CN210486905U - Mine locomotive positioning navigation device - Google Patents
Mine locomotive positioning navigation device Download PDFInfo
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- CN210486905U CN210486905U CN201921713331.4U CN201921713331U CN210486905U CN 210486905 U CN210486905 U CN 210486905U CN 201921713331 U CN201921713331 U CN 201921713331U CN 210486905 U CN210486905 U CN 210486905U
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Abstract
The utility model discloses a mine locomotive positioning navigation device, which comprises a locomotive main body, a laser radar device, a voice module, a raspberry group module, a central main control module, a display module, a power module, an inertia measuring device, a odometer sensor and an ultrasonic obstacle avoidance module; the laser radar device and the voice module are installed at the top of the locomotive head of the locomotive main body; the raspberry group module, the central main control module, the display module and the power supply module are arranged inside the locomotive head of the locomotive main body; the inertia measuring device and the odometer sensor are arranged in the locomotive main body; the ultrasonic obstacle avoidance module is arranged on the locomotive head of the locomotive main body. The utility model discloses can realize the accurate location navigation of locomotive under the mine, reduce locomotive transportation casualties.
Description
Technical Field
The utility model relates to a location navigation technical field, concretely relates to mine locomotive location navigation head.
Background
Locomotive transportation casualties are the main component of mine transportation accidents, and according to statistics, the number of the locomotive transportation accident death people accounts for 41 percent of the total number of the transportation accident death people. The main reasons include insufficient light of the driver, complex road conditions in the mine and the like. In order to reduce locomotive transportation casualties, the research on the positioning and navigation problems of the locomotives under the mine is also continuous and deep.
The existing positioning is mainly realized by GPS, ZigBee and visual positioning, but the positioning effect of the mine locomotive is not good due to the problems that the GPS under the mine cannot be fully covered, the light is insufficient, the ZigBee precision is not high, and the like.
Disclosure of Invention
The utility model discloses the problem that will solve is: the mine locomotive positioning and navigation device is provided, accurate positioning and navigation of the mine locomotive are achieved, and locomotive transportation casualties are reduced.
The utility model discloses a solve the technical scheme that above-mentioned problem provided and do: a mine locomotive positioning navigation device comprises a locomotive main body, a laser radar device, a voice module, a raspberry group module, a central main control module, a display module, a power supply module, an inertia measuring device, an odometer sensor and an ultrasonic obstacle avoidance module; the laser radar device and the voice module are installed at the top of the locomotive head of the locomotive main body; the raspberry group module, the central main control module, the display module and the power supply module are arranged inside the locomotive head of the locomotive main body; the inertia measuring device and the odometer sensor are arranged in the locomotive main body; the ultrasonic obstacle avoidance module is arranged on the locomotive head of the locomotive main body.
Preferably, the laser radar device transmits modulated infrared laser signals, and the signals are received by an optical vision acquisition system of the laser radar device after being reflected; and the MCU processor in the laser radar device processes the real-time data, calculates the distance from the target object to the laser radar device and the current included angle, and outputs the distance and the current included angle to external equipment through the communication interface.
Preferably, the chip of the voice module adopts XFS 5152; and the voice module plays the positioning navigation information in real time.
Preferably, the raspberry pi module is provided with an ROS platform, is connected with the central main control module through a serial port, and processes data of the inertia measuring device, the odometer sensor and the laser radar device on the ROS platform.
Preferably, the central main control module is controlled by an STM32F103X chip, receives data information of the inertial measurement unit and the odometer sensor through a serial port, and uploads the data information to the raspberry pi module.
Preferably, the display module adopts a TFT liquid crystal screen to display the SLAM map built by the raspberry sending module in real time.
Preferably, the plug of the odometer sensor is arranged on the gearbox and used for acquiring the movement speed information of the locomotive.
Preferably, the inertial measurement unit is disposed at a central position inside the locomotive body and is used for acquiring locomotive attitude angle information.
Preferably, the ultrasonic modules are two, and HC-SRO4 chips are adopted and are arranged on two sides of the locomotive head of the locomotive main body.
Compared with the prior art, the utility model has the advantages that: the utility model discloses fix a position accurately, automatic navigation, path planning, the flexibility is strong, very humanized.
Drawings
The accompanying drawings, which are described herein, serve to provide a further understanding of the invention and constitute a part of this specification, and the exemplary embodiments and descriptions thereof are provided for explaining the invention without unduly limiting it.
Fig. 1 is a side view of the present invention.
Fig. 2 is a plan view of the present invention.
Fig. 3 is a structural diagram of a raspberry pi module.
Fig. 4 is a schematic diagram of a central master control module.
Fig. 5 is a system block diagram of the present invention.
The attached drawings are marked as follows: 1. locomotive main part 2, odometer sensor 3, inertia measuring device 4, control cabinet 5, ultrasonic wave obstacle avoidance module 6, power module 7, central main control module 8, raspberry group module 9, display module 10, laser radar device 11, voice module 12, raspberry group CPU 13, display screen interface 14, raspberry group power interface 15, raspberry group serial port 16, camera interface 17, audio interface 18, HDMI mouth 19, Ethernet interface 20, raspberry group GPIO mouth 21, STM32 chip 22, odometer sensor interface 23, STM32 power interface 24, inertia measuring device interface 25, STM32 serial port 26, switch 27, power indicator.
Detailed Description
The following detailed description will be made with reference to the accompanying drawings and examples, so that how to implement the technical means of the present invention to solve the technical problems and achieve the technical effects can be fully understood and implemented.
As shown in fig. 1 to 4, a mine locomotive positioning and navigation device comprises a locomotive main body 1; an odometer sensor 2; an inertia measurement device 3; a console 4; an ultrasonic module 5; a power supply module 6; a central main control module 7; a raspberry pi module 8; a display module 9; a laser radar 10; a voice module 11; a raspberry pi CPU 12; a display screen interface 13; a raspberry pi power interface 14; a raspberry pi serial port 15; a camera interface 16; an audio interface 17; an HDMI port 18; an Ethernet interface 19; raspberry pi GPIO port 20; STM32 chip 21; an odometer sensor interface 22; STM32 power interface 23; an inertial measurement device interface 24; STM32 serial port 25; a power switch 26; and a power indicator lamp 27. The locomotive main body 1 is various module carriers, and an odometer sensor 1 and an inertia measuring device 2 are arranged in the locomotive main body 1; the top of the locomotive main body 1 is provided with a laser radar 9 and a voice module 10; two ultrasonic modules 4 are arranged on two sides of the locomotive head of the locomotive main body 1; a control console 4 is arranged in the locomotive head of the locomotive main body 1; the console 4 is respectively provided with a power supply module 6, a central main control module 7, a raspberry pi module 8 and a display module 9 from bottom to top; in a multi-sensor system, various information fusion methods can effectively process or reason various information obtained by the system to form a consistent result. The information fusion algorithm adopts Decentralized Kalman Filtering (DKF) to process data acquired by a laser radar, an inertia measurement device and an odometer sensor, and has strong robustness and fault tolerance.
Further, the path planning part of the raspberry pi module 8 uses a move _ base packet, the move _ base can acquire information around the locomotive and generate global and local cost maps, and the locomotive can safely reach a designated position by bypassing obstacles according to the cost maps. Path planning of move _ base is mainly divided into global planning and local planning, and an a-x algorithm and a dwa (dynamic Window approach) algorithm are respectively adopted.
Further, the laser radar device transmits modulated infrared laser signals, and the signals are received by an optical vision acquisition system of the laser radar device after being reflected; real-time data is handled to the inside MCU treater of laser radar device, calculates target object to laser radar device's distance and current contained angle, and the laser radar device is under the drive of direct current brushless motor mechanism, and laser radar device range finding core will clockwise rotation to the realization is to 360 degrees omnidirectional scanning of surrounding environment, obtains the point cloud map information of place space plane, exports for external equipment through communication interface.
Furthermore, the chip of the voice module adopts XFS 5152; and the voice module plays the positioning navigation information in real time.
Furthermore, the raspberry pi module is provided with an ROS platform, is connected with the central main control module through a serial port, and processes data of the inertia measuring device, the odometer sensor and the laser radar device on the ROS platform.
Further, the central main control module is controlled by an STM32F103X chip, receives data information of the inertial measurement unit and the odometer sensor through a serial port, and uploads the data information to the raspberry pi module.
Furthermore, the display module adopts a TFT liquid crystal screen to display the SLAM map built by the raspberry sending module in real time.
Furthermore, a plug of the odometer sensor is arranged on the gearbox and used for acquiring the movement speed information of the locomotive.
Further, the inertia measuring device is arranged at the center position in the locomotive main body and used for obtaining the locomotive attitude angle information.
Furthermore, the two ultrasonic modules are arranged on two sides of the locomotive head of the locomotive main body by adopting HC-SRO4 chips.
Further, the power module 6 mainly generates three different voltages of 12V, 5V and 3.3V, which are used for the voltages required by the operation of the chips in the modules. The power supply system is composed of each voltage reduction chip and a voltage division circuit, and is convenient for generating various voltages.
The utility model discloses a theory of operation: the laser radar device transmits modulated infrared laser signals, the signals are received by an optical vision acquisition system of the laser radar device after being reflected, and the distance from a target object to the laser radar device and the current included angle are calculated. The odometer sensor acquires speed information of locomotive movement. The inertia measuring device obtains the attitude angle information of the locomotive. The central main control module receives data of the laser radar, the odometer sensor and the inertia measuring device and sends the data to the raspberry pi module through a serial port. The raspberry dispatching module adopts Decentralized Kalman Filtering (DKF) to fuse data transmitted by a central main control unit, establishes a map by using a map optimization SLAM under an ROS platform, positions a locomotive and finishes the navigation of the locomotive by adopting a Monte Carlo algorithm. The display screen displays the position and the map of the locomotive in real time. The voice module broadcasts and reminds a driver in real time according to the navigation information of the raspberry pi module.
The foregoing is illustrative of the preferred embodiments of the present invention only, and is not to be construed as limiting the claims. The present invention is not limited to the above embodiments, and the specific structure thereof is allowed to be changed. All changes which come within the scope of the independent claims of the invention are to be embraced within their scope.
Claims (9)
1. The utility model provides a mine locomotive location navigation head which characterized in that: the system comprises a locomotive main body, a laser radar device, a voice module, a raspberry group module, a central main control module, a display module, a power supply module, an inertia measuring device, an odometer sensor and an ultrasonic obstacle avoidance module; the laser radar device and the voice module are installed at the top of the locomotive head of the locomotive main body; the raspberry group module, the central main control module, the display module and the power supply module are arranged inside the locomotive head of the locomotive main body; the inertia measuring device and the odometer sensor are arranged in the locomotive main body; the ultrasonic obstacle avoidance module is arranged on the locomotive head of the locomotive main body.
2. The mine locomotive positioning and navigation device of claim 1, wherein: the laser radar device transmits modulated infrared laser signals, and the signals are received by an optical vision acquisition system of the laser radar device after being reflected; and the MCU processor in the laser radar device processes the real-time data, calculates the distance from the target object to the laser radar device and the current included angle, and outputs the distance and the current included angle to external equipment through the communication interface.
3. The mine locomotive positioning and navigation device of claim 1, wherein: the chip of the voice module adopts XFS 5152; and the voice module plays the positioning navigation information in real time.
4. The mine locomotive positioning and navigation device of claim 1, wherein: the raspberry group module is provided with an ROS platform, is connected with the central main control module through a serial port, and processes data of the inertia measuring device, the odometer sensor and the laser radar device on the ROS platform.
5. The mine locomotive positioning and navigation device of claim 1, wherein: the central main control module is controlled by an STM32F103X chip, receives data information of the inertial measurement unit and the odometer sensor through a serial port, and uploads the data information to the raspberry pi module.
6. The mine locomotive positioning and navigation device of claim 1, wherein: and the display module adopts a TFT (thin film transistor) liquid crystal screen to display the SLAM map built by the raspberry dispatching module in real time.
7. The mine locomotive positioning and navigation device of claim 1, wherein: and a plug of the odometer sensor is arranged on the gearbox and used for acquiring the movement speed information of the locomotive.
8. The mine locomotive positioning and navigation device of claim 1, wherein: the inertia measuring device is arranged at the central position in the locomotive main body and used for acquiring the locomotive attitude angle information.
9. The mine locomotive positioning and navigation device of claim 1, wherein: the two ultrasonic modules are arranged on two sides of the locomotive head of the locomotive main body by adopting HC-SRO4 chips.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201921713331.4U CN210486905U (en) | 2019-10-14 | 2019-10-14 | Mine locomotive positioning navigation device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201921713331.4U CN210486905U (en) | 2019-10-14 | 2019-10-14 | Mine locomotive positioning navigation device |
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| Publication Number | Publication Date |
|---|---|
| CN210486905U true CN210486905U (en) | 2020-05-08 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201921713331.4U Expired - Fee Related CN210486905U (en) | 2019-10-14 | 2019-10-14 | Mine locomotive positioning navigation device |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112249090A (en) * | 2020-10-28 | 2021-01-22 | 合肥工大高科信息科技股份有限公司 | Transponder system with self-diagnosis function for mine transportation and response method |
| CN112849229A (en) * | 2021-03-08 | 2021-05-28 | 安徽理工大学 | Mining electric locomotive measurement and control system based on composite positioning technology |
-
2019
- 2019-10-14 CN CN201921713331.4U patent/CN210486905U/en not_active Expired - Fee Related
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112249090A (en) * | 2020-10-28 | 2021-01-22 | 合肥工大高科信息科技股份有限公司 | Transponder system with self-diagnosis function for mine transportation and response method |
| CN112849229A (en) * | 2021-03-08 | 2021-05-28 | 安徽理工大学 | Mining electric locomotive measurement and control system based on composite positioning technology |
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