CN209927144U - Indoor navigation car based on laser SLAM - Google Patents
Indoor navigation car based on laser SLAM Download PDFInfo
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- CN209927144U CN209927144U CN201920778430.4U CN201920778430U CN209927144U CN 209927144 U CN209927144 U CN 209927144U CN 201920778430 U CN201920778430 U CN 201920778430U CN 209927144 U CN209927144 U CN 209927144U
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Abstract
The utility model discloses an indoor navigation car based on laser SLAM, including vehicle chassis, four mecanum wheels, chassis driving system, laser SLAM navigation and the DC power supply system who is used for the power supply, chassis driving system includes driver chip and microcontroller, mecanum wheel distributes with two a set of modes vehicle chassis both sides, microcontroller, driver chip and mecanum wheel connect gradually, laser SLAM navigation includes laser radar and miniature PC, laser radar sets up vehicle chassis's top is and do not shelter from in the side at least, DC power supply system connects respectively microcontroller's the power source interface who connects electric pin and miniature PC, the utility model discloses combine X86 framework and embedded system, can improve the continuation of the journey of system greatly.
Description
Technical Field
The utility model relates to an indoor navigation robot, especially an indoor navigation car based on laser SLAM.
Background
With the rise of indoor robots with automatic navigation, such as sweeping robots, how to enable the robots to calculate more accurate moving routes becomes a problem of major concern of various manufacturers, the current instant positioning and Mapping (SLAM) is a mature scheme, and the SLAM technology is combined with sensors of different types to adapt to different scenes, but because the floating point operation of the SLAM algorithm has a high requirement on a processor, the current SLAM-based navigation robot basically adopts an x86 processor for global control, has high power consumption and is not beneficial to the endurance of the navigation robot.
SUMMERY OF THE UTILITY MODEL
In order to solve the problem, the utility model provides an indoor navigation car based on laser SLAM combines micro PC and embedded processing system, reduces overall control system's consumption, improves the duration of a journey of navigation car.
The utility model provides a technical scheme that its problem adopted is:
an indoor navigation vehicle based on laser SLAM comprises a vehicle chassis, four Mecanum wheels, a chassis driving system, a laser SLAM navigation system and a direct current power supply system for supplying power, the vehicle chassis carries the chassis drive system, the laser SLAM navigation system and the DC power supply, the chassis driving system comprises a driving chip and a microcontroller, the Mecanum wheels are distributed on two sides of the vehicle chassis in a group of two, the microcontroller, the driving chip and the Mecanum wheel are sequentially connected, the laser SLAM navigation system comprises a laser radar and a micro PC, the laser radar is arranged above the vehicle chassis and is not shielded at least on the side surface, the micro PC is connected with the laser radar, the microcontroller is connected with the micro PC, and the direct current power supply system is respectively connected with the power connection pin of the microcontroller and the power supply interface of the micro PC.
Further, drive chip includes front wheel drive module and rear wheel drive module, front wheel drive module connects two that are located the place ahead mecanum wheel, rear wheel drive module connects two that are located the rear mecanum wheel, front wheel drive module and rear wheel drive module are the TB6612 chip.
Further, the microcontroller is STM32F407ZGT6 in an embedded processing system.
Further, the laser radar is RPLIDAR A1, and the laser radar is connected to the micro PC through an ROS network.
Further, the direct current power supply system comprises a direct current source with two paths of 24V outputs, a first voltage reduction circuit and a second voltage reduction circuit, wherein one path of output of the direct current source is connected with the microcontroller through the first voltage reduction circuit, and the other path of output of the direct current source is connected with the micro PC through the second voltage reduction circuit.
Further, the first voltage reduction circuit comprises a 24V to 12V circuit, a 12V to 5V circuit and a 5V to 3.3V circuit, the 24V to 12V circuit is connected with the driving chip and the Mecanum wheel, and the 24V to 12V circuit, the 12V to 5V circuit, the 5V to 3.3V circuit and the microcontroller are sequentially connected.
Further, still include motor encoder, motor encoder sets up on the mecanum wheel, motor encoder connects on microcontroller's the timer pin.
Further, the chassis driving system further comprises an IIC communication interface, a USART interface and a STILINK downloading interface reserved for burning executable files, wherein the IIC communication interface is led out by an IIC pin of the microcontroller, the microcontroller is connected with the micro PC through the USART interface, and the STILINK downloading interface is led out by the STILINK pin of the microcontroller.
Further, the micro PC also comprises a wireless communication module, and the wireless communication module is connected with an external control terminal.
The embodiment of the utility model has following beneficial effect at least: the utility model discloses a chassis driving system's microcontroller is based on embedded system, and laser SLAM navigation's miniature PC is based on X86 framework, uses embedded system except can guaranteeing structure and the motion mode that can design the robot freely, and more importantly embedded system has very showing advantage in the aspect of the low-power consumption, to the not little simple calculation of chassis driving system this type of data processing volume, can improve the continuation of the journey of system greatly.
Drawings
The present invention will be further explained with reference to the drawings and examples.
Fig. 1 is a schematic diagram of module connection according to an embodiment of the present invention;
fig. 2 is a schematic connection diagram of a driving chip according to an embodiment of the present invention;
FIG. 3 is a schematic top view of a vehicle body and Mecanum wheels according to an embodiment of the present invention;
fig. 4 is a circuit diagram of the embodiment of the present invention, which is 12V to 5V;
fig. 5 is a circuit diagram of the embodiment of the present invention, which is 5V to 3.3V.
Detailed Description
This section will describe in detail the embodiments of the present invention, preferred embodiments of the present invention are shown in the attached drawings, which are used to supplement the description of the text part of the specification with figures, so that one can intuitively and vividly understand each technical feature and the whole technical solution of the present invention, but they cannot be understood as the limitation of the protection scope of the present invention.
In the description of the present invention, it should be understood that the orientation or positional relationship indicated with respect to the orientation description, such as up, down, front, rear, left, right, etc., is based on the orientation or positional relationship shown in the drawings, and is only for convenience of description and simplification of description, and does not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus, should not be construed as limiting the present invention.
In the description of the present invention, a plurality of means are one or more, a plurality of means are two or more, and the terms greater than, less than, exceeding, etc. are understood as not including the number, and the terms greater than, less than, within, etc. are understood as including the number. If the first and second are described for the purpose of distinguishing technical features, they are not to be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated or implicitly indicating the precedence of the technical features indicated.
In the description of the present invention, unless there is an explicit limitation, the words such as setting, installation, connection, etc. should be understood in a broad sense, and those skilled in the art can reasonably determine the specific meanings of the above words in combination with the specific contents of the technical solution.
Referring to fig. 1 and 3, an embodiment of the present invention provides an indoor navigation vehicle based on laser SLAM, including a vehicle chassis 100, four mecanum wheels 200, a chassis driving system, a laser SLAM navigation system and a dc power supply system for supplying power, the vehicle chassis 100 carries the chassis driving system, the laser SLAM navigation system and the dc power supply, the chassis driving system includes a driving chip and a microcontroller, the mecanum wheels 200 are distributed on two sides of the vehicle chassis 100 in a group of two, the microcontroller, the driving chip and the mecanum wheels 200 are connected in sequence, the laser SLAM navigation system includes a laser radar and a micro PC, the laser radar is disposed above the vehicle chassis 100 and is not shielded at least on the side, the micro PC is connected with the laser radar, the micro PC is connected with the micro PC, and the direct-current power supply system is respectively connected with the power connection pin of the microcontroller and the power supply interface of the micro PC.
Referring to fig. 2, the driving chip includes a front wheel driving module and a rear wheel driving module, the front wheel driving module connects two mecanum wheels 200 located in front, the rear wheel driving module connects two mecanum wheels 200 located in rear, and both the front wheel driving module and the rear wheel driving module are TB6612 chips. One TB6612 chip can drive two motors, since the present invention is four-wheel drive, two TB6612 chips are required, one controlling the front two mecanum wheels 200 and the other controlling the rear two mecanum wheels 200.
In this embodiment, for the scalability of reinforcing modularized design, improvement system, microcontroller is STM32F407ZGT6 among the embedded processing system, the utility model discloses a microcontroller chip is based on Cortex-M4 kernel, and the frequency is 168MHz, and STM32 official provides a very complete library function development storehouse simultaneously, for the development mode of 51 that kind of operating register of singlechip, great improvement development efficiency.
In this embodiment, the lidar is RPLIDAR a1, and the lidar is connected to the microcomputer via an ROS network. RPLIDAR a1 may enable twelve meters of three hundred and sixty degree omni-directional laser scanning ranging, and thus be located on top of the entire navigation vehicle,
referring to fig. 4 and 5, the dc power supply system includes a dc source having two 24V outputs, a first voltage-reducing circuit and a second voltage-reducing circuit, wherein one output of the dc source is connected to the microcontroller through the first voltage-reducing circuit, the other output of the dc source is connected to the micro PC through the second voltage-reducing circuit, the first voltage-reducing circuit includes a 24V-to-12V circuit, a 12V-to-5V circuit and a 5V-to-3.3V circuit, the 24V-to-12V circuit is connected to the driver chip and the mecanum wheel 200, the 24V-to-12V circuit, the 12V-to-5V circuit, the 5V-to-3.3V circuit and the microcontroller are sequentially connected. In this embodiment, the dc source is a power supply of Da Jiang TB48, and the second voltage drop circuit is 24V to 19V, so as to provide a standard voltage for the micro PC.
The Mecanum wheel automatic detection device is characterized by further comprising a motor encoder, wherein the motor encoder is arranged on the Mecanum wheel 200 and connected with a timer pin of the microcontroller. In this embodiment, the motor encoder is a magnetic encoder for measuring the rotation angle of the driving motor to calculate the rotation speed of the driving motor.
The chassis driving system further comprises an IIC communication interface, a USART interface and a STILINK downloading interface reserved for burning executable files, wherein the IIC communication interface is led out by an IIC pin of the microcontroller, the microcontroller is connected with the micro PC through the USART interface, and the STILINK downloading interface is led out by the STILINK pin of the microcontroller.
The micro PC also comprises a wireless communication module, and the wireless communication module is connected with an external control terminal. Through the wireless communication module, a user can carry out remote control through a control terminal such as a mobile phone.
The utility model discloses a chassis driving system's microcontroller is based on embedded system, and laser SLAM navigation's miniature PC is based on X86 framework, uses embedded system except can guaranteeing structure and the motion mode that can freely design the robot, and more importantly embedded system has very showing advantage in the aspect of the low-power consumption, to the little simple calculation of chassis driving system this type data processing volume, can improve the continuation of the journey of system greatly
Above, only the preferred embodiment of the present invention has been described, the present invention is not limited to the above embodiment, and the technical effects of the present invention can be achieved by the same means, which all belong to the protection scope of the present invention.
Claims (9)
1. The utility model provides an indoor navigation car based on laser SLAM which characterized in that: comprises a vehicle chassis, four Mecanum wheels, a chassis driving system, a laser SLAM navigation system and a direct current power supply system for supplying power, the vehicle chassis carries the chassis drive system, the laser SLAM navigation system and the DC power supply, the chassis driving system comprises a driving chip and a microcontroller, the Mecanum wheels are distributed on two sides of the vehicle chassis in a group of two, the microcontroller, the driving chip and the Mecanum wheel are sequentially connected, the laser SLAM navigation system comprises a laser radar and a micro PC, the laser radar is arranged above the vehicle chassis and is not shielded at least on the side surface, the micro PC is connected with the laser radar, the microcontroller is connected with the micro PC, and the direct current power supply system is respectively connected with the power connection pin of the microcontroller and the power supply interface of the micro PC.
2. The indoor navigation vehicle based on the laser SLAM as claimed in claim 1, wherein: the drive chip comprises a front wheel drive module and a rear wheel drive module, the front wheel drive module is connected with two Mecanum wheels in front, the rear wheel drive module is connected with two Mecanum wheels in rear, and the front wheel drive module and the rear wheel drive module are TB6612 chips.
3. The indoor navigation vehicle based on the laser SLAM as claimed in claim 1, wherein: the microcontroller is an STM32F407ZGT6 in an embedded processing system.
4. The indoor navigation vehicle based on the laser SLAM as claimed in claim 1, wherein: the laser radar is RPLIDAR A1 and is connected to the micro PC through an ROS network.
5. The indoor navigation vehicle based on the laser SLAM as claimed in claim 1, wherein: the direct current power supply system comprises a direct current source with two paths of 24V output, a first voltage reduction circuit and a second voltage reduction circuit, wherein one path of output of the direct current source is connected with the microcontroller through the first voltage reduction circuit, and the other path of output of the direct current source is connected with the micro PC through the second voltage reduction circuit.
6. The indoor navigation vehicle based on the laser SLAM as claimed in claim 5, wherein: the first voltage reduction circuit comprises a 24V to 12V circuit, a 12V to 5V circuit and a 5V to 3.3V circuit, the 24V to 12V circuit is connected with the driving chip and the Mecanum wheel, and the 24V to 12V circuit, the 12V to 5V circuit, the 5V to 3.3V circuit and the microcontroller are sequentially connected.
7. The indoor navigation vehicle based on the laser SLAM as claimed in claim 1, wherein: still include motor encoder, motor encoder sets up on the mecanum wheel, motor encoder connects on microcontroller's the timer pin.
8. The indoor navigation vehicle based on the laser SLAM as claimed in claim 1, wherein: the chassis driving system further comprises an IIC communication interface, a USART interface and a STILINK downloading interface reserved for burning executable files, wherein the IIC communication interface is led out by an IIC pin of the microcontroller, the microcontroller is connected with the micro PC through the USART interface, and the STILINK downloading interface is led out by the STILINK pin of the microcontroller.
9. The indoor navigation vehicle based on the laser SLAM as claimed in claim 1, wherein: the micro PC also comprises a wireless communication module, and the wireless communication module is connected with an external control terminal.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN201920778430.4U CN209927144U (en) | 2019-05-27 | 2019-05-27 | Indoor navigation car based on laser SLAM |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201920778430.4U CN209927144U (en) | 2019-05-27 | 2019-05-27 | Indoor navigation car based on laser SLAM |
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| CN209927144U true CN209927144U (en) | 2020-01-10 |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110207705A (en) * | 2019-05-27 | 2019-09-06 | 五邑大学 | A kind of indoor navigation vehicle based on laser SLAM |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110207705A (en) * | 2019-05-27 | 2019-09-06 | 五邑大学 | A kind of indoor navigation vehicle based on laser SLAM |
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Effective date of registration: 20201126 Address after: 528400 7th floor, No.63, Xinxing Avenue East, Guzhen Town, Zhongshan City, Guangdong Province Patentee after: Guangdong damping Intelligent Lighting Technology Co., Ltd Address before: 529000, No. 22, Dongcheng village, Pengjiang District, Guangdong, Jiangmen Patentee before: WUYI University |