CN204883363U - AGV transport robot navigation system that laser guidance map found - Google Patents
AGV transport robot navigation system that laser guidance map found Download PDFInfo
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- CN204883363U CN204883363U CN201520570053.7U CN201520570053U CN204883363U CN 204883363 U CN204883363 U CN 204883363U CN 201520570053 U CN201520570053 U CN 201520570053U CN 204883363 U CN204883363 U CN 204883363U
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Abstract
The utility model discloses a transport robot navigation system that the laser guidance map found, include: remote control ware, carbone controller, laser range finder and being used for drives the motion control ware of transfer robot motion, wherein laser range finder's output links to each other with carbone controller's first input end, carbone controller pass through wireless network with remote control ware communication connection, carbone controller's the output and the input of motion control ware are connected. The utility model discloses only need can realize the real -time navigation to the transfer robot through the locating information that laser range finder obtained the transfer robot, the operation area who need not again the transfer robot installs other any navigation guide material or structures additional, has practiced thrift the navigation cost of transfer robot under the circumstances of guaranteeing transport robot navigation precision. On the one hand, avoided the environmental disruption to transfer robot operation area, on the other hand has strengthened the range of application of transfer robot greatly.
Description
[technical field]
The utility model relates to robot navigation's technology, particularly relates to a kind of transfer robot navigational system of laser guidance map structuring.
[background technology]
Along with developing rapidly of logistics system, transfer robot (being called for short AGV, AutomatedGuidedVehicle) is widely used in the fields such as industry, military affairs, communications and transportation, electronics.Transfer robot, refers to be equipped with the homing guidance such as electromagnetism or optics device, can travel, have the transport vehicle of safeguard protection and various transfer function along the guide path of regulation.
Transfer robot take wheel type mobile as feature, than walking, to creep or other non-wheeled mobile robot has the advantages such as action is quick, work efficiency is high, structure is simple, controllability is strong, security is good.Compared with other equipment conventional in mass transport, the zone of action of transfer robot without the need to laying the stationary installation such as track, support saddle frame, by the restriction in place, road and space.Therefore, in automatic Material Handling System, its automatism and flexibility can be embodied fully, realize efficient, economy, flexibly manless production.
Navigation/the guidance technology that can be used in transfer robot at present mainly contains following several: directly coordinate, electromagnetism guiding, optical navigation, GPS navigation, inertial navigation, reflective laser navigation.1) directly coordinated manner locating piece by running region be divided into some coordinate zonules, by realizing guiding to the counting of zonule.2) electromagnetism guiding buries metal wire underground on the driving path of transfer robot, and load pilot frequency, by realizing the guiding of transfer robot to the identification of pilot frequency at metal wire.3) tape navigation on road surface, pastes tape substitute and bury metal wire underground at subsurface, realizes guiding by magnetic induction signal.4) inertial navigation installs gyroscope on transfer robot, locating piece is installed on the ground of running region, transfer robot by determining self position and course to the calculating of gyroscope deviation signal (angular speed) and the collection of ground locating piece signal, thus realizes guiding.5) GPS navigation carries out TG (Tracking and Guidance) by satellite to the control object in on-fixed Road System.6) reflective laser guiding is the accurate laser reflection plate in installation site around transfer robot driving path, transfer robot is by laser scanner Emission Lasers bundle, gather by the laser beam of baffle reflection simultaneously, determine its current position and course, and realize the guiding of transfer robot by continuous print triangle geometric operation.
Existing transfer robot navigate mode all more or less existing defects and deficiency:
1) directly the ground survey of coodinate navigation mode is installed complicated, and workload is large, guidance accuracy and positioning precision lower, and the requirement of pahtfinder hard cannot be met.
2) electromagnetic navigation path is difficult to change expansion, large to the limitation of pahtfinder hard.
3) tape navigate mode is subject to the interference of loop surrounding metal material, and tape is easily mechanically damaged, and the reliability of guiding is larger by ectocine.
4) inertial navigation mode manufacturing cost is higher, the precision of guiding and reliability and gyrostatic manufacturing accuracy and follow-up signal process closely related.
5) GPS navigation mode precision depends on the skyborne fixed precision of satellite and quantity, and the factor such as control object surrounding environment.The manufacturing cost of high-precision navigational system is expensive.
Comparatively speaking, reflective laser navigator fix is accurate, and can be applicable to various field environment, be the advanced guide mode that current external many manufacturers preferentially adopt.
Inventor finds that reflective laser navigation needs vertically to set a series of reflector in advance around transfer robot driving path, and reach the object of locating and orienting, therefore cost is high.In addition, reflective laser navigation needs to install reflector, has destruction, reduce the range of application (in the industry such as telecommunications, chemical industry, the installation of transfer robot must not destroy surrounding enviroment) of transfer robot to the surrounding enviroment that transfer robot runs.Reflective laser navigator fix is relevant with the quantity of installation reflector with orientation accuracy, considers, generally all select the least possible installation reflector from cost-saving angle.Due to the impact of barrier (comprising environmental visual dead angle), the moving line of transfer robot is limited.
[utility model content]
Based on this, be necessary the problem for prior art, a kind of transfer robot navigational system of laser guidance map structuring is provided.
A transfer robot navigational system for laser guidance map structuring, comprising: remote controllers, Vehicle Controller, laser range finder 103 and the motion controller 104 for driving transfer robot to move;
The wherein said output terminal of laser range finder 103 is connected with the first input end of Vehicle Controller, and described Vehicle Controller is communicated to connect by wireless network and described remote controllers;
The output terminal of described Vehicle Controller is connected with the input end of motion controller 104.
The utility model first remote control terminal generates Global motion planning path, and in the process of transfer robot motion, laser range finder 103 and odometer obtain the locating information of transfer robot, and then vehicle-mounted control end can search corresponding grating map according to described locating information.Last vehicle-mounted control end, in conjunction with grating map and Global motion planning path, generates the instruction being used to indicate transfer robot motion, then motion controller 104 is issued in this instruction, to control transfer robot motion.The locating information that the utility model only need obtain transfer robot by laser range finder 103 can realize the real-time navigation to transfer robot, operating area without the need to transfer robot again installs other any navigation guide material or structures additional, has saved the navigation cost of transfer robot when ensureing transfer robot navigation accuracy.On the one hand, avoid the environmental disruption to transfer robot operating area, greatly strengthen the range of application of transfer robot on the other hand.
[accompanying drawing explanation]
Fig. 1 is the structured flowchart of a transfer robot navigational system embodiment of a kind of laser guidance map structuring of the utility model;
Fig. 2 is the structured flowchart of another embodiment of transfer robot navigational system of a kind of laser guidance map structuring of the utility model.
[embodiment]
In order to make the purpose of this utility model, technical scheme and advantage clearly, below in conjunction with accompanying drawing, the utility model is described in further detail.
Refer to Fig. 1, it is the structured flowchart of a transfer robot navigational system embodiment of a kind of laser guidance map structuring of the utility model.
A transfer robot navigational system for laser guidance map structuring, comprising: remote controllers 101, Vehicle Controller 102, laser range finder 103 and the motion controller 104 for driving transfer robot to move;
The output terminal of wherein said laser range finder 103 is connected with the first input end of Vehicle Controller 102, and described Vehicle Controller 102 is communicated to connect by wireless network and described remote controllers 101; Preferably, described Vehicle Controller 102 comprises: wireless transmitting terminals and wireless interface receiving end; Described wireless transmitting terminals and wireless interface receiving end communicate to connect respectively by WLAN (wireless local area network) and remote controllers 101.
The output terminal of described Vehicle Controller 102 is connected with the input end of motion controller 104.
In the present embodiment, described remote controllers 101 can generate topological map according to the environmental information of the operating area of input, and can also generate Global motion planning path according to the position of transfer robot and target emphasis.
Described laser range finder 103 for gathering the environmental information of transfer robot periphery, and thinks that Vehicle Controller 102 exports the self-align pose of transfer robot, and this environmental information comprises the distance of transfer robot apart from each barrier.
Described Vehicle Controller 102 can merge the self-align pose of environmental information that laser range finder 103 sends and transfer robot, and according to Global motion planning coordinates measurement sector planning path, namely generate the instruction being used to indicate transfer robot motion, and motion controller 104 is issued in this instruction.
Described motion controller 104, for receiving the instruction of the instruction transfer robot motion of Vehicle Controller 102 transmission, resolve this instruction, and driving and transfer robot moves to the position of specifying
The utility model first remote control terminal generates Global motion planning path, and in the process of transfer robot motion, laser range finder 103 and odometer obtain the locating information of transfer robot, and then vehicle-mounted control end can search corresponding grating map according to described locating information.Last vehicle-mounted control end, in conjunction with grating map and Global motion planning path, generates the instruction being used to indicate transfer robot motion, then motion controller 104 is issued in this instruction, to control transfer robot motion.The locating information that the utility model only need obtain transfer robot by laser range finder 103 can realize the real-time navigation to transfer robot, operating area without the need to transfer robot again installs other any navigation guide material or structures additional, has saved the navigation cost of transfer robot when ensureing transfer robot navigation accuracy.On the one hand, avoid the environmental disruption to transfer robot operating area, greatly strengthen the range of application of transfer robot on the other hand.
In one embodiment, the transfer robot navigational system of described laser guidance map structuring, also comprises: odometer 105, and the output terminal of described odometer 105 is connected with the input end of described Vehicle Controller 102.
Described odometer 105 can estimate the self-align pose of transfer robot, when laser range finder 103 can be avoided to lose efficacy or be interfered, causes the problem that described self-align position and attitude error is larger, thus ensure that the reliability of self-align pose.
The above embodiment only have expressed several embodiment of the present utility model, and it describes comparatively concrete and detailed, but therefore can not be interpreted as the restriction to the utility model the scope of the claims.It should be pointed out that for the person of ordinary skill of the art, without departing from the concept of the premise utility, can also make some distortion and improvement, these all belong to protection domain of the present utility model.Therefore, the protection domain of the utility model patent should be as the criterion with claims.
Claims (3)
1. a transfer robot navigational system for laser guidance map structuring, is characterized in that, comprising: remote controllers, Vehicle Controller, laser range finder and the motion controller for driving transfer robot to move;
The output terminal of wherein said laser range finder is connected with the first input end of Vehicle Controller, and described Vehicle Controller is communicated to connect by wireless network and described remote controllers;
The output terminal of described Vehicle Controller is connected with the input end of motion controller.
2. the transfer robot navigational system of laser guidance map structuring according to claim 1, is characterized in that, also comprise: odometer, and the output terminal of described odometer is connected with the input end of described Vehicle Controller.
3. the transfer robot navigational system of laser guidance map structuring according to claim 1, is characterized in that, described Vehicle Controller comprises: wireless transmitting terminals and wireless interface receiving end; Described wireless transmitting terminals and wireless interface receiving end communicate to connect respectively by WLAN (wireless local area network) and remote controllers.
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| CN201520570053.7U CN204883363U (en) | 2015-07-29 | 2015-07-29 | AGV transport robot navigation system that laser guidance map found |
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| CN201520570053.7U CN204883363U (en) | 2015-07-29 | 2015-07-29 | AGV transport robot navigation system that laser guidance map found |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106383517A (en) * | 2016-09-30 | 2017-02-08 | 汕头大学 | Control system used for autonomous mobile robot platform and control method and device thereof |
| CN107390676A (en) * | 2016-05-17 | 2017-11-24 | 深圳市朗驰欣创科技股份有限公司 | Tunnel crusing robot and tunnel cruising inspection system |
| CN107607117A (en) * | 2017-08-09 | 2018-01-19 | 华南理工大学 | A kind of robot based on laser radar builds figure navigation system and method |
| CN109324574A (en) * | 2018-09-07 | 2019-02-12 | 创维集团智能装备有限公司 | A kind of AGV trolley control system and its control method based on laser scanning |
| CN113739785A (en) * | 2020-05-29 | 2021-12-03 | 杭州海康机器人技术有限公司 | Robot positioning method and device and storage medium |
-
2015
- 2015-07-29 CN CN201520570053.7U patent/CN204883363U/en active Active
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107390676A (en) * | 2016-05-17 | 2017-11-24 | 深圳市朗驰欣创科技股份有限公司 | Tunnel crusing robot and tunnel cruising inspection system |
| CN106383517A (en) * | 2016-09-30 | 2017-02-08 | 汕头大学 | Control system used for autonomous mobile robot platform and control method and device thereof |
| CN106383517B (en) * | 2016-09-30 | 2019-06-07 | 汕头大学 | A kind of autonomous mobile robot platform control system, method and device |
| CN107607117A (en) * | 2017-08-09 | 2018-01-19 | 华南理工大学 | A kind of robot based on laser radar builds figure navigation system and method |
| CN109324574A (en) * | 2018-09-07 | 2019-02-12 | 创维集团智能装备有限公司 | A kind of AGV trolley control system and its control method based on laser scanning |
| CN113739785A (en) * | 2020-05-29 | 2021-12-03 | 杭州海康机器人技术有限公司 | Robot positioning method and device and storage medium |
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Address after: Room 713, Building 13, Compound 100, Xianlie Middle Road, Guangzhou, Guangdong Province, 510000 Patentee after: Institute of intelligent manufacturing, Guangdong Academy of Sciences Address before: 510070 building 13, 100 Hall of martyrs Road, Guangzhou, Guangdong Patentee before: GUANGDONG INSTITUTE OF INTELLIGENT MANUFACTURING Address after: 510070 building 13, 100 Hall of martyrs Road, Guangzhou, Guangdong Patentee after: GUANGDONG INSTITUTE OF INTELLIGENT MANUFACTURING Address before: Room 713, Building 13, Compound 100, Xianlie Middle Road, Guangzhou, Guangdong Province, 510000 Patentee before: Guangdong Institute of Automation |
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