CN107479553B - A kind of monitoring field positioning device for robot autonomous operation - Google Patents
A kind of monitoring field positioning device for robot autonomous operation Download PDFInfo
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- CN107479553B CN107479553B CN201710799758.XA CN201710799758A CN107479553B CN 107479553 B CN107479553 B CN 107479553B CN 201710799758 A CN201710799758 A CN 201710799758A CN 107479553 B CN107479553 B CN 107479553B
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- carrying bottom
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- 238000012544 monitoring process Methods 0.000 title claims abstract description 18
- 238000001514 detection method Methods 0.000 claims description 14
- 238000004891 communication Methods 0.000 claims description 3
- 238000000034 method Methods 0.000 abstract description 8
- 230000008569 process Effects 0.000 abstract description 8
- 238000007726 management method Methods 0.000 abstract description 6
- 230000008859 change Effects 0.000 abstract description 4
- 230000010354 integration Effects 0.000 description 3
- 238000010586 diagram Methods 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 238000009434 installation Methods 0.000 description 2
- 239000000969 carrier Substances 0.000 description 1
- 125000004122 cyclic group Chemical group 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 239000004744 fabric Substances 0.000 description 1
- 238000007689 inspection Methods 0.000 description 1
- 238000005259 measurement Methods 0.000 description 1
- 230000007246 mechanism Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
Classifications
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
- G05D1/0242—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using non-visible light signals, e.g. IR or UV signals
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0255—Control of position or course in two dimensions specially adapted to land vehicles using acoustic signals, e.g. ultra-sonic singals
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0257—Control of position or course in two dimensions specially adapted to land vehicles using a radar
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0259—Control of position or course in two dimensions specially adapted to land vehicles using magnetic or electromagnetic means
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0276—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle
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- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Aviation & Aerospace Engineering (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Electromagnetism (AREA)
- Acoustics & Sound (AREA)
- Manipulator (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The present invention relates to a kind of monitoring field positioning devices for robot autonomous operation, including carrying bottom girder, limit curb girder, sensors in place, range unit and control circuit, limit curb girder at least three is simultaneously sequentially connected end to end carrying bottom girder and totally two and is mutually connected vertically, sensors in place, range unit several, be distributed in carrying bottom girder, limit curb girder upper surface.One aspect of the present invention can effectively carry out robot movable range being effectively and flexibly planning, realization effectively manages robot traffic coverage, on the other hand complete monitoring can be carried out to the change in location of robot in the process of running, it effectively improves to the location management in robot operational process, to reach the precision for improving robot supervision, and help to improve the working efficiency and precision of robot operation operation.
Description
Technical field
The present invention relates to a kind of load carriers, are exactly a kind of monitoring field positionings for robot autonomous operation
Device.
Background technology
As robot device is in daily life and work, autonomous operation robot is in logistic storage, commerce services etc.
More and more applications are obtained in field, the accuracy and machine positioned when currently being run to autonomous operation robot to meet
Device people runs the accuracy being oriented to, and is total to often by for the satellite navigations such as robot installation GPS and radar ranging equipment
It with realizing to robot position positioning, management and navigation operation in a certain range, but finds in actual use, current this
Class positioning system structure is complicated, and positioning makes that the cost is relatively high, and when robot is when a small range is run, positioning accuracy phase
To poor, therefore it is directed to this phenomenon, there is an urgent need to develop a kind of small space mobile robot orientation management equipment, to meet
The needs of actual use.
Invention content
In view of the shortcomings of the prior art, to provide a kind of monitoring place for robot autonomous operation fixed by the present invention
Position device, the inventive structure is simple, flexible and convenient to use, and integration degree is high, and versatility is good and of low cost, on the one hand can have
Effect be effectively and flexibly planning to robot movable range, realizes and effectively manages robot traffic coverage, another
Aspect can carry out complete monitoring to the change in location of robot in the process of running, effectively improve in robot operational process
Location management, to reach improve robot supervision precision, and help to improve robot operation operation working efficiency and
Precision.
To achieve the goals above, the present invention is to realize by the following technical solutions：
A kind of monitoring field positioning device for robot autonomous operation, including carry bottom girder, limit curb girder, pass in place
Sensor, range unit and control circuit, carrying bottom girder, limit curb girder and control circuit are embedded in the ground level of place and and Horizon
Face parallelly distribute on, wherein limit curb girder at least three, and be sequentially connected end to end and constitute closed hoop structure, carrying bottom girder is located at limit
Within the scope of position curb girder surrounds, carrying bottom girder two and is mutually connected vertically totally, and sensors in place, range unit are several
It is a, and each sensors in place and a range unit constitute a detection group, each detection group is distributed in carrying bottom girder, limit
Position curb girder upper surface, wherein carrying bottom girder axis is vertical divides with this for the range unit axis of each detection group on same carrying bottom girder
Cloth, two range unit axis for carrying each detection group on bottom girders are mutually perpendicular to be distributed, sensors in place axis and ground level
It is mutually perpendicular to be distributed, control circuit is electrically connected with sensors in place, range unit respectively.
Further, the carrying bottom girder, be all provided with directive slide track on limit curb girder, and pass through directive slide track and each detection
Group is mutually slidably connected.
Further, it in the limit curb girder, is hinged by linkage between adjacent two limit curb girders.
Further, the sensors in place is pressure sensor, photosensitive sensor, electromagnetic sensor and infrared sensing
Any one or a few in device is used in conjunction with.
Further, the range unit is any one in ultrasonic distance measuring radar, laser ranging system or two
Kind shares.
Further, it is core that the control circuit, which is based on any one in industrial microcontroller, programmable controller,
Automatic control circuit, and at least one I/O PORT COMs circuit and wireless data communication mould are separately set in the control circuit
Block.
The configuration of the present invention is simple, flexible and convenient to use, integration degree is high, and versatility is good and of low cost, on the one hand may be used
Effectively robot movable range is carried out to be effectively and flexibly planning, realization effectively manages robot traffic coverage, separately
On the one hand complete monitoring can be carried out to the change in location of robot in the process of running, effectively improved in robot operational process
Location management, to reach improve robot supervision precision, and help to improve robot operation operation working efficiency
And precision.
Description of the drawings
The following describes the present invention in detail with reference to the accompanying drawings and specific embodiments.
Fig. 1 is overlooking structure diagram of the present invention；
Fig. 2 is carrying bottom girder cross-sectional configuration schematic diagram.
Specific implementation mode
To make the technical means, the creative features, the aims and the efficiencies achieved by the present invention be easy to understand, below
In conjunction with specific implementation mode, the present invention is further explained.
A kind of monitoring field positioning device for robot autonomous operation as described in Fig. 1 and 2, including carrying bottom girder 1,
Curb girder 2, sensors in place 3, range unit 4 and control circuit 5 are limited, carrying bottom girder 1, limit curb girder 2 and control circuit 5 are embedding
In the place ground level 6 and with 6 parallelly distribute on of ground level, wherein limit curb girder 2 at least three, and be sequentially connected end to end composition and close
Conjunction cyclic structure, carrying bottom girder 1 are located within the scope of the limit encirclement of curb girder 2, carry bottom girder 1 totally two and the company of being mutually perpendicular to
Connect, sensors in place 3, range unit 4 it is equal several, and each sensors in place 3 and range unit 4 constitute an inspection
Survey group, each detection group are distributed in carrying bottom girder 1,2 upper surface of limit curb girder, wherein each detection group on same carrying bottom girder 1
4 axis of range unit and the 1 axis vertical distribution of carrying bottom girder, two 4 axis of range unit for carrying each detection group on bottom girders 1
Line is mutually perpendicular to be distributed, and 3 axis of sensors in place is mutually perpendicular to be distributed with ground level 6, control circuit 5 respectively with sensors in place
3, range unit 4 is electrically connected.
In the present embodiment, directive slide track 7 is all provided on the carrying bottom girder 1, limit curb girder 2, and by directive slide track 7 with
Each detection group is mutually slidably connected, mutual by 8 mechanism of hinge between adjacent two limit curb girders in the limit curb girder 2
Hinged, the sensors in place 3 is arbitrary in pressure sensor, photosensitive sensor, electromagnetic sensor and infrared sensor
One or more are used in conjunction with.
It is worth noting that, the range unit 4 is any one in ultrasonic distance measuring radar, laser ranging system
Or two kinds share, it is the automatic of core that the control circuit 5, which is based on any one in industrial microcontroller, programmable controller,
Control circuit, and at least one I/O PORT COMs circuit and wireless data communication module are separately set in the control circuit.
The present invention in the specific implementation, draws a circle to approve out the scope of activities of robot by limiting curb girder first, then will carrying
Bottom girder is mounted in the range of limit curb girder delineation, and the carrying bottom girder for being mutually perpendicular to distribution by two constitutes a plane coordinates
Then sensors in place, range unit are installed to each carrying bottom girder, limit on curb girder and equipment uniformly can be completed by system respectively
Installation, wherein each sensors in place, range unit on carrying bottom girder constitute plane coordinate system coordinate point with carrying bottom girder
Set correspondence.
When robot is run, first when robot be in limit curb girder delineation in the range of run, when robot is limiting
It is on the one hand current to detecting by carrying the sensors in place on bottom girder, range unit when being run in the range of the curb girder delineation of position
Robot location corresponding position in the plane coordinate system that carrying bottom girder is constituted, carries out robot current location to realize
It is accurately positioned, while when robot is close to limit curb girder, the sensors in place, range unit in limit measurement are to robot
Position is detected, while the sensors in place carried on bottom girder, range unit being coordinated to be detected positioning to robot, to
Achieve the purpose that prevent robot from exceeding range of operation.
The configuration of the present invention is simple, flexible and convenient to use, integration degree is high, and versatility is good and of low cost, on the one hand may be used
Effectively robot movable range is carried out to be effectively and flexibly planning, realization effectively manages robot traffic coverage, separately
On the one hand complete monitoring can be carried out to the change in location of robot in the process of running, effectively improved in robot operational process
Location management, to reach improve robot supervision precision, and help to improve robot operation operation working efficiency
And precision.
It should be understood by those skilled in the art that the present invention is not limited to the above embodiments.Above-described embodiment and explanation
Merely illustrating the principles of the invention described in book.Without departing from the spirit and scope of the present invention, the present invention also has
Various changes and modifications.These changes and improvements all fall within the protetion scope of the claimed invention.The claimed scope of the invention
It is defined by the appending claims and its equivalent thereof.
Claims (6)
1. a kind of monitoring field positioning device for robot autonomous operation, it is characterised in that：The robot autonomous fortune
Row locating and monitoring place includes carrying bottom girder, limit curb girder, sensors in place, range unit and control circuit, the carrying
Bottom girder, limit curb girder and control circuit be embedded in the ground level of place and with ground level parallelly distribute on, wherein the limiting side
At least three, beam, and be sequentially connected end to end and constitute closed hoop structure, the carrying bottom girder is located at the model that limit curb girder surrounds
Within enclosing, the carrying bottom girder two and is mutually connected vertically totally, the sensors in place, range unit several,
And each sensors in place and a range unit constitute a detection group, each detection group is distributed in carrying bottom girder, limit
Curb girder upper surface, wherein same carry the range unit axis of each detection group and the carrying bottom girder axis vertical distribution on bottom girder,
The range unit axis of each detection group on two carrying bottom girders is mutually perpendicular to be distributed, the sensors in place axis and Horizon
Face is mutually perpendicular to be distributed, and the control circuit is electrically connected with sensors in place, range unit respectively.
2. a kind of monitoring field positioning device for robot autonomous operation according to claim 1, it is characterised in that：
It is all provided with directive slide track on the carrying bottom girder, limit curb girder, and is mutually slidably connected by directive slide track and each detection group.
3. a kind of monitoring field positioning device for robot autonomous operation according to claim 1, it is characterised in that：
In the limit curb girder, it is hinged by linkage between adjacent two limit curb girders.
4. a kind of monitoring field positioning device for robot autonomous operation according to claim 1, it is characterised in that：
The sensors in place be pressure sensor, photosensitive sensor, electromagnetic sensor and infrared sensor in any one or
It is several to be used in conjunction with.
5. a kind of monitoring field positioning device for robot autonomous operation according to claim 1, it is characterised in that：
The range unit is that ultrasonic distance measuring radar, any one or two kinds in laser ranging system share.
6. a kind of monitoring field positioning device for robot autonomous operation according to claim 1, it is characterised in that：
The control circuit be based on the automatic control circuit that any one in industrial microcontroller, programmable controller is core, and
At least one I/O PORT COMs circuit and wireless data communication module are separately set in the control circuit.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710799758.XA CN107479553B (en) | 2017-09-07 | 2017-09-07 | A kind of monitoring field positioning device for robot autonomous operation |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710799758.XA CN107479553B (en) | 2017-09-07 | 2017-09-07 | A kind of monitoring field positioning device for robot autonomous operation |
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| Publication Number | Publication Date |
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| CN107479553A CN107479553A (en) | 2017-12-15 |
| CN107479553B true CN107479553B (en) | 2018-07-17 |
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ID=60585305
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710799758.XA Active CN107479553B (en) | 2017-09-07 | 2017-09-07 | A kind of monitoring field positioning device for robot autonomous operation |
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| CN (1) | CN107479553B (en) |
Families Citing this family (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108996220A (en) * | 2018-06-12 | 2018-12-14 | 芜湖乐创电子科技有限公司 | A kind of Shi Liao blowing robot based on positioning analysis |
| CN108964595A (en) * | 2018-07-24 | 2018-12-07 | 曹素军 | A kind of high-efficiency solar-powered photovoltaic power generation plate structure |
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| CN103631262A (en) * | 2012-08-29 | 2014-03-12 | 科沃斯机器人科技(苏州)有限公司 | Automatic-mobile robot walking scope restriction system and restriction method thereof |
| CN203520162U (en) * | 2013-09-11 | 2014-04-02 | 无锡普智联科高新技术有限公司 | AGV lifting correcting system based on guide path |
| CN104954993A (en) * | 2015-07-14 | 2015-09-30 | 安徽理工大学 | Local ground precise positioning system and using method thereof |
| CN204679857U (en) * | 2015-04-16 | 2015-09-30 | 嘉兴市德宝威微电子有限公司 | Robot performance oriented array system, location blanket |
| CN105045268A (en) * | 2015-08-25 | 2015-11-11 | 深圳力子机器人有限公司 | AGV laser tape hybrid navigation system |
Family Cites Families (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US9788481B2 (en) * | 2014-10-28 | 2017-10-17 | Deere & Company | Robotic mower navigation system |
| US10095233B2 (en) * | 2015-06-29 | 2018-10-09 | The Boeing Company | Mobile robotic system for guiding an automated vehicle along a reconfigurable continuous path defined by a floor assembly and method thereof |
-
2017
- 2017-09-07 CN CN201710799758.XA patent/CN107479553B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103631262A (en) * | 2012-08-29 | 2014-03-12 | 科沃斯机器人科技(苏州)有限公司 | Automatic-mobile robot walking scope restriction system and restriction method thereof |
| CN203520162U (en) * | 2013-09-11 | 2014-04-02 | 无锡普智联科高新技术有限公司 | AGV lifting correcting system based on guide path |
| CN204679857U (en) * | 2015-04-16 | 2015-09-30 | 嘉兴市德宝威微电子有限公司 | Robot performance oriented array system, location blanket |
| CN104954993A (en) * | 2015-07-14 | 2015-09-30 | 安徽理工大学 | Local ground precise positioning system and using method thereof |
| CN105045268A (en) * | 2015-08-25 | 2015-11-11 | 深圳力子机器人有限公司 | AGV laser tape hybrid navigation system |
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| CN107479553A (en) | 2017-12-15 |
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Effective date of registration: 20201123 Address after: 300000 Tianjin City District No. 79 Siping host Deshang -1 No. Patentee after: TIANJIN HUIZHI IOT TECHNOLOGY Co.,Ltd. Address before: 211100 Jiangsu City, Jiangning, Qilin District, science and Technology Innovation Park, Hui Chi Road, unit B, building 300, building two Patentee before: NANJING YUSHENG ROBOT TECHNOLOGY Co.,Ltd. |