CN214470914U

CN214470914U - Indoor navigation device based on SLAM

Info

Publication number: CN214470914U
Application number: CN202120548860.4U
Authority: CN
Inventors: 曹磊; 徐依娇; 鲁成
Original assignee: Shanghai Zhanzhi Information Technology Co ltd
Current assignee: Shanghai Zhanzhi Information Technology Co ltd
Priority date: 2021-03-17
Filing date: 2021-03-17
Publication date: 2021-10-22
Anticipated expiration: 2031-03-17

Abstract

The utility model relates to an indoor navigation unit based on SLAM, including navigation host computer, route equipment and a plurality of positioning terminal, the navigation host computer includes PC host computer, remote control unit, first communication module, input device and input device; the positioning terminal comprises a controller, a second communication module and a distance measuring sensor group; the PC host controls the carrying trolley through the remote control equipment; the distance measurement sensor group in the positioning terminal is used for measuring the distance and positioning the carrying trolley, the distance measurement sensors are fixed in position, the plurality of distance measurement sensors can be used for positioning the carrying trolley after distance measurement is carried out on the carrying trolley, the positioning terminal returns positioning information to the navigation host, the navigation host carries out remote control on the next action of the carrying trolley according to the positioning information, the frequency of the positioned distance measurement is increased, the travelling track of the carrying trolley can be accurately obtained, and therefore the carrying trolley is accurately controlled.

Description

Indoor navigation device based on SLAM

Technical Field

The utility model relates to a navigation positioning technical field specifically is an indoor navigation head based on SLAM.

Background

Along with the high-speed development of industrial production, the factory is faced with the labour cost and rises by a wide margin, and the scheduling problem of inexperienced industry workman is lacked, in order to practice thrift the human cost, reduces workman's intensity of labour, in the logistics storage trade, progressively pushes away to use intelligent floor truck, and current floor truck carries goods according to preset goods position information and planning route, and after meeting barrier or goods change the parking position in the transit, the dolly also can't adjust the route by oneself, uses the flexibility low.

SUMMERY OF THE UTILITY MODEL

In view of this, the utility model aims at providing an indoor navigation head based on SLAM cooperates indoor floor truck, for floor truck provides location and navigation, promotes floor truck's flexibility ratio.

The utility model discloses an indoor navigation head based on SLAM, including navigation host computer, routing equipment and a plurality of positioning terminal, the navigation host computer includes PC host computer, remote control unit, first communication module, input device and input device, and remote control unit, first communication module, input device and output device all are connected with the PC host computer; the positioning terminals comprise controllers, second communication modules and ranging sensor groups, the second communication modules and the ranging sensor groups are connected with the controllers, and the second communication modules of the plurality of positioning terminals and the first communication modules of the navigation host are connected to the routing equipment in an access mode; the positioning terminals are arranged on wall surfaces on two sides of a travelling path of the carrying trolley, the distance measuring sensor groups are used for detecting the carrying trolley, and each distance measuring sensor group comprises at least three distance measuring sensors; the PC host controls the carrying trolley through the remote control equipment.

Further, the first communication module and the second communication module are both connected with a ZIGBEE module, the routing equipment is a ZIGBEE gateway, the ZIGBEE module is connected with the PC host through an RS232 serial port, the controller is an STM32 single chip microcomputer, and the ZIGBEE module is connected with an STM32 single chip microcomputer through an RS232 serial port.

Further, the distance measuring sensor is an infrared distance measuring sensor, and the infrared distance measuring sensor is connected with the STM32 single chip microcomputer through a bus.

Further, including three range finding sensor in the range finding sensor group, three range finding sensor's mounting height is all unanimous, and wherein two settings are on the wall of one side, and another setting is on the wall of opposite side.

Further, the input device is a keyboard, a touch screen or a handwriting board, and the output device is a display.

The utility model has the advantages that: the utility model discloses an indoor navigation head based on SLAM, the ranging location is carried out to the floor truck to ranging sensor group through the ranging sensor group in the positioning terminal, because ranging sensor's rigidity, a plurality of ranging sensor can fix a position after carrying out the range finding to the floor truck, positioning terminal returns positioning information to in the navigation host computer, the navigation host computer carries out the remote control according to positioning information to the next action of floor truck, the range finding adoption frequency that will fix a position increases alright with the orbit of marcing that obtains the floor truck accurately to accurately control the floor truck.

Drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings that are required to be used in the embodiments will be briefly described below, it should be understood that the following drawings only illustrate some embodiments of the present application and therefore should not be considered as limiting the scope, and that for a person skilled in the art, other relevant drawings can be obtained from the drawings without inventive effort:

fig. 1 is a schematic structural view of the present invention;

fig. 2 is a schematic view of the positioning principle of the present invention.

Detailed Description

As shown in fig. 1-2: the indoor navigation device based on the SLAM comprises a navigation host, routing equipment and a plurality of positioning terminals, wherein the navigation host comprises a PC host, remote control equipment, a first communication module, input equipment and input equipment, and the remote control equipment, the first communication module, the input equipment and the output equipment are all connected with the PC host; the positioning terminals comprise controllers, second communication modules and ranging sensor groups, the second communication modules and the ranging sensor groups are connected with the controllers, and the second communication modules of the plurality of positioning terminals and the first communication modules of the navigation host are connected to the routing equipment in an access mode; the positioning terminals are arranged on wall surfaces on two sides of a travelling path of the carrying trolley, the distance measuring sensor groups are used for detecting the carrying trolley, and each distance measuring sensor group comprises at least three distance measuring sensors; the PC host controls the carrying trolley through the remote control equipment.

The utility model discloses an indoor navigation head based on SLAM, the ranging location is carried out to the floor truck to ranging sensor group through the ranging sensor group in the positioning terminal, because ranging sensor's rigidity, a plurality of ranging sensor can fix a position after carrying out the range finding to the floor truck, positioning terminal returns positioning information to in the navigation host computer, the navigation host computer carries out the remote control according to positioning information to the next action of floor truck, the range finding adoption frequency that will fix a position increases alright with the orbit of marcing that obtains the floor truck accurately to accurately control the floor truck.

In the embodiment, the first communication module and the second communication module are both connected with a ZIGBEE module, the routing equipment is a ZIGBEE gateway, the ZIGBEE module is connected with a PC host through an RS232 serial port, the controller is an STM32 single chip microcomputer, and the ZIGBEE module is connected with an STM32 single chip microcomputer through an RS232 serial port; different distance measuring sensors in the positioning terminal are connected with different pins of the STM32 single chip microcomputer, so that the STM32 single chip microcomputer can judge different information sources according to the pins; the different positioning terminals are distinguished by PANID in the ZIGBEE network.

In this embodiment, the distance measuring sensor is infrared distance measuring sensor, and infrared distance measuring sensor passes through I2C bus connection with the STM32 singlechip.

In this embodiment, including three range sensor in the range sensor group, three range sensor's mounting height is all unanimous, and wherein two settings are on the wall of one side, and another setting is on the wall of opposite side, and range sensor height such as high can exclude the range finding influence that highly brings, and the principle of three range sensor range finding is: the two distance measuring sensors are arranged on a connecting line, when the carrying trolley moves to the coverage range of the distance measuring sensor group, according to the distances L1 and L2 measured by the two distance measuring sensors, the distance L between the two sensors is a fixed value, so that the shortest distance between the carrying trolley and the connecting line between the two distance measuring sensors can be easily obtained through a trigonometric function, two positions A and B which possibly appear on the carrying trolley at the moment can be deduced through the position coordinates of the two distance measuring sensors, and the accurate position of the carrying trolley can be obtained by using the third distance measuring sensor and the measured distance L3.

In this embodiment, the input device is a keyboard, a touch screen, or a tablet, the output device is a display, and the input device inputs a control instruction, so that the transport cart is controlled by the remote control device, and the traveling track of the transport cart is obtained by the positioning terminal and displayed on the output device.

The specific implementation process is as follows:

(1) a user firstly obtains a base map of an indoor environment, selects a proper point to install a distance measuring terminal according to the indoor environment, preferentially selects key points such as a moving inflection point of the carrying trolley to install when a distance measuring sensor of the distance measuring terminal is installed, and properly installs a plurality of distance measuring sensors, so that the coverage range of the distance measuring terminal can completely cover the moving track of the carrying trolley;

(2) when the positioning and remote control are carried out for the first time, a base map of an indoor environment is firstly opened in a PC host, and the advancing line of the carrying trolley is controlled under the information feedback of the positioning terminal, so that the PC host can be controlled automatically after recording;

(3) other carrying trolleys are reused, the carrying trolleys are manually controlled to advance according to different advancing tracks and are recorded, and different carrying trolleys can be distinguished through different remote control frequency bands due to the fact that radio remote control is adopted;

(4) according to the recording result of the PC host, a plurality of carrying trolleys can move on respective tracks and can be manually adjusted and accurately controlled.

Finally, although the present invention has been described in detail with reference to the preferred embodiments, it should be understood by those skilled in the art that the present invention can be modified or replaced by other means without departing from the spirit and scope of the present invention, which should be construed as limited only by the appended claims.

Claims

1. An indoor navigation device based on SLAM, characterized in that: the system comprises a navigation host, routing equipment and a plurality of positioning terminals, wherein the navigation host comprises a PC host, remote control equipment, a first communication module, input equipment and input equipment, and the remote control equipment, the first communication module, the input equipment and the output equipment are all connected with the PC host; the positioning terminals comprise controllers, second communication modules and ranging sensor groups, the second communication modules and the ranging sensor groups are connected with the controllers, and the second communication modules of the plurality of positioning terminals and the first communication modules of the navigation host are connected to the routing equipment in an access mode; the positioning terminals are arranged on wall surfaces on two sides of a travelling path of the carrying trolley, the distance measuring sensor groups are used for detecting the carrying trolley, and each distance measuring sensor group comprises at least three distance measuring sensors; the PC host controls the carrying trolley through the remote control equipment.

2. The indoor SLAM-based navigation system of claim 1, wherein: the first communication module and the second communication module are both connected with a ZIGBEE module, the routing equipment is a ZIGBEE gateway, the ZIGBEE module is connected with the PC host through an RS232 serial port, the controller is an STM32 single chip microcomputer, and the ZIGBEE module is connected with an STM32 single chip microcomputer through an RS232 serial port.

3. The indoor SLAM-based navigation system of claim 2, wherein: the distance measuring sensor is an infrared distance measuring sensor, and the infrared distance measuring sensor is connected with the STM32 single chip microcomputer through a bus.

4. The indoor SLAM-based navigation system of claim 1, wherein: including three range finding sensor in the range finding sensor group, three range finding sensor's mounting height is all unanimous, and wherein two settings are on the wall of one side, and another setting is on the wall of opposite side.

5. The indoor SLAM-based navigation system of claim 1, wherein: the input device is a keyboard, a touch screen or a handwriting board, and the output device is a display.