controls pass through USB serial ports and the perception unit monolithic for perceiving unit
Owner controls connection, passes through USB to the perception unit microcontroller master control power supply and receiving sensor information, arm master controls for perceiving unit
Interface is connected with perceiving the binocular camera of unit, reads image information.
2. the autonomous mobile robot positioned in real time according to claim 1, it is characterized in that, described control unit includes electricity
The master control of machine microcontroller and the motor driving plate being connected with motor microcontroller master control and the first power module, motor driving plate are equipped with
Motor-drive circuit.
3. the autonomous mobile robot positioned in real time according to claim 2, it is characterized in that, first power module
Voltage is 12v, and the first power module is powered for the master control of motor microcontroller and motor driving plate.
4. the autonomous mobile robot positioned in real time according to claim 1, it is characterized in that, the ultrasonic sensor is
At least three.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720391849.5U CN207440612U (en) | 2017-04-14 | 2017-04-14 | A kind of autonomous mobile robot positioned in real time |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720391849.5U CN207440612U (en) | 2017-04-14 | 2017-04-14 | A kind of autonomous mobile robot positioned in real time |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN207440612U true CN207440612U (en) | 2018-06-01 |
Family
ID=62394581
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| Application Number | Title | Priority Date | Filing Date |
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| CN201720391849.5U Expired - Fee Related CN207440612U (en) | 2017-04-14 | 2017-04-14 | A kind of autonomous mobile robot positioned in real time |
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| CN (1) | CN207440612U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108831157A (en) * | 2018-07-27 | 2018-11-16 | 中山火炬高新企业孵化器有限公司 | A kind of garden security protection based on intelligent robot is deployed to ensure effective monitoring and control of illegal activities management system |
| CN109308073A (en) * | 2018-10-29 | 2019-02-05 | 苏州矽创智能科技有限公司 | A kind of self-navigation avoidance trolley |
-
2017
- 2017-04-14 CN CN201720391849.5U patent/CN207440612U/en not_active Expired - Fee Related
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108831157A (en) * | 2018-07-27 | 2018-11-16 | 中山火炬高新企业孵化器有限公司 | A kind of garden security protection based on intelligent robot is deployed to ensure effective monitoring and control of illegal activities management system |
| CN109308073A (en) * | 2018-10-29 | 2019-02-05 | 苏州矽创智能科技有限公司 | A kind of self-navigation avoidance trolley |
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| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20180601 Termination date: 20200414 |