CN205983220U - Remove location and navigation head equipped based on spatial vision sensor - Google Patents
Remove location and navigation head equipped based on spatial vision sensor Download PDFInfo
- Publication number
- CN205983220U CN205983220U CN201621045799.7U CN201621045799U CN205983220U CN 205983220 U CN205983220 U CN 205983220U CN 201621045799 U CN201621045799 U CN 201621045799U CN 205983220 U CN205983220 U CN 205983220U
- Authority
- CN
- China
- Prior art keywords
- intelligent
- mobile equipment
- vision sensor
- management platform
- control terminal
- 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.)
- Active
Links
Abstract
The utility model discloses a remove location and navigation head equipped based on spatial vision sensor, include: vision sensor sets up in intelligent space for the essential information among the intelligent space environment of real -time perception and the essential information of intelligent movement equipment, operation system control terminal is used for sending control command according to the actual demand, intelligent scheduling control management platform is used for prestore information to and receiving and sending operation system control terminal's control command, intelligent movement equips the control command who sends through wireless network receive real -time intelligent scheduling control management platform to carry out the operation that corresponds with control command, operation route and running state that while intelligent movement equipped pass through wireless network and feed back in real time to intelligent scheduling control management platform. The utility model discloses have the framework simple, use extensively, realize whole management automation with intelligent, realize that high -speed and efficient operation, at utmost reduce the beneficial effect of user's operation cost.
Description
Technical field
This utility model is related to intelligent robot technology field, particularly to a kind of movement based on spatial vision sensor
The positioning of equipment and guider.
Background technology
Intelligent mobile equips the research including mobile robot, automatic driving vehicle etc. with application just with unprecedented at present
Speed fast-developing, and become the key of industry 4.0, intelligence manufacture etc..
In intelligent mobile equipment, it is mostly to come by being equipped with the sensor of high-grade, precision and advanced costliness and high performance computer
Realize the positioning of Mobile Equipment and the function of navigation.But, because sensor and high performance computer is expensive and difficult
So that intelligent mobile equipment is widely applied, thus limiting development and the application of intelligent mobile equipment.
For this reason, this area can widely use in the urgent need to one kind, cost is relatively low and can meet intelligent mobile equipment carrying out
Positioning and the device navigating.
Utility model content
This utility model is intended to overcome above technical problem, proposes that a kind of framework is simple, is widely used, realizes whole process control
Intellectually and automatically, realize at a high speed with efficient operation, at utmost reduce user's operation cost based on spatial vision
The positioning of the Mobile Equipment of sensor and guider.
For solving above-mentioned technical problem, according to of the present utility model in a first aspect, providing a kind of spatial vision that is based on to sense
The positioning of the Mobile Equipment of device and guider, wherein, including operation system control terminal, intelligent scheduling monitoring management platform,
Intelligent mobile equipment and vision sensor,
Described vision sensor is arranged in intelligent space, for the essential information in real-time perception intelligent space environment with
And the essential information of described intelligent mobile equipment；
Described operation system control terminal sends control to described intelligent scheduling monitoring management platform according to the actual requirements and refers to
Order；
Described intelligent scheduling monitoring management platform is previously stored with essential information and the path letter of described intelligent mobile equipment
Breath, and receive and send the control instruction of described operation system control terminal；And
The control that described intelligent mobile equipment is sent by intelligent scheduling monitoring management platform described in wireless network real-time reception
System instruction, and execute operation corresponding with described control instruction, the running route of described intelligent mobile equipment and operation shape simultaneously
State passes through wireless network Real-time Feedback to described intelligent scheduling monitoring management platform.
According to second aspect of the present utility model, provide a kind of positioning of the Mobile Equipment based on spatial vision sensor with
Guider, wherein, the quantity of described vision sensor is multiple.
According to the third aspect of the present utility model, provide a kind of positioning of the Mobile Equipment based on spatial vision sensor with
Guider, wherein, in described intelligent mobile equipment running, at least two described vision sensors detect institute simultaneously
State the operation conditions of intelligent mobile equipment.
According to fourth aspect of the present utility model, provide a kind of positioning of the Mobile Equipment based on spatial vision sensor with
Guider, wherein, described intelligent mobile equipment is provided with car-mounted computer, described car-mounted computer pass through wireless network with
Described intelligent scheduling monitoring management platform is communicatively coupled.
According to the 5th aspect of the present utility model, provide a kind of positioning of the Mobile Equipment based on spatial vision sensor with
Guider, wherein, is provided with obstacle detector in front of described intelligent mobile equipment, described obstacle detector bag
Include：
Detection of obstacles module, for detecting whether front during described intelligent mobile is equipped in execution control instruction has
Barrier；
Message processing module, is connected with described detection of obstacles module and intelligent scheduling monitoring management platform, for analyzing
Driving path is simultaneously made the measure of keeping in obscurity and is sent this measure that keeps in obscurity to described intelligent scheduling monitoring management platform in real time simultaneously.
According to the 6th aspect of the present utility model, provide a kind of positioning of the Mobile Equipment based on spatial vision sensor with
Guider, wherein, described operation system control terminal is ERP control terminal, MES control terminal or WMS control terminal.
According to the 7th aspect of the present utility model, provide a kind of positioning of the Mobile Equipment based on spatial vision sensor with
Guider, wherein, described intelligent mobile be equipped for intelligent robot, intelligent forklift, intelligent mover, unmanned fork truck or
Tray carriage.
The positioning of the Mobile Equipment based on spatial vision sensor of the present utility model and guider are compared to existing skill
Art has the advantage that：
1st, in this utility model, vision sensor is arranged in intelligent space, is different from and existing vision sensor is set
Put on intelligent mobile equipment, so can reduce the cost of Mobile Equipment, reduce Mobile Equipment hardware device itself and meter
The requirement of calculation ability, has cleared away the obstacle in price for application with popularization.
2nd, the positioning of the Mobile Equipment based on spatial vision sensor of the present utility model and guider not only can be answered
For storing in a warehouse, Mobile Equipment in sorting, the mover as on-site in finite region can also be applied to, or acceptable
Expand on the automatic driving vehicle on expressway, that is, have wide range of applications, and practical.
Brief description
In order to be illustrated more clearly that this utility model embodiment or technical scheme of the prior art, below will be to embodiment
Or in description of the prior art the accompanying drawing of required use be briefly described it should be apparent that, drawings in the following description are only
It is some embodiments of the present utility model, for those of ordinary skill in the art, in the premise not paying creative work
Under, other accompanying drawings can also be obtained according to these accompanying drawings.
Fig. 1 is the framework knot with guider for the positioning of the Mobile Equipment based on spatial vision sensor of the present utility model
Structure schematic diagram；
Fig. 2 is the circuit theory schematic diagram of obstacle detector of the present utility model.
Description of reference numerals：
1st, operation system control terminal 2, intelligent scheduling monitoring management platform
3rd, intelligent mobile equipment 4, vision sensor
31st, obstacle detector 311, detection of obstacles module
312nd, message processing module
Specific embodiment
For making the purpose of this utility model, technical scheme and advantage of greater clarity, with reference to specific embodiment
And referring to the drawings, this utility model is further described.It should be understood that these descriptions are simply exemplary, and do not really want
Limit scope of the present utility model.Additionally, in the following description, eliminate the description to known features and technology, to avoid not
Necessarily obscure concept of the present utility model.
Fig. 1 is the framework knot with guider for the positioning of the Mobile Equipment based on spatial vision sensor of the present utility model
Structure schematic diagram, as shown in figure 1, this utility model provides a kind of positioning of the Mobile Equipment based on spatial vision sensor and leads
Boat device, including operation system control terminal 1, intelligent scheduling monitoring management platform 2, intelligent mobile equipment 3 and visual sensing
Device 4.
In this utility model, vision sensor 4 is arranged in intelligent space, in real-time perception intelligent space environment
Essential information and the essential information of intelligent mobile equipment 3, wherein, the essential information of intelligent mobile equipment 3 includes intelligent mobile
The model of equipment 3, quantity and use state.Operation system control terminal 1 is used for monitoring to intelligent scheduling according to the actual requirements
Management platform 2 sends control instruction, for example, instruct certain handlebar goods place from A local transport to B, or other instructions etc..
Intelligent scheduling monitoring management platform 2 is previously stored with essential information and the routing information of intelligent mobile equipment 3, and receives and send out
Send the control instruction of operation system control terminal 1.Intelligent mobile equipment 3 passes through wireless network real-time reception intelligent scheduling monitoring pipe
The control instruction that platform 2 sends, and execute operation corresponding with control instruction, the running route of intelligent mobile equipment 3 simultaneously
Pass through wireless network Real-time Feedback with running status to intelligent scheduling monitoring management platform 2.
Because the intelligent space in this utility model is by being provided with the space that vision sensor 4 is constituted, in order to side entirely
Position no dead angle and the clearly operation conditions of real-time monitoring intelligent mobile equipment 3 and running route, can be in intelligent space
The quantity of vision sensor 4 is set to multiple.Additionally, equip in 3 runnings in intelligent mobile must assure that at least two
The operation conditions of intelligent mobile equipment 3 monitored by individual vision sensor 4 simultaneously, is so to ensure that and can equip in intelligent mobile
Pass through binocular ranging technology, real-time monitoring intelligent mobile equipment 3, such that it is able to comprehensively monitor intelligent sliding in the region of 3 travelings
The operation conditions of dynamic equipment 3 and running route.
In this utility model, operation system control terminal 1 can control for ERP control terminal, MES control terminal or WMS
Terminal.Specifically, in this utility model, by EPA or wireless Internet technologies respectively with ERP (Enterprise
Resource Planning) modern enterprise resource planning management system, MES (manufacturing execution
System) manufacturing enterprise's production process execution management system or WMS (Warehouse Management System) storehouse management
The control terminals such as system connect, can be by setting up the WLAN covering whole job area, specifically, Ke Yigen for this
Area according to intelligent space disposes multiple wireless routers.In this utility model, whole platform adopts distributed deployment framework, with
EPA or WLAN WLAN are attached with all of intelligent mobile equipment 3, coordinate many garages simultaneously and walk and make
Industry, realizes supervision and the job scheduling of unmanned intelligent mobile equipment 3.
Fig. 2 is the circuit theory schematic diagram of obstacle detector of the present utility model, as shown in Fig. 2 intelligent mobile dress
It is provided with obstacle detector 31, obstacle detector 31 includes in front of standby 3：At detection of obstacles module 311 and information
Reason module 312.Wherein, detection of obstacles module 311 is used for detecting intelligent mobile equipment 3 front during execution control instruction
Whether there is barrier；Message processing module 312 is connected with detection of obstacles module 311 and intelligent scheduling monitoring management platform 2, uses
In analysis driving path and make the measure of keeping in obscurity and send this measure that keeps in obscurity to intelligent scheduling monitoring management platform 2 in real time simultaneously.
The function that the intelligent mobile equipment 3 of so setting has intellectuality, autonomy-oriented is processed, can be from principal solution when there is emergency
Certainly problem, such as can implement the measure such as brake or stop, without manual intervention when having barrier in front.
In further embodiment of the present utility model, intelligent mobile equipment 3 is also provided with car-mounted computer, should
Car-mounted computer is communicatively coupled with intelligent scheduling monitoring management platform 2 by wireless network.
In this utility model, intelligent mobile equipment 3 can be for intelligent robot, intelligent forklift, intelligent mover, nobody drives
Sail fork truck or tray carriage etc.., in specific operation process taking intelligent forklift as a example, start intelligent forklift and carry out for car-mounted computer
Power supply, car-mounted computer can connect WLAN, and can connect with intelligent scheduling monitoring management platform 2.By intelligence
Dispatching and monitoring management platform 2 can monitor all intelligent forklifts having been turned in current intelligent space, start a test
Work flow it is intended that certain car completes a job task, after scheduled intelligent forklift receives job instruction, according to receiving mesh
Mark cargo location and path, are independently travelled and process control, and at any time running status are reported to intelligent scheduling monitoring pipe
Platform 2.After intelligent forklift drives to target location, by image measurement target position, intelligent forklift is instructed to complete goods
Thing (pallet) fork takes action, then according to job instruction, goods is put into the place specified.In whole operation, ERP MES/
WMS control terminal simply sends the instruction of fork picking thing, and remaining work independently will be completed by intelligent forklift, need not manually do
In advance.
The positioning of the Mobile Equipment based on spatial vision sensor 4 of the present utility model is simple with guider framework, expansion
Malleability is good, module construction, is docked with general ERP, MES or WMS control terminal using standard interface protocol, without space
Transformation, realizes whole process control automatization, intellectuality in intelligent space, realizes high speed, efficient schedule job, at utmost drops
Low user's operation cost, improves income.
It should be appreciated that above-mentioned specific embodiment of the present utility model is used only for exemplary illustration or explains this reality
With new principle, and do not constitute to restriction of the present utility model.Therefore, without departing from spirit and scope of the present utility model
In the case of any modification, equivalent substitution and improvement done etc., should be included within protection domain of the present utility model.Additionally,
This utility model claims are intended to fall into scope and border or this scope and border
Whole changes in equivalents and modification.
Claims (7)
1. a kind of positioning of the Mobile Equipment based on spatial vision sensor and guider are it is characterised in that include business system
System control terminal, intelligent scheduling monitoring management platform, intelligent mobile equipment and vision sensor,
Described vision sensor is arranged in intelligent space, for the essential information in real-time perception intelligent space environment and institute
State the essential information of intelligent mobile equipment；
Described operation system control terminal sends control instruction to described intelligent scheduling monitoring management platform according to the actual requirements；
Described intelligent scheduling monitoring management platform is previously stored with essential information and the routing information of described intelligent mobile equipment, with
And receive and send the control instruction of described operation system control terminal；And
Described intelligent mobile equipment is referred to by the control that intelligent scheduling monitoring management platform described in wireless network real-time reception sends
Order, and execute operation corresponding with described control instruction, the running route of described intelligent mobile equipment is led to running status simultaneously
Cross wireless network Real-time Feedback to described intelligent scheduling monitoring management platform.
2. the positioning of the Mobile Equipment based on spatial vision sensor according to claim 1 and guider, its feature
It is, the quantity of described vision sensor is multiple.
3. the positioning of the Mobile Equipment based on spatial vision sensor according to claim 1 and guider, its feature
It is, in described intelligent mobile equipment running, at least two described vision sensors detect described intelligent mobile simultaneously
The operation conditions of equipment.
4. the positioning of the Mobile Equipment based on spatial vision sensor according to claim 1 and guider, its feature
It is, described intelligent mobile equipment is provided with car-mounted computer, described car-mounted computer passes through wireless network and described intelligence
Dispatching and monitoring management platform is communicatively coupled.
5. the positioning of the Mobile Equipment based on spatial vision sensor according to claim 1 and guider, its feature
It is, be provided with obstacle detector in front of described intelligent mobile equipment, described obstacle detector includes：
Detection of obstacles module, for detecting whether front during described intelligent mobile is equipped in execution control instruction has obstacle
Thing；
Message processing module, is connected with described detection of obstacles module and intelligent scheduling monitoring management platform, travels for analysis
Path is simultaneously made the measure of keeping in obscurity and is sent this measure that keeps in obscurity to described intelligent scheduling monitoring management platform in real time simultaneously.
6. the positioning of the Mobile Equipment based on spatial vision sensor according to claim 1 and guider, its feature
It is, described operation system control terminal is ERP control terminal, MES control terminal or WMS control terminal.
7. the positioning of the Mobile Equipment based on spatial vision sensor according to claim 1 and guider, its feature
It is, described intelligent mobile is equipped for intelligent robot, intelligent forklift, intelligent mover, unmanned fork truck or tray carriage.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621045799.7U CN205983220U (en) | 2016-09-09 | 2016-09-09 | Remove location and navigation head equipped based on spatial vision sensor |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621045799.7U CN205983220U (en) | 2016-09-09 | 2016-09-09 | Remove location and navigation head equipped based on spatial vision sensor |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN205983220U true CN205983220U (en) | 2017-02-22 |
Family
ID=58040061
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201621045799.7U Active CN205983220U (en) | 2016-09-09 | 2016-09-09 | Remove location and navigation head equipped based on spatial vision sensor |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN205983220U (en) |
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107450536A (en) * | 2017-08-01 | 2017-12-08 | 上海艾崇机器人有限公司 | A kind of automatical pilot transportation vehicle dispatches system |
| CN108334070A (en) * | 2017-12-11 | 2018-07-27 | 浙江捷尚人工智能研究发展有限公司 | Robot travel control method, apparatus and system based on full-view camera |
| CN109573439A (en) * | 2018-12-27 | 2019-04-05 | 北京艾瑞思机器人技术有限公司 | The method of transfer robot, shelf, warehousing system and Transport cargo rack |
| CN112256038A (en) * | 2020-11-03 | 2021-01-22 | 盈合(深圳)机器人与自动化科技有限公司 | Intelligent space service method and system |
| CN113526157A (en) * | 2021-06-21 | 2021-10-22 | 东风本田发动机有限公司 | AGV flexible carrying system, control method and device |
| CN115100622A (en) * | 2021-12-29 | 2022-09-23 | 中国矿业大学 | Method for detecting travelable area and automatically avoiding obstacle of unmanned transportation equipment in deep limited space |
-
2016
- 2016-09-09 CN CN201621045799.7U patent/CN205983220U/en active Active
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107450536A (en) * | 2017-08-01 | 2017-12-08 | 上海艾崇机器人有限公司 | A kind of automatical pilot transportation vehicle dispatches system |
| CN108334070A (en) * | 2017-12-11 | 2018-07-27 | 浙江捷尚人工智能研究发展有限公司 | Robot travel control method, apparatus and system based on full-view camera |
| CN109573439A (en) * | 2018-12-27 | 2019-04-05 | 北京艾瑞思机器人技术有限公司 | The method of transfer robot, shelf, warehousing system and Transport cargo rack |
| CN109573439B (en) * | 2018-12-27 | 2021-07-09 | 北京旷视机器人技术有限公司 | Transfer robot, rack, warehousing system and method for transferring rack |
| CN112256038A (en) * | 2020-11-03 | 2021-01-22 | 盈合(深圳)机器人与自动化科技有限公司 | Intelligent space service method and system |
| CN113526157A (en) * | 2021-06-21 | 2021-10-22 | 东风本田发动机有限公司 | AGV flexible carrying system, control method and device |
| CN115100622A (en) * | 2021-12-29 | 2022-09-23 | 中国矿业大学 | Method for detecting travelable area and automatically avoiding obstacle of unmanned transportation equipment in deep limited space |
| CN115100622B (en) * | 2021-12-29 | 2023-09-22 | 中国矿业大学 | Method for detecting driving area of unmanned transportation equipment in deep limited space and automatically avoiding obstacle |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN205983220U (en) | Remove location and navigation head equipped based on spatial vision sensor | |
| CN102707718B (en) | Automatic guidance system controls the communication means of industrial vehicle | |
| CN109062202A (en) | Intelligent storage delivery system based on Internet of Things driving | |
| CN106447256A (en) | Intelligent mobile device-based storage intelligent scheduling monitoring management method and system | |
| US10093037B2 (en) | Manufacturing system in which workpiece is transferred | |
| CN107368072A (en) | A kind of AGV operation control systems and paths planning method that can configure based on map | |
| AU2019290096B2 (en) | Robot scheduling and robot path control method, server and storage medium | |
| CN105652870A (en) | Autonomous patrol control system and method of intelligent security service robot | |
| CN107025787A (en) | A kind of motorcade logistic control method and system | |
| CN109213161A (en) | AGV control system and method based on edge calculations | |
| KR101660162B1 (en) | Automated guided vehicle system based on autonomous mobile technique and a method for controlling the same | |
| CN105739531A (en) | Unmanned plane control system based on unmanned plane air management platform | |
| Yan et al. | An intralogistics-oriented Cyber-Physical System for workshop in the context of Industry 4.0 | |
| CN206872296U (en) | A kind of bridge type vehicle-driving device | |
| CN107703944A (en) | A kind of airport ground aircraft automated intelligent trailer system and method | |
| CN107032234A (en) | Automate the double car avoidance systems of track crane | |
| CN204527375U (en) | A kind of crawler type detection multi-robot system | |
| CN113636362B (en) | Automatic operation method and system for unmanned container truck in port empty box yard | |
| CN104616128B (en) | A kind of Optimization Scheduling and system based on RFID | |
| CN113822576A (en) | Intelligent port scheduling system | |
| CN206278844U (en) | The double car avoiding devices of automation track crane | |
| CN203178805U (en) | Automatic navigation logistics system based on multi-information fusion | |
| CN205153650U (en) | Sideslip detecting system in advance in lifting and horizontal moving garage | |
| CN111717845A (en) | Forklift AGV basket distribution transfer system and automatic control method thereof | |
| CN113253726B (en) | Magnetic navigation robot and navigation scheduling system under Internet of things |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20170727 Address after: 313104, Zhejiang, Huzhou province Changxing County Hongxing Town Industrial Park Patentee after: Zhejiang afterburner Intelligent Technology Co., Ltd. Address before: 100084 Beijing city Haidian District Shuangqing Road No. 1 Hospital No. 6 building two Room 204 (North) Patentee before: Smart man (Beijing) Technology Co., Ltd. |
|
| TR01 | Transfer of patent right | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20191210 Address after: 313100 Hongxingqiao Town Industrial Concentration Zone, Changxing County, Huzhou City, Zhejiang Province Patentee after: Zhejiang Jialift Warehouse Equipment Co., Ltd. Address before: 313104 Hongxing Qiao Industrial Park, Changxing County, Huzhou, Zhejiang Patentee before: Zhejiang afterburner Intelligent Technology Co., Ltd. |
|
| TR01 | Transfer of patent right |