CN113562095A - Magnetorheological visual identification AGV (automatic guided vehicle) unmanned navigation system for intelligent logistics and navigation method thereof - Google Patents
Magnetorheological visual identification AGV (automatic guided vehicle) unmanned navigation system for intelligent logistics and navigation method thereof Download PDFInfo
- Publication number
- CN113562095A CN113562095A CN202110939253.5A CN202110939253A CN113562095A CN 113562095 A CN113562095 A CN 113562095A CN 202110939253 A CN202110939253 A CN 202110939253A CN 113562095 A CN113562095 A CN 113562095A
- Authority
- CN
- China
- Prior art keywords
- agv
- magnetorheological
- magnetic
- magneto
- navigation system
- 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.)
- Granted
Links
Images
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
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- 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
- G05D1/0234—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using optical markers or beacons
- G05D1/0236—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using optical markers or beacons in combination with a laser
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- 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
- G05D1/0263—Control of position or course in two dimensions specially adapted to land vehicles using magnetic or electromagnetic means using magnetic strips
Landscapes
- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- Remote Sensing (AREA)
- Electromagnetism (AREA)
- Aviation & Aerospace Engineering (AREA)
- Radar, Positioning & Navigation (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Combustion & Propulsion (AREA)
- Chemical & Material Sciences (AREA)
- Optics & Photonics (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The invention discloses an intelligent magnetorheological visual recognition AGV unmanned navigation system for logistics, which comprises an AGV trolley and a plurality of magnetic stripes which are uniformly laid on the ground at intervals along the transverse direction and the longitudinal direction; the top surface of the magnetic strip is an inclined plane along the length direction of the magnetic strip, and a magnetic field coordinate net is formed by the magnetic strip positioned in the transverse direction and the magnetic strip positioned in the longitudinal direction; the AGV comprises a vehicle body, a vehicle control module, an image processing module and a magnetorheological imaging device; the magnetorheological imaging device comprises an imaging frame body, a magnetorheological fluid tank, two first cameras, a second camera, two laser transmitters and an upper cover, wherein the magnetorheological fluid tank is arranged at the bottom of the imaging frame body in a penetrating manner; the method has the characteristics of high information acquisition speed, high identification precision, good flexibility and high navigation reliability.
Description
Technical Field
The invention relates to an intelligent magnetorheological visual recognition AGV unmanned navigation system for logistics.
Background
Present AGV dolly navigation often is through setting up feedback reference object on the route of travel, like modes such as two-dimensional code discernment, RFID discernment, and this kind of navigation mode makes the route of travel of AGV dolly fixed, and the flexibility is relatively poor, and when the feedback reference object was sheltered from, can navigate the problem of losing, and the navigation reliability is lower.
Disclosure of Invention
The invention aims to overcome the defects and provide an intelligent unmanned navigation system for the magnetorheological visual identification AGV for the logistics.
In order to achieve the purpose, the invention adopts the following specific scheme:
a magneto-rheological visual identification AGV unmanned navigation system for intelligent logistics comprises an AGV trolley and a plurality of magnetic stripes which are laid on the ground at equal intervals along the transverse direction and the longitudinal direction;
the top surfaces of the magnetic stripes are inclined surfaces along the length direction of the magnetic stripes, and the inclined directions of the inclined surfaces of the magnetic stripes in the transverse direction or the longitudinal direction are the same; the magnetic strips positioned in the transverse direction and the magnetic strips positioned in the longitudinal direction form a magnetic field coordinate network;
the AGV comprises a vehicle body, a vehicle control module, an image processing module and a magnetorheological imaging device; the vehicle control module and the image processing module are both arranged on the vehicle body, and the magnetorheological imaging device is arranged at the center of the bottom of the vehicle body;
the magnetorheological imaging device comprises an imaging frame body, a magnetorheological fluid tank, two first cameras, a second camera, two laser transmitters and an upper cover, wherein the magnetorheological fluid tank penetrates through the bottom of the imaging frame body, magnetorheological fluid is stored in the magnetorheological fluid tank, the two first cameras penetrate through two adjacent side walls of the imaging frame body correspondingly, the two laser transmitters are fixed on two adjacent side walls of the imaging frame body correspondingly and are located in the forming frame body, the laser transmitters can emit linear laser beams, scale plates are arranged on two adjacent side walls of the forming frame body correspondingly, the scale plates are located below the laser transmitters correspondingly, the upper cover covers the top of the imaging frame body, the top of the upper cover is connected to a vehicle body, and the second camera is vertically and downwards arranged at the center of the upper cover.
Furthermore, the magnetorheological imaging device is arranged on the vehicle body through an elastic connecting mechanism, and a supporting and traveling mechanism is correspondingly arranged at the bottom of the magnetorheological imaging device.
The elastic connecting mechanism further comprises a lower U-shaped hinged frame, a middle hinged shaft, an upper U-shaped hinged frame, a connecting seat and a spring, wherein the upper end of the lower U-shaped hinged frame is hinged to the middle hinged shaft, the lower end of the upper U-shaped hinged frame is hinged to the middle hinged shaft, a cross-shaped shaft universal joint structure is formed among the lower U-shaped hinged frame, the middle hinged shaft and the upper U-shaped hinged frame, the molded surface of the connecting seat is sleeved at the upper end of the upper U-shaped hinged frame, the top of the connecting seat is fixed to the center of the bottom of the vehicle body, the spring is sleeved on the upper U-shaped hinged frame and the connecting seat, two ends of the spring are respectively abutted against the upper U-shaped hinged frame and the connecting seat, and the top of the upper cover is fixed to the lower end of the lower U-shaped hinged frame.
The supporting and traveling mechanism further comprises a traveling seat body and four ball wheels, the traveling seat body is fixed on the imaging frame body, the traveling seat body is provided with through holes for the magnetorheological fluid tank to pass through, four corners of the traveling seat body are respectively provided with a ball mounting part, each ball mounting part is provided with a ball socket, and the four ball wheels are movably embedded in the four ball sockets in a one-to-one correspondence manner.
Furthermore, each ball mounting part is provided with a dust collection channel communicated with the ball socket, and each ball wheel is provided with a dust collection hole.
Furthermore, ultrasonic radars are arranged at the front, the rear, the left and the right end parts of the vehicle body.
Further, each magnetic strip is sealed on the ground through resin and is kept flush with the ground.
The invention has the beneficial effects that: according to the invention, a magnetic field coordinate network is formed by laying the magnetic strips which are transversely and longitudinally arranged on the ground, the magnetic field of the magnetic strips is converted into the height of a liquid column by using magnetorheological fluid, and then visual identification is carried out by using the magnetorheological imaging device, so that the coordinate information, the advancing direction and the posture information of the AGV are obtained through analysis, and the automatic navigation of the AGV is further realized.
Drawings
FIG. 1 is a perspective view of the present invention;
FIG. 2 is a cross-sectional view of the present invention;
FIG. 3 is a perspective view of an AGV of the present invention;
FIG. 4 is a perspective view of a magnetorheological imaging device and an elastomeric coupling mechanism in accordance with the present invention;
FIG. 5 is a schematic half-sectional view of a magnetorheological imaging apparatus of the invention;
FIG. 6 is a perspective view of the resilient coupling mechanism of the present invention;
description of reference numerals: 100. a ground surface; 200. an AGV trolley; 1. a vehicle body; 2. a vehicle control module; 3. an image processing module; 4. a magnetorheological imaging device; 41. an imaging frame; 42. a magnetorheological fluid tank; 43. a first camera; 44. a second camera; 45. a laser transmitter; 46. an upper cover; 47. magnetorheological fluid; 48. a scale plate; 49. a supporting and traveling mechanism; 491. a walking seat body; 492. a ball wheel; 493. a dust collection channel; 494. a dust collection hole; 5. an elastic connection mechanism; 51. a lower U-shaped hinge frame; 52. a middle articulated shaft; 53. an upper U-shaped hinge frame; 54. a connecting seat; 55. a spring; 6. an ultrasonic radar; 300. a magnetic strip.
Detailed Description
The invention will be described in further detail with reference to the following figures and specific examples, without limiting the scope of the invention.
As shown in fig. 1 to 6, the intelligent logistics unmanned navigation system for magnetorheological visual recognition AGV according to the embodiment includes an AGV cart 200 and a plurality of magnetic stripes 300 laid on a floor 100 at equal intervals along the transverse direction and the longitudinal direction; preferably, each magnetic stripe 300 is sealed on the floor 100 by resin and kept flush with the floor 100 so as to protect the magnetic stripe 300 from foreign matter being embedded in the gap; the top surface of the magnetic stripe 300 is an inclined surface along the length direction thereof, and the inclined direction of the inclined surface of each magnetic stripe 300 in the transverse or longitudinal direction is the same; the magnetic strips 300 positioned in the transverse direction and the magnetic strips 300 positioned in the longitudinal direction form a magnetic field coordinate network; that is, the distance between the top surface of the magnetic strip 300 and the floor 100 varies linearly along the length direction of the magnetic strip 300, and the magnetic field of the magnetic strip 300 also varies linearly along the length direction thereof, that is, the magnetic field intensity at each position of the magnetic strip 300 along the length direction thereof is unique, so that a magnetic field coordinate network is formed by the cooperation of the magnetic strips 300 which are distributed vertically to each other in the transverse direction and the longitudinal direction;
the AGV trolley 200 comprises a trolley body 1, a vehicle control module 2, an image processing module 3 and a magneto-rheological imaging device 4; the vehicle control module 2 and the image processing module 3 are both arranged on the vehicle body 1, and the magnetorheological imaging device 4 is arranged at the center of the bottom of the vehicle body 1;
the magnetorheological imaging device 4 comprises an imaging frame body 41, a magnetorheological fluid 47 groove 42, two first cameras 43, one second camera 44, two laser transmitters 45 and an upper cover 46, the magnetorheological fluid 47 groove 42 is arranged at the bottom of the imaging frame body 41 in a penetrating way, the magnetorheological fluid 47 is stored in the magnetorheological fluid 47 groove 42, the two first cameras 43 are correspondingly arranged on two adjacent side walls of the imaging frame body 41 in a penetrating manner, the two laser transmitters 45 are correspondingly fixed on the other two adjacent side walls of the imaging frame body 41 and are positioned in the forming frame body, the laser emitter 45 can emit linear laser beams, the two adjacent side walls of the forming frame body are provided with scale plates 48, the scale plate 48 is correspondingly positioned below the laser emitter 45, the upper cover 46 covers the top of the imaging frame body 41, the top of the upper cover 46 is connected to the vehicle body 1, and the second camera 44 is vertically arranged downwards at the center of the upper cover 46.
The working mode of the embodiment is as follows: when the AGV type laser imaging device works, the AGV trolley 200 is in contact with the ground 100, the magnetorheological imaging device 4 is located above the ground 100, the magnetorheological fluid 47 in the groove 42 of the magnetorheological fluid 47 is subjected to the action of a magnetic field generated by the magnetic strip 300, and a bulge is generated along the magnetic field direction under the action of the magnetic field, so that a liquid column with a parabolic section is formed on the surface of the magnetorheological fluid 47, the height of the liquid column is determined by the size of the magnetic field generated by the magnetic strip 300, namely the size of the magnetic field of the magnetic strip 300 is converted into height information of the liquid column, meanwhile, the two laser transmitters 45 simultaneously emit linear laser beams towards the surface of the magnetorheological fluid 47, the intersection point of the two linear laser beams is the projection coincidence of the center of the AGV trolley 200 on the surface of the magnetorheological fluid 47, at the moment, the image information of the liquid column on the surface of the magnetorheological fluid 47 is shot from the length direction and the width direction through the two first cameras 43, and the image information is transmitted to the image processing module 3, the image processing module 3 obtains height information of the liquid column by comparing the highest point of the liquid column in the visual identification image information with the scale of the scale plate 48, obtains coordinate information of the AGV trolley 200 by comparing the obtained height information with a magnetic field coordinate network, and simultaneously compares the height change of the liquid column formed between two moments in the same transverse direction or the same longitudinal direction so as to obtain the advancing direction of the trolley; meanwhile, the second camera 44 shoots and shoots the overlook image information of the magnetorheological fluid 47, and transmits the overlook image information to the image processing module 3, the image processing module 3 visually recognizes the arrangement information of the liquid columns and recognizes the position and the angle between a connecting line between the head and the tail of the two liquid columns positioned in the same transverse direction or the same longitudinal direction and the intersection point between the two linear laser beams, so as to obtain the posture information of the AGV 200, then the image processing module 3 transmits the coordinate information, the advancing direction and the posture information of the AGV 200 to the vehicle control module 2, and the vehicle control module 2 navigates and controls the AGV 200 according to the information, so that the autonomous navigation function of the AGV 200 is realized.
In the embodiment, a magnetic field coordinate network is formed by paving the magnetic strips 300 which are transversely and longitudinally arranged on the ground 100, the magnetic field of the magnetic strips 300 is converted into the height of a liquid column by utilizing the magnetorheological fluid 47, and then the magnetic strips are visually recognized through the magnetorheological imaging device 4, so that the coordinate information, the advancing direction and the posture information of the AGV 200 are obtained through analysis, and further the automatic navigation of the AGV 200 is realized.
Based on the above embodiment, further, the magnetorheological imaging device 4 is installed on the vehicle body 1 through an elastic connection mechanism 5, and the bottom of the magnetorheological imaging device 4 is correspondingly provided with a supporting and traveling mechanism 49. So set up, under the effect of elastic connection mechanism 5, support running gear 49 and ground 100 contact to under the elastic connection mechanism's 5 elastic action, make magnetorheological imaging device 4 keep the constant distance with ground 100, ensure the precision of navigation, adapt to the road conditions that ground 100 has the height fluctuation, the suitability is stronger.
Based on the above embodiment, further, the elastic connection mechanism 5 includes a lower U-shaped hinge frame 51, a middle hinge shaft 52, an upper U-shaped hinge frame 53, a connection seat 54 and a spring 55, an upper end of the lower U-shaped hinge frame 51 is hinged to the middle hinge shaft 52, a lower end of the upper U-shaped hinge frame is hinged to the middle hinge shaft 52, a cross-shaft universal joint structure is formed among the lower U-shaped hinge frame 51, the middle hinge shaft 52 and the upper U-shaped hinge frame 53, the connection seat 54 is sleeved on an upper end of the upper U-shaped hinge frame 53, a top of the connection seat 54 is fixed at a center of the bottom of the vehicle body 1, the spring 55 is sleeved on the upper U-shaped hinge frame 53 and the connection seat 54, two ends of the spring 55 are respectively abutted against the upper U-shaped hinge frame 53 and the connection seat 54, and a top of the upper cover 46 is fixed at a lower end of the lower U-shaped hinge frame 51.
In actual use, the spring 55 applies elastic pressure to the magnetorheological imaging device 4 through the cross axle universal joint structure, so that the supporting and traveling mechanism 49 is in contact with the ground 100, the magnetorheological imaging device 4 can swing in a self-adaptive manner when the ground 100 has high and low fluctuation by utilizing the characteristics of the cross axle universal joint structure, and meanwhile, the supporting and traveling mechanism 49 is always kept in contact with the ground 100 under the action of the elastic pressure, so that the magnetorheological imaging device 4 is kept at a constant distance from the ground 100.
Based on the above embodiment, further, the supporting walking mechanism 49 includes a walking seat 491 and four ball wheels 492, the walking seat 491 is fixed on the imaging frame 41, the walking seat 491 is provided with a through hole for the magnetorheological fluid 47 to pass through, four corners of the walking seat 491 are provided with ball mounting portions, each ball mounting portion is provided with a ball socket, and the four ball wheels 492 are movably embedded in the four ball sockets in a one-to-one correspondence manner. Thus, the rolling of the ball wheel 492 reduces the friction force, and the movement is more flexible, thereby adapting to different road conditions on the ground 100.
Based on the above embodiment, further, each ball mounting portion is provided with a dust suction channel 493 communicated with the ball socket, and each ball wheel 492 is provided with a dust suction hole 494. During actual use, the dust suction channel 493 is connected with an external dust suction pipeline, and dust and other impurities on the ground 100 are removed by vacuum adsorption through the dust suction holes 494 on the ball wheel 492, so that the cleanness and tidiness of the ground 100 are ensured, and the interference to the magnetic field of the magnetic stripe 300 is avoided.
Based on the above embodiment, further, the ultrasonic radars 6 are provided at all of the front, rear, left, and right ends of the vehicle body 1. According to the arrangement, the four ultrasonic radars 6 are used for detecting the distribution situation of the obstacles around the vehicle body 1, so that the vehicle control module 2 synthesizes the distribution situation of the obstacles around to plan the optimal path, and the navigation is safer.
The above description is only a preferred embodiment of the present invention, and all equivalent changes or modifications of the structure, characteristics and principles described in the present patent application are included in the protection scope of the present patent application.
Claims (9)
1. The magneto-rheological visual identification AGV unmanned navigation system for intelligent logistics is characterized by comprising an AGV trolley (200) and a plurality of magnetic stripes (300) which are laid on the ground (100) at equal intervals along the transverse direction and the longitudinal direction; it is characterized in that the preparation method is characterized in that,
the top surface of the magnetic strip (300) is an inclined surface along the length direction of the magnetic strip, and the inclined direction of the inclined surface of each magnetic strip (300) in the transverse direction or the longitudinal direction is the same; the magnetic strips (300) positioned in the transverse direction and the magnetic strips (300) positioned in the longitudinal direction form a magnetic field coordinate network;
the AGV trolley (200) comprises a trolley body (1), a trolley control module (2), an image processing module (3) and a magneto-rheological imaging device (4); the vehicle control module (2) and the image processing module (3) are both arranged on the vehicle body (1), and the magnetorheological imaging device (4) is arranged at the center of the bottom of the vehicle body (1);
the magnetorheological imaging device (4) comprises an imaging frame body (41), a magnetorheological fluid (47) groove (42), two first cameras (43), a second camera (44), two laser transmitters (45) and an upper cover (46), wherein the magnetorheological fluid (47) groove (42) penetrates through the bottom of the imaging frame body (41), the magnetorheological fluid (47) is stored in the magnetorheological fluid (47) groove (42), the two first cameras (43) correspondingly penetrate through two adjacent side walls of the imaging frame body (41), the two laser transmitters (45) are correspondingly fixed on two adjacent side walls of the imaging frame body (41) and are positioned in the imaging frame body, the laser transmitters (45) can emit linear laser beams, scale plates (48) are arranged on two adjacent side walls of the imaging frame body, and the scale plates (48) are correspondingly positioned below the laser transmitters (45), the top of the imaging frame body (41) is covered by the upper cover (46), the top of the upper cover (46) is connected to the vehicle body (1), and the second camera (44) is vertically arranged at the center of the upper cover (46) downwards.
2. The AGV unmanned navigation system for intelligent logistics according to claim 1, wherein the magnetorheological imaging device (4) is mounted on the vehicle body (1) through an elastic connection mechanism (5), and a supporting and traveling mechanism (49) is correspondingly arranged at the bottom of the magnetorheological imaging device (4).
3. The AGV unmanned navigation system according to claim 2, wherein the elastic connection mechanism (5) comprises a lower U-shaped hinge frame (51), a middle hinge shaft (52), an upper U-shaped hinge frame (53), a connection seat (54) and a spring (55), the upper end of the lower U-shaped hinge frame (51) is hinged on the middle hinge shaft (52), the lower end of the upper U-shaped hinge frame is hinged on the middle hinge shaft (52), a cross-axle universal joint structure is formed among the lower U-shaped hinge frame (51), the middle hinge shaft (52) and the upper U-shaped hinge frame (53), the connection seat (54) is sleeved on the upper end of the upper U-shaped hinge frame (53), the top of the connection seat (54) is fixed at the center of the bottom of the vehicle body (1), and the spring (55) is sleeved on the upper U-shaped hinge frame (53) and the connection seat (54), two ends of the spring (55) are respectively abutted against the upper U-shaped hinged frame (53) and the connecting seat (54), and the top of the upper cover (46) is fixed at the lower end of the lower U-shaped hinged frame (51).
4. The AGV unmanned navigation system according to claim 2, wherein the supporting and traveling mechanism (49) comprises a traveling base (491) and four ball wheels (492), the traveling base (491) is fixed on the imaging frame (41), the traveling base (491) is provided with a through hole for the magnetorheological fluid (47) to pass through, four corners of the traveling base (491) are provided with ball mounting portions, each ball mounting portion is provided with a ball socket, and the four ball wheels (492) are movably embedded in the four ball sockets in a one-to-one correspondence manner.
5. The AGV unmanned navigation system according to claim 2, wherein each ball mounting portion is provided with a dust suction channel (493) communicated with a ball socket, and each ball wheel (492) is provided with a dust suction hole (494).
6. The AGV unmanned navigation system for magnetorheological vision recognition of intelligent logistics according to claim 1, characterized in that the front, back, left and right ends of the vehicle body (1) are provided with ultrasonic radars (6).
7. The AGV unmanned navigation system for magnetorheological vision recognition of intelligent logistics according to claim 1, characterized in that the front, back, left and right ends of the vehicle body (1) are provided with ultrasonic radars (6).
8. The system for magnetorheological vision recognition for AGV for smart logistics according to claim 1, wherein each magnetic stripe (300) is sealed on the floor (100) by resin and is kept flush with the floor (100).
9. A navigation method for identifying the AGV unmanned navigation system by utilizing the magneto-rheological vision for the intelligent logistics is characterized in that during working, the AGV trolley 200 is in contact with the ground 100, the magneto-rheological imaging device 4 is positioned above the ground 100, so that magneto-rheological liquid 47 in a groove 42 of the magneto-rheological liquid 47 is acted by a magnetic field generated by a magnetic strip 300 and generates a bulge along the direction of the magnetic field under the action of the magnetic field, a liquid column with a parabolic section is formed on the surface of the magneto-rheological liquid 47, the height of the liquid column is determined by the size of the magnetic field generated by the magnetic strip 300, namely, the size of the magnetic field of the magnetic strip 300 is converted into height information of the liquid column, simultaneously two laser transmitters 45 simultaneously emit linear laser beams towards the surface of the magneto-rheological liquid 47, the intersection point of the two linear laser beams is the projection coincidence of the center of the AGV trolley 200 on the surface of the magneto-rheological liquid 47, at the moment, image information of the liquid column on the surface of the magneto-rheological liquid 47 is shot from the long direction and the wide direction through two first cameras 43, the image information is transmitted to the image processing module 3, the image processing module 3 obtains the height information of the liquid column by visually identifying the highest point of the liquid column in the image information and comparing the highest point with the scale of the scale plate 48, the coordinate information of the AGV 200 is obtained by comparing the obtained height information with a magnetic field coordinate network, and meanwhile, the height change of the liquid column formed between two moments in the same transverse direction or the same longitudinal direction is compared, so that the advancing direction of the AGV is obtained; meanwhile, the second camera 44 shoots and shoots the overlook image information of the magnetorheological fluid 47, and transmits the overlook image information to the image processing module 3, the image processing module 3 visually recognizes the arrangement information of the liquid columns and recognizes the position and the angle between a connecting line between the head and the tail of the two liquid columns positioned in the same transverse direction or the same longitudinal direction and the intersection point between the two linear laser beams, so as to obtain the posture information of the AGV 200, then the image processing module 3 transmits the coordinate information, the advancing direction and the posture information of the AGV 200 to the vehicle control module 2, and the vehicle control module 2 navigates and controls the AGV 200 according to the information, so that the autonomous navigation function of the AGV 200 is realized.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110939253.5A CN113562095B (en) | 2021-08-16 | 2021-08-16 | Unmanned AGV navigation system and method for intelligent logistics by using magneto-rheological vision recognition |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110939253.5A CN113562095B (en) | 2021-08-16 | 2021-08-16 | Unmanned AGV navigation system and method for intelligent logistics by using magneto-rheological vision recognition |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN113562095A true CN113562095A (en) | 2021-10-29 |
| CN113562095B CN113562095B (en) | 2023-09-05 |
Family
ID=78171840
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202110939253.5A Active CN113562095B (en) | 2021-08-16 | 2021-08-16 | Unmanned AGV navigation system and method for intelligent logistics by using magneto-rheological vision recognition |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN113562095B (en) |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN204222754U (en) * | 2014-09-26 | 2015-03-25 | 广东东箭汽车用品制造有限公司 | Vehicle and S. A. foot pedal apparatus thereof |
| CN108594832A (en) * | 2018-07-09 | 2018-09-28 | 厦门航天思尔特机器人系统股份公司 | Bear robot type AGV trolleies |
| CN108732516A (en) * | 2017-04-19 | 2018-11-02 | 南京航空航天大学 | Magnetorheological fluid magnetic field strong detecting instrument |
| US20200073402A1 (en) * | 2018-08-28 | 2020-03-05 | Asi Technologies, Inc. | Automated guided vehicle system and automated guided vehicle for use therein |
| CN210804117U (en) * | 2019-12-31 | 2020-06-19 | 山东科技大学 | AGV dolly based on visual navigation and magnetic navigation |
| CN212525500U (en) * | 2020-05-11 | 2021-02-12 | 徐刚 | Mechanical hot-rolled steel coil auxiliary shaping device |
-
2021
- 2021-08-16 CN CN202110939253.5A patent/CN113562095B/en active Active
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN204222754U (en) * | 2014-09-26 | 2015-03-25 | 广东东箭汽车用品制造有限公司 | Vehicle and S. A. foot pedal apparatus thereof |
| CN108732516A (en) * | 2017-04-19 | 2018-11-02 | 南京航空航天大学 | Magnetorheological fluid magnetic field strong detecting instrument |
| CN108594832A (en) * | 2018-07-09 | 2018-09-28 | 厦门航天思尔特机器人系统股份公司 | Bear robot type AGV trolleies |
| US20200073402A1 (en) * | 2018-08-28 | 2020-03-05 | Asi Technologies, Inc. | Automated guided vehicle system and automated guided vehicle for use therein |
| CN210804117U (en) * | 2019-12-31 | 2020-06-19 | 山东科技大学 | AGV dolly based on visual navigation and magnetic navigation |
| CN212525500U (en) * | 2020-05-11 | 2021-02-12 | 徐刚 | Mechanical hot-rolled steel coil auxiliary shaping device |
Also Published As
| Publication number | Publication date |
|---|---|
| CN113562095B (en) | 2023-09-05 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| EP2205935B1 (en) | A device and a method for checking an attitude of a vehicle | |
| US11058276B2 (en) | Wet robot docking station | |
| CN111645777B (en) | Wheeled agricultural robot with self-adaptive wheel track adjusting function and adjusting method thereof | |
| JP7124117B2 (en) | Trailer detection and autonomous hitching | |
| KR102459721B1 (en) | Autonomous devices and systems for repetitive tasks in construction projects | |
| US8308182B2 (en) | Trailer connection assist system | |
| CN109843611A (en) | For detecting the device of the position of first or second vehicle together to be coupled | |
| CN111766877A (en) | Robot | |
| CN106312997A (en) | Laser radar type outdoor autonomously mobile robot provided with automatic stabilization device | |
| KR20200095225A (en) | An weed removal robot using image processor | |
| CN113562095A (en) | Magnetorheological visual identification AGV (automatic guided vehicle) unmanned navigation system for intelligent logistics and navigation method thereof | |
| CN108958269B (en) | Inertial navigation magnetic stripe hybrid navigation AGV system | |
| US11772540B2 (en) | Navigator | |
| CN116621083A (en) | Bull AMR | |
| CN215970978U (en) | Displacement following device and platform transportation system | |
| CN212022836U (en) | Omnidirectional walking device suitable for AGV | |
| CN208654644U (en) | A kind of unmanned snow grooming machines people | |
| CN217805020U (en) | Automatic guide transport vechicle | |
| CN213768781U (en) | Omnidirectional movement nature navigation AGV | |
| CN214240862U (en) | Logistics trolley | |
| Kim et al. | Real-time 2D height mapping method for an unmanned vehicle using a stereo camera and laser sensor fusion | |
| CN216994630U (en) | AGV mechanism of head-on collision location | |
| CN218851357U (en) | Lawn mower, anti-collision device and self-moving equipment | |
| CN211857282U (en) | Intelligent vehicle for warehouse | |
| CN219380679U (en) | Robot chassis and robot |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| TA01 | Transfer of patent application right |
Effective date of registration: 20230814 Address after: 065000 West of Zhao Tuzhuang Village, Xiangyang Town, Sanhe City, Langfang City, Hebei Province Applicant after: Hebei Hangruixinke Precision Machinery Co.,Ltd. Address before: 523000 Tangxia Village Industrial Zone, Gaopo Town, Dongguan City, Guangdong Province Applicant before: GUANGDONG SUNLI INTELLIGENT LOGISTICS EQUIPMENT CO.,LTD. |
|
| TA01 | Transfer of patent application right | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |