CN107894230A - A kind of AGV carriers navigation sensor - Google Patents
A kind of AGV carriers navigation sensor Download PDFInfo
- Publication number
- CN107894230A CN107894230A CN201711494122.0A CN201711494122A CN107894230A CN 107894230 A CN107894230 A CN 107894230A CN 201711494122 A CN201711494122 A CN 201711494122A CN 107894230 A CN107894230 A CN 107894230A
- Authority
- CN
- China
- Prior art keywords
- control process
- camera
- process unit
- compensating lamp
- light compensating
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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Classifications
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
Abstract
The present invention relates to a kind of AGV carriers navigation sensor, its technical characterstic is：Including camera, light compensating lamp, housing and its internal control circuit, the camera and light compensating lamp are installed on housing and are connected with internal control circuit, and the internal control circuit includes control process unit, serial output port, digital driver circuitry and Voltage stabilizing module.The present invention realizes AGV carriers is having the function of being moved automatically on the track of obvious contrast without magnetic stripe and in the color or contrast with earth background, solves the problems, such as AGV carrier data-interface poor universalities.
Description
Technical field
The invention belongs to automatic navigation technology field, is related to navigation sensor, and especially a kind of AGV carries Vehicular navigation and passed
Sensor.
Background technology
With the continuous development of the mankind, social continuous progress, material flow industry is in the growth of explosion type therewith, and carrier exists
Play the part of more and more important role in logistics, the wherein carrier of in the market is largely AGV carriers.Current AGV is big
Use magnetic navigation technology, its navigation sensor uses the sensor based on magnetic induction technology, and difference is distributed with sensor internal more
The sensing particle of quantity, these sensing particles are using equidistant or non-equidistantly distributed.By sensing the tape in AGV courses
Magnetic field signal, export induced signal on corresponding induction point, these induced signals output mode can be varying number
Sensing switching value corresponding to particle or the processing by sensing particle signal, export the data of certain communications protocol.
With expanding economy, the competition in market, market will to the automatic guided vehicle navigation sensors of AGV carriers
Ask increasingly stricter, such as require that AGV carriers have substantially instead without magnetic stripe and in the color or contrast with earth background
Moved on the track of difference, and the most AGV carriers navigation sensor of in the market can only be automatic on the track for have magnetic stripe
Motion, it is impossible to meet this requirement, and the data of some AGV carriers navigation sensors of in the market and AGV carriers
The problem of incompatible, poor universality be present in interface.
Therefore need how to design a kind of new AGV carriers and solved the above problems with navigation sensor, be this area
Technical staff's technical barrier in the urgent need to address.
The content of the invention
It is overcome the deficiencies in the prior art the mesh of the present invention, proposes a kind of reasonable in design, versatile and user
Just AGV carrier navigation sensors.
The present invention solves its technical problem and takes following technical scheme to realize：
A kind of AGV carriers navigation sensor, including camera, light compensating lamp, housing and its internal control circuit, it is described
Camera and light compensating lamp are installed on housing and are connected with internal control circuit, and the internal control circuit is included at control
Unit, serial output port, digital driver circuitry and Voltage stabilizing module are managed, the camera is by camera lens, photographic plate and photosensitive driving
Module composition；The output end of the camera lens is connected by photographic plate with photosensitive drive module, for photographic plate to be gathered into image
Signal output is to photosensitive drive module；The output end of the photosensitive drive module is connected with control process unit, for that will scheme
As signal output to control process unit；The output end of the control process unit respectively with digital drive module and serial output terminal
Mouth is connected, for 8 after control process cell processing to 32 bit switch amount signals to be transferred into digital driver circuitry respectively
And serial output port；The output end of the control process unit is also connected with the light compensating lamp on housing, for realizing to being adopted
Collect the light filling function of image；The input of the Voltage stabilizing module is connected with external power source, the output end difference of the Voltage stabilizing module
Be connected with camera, light compensating lamp, control process unit and be its power supply.
Moreover, the camera is vision CCD or MOS camera.
The advantages and positive effects of the present invention are：
1st, it is of the invention by camera, light compensating lamp, control process unit, serial output port, digital driver circuitry and voltage stabilizing
Module reasonably integrates, and realize AGV carriers has without magnetic stripe and in the color or contrast with earth background
The function of being moved automatically on the track of obvious contrast, its have it is easy to operate, be easy to the characteristics of onsite application.
2nd, the present invention can carry 8 to 32 Bits Serial input ports or the AGV carriers of parallel input port with any
It is connected, solves the problems, such as AGV carrier data-interface poor universalities.
Brief description of the drawings
Fig. 1 is the structure chart of the present invention；
Fig. 2 is the circuit theory diagrams of the present invention；
Fig. 3 is the structure chart that the present invention is arranged on AGV carriers.
Description of reference numerals
Housing 1, light compensating lamp 2, camera 3, support 4, AGV carriers 5.
Embodiment
The embodiment of the present invention is further described below in conjunction with accompanying drawing.
A kind of AGV carriers navigation sensor, as shown in figure 1, including camera 3, light compensating lamp 2, housing 1 and its inside
Control circuit, the camera and light compensating lamp are installed on housing and are connected with internal control circuit, the internal control
Circuit includes control process unit, serial output port, digital driver circuitry and Voltage stabilizing module, and the camera is by camera lens, sense
Tabula rasa and photosensitive drive module are formed；As shown in Fig. 2 the output end of the camera lens is connected by photographic plate with photosensitive drive module
Connect, for photographic plate collection picture signal to be exported to photosensitive drive module；The output end of the photosensitive drive module and control
Processing unit is connected, for picture signal to be exported to control process unit；The output end of the control process unit respectively with
Digital drive module is connected with serial output port, for 8 after control process cell processing to 32 bit switch amounts to be believed
Number digital driver circuitry and serial output port are transferred to respectively；The output end of the control process unit also with the light filling on housing
Lamp is connected, for realizing the light filling function to that will gather image；The input of the Voltage stabilizing module is connected with external power source
Connect, the output end of the Voltage stabilizing module is connected with camera, light compensating lamp, control process unit and is its power supply respectively.
The present invention the course of work be：
As shown in figure 3, AGV carriers are installed on to the top leading portion of support 4, camera dynamic acquisition with navigation sensor
Picture signal, be then transferred to control process unit, obtained after control process cell processing 8 to 32 bit switch amounts believe
Number, it is acquired image light filling that light compensating lamp, which is constantly in working condition, in the process, then control process unit by 8 extremely
32 bit switch amount signals are transferred to serial output port, digital driver circuitry, and serial output port, digital driver circuitry are with carrying
8 to match are connected to the AGV carriers 5 of 32 Bits Serial input ports or parallel input port, you can so that carrier
Moved in the case where not changing the algorithm that tracks according to route track, realize the unmanned self-navigation function of AGV carriers.
It is emphasized that embodiment of the present invention is illustrative, rather than it is limited, therefore the present invention is simultaneously
The embodiment described in embodiment is not limited to, it is every to be drawn by those skilled in the art's technique according to the invention scheme
Other embodiment, also belong to the scope of protection of the invention.
Claims (2)
- A kind of 1. AGV carriers navigation sensor, it is characterised in that：Including camera, light compensating lamp, housing and its internal control Circuit, the camera and light compensating lamp are installed on housing and are connected with internal control circuit, the internal control circuit Including control process unit, serial output port, digital driver circuitry and Voltage stabilizing module, the camera is by camera lens, photographic plate Formed with photosensitive drive module；The output end of the camera lens is connected by photographic plate with photosensitive drive module, for will be photosensitive Plate collection picture signal is exported to photosensitive drive module；The output end of the photosensitive drive module is connected with control process unit Connect, for picture signal to be exported to control process unit；The output end of the control process unit respectively with digital drive module It is connected with serial output port, for 8 after control process cell processing to 32 bit switch amount signals to be transferred to respectively Digital driver circuitry and serial output port；The output end of the control process unit is also connected with the light compensating lamp on housing, uses In realizing the light filling function to image will be gathered；The input of the Voltage stabilizing module is connected with external power source, the voltage stabilizing mould The output end of block is connected with camera, light compensating lamp, control process unit and is its power supply respectively.
- A kind of 2. AGV carriers navigation sensor according to claim 1, it is characterised in that：The camera be regarding Feel CCD or MOS cameras.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711494122.0A CN107894230A (en) | 2017-12-31 | 2017-12-31 | A kind of AGV carriers navigation sensor |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711494122.0A CN107894230A (en) | 2017-12-31 | 2017-12-31 | A kind of AGV carriers navigation sensor |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN107894230A true CN107894230A (en) | 2018-04-10 |
Family
ID=61808947
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201711494122.0A Pending CN107894230A (en) | 2017-12-31 | 2017-12-31 | A kind of AGV carriers navigation sensor |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN107894230A (en) |
Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2001188610A (en) * | 1999-12-28 | 2001-07-10 | New Technol Kenkyusho:Kk | Method for controlling unmannded carrier truck by visual guide system, and unmannded carrier truck system using the method |
| CN102997910A (en) * | 2012-10-31 | 2013-03-27 | 上海交通大学 | Positioning and guiding system and method based on ground road sign |
| CN203687953U (en) * | 2013-05-14 | 2014-07-02 | 成都四威高科技产业园有限公司 | AGV vision-based navigation system |
| CN205068073U (en) * | 2015-11-02 | 2016-03-02 | 天津阿备默机器人科技有限公司 | Navigation sensor with direct output control motor rate signal function |
| US20160144511A1 (en) * | 2014-11-26 | 2016-05-26 | Irobot Corporation | Systems and Methods for Use of Optical Odometry Sensors In a Mobile Robot |
| CN205644076U (en) * | 2016-05-30 | 2016-10-12 | 广州沃港电子科技有限公司 | AGV vision sensor developments luminance compensation arrangement |
| CN205750537U (en) * | 2016-05-30 | 2016-11-30 | 广州沃港电子科技有限公司 | AGV Path Recognition device based on coloured image |
| CN106686294A (en) * | 2017-02-24 | 2017-05-17 | 田雨祺 | Image-signal acquisition equipment |
-
2017
- 2017-12-31 CN CN201711494122.0A patent/CN107894230A/en active Pending
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2001188610A (en) * | 1999-12-28 | 2001-07-10 | New Technol Kenkyusho:Kk | Method for controlling unmannded carrier truck by visual guide system, and unmannded carrier truck system using the method |
| CN102997910A (en) * | 2012-10-31 | 2013-03-27 | 上海交通大学 | Positioning and guiding system and method based on ground road sign |
| CN203687953U (en) * | 2013-05-14 | 2014-07-02 | 成都四威高科技产业园有限公司 | AGV vision-based navigation system |
| US20160144511A1 (en) * | 2014-11-26 | 2016-05-26 | Irobot Corporation | Systems and Methods for Use of Optical Odometry Sensors In a Mobile Robot |
| CN205068073U (en) * | 2015-11-02 | 2016-03-02 | 天津阿备默机器人科技有限公司 | Navigation sensor with direct output control motor rate signal function |
| CN205644076U (en) * | 2016-05-30 | 2016-10-12 | 广州沃港电子科技有限公司 | AGV vision sensor developments luminance compensation arrangement |
| CN205750537U (en) * | 2016-05-30 | 2016-11-30 | 广州沃港电子科技有限公司 | AGV Path Recognition device based on coloured image |
| CN106686294A (en) * | 2017-02-24 | 2017-05-17 | 田雨祺 | Image-signal acquisition equipment |
Non-Patent Citations (1)
| Title |
|---|
| 应浩: "基于视觉的AGV路径跟踪及避障研究", 中国优秀硕士学位论文全文数据库信息科技辑, no. 2, pages 6 - 21 * |
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