CN208224794U - Robot terminal device - Google Patents
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- CN208224794U CN208224794U CN201820790147.9U CN201820790147U CN208224794U CN 208224794 U CN208224794 U CN 208224794U CN 201820790147 U CN201820790147 U CN 201820790147U CN 208224794 U CN208224794 U CN 208224794U
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Abstract
The utility model provides a robot terminal device, its characterized in that: the sensor comprises a core processing unit Jetson chip, an FPGA chip, an embedded ARM module and a plurality of sensors, wherein the core processing unit Jetson chip, the FPGA chip, the embedded ARM module and the sensors are arranged in an integrated mode, the sensors comprise a GNSS satellite navigation module, an IMU inertial navigation module, a laser radar and a camera, the core processing unit Jetson chip is connected with the camera and the laser radar, and the FPGA chip is respectively connected with the GNSS satellite navigation module, the IMU inertial navigation module and the embedded ARM module; the embedded ARM module is connected with a servo motor for controlling the robot. The utility model discloses integrated degree is high, and the interface is abundant, can provide the hardware basis for multisensor information fusion and degree of depth study, and is small, with low costs, and market advantage is big, accords with the miniaturized trend of current robot product.
Description
Technical field
The utility model provides a kind of robot terminal device, belongs to robot device field.
Background technique
Multiple Source Sensor use processing in robot is robot autonomous perception, accurate control and mission planning
Key, since embedded platform has the characteristics that small in size, low in energy consumption and degree of integration is high, embedded platform becomes machine
The mainstream research/development platform of people.But current robot requires positioning, driving and three industrial personal computers of core calculations under normal circumstances
To complete basic task, therefore the generally existing computing capability of existing robot embedded platform is insufficient, hardware integration degree is low, scarce
The limitations such as weary deep learning platform support, shortage ambient intelligence sensing capability condition, therefore be sought after carrying out on hardware device
It improves.
Utility model content
The utility model mainly provides a kind of robot terminal device, and the device degree of integration is high, to solve extensive ring
Precision positioning and Intellisense problem is cooperateed with to provide hardware platform basis under border.
Technical solution used by the utility model provides a kind of robot terminal device, at integrally disposed core
Managing unit Jetson chip, fpga chip, embedded-type ARM module and multiple sensors, the sensor includes that GNSS satellite is led
Model plane block, IMU inertial navigation module, laser radar and camera, core processing unit Jetson chip connect camera and swash
Optical radar, fpga chip are separately connected GNSS satellite navigation module and IMU inertial navigation module, embedded-type ARM module；It is embedded
The servo motor of ARM module connection control robot.
Moreover, the GNSS satellite navigation module uses compass in ancient China K505 chip.
Moreover, the core processing unit Jetson chip model is Jetson TX1, laser thunder is connected by USB interface
It reaches and camera.
Moreover, the core processing unit Jetson chip connection setting fan.
Moreover, the fpga chip model Altera Cyclone III.
Moreover, the IMU inertial navigation module uses ADIS16460 chip.
Moreover, embedded-type ARM module connection setting LCD module.
Compared with prior art, present apparatus degree of integration is high, and rich interface can pass through highly integrated embedded platform
There is provided hardware foundation for multi-sensor information fusion and deep learning, thus be equivalent to only with an industrial personal computer can support to
User provides high-precision, real-time, intelligentized adaptive dynamic navigation and positioning, path planning, avoidance and ambient intelligence perception
Etc. functions, small in size, at low cost, the market advantage is big, meets the trend of the current robot miniaturization of products.
Detailed description of the invention
Fig. 1 is the device frame figure of the utility model embodiment.
Specific embodiment
The utility model is understood and implemented for the ease of those of ordinary skill in the art, it is right with reference to the accompanying drawings and embodiments
The utility model is described in further detail, it should be understood that implementation example described herein is only used for describing and explaining this
Utility model is not used to limit the utility model.
The utility model devises a kind of robot device that high-precision is integrated, provides all kinds of interfaces for accessing various biographies
Sensor equipment realizes the access of Multiple Source Sensor data.Entire setting meets the acquisition of multicomponent signal, handles and exports, and
Have continuous high-precision multisensor, supports fusion adaptive location and deep learning ability.
Referring to Fig. 1, a kind of robot terminal device provided by the embodiment of the utility model is integrated with a core processing list
First Jetson chip, fpga chip, high-precision GNSS satellite navigation module, the IMU inertial navigation module and STM32 of six axis are embedding
Enter formula ARM module, it can also the other sensors such as carry camera and laser radar.The connection of core processing unit Jetson chip is taken the photograph
As head and laser radar, fpga chip connects GNSS satellite navigation module and IMU inertial navigation module, embedded-type ARM module, embedding
Enter the servo motor of formula ARM module connection control robot.
When using the utility model embodiment device, it is synchronous that system clock row clock of going forward side by side is provided using FPGA, simultaneously
The observed quantity of GNSS satellite navigation module and inertia sensing module is input in the ARM of core processing unit Jetson chip,
Support realize real-time high-precision positioning result resolving, and using in core processing unit Jetson chip serial ports and USB connect
The mouth connection sensors such as camera and laser radar, support the environment sensing and mission planning of realizing robot.
The modules of embodiment are described below:
The high-precision GNSS satellite navigation module chip model is compass in ancient China K505, supports RTK positioning function, therefore it
With high-precision Big Dipper positioning function.GNSS satellite navigation module has the function of that observation exports and support Differential positioning, provides
Satellite reception data and ground strengthening system receive data, provide high-precision GNSS positioning for robot.
The core processing unit model Jetson TX1, it includes a four core ARM Cortex-A57 processor dies
Block and a 256 core low-power consumption GPGPU Accelerating running modules, GPGPU is general-purpose computations graphics processor, aims at graphics calculations and sets
Meter, makes optimization for floating-point operation, calculates suitable for intensive highly-parallel, is primarily useful for image procossing and depth
It practises.Arm processor has stronger processing capacity, is responsible for normal operational processing, is used as primary processor herein.Therefore it possesses by force
Big calculation function, core processing unit meet real-time deep study operation demand, may be implemented environment Intellisense and
Mission planning.When utility model works, target identification and detection algorithm based on deep learning can be run with it.Simultaneously
The self-contained multiple external interfaces of Jetson can be carried out by multiple sensors such as USB interface carry laser radar, video cameras
The Intellisense of environment supports building to have the semantic map of accurate distance information, and carries out mission planning on this basis.Separately
Outside, its peripheral hardware further includes network interface, high-definition multimedia interface HDMI, serial port hard disk SATA, other spare USB ports, and
Fan is mounted with to cool down to system.When it is implemented, SD card can also be set as needed.
The FPGA model Altera Cyclone III, it not only provides system clock, but also it is same to can be carried out clock
Step, therefore the data that can be used for completing metric data in GNSS satellite navigation module chip and IMU inertial navigation module chip are read
It takes, and supports the task schedule of carry out system.When it is implemented, FPGA be mainly used for providing system clock row clock of going forward side by side it is same
Step is triggered the metric data for reading the output in GNSS and IMU by time delay, and is forwarded.By task schedule mode, use
Family can use it and solve the problems, such as that custom circuit is inflexible and programming device gate circuit number amount is limited, may be based on it into
The application and development of the various robots of row.
The IMU inertial navigation module chip model is (ADIS16460), main to provide six axis inertia measurement data, is
Robot provides mileage information, supports that navigator fix is combined with GNSS observed quantity to be resolved.GNSS observes data and IMU measurement
Data are forwarded after being read by FPGA and are input in STM32 embedded-type ARM module, and support is combined navigation pose and resolves.
The embedded-type ARM module is STM32, and CPU is 32 framework of ARM Cortex, although its performance is not so good as main place
Device is managed, but its power consumption is lower, is suitable as coprocessor.The chip is mainly used to manage and dispatch chip on board output and various outer
Peripheral equipment access can both be combined navigation position resolving, can also be directly connected to control servo motor, support multipath servo
Motor Serial Control, the control including bottom layer driving and mechanical arm to robot.It is used for when it is implemented, can connect setting
Support LCD display module, control module, com interface and the Mini USB interface of display.
The purpose of this utility model is to provide a kind of highly integrated robot terminal devices, are embedded system of robot
System exploitation provides highly integrated, a high-performance, convenient and fast platform, to realize the multi-sensor data fusion of robot, supports
It is positioned when various ways high-precision real, and supports to carry out path planning, the sense of environment can be further realized by deep learning
Know, realizes avoidance and semantic class task.
The utility model only proposes the design and protection of hardware aspect, is that will list the product sold.When it is implemented,
The working method of terminal installation can be voluntarily set as needed in user, such as:
Step 1: starting robot terminal device provided by the utility model.The device is not only integrated with including embedded
Numerous biographies such as ARM module, GNSS satellite navigation module, FPGA, core processing module Jetson TX1 and IMU inertial navigation module
Sensor, and include all kinds of interfaces to access various sensors, possess 4G module and realize the transmission of high speed network data, can hang over
The sensors such as camera, laser radar.
Step 2: being provided based on integrated high-precision GNSS satellite navigation module and IMU inertial navigation module continuous real-time
Outdoor high-precision Global localization and path planning.
Step 3: in conjunction with real-time fixed under the sensors such as IMU inertial navigation module, radar and camera realization indoor situations
Position and path planning.
Step 4: realizing the Intellisense of environment by sensors such as laser radar and cameras, based on camera and swash
Optical radar building has the semantic map of accurate distance information.It is implemented as follows:
1. deep learning training is carried out in core processing module Jetson TX1 by the image that monocular cam acquires,
Realize camera in real time to the identification of image object and semantic segmentation；
2. semantic objects are matched in the environmental information and picture that are obtained by laser radar scanning, to obtain with essence
The semantic map of true range information.
Step 5: the control command of sector planning is sent to bottom layer driving by SMT32 chip, directly accurate control machine
The movement of device people, to complete semantic class task.
As needed, user can use sensing data abundant and powerful processing capacity realizes more applications.
It should be understood that the above-mentioned description for preferred embodiment is more detailed, can not therefore be considered to this
The limitation of utility model patent protection scope, those skilled in the art are not departing under the enlightenment of the utility model
In situation protected by the claims of this utility model, replacement or deformation can also be made, each falls within the protection of the utility model
Within the scope of, the utility model is claimed range and should be determined by the appended claims.
Claims (7)
1. a kind of robot terminal device, it is characterised in that: including integrally disposed core processing unit Jetson chip, FPGA
Chip, embedded-type ARM module and multiple sensors, the sensor include GNSS satellite navigation module, IMU inertial navigation mould
Block, laser radar and camera, core processing unit Jetson chip connection camera and laser radar, fpga chip connect respectively
Connect GNSS satellite navigation module and IMU inertial navigation module, embedded-type ARM module；Embedded-type ARM module connection control robot
Servo motor.
2. robot terminal device according to claim 1, it is characterised in that: the GNSS satellite navigation module uses compass in ancient China
K505 chip.
3. robot terminal device according to claim 1, it is characterised in that: the core processing unit Jetson is chip-shaped
Number it is Jetson TX1, passes through USB interface and connect laser radar and camera.
4. robot terminal device according to claim 1, it is characterised in that: the core processing unit Jetson chip connects
Connect setting fan.
5. robot terminal device according to claim 1, it is characterised in that: the fpga chip model Altera
Cyclone III。
6. robot terminal device according to claim 1, it is characterised in that: the IMU inertial navigation module uses
ADIS16460 chip.
7. the according to claim 1 or 2 or 3 or 4 or 5 or 6 robot terminal devices, it is characterised in that: embedded-type ARM module
Connection setting LCD module.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820790147.9U CN208224794U (en) | 2018-05-24 | 2018-05-24 | Robot terminal device |
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| CN201820790147.9U CN208224794U (en) | 2018-05-24 | 2018-05-24 | Robot terminal device |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109855624A (en) * | 2019-01-17 | 2019-06-07 | 宁波舜宇智能科技有限公司 | Navigation device and air navigation aid for AGV vehicle |
| CN110488712A (en) * | 2019-08-30 | 2019-11-22 | 上海有个机器人有限公司 | A kind of dispensing machine people human-computer interaction embedded main board |
| CN112388677A (en) * | 2020-10-27 | 2021-02-23 | 四川大学 | Miniature VSLAM vision sensor |
| CN114526725A (en) * | 2022-02-21 | 2022-05-24 | 山东新一代信息产业技术研究院有限公司 | Super-fusion navigation system based on system-on-chip |
| CN115847451A (en) * | 2022-12-26 | 2023-03-28 | 江西洪都航空工业集团有限责任公司 | Distributed intelligent robot control system |
-
2018
- 2018-05-24 CN CN201820790147.9U patent/CN208224794U/en active Active
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109855624A (en) * | 2019-01-17 | 2019-06-07 | 宁波舜宇智能科技有限公司 | Navigation device and air navigation aid for AGV vehicle |
| CN110488712A (en) * | 2019-08-30 | 2019-11-22 | 上海有个机器人有限公司 | A kind of dispensing machine people human-computer interaction embedded main board |
| CN112388677A (en) * | 2020-10-27 | 2021-02-23 | 四川大学 | Miniature VSLAM vision sensor |
| CN114526725A (en) * | 2022-02-21 | 2022-05-24 | 山东新一代信息产业技术研究院有限公司 | Super-fusion navigation system based on system-on-chip |
| CN114526725B (en) * | 2022-02-21 | 2023-11-24 | 山东新一代信息产业技术研究院有限公司 | Super-fusion navigation system based on system-in-chip |
| CN115847451A (en) * | 2022-12-26 | 2023-03-28 | 江西洪都航空工业集团有限责任公司 | Distributed intelligent robot control system |
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