CN209166455U - A kind of unmanned scraper system based on inertial navigation and 3 D laser scanning - Google Patents
A kind of unmanned scraper system based on inertial navigation and 3 D laser scanning Download PDFInfo
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- CN209166455U CN209166455U CN201822223052.1U CN201822223052U CN209166455U CN 209166455 U CN209166455 U CN 209166455U CN 201822223052 U CN201822223052 U CN 201822223052U CN 209166455 U CN209166455 U CN 209166455U
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Abstract
Unmanned scraper system of one of the utility model based on inertial navigation and 3 D laser scanning, including arm processor unit, DSP data calculation unit, inertial sensor and three-dimensional laser scanner, the arm processor unit and the DSP data calculation unit, inertial sensor is connected with three-dimensional laser scanner signal, the DSP data calculation unit is connect with the inertial sensor and three-dimensional laser scanner signal, location information is obtained in unmanned fortune forklift positioning, the real-time planar figure of circumstances not known is obtained simultaneously, autonomous positioning ability is strong, it is not limited by external environment, it does not need to pre-establish sensor network and any prior information, it is highly suitable for the positioning and operation control of the scraper under tunnel environment.
Description
Technical field
It is the utility model relates to Navigation of Pilotless Aircraft field, in particular to a kind of based on inertial navigation and 3 D laser scanning
Unmanned scraper system.
Background technique
Inertial navigation technology is the sophisticated technology for combining the subjects such as electromechanics, optics, mathematics, mechanics, control and computer,
It is widely used in Aeronautics and Astronautics, navigation and important vehicle land navigation.Have independence, concealment and carrier can be obtained
Complete motion information and the particular advantages of geographical location information be satellite navigation, radionavigation and celestial navigation etc. other
Navigation system is incomparable, is very suitable for using under the conditions of ground end depths.Three-dimensional laser scanning technique is a kind of new development
The stereoscan technology come, the technology have the characteristics that high efficiency, high-precision, are the another item New Surveying Technologies after GPS.It
Using the spatial coordinated information of each point in three-dimensional laser scanner quick obtaining object to be measured, the point information obtained is then utilized
Carry out three-dimensional modeling and finally obtain required all kinds of mapping informations, but since speed is estimation and fixed, positioning accuracy by
It influences, inertial navigation technology independence is strong, but due to using reckoning algorithm, feature when walking according to tested engine, estimation
Position, position error can increase with the increase of distance, and the internal structure chart built where can not generating in real time, positioning accurate
Degree is not high, lacks the sensing capability to circumstances not known,
For above situation, need to design a kind of unmanned scraper system based on inertial navigation and 3 D laser scanning,
Location information is obtained in unmanned fortune forklift positioning, while obtaining the real-time planar figure of circumstances not known, autonomous positioning ability is strong, no
It is limited by external environment, is not needed to pre-establish sensor network and any prior information, be highly suitable under tunnel environment
The positioning and operation control of scraper.
Utility model content
For above-mentioned existing issue, the technical problem to be solved by the present invention is to provide can be in unmanned fortune forklift positioning
In obtain location information, while obtaining the real-time planar figure of circumstances not known, autonomous positioning ability is strong, do not limited by external environment,
It does not need to pre-establish sensor network and any prior information, is highly suitable for the positioning and fortune of the scraper under tunnel environment
A kind of unmanned scraper system based on inertial navigation and 3 D laser scanning of row control.
Unmanned scraper system of one of the utility model based on inertial navigation and 3 D laser scanning, including ARM
Processor unit, DSP data calculation unit, inertial sensor and three-dimensional laser scanner, the three-dimensional laser scanner include
Electric machine controller, second source, turntable, fan laser transmitter, LED emitter, receives mould to penetrating pipe and signal at the first power supply
Block, the electric machine controller are connect with the rotating platform signal, and the fan laser transmitter and the LED emitter are set on described
It on turntable, is connect to pipe is penetrated with the turntable, the signal receiving module penetrates pipe and the fan laser transmitter with described pair
Optical signal connection, first power supply penetrate pipe, the LED emitter and turntable electricity with the electric machine controller, described pair
Connection, the second source are electrically connected with the fan laser transmitter, the arm processor unit and the DSP data solution
Calculate unit, inertial sensor is connected with three-dimensional laser scanner signal, the DSP data calculation unit and the inertial sensor
It is connected with three-dimensional laser scanner signal.
Further, the signal receiving module include LED signal receiver, laser signal receivers, processing module and
Memory, the processing module are connect with the LED signal receiver and the laser signal receivers signal, the memory
It is connect with the processing module signal, the memory is connect with the DSP data calculation cell signal.
Further, the inertial sensor includes acceleration transducer and gyro sensor two parts.
Further, the model MMA7260 of the acceleration transducer, the model BQTLY- of the gyro sensor
86-TTL。
Further, the model STM32F103ZET6 of the arm processor unit.
Further, the model TMS320F28335 of DSP data calculation unit.
Compared with prior art, the utility model has the beneficial effects that
Unmanned scraper system of one of the utility model based on inertial navigation and 3 D laser scanning, including ARM
Processor unit, DSP data calculation unit, inertial sensor and three-dimensional laser scanner, wherein the arm processor unit is made
For master controller, control signal is sent, output navigation data carries out human-computer interactive control, the arm processor unit realization pair
The configuration of the inertial sensor and the three-dimensional laser scanner initializes the DSP data calculation unit, passes to host computer
Position, posture and the tunnel topographic map for sending platform, receive the finger of host computer, and the DSP data calculation unit is entire navigation system
The arithmetic core of system, is directly acquired sensing data, and the time at data acquisition moment is added in data encapsulation
Then information passes through resolves initial alignment, inertial reference calculation and the integrated navigation of realizing integrated navigation system and the building of tunnel topographic map
Etc. functions, and result and initial data are sent to the arm processor unit, the inertial sensor and the three-dimensional laser
Scanner is the key equipment for incuding vehicle and external change, and the posture information that the inertial sensor obtains platform is supplied to institute
It states DSP data calculation unit and carries out position resolving, the three-dimensional laser scanner obtains tunnel wall opposed platforms range points cloud number
According to the DSP data calculation unit is supplied to, tunnel topographic map is constructed for it, the fan laser transmitter is for launching
The fan laser of system scanning, the second source are used to power to the fan laser transmitter and the LED emitter；Institute
Turntable is stated at the uniform velocity driving the fan laser transmitter to scan around；Penetrating pipe for described pair may determine that the turntable is
No arrival zero-bit is simultaneously opened a way in zero-bit；LED emitter emits zero-bit optical signal；The signal receiving module receives signal, and
And corresponding optical signal is converted into electric signal；Processing module converts electrical signals to temporal information, and sends with timestamp
Laser point cloud data information obtains location information in unmanned fortune forklift positioning for DSP data calculation building unit numerical map,
The real-time planar figure of circumstances not known is obtained simultaneously, autonomous positioning ability is strong, is not limited by external environment, does not need to pre-establish biography
Sensor network and any prior information are highly suitable for the positioning and operation control of the scraper under tunnel environment.
Detailed description of the invention
It, below will be to required in embodiment description in order to illustrate more clearly of the technical scheme in the embodiment of the utility model
Attached drawing to be used is briefly described, it should be apparent that, the accompanying drawings in the following description is only the preferred embodiment of the present invention,
For those of ordinary skill in the art, without any creative labor, it can also obtain according to these attached drawings
Obtain other attached drawings.
Fig. 1 is a kind of module knot of the unmanned scraper system based on inertial navigation and 3 D laser scanning of the utility model
Structure schematic diagram；
Fig. 2 swashs for a kind of three-dimensional of the unmanned scraper system based on inertial navigation and 3 D laser scanning of the utility model
The structural schematic diagram of photoscanner；
Fig. 3 is that a kind of inertia of the unmanned scraper system based on inertial navigation and 3 D laser scanning of the utility model is led
Navigate systematic schematic diagram；
Fig. 4 is a kind of navigation number of the unmanned scraper system based on inertial navigation and 3 D laser scanning of the utility model
According to resolving block diagram.
1, arm processor unit；2, DSP data calculation unit；3, inertial sensor；4, three-dimensional laser scanner；5, electric
Machine controller；6, the first power supply；7, second source；8, turntable；9, fan laser transmitter；10, LED emitter；11, to penetrating
Pipe；12, LED signal receiver；13, laser signal receivers；14, processing module；15, memory；16, acceleration transducer；
17, gyro sensor.
Specific embodiment
Referring to Fig. 1 to Fig. 4, unmanned scraper of one of the utility model based on inertial navigation and 3 D laser scanning
System, including arm processor unit 1, DSP data calculation unit 2, inertial sensor 3 and three-dimensional laser scanner 4, wherein institute
Arm processor unit 1 is stated as master controller, sends control signal, output navigation data progress human-computer interactive control, it is described
Arm processor unit 1 realizes the configuration to the inertial sensor 3 and the three-dimensional laser scanner 4, initializes the DSP
Data calculation unit 2 receives the finger of host computer, the DSP to the position of host computer delivery platform, posture and tunnel topographic map
Data calculation unit 2 is the arithmetic core of entire navigation system, is directly acquired to sensing data, and is encapsulated in data
When be added data acquisition the moment temporal information then pass through resolve realize integrated navigation system it is initial be aligned, inertial reference calculation and
The functions such as integrated navigation and the building of tunnel topographic map, and result and initial data are sent to the arm processor unit 1, institute
It states inertial sensor 3 and the three-dimensional laser scanner 4 is the key equipment for incuding vehicle and external change, the inertia sensing
The posture information that device 3 obtains platform is supplied to the DSP data calculation unit 2 and carries out position resolving, the 3 D laser scanning
Instrument 4 obtains tunnel wall opposed platforms and is supplied to the DSP data calculation unit 2 apart from point cloud data, constructs tunnel landform for it
Figure.The three-dimensional laser scanner 4 includes electric machine controller 5, the first power supply 6, second source 7, turntable 8, fan laser transmitting
Device 9, LED emitter 10, to pipe 11 and signal receiving module is penetrated, the electric machine controller 5 is connect with 8 signal of turntable, institute
It states fan laser transmitter 9 and the LED emitter 10 is set on the turntable 8, connect to pipe 11 is penetrated with the turntable 8, institute
It states signal receiving module and penetrates pipe 11 and 9 optical signal of fan laser transmitter is connect, first power supply 6 and institute with described pair
State electric machine controller 5, described pair penetrate pipe 11, the LED emitter and the turntable 8 are electrically connected, the second source 7 and institute
The electrical connection of fan laser transmitter 9 is stated, the fan laser transmitter 9 is used to launch the fan laser of system scanning, institute
Second source 7 is stated for powering to the fan laser transmitter 9；The turntable 8 is at the uniform velocity driving the fan laser to send out
Emitter 9 scans around；Penetrating pipe 11 for described pair may determine that whether the turntable 8 reaches zero-bit and the open circuit in zero-bit；LED
Transmitter 10 emits zero-bit optical signal；The signal receiving module receives signal, and corresponding optical signal is converted to telecommunications
Number, and send the laser point cloud data information with timestamp and construct numerical map, the ARM for the DSP data calculation unit 2
Processor unit 1 is connect with the DSP data calculation unit 2, inertial sensor 3 and 4 signal of three-dimensional laser scanner, described
DSP data calculation unit 2 is connect with the inertial sensor 3 and 4 signal of three-dimensional laser scanner, in unmanned fortune forklift positioning
In obtain location information, while obtaining the real-time planar figure of circumstances not known, autonomous positioning ability is strong, do not limited by external environment,
It does not need to pre-establish sensor network and any prior information, is highly suitable for the positioning and fortune of the scraper under tunnel environment
Row control.
Specifically, the signal receiving module includes LED signal receiver 12, laser signal receivers 13, processing module
14 and memory 15, the processing module 14 connects with the LED signal receiver 12 and 13 signal of the laser signal receivers
It connects, the memory 15 is connect with 14 signal of processing module, and the memory 15 is believed with the DSP data calculation unit 2
Number connection, when the turntable 8 turns to zero-bit, described pair penetrate pipe 11 open circuit be connected so that penetrating 11 collector of pipe with described pair
First power supply 6 give the LED emitter power supply, emit LED signal；LED letter in the signal receiving module
Number receiver and the laser signal receivers 13 receive signal, a negative-going pulse are generated, by the processing module 14
Processing generates the I/O port of low level input single-chip microcontroller, records the temporal information of holder zero-bit at this time；The laser signal receives
Device 13 receives the laser signal that the fan laser transmitter 9 is emitted and reflected through tunnel wall with barrier, and by the letter
Number is sent to the processing module 14, and the processing module 14 plus corresponding timestamp and is sent to the memory to the data
15 construct numerical map for the DSP data calculation unit 2.
Specifically, the inertial sensor 3 includes 17 two parts of acceleration transducer 16 and gyro sensor, to survey
It measures 3 change in coordinate axis direction angular speed and than force information, computer obtains the attitude matrix of scraper by the calculating of angular velocity,
Then the posture and traffic direction information that scraper is extracted from the element of attitude matrix, with attitude matrix to accelerometer measures
Ratio force information converted to obtain and instructed than force information, finally acquire complete scraper running state information.
Specifically, the model MMA7260 of the acceleration transducer 16, using MEMS manufacture craft, have low-power consumption,
The advantages that Single-Chip Integration, the model BQTLY-86-TTL of the gyro sensor 17 are a high-precision angular speed moulds
Block.
Specifically, the model STM32F103ZET6 of the arm processor unit 1, the ARM processor unit 1 are adopted
Bestirred oneself with the outside of 8MHz for clock signal.Arm processor unit 1 is integrated with presentation control function, debugging, scraper operation control
System, with host computer telecommunication, the functions such as system starting reset.
Specifically, the model TMS320F28335 of DSP data calculation unit 2, the master of the DSP data calculation unit 2
Frequency is 150MHZ, and on piece SARAM is 34K*16B, FLASH 256K*16B, and has 3 FPU Float Point Units (FPU), former
It is raw to support IEEE754 floating point arithmetic, it can satisfy integrated navigation system to the need of arithmetic speed, operational precision and memory space
It asks DSP data calculation unit 2 to be also integrated with large capacity SSRAM and is stored in calculating for data.
The present embodiment specifically:
The utility model is a kind of unmanned scraper system based on inertial navigation and 3 D laser scanning, in unmanned fortune shovel
Location information is obtained in vehicle positioning, while obtaining the real-time planar figure of circumstances not known, autonomous positioning ability is strong, not by external environment
Limitation, does not need to pre-establish sensor network and any prior information, the scraper being highly suitable under tunnel environment is determined
Position and operation control.
Arm processor unit 1 is used as master controller, sends control signal, output navigation data progress human-computer interactive control,
The arm processor unit 1 realizes the configuration to the inertial sensor 3 and the three-dimensional laser scanner 4, described in initialization
DSP data calculation unit 2 receives the finger of host computer to the position of host computer delivery platform, posture and tunnel topographic map, described
DSP data calculation unit 2 is the arithmetic core of entire navigation system, is directly acquired to sensing data, and in data
Then the temporal information that the data acquisition moment is added when encapsulation passes through resolves the initial alignment for realizing integrated navigation system, inertial navigation solution
The functions such as calculation and integrated navigation and the building of tunnel topographic map, and result and initial data are sent to the arm processor unit
1, the inertial sensor 3 and the three-dimensional laser scanner 4 are the key equipment for incuding vehicle and external change, the inertia
3 inertia measuring module of sensor includes 17 two parts of acceleration transducer 16 and gyro sensor, the inertial sensor 3
Strapdown inertial navigation technology is applied, strapdown three-axis gyroscope and 3-axis acceleration are housed on inertial navigation system algorithm scraper
Meter, to measure three change in coordinate axis direction angular velocity vector specific force information vectors, computer is obtained by the calculating of angular velocity
Then the attitude matrix of scraper extracts the posture and traffic direction information of scraper from the element of attitude matrix, uses posture
Square converts the specific force information vector of accelerometer measures, obtains instruction specific force information vector, finally acquires complete shovel
Fortune machine running state information.The planning and foundation that scraper track can also be carried out by resolving, make it according to air route
Industry improves operational efficiency, and the second source 7 is electrically connected with the fan laser transmitter 9, the fan laser transmitter 9
For launching the fan laser of system scanning, the second source 7 is used to power to the fan laser transmitter 9；Institute
Turntable 8 is stated at the uniform velocity driving the fan laser transmitter 9 to scan around；Penetrating pipe 11 for described pair may determine that described turn
Whether platform 8 reaches zero-bit and the open circuit in zero-bit；LED emitter 10 emits zero-bit optical signal；When the turntable 8 turns to zero-bit
When, described pair is penetrated the open circuit of pipe 11, is emitted so that penetrating first power supply 6 that 11 collector of pipe is connected with described pair to the LED
Device power supply, emits LED signal；The LED signal receiver and the laser signal receivers in the signal receiving module
13 receive signal, generate a negative-going pulse, handle by the processing module 14, generate the IO of low level input single-chip microcontroller
Mouthful, record the temporal information of holder zero-bit at this time；The laser signal receivers 13 receive the fan laser transmitter 9 and send out
The laser signal for shooting out and being reflected through tunnel wall with barrier, and the signal data is sent to the processing module 14, it is described
Processing module 14 plus corresponding timestamp and is sent to the memory 15 for the DSP data calculation unit 2 building to the data
Numerical map is used, and the DSP data calculation unit 2 carries out phase at inertial reference calculation data are sent from the inertial sensor 3
The point cloud data that the position answered and status information are sent with the three-dimensional laser scanner 4 again carries out data fusion, Jin Erjin
Row navigation estimates optimal result and is output to control system completion navigation calculation.
The above content is the further description done in conjunction with specific embodiment to the utility model, this must not believe that
The specific implementation of utility model is only limited to these instructions, and the utility model person of an ordinary skill in the technical field is come
It says, without departing from the concept of the premise utility, the simple replacement made all shall be regarded as belonging to the utility model
Protection scope.
Claims (6)
1. a kind of unmanned scraper system based on inertial navigation and 3 D laser scanning, which is characterized in that including arm processor
Unit, DSP data calculation unit, inertial sensor and three-dimensional laser scanner, the three-dimensional laser scanner include motor control
Device processed, the first power supply, second source, turntable, fan laser transmitter, LED emitter, to penetrating pipe and signal receiving module, institute
It states electric machine controller to connect with the rotating platform signal, the fan laser transmitter and the LED emitter are set to the turntable
On, it is connect to pipe is penetrated with the turntable, the signal receiving module penetrates pipe and fan laser transmitter light letter with described pair
Number connection, first power supply penetrates pipe, the LED emitter and the turntable with the electric machine controller, described pair and is electrically connected,
The second source is electrically connected with the fan laser transmitter, the arm processor unit and the DSP data calculation list
Member, inertial sensor are connected with three-dimensional laser scanner signal, the DSP data calculation unit and the inertial sensor and three
Tie up the connection of laser scanner signal.
2. a kind of unmanned scraper system based on inertial navigation and 3 D laser scanning according to claim 1, special
Sign is, the signal receiving module includes LED signal receiver, laser signal receivers, processing module and memory, described
Processing module is connect with the LED signal receiver and the laser signal receivers signal, the memory and the processing
Module by signal connection, the memory are connect with the DSP data calculation cell signal.
3. a kind of unmanned scraper system based on inertial navigation and 3 D laser scanning according to claim 1, special
Sign is that the inertial sensor includes acceleration transducer and gyro sensor two parts.
4. a kind of unmanned scraper system based on inertial navigation and 3 D laser scanning according to claim 3, special
Sign is, the model MMA7260 of the acceleration transducer, the model BQTLY-86-TTL of the gyro sensor.
5. a kind of unmanned scraper system based on inertial navigation and 3 D laser scanning according to claim 1, special
Sign is, the model STM32F103ZET6 of the arm processor unit.
6. a kind of unmanned scraper system based on inertial navigation and 3 D laser scanning according to claim 1, special
Sign is, the model TMS320F28335 of DSP data calculation unit.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201822223052.1U CN209166455U (en) | 2018-12-27 | 2018-12-27 | A kind of unmanned scraper system based on inertial navigation and 3 D laser scanning |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201822223052.1U CN209166455U (en) | 2018-12-27 | 2018-12-27 | A kind of unmanned scraper system based on inertial navigation and 3 D laser scanning |
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| CN209166455U true CN209166455U (en) | 2019-07-26 |
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| CN201822223052.1U Expired - Fee Related CN209166455U (en) | 2018-12-27 | 2018-12-27 | A kind of unmanned scraper system based on inertial navigation and 3 D laser scanning |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114111489A (en) * | 2021-11-05 | 2022-03-01 | 重庆望江工业有限公司 | Amphibious unmanned aerial vehicle manipulator barrier breaking equipment |
-
2018
- 2018-12-27 CN CN201822223052.1U patent/CN209166455U/en not_active Expired - Fee Related
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114111489A (en) * | 2021-11-05 | 2022-03-01 | 重庆望江工业有限公司 | Amphibious unmanned aerial vehicle manipulator barrier breaking equipment |
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Granted publication date: 20190726 Termination date: 20211227 |