CN208859276U - The trackless mobile platform of multisensor field domain perception - Google Patents
The trackless mobile platform of multisensor field domain perception Download PDFInfo
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- CN208859276U CN208859276U CN201821109181.1U CN201821109181U CN208859276U CN 208859276 U CN208859276 U CN 208859276U CN 201821109181 U CN201821109181 U CN 201821109181U CN 208859276 U CN208859276 U CN 208859276U
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Abstract
The utility model discloses a kind of trackless mobile platform of multisensor field domain perception, which is equipped with the structure of two driven wheels, it can be achieved that rotating in place, the compound motion of forward-reverse and the two using two drive differentials；Scanning radar is arranged in platform specified level face in middle level, the electric wiring of platform device up and down is realized with hollow support column, the directional information of four support column angles of shielding is only needed when use, it can realize intimate 360 ° of the scanning range of surrounding, and the design of threading hole makes the use of laser radar not influence the bilevel electrical communication of platform；Depth camera is disposed on the front-rear direction of mobile platform, the elevation information of object in available front and back visual field, the limitation of specified level facial contour information can only be scanned by making up two-dimensional laser radar, and then when planning path detour barrier, carry out avoidance navigation programming.The mobile platform, which is completely dependent on self-contained sensor and realizes and controls system, to be perceived, is positioned and independent navigation.
Description
Technical field
The utility model relates to intelligent robot technology fields, and in particular to a kind of trackless sliding of multisensor field domain perception
Moving platform.
Background technique
The mobile robot of definitive orbit, either by magnetic stripe, colour band or two dimensional code, reflector, due to its work
Principle needs artificially to provide feedback information in environment in advance, therefore its course of work is big to condition depended, or even needs to environment
It is transformed, plans, to be laid with the time long, use cost is high, and flexibility is relatively poor；Moreover, definitive orbit also constrains simultaneously
The space of robot is then unable to run, needs human intervention when barrier occurs in track.
Therefore, existing most of scheme product has been increasingly difficult to meet the market demand, either in manufacturing industry, also
It is logistics, service field.Mobile robot adapts to dynamic environment, with most fast calculating speed, realizes optimum path planning, carries out certainly
Leading boat and avoidance, become Intelligent logistics critical issue urgently to be resolved.
Utility model content
For more convenient, quickly realization mobile robot automatic obstacle avoiding navigation, it is more that the utility model provides one kind
The trackless mobile platform of sensor field domain perception, the mobile platform can realize autonomous positioning, navigation based on the map of known spatial
With the intelligent family moving platform of avoidance.
The purpose of this utility model can be reached by adopting the following technical scheme that:
A kind of trackless mobile platform of multisensor field domain perception, is made of underlying platform, middle layer platform and upper platform.
The underlying platform includes vehicle frame, driving mechanism, follower, motor driver, two anticollision touching sides, two groups of operation instructions
Lamp and battery；The middle layer platform includes two-dimensional laser radar, two depth cameras and four support columns；It is described
Upper platform include embedded main control board and networking communication apparatus.
The driving mechanism of underlying platform is made of two groups of driving wheels, retarder, differential speed motor, encoders, respectively symmetrically pacifies
Mounted in vehicle frame on both sides of the middle, i.e., there are one group of driving wheel, retarder, differential speed motor, encoder in every side.Differential speed motor passes through reception
The motor pulses signal of motor driver passes through retarder in the form of differential control, by power transmission to driving wheel, and then drives
Mobile platform advances, retreats and turns to；The angle counting that differential speed motor main shaft is generated by rotation is sent to motor by encoder
Driver.
The follower of underlying platform is made of two groups of omni-directional wheels, is distributed in the front and rear ends of vehicle frame central axes, with driving
Wheel supports mobile platform jointly.
On the one hand the motor driver of underlying platform is received and is counted from two groups of encoder angulars, and further calculates
To the displacement increment of mobile platform, it is sent to embedded main control board, while receiving the movement velocity instruction of embedded main control board, and
It is converted into the motor pulses signal of two groups of differential speed motors of control, is sent to differential speed motor.
The anticollision touching side of underlying platform is separately mounted to the front and back of underlying platform, and anticollision is touched side and extended through push rod
To frame interior, when touching foreign object, anticollision touches side by external force, and then pressure-ram, the braking for triggering motor driver are believed
Number, and then brake differential motor, play the role of protection mobile platform, avoids collision.
The run indicator of underlying platform is arranged respectively at underlying platform front surface and rear surface, mobile flat for showing
The motion informations such as advance, retrogressing and the steering of platform.
The battery of underlying platform, is mounted on frame interior, provides electric power for entire mobile platform.
Four support columns of middle layer platform, distribution on four angles position of platform, are used to support upper platform in middle level；Together
When, it is hollow structure inside support column since upper platform carries electrical equipment, as threading hole, planning wiring.
The two-dimensional laser radar of middle layer platform is installed in the detent of platform geometric center in middle level, with platform car body row
And then the environment profile of certain altitude plane around it is scanned, gained information real-time Transmission is to embedded main control board；In order to avoid
Own profile is interfered, exterior object profile is mistakenly considered, shields the information in four support column directions.
The depth camera of middle layer platform is separately mounted to the front and back of middle layer platform, keeps its optical axis horizontal, with shifting
Moving platform is advanced or is retreated, and depth camera obtains the dynamic 3 D depth image in front and back region, and gained information is real-time
It is transferred to embedded main control board.
The embedded main control board receiving calling signal of upper platform, obtain in real time two-dimensional laser radar and depth camera with
And the displacement increment data of mobile platform, supercomputing obtain the location information of mobile platform and plan avoidance guidance path, into
And movement velocity instruction is sent to motor driver.
The trackless intelligent family moving platform of the Multi-sensor Fusion relies on self-contained multisensor and high-performance insertion
Formula master control borad and power supply unit independently autonomous positioning and can plan fortune in known scene according to scheduler task needs
Walking along the street line, and then drive two differential speed motors that mobile platform is made to advance and turn to, and the barrier on scan path in the process of running
Hinder object, independently detour avoidance, until destination.Wherein, sensor signal obtains, positioning, navigation and obstacle avoidance algorithm, in movement
It is completed on the included high speed embedded main control board of platform, without passing through outer computer, so that mobile platform has cracking response
Speed；Long-range and peripheral equipment, mainly plays monitoring, calling, scheduling, can also manual intervention mobile platform fortune when necessary
Row.
The utility model compared with the existing technology have following advantages and effects
(1) this programme two drives the structure of differential, it can be achieved that rotating in place, the compound motion of forward-reverse and the two, is
A kind of quasi- Omni-mobile platform, and number of motors demand is few, low in cost, control is simple；It is arranged symmetrically, makes in two driving wheels pair
It obtains gravity largely to act on the drive wheel, and then guarantees that driving wheel has enough frictional force, be not easy to skid；Meanwhile two drive
The midpoint of wheel is the centre of motion of the structure, which is overlapped with the plane geometry center of mobile platform, can guarantee mobile platform
Rotating in place will not be eccentric, more securely and reliably；It is equipped with the universal wheel of two special constructions before and after platform bottom, supports jointly
Mobile platform, guarantee to run smoothly it is reliable, be not easy rollover under the premise of, the standard for further having played two drive differential structures is universal
Function.
(2) traditional approach, two-dimensional laser radar need to be mounted on top layer, constrain the space of top layer platform bearer cargo, again
Or it needs to carry out the form of visual field complementation using multiple two-dimensional laser radars to realize 360 ° of scannings.This programme platform in middle level
Radar scanning space is arranged in specified level face, and realizes the electrical cloth of platform or more method, apparatus simultaneously using hollow support column
Line, when use, only need to shield the directional information of four support column angles, can realize intimate 360 ° of the scanning range of surrounding, and
And the design of threading hole makes the use of laser radar not influence the bilevel electrical communication of platform.
(3) depth camera is disposed on the front-rear direction of mobile platform, the height of object in available front and back visual field
Information, the limitation of specified level facial contour information can only be scanned by making up two-dimensional laser radar, and then in planning path detour obstacle
When object, can more precisely, reliably carry out avoidance navigation programming.
(4) mobile platform due to can contexture by self path navigation, travel path exists certain for the external world
Non- intellectual, for this purpose, movement indicator light can show current motor behavior according to operation control instruction, to inform its extraneous movement side
To；Meanwhile as protective underlayer measure, on the one hand anticollision touching side can absorb external force when touching foreign object, rigidity is avoided to connect
Touching and impact, on the other hand can trigger brake signal braking motor, effectively prevent further hitting against.
(5) this mobile platform be completely dependent on self-contained sensor realize and control system perceived, position and from
Leading boat, does not depend on external auxiliary equipment, is not necessarily to predetermined running route, has high flexibility, expansion and transplantability；
(6) this mobile platform, the characteristics of being compatible with multisensor, the most cheap simple encoder incremental computations mode of use are real
Positioning is now estimated, is realized be accurately positioned using two-dimensional laser radar long range, wide-field feature on this basis, further advised
It draws route and navigates, and obtain the three-dimensional three-D profile on moving line with depth camera during the navigation process, and then make
Avoidance detours more safe and reliable.
Detailed description of the invention
Fig. 1 is the model three-dimensional view of trackless mobile platform disclosed by the utility model；
Fig. 2 is the chassis structure figure of trackless mobile platform disclosed by the utility model；
Fig. 3 is the model side view of trackless mobile platform disclosed by the utility model；
Fig. 4 is the driving machine composition of trackless mobile platform disclosed by the utility model；
Fig. 5 is the underlying platform architecture diagram of trackless mobile platform disclosed by the utility model；
Fig. 6 is the operation work top view of trackless mobile platform disclosed by the utility model；
Fig. 7 is the operation work side view of trackless mobile platform disclosed by the utility model；
As shown in the figure are as follows: 1- platform topsides, 2- support column, 2-1- threading hole, 3- platform bottom, 4- driving mechanism, 4-1-
Side, 6-1- push rod, 7- are touched in driving wheel, 4-2- retarder, 4-3- differential speed motor, 4-4- encoder, 5- run indicator, 6- anticollision
Depth camera, 8- embedded main control board, 9- networking communication apparatus, 10, middle layer platform, 11- two-dimensional laser radar, 12- vehicle frame,
13 followers, 14- motor driver, 15- battery, 16- two-dimensional laser radar scanning plane, 17- depth camera visual field.
Specific embodiment
It is practical new below in conjunction with this to keep the objectives, technical solutions, and advantages of the embodiments of the present invention clearer
Attached drawing in type embodiment, the technical scheme in the utility model embodiment is clearly and completely described, it is clear that is retouched
The embodiment stated is the utility model a part of the embodiment, instead of all the embodiments.Based on the implementation in the utility model
Example, every other embodiment obtained by those of ordinary skill in the art without making creative efforts belong to
The range of the utility model protection.
Embodiment
As shown in Fig. 1 to 7, a kind of trackless mobile platform of multisensor field domain perception comprising underlying platform 3, middle layer
Platform 10 and upper platform 1.
The underlying platform include vehicle frame 12, driving mechanism 4, follower 13, motor driver 14, anticollision touching side 6,
Run indicator 5 and battery 15.The driving mechanism 4 distinguishes two groups by driving wheel 4-1, retarder 4-2, differential speed motor
4-3 and encoder 4-4 is constituted, and is left and right symmetrically arranged at 12 middle part of vehicle frame；The follower 13 is two groups of special omnidirectionals
Wheel, every group of wheel can realize that Omni-mobile, two groups of omni-directional wheels are mounted on 12 front and back center position of vehicle frame, with two groups of driving wheel 4-
1 supports mobile platform jointly；The motor driver 14 is mounted on inside vehicle frame 12, and the movement velocity of mobile platform is referred to
Order is converted into motor pulses signal control differential speed motor 4-3, and the angle for receiving encoder 4-4 counts, and carries out displacement increment meter
It calculates；The quantity on the anticollision touching side 6 is two, is separately mounted to front end and the rearmost end of vehicle frame 12, plays Anti-bumping protection and make
With；The quantity of the movement indicator light 5 is two, the forward and backward surface of underlying platform 3 is separately mounted to, for outwardly indicating
The traffic direction of mobile platform；The battery 15 provides electric power for mobile platform.
The middle layer platform includes support column 2, depth camera 7 and two-dimensional laser radar 11.The support column
2 quantity is two, is separately mounted to four corners of middle layer platform 10, is used to support upper platform 1, inner hollow conduct
Threading hole 2-1；The quantity of the depth camera 7 is two, is separately mounted to 10 front-end and back-end of middle layer platform, makes its light
Axis is horizontal, the barrier being used in scanning platform front and back visual field (i.e. depth camera visual field 17 shown in attached drawing 6),
Obtain stereo profile information；The two-dimensional laser radar 11 is installed in the detent of 10 geometric center of platform in middle level, and two dimension
Laser radar scanning plane 16 is other than four support columns 2, without other mobile platform contour of object, with intimate 360 degree
Scanning range.
The upper platform 1 includes embedded main control board 8 and networking communication apparatus 9.The embedded main control board 8 is pacified
It is being received mounted in the front of upper platform 1 equipped with state displaying panel 8-1 and the triggering key 8-2 that can customize target location
To after call signal, receive, processing sensor signal and programme path, control mobile platform move；The networking communication is set
Standby 9 erect local area wireless network, for mobile platform and external communication, receiving calling signal, receive long-range monitoring, when necessary
Mobile platform movement manually can be manually controlled by local area network.
Before navigation task starts, the battery 15 of underlying platform 3 is mobile platform power supply, is referred to not receiving any operation
When enabling, two differential speed motor 4-3 of continuous braking avoid mobile platform and run because of ground injustice or external force；Two-dimensional laser thunder
Standby mode is in up to 11, depth camera 7；Embedded main control board 8 imports two-value map according to actual scene, and waits
Call signal arrives.
When the triggering key 8-2 of embedded main control board 8 is pressed, or is received by networking communication apparatus 9 and remotely exhaled
When being signal, embedded main control board 8 starts two-dimensional laser radar 11 and depth camera 7, and after realization is self-positioning, calling is believed
Number corresponding destination is identified on two-value map, and plans that current location to the route of destination, and then is converted into shifting
The speed of service instruction of moving platform is sent to motor driver 14；After motor driver 14 receives mobile platform speed command,
Run indicator 5 is controlled, shows current traffic direction, meanwhile, motor driver 14 passes through the movement velocity is instruction morphing
Two differential speed motor 4-3 are sent to for motor pulses signal, realize the control to differential speed motor 4-3；Meanwhile in mobile platform row
Into in the process, the angle counting that differential speed motor 4-3 is rotated periodically is sent to motor driver 14, motor by encoder 4-4
After the angle that driver 14 receives two motor encoder 4-4 counts, calculates the displacement increment of mobile platform and be sent to embedding
Enter formula master control borad 8；Embedded main control board 8 utilizes real-time displacement incremental data and two-dimensional laser from motor driver 14
The data of the plane of scanning motion 16 of radar 11 realize positioning in real time on two-value map, and correct running route.
If there is barrier in front of mobile platform, depth camera 7 obtains its three-dimensional three-D profile, and by outline projection
Onto horizontal plane, maximum land occupation profile is extracted, and then plan detour avoidance route.Under special feelings, if there is barrier quickly to fall into
Blind area to other than depth camera visual field 17, and be blocked on running route, anticollision touches side 6 when encountering barrier, push rod
When 6-1 is squeezed by external force, promote the brake signal of the sending highest priority of motor driver 14 to two differential speed motor 4-3, it is real
Existing emergency braking, avoids further hitting against, and sound an alarm.
If mobile platform smoothly detour barrier and by real time positioning determine reach purpose after, at once according to call signal
Demand, rotate in place adjust itself posture, complete scheduler task, and enter standby mode.
Above-described embodiment is the preferable embodiment of the utility model, but the embodiments of the present invention is not by above-mentioned
The limitation of embodiment, it is made under other any spiritual essence and principles without departing from the utility model to change, modify, replacing
In generation, simplifies combination, should be equivalent substitute mode, is included within the protection scope of the utility model.
Claims (5)
1. a kind of trackless mobile platform of multisensor field domain perception, which is characterized in that the trackless mobile platform is by bottom
Platform, middle layer platform and upper platform are constituted, wherein the underlying platform includes vehicle frame, driving mechanism, follower, electricity
Machine driver；The middle layer platform includes two-dimensional laser radar, two depth cameras and four support columns；Described
Upper platform includes embedded main control board；
The driving mechanism is made of two groups of driving wheels, retarder, differential speed motor, encoders, is respectively symmetrically mounted on vehicle frame
There are one group of driving wheel, retarder, differential speed motor, encoder on both sides of the middle, i.e., every side, and differential speed motor is by receiving motor driven
The motor pulses signal of device passes through retarder in the form of differential control, by power transmission to driving wheel, and then drives mobile platform
Advance, retreat and turn to, the angle counting that differential speed motor main shaft is generated by rotation is sent to motor driver by encoder；
The follower is made of two groups of omni-directional wheels, is distributed in the front and rear ends of vehicle frame central axes, is propped up jointly with driving wheel
Prop up mobile platform；
The motor driver is mounted on frame interior, the movement velocity instruction of embedded main control board is received, by mobile platform
Movement velocity it is instruction morphing control differential speed motor for motor pulses signal, and the angle for receiving two groups of encoders counts, and carries out
Displacement increment calculates, and is sent to embedded main control board；
Four support columns, distribution on four angles position of platform, are used to support upper platform in middle level；Meanwhile support column
Inside is hollow structure, as threading hole for planning wiring；
The two-dimensional laser radar, installation in the detent of platform geometric center, scan in middle level as platform car body is advanced
The environment profile of certain altitude plane around it, gained information real-time Transmission is to embedded main control board；
Two depth cameras, are separately mounted to the front and back of middle layer platform, keep its optical axis horizontal, with mobile flat
Platform is advanced or is retreated, and depth camera obtains the dynamic 3 D depth image in front and back region, gained information real-time Transmission
To embedded main control board；
The embedded main control board receiving calling signal, obtains two-dimensional laser radar and depth camera in real time and movement is flat
The displacement increment data of platform, supercomputing obtain the location information of mobile platform and plan avoidance guidance path, and then to motor
Driver sends movement velocity instruction.
2. the trackless mobile platform of multisensor field domain perception according to claim 1, which is characterized in that the bottom
Platform further includes two anticollision touching sides, is separately mounted to the front and back of underlying platform, and anticollision touching side is extended to by push rod
Frame interior, when touching foreign object, anticollision touches side by external force, and then pressure-ram, triggers the brake signal of motor driver,
And then brake differential motor, play the role of protection mobile platform, avoids collision.
3. the trackless mobile platform of multisensor field domain perception according to claim 1, which is characterized in that the bottom
Platform further includes two groups of run indicator, underlying platform front surface and rear surface is arranged respectively at, for showing mobile platform
Advance, retrogressing and divertical motion information.
4. the trackless mobile platform of multisensor field domain perception according to claim 1, which is characterized in that the bottom
Platform further includes battery, is mounted on frame interior, provides electric power for entire mobile platform.
5. the trackless mobile platform of multisensor field domain perception according to claim 1, which is characterized in that the upper layer
Platform further includes networking communication apparatus, erects local area wireless network by networking communication apparatus, for mobile platform and outside
Communication, receiving calling signal receive long-range monitoring, artificial to manually control mobile platform movement by local area wireless network realization.
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| CN201821109181.1U CN208859276U (en) | 2018-07-13 | 2018-07-13 | The trackless mobile platform of multisensor field domain perception |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110143396A (en) * | 2019-06-27 | 2019-08-20 | 广东利元亨智能装备股份有限公司 | Intelligent cruise vehicle |
| CN110588834A (en) * | 2019-10-18 | 2019-12-20 | 广东博智林机器人有限公司 | Omnidirectional chassis and robot |
| CN114571930A (en) * | 2022-03-22 | 2022-06-03 | 南通理工学院 | Intelligent vehicle for unmanned platform and external interaction system |
| CN117729403A (en) * | 2024-02-07 | 2024-03-19 | 广东新成科技实业有限公司 | Laser camera monitor for ship |
| CN117729403B (en) * | 2024-02-07 | 2024-04-19 | 广东新成科技实业有限公司 | Laser camera monitor for ship |
-
2018
- 2018-07-13 CN CN201821109181.1U patent/CN208859276U/en active Active
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110143396A (en) * | 2019-06-27 | 2019-08-20 | 广东利元亨智能装备股份有限公司 | Intelligent cruise vehicle |
| CN110588834A (en) * | 2019-10-18 | 2019-12-20 | 广东博智林机器人有限公司 | Omnidirectional chassis and robot |
| CN114571930A (en) * | 2022-03-22 | 2022-06-03 | 南通理工学院 | Intelligent vehicle for unmanned platform and external interaction system |
| CN114571930B (en) * | 2022-03-22 | 2023-04-07 | 南通理工学院 | Intelligent vehicle for unmanned platform and external interaction system |
| CN117729403A (en) * | 2024-02-07 | 2024-03-19 | 广东新成科技实业有限公司 | Laser camera monitor for ship |
| CN117729403B (en) * | 2024-02-07 | 2024-04-19 | 广东新成科技实业有限公司 | Laser camera monitor for ship |
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