CN214149341U - Autonomous navigation vehicle based on polarization state auxiliary orientation of light - Google Patents
Autonomous navigation vehicle based on polarization state auxiliary orientation of light Download PDFInfo
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- CN214149341U CN214149341U CN202120496356.4U CN202120496356U CN214149341U CN 214149341 U CN214149341 U CN 214149341U CN 202120496356 U CN202120496356 U CN 202120496356U CN 214149341 U CN214149341 U CN 214149341U
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Abstract
The utility model relates to a polarization state assists directional autonomous navigation car based on light belongs to atmosphere light polarization state and detects and vehicle navigation technical field. The utility model discloses a detection system and processing circuit on the automobile body are installed to the automobile body, are provided with four groups on the automobile body and take turns by encoder motor drive's mecanum, and detection system mainly comprises driving motor, drive gear, lens combination etc. and processing circuit comprises operational amplification circuit, AD converter and singlechip. The utility model discloses simple structure, small, the integrated level is high, with low costs, the performance is comprehensive, the navigation reliability is high, can be better, faster, the more accurate polarization condition of the light of a certain point in the outdoor sky of measurement, acquire the direction information of navigation according to the data of surveying through the polarization navigation model simultaneously to realize the location.
Description
Technical Field
The utility model relates to a belong to atmosphere light polarization state detection and vehicle navigation technical field, specifically be an auxiliary directional autonomous navigation car of polarization state based on light.
Background
In optical measurement, the polarization state and degree of polarization of light contain abundant information. Particularly, in the field of atmospheric optics, many researches show that the sky light presents a regular polarization mode through Rayleigh scattering, navigation can be performed by acquiring the polarization state of the light in the sky, and some insects such as sand ants and the like can be navigated by detecting the distribution of the polarization state of the sky through compound eyes of the insects.
Although a single vehicle-mounted navigation mode is developed to the present, although various positioning modes exist, the positioning modes have defects in different degrees, for example, a low-cost vehicle-mounted strapdown inertial navigation system can completely and autonomously resolve and output comprehensive navigation information such as position, speed and attitude, but the error characteristic of an internal IMU is dispersed along with the drift of time, and the navigation precision is gradually reduced; the vehicle-mounted global radio satellite navigation positioning system has the advantages of large navigation positioning range, high precision, no accumulated error and the like, but the dynamic performance of a signal receiver of the vehicle-mounted global radio satellite navigation positioning system is poor, and the vehicle-mounted global radio satellite navigation positioning system is easily subjected to shielding of other parts of a vehicle body and signal interference of other sensors and the like; the vehicle-mounted odometer system is strong in autonomy and low in cost, but easily causes accumulated mileage errors; the vehicle-mounted electronic compass is low in price, but the orientation precision is very low.
At present, most of vehicle-mounted navigation technologies are concentrated on vehicle-mounted multi-sensor combined navigation systems which are developed in a mature mode on the basis of selection of mainstream positioning systems, the implementation mode of the vehicle-mounted navigation technologies is based on multi-source sensor measurement information integration and multi-source information data fusion optimal processing technologies, multiple types of sensors configured on a vehicle body and multi-source information obtained by measurement of the sensors are reasonably combined and optimally matched, the advantages are made, the shortcomings are made, the integral navigation positioning precision of the vehicle-mounted navigation system is effectively enhanced and improved, and the vehicle-mounted navigation technologies are widely applied to the field of vehicle-mounted navigation technologies in various occasions. With the rapid development and the rapid expansion of the application range of the vehicle navigation technology, higher and higher requirements are put forward on the aspects of high precision, miniaturization, maneuverability, rapid response, environmental conditions and the like of a vehicle navigation system, and the method mainly depends on the excavation of a high-performance novel navigation method and the further development of information integration and data fusion technology (optimal filtering technology) among various sensors.
Disclosure of Invention
The utility model aims at solving the problems existing in the prior art, and providing an autonomous navigation vehicle based on the polarization state auxiliary orientation of light.
The utility model discloses a realize through following technical scheme:
an autonomous navigation vehicle based on light polarization state auxiliary orientation comprises a vehicle body, a detection system and a processing circuit, wherein the detection system and the processing circuit are installed on the vehicle body;
the vehicle body comprises a chassis, the front end and the rear end of the chassis are respectively provided with two sets of Mecanum wheels, and each set of Mecanum wheels is driven by an encoder motor;
the detection system comprises a fixed base, a driving motor which is vertically arranged is arranged on the fixed base, and a transmission gear is arranged at the output end of the top of the driving motor; a hollow support column which is vertically arranged is arranged at a position, located on one side of the driving motor, on the fixed base, a silicon photocell is arranged in the hollow support column, a lens barrel is rotatably arranged at the top of the hollow support column through a ball bearing, a narrow-band optical filter, a polarizing film and a plano-convex lens are sequentially arranged in the lens barrel from top to bottom, a circle of transmission gear ring is fixed on the outer barrel surface of the lens barrel, and the transmission gear ring is in meshed connection with a transmission gear; a shading cover is arranged at the position of a barrel opening at the top of the lens barrel, and a light transmitting opening is formed in the center of the shading cover; the shading cover, the lens barrel, the narrow-band optical filter, the polaroid, the plano-convex lens, the hollow support column and the silicon photocell are coaxially arranged;
the processing circuit comprises an operational amplifier circuit, an Analog-to-digital converter (A/D) and a singlechip, wherein the operational amplifier circuit is connected with the A/D converter, and the A/D converter is connected with the singlechip;
the silicon photocell in the detection system is led out through a lead and is connected with the operational amplification circuit in the processing circuit, and the single chip microcomputer in the processing circuit is connected with the encoder motor on the vehicle body through the motor driving module.
Furthermore, each group of Mecanum wheels and the encoder motor are fixedly arranged on the chassis through a set of suspension system, each suspension system comprises a fixing plate and an n-type fixing frame, the encoder motor is fixedly arranged on the fixing plate, the body of the encoder motor is positioned at the inner side end of the fixing plate, the output end of the encoder motor penetrates through the fixing plate and extends to the outer side end of the fixing plate, and the Mecanum wheels are arranged at the outer side end of the fixing plate and connected and arranged on the output end of the encoder motor; the n-shaped fixing frame comprises transverse plates, vertical beams extending downwards are symmetrically fixed at two ends of each transverse plate, the transverse plates are fixedly connected with the chassis, and the upper parts and the lower parts of the vertical beams are respectively hinged with hinged beams; the fixed plate is arranged in parallel with the n-type fixed frame, and the other ends of the two hinged beams on each vertical beam of the n-type fixed frame are hinged with the corresponding side of the fixed plate; and a damping spring is obliquely arranged between the fixed plate and the n-type fixing frame, the upper end of the damping spring is hinged with the upper part of the n-type fixing frame, and the lower end of the damping spring is hinged with the lower part of the fixed plate.
Furthermore, connecting plates are fixedly connected between the two n-type fixing frames at the front end of the chassis and between the two n-type fixing frames at the rear end of the chassis.
Furthermore, the narrow-band filter adopts a blue light narrow-band filter.
Further, the driving motor is a brushless motor.
Furthermore, a magnetic induction encoder is arranged on the driving motor.
Compared with the prior art, the utility model, following beneficial effect has:
the utility model discloses device overall structure is simple, small, the navigation reliability is high. The detection system adopts a coaxial structure design, the transmission stability is ensured, the detection system is directly driven by a driving motor, the rapid rotation can be realized, when the driving motor adopts a brushless motor, 895RPM can be reached, the rotation angle precision of the detection system can reach 0.02 degrees, the unamplified current signal output amplitude of the detection system is 1.4 times of that of a conventional device, the polarization condition of light at a certain point in the outdoor sky can be better, faster and more accurately measured, and meanwhile, the navigation direction information is obtained through a polarization navigation model according to the detected data, so that the positioning is realized. The car body adopts the Mm wheel, so that the all-directional movement of the car can be realized, the adopted suspension system can realize normal running under different road surface environments, the running is stable and safe, and the application range of the car is widened. The processing circuit adopts an integrated mode of an operational amplifier circuit and an A/D converter, and then obtains azimuth information through data processing of the single chip microcomputer and analysis, so that the motor is controlled to rotate, and then the navigation vehicle runs.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this application, illustrate exemplary embodiments of the invention and, together with the description, serve to explain the invention and not to limit the invention in any way.
Fig. 1 is a schematic structural diagram of the present invention.
Fig. 2 is a schematic structural diagram of the middle detection system of the present invention.
Fig. 3 is a schematic structural diagram of the suspension system of the present invention.
In the figure: 1-chassis, 2-Mecanum wheel, 3-encoder motor, 4-fixed plate, 5-n type fixed mount, 5-1-horizontal plate, 5-2-vertical beam, 6-hinged beam, 7-damping spring, 8-connecting plate, 9-fixed base, 10-driving motor, 11-transmission gear, 12-hollow support column, 13-ball bearing, 14-lens barrel, 15-narrow band optical filter, 16-polaroid, 17-plano-convex lens, 18-transmission gear ring, 19-shading cover, 19-1-light-transmitting opening.
Detailed Description
In order to make the present invention better understood by those skilled in the art, the present invention will be further clearly and completely described below with reference to the accompanying drawings and embodiments. It should be noted that the embodiments and features of the embodiments in the present application may be combined with each other without conflict.
As shown in fig. 1 to 3, an autonomous navigation vehicle based on the polarization state auxiliary orientation of light comprises a vehicle body, and a detection system and a processing circuit which are installed on the vehicle body.
The vehicle body comprises a chassis 1, two sets of Mecanum wheels 2 are respectively installed at the front end and the rear end of the chassis 1, and each set of Mecanum wheels 2 is driven by an encoder motor 3. Each group of Mecanum wheels 2 and encoder motors 3 are fixedly arranged on the chassis 1 through a set of suspension system, each suspension system comprises a fixing plate 4 and an n-type fixing frame 5, each encoder motor 3 is fixedly arranged on the corresponding fixing plate 4, the body of each encoder motor 3 is positioned at the inner side end of the corresponding fixing plate 4, the output end of each encoder motor 3 penetrates through the corresponding fixing plate 4 and extends to the outer side end of the corresponding fixing plate 4, and each Mecanum wheel 2 is arranged at the outer side end of the corresponding fixing plate 4 and connected and arranged at the output end of each encoder motor 3; the n-shaped fixing frame 5 comprises a transverse plate 5-1, two ends of the transverse plate 5-1 are symmetrically fixed with vertical beams 5-2 extending downwards, the transverse plate 5-1 is fixedly connected with the chassis 1, and the upper part and the lower part of the vertical beam 5-2 are respectively hinged with a hinge beam 6; the plate surface of the fixed plate 4 is parallel to the plane of the n-type fixed frame 5, and the other ends of the two hinged beams 6 on each vertical beam 5-2 of the n-type fixed frame 5 are hinged with the corresponding side of the fixed plate 4; a damping spring 7 is obliquely arranged between the fixed plate 4 and the n-type fixed frame 5, the upper end of the damping spring 7 is hinged with the upper part of the n-type fixed frame 5, and the lower end of the damping spring 7 is hinged with the lower part of the fixed plate 4; connecting plates 8 are fixedly connected between the two n-type fixing frames 5 at the front end of the chassis 1 and between the two n-type fixing frames 5 at the rear end of the chassis 1.
The detection system comprises a fixed base 9, a driving motor 10 which is vertically arranged is arranged on the fixed base 9, and a transmission gear 11 is arranged at the output end of the top of the driving motor 10; a hollow support column 12 which is vertically arranged is arranged on the fixed base 9 and positioned on one side of the driving motor 10, a silicon photocell is arranged in the hollow support column 12, a lens barrel 14 is rotatably arranged at the top of the hollow support column 12 through a ball bearing 13, a narrow-band optical filter 15, a polarizing film 16 and a plano-convex lens 17 are sequentially arranged in the lens barrel 14 from top to bottom, a circle of transmission gear ring 18 is fixed on the outer barrel surface of the lens barrel 14, and the transmission gear ring 18 is meshed with the transmission gear 11; a shading cover 19 is arranged at the top barrel opening of the lens barrel 14, and a light transmitting opening 19-1 is formed in the center of the shading cover 19; the shading cover 19, the lens barrel 14, the narrow-band filter 15, the polaroid 16, the plano-convex lens 17, the hollow support column 12 and the silicon photocell are coaxially arranged. The narrow band filter 15, the polaroid 16 and the planoconvex lens 17 in the lens barrel 14 form a lens combination, the narrow band filter 15 can preferably adopt a blue light narrow band filter to obtain the wave band with the most obvious polarization in the atmosphere, and the planoconvex lens 17 is favorable for converging a light source at infinity. The driving motor 10 adopts a brushless motor, the stator of the brushless motor is a coil winding armature, and the rotor of the brushless motor is a permanent magnet, so that the brushless motor rotates more stably and is controlled more accurately; the driving motor 10 is provided with a magnetic induction encoder, the encoder records a rotation angle, and the motor is controlled to rotate at a constant speed or a specific angle, so that continuous reverse light intensity information is obtained, the polarization condition of the measured position light is obtained, and other information is further obtained. The accessories of the brushless motor and the magnetic induction encoder are similar to the structural principle of a tripod head motor in the prior art.
The processing circuit comprises an operational amplification circuit, an A/D converter and a single chip microcomputer, wherein the operational amplification circuit is connected with the A/D converter, and the A/D converter is connected with the single chip microcomputer.
The silicon photocell in the detection system is led out through a lead and is connected with the operational amplification circuit in the processing circuit, and the single chip microcomputer in the processing circuit is connected with the encoder motor 3 on the vehicle body through the motor driving module.
The working principle of the utility model is as follows:
controlling the driving motor 10 to rotate at a constant speed or a specific angle to acquire continuous light intensity information in each reverse direction; natural light only penetrates through a wave band near 370um through a narrow-band filter 15, light intensity in the direction of a main shaft of a polaroid is detected through a polaroid 16 (according with Malus law), light rays are converged on a silicon photocell through a plano-convex lens 17 to generate photocurrent, the photocurrent is led out through a lead and is connected to an operational amplifier circuit, information is sampled and processed through the operational amplifier circuit and an A/D converter, and therefore the polarization condition of the measured position light is obtained, and further other direction information is obtained through data processing of a single chip microcomputer according to kinematic analysis; according to the instruction given by the single chip microcomputer, the single chip microcomputer controls an encoder motor 3 and a Mecanum wheel 2 on the vehicle body to perform corresponding operation actions, and finally the navigation vehicle can stably run towards the direction.
The technical solutions in the embodiments of the present invention have been clearly and completely described above, and the described embodiments are only a part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by a person of ordinary skill in the art without creative efforts belong to the protection scope of the present invention.
Claims (6)
1. The utility model provides an orientation's autonomous navigation car is assisted to polarization state based on light which characterized in that: the device comprises a vehicle body, a detection system and a processing circuit, wherein the detection system and the processing circuit are arranged on the vehicle body;
the vehicle body comprises a chassis, the front end and the rear end of the chassis are respectively provided with two sets of Mecanum wheels, and each set of Mecanum wheels is driven by an encoder motor;
the detection system comprises a fixed base, a driving motor which is vertically arranged is arranged on the fixed base, and a transmission gear is arranged at the output end of the top of the driving motor; a hollow support column which is vertically arranged is arranged at a position, located on one side of the driving motor, on the fixed base, a silicon photocell is arranged in the hollow support column, a lens barrel is rotatably arranged at the top of the hollow support column through a ball bearing, a narrow-band optical filter, a polarizing film and a plano-convex lens are sequentially arranged in the lens barrel from top to bottom, a circle of transmission gear ring is fixed on the outer barrel surface of the lens barrel, and the transmission gear ring is in meshed connection with a transmission gear; a shading cover is arranged at the position of a barrel opening at the top of the lens barrel, and a light transmitting opening is formed in the center of the shading cover; the shading cover, the lens barrel, the narrow-band optical filter, the polaroid, the plano-convex lens, the hollow support column and the silicon photocell are coaxially arranged;
the processing circuit comprises an operational amplification circuit, an A/D converter and a single chip microcomputer, wherein the operational amplification circuit is connected with the A/D converter, and the A/D converter is connected with the single chip microcomputer;
the silicon photocell in the detection system is led out through a lead and is connected with the operational amplification circuit in the processing circuit, and the single chip microcomputer in the processing circuit is connected with the encoder motor on the vehicle body through the motor driving module.
2. The light-based polarization state assisted orientation autonomous navigation vehicle of claim 1, wherein: each group of Mecanum wheels and the encoder motor are fixedly arranged on the chassis through a set of suspension system, each suspension system comprises a fixed plate and an n-type fixed frame, the encoder motor is fixedly arranged on the fixed plate, the body of the encoder motor is positioned at the inner side end of the fixed plate, the output end of the encoder motor penetrates through the fixed plate and extends to the outer side end of the fixed plate, and the Mecanum wheels are arranged at the outer side end of the fixed plate and connected and arranged on the output end of the encoder motor; the n-shaped fixing frame comprises transverse plates, vertical beams extending downwards are symmetrically fixed at two ends of each transverse plate, the transverse plates are fixedly connected with the chassis, and the upper parts and the lower parts of the vertical beams are respectively hinged with hinged beams; the fixed plate is arranged in parallel with the n-type fixed frame, and the other ends of the two hinged beams on each vertical beam of the n-type fixed frame are hinged with the corresponding side of the fixed plate; and a damping spring is obliquely arranged between the fixed plate and the n-type fixing frame, the upper end of the damping spring is hinged with the upper part of the n-type fixing frame, and the lower end of the damping spring is hinged with the lower part of the fixed plate.
3. The light-based polarization state assisted orientation autonomous navigation vehicle of claim 2, wherein: connecting plates are fixedly connected between the two n-type fixing frames at the front end of the chassis and between the two n-type fixing frames at the rear end of the chassis.
4. The light-based polarization state assisted orientation autonomous navigation vehicle of any of claims 1-3, wherein: the narrow-band filter adopts a blue light narrow-band filter.
5. The light-based polarization state assisted orientation autonomous navigation vehicle of any of claims 1-3, wherein: the driving motor adopts a brushless motor.
6. The light-based polarization state assisted orientation autonomous navigation vehicle of any of claims 1-3, wherein: the driving motor is provided with a magnetic induction encoder.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202120496356.4U CN214149341U (en) | 2021-03-09 | 2021-03-09 | Autonomous navigation vehicle based on polarization state auxiliary orientation of light |
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| CN202120496356.4U CN214149341U (en) | 2021-03-09 | 2021-03-09 | Autonomous navigation vehicle based on polarization state auxiliary orientation of light |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114800518A (en) * | 2022-05-20 | 2022-07-29 | 东南大学 | Multi-mobile-robot cooperative control experiment platform based on embedded framework |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114800518A (en) * | 2022-05-20 | 2022-07-29 | 东南大学 | Multi-mobile-robot cooperative control experiment platform based on embedded framework |
| CN114800518B (en) * | 2022-05-20 | 2023-12-12 | 东南大学 | Multi-mobile robot cooperative control experimental platform based on embedded frame |
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