CN110282047A - A kind of laser navigation handling device - Google Patents
A kind of laser navigation handling device Download PDFInfo
- Publication number
- CN110282047A CN110282047A CN201910495599.3A CN201910495599A CN110282047A CN 110282047 A CN110282047 A CN 110282047A CN 201910495599 A CN201910495599 A CN 201910495599A CN 110282047 A CN110282047 A CN 110282047A
- Authority
- CN
- China
- Prior art keywords
- car body
- neutron
- handling device
- master control
- laser navigation
- 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.)
- Pending
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D63/00—Motor vehicles or trailers not otherwise provided for
- B62D63/02—Motor vehicles
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D63/00—Motor vehicles or trailers not otherwise provided for
- B62D63/02—Motor vehicles
- B62D63/04—Component parts or accessories
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/02—Systems using the reflection of electromagnetic waves other than radio waves
- G01S17/06—Systems determining position data of a target
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/88—Lidar systems specially adapted for specific applications
- G01S17/93—Lidar systems specially adapted for specific applications for anti-collision purposes
Abstract
The invention discloses a kind of laser navigation handling devices, including car body and the platform carrying mechanism, traveling mechanism, laser scanning mechanism and the master control set that are installed on the car body；The platform carrying mechanism carries object for carrying, including objective table and the neutron placement plate being mounted on the objective table, broken husky recyclable device；The traveling mechanism includes driving wheel, auxiliary wheel and the driving device connecting with the master control set positioned at the vehicle bottom, the auxiliary wheel is rotatably supported at the bottom of the car body, and two driving wheels are respectively set to the two sides of the bottom of the car body and are controlled by the driving device；The laser scanning mechanism is used for the object emission laser around the car body, and the reflected light signal received is sent to the master control set, the master control set generates virtual map according to the reflected light signal and plans travel route on the virtual map.The present invention realizes automatic running using laser navigation technology.
Description
Technical field
The present invention relates to fields of automation technology, more particularly, to a kind of laser navigation handling device.
Background technique
In the prior art, casting neutron machine platform is needed using self-navigation floor truck (hereinafter referred to as AGV), with into
Row transport operation.Since casting neutron machine platform is made of iron plate brandreth, such as existing magnetic navigation AGV is used to be removed
Fortune, then need to put up magnetic stripe on the platform of iron, such AGV could walk.But existing magnetic navigation AGV have ask as follows
Topic:
1, magnetize iron plate due to putting up magnetic stripe, will lead to the iron plate on casting neutron machine platform with magnetic, so that generating
Interference is so that magnetic navigation AGV enforcement is unstable, or even derails；
2, there is guide-track groove that mold exchange tool garage is needed to arrive above platform, such as put up magnetic stripe, it also can be by mold tool vehicle vehicle
It takes turns spreading and damages magnetic stripe, be easy to cause magnetic navigation AGV that cannot travel, will be unable to meet corresponding production operation in this way；
3, magnetic navigation AGV is easy had magnetic influence by ground, leads to mistake of walking.
Summary of the invention
The present invention provides a kind of laser navigation handling devices, to realize automatic running using laser navigation technology.
In order to solve the above-mentioned technical problem, the embodiment of the invention provides a kind of laser navigation handling devices, including car body
With platform carrying mechanism, traveling mechanism, laser scanning mechanism and the master control set being installed on the car body；
The platform carrying mechanism carries object for carrying, including objective table and the neutron being mounted on the objective table
Placement plate, broken husky recyclable device, the broken husky recyclable device are set to the lower section of the neutron placement plate；
The traveling mechanism includes the driving wheel positioned at the vehicle bottom, auxiliary wheel and connect with the master control set
Driving device, the auxiliary wheel is rotatably supported at the bottom of the car body, and two driving wheels are respectively set to described
The two sides of the bottom of car body are simultaneously controlled by the driving device；
The laser scanning mechanism is used for the object emission laser around the car body, and the reflected light received is believed
Number be sent to the master control set, the master control set according to the reflected light signal generate virtual map and it is described virtually
Travel route is planned on figure.
Based on the above-mentioned technical proposal, the embodiment of the present invention use laser navigation technology, using the laser scanning mechanism to
Object emission laser around the car body, and the reflected light signal received is sent to the master control set, the master control
Device is to scan ambient enviroment object as carrier track route object of reference, so that a virtual map is generated, virtual
Map on plan the wanted track route of floor truck, issue corresponding route name, the laser navigation handling device is just
It can be by the route automatic running planned.
Wherein, the master control set feeds back practical mileage signal according to the walking of the driving device and combines, can be certainly
It is dynamic to determine the laser navigation handling device specific location, realize the positioning function of the laser navigation handling device.
The laser navigation handling device has the function of automatic running carrying, and the master control set receives command sequence,
And start to execute, and command sequence is multiple combinations individually ordered, while can be realized the sides such as two o'clock is stopped, multiple spot is stopped
Formula can voluntarily be run, entirely autonomous positioning, independent navigation without being laid with magnetic stripe on ground, positioning without reflector.
In addition, the laser navigation handling device is not necessarily to any construction and peripheral device, ground is set without other positioning
It applies, driving path can flexibly change, and be suitable for a variety of occasions.
Preferably, the driving device includes that the left servo motor connecting respectively with the master control set and the right side are watched
Motor is taken, the output shaft of one of them described driving wheel of the output axis connection of the left servo motor, the right servo motor connects
Connect driving wheel described in another one.
Preferably, two driving wheels are located at the middle position of the two sides of the bottom of the car body, described in four
The corner location of the corresponding bottom for being supported on the car body of auxiliary wheel, and the auxiliary wheel is universal wheel.
Preferably, the car body is equipped with obstacle avoidance module, and the obstacle avoidance module is connect with the master control set.
Preferably, the car body be equipped with reminding module, the reminding module include voice signal reminiscences and/
Or optical signal reminiscences.
Preferably, the objective table includes support frame, pallet rack, and support frame as described above is mounted on the car body
On, the pallet rack is connected on the side frame of support frame as described above, and the broken husky recyclable device is set to the sky of support frame as described above
Intracavitary, the neutron placement plate is set to the top of support frame as described above.
Preferably, the broken husky recyclable device includes recycling funnel and collection box, the top of the recycling funnel
The cross-sectional area of opening is greater than the cross-sectional area of the bottom opening of the recycling funnel, and the collection box is located at the recycling funnel
Lower section and face described in recycling funnel bottom opening setting.
Preferably, the bottom of support frame as described above is equipped with collection box supporting beam, and the collection box supporting beam includes the
One supporting beam and the second supporting beam, first supporting beam, second supporting beam are both connected to the bottom of support frame as described above, and
First supporting beam is parallel with second supporting beam；
One end of first supporting beam and one end of second supporting beam form the opening penetrated for the collection box,
When the collection box is located at the lower section of recycling funnel, the bottom of the collection box is supported on first supporting beam and described the
In two supporting beams.
Preferably, wheeled transport device, two block rotary stopper components there are two being set on the objective table；
Two wheeled transport devices are located at an opposite sides of the neutron placement plate, two block rotations
Limit assembly is located in another opposite sides of the neutron placement plate.
Preferably, each block rotary stopper component includes gag lever post and is mounted on the gag lever post
Rotational handle, plate washer, gag lever post rotary positioning apparatus；When rotated in the rotational handle to drive the gag lever post to rotate, institute
It plate washer is stated towards the direction banking motion of the neutron placement plate and is resisted against in the neutron placement plate, at this time the plate washer
The plane that top is higher than the neutron placement plate is displaced outwardly with limiting the object in the neutron placement plate.
Detailed description of the invention
Fig. 1 is the structural schematic diagram of the laser navigation handling device in the embodiment of the present invention；
Fig. 2 is the rearview of the laser navigation handling device in the embodiment of the present invention；
Wherein, the appended drawing reference in Figure of description is as follows:
1, car body；2, laser scanning mechanism；3, neutron placement plate；31, funnel is recycled；32, collection box；33, collection box branch
Support beam；4, driving wheel；41, left servo motor；42, right servo motor；5, auxiliary wheel；6, obstacle avoidance module；7, support frame；71, it holds in the palm
Disk rack；72, middle finger placement plate；8, wheeled transport device；9, rotational handle；91, plate washer.
Specific embodiment
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation description, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.It is based on
Embodiment in the present invention, it is obtained by those of ordinary skill in the art without making creative efforts every other
Embodiment shall fall within the protection scope of the present invention.
Referring to Figure 1 and Fig. 2, the preferred embodiment of the present invention provide a kind of laser navigation handling device, including 1 He of car body
Platform carrying mechanism, traveling mechanism, laser navigation mechanism and the master control set being mounted on the car body 1；
The platform carrying mechanism carries object for carrying, including objective table and the neutron being mounted on the objective table
Placement plate 3, broken husky recyclable device, the broken husky recyclable device are set to the lower section of the neutron placement plate 3；
The traveling mechanism include positioned at the driving wheel 4 of 1 bottom of car body, auxiliary wheel 5 and with the master control set
The driving device of connection, the auxiliary wheel 5 are rotatably supported at the bottom of the car body 1, and two driving wheels 4 are respectively set
In the car body 1 two sides of the bottom and controlled by the driving device；
The laser navigation mechanism is used for the object emission laser around the car body 1, and the reflected light that will be received
Signal is sent to the master control set, and the master control set is according to reflected light signal generation virtual map and described virtual
Travel route is planned on map.
In embodiments of the present invention, using laser navigation technology, using the laser navigation mechanism to around the car body 1
Object emission laser, and the reflected light signal received is sent to the master control set, the master control set is to scan week
Environmental objects are enclosed as carrier track route object of reference, to generate a virtual map, are planned on virtual map
The wanted track route of floor truck, issues corresponding route name, and the laser navigation handling device can be by having planned
Route automatic running.
Wherein, the master control set feeds back practical mileage signal according to the walking of the driving device and combines, can be certainly
It is dynamic to determine the laser navigation handling device specific location, realize the positioning function of the laser navigation handling device.
The laser navigation handling device has the function of automatic running carrying, and the master control set receives command sequence,
And start to execute, and command sequence is multiple combinations individually ordered, while can be realized the sides such as two o'clock is stopped, multiple spot is stopped
Formula can voluntarily be run, entirely autonomous positioning, independent navigation without being laid with magnetic stripe on ground, positioning without reflector.
In addition, the laser navigation handling device is not necessarily to any construction and peripheral device, ground is set without other positioning
It applies, driving path can flexibly change, and be suitable for a variety of occasions.Wherein, it is lost to solve laser head transmitting laser signal feedback
It loses and AGV positioning is caused to be lost, a load, which loses AGV, to be run, and main cause is to wipe object of reference when establishing virtual map
Except excessive, laser is caused to be penetrated on object, it is corresponding with virtual map not on, so that AGV is positioned mistake.Then this implementation can modify operation mould
Block algorithm, and ginseng reality is set according to object and virtual map comparison range, ratio ignores error in 30%, lowers error rate.
The motion flow of this programme in order to better understand, the laser navigation handling device is specific as follows:
1, laser navigation handling device original place waits；
2, operator places neutron in the neutron placement plate 3 of the laser navigation handling device；
3, the laser navigation handling device starting and past casting machine direction running；
4, operator takes neutron from the neutron placement plate 3；
5, the laser navigation handling device drives toward finished product discharging raceway；
6, operator drains into finished goods in the neutron placement plate 3 of the laser navigation handling device；
7, the laser navigation handling device starts toward completion post-processing raceway traveling；
8, the manual feeding of operator to post-processing feeds raceway；
9, the laser navigation handling device starts and returns to origin.
Fig. 2 is referred to, in embodiments of the present invention, the driving device includes the left side connecting respectively with the master control set
Servo motor 41 and right servo motor 42, one of them described driving wheel 4 of the output axis connection of the left servo motor 41 are described
Driving wheel 4 described in the output axis connection another one of right servo motor 42.
In the present embodiment, the master control set controls the left servo motor 41 and the right servo motor 42, with logical
The driving wheel 4 of overdriving makes the laser navigation handling device toward the route automatic running planned.When the laser is led
When boat handling device needs to turn, then by adjusting the revolving speed of two driving wheels 4, is realized and turned with rotational speed difference, to make
Obtaining the laser navigation handling device can be realized original placeOr it rotates at any angle.
Preferably, two driving wheels 4 are located at the middle position of the two sides of the bottom of the car body 1, described in four
The corner location of the corresponding bottom for being supported on the car body 1 of auxiliary wheel 5, and the auxiliary wheel 5 is universal wheel.In this way, four institutes
Stating auxiliary wheel 5 can play a supporting role to the ontology and encounter ground to avoid the laser navigation handling device
Topple over when barrier, is located in the middle the driving wheel 4 and then plays the role of power.
In embodiments of the present invention, the car body 1 is equipped with obstacle avoidance module 6, the obstacle avoidance module 6 and the master control set
Connection.Preferably, the obstacle avoidance module 6 is infrared-type obstacle sensor, when sensing people or object, the obstacle avoidance module
6 to the master control set feedback-induced information, and the master control set is by manipulating the drive module so that the laser navigation
Handling device and people or object keep certain safe distance.
In embodiments of the present invention, the car body 1 is equipped with reminding module, and the reminding module includes that voice signal is reminded
Device and/or optical signal reminiscences, the laser navigation handling device has buzzer call sound at runtime, to remind people around
Member.
In embodiments of the present invention, the objective table includes support frame 7, pallet rack 71, middle finger placement plate 72, described
Support frame 7 is mounted on the car body 1, and the pallet rack 71 is connected on a side frame of support frame as described above 7, the middle finger
Placement plate 72 is connected on another side frame of support frame as described above 7, and the broken husky recyclable device is set to the cavity of support frame as described above 7
Interior, the neutron placement plate 3 is set to the top of support frame as described above 7.
The broken husky recyclable device includes recycling funnel 31 and collection box 32, the open-topped cross of the recycling funnel 31
Sectional area is greater than the cross-sectional area of the bottom opening of the recycling funnel 31, and the collection box 32 is located at the recycling funnel 31
The bottom opening setting of recycling funnel 31 described in lower section and face.
The bottom of support frame as described above 7 is equipped with collection box supporting beam 33, and the collection box supporting beam 33 includes the first supporting beam
With the second supporting beam, first supporting beam, second supporting beam are both connected to the bottom of support frame as described above 7, and described
One supporting beam is parallel with second supporting beam；
One end of first supporting beam and one end of second supporting beam form and open for what the collection box 32 penetrated
Mouthful, when the collection box 32 is located at the lower section of recycling funnel 31, the bottom of the collection box 32 is supported on first support
On beam and second supporting beam.
8, two block rotary stopper components of wheeled transport device there are two being set on the objective table；Two wheeled transports
Device 8 is located at an opposite sides of the neutron placement plate 3, and two block rotary stopper components are located in described
In another opposite sides of sub- placement plate 3.
Each block rotary stopper component includes gag lever post and the rotational handle 9 being mounted on the gag lever post, shelves
Plate 91, gag lever post rotary positioning apparatus；When rotated in the rotational handle 9 to drive the gag lever post to rotate, the plate washer 91
Towards the neutron placement plate 3 direction banking motion and be resisted against in the neutron placement plate 3, the top of the plate washer 91 at this time
The plane that portion is higher than the neutron placement plate 3 is displaced outwardly with limiting the object in the neutron placement plate 3.
Operator shakes the rotation hand when that will cast neutron machine platform and be placed in the neutron placement plate 3 first
Then casting neutron machine platform is placed on the wheeled transport device 8 so that four plate washers 91 are inclined outwardly opening by handle 9,
So that it is inwardly promoted along the wheeled transport device 8；Finally when casting neutron machine platform is sitting in the neutron placement plate 3
When, the rotational handle 9 is shaken toward opposite direction, so that four plate washers 91 slope inwardly, is removed to avoid the laser navigation
Shipping unit causes casting neutron machine platform to be subjected to displacement during automatic running because of jolting, to improve the stabilization of carrying
Property and reliability.
The above is a preferred embodiment of the present invention, it is noted that for those skilled in the art
For, various improvements and modifications may be made without departing from the principle of the present invention, these improvements and modifications are also considered as
Protection scope of the present invention.
Claims (10)
1. a kind of laser navigation handling device, which is characterized in that including car body and the platform carrying implement being installed on the car body
Structure, traveling mechanism, laser scanning mechanism and master control set；
The platform carrying mechanism carries object for carrying, and places including objective table and the neutron being mounted on the objective table
Plate, broken husky recyclable device, the broken husky recyclable device are set to the lower section of the neutron placement plate；
The traveling mechanism includes driving wheel, auxiliary wheel and the drive connecting with the master control set positioned at the vehicle bottom
Dynamic device, the auxiliary wheel are rotatably supported at the bottom of the car body, and two driving wheels are respectively set to the car body
Two sides of the bottom and controlled by the driving device；
The laser scanning mechanism is used for the object emission laser around the car body, and the reflected light signal received is sent out
It send to the master control set, the master control set is according to reflected light signal generation virtual map and on the virtual map
Plan travel route.
2. laser navigation handling device as described in claim 1, which is characterized in that the driving device include respectively with it is described
The left servo motor and right servo motor of master control set connection, one of them the described drive of the output axis connection of the left servo motor
Driving wheel, driving wheel described in the output axis connection another one of the right servo motor.
3. laser navigation handling device as claimed in claim 1 or 2, which is characterized in that two driving wheels are located at described
The middle position of the two sides of the bottom of car body, the corner location of the corresponding bottom for being supported on the car body of four auxiliary wheels, and
The auxiliary wheel is universal wheel.
4. laser navigation handling device as described in claim 1, which is characterized in that the car body is equipped with obstacle avoidance module, institute
Obstacle avoidance module is stated to connect with the master control set.
5. laser navigation handling device as described in claim 1, which is characterized in that the car body is equipped with reminding module, institute
Stating reminding module includes voice signal reminiscences and/or optical signal reminiscences.
6. laser navigation handling device as described in claim 1, which is characterized in that the objective table includes support frame, pallet
Rack, middle finger placement plate, support frame as described above are installed on the car body, and the pallet rack is connected to support frame as described above
On one side frame, the middle finger placement plate is connected on another side frame of support frame as described above, and the broken husky recyclable device is set to described
In the cavity of support frame, the neutron placement plate is set to the top of support frame as described above.
7. laser navigation handling device as described in claim 1 or 6, which is characterized in that the broken husky recyclable device includes back
Funnel and collection box are received, the open-topped cross-sectional area of the recycling funnel is greater than the cross of the bottom opening of the recycling funnel
Sectional area, the collection box are located at the bottom opening setting of recycling funnel described in the lower section of the recycling funnel and face.
8. laser navigation handling device as claimed in claim 7, which is characterized in that the bottom of support frame as described above is equipped with collection box
Supporting beam, the collection box supporting beam include the first supporting beam and the second supporting beam, first supporting beam, second support
Beam is both connected to the bottom of support frame as described above, and first supporting beam is parallel with second supporting beam；
One end of first supporting beam and one end of second supporting beam form the opening penetrated for the collection box, in institute
When stating collection box and being located at the lower section of recycling funnel, the bottom of the collection box is supported on first supporting beam and second described
It supports on beam.
9. laser navigation handling device as claimed in claim 6, which is characterized in that wheeled fortune there are two being set on the objective table
Defeated device, two block rotary stopper components；
Two wheeled transport devices are located at an opposite sides of the neutron placement plate, two block rotary stoppers
Component is located in another opposite sides of the neutron placement plate.
10. laser navigation handling device as claimed in claim 9, which is characterized in that each block rotary stopper component
Including gag lever post and the rotational handle being mounted on the gag lever post, plate washer, gag lever post rotary positioning apparatus；In the rotation hand
Handle rotation with drive the gag lever post rotate when, the plate washer towards the neutron placement plate direction banking motion and be resisted against
In the neutron placement plate, the top of the plate washer is higher than the plane of the neutron placement plate and is placed with limiting the neutron at this time
Object on plate is displaced outwardly.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910495599.3A CN110282047A (en) | 2019-06-06 | 2019-06-06 | A kind of laser navigation handling device |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910495599.3A CN110282047A (en) | 2019-06-06 | 2019-06-06 | A kind of laser navigation handling device |
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| CN110282047A true CN110282047A (en) | 2019-09-27 |
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| CN201910495599.3A Pending CN110282047A (en) | 2019-06-06 | 2019-06-06 | A kind of laser navigation handling device |
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Application publication date: 20190927 |