CN111158367A - Radar navigation automated guidance dolly - Google Patents
Radar navigation automated guidance dolly Download PDFInfo
- Publication number
- CN111158367A CN111158367A CN201911415337.8A CN201911415337A CN111158367A CN 111158367 A CN111158367 A CN 111158367A CN 201911415337 A CN201911415337 A CN 201911415337A CN 111158367 A CN111158367 A CN 111158367A
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- guided vehicle
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- 238000009434 installation Methods 0.000 claims description 7
- 238000004146 energy storage Methods 0.000 claims description 4
- 238000001514 detection method Methods 0.000 description 8
- 238000000034 method Methods 0.000 description 3
- 230000005484 gravity Effects 0.000 description 2
- 230000002093 peripheral effect Effects 0.000 description 2
- 239000011120 plywood Substances 0.000 description 2
- 208000031872 Body Remains Diseases 0.000 description 1
- 230000004308 accommodation Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
- 230000002194 synthesizing effect Effects 0.000 description 1
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Classifications
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- 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
- G05D1/0246—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using a video camera in combination with image processing 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
- G05D1/0257—Control of position or course in two dimensions specially adapted to land vehicles using a radar
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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)
- Computer Vision & Pattern Recognition (AREA)
- Multimedia (AREA)
- Electromagnetism (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The invention provides a radar navigation automatic guide trolley, wherein a groove is formed in a radar mounting surface of a shell, a groove bottom facing a notch in the groove is a radar guide surface, a radar is mounted in the groove, a shadow area formed by the radar guide surface on a horizontal plane of the radar is smaller than that formed by the shell, so that the shadow area of the radar is reduced, the radar can detect two sides of the trolley, meanwhile, a scanning signal of the radar is avoided in a groove forming mode, the integral structure of the trolley body cannot be influenced, the shell of the trolley body does not need to be greatly changed in shape, and the trolley body can still basically keep the original mounting space and balance.
Description
Technical Field
The invention relates to the technical field of automatic guided vehicles, in particular to a radar navigation automatic guided vehicle.
Background
AGVs typically utilize radar devices for navigation. In the process of advancing, the automated guided vehicle needs to monitor the surrounding environment condition at any time, and in order to save cost and reduce the use amount of the radar, the radar is generally arranged on the top of the automated guided vehicle, so that the radar can monitor all the surrounding environment conditions.
However, the top of the automated guided vehicle is sometimes used for installation during other periods, thereby conflicting with the installation of the radar. For example, the inventor's automated guided vehicle has a robot mounted on the top of the vehicle, and thus cannot mount a radar on the top. In this case, the radar must then be mounted on the peripheral side of the vehicle: front, sides and back. Since the detection range of the radar installed on the peripheral side of the vehicle is blocked by the vehicle itself to form a shadow region (detection blind region), for example, the radar installed in front of the vehicle is blocked by the vehicle body, the detection range is only 180 ° in front of the vehicle, and for the conditions of both sides and the rear of the vehicle, the radar cannot be detected, and if the vehicle is required to be able to detect the conditions of both sides, the radar needs to be installed on both sides of the vehicle respectively. Undoubtedly, this greatly increases the overall cost of the automated guided vehicle, and the process of identifying and controlling the vehicle is further complicated in the process of synthesizing multiple radar signals, etc.
In contrast, one current idea is to change the structure of the vehicle body housing to a curved surface, which can slightly reduce the obstruction to the radar, but the design of the vehicle body structure is limited by many factors, such as the balance of the vehicle body and the installation space of the internal components, and therefore, if the front end surface of the vehicle body is designed to have a shape that is very small in the obstruction to the radar, the balance of the vehicle body and the installation space are greatly affected.
Disclosure of Invention
The invention aims to avoid the defects in the prior art and provide an automatic guide trolley which can expand the detection range of a radar as much as possible without influencing the balance of a trolley body and the installation space.
The purpose of the invention is realized by the following technical scheme:
the utility model provides a radar navigation automated guidance dolly, includes shell and radar, the radar installation face of shell is formed with the recess, the tank bottom towards the notch in the recess is the radar spigot surface, the radar install in the recess, the recess forms can dodge radar scanning signal's the passageway of avoiding, so that the radar is because of on the horizontal plane shadow district that the radar spigot surface formed is less than because of the shadow district that the shell formed.
Wherein the projection width of the groove in the horizontal plane is equal to the maximum width of the shell.
The radar guide surface comprises a left wing surface and a right wing surface, the left wing surface and the right wing surface are intersected in the projection of a horizontal plane, and a radar mounting area is arranged in front of the intersection of the left wing surface and the right wing surface.
Wherein, the outer end side of the left airfoil surface and the right airfoil surface form an included angle smaller than or equal to 90 degrees.
The radar guide surface and the side surface of the shell are both arc cylindrical surfaces, and the arc curvature of the radar guide surface is larger than that of the side surface of the shell.
The frame comprises a bottom plate, a middle plate and a top plate, the bottom plate, the middle plate and the top plate are sequentially stacked from bottom to top, wheels are installed on the bottom plate, an energy storage device and a power device are installed on the top surface of the bottom plate, a controller is installed on the middle plate, and the manipulator is installed on the top plate.
The area of the bottom plate is larger than that of the middle plate, and the area of the middle plate is larger than that of the top plate.
The bottom plate is provided with a group of coaxial driving wheels and a group of coaxial driven wheels, the area between the driving wheel set and the driven wheel set is a counterweight area, the width of the counterweight area is greater than the width of the driving wheel set and the width of the driven wheel set, and a counterweight part is arranged in the counterweight area.
The energy storage device is a battery pack, the battery pack is arranged in the middle of the counterweight area, and the counterweight pieces are arranged on two wings of the battery pack.
The manipulator comprises a base arm perpendicular to the top plate, a rotating arm is arranged at the top of the base arm, and the rotating arm can rotate around a middle shaft of the base arm.
The invention has the beneficial effects that: according to the radar navigation automatic guide trolley, the groove is formed in the radar mounting surface (namely the surface, usually the front surface, of the trolley body, where the radar is mounted) of the shell, the bottom of the groove facing the notch is the radar guide surface, the radar is mounted in the groove, and the shadow area of the radar on the horizontal plane, formed by the radar guide surface, is smaller than the shadow area formed by the shell, so that the shadow area of the radar is reduced, the radar can detect the two sides of the trolley, meanwhile, scanning signals of the radar are avoided in a groove-forming mode, the integral structure of the trolley body cannot be affected, the shell of the trolley body does not need to be greatly changed in shape, and the trolley body can still basically keep the original mounting space and balance.
Drawings
The invention is further illustrated by means of the attached drawings, but the embodiments in the drawings do not constitute any limitation to the invention, and for a person skilled in the art, other drawings can be obtained on the basis of the following drawings without inventive effort.
FIG. 1 is a schematic view of the radar navigation automatic guided vehicle in a state that a shell is separated from a vehicle frame.
FIG. 2 is a schematic cross-sectional view of the automatic guided vehicle for radar navigation along the middle layer plate according to the present invention.
FIG. 3 is a schematic cross-sectional view of the automatic guided vehicle for radar navigation along the bottom plate according to the present invention.
Fig. 1 to 3 include:
the device comprises a frame 1, a frame 11, a bottom plate 12, a middle plate 13, a top plate 14, a column 15, a driving wheel 16, a driving motor 17, a battery pack 18, a counterweight 18, a driven wheel 19, a shell 2, a groove 21, a left wing surface 22, a right wing surface 23, a manipulator 3, a rotating arm 31, a radar 4, a camera 5 and a controller 6.
Detailed Description
The invention is further described with reference to the following examples.
The specific implementation mode of the radar navigation automatic guide trolley (the trolley in the embodiment) comprises a trolley frame 1, a shell 2, a manipulator 3, a radar 4 and a camera 5, as shown in figure 1. In this embodiment, for convenience of description, it is assumed that the mounting surface of the radar 4 is the front surface of the trolley, and generally, the most important scanning area of the trolley is the front surface thereof, so the mounting surface of the radar 4 is generally the front surface of the trolley, and in some special cases, the mounting surface of the radar 4 may also be a side surface or a back surface of the trolley, and the principle is always and will not be described herein again.
Lower part is cylindricly basically in shell 2, intermediate position department at shell 2, be formed with one recess 21, the notch of recess 21 is towards the front of dolly, the tank bottom (the one side towards the notch) of recess 21 is radar 4 spigot surface, radar 4 spigot surface and notch have formed the passageway of dodging that can dodge radar 4 signal within a definite time, radar 4 installs the front end at recess 21, the scanning signal that radar 4 sent can follow this passageway of dodging and radar 4 spigot surface and propagate to the both sides of dolly, finally reach the both sides of dolly and receive the signal of both sides passback, thereby realize the detection to the dolly both sides. Of course, the shape of the guiding surface of the radar 4 must also be required, and the shape of the guiding surface of the radar 4 must block the signal of the radar 4 as little as possible, i.e. must avoid as much as possible in the scanning path of the radar 4, so that the shadow area of the radar 4 in the horizontal plane formed by the guiding surface of the radar 4 is smaller than the shadow area formed by the housing 2. Of course, in order to reduce the obstruction of the vehicle body to the radar 4 signal as much as possible, the projection width of the groove 21 in the horizontal plane is preferably equal to the maximum width of the housing 2, so that the radar 4 signal is not obstructed by the vehicle body on both sides.
In order to ensure the avoidance effect of the radar 4 guide surface to the radar 4, as shown in fig. 2, the radar 4 guide surface comprises a left wing surface 22 and a right wing surface 23, the left wing surface 22 and the right wing surface 23 intersect in a projection of a horizontal plane, and a radar 4 mounting area is arranged in front of the intersection of the left wing surface 22 and the right wing surface 23. Specifically, in the present embodiment, the included angle between the left wing surface 22 and the right wing surface 23 of the guiding surface of the radar 4 is smaller than or equal to 90 °, so that the detection range of the signal of the radar 4 reaches 270 °, and it is found in practice that the groove 21 still does not substantially occupy too much space of the vehicle body, and the detection range of 270 ° already covers the front and the side of the vehicle body, and substantially meets most requirements, so that 90 ° is a relatively good choice. Of course, if a greater range of detection of the radar 4 signal is desired, the included angle may be set smaller, but in this case, the space occupied by the groove 21 may be larger.
Naturally, there are also other ways to make the shadow area of the radar 4 in the horizontal plane, which is formed by the guiding surface of the radar 4, smaller than the shadow area formed by the housing 2. For example, the guiding surface of the radar 4 and the side surface of the shell 2 are both arc cylindrical surfaces, but the arc curvature of the guiding surface of the radar 4 is larger than that of the side surface of the shell 2, and at this time, because the guiding surface of the radar 4 is more curved, and under the condition of the same circle center, the diameter of the guiding surface of the radar 4 is smaller, and the formed shielding on the scanning path of the radar 4 is smaller. Therefore, the shape of the guiding surface of the radar 4 can be flexibly adjusted by a person skilled in the art, as long as the guiding surface of the radar 4 and the side surface of the shell 2 are both arc cylindrical surfaces, and the arc curvature of the guiding surface of the radar 4 is larger than that of the side surface of the shell 2.
In this embodiment, the frame 1 includes three layers: bottom plate 11, middle level class and roof 13, these three-layer boards are punched down to supreme range upon range of setting in proper order, and the area of bottom plate 11 is greater than the area of middle layer board 12, and the area of middle layer board 12 is greater than the area of roof 13, is supported by stand 14 fixed stay between the adjacent plywood for form the accommodation space that can place the part between the adjacent plywood.
Four wheel holes have been seted up to lower floor's board for two sets of wheels of holding: a driving wheel 15 and a driven wheel. The set of driving wheels 15 comprises two driving wheels 15, the two driving wheels 15 are coaxial, i.e. the axles of the two driving wheels are on the same straight line. The number of the driving wheels 15 may be more as needed as long as all the driving wheels 15 are coaxial. The arrangement of the driven wheel is the same as that of the driving wheel 15, however, the driven wheel is an omnidirectional wheel, namely, a sub wheel which is axially vertical to the driven wheel is arranged on the wheel surface of the driven wheel, so that the steering of the vehicle is smoother. In order to control the steering conveniently, each driving wheel 15 is provided with a driving motor 16 as a driving mechanism, the driving motors 16 are arranged on the bottom plate 11, and each driving motor 16 controls one driving wheel 15, so that the steering of the intelligent manipulator 3 trolley can be controlled by controlling the difference of the rotating speeds of the two driving motors 16.
As shown in fig. 3, on the bottom plate 11, the area between the driving wheel 15 set and the driving wheel set is a counterweight area, the counterweight area is provided with a battery pack 17 and a counterweight 18, the battery pack 17 is arranged in the middle of the counterweight area, and the counterweight 18 is symmetrically arranged on two sides of the battery pack 17, so that the counterweight 18 is exactly located in the area between one driving wheel 15 and one driven wheel. In this embodiment, it is required to make the size of the weight block 18 large enough to make the width of the weight block area larger than the width of the driving wheel 15 group and the width of the driven wheel group, so that the weight distribution during the arrangement on the bottom plate 11 is more uniform, the center of gravity is as close as possible to the center of the bottom plate 11, and the probability of side turning is reduced.
The intelligent manipulator 3 trolley also comprises a radar 4 and a camera 5 which are arranged on the shell 2, a controller 6 is provided with a driving motor 16 of a signal control driving wheel 15 of the radar 4, and the manipulator 3 is controlled according to the signal of the camera 5. Wherein the controller 6 is installed at the position of the middle plate 12 so that relatively light control does not occupy the space of the bottom plate 11, so that the bottom plate 11 can be reduced in size as much as possible and the center of gravity is concentrated, and the controller 6 located at the middle plate 12 is also located closer to the radar 4 and the camera 5 for easy wiring.
In this embodiment, the robot 3 is mounted on the top plate 13, and the robot 3 includes a base arm disposed perpendicular to the top plate 13, and a rotating arm 31 is disposed on the top of the base arm, and the rotating arm 31 can rotate around a central axis of the base arm, so that the robot 3 can operate on articles in a surrounding 360 ° area while the vehicle body remains stationary.
Finally, it should be noted that the above embodiments are only used for illustrating the technical solutions of the present invention, and not for limiting the protection scope of the present invention, although the present invention is described in detail with reference to the preferred embodiments, it should be understood by those skilled in the art that modifications or equivalent substitutions can be made on the technical solutions of the present invention without departing from the spirit and scope of the technical solutions of the present invention.
Claims (10)
1. Radar navigation automated guidance dolly, its characterized in that: including shell and radar, the radar installation face of shell is formed with the recess, the tank bottom towards the notch in the recess is the radar spigot surface, the radar install in the recess, the recess forms can dodge radar scanning signal's the passageway of dodging, thereby makes the radar is because of on the horizontal plane the shadow district that the radar spigot surface formed is less than because of the shadow district that the shell formed.
2. The radar guided vehicle of claim 1, wherein: the projection width of the groove in the horizontal plane is equal to the maximum width of the shell.
3. The radar guided vehicle of claim 1, wherein: the radar guide surface comprises a left wing surface and a right wing surface, the left wing surface and the right wing surface are intersected in the projection of a horizontal plane, and a radar mounting area is arranged in front of the intersection of the left wing surface and the right wing surface.
4. The radar guided vehicle of claim 2, wherein: the included angle between the left airfoil surface and the right airfoil surface is smaller than or equal to 90 degrees.
5. The radar guided vehicle of claim 1, wherein: the radar guide surface and the side surface of the shell are both arc cylindrical surfaces, and the arc curvature of the radar guide surface is larger than that of the side surface of the shell.
6. The radar guided vehicle of claim 1, wherein: the frame comprises a bottom plate, a middle plate and a top plate, the bottom plate, the middle plate and the top plate are sequentially stacked from bottom to top, wheels are installed on the bottom plate, an energy storage device and a power device are installed on the top surface of the bottom plate, a controller is installed on the middle plate, and the manipulator is installed on the top plate.
7. The radar guided vehicle of claim 6, wherein: the area of the bottom plate is larger than that of the middle plate, and the area of the middle plate is larger than that of the top plate.
8. The radar guided vehicle of claim 6, wherein: the bottom plate is provided with a group of coaxial driving wheels and a group of coaxial driven wheels, the area between the driving wheel set and the driven wheel set is a counterweight area, the width of the counterweight area is greater than the width of the driving wheel set and the width of the driven wheel set, and a counterweight part is arranged in the counterweight area.
9. The radar guided vehicle of claim 8, wherein: the energy storage device is a battery pack, the battery pack is arranged in the middle of the counterweight area, and the counterweight pieces are arranged on two wings of the battery pack.
10. The radar guided vehicle of claim 6, wherein: the manipulator comprises a base arm perpendicular to the top plate, a rotating arm is arranged at the top of the base arm, and the rotating arm can rotate around a center shaft of the base arm.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911415337.8A CN111158367B (en) | 2019-12-31 | 2019-12-31 | Automatic guiding trolley for radar navigation |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911415337.8A CN111158367B (en) | 2019-12-31 | 2019-12-31 | Automatic guiding trolley for radar navigation |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN111158367A true CN111158367A (en) | 2020-05-15 |
| CN111158367B CN111158367B (en) | 2024-06-28 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201911415337.8A Active CN111158367B (en) | 2019-12-31 | 2019-12-31 | Automatic guiding trolley for radar navigation |
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| Country | Link |
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| CN (1) | CN111158367B (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2022036791A1 (en) * | 2020-08-21 | 2022-02-24 | 苏州三六零机器人科技有限公司 | Cleaning robot |
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| KR101459910B1 (en) * | 2013-05-28 | 2014-11-07 | 현대자동차주식회사 | Radar apparatus for vehicle |
| CN107878343A (en) * | 2017-10-27 | 2018-04-06 | 江苏大学 | It is a kind of to take into account vehicle automatic parking Xun Ku and the supersonic range finder and its method of the monitoring of rear blind area |
| CN207773038U (en) * | 2018-01-12 | 2018-08-28 | 北京新能源汽车股份有限公司 | Mounting structure of millimeter wave radar and have its vehicle |
| CN208306565U (en) * | 2018-06-06 | 2019-01-01 | 驭势科技（北京）有限公司 | The installation structure of automobile and its vehicle body radar |
| CN110027481A (en) * | 2018-01-12 | 2019-07-19 | 上海海拉电子有限公司 | A kind of radar mounting structure and the vehicle with the radar mounting structure |
| CN211878474U (en) * | 2019-12-31 | 2020-11-06 | 广州富港万嘉智能科技有限公司 | Radar navigation automated guidance dolly |
-
2019
- 2019-12-31 CN CN201911415337.8A patent/CN111158367B/en active Active
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR101459910B1 (en) * | 2013-05-28 | 2014-11-07 | 현대자동차주식회사 | Radar apparatus for vehicle |
| CN107878343A (en) * | 2017-10-27 | 2018-04-06 | 江苏大学 | It is a kind of to take into account vehicle automatic parking Xun Ku and the supersonic range finder and its method of the monitoring of rear blind area |
| CN207773038U (en) * | 2018-01-12 | 2018-08-28 | 北京新能源汽车股份有限公司 | Mounting structure of millimeter wave radar and have its vehicle |
| CN110027481A (en) * | 2018-01-12 | 2019-07-19 | 上海海拉电子有限公司 | A kind of radar mounting structure and the vehicle with the radar mounting structure |
| CN208306565U (en) * | 2018-06-06 | 2019-01-01 | 驭势科技（北京）有限公司 | The installation structure of automobile and its vehicle body radar |
| CN211878474U (en) * | 2019-12-31 | 2020-11-06 | 广州富港万嘉智能科技有限公司 | Radar navigation automated guidance dolly |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2022036791A1 (en) * | 2020-08-21 | 2022-02-24 | 苏州三六零机器人科技有限公司 | Cleaning robot |
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| CN111158367B (en) | 2024-06-28 |
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