CN117483378B - Positioning navigation device and system based on moving target detection tracking - Google Patents

Abstract

The invention relates to the technical field related to special industrial vehicles, in particular to a positioning navigation device and a positioning navigation system based on moving target detection tracking, wherein the positioning navigation device based on moving target detection tracking comprises an intelligent AGV host, a camera, a mounting seat, a mounting bearing, a dust ball and a self-cleaning component, the camera is in electrical signal connection with the intelligent AGV host, and the mounting seat is fixed on a frame of an unmanned forklift through a mounting frame; through setting up the location navigation based on moving object detection tracks that comprises intelligent AGV host computer, the camera, the mount pad, the installation bearing, dust ball and self-cleaning subassembly combination to protect the camera through the dust ball, in order to avoid the dust adhesion on the camera to influence shooting effect, and the rotation setting of dust ball can let the dust adhesion on the dust ball be cleared up when contacting with self-cleaning subassembly, and this in-process can realize the continuous shooting of camera, thereby reach and avoid ordinary cleaning process to influence the normal shooting of camera.

Description

Positioning navigation device and system based on moving target detection tracking

Technical Field

The invention relates to the technical field related to special industrial vehicles, in particular to a positioning navigation device and a positioning navigation system based on moving target detection tracking.

Background

The logistics center is a place which is supported by large and medium cities and has a certain scale for commodity storage, transportation, packaging, processing, loading and unloading and carrying. Advanced logistics management information systems are typically deployed, the primary function of which is to promote faster and more economical movement of goods. Concentrated storage improves the logistics adjustment level. The organic connection quickens the logistics speed, shortens the circulation time and reduces the circulation cost. And the method is properly processed according to the needs, and reasonably utilizes the goods sources, thereby improving the economic benefit. The logistics center can be divided into a goods collecting center, a goods distributing center, a delivery center, a distribution center, a storage center and a processing center according to the functions of the logistics center;

with the gradual improvement of the automation degree of the logistics center, the unmanned forklift is also gradually a core device in the field automation logistics, but the industrial mainstream navigation technical characteristics do not have quick rendition to the implementation process of the differentiated customer scene, so that the industrial delivery cycle is long, and the capability of professional implementation personnel directly influences the delivery quality of the project;

therefore, a new generation of intelligent AGVs with autonomous learning capability is created based on the moving object detection tracking, the unmanned industrial vehicle industry is rapidly deployed and delivered with high quality, the space information is required to be captured by the camera for global environment sensing, but the traditional camera is always exposed to the outside, the vehicles in the logistics center come in and go out more, so that the dust content is higher, and the real-time shooting effect of the camera is affected by the dust attached to the camera.

Disclosure of Invention

The invention aims to provide a positioning navigation device and a positioning navigation system based on moving object detection tracking, so as to solve the problems in the background technology.

In order to achieve the above purpose, the present invention provides the following technical solutions: the utility model provides a location navigation device based on moving object detects and tracks, location navigation device based on moving object detects and tracks includes intelligent AGV host computer, camera, mount pad, installation bearing, dustproof ball and self-cleaning subassembly, the camera is connected with the intelligent AGV host computer signal of telecommunication, the mount pad passes through the mounting bracket to be fixed on unmanned fork truck's frame, fixed mounting has driving motor on the mounting bracket, the camera passes through connecting rod and mount pad fixed connection, the bearing inner race of installation bearing is fixed on the mount pad, the dustproof ball is cavity and has offered circular open-ended transparent glass ball, and the circular opening part integrated into one piece of dustproof ball has the annular seat, the bearing outer lane of installation bearing is fixed on the inside wall of annular seat, the dustproof ball is driven through driving motor, self-cleaning subassembly is connected with driving motor's rotor, the surface of dustproof ball is cleared up through self-cleaning subassembly, and self-cleaning subassembly comprises connecting axle, installation cover and clearance brush hair combination.

Preferably, a ring gear is fixedly arranged on the outer side wall of the ring seat, a driven gear is fixedly arranged on a rotor of the driving motor, and the driven gear is meshed with the ring gear.

Preferably, the connecting shaft on the self-cleaning assembly is connected with the rotor of the driving motor, the installation sleeve is an elastic rubber sleeve, the installation sleeve is sleeved and installed on the connecting shaft, the cleaning bristles are flexible bristles, the cleaning bristles are uniformly arranged on the surface of the installation sleeve in a layer, and the end parts of the cleaning bristles are arranged in a leaning manner with the outer surface of the dust-proof ball.

Preferably, the annular seat is provided with a first-stage mounting groove, the side wall of the first-stage mounting groove is provided with an elastic belt fixing groove and an elastic belt clearance groove, the first-stage mounting groove is internally and movably provided with a positioning block, the positioning block is provided with a belt penetrating hole, the elastic belt is penetrated and arranged in the belt penetrating hole, two ends of the elastic belt are positioned in the elastic belt fixing groove, and the side wall of the bearing outer ring of the mounting bearing is provided with a positioning groove.

Preferably, the screw hole is seted up to the outside end of annular seat, and installs the collar in the outside of annular seat, set up the screw hole on the collar, the screw hole sets up corresponding with the screw hole, the collar passes through the set screw to be fixed on annular seat, and the medial surface of collar has seted up the second grade mounting groove, the second grade mounting groove sets up corresponding with the one-level mounting groove, and the cross-section combination of second grade mounting groove, one-level mounting groove coincide with the locating piece cross-section, integrated into one piece has the baffle ring on the lateral wall of collar, the movable sleeve is equipped with the spacing ring on the annular seat, the spring groove has been seted up to the outer terminal surface of spacing ring, circumference such as spring groove has been seted up one round, and the tank bottom of spring groove all is connected with supporting spring.

Preferably, the side line of the side surface of the limiting ring, which is close to one side of the ring gear, is subjected to chamfering, the side line of the side surface of the positioning block, which is close to one side of the limiting ring, is subjected to chamfering, when the supporting spring is in a reset state, the inner side wall of the limiting ring is propped against the outer side end of the positioning block, and at the moment, the inner side end of the positioning block is inserted into the positioning groove, when the limiting ring is pushed out to be close to the baffle ring, the limiting ring is separated from the positioning block, and at the moment, the inner side end of the positioning block is completely separated from the positioning groove.

Preferably, a pressing plate is inserted into the elastic belt fixing groove, and the elastic belt is pressed by the pressing plate.

Preferably, the outer side end edge of the pressing plate is subjected to chamfering, the inner side surface of the mounting ring is integrally formed with the pressing plate, and the pressing plate is inserted into a gap between the pressing plate and the elastic belt fixing groove through chamfering of the end surface of the pressing plate.

Preferably, the end surface of the pressing plate, which is abutted against the elastic belt, is integrally formed with anti-slip protrusions, the anti-slip protrusions are of a hemispherical protrusion structure, a plurality of groups of anti-slip protrusions are uniformly distributed on the pressing plate, and when the pressing plate is actually installed, the anti-slip protrusions are pressed into the belt body of the elastic belt;

the positioning navigation system based on the moving target detection tracking is realized by the positioning navigation device based on the moving target detection tracking, and the positioning navigation system based on the moving target detection tracking comprises:

the AIGV module comprises a WAB module and a WPM module, wherein the WAB module is used for controlling the unmanned forklift to move, and the WPM module is used for sensing the surrounding environment of the unmanned forklift;

the system comprises a WMS module, a camera and a control module, wherein the WMS module converts a stereoscopic warehouse environment into a plane environment in a system through the camera;

the WCS module comprises a WIS sub-module and a WOS sub-module, wherein the WIS sub-module and the WOS sub-module are used for facing the unmanned forklift system.

Compared with the prior art, the invention has the beneficial effects that:

1. the positioning navigation device based on moving object detection tracking, which is formed by combining the intelligent AGV host, the camera, the mounting seat, the mounting bearing, the dustproof ball and the self-cleaning component, is arranged, so that the camera is protected by the dustproof ball, dust is prevented from adhering to the camera to influence the shooting effect, the dust adhering to the dustproof ball can be cleaned when contacting the self-cleaning component due to the rotating arrangement of the dustproof ball, and the continuous shooting of the camera can be realized in the process, so that the normal shooting of the camera is prevented from being influenced by the ordinary wiping process;

2. and through setting up the quick detach structure that constitutes by locating piece, elastic belt, spacing ring and support spring combination to through seting up the constant head tank on the bearing outer lane lateral wall of installation bearing, thereby realize the quick assembly disassembly of dustproof ball, thereby be convenient for overhaul the maintenance to the camera.

Drawings

FIG. 1 is a schematic diagram of the structure of the present invention;

FIG. 2 is an enlarged schematic view of the structure A in FIG. 1;

FIG. 3 is a schematic view of a camera mounting position according to the present invention;

FIG. 4 is an enlarged schematic view of the structure shown at B in FIG. 3;

FIG. 5 is a schematic view of the structure of the dust ball of the present invention;

FIG. 6 is an enlarged schematic view of the structure at C in FIG. 5;

FIG. 7 is an enlarged schematic view of the structure shown at D in FIG. 5;

FIG. 8 is an enlarged schematic view of the structure of FIG. 7 at E;

FIG. 9 is a schematic view of a mounting ring according to the present invention;

FIG. 10 is an enlarged schematic view of the structure shown at F in FIG. 9;

FIG. 11 is a half cross-sectional view of a stop collar of the present invention;

FIG. 12 is an enlarged schematic view of the structure at G in FIG. 11;

FIG. 13 is a schematic view of a platen structure according to the present invention.

In the figure: camera 1, mount pad 2, mount bracket 3, mount bearing 4, dust ball 5, driving motor 6, self-cleaning module 7, connecting rod 8, driven gear 9, annular seat 10, ring gear 11, connecting shaft 12, mount sleeve 13, cleaning brush hair 14, primary mounting groove 15, elastic band fixed slot 16, elastic band clearance groove 17, locating piece 18, elastic band 19, clamp plate 20, mounting ring 21, baffle ring 22, screw hole 23, screw hole 24, secondary mounting groove 25, squeeze plate 26, stop ring 27, support spring 28, stud 29, positioning groove 30.

Detailed Description

The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.

Referring to fig. 1-13, the present invention provides four preferred embodiments:

example 1

The utility model provides a location navigation device based on moving object detects and tracks, the location navigation device based on moving object detects and tracks includes intelligent AGV host computer, camera 1, mount pad 2, install bearing 4, dust ball 5 and self-cleaning subassembly 7, camera 1 and intelligent AGV host computer electric signal connection, mount pad 2 passes through mounting bracket 3 to be fixed on unmanned fork truck's frame, fixed mounting has driving motor 6 on the mounting bracket 3, camera 1 passes through connecting rod 8 and mount pad 2 fixed connection, the bearing inner race of install bearing 4 is fixed on mount pad 2, dust ball 5 is cavity and has offered circular open-ended transparent glass ball, and the circular opening part integrated into one piece of dust ball 5 has annular seat 10, the bearing outer lane of install bearing 4 is fixed on annular seat 10's inside wall, dust ball 5 drives through driving motor 6, self-cleaning subassembly 7 is connected with driving motor 6's rotor, dust ball 5's surface is cleared up through self-cleaning subassembly 7, and self-cleaning subassembly 7 comprises connecting axle 12, install sleeve 13 and clearance brush hair 14 combination.

The outer side wall of the annular seat 10 is fixedly provided with an annular gear 11, the rotor of the driving motor 6 is fixedly provided with a driven gear 9, and the driven gear 9 is meshed with the annular gear 11.

The connecting shaft 12 on the self-cleaning assembly 7 is connected with the rotor of the driving motor 6, the mounting sleeve 13 is an elastic rubber sleeve, the mounting sleeve 13 is sleeved and mounted on the connecting shaft 12, the cleaning bristles 14 are flexible bristles, the cleaning bristles 14 are uniformly arranged on the surface of the mounting sleeve 13, the end parts of the cleaning bristles 14 are in close contact with the outer surface of the dust-proof ball 5, and the positioning navigation device based on moving object detection tracking and composed of an intelligent AGV host, the camera 1, the mounting seat 2, the mounting bearing 4, the dust-proof ball 5 and the self-cleaning assembly 7 is arranged, so that the camera 1 is protected through the dust-proof ball 5, dust is prevented from adhering to the camera 1 to influence the shooting effect, the dust-proof ball 5 is rotated, the dust adhered to the dust-proof ball 5 can be cleaned off when contacting with the self-cleaning assembly 7, continuous shooting of the camera 1 can be realized in the process, and normal shooting of the camera 1 is prevented from being influenced by the ordinary wiping process.

Example two

On the basis of the first embodiment, the annular seat 10 is provided with a first-stage installation groove 15, the side wall of the first-stage installation groove 15 is provided with an elastic belt fixing groove 16 and an elastic belt clearance groove 17, a positioning block 18 is movably installed in the first-stage installation groove 15, the positioning block 18 is provided with a belt penetrating hole, an elastic belt 19 is arranged in the belt penetrating hole in a penetrating way, two ends of the elastic belt 19 are positioned in the elastic belt fixing groove 16, and the side wall of a bearing outer ring of the installation bearing 4 is provided with a positioning groove 30.

The screw hole 23 has been seted up to the outside end of annular seat 10, and the collar 21 has been installed in the outside of annular seat 10, set up screw hole 24 on the collar 21, screw hole 24 and screw hole 23 correspond the setting, collar 21 passes through the set screw to be fixed on annular seat 10, and the medial surface of collar 21 has been seted up second grade mounting groove 25, second grade mounting groove 25 and the corresponding setting of one-level mounting groove 15, and the cross-section combination of second grade mounting groove 25, one-level mounting groove 15 coincide with the locating piece 18 cross-section, integrated into one piece has baffle ring 22 on the lateral wall of collar 21, movable sleeve is equipped with spacing ring 27 on the annular seat 10, the spring groove has been seted up to the outer terminal surface of spacing ring 27, circle such as spring groove has been seted up to circumference, and the tank bottom of spring groove all is connected with supporting spring 28.

The side line of the inner side surface of the limiting ring 27, which is close to one side of the ring gear 11, is subjected to chamfering, the side line of the outer side end of the positioning block 18, which is close to one side of the limiting ring 27, is subjected to chamfering, when the supporting spring 28 is in a reset state, the inner side wall of the limiting ring 27 abuts against the outer side end of the positioning block 18, and at the moment, the inner side end of the positioning block 18 is inserted into the positioning groove 30, when the limiting ring 27 is pushed out to be close to the baffle ring 22, the limiting ring 27 is separated from the positioning block 18, and at the moment, the inner side end of the positioning block 18 is completely separated from the positioning groove 30, and a quick-dismantling structure formed by combining the positioning block 18, the elastic belt 19, the limiting ring 27 and the supporting spring 28 is arranged, and the positioning groove 30 is formed on the outer side wall of the bearing outer ring of the mounting bearing 4, so that the dust ball 5 is quickly disassembled and assembled, and the camera 1 is convenient to overhaul and maintain.

Example III

On the basis of the second embodiment, a pressing plate 20 is inserted into the elastic band fixing groove 16, and the elastic band 19 is pressed by the pressing plate 20.

The outer side edge of the pressing plate 20 is chamfered, the inner side surface of the mounting ring 21 is integrally formed with a pressing plate 26, and the pressing plate 26 is inserted into a gap between the pressing plate 20 and the elastic band fixing groove 16 through chamfering of the end surface of the pressing plate 20.

The end surface of the pressing plate 20, which is abutted against the elastic belt 19, is integrally formed with the anti-slip protrusions 29, the anti-slip protrusions 29 are of a hemispherical protrusion structure, a plurality of groups of anti-slip protrusions 29 are uniformly distributed on the pressing plate 20, and when the pressing plate 20 is actually installed, the anti-slip protrusions 29 are pressed into the belt body of the elastic belt 19;

example IV

On the basis of the third embodiment, the positioning navigation system based on moving target detection tracking is realized by the positioning navigation device based on moving target detection tracking, and the positioning navigation system based on moving target detection tracking comprises:

the AIGV module comprises a WAB module and a WPM module, the WAB module is used for controlling the movement of the unmanned forklift, and the WPM module is used for sensing the surrounding environment of the unmanned forklift;

the system comprises a WMS module, wherein the WMS module converts a stereoscopic warehouse environment into a plane environment in a system through a camera 1, and the camera 1 is a fisheye wide-angle camera;

the WCS module comprises a WIS sub-module and a WOS sub-module, and the WIS sub-module and the WOS sub-module are used for facing the unmanned forklift system;

the global target identification is realized through the fisheye wide-angle camera networking, the autonomous learning of the AGV is realized through the intelligent AI algorithm platform training, the novel environment is adapted, the field implementation complexity is reduced, and the logistics automation of the whole factory is realized;

while the foregoing has been described in terms of illustrative embodiments thereof, so that those skilled in the art may appreciate the present application, it is not intended to be limited to the precise embodiments so that others skilled in the art may readily utilize the present application to its various modifications and variations which are within the spirit and scope of the present application as defined and determined by the appended claims.

Claims (10)

1. The utility model provides a location navigation device based on moving object detects and tracks which characterized in that: the positioning navigation device based on moving object detection tracking comprises:

an intelligent AGV host;

the intelligent AGV host is electrically connected with the camera (1);

the mounting seat (2), the mounting seat (2) is fixed on the frame of the unmanned forklift through the mounting frame (3), the driving motor (6) is fixedly installed on the mounting frame (3), and the camera (1) is fixedly connected with the mounting seat (2) through the connecting rod (8);

the bearing (4) is installed, and a bearing inner ring of the installation bearing (4) is fixed on the installation seat (2);

the dustproof ball (5) is a hollow transparent glass ball with a circular opening, an annular seat (10) is integrally formed at the circular opening of the dustproof ball (5), the outer ring of the bearing for installing the bearing (4) is fixed on the inner side wall of the annular seat (10), and the dustproof ball (5) is driven by a driving motor (6);

the self-cleaning assembly (7), self-cleaning assembly (7) is connected with the rotor of driving motor (6), the surface of dustproof ball (5) is cleared up through self-cleaning assembly (7), and self-cleaning assembly (7) are by connecting axle (12), installation cover (13) and clearance brush hair (14) combination constitution.

2. A positioning navigation device based on moving object detection tracking as defined in claim 1, wherein: the annular seat (10) is characterized in that an annular gear (11) is fixedly arranged on the outer side wall of the annular seat, a driven gear (9) is fixedly arranged on a rotor of the driving motor (6), and the driven gear (9) is meshed with the annular gear (11).

3. A positioning navigation device based on moving object detection tracking as defined in claim 2, wherein: the self-cleaning brush comprises a self-cleaning assembly (7), a connecting shaft (12) arranged on the self-cleaning assembly (7) is connected with a rotor of a driving motor (6), an elastic rubber sleeve is arranged on the mounting sleeve (13), the mounting sleeve (13) is sleeved and installed on the connecting shaft (12), cleaning brush hairs (14) are flexible brush hairs, a layer of cleaning brush hairs (14) is uniformly arranged on the surface of the mounting sleeve (13), and the end parts of the cleaning brush hairs (14) are in close contact with the outer surface of a dust-proof ball (5).

4. A positioning navigation device based on moving object detection tracking according to claim 3, wherein: the annular seat (10) is provided with a first-stage mounting groove (15), the side wall of the first-stage mounting groove (15) is provided with an elastic belt fixing groove (16) and an elastic belt clearance groove (17), a positioning block (18) is movably mounted in the first-stage mounting groove (15), the positioning block (18) is provided with a belt penetrating hole, an elastic belt (19) is arranged in the belt penetrating hole in a penetrating way, two ends of the elastic belt (19) are positioned in the elastic belt fixing groove (16), and the side wall of the outer ring of the bearing of the mounting bearing (4) is provided with a positioning groove (30).

5. The positioning and navigation device based on moving object detection tracking according to claim 4, wherein: the utility model discloses a device for fixing a support spring, including annular seat (10), collar (21) are installed in the outside end of annular seat (10), screw hole (24) have been seted up on collar (21), screw hole (24) set up with screw hole (23) are corresponding, collar (21) are fixed on annular seat (10) through the set screw, and second grade mounting groove (25) have been seted up to the medial surface of collar (21), second grade mounting groove (25) set up with one-level mounting groove (15) correspondingly, and the cross-section combination of second grade mounting groove (25), one-level mounting groove (15) coincide with locating piece (18) cross-section, integrated into one piece has baffle ring (22) on the lateral wall of collar (21), movable sleeve is equipped with spacing ring (27) on annular seat (10), the spring groove has been seted up to the outer terminal surface of spacing ring (27), circumference such as spring groove has been seted up one round, and the tank bottom of spring groove all is connected with support spring (28).

6. The positioning and navigation device based on moving object detection tracking according to claim 5, wherein: the inner side surface of the limiting ring (27) is close to the side line on one side of the ring gear (11) and subjected to chamfering, the outer side end of the positioning block (18) is close to the side line on one side of the limiting ring (27) and subjected to chamfering, when the supporting spring (28) is in a reset state, the inner side wall of the limiting ring (27) is propped against the outer side end of the positioning block (18), and at the moment, the inner side end of the positioning block (18) is inserted into the positioning groove (30), when the limiting ring (27) is pushed to be close to the baffle ring (22), the limiting ring (27) is separated from the positioning block (18), and at the moment, the inner side end of the positioning block (18) is completely separated from the positioning groove (30).

7. The positioning and navigation device based on moving object detection tracking according to claim 6, wherein: a pressing plate (20) is inserted into the elastic belt fixing groove (16), and the elastic belt (19) is pressed by the pressing plate (20).

8. The positioning and navigation device based on moving object detection tracking according to claim 7, wherein: the outside end limit position of clamp plate (20) is through chamfer processing, the medial surface integrated into one piece of collar (21) has stripper plate (26), stripper plate (26) are inserted into the clearance between clamp plate (20) and elastic band fixed slot (16) through the chamfer of clamp plate (20) terminal surface.

9. The positioning and navigation device based on moving object detection tracking according to claim 8, wherein: the anti-slip protrusion (29) is integrally formed on the end surface of the pressing plate (20) which is abutted against the elastic belt (19), the anti-slip protrusion (29) is of a hemispherical protrusion structure, multiple groups of anti-slip protrusions (29) are uniformly distributed on the pressing plate (20), and when the pressing plate (20) is actually installed, the anti-slip protrusion (29) is pressed into the belt body of the elastic belt (19).

10. A positioning navigation system based on moving object detection tracking is characterized in that: the positioning and navigation system based on moving object detection and tracking is realized by the positioning and navigation device based on moving object detection and tracking according to any one of the claims 1-9, and the positioning and navigation system based on moving object detection and tracking comprises:

the AIGV module comprises a WAB module and a WPM module, wherein the WAB module is used for controlling the unmanned forklift to move, and the WPM module is used for sensing the surrounding environment of the unmanned forklift;

the system comprises a WMS module, a camera (1) and a control module, wherein the WMS module converts a stereoscopic warehouse environment into a plane environment in a system;

the WCS module comprises a WIS sub-module and a WOS sub-module, wherein the WIS sub-module and the WOS sub-module are used for facing the unmanned forklift system.