CN110207705A - A kind of indoor navigation vehicle based on laser SLAM - Google Patents

Abstract

The invention discloses an indoor navigation vehicle based on laser SLAM, which includes a vehicle chassis, four mecanum wheels, a chassis drive system, a laser SLAM navigation system and a DC power supply system for power supply, and the chassis drive system includes a drive chip and a microcontroller, the mecanum wheels are distributed on both sides of the vehicle chassis in a group of two, the microcontroller, the drive chip and the mecanum wheels are connected in sequence, and the laser SLAM navigation system includes A laser radar and a micro PC, the laser radar is arranged above the chassis of the vehicle and has no shield at least on the side, and the DC power supply system is respectively connected to the power connection pin of the microcontroller and the power interface of the micro PC , the present invention combines the X86 architecture and the embedded system, which can greatly improve the battery life of the system.

Description

An indoor navigation vehicle based on laser SLAM

technical field

The invention relates to an indoor navigation robot, in particular to an indoor navigation vehicle based on laser SLAM.

Background technique

With the rise of indoor robots with automatic navigation, such as sweeping robots, how to make robots calculate more accurate moving routes has become a major concern of various manufacturers. A mature solution, combining SLAM technology with different types of sensors can adapt to different scenarios, but because the floating-point operation of the SLAM algorithm has high requirements on the processor, currently SLAM-based navigation robots basically use x86 processors for global control, High power consumption is not conducive to the battery life of the navigation robot.

Contents of the invention

In order to solve the above problems, the present invention provides an indoor navigation vehicle based on laser SLAM, which combines a micro PC and an embedded processing system to reduce the power consumption of the overall control system and improve the endurance of the navigation vehicle.

The technical scheme that the present invention solves its problem adopts is:

An indoor navigation vehicle based on laser SLAM, including a vehicle chassis, four mecanum wheels, a chassis drive system, a laser SLAM navigation system and a DC power supply system for power supply, the vehicle chassis carries the chassis drive system, laser SLAM navigation system and DC power supply, the chassis drive system includes a drive chip and a microcontroller, the mecanum wheels are distributed on both sides of the vehicle chassis in groups of two, the microcontroller and the drive chip Connected to the Mecanum wheel in turn, the laser SLAM navigation system includes a laser radar and a miniature PC, the lidar is arranged above the vehicle chassis and has no shelter at least on the side, and the miniature PC is connected to the laser For the radar, the microcontroller is connected to the micro-PC, and the DC power supply system is respectively connected to the power connection pin of the microcontroller and the power interface of the micro-PC.

Further, the drive chip includes a front-wheel drive module and a rear-wheel drive module, the front-wheel drive module is connected to the two mecanum wheels at the front, and the rear-wheel drive module is connected to the two mecanum wheels at the rear. Mecanum wheel, the front wheel drive module and the rear wheel drive module are both TB6612 chips.

Further, the microcontroller is an STM32F407ZGT6 in an embedded processing system.

Further, the lidar is RPLIDAR A1, and the lidar is connected to the micro PC through the ROS network.

Further, the DC power supply system includes a DC source with two 24V outputs, a first step-down circuit and a second step-down circuit, one of the outputs of the DC source is connected to the micro-controller through the first step-down circuit The other output of the DC source is connected to the micro PC through the second step-down circuit.

Further, the first step-down circuit includes a 24V to 12V circuit, a 12V to 5V circuit and a 5V to 3.3V circuit, the 24V to 12V circuit is connected to the drive chip and the mecanum wheel, the 24V to 12V circuit, The 12V to 5V circuit, the 5V to 3.3V circuit, and the microprocessor are connected in sequence.

Further, a motor encoder is also included, the motor encoder is arranged on the mecanum wheel, and the motor encoder is connected to the timer pin of the microprocessor.

Further, the chassis drive system also includes an IIC communication interface, a USART interface and a STLINK download interface reserved for burning executable files, the IIC communication interface is drawn from the IIC pin of the microprocessor, and the microprocessor The processor is connected to the micro PC through the USART interface, and the STLINK download interface is drawn out from the STLINK pin of the microprocessor.

Further, the micro PC also includes a wireless communication module, which is connected to an external control terminal.

Embodiments of the present invention at least have the following beneficial effects: the microprocessor of the chassis drive system of the present invention is based on the embedded system, and the micro-PC of the laser SLAM navigation system is based on the X86 framework. Using the embedded system can ensure that the robot can be freely designed More importantly, the embedded system has a very significant advantage in low power consumption. Simple calculations such as chassis drive systems with a small amount of data processing can greatly improve the battery life of the system.

Description of drawings

The present invention will be further described below in conjunction with drawings and embodiments.

Fig. 1 is the module connection schematic diagram of the embodiment of the present invention;

Fig. 2 is a schematic diagram of connection of a driver chip according to an embodiment of the present invention;

Fig. 3 is a top view structural diagram of a vehicle body and a mecanum wheel according to an embodiment of the present invention;

Fig. 4 is the circuit diagram of 12V to 5V of the embodiment of the present invention;

Fig. 5 is a circuit diagram of converting 5V to 3.3V according to an embodiment of the present invention.

Detailed ways

This part will describe the specific embodiment of the present invention in detail, and the preferred embodiment of the present invention is shown in the accompanying drawings. Each technical feature and overall technical solution of the invention, but it should not be understood as a limitation on the protection scope of the present invention.

In the description of the present invention, it should be understood that the orientation descriptions, such as up, down, front, back, left, right, etc. indicated orientations or positional relationships are based on the orientations or positional relationships shown in the drawings, and are only In order to facilitate the description of the present invention and simplify the description, it does not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus should not be construed as limiting the present invention.

In the description of the present invention, several means one or more, and multiple means more than two. Greater than, less than, exceeding, etc. are understood as not including the original number, and above, below, within, etc. are understood as including the original number. If the description of the first and second is only for the purpose of distinguishing the technical features, it cannot be understood as indicating or implying the relative importance or implicitly indicating the number of the indicated technical features or implicitly indicating the order of the indicated technical features relation.

In the description of the present invention, unless otherwise clearly defined, words such as setting, installation, and connection should be understood in a broad sense, and those skilled in the art can reasonably determine the specific meanings of the above words in the present invention in combination with the specific content of the technical solution.

1 and 3, an embodiment of the present invention provides an indoor navigation vehicle based on laser SLAM, including a vehicle chassis 100, four mecanum wheels 200, a chassis drive system, a laser SLAM navigation system and a power supply DC power supply system, the vehicle chassis 100 carries the chassis drive system, laser SLAM navigation system and DC power supply, the chassis drive system includes a drive chip and a microcontroller, and the mecanum wheels 200 are in groups of two The method is distributed on both sides of the vehicle chassis 100, the microcontroller, the driver chip and the mecanum wheel 200 are sequentially connected, the laser SLAM navigation system includes a laser radar and a micro PC, and the laser radar is arranged on the Above the vehicle chassis 100 and at least on the side without shelter, the micro-PC is connected to the lidar, the microcontroller is connected to the micro-PC, and the DC power system is connected to the power connection of the micro-controller, respectively. pins and the power interface of the micro PC.

Referring to Fig. 2, the drive chip includes a front-wheel drive module and a rear-wheel drive module, the front-wheel drive module is connected to the two mecanum wheels 200 at the front, and the rear-wheel drive module is connected to the two mecanum wheels 200 at the rear. The mecanum wheel 200, the front wheel drive module and the rear wheel drive module are both TB6612 chips. One TB6612 chip can drive two motors. Since the present invention is a four-wheel drive, two TB6612 chips are needed, one to control the front two mecanum wheels 200, and the other to control the rear two mecanum wheels 200.

In the present embodiment, in order to enhance the modular design and improve the scalability of the system, the microcontroller is the STM32F407ZGT6 in the embedded processing system, and the microcontroller chip of the present invention is based on the Cortex-M4 core, and the frequency is 168MHz. At the same time, STM32 officially provides a very complete library function development library, which greatly improves the development efficiency compared with the development method of operating registers of the 51 single-chip microcomputer.

In this embodiment, the lidar is RPLIDAR A1, and the lidar is connected to the micro PC through the ROS network. RPLIDAR A1 can achieve a 360-degree omni-directional laser scanning range measurement of 12 meters, so it is set on the top of the entire navigation vehicle,

Referring to Figure 4 and Figure 5, the DC power supply system includes a DC source with two 24V outputs, a first step-down circuit and a second step-down circuit, one of the outputs of the DC source passes through the first step-down circuit Connect the microcontroller, the other output of the DC source is connected to the micro PC through the second step-down circuit, the first step-down circuit includes a 24V to 12V circuit, a 12V to 5V circuit and a 5V to 5V circuit. 3.3V circuit, the 24V to 12V circuit is connected to the drive chip and the mecanum wheel 200, the 24V to 12V circuit, the 12V to 5V circuit, the 5V to 3.3V circuit, and the microprocessor are sequentially connected. The DC source described in this embodiment is a DJI TB48 power supply, and the second voltage drop circuit converts 24V to 19V to provide a standard voltage for the micro PC.

A motor encoder is also included, the motor encoder is arranged on the mecanum wheel 200, and the motor encoder is connected to the timer pin of the microprocessor. In this embodiment, the motor encoder is a magnetic encoder, which is used to measure the rotation angle of the driving motor to calculate the rotational speed of the driving motor.

The chassis drive system also includes an IIC communication interface, a USART interface and a STLINK download interface reserved for burning executable files, the IIC communication interface is drawn from the IIC pin of the microprocessor, and the microprocessor The micro PC is connected through the USART interface, and the STLINK download interface is drawn out from the STLINK pin of the microprocessor.

The micro PC also includes a wireless communication module connected to an external control terminal. Through the wireless communication module, the user can perform remote control through a control terminal such as a mobile phone.

The microprocessor of the chassis drive system of the embodiment of the present invention is based on the embedded system, and the micro-PC of the laser SLAM navigation system is based on the X86 framework. Using the embedded system can ensure that the structure and motion mode of the robot can be freely designed. The most important thing is that the embedded system has a very significant advantage in low power consumption. The simple calculation of the chassis drive system with a small amount of data processing can greatly improve the battery life of the system.

The above are only preferred embodiments of the present invention, and the present invention is not limited to the above-mentioned embodiments, as long as they achieve the technical effect of the present invention by the same means, they should all belong to the protection scope of the present invention.

Claims (9)

1. a kind of indoor navigation vehicle based on laser SLAM, it is characterised in that: including vehicle chassis, four Mecanum wheels, bottoms Disc driving system, laser SLAM navigation system and the DC power system for power supply, the vehicle chassis carry the chassis Drive system, laser SLAM navigation system and DC power supply, the chassis drive system include driving chip and microcontroller, institute It states Mecanum wheel and is distributed in the vehicle chassis two sides, the microcontroller, driving chip and wheat in a manner of two one group Ke Namu wheel is sequentially connected, and the laser SLAM navigation system includes laser radar and miniature PC machine, the laser radar setting The vehicle chassis top and do not blocked in side at least, the miniature PC machine connects the laser radar, described Microcontroller connects the miniature PC machine, and what the DC power system was separately connected the microcontroller connects electric pin and miniature The power interface of PC machine.

2. a kind of indoor navigation vehicle based on laser SLAM according to claim 1, it is characterised in that: the driving chip Including front-wheel drive module and rear wheel drive module, the front-wheel drive module connection is located at two Mecanums in front Wheel, the rear wheel drive module connect two Mecanum wheels being located behind, and the front-wheel drive module and rear-wheel drive Dynamic model block is TB6612 chip.

3. a kind of indoor navigation vehicle based on laser SLAM according to claim 1, it is characterised in that: the microcontroller For the STM32F407ZGT6 in embedded processing systems.

4. a kind of indoor navigation vehicle based on laser SLAM according to claim 1, it is characterised in that: the laser radar For RPLIDAR A1, the laser radar is connected to the network by ROS to the miniature PC machine.

5. a kind of indoor navigation vehicle based on laser SLAM according to claim 1, it is characterised in that: the DC power supply System includes DC source, the first reduction voltage circuit and the second reduction voltage circuit that there is two-way 24V to export, and wherein the one of the DC source Road output connects the microcontroller by first reduction voltage circuit, and the another output of the DC source passes through described second Reduction voltage circuit connects the miniature PC machine.

6. a kind of indoor navigation vehicle based on laser SLAM according to claim 5, it is characterised in that: first decompression Circuit includes that 24V turns 12V circuit, 12V turns 5V circuit and 5V turns 3.3V circuit, and the 24V turns to drive core described in 12V circuit connection Piece and Mecanum wheel, the 24V turns 12V circuit, 12V turns 5V circuit, 5V turns 3.3V circuit, microprocessor is sequentially connected.

7. a kind of indoor navigation vehicle based on laser SLAM according to claim 1, it is characterised in that: further include that motor is compiled Code device, the motor encoder are arranged on the Mecanum wheel, and the motor encoder connects determining for the microprocessor When device pin on.

8. a kind of indoor navigation vehicle based on laser SLAM according to claim 1, it is characterised in that: the chassis driving System further includes IIC communication interface, USART interface and remains for the STLINK download interface of burning executable file in advance, described IIC communication interface is drawn by the IIC pin of the microprocessor, and the microprocessor passes through described in USART interface connection Miniature PC machine, the STLINK download interface are drawn by the STLINK pin of the microprocessor.

9. a kind of indoor navigation vehicle based on laser SLAM according to claim 1, it is characterised in that: the miniature PC machine It further include wireless communication module, the controlling terminal outside the wireless communication module connection.