CN218767318U - Carry on laser radar and mobile robot of IMU subassembly - Google Patents
Carry on laser radar and mobile robot of IMU subassembly Download PDFInfo
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- CN218767318U CN218767318U CN202222970884.6U CN202222970884U CN218767318U CN 218767318 U CN218767318 U CN 218767318U CN 202222970884 U CN202222970884 U CN 202222970884U CN 218767318 U CN218767318 U CN 218767318U
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Abstract
The utility model relates to a laser radar and a mobile robot carrying IMU components; the laser radar comprises an IMU assembly which is fixedly arranged in the laser radar, and the center of an IMU chip in the IMU assembly is superposed with the optical center of the laser radar; the coordinate axes of the IMU coincide with the coordinate axes of the lidar. The utility model takes the IMU component as the internal component of the laser radar, and realizes the time synchronization and the space synchronization of the laser radar and the IMU in the laser radar; and subsequent calibration work is reduced.
Description
Technical Field
The utility model belongs to the technical field of laser radar, concretely relates to carry on laser radar and mobile robot of IMU subassembly.
Background
At present, SLAM (Simultaneous Localization And Mapping) is mainly used for solving the problems of map construction And positioning navigation of moving objects, while laser SLAM is a positioning method based on Ranging in the early stage (such as ultrasonic And infrared single-point Ranging), and the occurrence And popularization of laser radar (Light Detection And Ranging) make the measurement more convenient And accurate, and the information amount is richer. The object information collected by the lidar is referred to as a point cloud because it exhibits a series of scattered points with accurate angle and distance information. The laser SLAM system obtains the moving distance and the rotating angle of the object in the period of time, namely the change of the pose, by matching and comparing two pieces of point clouds at different moments; the set of the change of the pose can form a path which a moving object passes through, so that the robot can be positioned. When the laser radar is used for estimating the pose change of a moving object, the pose change between two moments is aimed at, if the interval time is short, the environment change described by two pieces of point clouds is small, the result of frame matching of the two frames of point clouds is relatively high in accuracy, but if the environment change described by the two pieces of point clouds is more and no accurate initial estimated pose exists, the result of matching of the two pieces of point clouds and the real pose possibly differ far, and the matching is blind.
The pose change of the object can be obtained by singly using an Inertial Measurement Unit (IMU), but because the pose measured by the IMU is obtained by integration, and data measured by the IMU has the reasons of zero offset, noise and the like, the pose data has larger and larger error along with the increase of time when the IMU is used for measuring the pose.
At present, the solution using the fusion of laser radar and IMU is the mainstream research direction in the industry at present. In a common scheme, an IMU and a lidar are commonly arranged in a rigid structural body supporting structure, the relative positions and postures of the IMU and the lidar are fixed, and the IMU and the lidar are commonly arranged in a spatial structure in an AGV/robot system. In the structure, a coordinate system of the IMU and a coordinate system of the laser radar are related through a conversion matrix (comprising a translation matrix and a rotation matrix). The acquisition of the transformation matrix is initial pose calibration, the existing calibration method mostly acquires corresponding pose states of the laser radar of the IMU under different poses and motion states by means of external equipment such as a high-precision 3D laser scanner, and the transformation matrix is obtained through resolving, so that the process is complex and the practicability is poor.
SUMMERY OF THE UTILITY MODEL
In view of the above, the present invention aims to disclose a lidar and a mobile robot carrying an IMU assembly; and the time and space synchronization of the IMU component and the laser radar is realized in the laser radar.
The utility model discloses a laser radar carrying an IMU component, wherein the IMU component is fixedly arranged in the laser radar, and the center of an IMU chip in the IMU component is superposed with the optical center of the laser radar; and the one-dimensional coordinate axis of the IMU is superposed with the one-dimensional coordinate axis of the laser radar, and the other two-dimensional coordinate axes of the IMU are parallel to the corresponding coordinate axis of the laser radar and have the same direction.
Further, the laser radar is a rotary scanning laser radar; the IMU component is fixedly installed in the laser radar, and a one-dimensional coordinate axis of IMU data is overlapped with a one-dimensional coordinate axis of the laser radar.
Further, the laser radar also comprises a clock synchronization component;
the clock synchronization component comprises a first clock output port and a second clock output port; the first clock output port is electrically connected with the clock input port of the IMU assembly and outputs a first clock C1 to the IMU assembly; the second clock output port is electrically connected with a clock input port on a control circuit board of the laser radar; and outputting a second clock C2 to a control circuit board of the laser radar.
Further, the clock synchronization component comprises a clock generator and a frequency converter;
the output end of the clock generator is electrically connected with the first clock output port;
the output end of the clock generator is also electrically connected with the input port of the frequency converter; and the output port of the frequency converter is electrically connected with the second clock output port.
Further, the clock synchronization component comprises a clock generator and a frequency converter;
the output end of the clock generator is electrically connected with the second clock output port;
the output end of the clock generator is also electrically connected with the input port of the frequency converter; and the output port of the frequency converter is electrically connected with the first clock output port.
Further, the lidar includes a first clock input port and a second clock input port; the first clock input port is electrically connected with a clock input port of the IMU assembly, and a first clock C1 input from the outside is input to the IMU assembly to be used as a clock of the IMU assembly; the second clock input port is electrically connected with a clock input port on a control circuit board of the laser radar, and a second clock C2 input from the outside is input to the control circuit board of the laser radar to be used as a clock of the laser radar; the period corresponding to the second clock C2 is N times or 1/N of the period corresponding to the first clock C1, and N is an integer greater than or equal to 1.
Further, the laser radar comprises a first clock input port and a frequency converter;
the first clock input port is electrically connected with a clock input port of the IMU assembly, and an externally input clock C1 is input to the IMU assembly to be used as a clock of the IMU assembly;
the first clock input port is also electrically connected with the input port of the frequency converter, the clock C1 is input into the frequency converter, and the frequency-converted clock C1' is output from the output port of the frequency converter;
and the output port of the frequency converter is electrically connected with the clock input port on the control circuit board of the laser radar, and the frequency-converted clock C1' is input to the control circuit board of the laser radar to be used as the clock of the laser radar.
Further, the laser radar comprises a second clock input port and a frequency converter;
the second clock input port is electrically connected with a clock input port on a control circuit board of the laser radar, and an externally input clock C2 is input to the control circuit board of the laser radar to be used as a clock of the laser radar;
the second clock input port is also electrically connected with the input port of the frequency converter, the clock C2 is input into the frequency converter, and the second clock C2' after frequency conversion is output from the output port of the frequency converter;
and the output port of the frequency converter is electrically connected with the clock input port of the IMU assembly, and the frequency-converted clock C2' is input to the IMU assembly to be used as the clock of the IMU assembly.
Further, the IMU assembly further comprises a metal isolation cavity, and the IMU assembly is placed in the metal isolation cavity.
The invention also discloses a mobile robot, and the laser radar carrying the IMU component is carried on the mobile robot.
The utility model discloses can realize following beneficial effect at least:
the laser radar and the mobile robot carrying the IMU component of the utility model take the IMU component as the internal component of the laser radar, and realize the time synchronization and the space synchronization of the laser radar and the IMU in the laser radar; and subsequent calibration work is reduced.
Drawings
The drawings are only for purposes of illustrating particular embodiments and are not to be construed as limiting the invention, wherein like reference numerals are used to designate like parts throughout the drawings.
Fig. 1 is a schematic connection diagram of a lidar assembly carrying an IMU assembly in this embodiment;
FIG. 2 is a schematic diagram illustrating the connection of a clock synchronization module according to the present embodiment;
FIG. 3 is a schematic diagram illustrating the connection of the components of another clock synchronization module in this embodiment;
fig. 4 is a schematic connection diagram of another lidar component carrying an IMU assembly in this embodiment;
fig. 5 is a schematic connection diagram of another lidar component carrying an IMU assembly in this embodiment;
fig. 6 is a schematic connection diagram of another lidar component carrying an IMU assembly in this embodiment.
Reference numerals: the system comprises a laser radar 1, a laser radar 2, an IMU 3, a laser radar control circuit board, a clock synchronization component 4, an AGV/robot 5, a clock generator 6, a frequency converter 7, a frequency converter 8, a clock synchronization component 9, a clock synchronization component 10, a clock synchronization component second clock output port 11, a frequency converter 12, a clock input port 13 and a clock input port 14.
Detailed Description
The following detailed description of the preferred embodiments of the invention, which is to be read in connection with the accompanying drawings, forms a part of this application, and together with the embodiments of the invention, serve to explain the principles of the invention.
Example one
The utility model discloses a laser radar carrying IMU components, as shown in figure 1, the IMU components are fixedly arranged in the laser radar, and the center of an IMU chip in the IMU components is superposed with the optical center of the laser radar; and the one-dimensional coordinate axis of the IMU is superposed with the one-dimensional coordinate axis of the laser radar, and the other two-dimensional coordinate axes of the IMU are parallel to the corresponding coordinate axis of the laser radar and have the same direction.
Specifically, the laser radar is a rotary scanning laser radar; the IMU component is fixedly arranged in the laser radar, a one-dimensional coordinate axis of IMU data is coincident with a one-dimensional coordinate axis of the laser radar, and other two-dimensional coordinate axes of the IMU are parallel to and consistent with a coordinate axis corresponding to the laser radar in direction.
In a specific aspect of this embodiment, as shown in fig. 1, the interior of the lidar includes a clock synchronization component;
the clock synchronization component comprises a first clock output port and a second clock output port; the first clock output port is electrically connected with a clock input port of the IMU assembly and outputs a clock C1 to the IMU assembly; the second clock output port is electrically connected with a clock input port on a control circuit board of the laser radar; and outputting a clock C2 to a control circuit board of the laser radar. The periods of the first clock C1 and the second clock C2 are in a multiple relation, and the initial phases are the same.
In fig. 1, the lidar is also electrically connected to a lidar carrier processor, which may be an AGV/robot; and sending the measured laser point cloud data to the laser radar carrier through the electrically connected laser radar.
Specifically, as shown in fig. 2, the clock synchronization component further includes a clock generator and a frequency converter;
the clock generator is used for generating a clock C1 required by the work of an IMU chip in the IMU component by forming a digital phase-locked loop circuit through an internal crystal oscillator circuit, a voltage-controlled oscillator circuit, a frequency conversion circuit and a phase discriminator circuit.
The output end of the clock generator is electrically connected with the first clock output port; outputting the generated clock C1 to the IMU assembly as a clock for the IMU chip to work;
the output end of the clock generator is also electrically connected with the input port of the frequency converter; and the output port of the frequency converter is electrically connected with the second clock output port.
The clock C1 is subjected to frequency conversion through a frequency converter, so that the frequency after frequency conversion is the clock C1'; and outputting the clock C1' to the laser radar through the second clock output port to be used as a clock for controlling laser transceiving of the laser radar.
Specifically, as shown in fig. 3, the clock synchronization component further includes a clock generator and a frequency converter;
the clock generator comprises a digital phase-locked loop circuit formed by an internal crystal oscillator circuit, a voltage-controlled oscillator circuit, a frequency conversion circuit and a phase discriminator circuit, and generates a clock C2 required by the laser radar for laser transceiving control.
The output end of the clock generator is electrically connected with the second clock output port; and the second clock output port outputs the clock C2 to the laser radar as a clock for controlling laser transceiving of the laser radar.
The output end of the clock generator is also electrically connected with the input port of the frequency converter; and the output port of the frequency converter is electrically connected with the first clock output port.
The clock C2 is subjected to frequency conversion through a frequency converter, so that the frequency-converted clock is a clock C2';
the clock C2' output by the frequency converter is output to the IMU chip of the IMU assembly through the first clock output port as a clock for operation of the IMU chip.
And the frequency conversion ratio of the frequency converter is determined according to the frequency ratio of the clock for the IMU chip to work and the clock required by the laser transceiving control.
In yet another specific aspect of this embodiment, as shown in fig. 4, the lidar includes a first clock input port and a second clock input port; the first clock input port is electrically connected with a clock input port of the IMU assembly, and an externally input clock C1 is input to the IMU assembly to be used as a clock of the IMU assembly; the second clock input port is electrically connected with a clock input port on a control circuit board of the laser radar, and an externally input clock C2 is input to the control circuit board of the laser radar to be used as a clock of the laser radar; the period corresponding to the clock C2 is integral multiple or one-half integral multiple of the period corresponding to the clock C1.
Preferably, the first clock input port and the second clock input port are both electrically connected with the laser radar carrier, and the clock C1 and the clock C2 are obtained through the radar carrier processor.
In yet another specific aspect of this embodiment, as shown in fig. 5, the lidar includes a first clock input port and a frequency converter;
the first clock input port is electrically connected with a clock input port of the IMU assembly, and an externally input clock C1 is input to the IMU assembly to be used as a clock of the IMU assembly;
the first clock input port is also electrically connected with the input port of the frequency converter, the clock C1 is input into the frequency converter, and the frequency-converted clock C1' is output from the output port of the frequency converter;
and the output port of the frequency converter is electrically connected with the clock input port on the control circuit board of the laser radar, and the frequency-converted clock C1' is input to the control circuit board of the laser radar to be used as the clock of the laser radar.
Preferably, the first clock input port is electrically connected with the laser radar carrier, and a clock C1 is obtained through a radar carrier processor.
In a more preferred embodiment, the clock C0 of the radar vehicle processor is in a multiple relationship with the clock C1, and the clock C1 is in a multiple relationship with the clock C1'.
In yet another specific aspect of this embodiment, as shown in fig. 6, the lidar includes a second clock input port and a frequency converter;
the second clock input port is electrically connected with a clock input port on a control circuit board of the laser radar, and an externally input clock C2 is input to the control circuit board of the laser radar to be used as a clock of the laser radar;
the second clock input port is also electrically connected with the input port of the frequency converter, the clock C2 is input into the frequency converter, and the frequency-converted clock C2' is output from the output port of the frequency converter;
and the output port of the frequency converter is electrically connected with the clock input port of the IMU assembly, and the frequency-converted clock C2' is input to the IMU assembly to be used as the clock of the IMU assembly.
Preferably, the second clock input port is electrically connected with the laser radar carrier, and a second clock C2 is obtained through the radar carrier processor.
Further, in the above specific solution, the IMU module is electrically connected to the control circuit board of the laser radar, and outputs the IMU calculation result to the control circuit board of the laser radar.
Preferably, the IMU module is electrically connected with a control circuit board of the lidar through an SPI bus.
Preferably, the IMU assembly further comprises a metal isolation cavity, and the IMU assembly is placed in the metal isolation cavity. Be provided with power supply line through-hole, clock line through-hole and SPI through-hole on the wallboard of metal isolation chamber one side, realize IMU subassembly and laser radar and clock synchronization subassembly's electricity and be connected.
Specifically, in the scheme that laser radar and laser radar carrier treater electricity are connected, laser radar's control circuit board passes through the SPI bus and is connected with the laser radar carrier, exports laser radar's measuring result to the laser radar carrier.
In summary, in the lidar carrying the IMU assembly of the present embodiment, the IMU assembly is used as an internal assembly of the lidar, so that time synchronization and space synchronization between the lidar and the IMU are achieved inside the lidar; and subsequent calibration work is reduced.
Example two
The embodiment of the invention also discloses a mobile robot, and the laser radar carrying the IMU component is carried on the mobile robot.
The carrying position can be the top of the mobile robot, or can be carried at a proper position of the mobile robot according to requirements, and positioning or map reconstruction can be achieved by the laser radar conveniently.
When the mobile robot moves, the laser radar carries out map construction and positioning navigation on the mobile robot.
Because the laser radar adopts the laser radar carrying the IMU component in the first embodiment (see the first embodiment for specific technical details), the IMU component is used as an internal component of the laser radar, and the time synchronization and the space synchronization of the laser radar and the IMU are realized in the laser radar; and subsequent calibration work is reduced.
The above description is only for the preferred embodiment of the present invention, but the scope of the present invention is not limited thereto, and any changes or substitutions that can be easily conceived by those skilled in the art within the technical scope of the present invention should be covered by the present invention.
Claims (10)
1. The laser radar carrying the IMU component is characterized in that the IMU component is fixedly installed inside the laser radar, and the center of an IMU chip in the IMU component is superposed with the optical center of the laser radar; and the one-dimensional coordinate axis of the IMU is superposed with the one-dimensional coordinate axis of the laser radar, and the other two-dimensional coordinate axes of the IMU are parallel to the corresponding coordinate axis of the laser radar and have the same direction.
2. The IMU assembly-laden lidar of claim 1, wherein the lidar is a rotary scanning type lidar; the IMU component is fixedly arranged in the laser radar, and one coordinate axis of IMU data is coincided with a rotating axis of the laser radar.
3. The IMU assembly-mounted lidar of claim 1, further comprising a clock synchronization assembly in the lidar;
the clock synchronization component comprises a first clock output port and a second clock output port; the first clock output port is electrically connected with the clock input port of the IMU assembly and outputs a first clock C1 to the IMU assembly; the second clock output port is electrically connected with a clock input port on a control circuit board of the laser radar; and outputting a second clock C2 to a control circuit board of the laser radar.
4. The IMU component-mounted lidar of claim 3, wherein the clock synchronization component includes a clock generator and a frequency converter therein;
the output end of the clock generator is electrically connected with the first clock output port;
the output end of the clock generator is also electrically connected with the input port of the frequency converter; and the output port of the frequency converter is electrically connected with the second clock output port.
5. The IMU assembly-mounted lidar of claim 3, wherein the clock synchronization assembly comprises a clock generator and a frequency converter;
the output end of the clock generator is electrically connected with the second clock output port;
the output end of the clock generator is also electrically connected with the input port of the frequency converter; and the output port of the frequency converter is electrically connected with the first clock output port.
6. The IMU component-mounted lidar of claim 1, wherein the lidar includes a first clock input port and a second clock input port; the first clock input port is electrically connected with the clock input port of the IMU component, and an externally input first clock C1 is input to the IMU component to serve as a clock of the IMU component; the second clock input port is electrically connected with a clock input port on a control circuit board of the laser radar, and a second clock C2 input from the outside is input to the control circuit board of the laser radar to be used as a clock of the laser radar; the period corresponding to the second clock C2 is N times or 1/N of the period corresponding to the first clock C1, and N is an integer greater than or equal to 1.
7. The IMU assembly-mounted lidar of claim 1, wherein the lidar includes a first clock input port and a frequency converter;
the first clock input port is electrically connected with a clock input port of the IMU assembly, and an externally input clock C1 is input to the IMU assembly to be used as a clock of the IMU assembly;
the first clock input port is also electrically connected with the input port of the frequency converter, the clock C1 is input into the frequency converter, and the frequency-converted clock C1' is output from the output port of the frequency converter;
and the output port of the frequency converter is electrically connected with the clock input port on the control circuit board of the laser radar, and the frequency-converted clock C1' is input to the control circuit board of the laser radar to be used as the clock of the laser radar.
8. The IMU assembly-mounted lidar of claim 1,
the laser radar comprises a second clock input port and a frequency converter;
the second clock input port is electrically connected with a clock input port on a control circuit board of the laser radar, and an externally input clock C2 is input to the control circuit board of the laser radar to be used as a clock of the laser radar;
the second clock input port is also electrically connected with the input port of the frequency converter, the clock C2 is input into the frequency converter, and the frequency-converted clock C2' is output from the output port of the frequency converter;
and the output port of the frequency converter is electrically connected with the clock input port of the IMU assembly, and the frequency-converted clock C2' is input to the IMU assembly to be used as the clock of the IMU assembly.
9. The lidar carrying an IMU assembly of any of claims 1-8, further comprising a metal isolation cavity, the IMU assembly disposed within the metal isolation cavity.
10. A mobile robot carrying the lidar carrying an IMU module according to any one of claims 1 to 9.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202222970884.6U CN218767318U (en) | 2022-11-07 | 2022-11-07 | Carry on laser radar and mobile robot of IMU subassembly |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202222970884.6U CN218767318U (en) | 2022-11-07 | 2022-11-07 | Carry on laser radar and mobile robot of IMU subassembly |
Publications (1)
| Publication Number | Publication Date |
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| CN218767318U true CN218767318U (en) | 2023-03-28 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN202222970884.6U Active CN218767318U (en) | 2022-11-07 | 2022-11-07 | Carry on laser radar and mobile robot of IMU subassembly |
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| CN (1) | CN218767318U (en) |
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