CN208141221U - A kind of storage transportation system based on laser radar trolley - Google Patents
A kind of storage transportation system based on laser radar trolley Download PDFInfo
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- CN208141221U CN208141221U CN201820377473.7U CN201820377473U CN208141221U CN 208141221 U CN208141221 U CN 208141221U CN 201820377473 U CN201820377473 U CN 201820377473U CN 208141221 U CN208141221 U CN 208141221U
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- trolley
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Abstract
A kind of storage transportation system based on laser radar trolley provided by the utility model, it solves in the prior art, trolley mostly uses visual sensor, after carrying out image procossing to acquisition data, the operation for carrying out next step again increases processor cost while causing time delay.And the prior art carries out tissue distribution, cooperation and execution to local task by more trolley communication negotiation modes, it enables trolley carry out state switching between basic function and completes kinds of goods carrying task, more trolleies need to carry out cooperative cooperating, needing each trolley, there are multiple controlling mechanisms, real-time is not can guarantee, and network is depended on unduly, once the technical issues of communication is obstructed, will lead to system errors.
Description
Technical field
The utility model relates to transport field more particularly to a kind of storage transport systems based on laser radar trolley of storing in a warehouse
System.
Background technique
In storage article handling process, single crab running is difficult to the huge item quantity of load.More trolleies and collaboration remove
Conevying efficiency can be improved in cargo transport product, reduces manpower.In the prior art, trolley mostly uses visual sensor, to acquisition data into
After row image procossing, then the operation of next step is carried out, increase processor cost while causing time delay.And the prior art is logical
Excessive trolley communication negotiation mode carries out tissue distribution, cooperation and execution to local task, enable trolley between basic function into
The switching of row state completes kinds of goods and carries task, and more trolleies need to carry out cooperative cooperating, and needing each trolley, there are multiple control machines
System, not can guarantee real-time, and network is depended on unduly, once communication is obstructed, will lead to system errors.
Utility model content
The utility model provides a kind of storage transportation system based on laser radar trolley, for solving the prior art
In, trolley mostly uses visual sensor, after carrying out image procossing to acquisition data, then carries out the operation of next step, increases place
Reason device cost causes time delay simultaneously.And the prior art carries out tissue point to local task by more trolley communication negotiation modes
Match, cooperate and execute, enables trolley carry out state switching between basic function and complete kinds of goods carrying task, more trolleies need to carry out
Cooperative cooperating needs each trolley there are multiple controlling mechanisms, not can guarantee real-time, and network is depended on unduly, once
Communication is obstructed, and will lead to system errors.
A kind of storage transportation system based on laser radar trolley provided by the utility model, including：
Trolley, central data processing platform equipped with laser radar；
Equipped with global data space in the central data processing platform, for storing number corresponding with global navigation
According to；
The trolley equipped with laser radar and the central data processing platform communicate to connect, described equipped with laser
The trolley of radar is provided with laser radar sensor, data processing module and drive module；
The data processing module and the drive module communicate to connect, for obtaining from the central data processing platform
Global navigation data is taken, and the drive module is driven according to the global navigation data, so that described equipped with laser radar
Trolley moved according to desired guiding trajectory；
The data processing module and the laser radar sensor communicate to connect, and pass for getting the laser radar
The range data that sensor is sent, and the drive module is driven according to the range data, so that described equipped with laser radar
Trolley carry out avoidance operation.
Preferably, the trolley equipped with laser radar and the central data processing platform pass through wireless communication
Connection.
Preferably, the quantity of the trolley equipped with laser radar is at least two.
Preferably, further include：With the one-to-one timer of described at least two trolleies equipped with laser radar；
The timer is arranged on the corresponding trolley equipped with laser radar, with the corresponding data processing
Module communication connection, for sending time signal to the data processing module.
Preferably, the data processing module is specially：Embedded board raspberry pie.
Preferably, the data processing module and the drive module communicate to connect, for handling from the central data
Global navigation data is obtained in platform to specifically include：
The data processing module and the drive module communicate to connect, for being based on Data distributing from the center
Global navigation data is obtained in data processing platform (DPP).
As can be seen from the above technical solutions, the utility model has the following advantages that：
A kind of storage transportation system based on laser radar trolley provided by the utility model, including：Equipped with laser thunder
Trolley, the central data processing platform reached；Equipped with global data space in the central data processing platform, for store with
The corresponding data of overall situation navigation；The trolley equipped with laser radar and the central data processing platform communicate to connect, institute
It states the trolley equipped with laser radar and is provided with laser radar sensor, data processing module and drive module；At the data
It manages module and the drive module communicates to connect, for obtaining global navigation data from the central data processing platform, and
The drive module is driven according to the global navigation data, so that the trolley equipped with laser radar is according to desired guiding trajectory
It is moved；The data processing module and the laser radar sensor communicate to connect, for getting the laser radar
The range data that sensor is sent, and the drive module is driven according to the range data, so that described equipped with laser thunder
The trolley reached carries out avoidance operation.
In the utility model, by the warehousing system based on laser radar trolley, using laser radar as master reference,
It by collected range data, can be observed by obtained point cloud chart, not show image to reduce individual trolley
Load realizes trolley operating system host and slave processors function by central data processing platform, and the laser radar trolley can be realized more
Trolley cooperates, and using central data processing platform as host, remaining trolley is slave, while being met one-to-many and one-to-one
Control, and the independent processing ability of individual trolley is not influenced, it solves in the prior art, trolley mostly uses visual sensor, right
After acquiring data progress image procossing, then the operation of next step is carried out, processor cost is increased while causing time delay.And
The prior art carries out tissue distribution, cooperation and execution to local task by more trolley communication negotiation modes, enables trolley basic
State switching is carried out between function and completes kinds of goods carrying task, and more trolleies need to carry out cooperative cooperating, and each trolley is needed to exist
Multiple controlling mechanisms not can guarantee real-time, and network depended on unduly, once communication is obstructed, the system that will lead to occurs wrong
Accidentally the technical issues of.
Detailed description of the invention
In order to illustrate the embodiment of the utility model or the technical proposal in the existing technology more clearly, below will be to embodiment
Or attached drawing needed to be used in the description of the prior art is briefly described, it should be apparent that, the accompanying drawings in the following description is only
It is some embodiments of the utility model, for those of ordinary skill in the art, before not making the creative labor property
It puts, can also be obtained according to these attached drawings other attached drawings.
Fig. 1 is a kind of one embodiment of storage transportation system based on laser radar trolley provided by the utility model
Structural schematic diagram；
Fig. 2 is a kind of another embodiment of storage transportation system based on laser radar trolley provided by the utility model
Structural schematic diagram；
The following are Detailed description of the inventions：
1, central data processing platform；2, global data space；3, laser radar sensor；4, data processing module；5,
Drive module.
Specific embodiment
The utility model embodiment provides a kind of storage transportation system based on laser radar trolley, solves existing skill
In art, trolley mostly uses visual sensor, after carrying out image procossing to acquisition data, then carries out the operation of next step, increases
Processor cost causes time delay simultaneously.And the prior art carries out tissue to local task by more trolley communication negotiation modes
Distribution, cooperation and execute, enable trolley is carried out between basic function state switching complete kinds of goods carrying task, more trolleies need into
Row cooperative cooperating needs each trolley there are multiple controlling mechanisms, not can guarantee real-time, and network depended on unduly, one
The technical issues of denier communication is obstructed, will lead to system errors.
It, below will knot to enable the purpose of utility model, feature, advantage of the utility model more obvious and understandable
The attached drawing in the utility model embodiment is closed, the technical scheme in the utility model embodiment is clearly and completely described,
Obviously, the embodiments described below are only the utility model a part of the embodiment, and not all embodiment.Based on this reality
It is obtained by those of ordinary skill in the art without making creative efforts all other with the embodiment in novel
Embodiment is fallen within the protection scope of the utility model.
Referring to Fig. 1, the utility model embodiment provides a kind of storage transportation system based on laser radar trolley
One embodiment, including：
Trolley, central data processing platform 1 equipped with laser radar；
It should be noted that can lead to using robot operating system second generation version as Embedded operating system
Data distributing (DDS) function of crossing system improves the reliability of system, is detected and is guaranteed by the data transmission quality of system
The real-time of system；
Equipped with global data space 2 in central data processing platform 1, for storing data corresponding with global navigation；
It is alternatively possible to be coupled more trolleies in by the included host and slave processors mode of wireless network and trolley operating system
Entreat data processing platform (DPP) 1, in the warehousing system based on laser radar trolley, control by center controlling platform trolley,
Tissue trolley cooperates；
Trolley and central data processing platform 1 equipped with laser radar communicate to connect, the trolley equipped with laser radar
It is provided with laser radar sensor 3, data processing module 4 and drive module 5；
Optionally, laser radar trolley can use data processing module 4 of the raspberry pie as laser radar trolley；
Data processing module 4 and drive module 5 communicate to connect, and lead for obtaining the overall situation from central data processing platform (DPP) 1
Navigate data, and according to global navigation data drive drive module 5 so that the trolley equipped with laser radar according to desired guiding trajectory into
Row movement；
It should be noted that using laser radar as sensor, available ambient enviroment in laser radar trolley
Distribution, obtained data, which are transferred in raspberry pie, to be handled, passage path planning and navigation algorithm obtain trolley movement
Track and local paths planning based on preset path；
Data processing module 4 and laser radar sensor 3 communicate to connect, and send for getting laser radar sensor 3
Range data, and drive module 5 is driven according to range data, so that trolley equipped with laser radar carries out avoidance operation；
It is alternatively possible to carry trolley operating system in laser radar trolley data processing module 4 as laser radar
The control system of sensor 3 and trolley driving；
A kind of storage transportation system based on laser radar trolley provided by the embodiment of the utility model, including：Equipped with
Trolley, the central data processing platform 1 of laser radar；Equipped with global data space 2 in central data processing platform 1, it is used for
Storage data corresponding with global navigation；Trolley and central data processing platform 1 equipped with laser radar communicate to connect, and carry
There is the trolley of laser radar to be provided with laser radar sensor 3, data processing module 4 and drive module 5；Data processing module 4
It communicates to connect with drive module 5, navigates for obtaining global navigation data from central data processing platform (DPP) 1, and according to the overall situation
Data-driven drive module 5, so that the trolley equipped with laser radar is moved according to desired guiding trajectory；Data processing module 4
It is communicated to connect with laser radar sensor 3, for getting the range data of the transmission of laser radar sensor 3, and according to distance
Data-driven drive module 5, so that the trolley equipped with laser radar carries out avoidance operation, by based on laser radar trolley
Warehousing system, using laser radar as master reference, by collected range data, can by obtained point cloud chart into
Row observation does not show image to reduce the load of individual trolley, realizes trolley operating system by central data processing platform 1
Host and slave processors function, laser radar trolley can realize that more trolleies cooperate, and be host with central data processing platform 1, remaining is small
Vehicle is slave, while meeting one-to-many and one-to-one control, and do not influence the independent processing ability of individual trolley, is solved existing
Have in technology, trolley mostly uses visual sensor, after carrying out image procossing to acquisition data, then carries out the operation of next step, increases
Add processor cost while causing time delay.And the prior art carries out local task by more trolley communication negotiation modes
Tissue is distributed, cooperates and is executed, and is enabled trolley carry out state switching between basic function and is completed kinds of goods carrying task, more trolleies need to
Carry out cooperative cooperating, need each trolley there are multiple controlling mechanisms, not can guarantee real-time, and for network excessively according to
Rely, once the technical issues of communication is obstructed, will lead to system errors.
It is the description that one embodiment of the storage transportation system to a kind of based on laser radar trolley carries out above, below
A kind of storage transportation system based on laser radar trolley will be described in detail.
Referring to Fig. 2, a kind of another reality of the storage transportation system based on laser radar trolley provided by the utility model
Example is applied, including：
Trolley, central data processing platform 1 equipped with laser radar；
It should be noted that can lead to using robot operating system second generation version as Embedded operating system
Data distributing (DDS) function of crossing system improves the reliability of system, is detected and is guaranteed by the data transmission quality of system
The real-time of system；
Equipped with global data space 2 in central data processing platform 1, for storing data corresponding with global navigation；
It is alternatively possible to be coupled more trolleies in by the included host and slave processors mode of wireless network and trolley operating system
Entreat data processing platform (DPP) 1, in the warehousing system based on laser radar trolley, control by center controlling platform trolley,
Tissue trolley cooperates；
Trolley and central data processing platform 1 equipped with laser radar communicate to connect, the trolley equipped with laser radar
It is provided with laser radar sensor 3, data processing module 4 and drive module 5；
Optionally, laser radar trolley can use data processing module 4 of the raspberry pie as laser radar trolley；
Data processing module 4 and drive module 5 communicate to connect, and lead for obtaining the overall situation from central data processing platform (DPP) 1
Navigate data, and according to global navigation data drive drive module 5 so that the trolley equipped with laser radar according to desired guiding trajectory into
Row movement；
It should be noted that using laser radar as sensor, available ambient enviroment in laser radar trolley
Distribution, obtained data, which are transferred in raspberry pie, to be handled, passage path planning and navigation algorithm obtain trolley movement
Track and local paths planning based on preset path；
Data processing module 4 and laser radar sensor 3 communicate to connect, and send for getting laser radar sensor 3
Range data, and drive module 5 is driven according to range data, so that trolley equipped with laser radar carries out avoidance operation；
It is alternatively possible to carry trolley operating system in laser radar trolley data processing module 4 as laser radar
The control system of sensor 3 and trolley driving；
Further, the quantity of the trolley equipped with laser radar is at least two；
The case where Fig. 2 shows when the quantity of trolley is 2；
Further, further include：With the one-to-one timer of at least two trolleies equipped with laser radar；
Timer is arranged on the corresponding trolley equipped with laser radar, with corresponding 4 communication link of data processing module
It connects, for sending time signal to data processing module 4；
Further, data processing module 4 is specially：Embedded board raspberry pie.
Further, data processing module 4 and drive module 5 communicate to connect, for obtaining from central data processing platform (DPP) 1
Global navigation data is taken to specifically include：
Data processing module 4 and drive module 5 communicate to connect, for flat from central data processing based on Data distributing
Global navigation data is obtained in platform 1.
A kind of storage transportation system based on laser radar trolley provided by the embodiment of the utility model, including：Equipped with
Trolley, the central data processing platform 1 of laser radar；Equipped with global data space 2 in central data processing platform 1, it is used for
Storage data corresponding with global navigation；Trolley and central data processing platform 1 equipped with laser radar communicate to connect, and carry
There is the trolley of laser radar to be provided with laser radar sensor 3, data processing module 4 and drive module 5；Data processing module 4
It communicates to connect with drive module 5, navigates for obtaining global navigation data from central data processing platform (DPP) 1, and according to the overall situation
Data-driven drive module 5, so that the trolley equipped with laser radar is moved according to desired guiding trajectory；Data processing module 4
It is communicated to connect with laser radar sensor 3, for getting the range data of the transmission of laser radar sensor 3, and according to distance
Data-driven drive module 5, so that the trolley equipped with laser radar carries out avoidance operation, by based on laser radar trolley
Warehousing system, using laser radar as master reference, by collected range data, can by obtained point cloud chart into
Row observation does not show image to reduce the load of individual trolley, realizes trolley operating system by central data processing platform 1
Host and slave processors function, laser radar trolley can realize that more trolleies cooperate, and be host with central data processing platform 1, remaining is small
Vehicle is slave, while meeting one-to-many and one-to-one control, and do not influence the independent processing ability of individual trolley, is solved existing
Have in technology, trolley mostly uses visual sensor, after carrying out image procossing to acquisition data, then carries out the operation of next step, increases
Add processor cost while causing time delay.And the prior art carries out local task by more trolley communication negotiation modes
Tissue is distributed, cooperates and is executed, and is enabled trolley carry out state switching between basic function and is completed kinds of goods carrying task, more trolleies need to
Carry out cooperative cooperating, need each trolley there are multiple controlling mechanisms, not can guarantee real-time, and for network excessively according to
Rely, once the technical issues of communication is obstructed, will lead to system errors.
Specific embodiment in the present embodiment illustrates which is not described herein again in the above-described embodiments.
It is apparent to those skilled in the art that for convenience and simplicity of description, the system of foregoing description,
The specific work process of system and module, can refer to corresponding processes in the foregoing method embodiment, and details are not described herein.
The above, above embodiments are only to illustrate the technical solution of the utility model, rather than its limitations；Although ginseng
The utility model is described in detail according to previous embodiment, those skilled in the art should understand that：It is still
It is possible to modify the technical solutions described in the foregoing embodiments, or part of technical characteristic is equally replaced
It changes；And these are modified or replaceed, various embodiments of the utility model technical solution that it does not separate the essence of the corresponding technical solution
Spirit and scope.
Claims (6)
1. a kind of storage transportation system based on laser radar trolley, it is characterized in that, including：
Trolley, central data processing platform equipped with laser radar；
Equipped with global data space in the central data processing platform, for storing data corresponding with global navigation；
The trolley equipped with laser radar and the central data processing platform communicate to connect, described equipped with laser radar
Trolley be provided with laser radar sensor, data processing module and drive module；
The data processing module and the drive module communicate to connect, complete for obtaining from the central data processing platform
Office's navigation data, and the drive module is driven according to the global navigation data, so that described equipped with the small of laser radar
Vehicle is moved according to desired guiding trajectory；
The data processing module and the laser radar sensor communicate to connect, for getting the laser radar sensor
The range data of transmission, and the drive module is driven according to the range data, so that described equipped with the small of laser radar
Vehicle carries out avoidance operation.
2. the storage transportation system according to claim 1 based on laser radar trolley, which is characterized in that it is described equipped with
The trolley of laser radar is connect with the central data processing platform by wireless communication.
3. the storage transportation system according to claim 2 based on laser radar trolley, which is characterized in that it is described equipped with
The quantity of the trolley of laser radar is at least two.
4. the storage transportation system according to claim 3 based on laser radar trolley, which is characterized in that further include：With
The one-to-one timer of described at least two trolleies equipped with laser radar；
The timer is arranged on the corresponding trolley equipped with laser radar, with the corresponding data processing module
Communication connection, for sending time signal to the data processing module.
5. the storage transportation system according to claim 4 based on laser radar trolley, which is characterized in that at the data
Managing module is specially：Embedded board raspberry pie.
6. the storage transportation system according to claim 5 based on laser radar trolley, which is characterized in that from the center
Global navigation data is obtained in data processing platform (DPP) to specifically include：
Global navigation data is obtained from the central data processing platform based on Data distributing.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820377473.7U CN208141221U (en) | 2018-03-20 | 2018-03-20 | A kind of storage transportation system based on laser radar trolley |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201820377473.7U CN208141221U (en) | 2018-03-20 | 2018-03-20 | A kind of storage transportation system based on laser radar trolley |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108181912A (en) * | 2018-03-20 | 2018-06-19 | 广东工业大学 | A kind of storage transportation system based on laser radar trolley |
| CN110395335A (en) * | 2019-07-31 | 2019-11-01 | 深圳布科思科技有限公司 | Automatic guided vehicle |
-
2018
- 2018-03-20 CN CN201820377473.7U patent/CN208141221U/en not_active Expired - Fee Related
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108181912A (en) * | 2018-03-20 | 2018-06-19 | 广东工业大学 | A kind of storage transportation system based on laser radar trolley |
| CN110395335A (en) * | 2019-07-31 | 2019-11-01 | 深圳布科思科技有限公司 | Automatic guided vehicle |
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Granted publication date: 20181123 Termination date: 20200320 |