CN108459604B

CN108459604B - Three-dimensional laser guidance type AGV trolley system

Info

Publication number: CN108459604B
Application number: CN201810235926.7A
Authority: CN
Inventors: 项卫锋; 季彩玲; 王池如
Original assignee: Anhui Yufeng Equipment Co ltd
Current assignee: Anhui Yufeng Equipment Co ltd
Priority date: 2018-03-21
Filing date: 2018-03-21
Publication date: 2021-03-23
Anticipated expiration: 2038-03-21
Also published as: CN108459604A

Abstract

The invention relates to a three-dimensional laser guidance type AGV trolley system which comprises a plurality of trolley bodies, a workshop and a plurality of reflectors, wherein the number of the reflectors is at least 3, the reflectors are uniformly distributed on the lower surface of the roof of the workshop, a laser sensor for navigation is mounted on each trolley body, when each trolley body is positioned in the workshop, the laser sensor for navigation on each trolley body can simultaneously form information interaction with at least 3 reflectors, and the information interaction is that laser emitted by a laser for navigation can be received by the laser for navigation after being reflected by the reflectors. The trolley can position the height of the trolley body.

Description

Three-dimensional laser guidance type AGV trolley system

Technical Field

The invention relates to a three-dimensional laser guidance type AGV trolley system, and belongs to the field of AGV.

Background

AGVs (Automated Guided vehicles) are abbreviated as "Automated Guided vehicles", and refer to vehicles equipped with an electromagnetic or optical automatic guide device, which can travel along a predetermined guide path and have safety protection and various transfer functions.

The existing AGV reflector is usually fixed on the wall of a factory building, the height of the reflector is equal to the height of a navigation laser of the AGV, when the AGV reflector is used, the navigation laser emits laser, the laser is reflected by the reflector and is connected by the navigation laser, the distance between the AGV trolley and the reflector is calculated by measuring and calculating the time difference between the laser and the navigation laser, and the specific position of the AGV trolley can be positioned in the factory building by calculating the distance between the AGV trolley and the reflector by at least 3 reflectors, and in an actual situation, because large-sized objects need to be placed in the factory building, the laser transmission between the AGV trolley and the reflector is blocked, so that the positioning of the AGV trolley is influenced; in addition, the installation height of the existing reflector needs to be equal to the height of a laser for navigation, and the installation height of the reflector is about 1.5m generally, so that the reflector can be collided when an article is conveyed, the position of the reflector is deviated, and the positioning of an AGV trolley is inaccurate; finally, the positioning on the plane can be carried out only on the AGV dolly in the prior art, and the height of the AGV dolly can not be positioned, and the positioning is carried out on the plant ground.

Disclosure of Invention

In order to solve the problems in the prior art, the invention provides the three-dimensional laser guidance type AGV trolley system, the reflector is arranged on the roof, the AGV trolley can be positioned in a three-dimensional manner, and the reflector can be effectively prevented from being shielded by a barrier.

The technical scheme adopted by the invention is as follows:

the utility model provides a three-dimensional laser guidance formula AGV dolly system, includes a plurality of dolly bodies, factory building and a plurality of reflector panel, the quantity of reflector panel is 3 pieces at least, evenly arrange a plurality ofly on the lower surface on the roof of factory building the reflector panel, install laser sensor for the navigation on the dolly body when the dolly body is located the factory building, laser sensor for the navigation on this dolly body can form the information interaction with 3 piece at least reflector panels simultaneously, the information interaction can be received by this laser for the navigation after laser that laser sent is reflected by the reflector panel for the navigation.

Preferably, the roof bottom surface of the factory building is a horizontal plane, a track is paved on the roof bottom surface of the factory building, and all the reflectors are installed on the track.

Further, the track is divided into a plurality of sub-tracks, and the sub-tracks can be arranged in parallel side by side.

Usually, the subaerial latticed road of drawing of factory building is equipped with, latticed road includes the road of many fore-and-aft directions and the road of many left right directions, divide orbital length direction to be the fore-and-aft direction, divide orbital quantity the same and the one-to-one with the quantity of fore-and-aft direction's road, divide the track to be located directly over corresponding fore-and-aft direction's the road, each divide the quantity of the last reflector panel of track to be 3 at least.

Preferably, the reflector panel includes slider and reflection of light subassembly, reflection of light subassembly's shape is the hemisphere, reflection of light subassembly's sphere is down, reflection of light subassembly's upside with slider fixed connection, the slider with divide track sliding fit, be provided with 3 at least travel switch on dividing the track, the reflector panel passes through the slider and slides between arbitrary two adjacent travel switch to keep pausing in arbitrary one travel switch's position.

Furthermore, one travel switch is arranged at a track dividing position right above the intersection of each front-back direction road and each left-right direction road.

Furthermore, each reflector is provided with a motor, and the motor drives the corresponding sliding block to slide on the sub-track.

The invention has the beneficial effects that:

according to the invention, the reflectors are arranged on the lower surface of the roof, so that the distance between the laser sensor for navigation on the AGV and the reflectors on the roof can be measured, the distance between the AGV and each reflector can be determined, and the specific position of the AGV can be determined; because the reflector is positioned on the lower surface of the roof, the laser sensor for navigation on the AGV trolley and all the reflectors are basically free of shielding, and the AGV trolley can be effectively positioned.

Drawings

FIG. 1 is a schematic structural view of the present invention;

FIG. 2 is a schematic view of the cart body and the reflector plate being positioned in communication.

Wherein: 1. a road in the front-rear direction; 2. a reflector; 3. dividing tracks; 4. a ground surface; 5. a trolley body; 6. a laser sensor for navigation.

Detailed Description

Referring to fig. 1 and 2, the invention provides a three-dimensional laser guidance type AGV trolley system, which comprises a plurality of trolley bodies 5, a workshop and a plurality of reflectors 2, wherein the number of the reflectors 2 is at least 3, the reflectors 2 are uniformly arranged on the lower surface of the roof of the workshop, a laser sensor 6 for navigation is mounted on each trolley body 5, when each trolley body 5 is positioned in the workshop, the laser sensor 6 for navigation on each trolley body 5 can simultaneously form information interaction with at least 3 reflectors 2, and the information interaction is that laser emitted by a laser for navigation can be received by the laser for navigation after being reflected by the reflectors 2.

Firstly, coordinates of all the reflectors 2 on the roof are completely positioned, after the trolley body 5 enters the factory building, the laser sensor 6 for navigation on the trolley body 5 can be communicated and positioned with each reflector 2 (the laser sensor 6 for navigation sends out laser signals, and the laser signals are reflected by the reflectors 2 and transmitted to the laser sensor 6 for navigation), the distance between the trolley body 5 and the reflectors 2 is calculated by calculating the time for communication and positioning, and at least the distance between the trolley body 5 and the three reflectors 2 is measured, because the specific positions of the reflectors 2 are known, the specific positions of the trolley body 5 can be calculated according to the positions of the three reflectors 2 and the specific distances between the trolley and the reflectors 2, thereby realizing the positioning of the trolley body 5, because the positioning is space positioning, the height position of the carriage body 5 can thus be determined, so that after the reconstruction of the plant floor 4, there is no need to reposition the reflector 2.

Because the reflector 2 is located the roof of factory building, and put more article on the ground 4 of factory building usually, because the height of article is comparatively limited, therefore compare in the mode that reflector 2 was fixed on the wall, more can not sheltered from by the article between reflector 2 and the dolly body 5.

Finally, because the reflector panel 2 is installed on the roof, under normal conditions, the reflector panel 2 can not be touched, so the condition that the reflector panel 2 has unexpected deviation can not occur.

The roof bottom surface of the factory building is a horizontal plane, a track is paved on the roof bottom surface of the factory building, and all the reflectors 2 are installed on the track; the track is divided into a plurality of sub-tracks 3, and the sub-tracks 3 are arranged in parallel side by side; the utility model discloses a light reflection board of building, including the light reflection board 2, the latticed road is drawn on 4 of factory building and is equipped with latticed road, latticed road includes road 1 and the road of many left and right directions of many fore-and-aft directions, the length direction who divides track 3 is the fore-and-aft direction, the quantity that divides track 3 and the road 1's of fore-and-aft direction quantity are the same and the one-to-one, divide track 3 to be located directly over road 1 of corresponding fore-and-aft direction, each divide the quantity of the last reflector panel 2 of track 3 to be.

The inventor considers that a higher shelf is usually arranged on the ground 4 of a factory building, the shelf may influence the communication and positioning between the trolley body 5 and the reflector 2, and the sub-track 3 is arranged right above each front-back direction road 1, and each sub-track 3 is provided with at least 3 reflectors 2, so when the trolley body 5 is positioned on the front-back direction road 1, the 3 reflectors 2 on the sub-track 3 right above the front-back direction road 1 cannot be shielded by the shelf and the like, and the trolley body 5 can be effectively positioned by the 3 reflectors 2.

When the trolley body 5 is positioned on a road in the left-right direction, the reflector 2 can slide to the position of the upper protection sub-track 3 at the intersection of the road in the left-right direction and the road in the front-back direction, so that the trolley body 5 can also be positioned.

The reflector 2 comprises a slider and a reflector assembly, the reflector assembly is hemispherical, the spherical surface of the reflector assembly faces downwards, the upper side of the reflector assembly is fixedly connected with the slider, the slider is in sliding fit with the sub-track 3, at least 3 travel switches are arranged on the sub-track 3, and the reflector 2 slides between any two adjacent travel switches through the slider and keeps pausing at the position of any one travel switch.

And one travel switch is arranged at the position of the branch rail 3 right above the intersection of each road 1 in the front-back direction and the road in the left-right direction.

In practical application, the position of each travel switch is positioned, the reflector 2 can be relatively fixed at the position of one travel switch, and the branch rails 3 right above the intersection of the front-back direction road 1 and the left-right direction road are provided with one travel switch, so that the reflector 2 can move to the position (travel switch) to position the trolley body 5 in the left-right direction.

Each reflector panel 2 is provided with a motor, and the motor drives the corresponding sliding block to slide on the sub-track 3.

Claims

1. The utility model provides a three-dimensional laser guidance formula AGV dolly system, includes a plurality of dolly bodies, factory building and a plurality of reflector panel, the quantity of reflector panel is 3 piece at least, its characterized in that: the lower surface of the roof of the factory building is uniformly provided with a plurality of reflectors, the trolley body is provided with a laser sensor for navigation, when the trolley body is positioned in the factory building, the laser sensor for navigation on the trolley body can simultaneously form information interaction with at least 3 reflectors, and the information interaction is that laser emitted by a laser for navigation can be received by the laser for navigation after being reflected by the reflectors; the roof bottom surface of the factory building is a horizontal plane, a track is paved on the roof bottom surface of the factory building, and all the reflectors are installed on the track; the track is divided into a plurality of sub-tracks which are arranged in parallel side by side; the grid-shaped roads are arranged on the ground of the factory building in a dividing mode, the grid-shaped roads comprise a plurality of front-back direction roads and a plurality of left-right direction roads, the length direction of the sub-tracks is the front-back direction, the number of the sub-tracks is the same as that of the front-back direction roads and corresponds to that of the front-back direction roads one by one, the sub-tracks are located right above the corresponding front-back direction roads, and the number of the light reflecting plates on each sub-track is at least 3; the reflector panel includes slider and reflection of light subassembly, reflection of light subassembly's shape is the hemisphere, reflection of light subassembly's sphere is down, reflection of light subassembly's upside with slider fixed connection, the slider with divide track sliding fit, be provided with 3 at least travel switch on dividing the track, the reflector panel passes through the slider and slides between arbitrary two adjacent travel switch to keep pausing in arbitrary one travel switch's position.

2. The three-dimensional laser guided AGV cart system of claim 1, further comprising: and one travel switch is arranged at the position of the branch track right above the intersection of each road in the front-back direction and the road in the left-right direction.

3. The three-dimensional laser guided AGV cart system of claim 2, further comprising: each reflector is provided with a motor, and the motor drives the corresponding sliding block to slide on the sub-track.