CN206833250U - A kind of unmanned investigation dolly based on laser radar - Google Patents

Abstract

The utility model discloses an unmanned reconnaissance trolley based on laser radar. The trolley includes a car body, which is divided into upper and lower two-layer structures. Wheels are arranged at the bottom of the car body. A pan-tilt and a camera are provided, a nine-axis gyroscope is arranged behind the camera, a laser radar is arranged in the middle of the upper layer of the car body, ultrasonic radars are arranged at four corners of the upper layer of the car body, and a front of the lower layer of the car body is arranged There is a drill bit for sampling the soil, a lithium battery and an Arduino single-chip microcomputer are arranged in the middle of the lower layer of the car body, an encoder motor is arranged behind the Arduino single-chip microcomputer, and a 2.4 GHz wireless communication module is arranged behind the lower layer of the car body; The new model realizes functions such as unmanned driving, automatic obstacle avoidance, location of surrounding obstacles, expected route driving, real-time image return of the surrounding environment, monitoring of ambient temperature, humidity, PM2.5, and soil sampling.

Description

An unmanned reconnaissance car based on lidar

technical field

The utility model relates to a reconnaissance car, in particular to an unmanned reconnaissance car based on laser radar.

Background technique

At present, unmanned investigation vehicles generally use ultrasonic waves to locate and detect surrounding obstacles. Using ultrasonic waves for positioning errors is large and the positioning range is small; the function of the investigation vehicle is single, and it is impossible to comprehensively detect the environment; there are many obstacles around the investigation vehicle. In the blind area, the information fed back by the car is not intuitive; and the time interval between signal sending and signal receiving is relatively long, which may easily cause signal loss; But it is powerless; the existing unmanned cars can only realize the functions of tracking, avoiding obstacles, and taking pictures, and the functions are relatively simple; When the car is performing special tasks, it cannot travel on the expected route over a long distance.

Contents of the invention

Aiming at the problems existing in the prior art, the utility model provides an unmanned scouting car based on laser radar, which realizes unmanned driving of the scouting car, automatic obstacle avoidance, positioning of surrounding obstacles, driving of expected routes, Real-time image feedback of the surrounding environment, monitoring of ambient temperature, humidity, PM2.5, and soil sampling.

The technical solution adopted in the utility model is: a laser radar-based unmanned reconnaissance trolley, the trolley includes a car body, the car body is divided into upper and lower two-layer structure, the bottom of the car body is provided with wheels, so A cloud platform and a camera are arranged in front of the upper layer of the car body, the camera is arranged above the cloud platform, a nine-axis gyroscope is arranged behind the camera, a laser radar is arranged in the middle of the upper layer of the car body, and four An ultrasonic radar is set at the corner, a drill bit for sampling the soil is set in front of the lower layer of the car body, a lithium battery providing energy for the car, and an Arduino for signal processing and controlling the operation of the car body are set in the middle of the lower car body. A single-chip microcomputer, the Arduino single-chip rear is provided with an encoder motor, the encoder motor is mainly composed of a stepper motor and a stepper motor encoder, the rear of the lower layer of the car body is provided with a GPS for positioning the car and for communicating with the PC. 2.4 GHz wireless communication module for data exchange.

Preferably, the output ends of the camera, nine-axis gyroscope, stepper motor encoder, laser radar and ultrasonic radar are respectively connected to the input ends of the Arduino single-chip microcomputer, and the output ends of the Arduino single-chip microcomputer are respectively connected to 2.4GHz wireless The communication module, the GPS, the pan-tilt image and the input end of the stepping motor are connected.

Preferably, the output end of the 2.4 GHz wireless communication module is connected to the PC end.

Preferably, sensors with other functions can also be arranged in the middle of the upper layer of the trolley, and the sensors with other functions include temperature sensors, humidity sensors and PM2.5 sensors.

Preferably, the laser radar is a Neato XV-11 LIDAR 360° scanning laser radar.

Preferably, the nine-axis gyroscope is MPU9250.

Compared with the prior art, the utility model has the following beneficial effects:

(1) The utility model combines unmanned driving technology with mobile environmental monitoring points, and realizes automatic environmental monitoring and real-time data uploading.

(2) The utility model uses a 360° scanning laser radar, combined with an ultrasonic radar to determine the position, and the two compensate each other. The farther object is detected by the laser radar, and the closer object is detected by the ultrasonic radar. distance, which improves work efficiency and eliminates blind spots in radar mapping.

(3) Visualize the surrounding obstacle information (distance, direction) of the utility model, and monitor the running status of the car in real time through the returned data on the PC side, that is, the current position of the car.

(4) This utility model has a variety of modes to choose from, such as manual control mode, automatic obstacle avoidance mode, preset path mode, etc. Compared with the current surveying and mapping trolley, it provides more options.

Description of drawings

Below in conjunction with accompanying drawing, the utility model is further described,

Fig. 1 is the structural representation of the utility model.

Fig. 2 is a system frame diagram of the utility model.

Among them, 1. Car body, 11. Cloud platform, 12. Camera, 13. Nine-axis gyroscope, 14. LiDAR, 15. Ultrasonic radar, 16. Drill bit, 17. Lithium battery, 18. Arduino microcontroller, 19. Encoding Device motor, 20, GPS, 21, 2.4 GHz wireless communication module, 22, sensors for other functions, 3, wheels.

detailed description

Below in conjunction with accompanying drawing, the specific embodiment of the present utility model is described further.

As shown in Fig. 1 and Fig. 2, the technical solution adopted by the utility model is: an unmanned reconnaissance car based on laser radar, the car includes a car body 1, and the car body 1 is divided into upper and lower two-layer structure , the bottom of the car body 1 is provided with wheels 3, the front of the upper layer of the car body 1 is provided with a platform 11 and a camera 12, the camera 12 is provided above the platform 11, and a nine-axis gyroscope is provided behind the camera 12 13. A laser radar 14 is provided in the middle of the upper layer of the vehicle body 1, an ultrasonic radar 15 is provided at four corners of the upper layer of the vehicle body 1, and a drill bit 16 for sampling the soil is provided in front of the lower layer of the vehicle body 1, so The middle of the lower layer of the car body 1 is provided with a lithium battery 17 that provides energy for the dolly, an Arduino single-chip microcomputer 18 that performs signal processing and controls the operation of the dolly, and an encoder motor 19 is provided behind the Arduino single-chip microcomputer 18, and the encoder motor 19 It is mainly composed of a stepping motor and a stepping motor encoder. The rear of the lower layer of the car body 1 is provided with a GPS 20 for car positioning and a 2.4 GHz wireless communication module 21 for data exchange with a PC.

The preferred scheme is that the output ends of the camera 12, nine-axis gyroscope 13, stepping motor encoder, laser radar 14 and ultrasonic radar 15 are respectively connected with the input end of the Arduino single-chip microcomputer 18, and the Arduino single-chip microcomputer 18 The output terminals of the 2.4 GHz wireless communication module 21, the GPS 20, the pan-tilt image and the input terminals of the stepping motor are respectively connected.

Preferably, the output end of the 2.4 GHz wireless communication module 21 is connected to the PC end.

In a preferred solution, other functional sensors 22 may also be provided in the middle of the upper layer of the trolley, and the other functional sensors include temperature sensors, humidity sensors and PM2.5 sensors.

Preferably, the laser radar 14 is a Neato XV-11 LIDAR 360° scanning laser radar.

Preferably, the nine-axis gyroscope 13 is MPU9250.

In the present utility model, the vehicle body 1 is the carrier of all components; the camera 12 is arranged above the pan-tilt 11 for real-time shooting of the surrounding environment, wherein the pan-tilt 11 can be positioned in both horizontal and vertical directions. Rotate to expand the field of view of the camera 12, the image of the wide field of view collected by the camera 12 is transmitted to the PC end through GHz; the nine-axis gyroscope MPU9250 13 is a judging device for judging the direction of travel of the car and the size of its speed. The GPS 20 works together to realize the unmanned driving of the car; the laser radar 14 scans the surrounding environment at a speed of 160 rpm, and returns the scanned results to the computer terminal in the form of a dot matrix, and the computer monitors the dot matrix at the same time. After the data processing in the figure, relevant instructions are issued to the dolly to guide the dolly to travel; the ultrasonic radar 15 can measure the distance between obstacles and the dolly, so that the dolly can realize the obstacle avoidance function; the drill bit 16 can be used to sample the destination soil ; The lithium battery 17 is an energy supply device, which provides power for all electronic components; the Arduino single-chip microcomputer 18 is a control and processing device, on the one hand, the electrical signals sent by each sensor are processed, converted into intuitive digital signals, and on the other hand On the one hand, the signal sent by the PC terminal is converted into an execution signal to drive the stepper motor to make corresponding actions; the encoder motor 19 can be precisely controlled, and when the single-chip microcomputer sends a pulse, the encoder motor 19 can rotate correspondingly. The number of angles; the GPS 20 is used to locate the position and motion state of the car, and realize the remote control of the car. The data transmission between the car and the computer terminal is realized through the 2.4 GHz wireless communication module 21, and the GPS 20 can make the car realize Drive automatically according to the expected path; the 2.4 GHz wireless communication module 21 is used to realize the data exchange between the car and the PC, and the 2.4 GHz wireless communication module 21 returns the captured images to the PC end, giving people an intuitive real-time view around the car. environment, the 2.4 GHz wireless communication module 21 can transmit data over a long distance, thereby realizing remote control of the car; finally, various sensors 22 are installed on the car, such as temperature, humidity, PM2.5 and other sensors, to realize environmental monitoring Comprehensive and three-dimensional inspection.

The above are only preferred embodiments of the utility model, and are not intended to limit the utility model in any form. Any simple modifications, equivalent changes and modifications made to the above embodiments according to the technical essence of the utility model belong to the utility model. Within the scope of new technical solutions.

Claims (6)

1. An unmanned reconnaissance car based on laser radar, characterized in that, the car body comprises a car body, the car body is divided into upper and lower two-layer structure, the bottom of the car body is provided with wheels, and the upper layer of the car body A cloud platform and a camera are arranged in the front, the camera is arranged above the platform, a nine-axis gyroscope is arranged behind the camera, a laser radar is arranged in the middle of the upper layer of the car body, and four corners of the upper layer of the car body are provided with Ultrasonic radar, the front of the lower layer of the car body is provided with a drill bit for sampling the soil, the middle of the lower layer of the car body is provided with a lithium battery providing energy for the car, and an Arduino single-chip microcomputer for signal processing and controlling the operation of the car. Arduino single-chip rear is provided with encoder motor, and described encoder motor is mainly made up of stepper motor and stepper motor encoder, and the rear of described car body lower floor is provided with the GPS that is used for dolly positioning and is used for carrying out data communication with PC 2.4 GHz wireless communication module. 2. A kind of unmanned reconnaissance car based on lidar according to claim 1, is characterized in that, the output end of described camera, nine-axis gyroscope, stepping motor encoder, lidar and ultrasonic radar is respectively connected with The input end of described Arduino single-chip microcomputer is connected, and the output end of described Arduino single-chip microcomputer is connected with the input end of 2.4 GHz wireless communication module, GPS, pan-tilt image and stepper motor respectively. 3. A lidar-based unmanned reconnaissance car according to claim 1, wherein the output end of the 2.4 GHz wireless communication module is connected to the PC end. 4. A lidar-based unmanned reconnaissance car according to claim 1, characterized in that sensors with other functions can also be arranged in the middle of the upper layer of the car, and the sensors with other functions include temperature sensors, humidity sensors, and temperature sensors. sensor and PM2.5 sensor. 5. A lidar-based unmanned reconnaissance car according to claim 1, wherein the lidar is a Neato XV-11 LIDAR 360° scanning lidar. 6. A lidar-based unmanned reconnaissance car according to claim 1, wherein the nine-axis gyroscope is an MPU9250.