CN211373630U - Novel three-dimensional inertial navigation tracking system - Google Patents
Novel three-dimensional inertial navigation tracking system Download PDFInfo
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- CN211373630U CN211373630U CN201921886336.7U CN201921886336U CN211373630U CN 211373630 U CN211373630 U CN 211373630U CN 201921886336 U CN201921886336 U CN 201921886336U CN 211373630 U CN211373630 U CN 211373630U
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Abstract
The utility model provides a novel three-dimensional inertial navigation tracker, it includes: first power supply circuit module, main control unit, triaxial acceleration sensor, triaxial gyroscope, ultrasonic wave module, laser scanning range radar, including a motor, an end cap, a controller, and a cover plate, the universal wheel, first power supply circuit module is used for giving main control unit, triaxial acceleration sensor, triaxial gyroscope, the ultrasonic wave module, laser scanning range radar, the motor supplies power respectively, triaxial acceleration sensor, triaxial gyroscope, the ultrasonic wave module, laser scanning range radar, motor and control panel all with main control unit electric connection, motor and universal wheel electric connection, its characterized in that: still include miniature 2.4G wireless module and remote controller, and miniature 2.4G wireless transceiver module is connected with main control unit, and the remote controller is inside to contain 2.4G wireless transceiver module, first control panel and second power supply circuit module, and the power supply is given to the inside 2.4G wireless transceiver module of remote controller to the second power supply circuit module.
Description
Technical Field
The utility model relates to an inertial navigation field, it is comparatively specific, involve a be applied to novel three-dimensional inertial navigation tracker of robot of sweeping floor.
Background
The utility model with application number 201521103053.8 provides an intelligent ground cleaning robot, which comprises a vehicle body, an ultrasonic sensor, a laser radar, a circuit system and a cockpit; the front wheel of the vehicle body is connected with a direct-current motor and a steering motor; the laser radar is arranged at the front end of the vehicle body, and the installation height of the laser radar is 200-300 mm above the ground; the ultrasonic sensors are arranged at the front end and the tail end of the vehicle body, the installation height is 400-500 mm away from the ground, and the minimum distance between an ultrasonic signal envelope of each ultrasonic sensor and the ground is less than or equal to 100 mm; the cockpit comprises an accelerator brake pedal, a seat and a steering wheel; the accelerator brake pedal and the steering wheel are electrically connected to the circuit system. The intelligent ground cleaning robot needs manual driving for the first time, so the intelligent ground cleaning robot is large in size, cannot realize remote control and is very inconvenient for family use.
The utility model discloses a utility model with application number 201720391849.5 provides a mobile robot of autonomic real-time location, including mechanical truck, mechanical truck sets up the control unit, the perception unit, processing unit and drive DC motor, a control unit, the perception unit is connected with the processing unit, drive DC motor sets up and is connected with the control unit electricity in the lower part of machinery truck and the gyro wheel of taking the track of machinery truck bottom, wherein, contain the arm master control among the processing unit, the arm master control can provide man-machine interaction mode, but the price of arm master control is more expensive, in addition, still need set up operating panel and display screen on the mobile robot of autonomic real-time location, make the mobile robot's of autonomic real-time location bulky greatly like this. Moreover, remote control cannot be realized only by the arm master control, so that the mobile robot adopting the autonomous real-time positioning is too large in size, cannot be remotely controlled and is not suitable for household use.
SUMMERY OF THE UTILITY MODEL
In view of this, the utility model provides a novel three-dimensional inertial navigation tracker, it includes: triaxial acceleration sensor, the gyroscope, the ultrasonic wave module, laser scanning range radar, main control unit, control panel, wherein three-dimensional acceleration sensor, the gyroscope, the ultrasonic wave module, laser scanning range radar and control panel are connected with main control unit respectively, send for main control unit through the information with three-dimensional acceleration sensor, the gyroscope, the ultrasonic wave module, laser scanning range radar gathers, and carry out the analysis and processing back by main control unit, output control command gives the motor, drive the universal wheel work by the motor. And, novel three-dimensional inertial navigation tracker still include wireless communication unit, wireless communication unit adopts miniature 2.4G wireless module, can carry out the accordant connection with the remote controller that adopts 2.4G receiving and dispatching technique to send control command by the remote controller and give novel three-dimensional inertial navigation tracker, realize the remote controller to the control of sweeping the motion of robot. Therefore, the size of the sweeping robot can be greatly reduced, for example, a brake pedal, a seat or a man-machine interaction interface is reduced, and the sweeping robot with the reduced size is more suitable for household use.
A novel three-dimensional inertial navigation tracking system, comprising: first power supply circuit module, main control unit, triaxial acceleration sensor, triaxial gyroscope, ultrasonic wave module, laser scanning range radar, including a motor, an end cap, a controller, and a cover plate, the universal wheel, wherein, first power supply circuit module is used for giving main control unit, triaxial acceleration sensor, triaxial gyroscope, ultrasonic wave module, laser scanning range radar, the motor supplies power respectively, triaxial acceleration sensor, triaxial gyroscope, ultrasonic wave module, laser scanning range radar, motor and control panel all with main control unit electric connection, motor and universal wheel electric connection, its characterized in that: still include miniature 2.4G wireless module and remote controller, and miniature 2.4G wireless transceiver module is connected with main control unit, and the remote controller is inside to contain 2.4G wireless transceiver module, first control panel and second power supply circuit module, and the inside 2.4G wireless transceiver module power supply of remote controller is given to the second power supply circuit module, first control panel and 2.4G wireless transceiver module electric connection.
Furthermore, the model of the 2.4G wireless transceiver module adopts 24L01-M, the working voltage is 3.3V, the barrier-free sight distance is 120 meters, and the wireless transceiver module is completely suitable for household control.
Furthermore, the model of the miniature 2.4G wireless module adopts JC24A, the working voltage is 3.3V, the barrier-free sight distance is 120 meters, the signal sent by the 2.4G wireless transceiver module can be smoothly received, and the miniature 2.4G wireless transceiver module is suitable for household control.
Furthermore, the novel three-dimensional inertial navigation tracking system further comprises a three-axis Euler angle sensor and/or a three-axis magnetometer, and the three-axis acceleration sensor, the three-axis gyroscope, the three-axis Euler angle sensor and the three-axis magnetometer can be integrated into one sensor or can be independent sensors. When the three-axis Euler angle sensor and/or the three-axis magnetometer are/is added, the heading angle drift and the interference of being far away from a magnetic field can be effectively avoided, and the accurate control of the motion trail of the sweeping robot is ensured.
Furthermore, when the three-axis acceleration sensor, the three-axis gyroscope, the three-axis Euler angle sensor and the three-axis magnetometer are integrated into one sensor, the gesture measuring module with the model number of JY901 can be adopted, and the interior of the gesture measuring module of JY901 is combined with a dynamic algorithm and a dynamic Kalman filtering algorithm, so that the sweeping robot can accurately output the motion state data of the current module in the motion state and transmit the data to the main controller through a serial port.
Further, the working voltages of the three-axis acceleration sensor, the three-axis gyroscope, the three-axis euler angle sensor and the three-axis magnetometer are all 5V.
Furthermore, the model of the ultrasonic module is HC-SR04, which can provide a non-contact distance sensing function of 2-400 cm, and the distance measurement precision can reach 3 mm.
Furthermore, the laser scanning range radar is in a LiDAR Delta2B model, 360-degree all-dimensional scanning range finding detection of the surrounding environment can be achieved, so that a contour map of the surrounding environment is obtained, a laser triangulation range finding technology is adopted, the laser scanning range finding radar has the high-speed laser range finding sampling capacity of 5000 times per second, the cost is low, and the laser scanning range finding radar is suitable for industrial mass production application.
Furthermore, novel three-dimensional inertial navigation tracking system still include second control panel, second control panel directly is connected with main control unit, except adopting remote controller control like this, can also directly control through second control panel.
The utility model discloses a novel three-dimensional inertial navigation tracker's theory of operation does: a 2.4G wireless transceiver module in the remote controller sends out a control signal, the control signal is received by a miniature 2.4G wireless module, the signal is subjected to Gaussian low-pass filtering by adopting a GFSK modulation mode, synchronous word analysis is carried out on the signal with specific frequency, and then the analyzed signal is transmitted to a main controller; in the control process, the three-axis acceleration sensor, the three-axis gyroscope, the ultrasonic module and the laser scanning range radar feed collected signals back to the main controller, the main controller combines control signals sent by the remote controller to carry out analysis processing, and then final output signals are sent to the motor, and the motor controls the universal wheels to move.
Drawings
Fig. 1 is a schematic structural diagram of the novel three-dimensional inertial navigation tracking system of the present invention.
The following detailed description of the invention will be further described in conjunction with the above-identified drawings.
Detailed Description
Specific embodiment example 1:
as shown in fig. 1, it is a schematic structural diagram of the novel three-dimensional inertial navigation tracking system of the present invention. A novel three-dimensional inertial navigation tracking system, comprising: first power supply circuit module, main control unit, triaxial acceleration sensor, triaxial gyroscope, ultrasonic wave module, laser scanning range radar, including a motor, an end cap, a controller, and a cover plate, the universal wheel, wherein, first power supply circuit module is used for giving main control unit, triaxial acceleration sensor, triaxial gyroscope, ultrasonic wave module, laser scanning range radar, the motor supplies power respectively, triaxial acceleration sensor, triaxial gyroscope, ultrasonic wave module, laser scanning range radar, motor and control panel all with main control unit electric connection, motor and universal wheel electric connection, its characterized in that: still include miniature 2.4G wireless module and remote controller, and miniature 2.4G wireless transceiver module is connected with main control unit, and the remote controller is inside to contain 2.4G wireless transceiver module, first control panel and second power supply circuit module, and the inside 2.4G wireless transceiver module power supply of remote controller is given to the second power supply circuit module, first control panel and 2.4G wireless transceiver module electric connection.
Furthermore, the model of the 2.4G wireless transceiver module adopts 24L01-M, the working voltage is 3.3V, the barrier-free sight distance is 120 meters, and the wireless transceiver module is completely suitable for household control.
Furthermore, the model of the miniature 2.4G wireless module adopts JC24A, the working voltage is 3.3V, the barrier-free sight distance is 120 meters, the signal sent by the 2.4G wireless transceiver module can be smoothly received, and the miniature 2.4G wireless transceiver module is suitable for household control.
Furthermore, the novel three-dimensional inertial navigation tracking system further comprises a three-axis Euler angle sensor and/or a three-axis magnetometer, and the three-axis acceleration sensor, the three-axis gyroscope, the three-axis Euler angle sensor and the three-axis magnetometer can be integrated into one sensor or can be independent sensors. When the three-axis Euler angle sensor and/or the three-axis magnetometer are/is added, the heading angle drift and the interference of being far away from a magnetic field can be effectively avoided, and the accurate control of the motion trail of the sweeping robot is ensured.
Furthermore, when the three-axis acceleration sensor, the three-axis gyroscope, the three-axis Euler angle sensor and the three-axis magnetometer are integrated into one sensor, the gesture measuring module with the model number of JY901 can be adopted, and the interior of the gesture measuring module of JY901 is combined with a dynamic algorithm and a dynamic Kalman filtering algorithm, so that the sweeping robot can accurately output the motion state data of the current module in the motion state and transmit the data to the main controller through a serial port.
Further, the working voltages of the three-axis acceleration sensor, the three-axis gyroscope, the three-axis euler angle sensor and the three-axis magnetometer are all 5V.
Furthermore, the model of the ultrasonic module is HC-SR04, which can provide a non-contact distance sensing function of 2-400 cm, and the distance measurement precision can reach 3 mm.
Furthermore, the laser scanning range radar is in a LiDAR Delta2B model, 360-degree all-dimensional scanning range finding detection of the surrounding environment can be achieved, so that a contour map of the surrounding environment is obtained, a laser triangulation range finding technology is adopted, the laser scanning range finding radar has the high-speed laser range finding sampling capacity of 5000 times per second, the cost is low, and the laser scanning range finding radar is suitable for industrial mass production application.
Furthermore, novel three-dimensional inertial navigation tracking system still include second control panel, second control panel directly is connected with main control unit, except adopting remote controller control like this, can also directly control through second control panel.
The working principle of the novel three-dimensional inertial navigation tracking system is as follows: a 2.4G wireless transceiver module in the remote controller sends out a control signal, the control signal is received by a miniature 2.4G wireless module, the signal is subjected to Gaussian low-pass filtering by adopting a GFSK modulation mode, synchronous word analysis is carried out on the signal with specific frequency, and then the analyzed signal is transmitted to a main controller; in the control process, the three-axis acceleration sensor, the three-axis gyroscope, the ultrasonic module and the laser scanning range radar feed collected signals back to the main controller, the main controller combines control signals sent by the remote controller to carry out analysis processing, and then final output signals are sent to the motor, and the motor controls the universal wheels to move.
The above-mentioned embodiments only represent some embodiments of the present invention, and the description thereof is specific and detailed, but not to be construed as limiting the scope of the present invention. It should be noted that, for those skilled in the art, without departing from the spirit of the present invention, several variations and modifications can be made, which are within the scope of the present invention. Therefore, the protection scope of the present invention should be subject to the appended claims.
Claims (9)
1. A novel three-dimensional inertial navigation tracking system, comprising: first power supply circuit module, main control unit, triaxial acceleration sensor, triaxial gyroscope, ultrasonic wave module, laser scanning range radar, including a motor, an end cap, a controller, and a cover plate, the universal wheel, wherein, first power supply circuit module is used for giving main control unit, triaxial acceleration sensor, triaxial gyroscope, ultrasonic wave module, laser scanning range radar, the motor supplies power respectively, triaxial acceleration sensor, triaxial gyroscope, ultrasonic wave module, laser scanning range radar, motor and control panel all with main control unit electric connection, motor and universal wheel electric connection, its characterized in that: still include miniature 2.4G wireless module and remote controller, and miniature 2.4G wireless transceiver module is connected with main control unit, and the remote controller is inside to contain 2.4G wireless transceiver module, first control panel and second power supply circuit module, and the inside 2.4G wireless transceiver module power supply of remote controller is given to the second power supply circuit module, first control panel and 2.4G wireless transceiver module electric connection.
2. The novel three-dimensional inertial navigation tracking system according to claim 1, characterized in that: the model of the 2.4G wireless transceiver module adopts 24L 01-M.
3. The novel three-dimensional inertial navigation tracking system according to claim 1, characterized in that: the model of the miniature 2.4G wireless module adopts JC 24A.
4. The novel three-dimensional inertial navigation tracking system according to claim 1, characterized in that: the novel three-dimensional inertial navigation tracking system further comprises a three-axis Euler angle sensor and/or a three-axis magnetometer, and the three-axis acceleration sensor, the three-axis gyroscope, the three-axis Euler angle sensor and the three-axis magnetometer are integrated sensors or independent sensors.
5. The novel three-dimensional inertial navigation tracking system according to claim 4, characterized in that: when the three-axis acceleration sensor, the three-axis gyroscope, the three-axis Euler angle sensor and the three-axis magnetometer are integrated into one sensor, the attitude measurement module with the model number JY901 is adopted.
6. The novel three-dimensional inertial navigation tracking system according to claim 4, characterized in that: the working voltages of the three-axis acceleration sensor, the three-axis gyroscope, the three-axis Euler angle sensor and the three-axis magnetometer are all 5V.
7. The novel three-dimensional inertial navigation tracking system according to claim 1, characterized in that: the model of the ultrasonic module is HC-SR 04.
8. The novel three-dimensional inertial navigation tracking system according to claim 1, characterized in that: the laser scanning range radar is model LiDAR Delta 2B.
9. The novel three-dimensional inertial navigation tracking system according to claim 1, characterized in that: the novel three-dimensional inertial navigation tracking system further comprises a second control panel, and the second control panel is directly connected with the main controller.
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2019213977018 | 2019-08-27 | ||
| CN201921397701 | 2019-08-27 |
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| Publication Number | Publication Date |
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| CN211373630U true CN211373630U (en) | 2020-08-28 |
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| CN201921886336.7U Active CN211373630U (en) | 2019-08-27 | 2019-11-05 | Novel three-dimensional inertial navigation tracking system |
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