CN109828569A - A kind of intelligent AGV fork truck based on 2D-SLAM navigation - Google Patents
A kind of intelligent AGV fork truck based on 2D-SLAM navigation Download PDFInfo
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- CN109828569A CN109828569A CN201910118267.3A CN201910118267A CN109828569A CN 109828569 A CN109828569 A CN 109828569A CN 201910118267 A CN201910118267 A CN 201910118267A CN 109828569 A CN109828569 A CN 109828569A
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- car body
- pitching shaft
- rotation
- fork truck
- line laser
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Abstract
The invention discloses a kind of intelligent AGV fork trucks based on 2D-SLAM navigation, belong to the field AGV, including car body and pallet fork, are equipped with gyroscopic compass and odometer on car body；Car body top is equipped with positioning navigation device, and positioning navigation device includes pedestal, the bracket being fixedly mounted on pedestal and the pitching shaft being rotatably connected on bracket of rotation connection on the car body, is equipped with single line laser radar in pitching shaft；It is also equipped with the rotation drive device for driving base rotation on car body, the pitch drive for driving pitching shaft to rotate is installed on bracket；Positioning navigation device further includes first angle detection device, the second angle detection device for detecting pitching shaft rotational angle, the memory for storing single line laser radar scan data and the processor for being handled scan data for detecting pedestal rotation angle.The present invention has rational design, clever structure, has the function of guaranteeing that AGV fork truck voluntarily works under foreign environment.
Description
Technical field
The present invention relates to the field AGV, in particular to a kind of intelligent AGV fork truck based on 2D-SLAM navigation.
Background technique
With factory automation, the gradually development of computer integrated manufacturing system technology and flexible manufacturing system, automatically
The extensive use of change tiered warehouse facility, robot moving equipment such as AGV (AutomaticGuidedVehicle) automatic guided vehicle,
As connection and adjusting discrete type logistics system so that the necessary automated handling handling means of its operation serialization, application
Range and application scale are increasing；Fork truck is industrial transportation vehicle, refer to pallet cargo is loaded and unloaded, stacking and short
Various wheeled transport vehicles apart from hauling operation.The unmanned AGV fork truck that AGV is formed in conjunction with fork truck is also with industry
Production needs to occur.
Currently, being usually using magnetic navigation or laser navigation technology for the guidance of unpiloted AGV fork truck.But
It is that magnetism navigation has the shortcomings that vulnerable to electromagnetic environmental impact, and path is difficult to extend, and is unsuitable for using on pahtfinder hard,
This wields influence for the performance maximization of AGV fork truck larger.Especially in outdoor environment, the track route of AGV fork truck is logical
Chang Jiyuan is again changeable, therefore is laid with magnetic stripe on the ground and had then not only wasted but also time-consuming.
Laser navigation is then relatively more more practical, it is only necessary to some laser reflection plates, AGV fork be arranged in the environment
Vehicle determines self-position and ambient enviroment by the laser beam of identification laser reflection plate reflection, and then makes correctly corresponding.
But both navigation modes be required in advance setting " path " that can be identified by AGV fork truck in the environment or
Person's " road sign "；Therefore, under foreign environment, in the absence of " path " and " road sign " is equal, existing AGV fork truck is then difficult to continue
Carry out utonomous working.
Based on this, occur a kind of technology, SLAM (simultaneous localization and at present
Mapping), also referred to as CML (Concurrent Mapping and Localization), instant positioning and map structuring, or
Concurrently build figure and positioning.Problem can be described as: a robot is put into the unknown position in circumstances not known, if having method
It allows robot to gradually while moving and depicts the complete map of this environment, so-called complete map (a consistent
Map) refer to and do not advanced to the enterable every nook and cranny in room by obstacle.
Currently, SLAM is broadly divided into laser SLAM and vision SLAM, wherein laser SLAM be divided into again laser 2D-SLAM and
Laser 3D-SLAM.Since laser 3D-SLAM is obtaining environmental information and is constructing the complexity of map process, in reality
In, laser 2D-SLAM's is more widely applied.
In actual use, since the data of laser 3D-SLAM are computationally intensive, calculating process is more complicated, usually
Using laser 2D-SLAM technology, pass through each plane in single line laser gradually scanning circumstance, then the information to scan
It establishes 3 dimension maps and positions from the position in 3 dimension maps, to realize the basis of navigation.
Summary of the invention
Aiming at the problem that AGV fork truck of the existing technology is difficult to the utonomous working under foreign environment, the purpose of the present invention
It is to provide a kind of intelligent AGV fork truck based on 2D-SLAM navigation.
To achieve the above object, the technical solution of the present invention is as follows:
A kind of intelligent AGV fork truck based on 2D-SLAM navigation, including car body and the pallet fork being installed on the car body, institute
It states and gyroscopic compass and odometer is installed on car body；The car body top is equipped with positioning navigation device, the location navigation
Device includes rotation connection pedestal on the car body, bracket on the base is fixedly mounted and is rotatably connected on the branch
Pitching shaft on frame, the pitching shaft are equipped with single line in the pitching shaft perpendicular to the pivot center of the pedestal
Laser radar；It is also equipped with the rotation drive device for driving the base rotation on the car body, is installed on the bracket
There is the pitch drive for driving the pitching shaft rotation；The positioning navigation device further includes for detecting the bottom
The seat rotation first angle detection device of angle, the second angle detection device for detecting the pitching shaft rotational angle,
Processor for storing the memory of single line laser radar scan data and for being handled the scan data；It is described
Processor and the memory, the gyroscopic compass, the odometer, the rotation drive device, pitching driving fill
It sets, the electrical connection of the first angle detection device, the second angle detection device.
Preferably, the pitch drive includes the first stepper motor, first stepper motor by gear or
Synchronous belt is connect with the pitching shaft.
Preferably, the rotation drive device includes second stepper motor, the second stepper motor by gear or
Synchronous belt is connect with the pedestal.
Preferably, the single line laser radar has several, several single line laser radars edge is bowed perpendicular to described
The direction for facing upward shaft is spaced apart.
Preferably, several described single line laser radars are uniformly distributed in a column.
Preferably, the first angle detection device, the second angle detection device are angular transducer.
Navigation procedure of the invention is as follows: rotation drive device drives base rotation first, makes the single line laser on pedestal
Radar acquires the data information within the scope of one 360 ° of plane, which is handled by processor, generates a two-dimensional surface
Map is simultaneously stored in memory, and the position of single line laser radar itself is shown on the two-dimensional surface map；It is driven again by pitching
Dynamic device drives pitching shaft to rotate an angle, falls in the laser beam of single line laser radar in another plane, after rotation
The data information within the scope of 360 ° of the plane is obtained, another two-dimensional surface map is generated；By keeping the rotation of pitching shaft different
Angle, single line laser radar measures the two-dimensional surface map of different level, and processor carries out these two-dimensional surface maps
Be superimposed after three-dimensional map can be obtained, while can also position the position where itself；
During building map and positioning, if car body has movement, then processor can be by gyroscopic compass and inner
The real-time detector data of journey meter is accurately calculated, to obtain the real time kinematics state and movement rail of unidirectional laser radar
Mark, and then will be including the change in displacement state computation of single line laser radar in building figure and position fixing process.Complete scene map
After building and positioning, AGV fork truck then can be guided according to map and positioning and voluntarily be worked according to task.
By adopting the above technical scheme, due to the setting of gyroscopic compass and odometer, so that build in figure and position fixing process, it is single
The change in displacement that line laser radar itself occurs can be measured accurately, and measurement accuracy is helped to improve；Meanwhile direction
Gyroscope and odometer can also be used to determine the travel track of car body, and then can build the accurate of figure and positioning due to verifying
Degree.
Detailed description of the invention
Fig. 1 is the structural schematic diagram of the embodiment of the present invention one；
Fig. 2 is the structural schematic diagram of the embodiment of the present invention two.
In figure: 1- car body, 2- pallet fork, 3- gyroscopic compass, 4- odometer, 5- positioning navigation device, 51- pedestal, 52- branch
Frame, 53- pitching shaft, 54- first angle detection device, 55- second angle detection device, 56- memory, 57- processor, 6-
Single line laser radar, 7- rotation drive device, 8- pitch drive, 9- supporting body.
Specific embodiment
Specific embodiments of the present invention will be further explained with reference to the accompanying drawing.It should be noted that for
The explanation of these embodiments is used to help understand the present invention, but and does not constitute a limitation of the invention.In addition, disclosed below
The each embodiment of the present invention involved in technical characteristic can be combined with each other as long as they do not conflict with each other.
As shown in Figure 1, a kind of intelligent AGV fork truck based on 2D-SLAM navigation, including car body 1 and is mounted on car body 1
Pallet fork 2 is equipped with gyroscopic compass 3 and odometer 4 on car body 1；It certainly, further include other function as intelligent AGV fork truck
Component, such as wheel driver, wheel steering mechanism, pallet fork control mechanism, vehicle control system etc., but these are functional
Component and construction are not design point of the invention, therefore are not being repeated.
Positioning navigation device 5 is installed, positioning navigation device 5 includes being rotatably connected on car body 1 at the top of car body 1 of the invention
On pedestal 51, the bracket 52 being fixedly mounted on pedestal 51 and the pitching shaft 53 being rotatably connected on bracket 52, pitching
Shaft 53 is equipped with single line laser radar 6 in pitching shaft 53 perpendicular to the pivot center of pedestal 51；
It is also equipped with the rotation drive device 7 for driving pedestal 51 to rotate on car body 1, is equipped on bracket 52 for driving
The pitch drive 8 that dynamic pitching shaft 53 rotates；
Positioning navigation device 5 further includes the first angle detection device 54 that angle is rotated for detecting pedestal 51, for examining
The second angle detection device 55 of survey 53 rotational angle of pitching shaft, the storage for storing 6 scan data of single line laser radar
Device 56 and processor 57 for being handled scan data.
Processor 57 and memory 56, gyroscopic compass 3, odometer 4, rotation drive device 7, pitch drive 8, the
One angle detection device 54, second angle detection device 55 are electrically connected.
In the present embodiment, pitch drive 8 includes the first stepper motor, and the first stepper motor passes through gear or synchronization
Band or shaft coupling are connect with pitching shaft 53, and stepper motor has the characteristics that precise control of angular displacement, therefore can be one
Determine that second angle detection device 55 is replaced and verified in degree.
Similarly, in the present embodiment, rotation drive device 7 includes second stepper motor, second stepper motor by gear or
Person's synchronous belt or shaft coupling are connect with pedestal 51, also have the characteristics that precise control of angular displacement using stepper motor here,
To a certain extent instead of with verifying first angle detection device 54.
In the present embodiment, first angle detection device 54, second angle detection device 55 are angular transducer.
In the present embodiment, since positioning navigation device 5 as needed, will be handled in continuous rotation
The number on car body 1, to facilitate installation and maintenance, between processor 57 and single line laser radar 6 is arranged in device 57 and memory 56
According to being transmitted through wireless way for transmitting, such as bluetooth or wifi.
Navigation procedure of the invention is as follows: rotation drive device 7 drives pedestal 51 to rotate first, makes the single line on pedestal 51
Laser radar 6 acquires the data information within the scope of one 360 ° of plane, after which is handled by processor 57, generates one
Two-dimensional surface map is simultaneously stored in memory 56, is shown single line laser radar 6 on the two-dimensional surface map and itself (is similar to vehicle
Body 1) position；It drives pitching shaft 53 to rotate an angle by pitch drive 8 again, makes swashing for single line laser radar 6
Light beam is fallen in another plane, and the data information within the scope of 360 ° of the plane is obtained after rotation, generates another two-dimensional surface
Map；By making pitching shaft 53 rotate different angles, single line laser radar 6 measures the two-dimensional surface map of different level,
Processor 57 by these two-dimensional surface maps matched be superimposed after three-dimensional map can be obtained, while can also position AGV
Position where fork truck itself；
During building map and positioning, if car body 1 has movement, then processor 57 can pass through gyroscopic compass 3
It is accurately calculated with the real-time detector data of odometer 4, to obtain the real time kinematics state and fortune of unidirectional laser radar 6
Dynamic rail mark, and then will be including the change in displacement state computation of single line laser radar 6 in building figure and position fixing process.Complete scene
After map is built and positioned, AGV fork truck then can be guided according to map and positioning and voluntarily be worked according to task.
Embodiment two
The difference of itself and embodiment one is: the scanning speed of single line laser is relatively slow after all, builds figure speed to improve, this
In embodiment, as shown in Fig. 2, single line laser radar 6 has several, several single line laser radars 6 are along perpendicular to pitching shaft
53 direction is spaced apart, and the laser beam of all single line laser radars 6 is parallel to each other.Several single line laser radars 6 are logical
A supporting body 9 is crossed to be mounted in pitching shaft 53.
In order to reduce the calculation amount when superposition of two-dimensional surface map match, in the present embodiment, several single line laser radars 6
It is uniformly distributed in a column.
The setting of above structure, so that pitching shaft 53 adjusts the laser scanning number that multiple two-dimensional surfaces once can be obtained
According to being conducive to fast run-up figure and positioning.
In conjunction with attached drawing, the embodiments of the present invention are described in detail above, but the present invention is not limited to described implementations
Mode.For a person skilled in the art, in the case where not departing from the principle of the invention and spirit, to these embodiments
A variety of change, modification, replacement and modification are carried out, are still fallen in protection scope of the present invention.
Claims (6)
1. a kind of intelligent AGV fork truck based on 2D-SLAM navigation, special including car body and the pallet fork being installed on the car body
Sign is: being equipped with gyroscopic compass and odometer on the car body；The car body top is equipped with positioning navigation device, described
Positioning navigation device includes rotation connection pedestal on the car body, bracket and rotation connection on the base is fixedly mounted
Pitching shaft on the bracket, the pitching shaft are pacified in the pitching shaft perpendicular to the pivot center of the pedestal
Equipped with single line laser radar；The rotation drive device for driving the base rotation, the branch are also equipped on the car body
Pitch drive for driving the pitching shaft rotation is installed on frame；The positioning navigation device further includes for examining
Survey the first angle detection device of the pedestal rotation angle, the second angle for detecting the pitching shaft rotational angle is examined
Survey device, the memory for storing single line laser radar scan data and the processing for being handled the scan data
Device；The processor and the memory, the gyroscopic compass, the odometer, the rotation drive device, the pitching
Driving device, the first angle detection device, second angle detection device electrical connection.
2. the intelligent AGV fork truck according to claim 1 based on 2D-SLAM navigation, it is characterised in that: the pitching driving
Device includes the first stepper motor, and first stepper motor is connect by gear or synchronous belt with the pitching shaft.
3. the intelligent AGV fork truck according to claim 1 based on 2D-SLAM navigation, it is characterised in that: the rotation driving
Device includes second stepper motor, and the second stepper motor is connect by gear or synchronous belt with the pedestal.
4. the intelligent AGV fork truck according to claim 1 based on 2D-SLAM navigation, it is characterised in that: the single line laser
Radar has several, several described single line laser radars are spaced apart along the direction perpendicular to the pitching shaft.
5. the intelligent AGV fork truck according to claim 4 based on 2D-SLAM navigation, it is characterised in that: several described lists
Line laser radar is uniformly distributed in a column.
6. the intelligent AGV fork truck according to claim 1 based on 2D-SLAM navigation, it is characterised in that: the first angle
Detection device, the second angle detection device are angular transducer.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910118267.3A CN109828569A (en) | 2019-02-14 | 2019-02-14 | A kind of intelligent AGV fork truck based on 2D-SLAM navigation |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910118267.3A CN109828569A (en) | 2019-02-14 | 2019-02-14 | A kind of intelligent AGV fork truck based on 2D-SLAM navigation |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN109828569A true CN109828569A (en) | 2019-05-31 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910118267.3A Withdrawn CN109828569A (en) | 2019-02-14 | 2019-02-14 | A kind of intelligent AGV fork truck based on 2D-SLAM navigation |
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| CN (1) | CN109828569A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110673614A (en) * | 2019-10-25 | 2020-01-10 | 湖南工程学院 | Mapping system and mapping method of small robot group based on cloud server |
| CN112630795A (en) * | 2020-12-24 | 2021-04-09 | 浙江大学滨海产业技术研究院 | Three-dimensional point cloud data synthesis system based on 2D laser radar |
-
2019
- 2019-02-14 CN CN201910118267.3A patent/CN109828569A/en not_active Withdrawn
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110673614A (en) * | 2019-10-25 | 2020-01-10 | 湖南工程学院 | Mapping system and mapping method of small robot group based on cloud server |
| CN112630795A (en) * | 2020-12-24 | 2021-04-09 | 浙江大学滨海产业技术研究院 | Three-dimensional point cloud data synthesis system based on 2D laser radar |
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