CN210323888U - Autonomous map building navigation device - Google Patents
Autonomous map building navigation device Download PDFInfo
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- CN210323888U CN210323888U CN201921398055.7U CN201921398055U CN210323888U CN 210323888 U CN210323888 U CN 210323888U CN 201921398055 U CN201921398055 U CN 201921398055U CN 210323888 U CN210323888 U CN 210323888U
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Abstract
The utility model discloses an autonomous map construction navigation device, which comprises a base, a bracket, a GPS module, an inertia measurement unit, a raspberry group, a storage battery, a supporting plate, a supporting seat, a laser radar and a monocular camera, wherein the base is used for supporting the bracket and the storage battery; the GPS module, the inertia measurement unit and the raspberry pie are all arranged on the bracket; the supporting plate is connected with the base through a connecting rod; the supporting plate is used for supporting the supporting seat and the two monocular cameras; the GPS module, the inertia measurement unit, the laser radar and each monocular camera are respectively connected with the raspberry pie; the raspberry pi, the GPS module, the inertia measurement unit, the laser radar and each monocular camera are respectively connected with the storage battery; an external signal interface is arranged on the base. The utility model discloses can carry on at current fork truck of enterprise, moving platform such as delivery machine, will independently fix a position navigation function integration on moving platform, replace the driver among the traditional moving platform, can carry out intelligent upgrading to traditional moving platform with very little input cost.
Description
Technical Field
The utility model belongs to the navigation head field, more specifically relates to a navigation head is found to autonomic map.
Background
In the large environmental context of supply-side innovation and industry upgrades, unmanned processes in industrial production have also blown horn. Particularly in the load carrying link, the high cost and low efficiency of a factory to human drivers are the most serious problems. The load carrying industry is carried by original shouldering hands, is developed to the current mainstream large mechanical power-assisted carrying, and then is developed to intelligent unmanned equipment with positive wind head. The pulse path is developed through one scene, namely manpower, machinery and intelligence. However, the mainstream equipment in the production line is currently in the second stage, i.e. the manpower intelligence and the mechanical assistance.
The reason is summarized as that although the intelligent AGV is high in efficiency, safe and easy to dispatch and manage, once the existing equipment is replaced by the intelligent AGV equipment, large capital investment is needed at one time, and the current equipment is idle and treated, so that capital waste is caused. Moreover, at present, the AGV that navigates with magnetic guide rail, two-dimensional code, calibration board etc. needs to carry out holistic transformation to the mill, and the consuming time and the power of transformation, the cost is also higher moreover.
SUMMERY OF THE UTILITY MODEL
To the above defect of prior art or improve the demand, the utility model provides an autonomic map founds navigation head can carry on mobile platform such as fork truck, delivery machine that the enterprise is current, will independently fix a position the navigation function and integrate to mobile platform on to replace the driver among the traditional mobile platform, can carry out intelligent upgrading to traditional mobile platform with very little input cost.
To achieve the above object, according to one aspect of the present invention, there is provided an autonomous map building navigation device, comprising a base, a stand, a GPS module, an inertia measuring unit, a raspberry pi, a storage battery, a support plate, a support base, a laser radar, and a monocular camera, wherein,
the base is horizontally arranged and bears the bracket and the storage battery;
the GPS module, the inertia measurement unit and the raspberry pie are all arranged on the bracket;
the supporting plate is positioned above the base and the bracket and is horizontally arranged, a plurality of connecting rods are arranged between the supporting plate and the base, and the supporting plate and the base are connected together through the connecting rods;
the supporting plate is used for supporting the supporting seat and the two monocular cameras, the supporting seat is used for supporting the laser radar, the axes of the cameras of the monocular cameras are horizontally arranged, and the axes of the cameras of the two monocular cameras are on the same straight line;
the GPS module, the inertia measurement unit, the laser radar and each monocular camera are respectively connected with the raspberry pie;
the raspberry pi, the GPS module, the inertia measurement unit, the laser radar and each monocular camera are respectively connected with the storage battery;
an external signal interface connected with the raspberry group is arranged on the base.
Preferably, each of the connecting rods is vertically disposed.
Preferably, be provided with transparent dustcoat on the base, support, GPS module, inertial measurement unit, raspberry group, battery, backup pad, supporting seat, laser radar and monocular camera all are located in the transparent dustcoat.
Preferably, each of the monocular cameras is mounted on the support plate through a camera mount, respectively.
Preferably, the support is a U-shaped support, and comprises two vertical plates and a horizontal plate connected with the two vertical plates, the GPS module and the inertia measurement unit are installed on one of the vertical plates, and the raspberry pie is installed on the other vertical plate.
Preferably, the camera of the monocular camera is a wide-angle camera.
Preferably, the lidar is a single line lidar.
Generally, through the utility model discloses above technical scheme who conceives compares with prior art, can gain following beneficial effect:
1) the utility model discloses a laser radar for obtaining distance measure, two monocular cameras that are used for the vision perception, a GPS module for obtaining global absolute coordinate, obtain inertia track through inertia measuring unit cumulative integral simultaneously and measure, thereby can send to obtain map construction and optimization through the raspberry, functions such as orbit path planning, its all data sources all come from the GPS module of self, inertia measuring unit, sensing module such as laser radar and each monocular camera, can be with the fork truck that the enterprise is current, the delivery machine etc. is mobile platform, with the function integration of independently fixing a position navigation inside this device, a driver for replacing among the traditional mobile platform, can carry out intelligent upgrading to traditional mobile platform with very little input cost.
2) The utility model discloses a sensing module such as GPS module, inertial measurement unit, laser radar and each monocular camera carries out the layering and arranges that structural arrangement is reasonable, does not influence each other between each sensing module, can not influence measurement accuracy.
3) The utility model discloses small in size can realize plug-and-play, under the condition that has needs, still can disconnection control, takes over the driving operation by the driver, has realized the theory that the man-machine melts jointly in the design.
Drawings
Fig. 1 is a schematic structural diagram of the present invention;
fig. 2 is a schematic view of the structure of fig. 1 with the transparent cover removed.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more clearly understood, the present invention is further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention. Furthermore, the technical features mentioned in the embodiments of the present invention described below can be combined with each other as long as they do not conflict with each other.
As shown in fig. 1 and 2, an autonomous map building navigation device includes a base 1, a bracket 2, a GPS module 3, an inertial measurement unit 4, a raspberry pi 5, a storage battery 6, a support plate 7, a support base 9, a laser radar 10, and a monocular camera 11,
the base 1 is horizontally arranged, and the base 1 is used for bearing the bracket 2 and the storage battery 6;
the GPS module 3, the inertial measurement unit 4 and the raspberry pie 5 are all arranged on the bracket 2;
the supporting plate 7 is positioned above the base 1 and the bracket 2, the supporting plate 7 is horizontally arranged, a plurality of connecting rods 8 are arranged between the supporting plate 7 and the base 1, and the supporting plate 7 and the base 1 are connected together through the connecting rods 8; preferably, each connecting rod 8 is vertically arranged, so as to connect the supporting plate 7 with the base 1;
the supporting plate 7 is used for supporting the supporting seat 9 and the two monocular cameras 11, the supporting seat 9 is used for supporting the laser radar 10, the scanning surface of the laser radar 10 can be raised to a certain extent, and the influence of the monocular cameras 11 cannot be caused; the axis of the camera of each monocular camera 11 is arranged horizontally and the axes of the cameras of the two monocular cameras 11 are on the same straight line; preferably, the camera of monocular camera 11 is wide angle camera, and every monocular camera 11 is installed through the camera mounting bracket respectively in backup pad 7 is last.
The GPS module 3, the inertia measurement unit 4, the laser radar 10 and each monocular camera 11 are respectively connected with the raspberry pi 5; the lidar 10 is preferably a single line lidar.
The raspberry pie 5, the GPS module 3, the inertia measurement unit 4, the laser radar 10 and each monocular camera 11 are respectively connected with the storage battery 6; the laser radar 10 is preferably a single line laser radar 10, and the inertial measurement unit 4 is preferably a GY-85 module.
An external signal interface 12 connected with the raspberry pie 5 is arranged on the base 1 and can be connected to controllers of mobile platforms such as forklifts and carriers.
Further, be provided with transparent dustcoat 13 on the base 1, support 2, GPS module 3, inertia measuring unit 4, raspberry group 5, battery 6, backup pad 7, supporting seat 9, laser radar 10 and monocular camera 11 all are located in transparent dustcoat 13, transparent dustcoat 13 does not influence the normal measurement of monocular camera 11 and laser radar 10, also can play the guard action moreover.
Further, the support 2 is a U-shaped frame and comprises two vertical plates 14 and a horizontal plate 15 connected with the two vertical plates 14, the GPS module 3 and the inertia measurement unit 4 are installed on one of the vertical plates 14, the raspberry pi 5 is installed on the other vertical plate 14, and the circuit board of the raspberry pi 5, the GPS module 3 and the inertia measurement unit 4 are all parallel to the vertical plate 14.
The navigation device can be used for intelligent upgrading of an existing driver-operated mobile platform (such as a forklift, a carrier and the like), is structurally independent of the installed mobile platform, is used for sensing data of sensing modules such as a laser radar 10, an inertial measurement unit 4, a GPS module 3 and a monocular camera 11 and the like, comes from the navigation device, and is used for completing the control planning function of the mobile platform by a raspberry pi 5 processor in the navigation device, so that the navigation device can be assembled, deployed and debugged very simply and conveniently when in use due to the integrated design.
The navigation device takes ROS (robot operating system) as a communication frame, distance measurement under different environments is obtained through a laser radar 10, a left monocular camera 11 and a right monocular camera 11 are used for visual perception, a GPS module 3 can obtain global absolute coordinates, meanwhile, the inertia track measurement of the navigation device is obtained through the accumulation of integrals of an inertia measurement unit 4, and the sensing modules send measured data to a raspberry group 5.
The raspberry group 5 is responsible for communicating with a central scheduling system to obtain a moving target point of a current task segment, performing data fusion on the received data sent by the sensing module through a sparse matrix decomposition method to obtain a two-dimensional occupancy grid map of the current environment, incrementally constructing the map of the area in the area which the navigation device does not go before by a map construction algorithm, and calling an autonomous navigation algorithm stack MoveBase to realize navigation. In the MoveBase, firstly, a monte carlo positioning algorithm is called to carry out particle sampling estimation on the pose of the current navigation device according to the current sampling point of the laser radar 10, after the pose estimation of the current navigation device is obtained, two path planners are called in the MoveBase, global path planning and local path planning are carried out, the global path planning carries out expansion processing on the whole map area and plans out a path track, the local map only considers the planned path track in a smaller area near the position of the current navigation device, but the updating frequency of the local planning period is higher, and the local planners need to consider dynamic obstacles around the navigation device, so that the obstacle avoidance function is realized.
After a path track reaching a target position is planned through the raspberry group 5, the path track is sent to a controller of the mobile platform to control the rotating speed of a left wheel and a right wheel of the mobile platform: the global track, obstacles observed by the laser radar 10, the volume of the mobile platform, motor related parameters and the like are comprehensively evaluated through a dynamic window algorithm, the rotating speeds of the left wheel and the right wheel which are suitable at present are calculated through a sampling algorithm, the raspberry group 5 sends the real-time rotating speeds of the left wheel and the right wheel to a controller of the mobile platform through an external information interface on the base 1, and the controller on the mobile platform controls the left wheel and the right wheel to rotate to execute through a motor on the mobile platform.
It will be understood by those skilled in the art that the foregoing is merely a preferred embodiment of the present invention, and is not intended to limit the invention to the particular forms disclosed, but on the contrary, the intention is to cover all modifications, equivalents, and alternatives falling within the spirit and scope of the invention as defined by the appended claims.
Claims (7)
1. An autonomous map construction navigation device is characterized by comprising a base, a bracket, a GPS module, an inertia measurement unit, a raspberry pi, a storage battery, a supporting plate, a supporting seat, a laser radar and a monocular camera, wherein,
the base is horizontally arranged and bears the bracket and the storage battery;
the GPS module, the inertia measurement unit and the raspberry pie are all arranged on the bracket;
the supporting plate is positioned above the base and the bracket and is horizontally arranged, a plurality of connecting rods are arranged between the supporting plate and the base, and the supporting plate and the base are connected together through the connecting rods;
the supporting plate is used for supporting the supporting seat and the two monocular cameras, the supporting seat is used for supporting the laser radar, the axes of the cameras of the monocular cameras are horizontally arranged, and the axes of the cameras of the two monocular cameras are on the same straight line;
the GPS module, the inertia measurement unit, the laser radar and each monocular camera are respectively connected with the raspberry pie;
the raspberry pi, the GPS module, the inertia measurement unit, the laser radar and each monocular camera are respectively connected with the storage battery;
an external signal interface connected with the raspberry group is arranged on the base.
2. An autonomous mapping navigation device according to claim 1, characterized in that each of the connecting rods is arranged vertically.
3. The autonomous mapping navigation device of claim 1, wherein a transparent housing is disposed on the base, and the support, the GPS module, the inertial measurement unit, the raspberry pi, the storage battery, the support plate, the support base, the lidar and the monocular camera are all located in the transparent housing.
4. The autonomous mapping navigation device of claim 1, wherein each monocular camera is mounted to the support plate by a camera mount.
5. The autonomous mapping navigation device of claim 1, wherein the support is a U-shaped frame comprising two vertical plates and a horizontal plate connecting the two vertical plates, the GPS module and the inertial measurement unit are mounted on one of the vertical plates, and the raspberry pi is mounted on the other vertical plate.
6. The autonomous mapping navigation device of claim 1, wherein the camera of the monocular camera is a wide-angle camera.
7. The autonomous mapping navigation device of claim 1, wherein the lidar is a single line lidar.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201921398055.7U CN210323888U (en) | 2019-08-27 | 2019-08-27 | Autonomous map building navigation device |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201921398055.7U CN210323888U (en) | 2019-08-27 | 2019-08-27 | Autonomous map building navigation device |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112882475A (en) * | 2021-01-26 | 2021-06-01 | 大连华冶联自动化有限公司 | Motion control method and device of Mecanum wheel type omnibearing mobile robot |
| CN114199251A (en) * | 2021-12-03 | 2022-03-18 | 江苏集萃智能制造技术研究所有限公司 | Anti-collision positioning method for robot |
-
2019
- 2019-08-27 CN CN201921398055.7U patent/CN210323888U/en active Active
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112882475A (en) * | 2021-01-26 | 2021-06-01 | 大连华冶联自动化有限公司 | Motion control method and device of Mecanum wheel type omnibearing mobile robot |
| CN114199251A (en) * | 2021-12-03 | 2022-03-18 | 江苏集萃智能制造技术研究所有限公司 | Anti-collision positioning method for robot |
| CN114199251B (en) * | 2021-12-03 | 2023-09-15 | 江苏集萃智能制造技术研究所有限公司 | Anti-collision positioning method for robot |
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