CN208188676U - A kind of autonomous traveling carriage device of view-based access control model SLAM technology - Google Patents
A kind of autonomous traveling carriage device of view-based access control model SLAM technology Download PDFInfo
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- CN208188676U CN208188676U CN201820854809.4U CN201820854809U CN208188676U CN 208188676 U CN208188676 U CN 208188676U CN 201820854809 U CN201820854809 U CN 201820854809U CN 208188676 U CN208188676 U CN 208188676U
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Abstract
The utility model discloses a kind of autonomous traveling carriage devices of view-based access control model SLAM technology, comprising: the infrared distance measurement module and ultrasonic distance measuring module are used for trolley ranging and avoidance, and connect with controller signals；The binocular camera is arranged at the top of cart base plate, capture and transmission for indoor and outdoor scene, date comprision is carried out to the image information that binocular camera acquires by controller and obtains trolley orientation and velocity information, and records the environmental information that real-time detection arrives；The wheel module includes the universal wheel of the snow tire and cart base plate rear side middle part at left and right sides of cart base plate front, and the controller passes through the autonomous driving that motor module realizes snow tire.The utility model is completed SLAM map structuring, is made real-time, interactive with actual environment situation, so as to adapt to environmental change in all cases, realize autonomous smooth ride by the environmental information around each information acquisition module real-time capture.
Description
Technical field
The present invention relates to a kind of autonomous traveling carriage devices of view-based access control model SLAM technology, belong to locating information acquisition device
Technical field.
Background technique
Due to not receiving satellite positioning signal (including GPS, north under the poor position of certain indoor environments or signal
Bucket), the existing overwhelming majority carries the mobile robot of GPS, and since its location information source is single, acquisition information is not complete enough
Face can not position the position of itself, can not make real-time, interactive to actual environment situation.Thus need by camera, laser
The instruments such as radar constitute indoor map, and then according to measured value and generate map by observing and measuring the feature of indoor environment
Relative position, carry out indoor positioning and navigation, this technology is referred to as real-time map generation technique (SLAM).SLAM technology
It has been widely used in unmanned positioning fusion, robot indoor navigation, unmanned plane path planning and VR/AR sense of reality structure
Many applications such as build.So as in all cases, make accurate judgement to the positioning of itself, realize autonomous smooth ride.
Summary of the invention
Goal of the invention: in order to overcome the deficiencies in the prior art, the present invention provides a kind of view-based access control model SLAM technology
Autonomous traveling carriage device SLAM map structuring is completed by the environmental information around each information acquisition module real-time capture,
It can be realized the function that automatic running is realized under unknown environment, and acquisition information is comprehensive, abundance, with actual environment feelings
Condition makes real-time, interactive, effectively improves positioning accuracy.
Technical solution: to achieve the above object, the technical solution adopted by the present invention are as follows:
A kind of autonomous traveling carriage device of view-based access control model SLAM technology, including what is carried on cart base plate and cart base plate
Controller, binocular camera, infrared distance measurement module, ultrasonic distance measuring module, motor module, wheel module；
Wherein, the infrared distance measurement module is set to the front end of cart base plate, be used for trolley ranging and avoidance, and with control
The connection of device signal；The ultrasonic distance measuring module is equipped on cart base plate by holder, for detecting left front right three directions
Distance of obstacle information and be sent to controller in real time；
The binocular camera is arranged at the top of cart base plate, for the capture and transmission of indoor and outdoor scene, passes through control
Device carries out date comprision to the image information that binocular camera acquires and obtains trolley orientation and velocity information, and records real-time
The environmental information detected；
The wheel module includes the snow tire and cart base plate rear side middle part at left and right sides of cart base plate front
Universal wheel, the controller realize the autonomous driving of snow tire by motor module.
Preferably, the binocular camera uses ZED binocular camera.In order to cope with acutely trembling in car driving process
It is dynamic and scene to be switched fast, this binocular camera of ZED Stereo Camera is selected, this camera can be caught
Catch high-resolution and high frame per second 3D video, at the same can depth perception indoor and outdoors be up to 20 meters of positions 3.6-DoF, visual angle
Also reach 110 ° of (D) max, be very suitable to the capture and transmission of indoor and outdoor scene.Its power supply and data transmission have used same
One data line is connected with controller by data line, and is fixed in car top.
Preferably, the motor module uses strong magnetic carbon brush decelerating motor, for receiving the signal instruction of controller, and drives
The advance and retreat of dynamic two sides snow tire the movement such as turn to, turn around and (just can control the speed of trolley back-and-forth motion by PWM pulsewidth modulation
The movement such as degree and J-turn).
Preferably, also equipped with steering engine module on the cart base plate, steering engine module uses the Permanent magnet DC of voltage driving
Motor, for driving the cloud platform rotation for carrying ultrasonic distance measuring module, during moving of car, with the left and right of steering engine
Rotation, the obstacle situation data in left front right three directions of trolley are sent to controller in real time.
Preferably, the infrared distance measurement module is popped one's head in using the infrared tracking of bilateral symmetry distribution, and ultrasonic distance measurement mould
Block is using ultrasonic avoidance probe.Since the distance of ultrasound examination object is shorter, so ultrasonic detection device is more used for
The right and left barrier situation of real-time report trolley, and send data to controller.
Preferably, also equipped with power module on the cart base plate, and power module includes battery case and connected steady
Volt circuit realizes effective power supply of each module.
Preferably, wireless interface module, bluetooth module are provided on the controller, it can the more convenient connection of let us
Network is simultaneously debugged.
The utility model has the advantages that the autonomous traveling carriage device of view-based access control model SLAM technology provided by the invention, relative to existing skill
Art has the advantage that 1, by the environmental information around each information acquisition module real-time capture, completes SLAM map structuring,
Real-time, interactive is made with actual environment situation, so as to adapt to environmental change in all cases, realizes autonomous smooth ride；2,
Acquisition information is comprehensive, and abundance makes real-time, interactive with actual environment situation, effectively improves positioning accuracy；3, by a variety of
Information transfer channel efficiently connects network and client device, can both realize manually controlling for trolley, can also be from main modulation trolley
Status of action.
Detailed description of the invention
Fig. 1 is the structural schematic diagram of cart base plate in the embodiment of the present invention；
Fig. 2 is the control principle block diagram of the embodiment of the present invention；
It include: 1, cart base plate, 2, controller, 3, infrared distance measurement module, 4, ultrasonic distance measuring module, 5, steering engine mould in figure
Block, 6, motor module, 7, snow tire, 8, universal wheel, 9, battery case, 10, voltage regulator circuit.
Specific embodiment
The present invention will be further explained with reference to the accompanying drawing.
It is as shown in Figure 1 a kind of autonomous traveling carriage device of view-based access control model SLAM technology, including cart base plate 1 and trolley
Controller 2, ZED binocular camera, infrared distance measurement module 3, ultrasonic distance measuring module 4, the motor module 6, vehicle carried on bottom plate 1
Take turns module；
Wherein, the infrared distance measurement module 3 is set to the front end of cart base plate 1, be used for trolley ranging and avoidance, and with control
2 signal of device connection processed；The ultrasonic distance measuring module 4 is equipped on cart base plate 1 by holder 5, for detecting left front right three
The distance of obstacle information in a direction is simultaneously sent to controller 2 in real time；
The ZED binocular camera is arranged in 1 top of cart base plate, for the capture and transmission of indoor and outdoor scene, passes through
Controller 2 carries out date comprision to the image information that ZED binocular camera acquires and obtains trolley orientation and velocity information, and
The environmental information that record real-time detection arrives；
The wheel module includes the 1 rear side middle part of snow tire 7 and cart base plate at left and right sides of 1 front of cart base plate
Universal wheel 8, the controller 2 by motor module 6 realize snow tire 7 autonomous driving.
In the present embodiment, the motor module 6 uses strong magnetic carbon brush decelerating motor, and the signal for receiving controller 2 refers to
It enables, and the front and back of two sides snow tire 7 is driven to travel；Also equipped with steering engine module on the cart base plate 1, steering engine module is used
Permanent magnet direct current motor, for driving the holder 5 for carrying ultrasonic distance measuring module 4 to rotate.
In the present embodiment, the infrared distance measurement module 3 is popped one's head in using the tracking of bilateral symmetry distribution, and ultrasonic distance measurement mould
Block 4 is using ultrasonic avoidance probe；Also equipped with power module on the cart base plate 1, and power module includes battery case 9 and phase
Voltage regulator circuit 10 even；Wireless interface module, bluetooth module are provided on the controller 2, it can the more convenient company of let us
It connects network and is debugged.
A specific embodiment of the invention is as follows:
As shown in Fig. 2, the ambient image information that ZED binocular camera captures is transferred to controller, controller is being received
It can be compared with the last figure captured after to image information, identical part be found, to find out the position of trolley itself
Situations such as setting with current directional velocity, and record the cartographic information according to currently detected environmental information generation；Pass through
Control instruction can be forwarded on each component that can control by the analysis for these data, controller, concurrently, system
Can be as the movement of trolley ceaselessly position itself and updates map, and then real-time control is made to trolley.
Object distance at one's side can be transferred on controller by the infrared and ultrasonic wave module carried on bottom plate in real time,
So as to adjust to trolley traveling, the movements such as turning deceleration are carried out；Wireless interface module energy let us is more convenient
Connection network is simultaneously accordingly debugged, and bluetooth module easily can send bluetooth at one's side for information such as position and speed states
Equipment, such as portable computer, therefore can both realize manually controlling for trolley, it can also be from the status of action of main modulation trolley.
The present invention both can be used as robot of colleges and universities experimental teaching demand, also can replace the mankind and is engaged under hazardous environment
Detection operations.
The above is only a preferred embodiment of the present invention, it should be pointed out that: for the ordinary skill people of the art
For member, various improvements and modifications may be made without departing from the principle of the present invention, these improvements and modifications are also answered
It is considered as protection scope of the present invention.
Claims (7)
1. a kind of autonomous traveling carriage device of view-based access control model SLAM technology, which is characterized in that including cart base plate (1) and trolley
Controller (2), binocular camera, infrared distance measurement module (3), the ultrasonic distance measuring module (4), motor mould carried on bottom plate (1)
Block (6), wheel module；
Wherein, the infrared distance measurement module (3) is set to the front end of cart base plate (1), be used for trolley ranging and avoidance, and with control
Device (2) signal connection processed；The ultrasonic distance measuring module (4) is equipped on cart base plate (1) by holder (5), for detecting
The distance of obstacle information in left front right three directions is simultaneously sent to controller (2) in real time；
The binocular camera is arranged at the top of cart base plate (1), for the capture and transmission of indoor and outdoor scene, passes through controller
(2) date comprision is carried out to the image information of binocular camera acquisition and obtains trolley orientation and velocity information, and record reality
When the environmental information that detects；
The wheel module includes in snow tire (7) and cart base plate (1) rear side at left and right sides of cart base plate (1) front
The universal wheel (8) in portion, the controller (2) realize the autonomous driving of snow tire (7) by motor module (6).
2. a kind of autonomous traveling carriage device of view-based access control model SLAM technology according to claim 1, which is characterized in that institute
Binocular camera is stated using ZED binocular camera.
3. a kind of autonomous traveling carriage device of view-based access control model SLAM technology according to claim 1, which is characterized in that institute
It states motor module (6) and uses strong magnetic carbon brush decelerating motor, for receiving the signal instruction of controller (2), and drive two sides anti-skidding
The traveling of wheel (7).
4. a kind of autonomous traveling carriage device of view-based access control model SLAM technology according to claim 1, which is characterized in that institute
It states also equipped with steering engine module on cart base plate (1), steering engine module uses permanent magnet direct current motor, carries ultrasonic wave for driving
The holder (5) of range finder module (4) rotates.
5. a kind of autonomous traveling carriage device of view-based access control model SLAM technology according to claim 1, which is characterized in that institute
Infrared distance measurement module (3) are stated using the tracking probe of bilateral symmetry distribution, and ultrasonic distance measuring module (4) is visited using ultrasonic avoidance
Head.
6. a kind of autonomous traveling carriage device of view-based access control model SLAM technology according to claim 1, which is characterized in that institute
It states also equipped with power module on cart base plate (1), and power module includes battery case (9) and connected voltage regulator circuit (10).
7. a kind of autonomous traveling carriage device of view-based access control model SLAM technology according to claim 1, which is characterized in that institute
It states and is provided with wireless interface module, bluetooth module on controller (2).
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| Application Number | Priority Date | Filing Date | Title |
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| CN201820854809.4U CN208188676U (en) | 2018-06-04 | 2018-06-04 | A kind of autonomous traveling carriage device of view-based access control model SLAM technology |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113266726A (en) * | 2021-04-21 | 2021-08-17 | 武汉工程大学 | Positioning pipeline robot |
| CN115384657A (en) * | 2022-09-16 | 2022-11-25 | 中国民航大学 | Intelligent robot based on laser positioning |
-
2018
- 2018-06-04 CN CN201820854809.4U patent/CN208188676U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113266726A (en) * | 2021-04-21 | 2021-08-17 | 武汉工程大学 | Positioning pipeline robot |
| CN115384657A (en) * | 2022-09-16 | 2022-11-25 | 中国民航大学 | Intelligent robot based on laser positioning |
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Effective date of registration: 20200927 Address after: No.114, Pancheng new street, Jiangbei new district, Nanjing, Jiangsu Province, 211500 Patentee after: Nanjing Xinda technology transfer Co., Ltd Address before: 210044 Nanjing City, Pukou Province, Nanjing Road, No. 219, No. six, No. Patentee before: NANJING University OF INFORMATION SCIENCE & TECHNOLOGY |
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Effective date of registration: 20210525 Address after: 210044 No. 219 Ning six road, Jiangbei new district, Nanjing, Jiangsu Patentee after: NANJING University OF INFORMATION SCIENCE & TECHNOLOGY Address before: 211500 No.114, Pancheng new street, Jiangbei new district, Nanjing, Jiangsu Province Patentee before: Nanjing Xinda technology transfer Co., Ltd |
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Effective date of registration: 20210721 Address after: 210031 room 801, building 02, Chuangzhi building, No. 17, Xinghuo Road, Jiangbei new area, Nanjing, Jiangsu - 851 Patentee after: Nanjing zhaoyue Intelligent Technology Co.,Ltd. Address before: 210044 No. 219 Ning six road, Jiangbei new district, Nanjing, Jiangsu Patentee before: NANJING University OF INFORMATION SCIENCE & TECHNOLOGY |
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