CN206075137U - Automated navigation system - Google Patents
Automated navigation system Download PDFInfo
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- CN206075137U CN206075137U CN201621018351.6U CN201621018351U CN206075137U CN 206075137 U CN206075137 U CN 206075137U CN 201621018351 U CN201621018351 U CN 201621018351U CN 206075137 U CN206075137 U CN 206075137U
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- virtual rail
- navigation system
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Abstract
This utility model provides a kind of automated navigation system, including：Door frame；Locating module, including at least two positioning antennas, at least two positioning antennas are arranged at least two designated areas of door frame, for monitoring the deviation between at least two designated areas and virtual rail, to guarantee that door frame is walked according to virtual rail；Walking monitoring module, is connected to locating module, for monitoring the actual walking track for carrying car；Travelling control module, for controlling to carry car according to virtual rail walking；Circuit correction module, is respectively connecting to walk monitoring module and travelling control module, for when monitoring module of walking monitors the actual walking track deviation virtual rail for carrying car, correction carries car to virtual rail.By technical solutions of the utility model, it is therefore prevented that the skew in automatic Pilot direction, it is to avoid due to deviation of walking caused by road out-of-flatness, improve the intelligent level for carrying that garage is walked.
Description
Technical field
This utility model is related to field of navigation technology, in particular to a kind of automated navigation system.
Background technology
In the related, by driver driving mobile detection apparatus to device to be detected, detected at such as container,
If driver is in long-duration driving state, easily increase fatigue strength, it is serious in the case of can also cause security incident, and take charge of
Machine driving procedure in can not monitor state, there is also certain potential safety hazard.
Therefore, a kind of new self-navigation scheme how is designed, to realize that freely walking for mobile detection apparatus becomes urgently
Technical problem to be solved.
Utility model content
This utility model is based at least one above-mentioned technical problem, it is proposed that a kind of new self-navigation scheme, leads to
Setting locating module is crossed, with reference to the current location of the real-time computing device of encoder, and is sent to server, according to the collection for detecting
Vanning case position, combining environmental information generates virtual rail, and when equipment is walked according to virtual rail, the speed of driving wheel keeps one
Cause, and when the situation of Uneven road occur, the stroke that experienced due to driving wheel is inconsistent to cause direction of travel to deflect,
When deflecting, run trace is corrected by circuit correction module, so as to carry car return on predetermined driving trace,
Realize the equipment mobile detection apparatus such as load car to walk automatically according to virtual rail, it is therefore prevented that the skew in automatic Pilot direction, keep away
Exempt from due to deviation of walking caused by road out-of-flatness, improved the intelligent level for carrying that garage is walked.
In view of this, the utility model proposes a kind of automated navigation system, including：Door frame；Locating module, including at least
Two positioning antennas, at least two positioning antennas are arranged at least two designated areas of door frame, refer to for monitoring at least two
Determine the deviation between region and virtual rail, to guarantee that door frame is walked according to virtual rail；Walking monitoring module, it is fixed to be connected to
Position module, for monitoring the actual walking track for carrying car；Travelling control module, for controlling to carry car according to virtual rail walking；
Circuit correction module, is respectively connecting to walk monitoring module and travelling control module, for monitoring load in walking monitoring module
When the actual walking track of car deviates virtual rail, correction carries car to virtual rail.
In the technical scheme, by arranging locating module, with reference to the current location of the real-time computing device of encoder, concurrently
Server is delivered to, according to the container space for detecting, combining environmental information generates virtual rail, in equipment according to virtual rail
During walking, the speed of driving wheel is consistent, and when there is the situation of Uneven road, and the stroke experienced due to driving wheel is not
Unanimously cause direction of travel to deflect, when deflecting, run trace is corrected by circuit correction module, so that
Carry car to return on predetermined driving trace, realize the mobile detection apparatus such as load car and walk automatically according to virtual rail, it is therefore prevented that
The skew in automatic Pilot direction, it is to avoid due to deviation of walking caused by road out-of-flatness, improve the intellectuality for carrying that garage is walked
Level.
Wherein, locating module includes the alignment systems such as GPS location, Glonass (GPS), Big Dipper positioning
In at least one.
Travelling control module is specially driving means, including Si Fu mechanisms and motor etc..
In above-mentioned technical proposal, it is preferable that also include：Presetting module, is connected to travelling control module, treats for basis
The default virtual rail in the position of detection means, so that the control of travelling control module carries car and installs virtual rail walking.
In the technical scheme, by according to device to be detected, the position of such as container, tying the position of consolidated car itself
Information determines virtual rail, so that the control control of travelling control module carries car and walks according to virtual rail, realizes unmanned
Load car travel to device to be detected and detected, make detection process more intelligent.
In any of the above-described technical scheme, it is preferable that circuit correction module includes：Determining unit, for monitoring
When actual run trace deviates virtual rail, it is determined that carrying offset direction and the offset distance of car；Adjustment unit, is connected to determination single
Unit, for adjusting the direction of the front-wheel for carrying car according to offset direction and offset distance, and determines the speed difference of driving wheel, with
When needing to turn to, it is desirable to steering mechanism's travel direction correction, or the speed difference that driving wheel is adjusted in straight line moving.
In the technical scheme, by when actual run trace deviation virtual rail is monitored, it is determined that carrying the skew of car
Direction and offset distance, according to offset direction and offset distance travel direction and compensated distance, to specifically include according to skew side
To the directional compensation angle for determining the front-wheel for carrying car, it is then determined that the speed difference of the driving wheel for compensation, to realize that walking is inclined
Poor adjustment.
Specifically, when preparing to turn to, it is determined that front-wheel whne the anglec of rotation when, according to treating that the anglec of rotation determines driving wheel
Linear velocity relation, and driven according to the linear velocity relation for treating the anglec of rotation and driving wheel and carry the control devices such as car and realize turning to,
The automatic steering control of control device is realized, the automatization level of control device is improved.
When there is straight line moving deviation due to road unevenness, ensure to walk directly according to the speed difference of adjustment driving wheel.
In any of the above-described technical scheme, it is preferable that walking monitoring module includes：Electro-optical distance measurement sensor, for examining
Survey and carry whether car walks in virtual rail.
In the technical scheme, by the upper setting electro-optical distance measurement sensor for carrying car, setting on the track of virtual rail
Object of reference, such as body of wall are put, by whether exceeding predeterminable range scope apart from vertical dimension before detecting load car and object of reference,
It is determined that carrying whether car deviates virtual rail in the process of walking.
Specifically, detect that the requirement to environment is higher using photoelectric sensor, it is also possible to directly walk by GPS monitorings
Track, to judge whether just deviate virtual rail.
In any of the above-described technical scheme, it is preferable that also include：Detection of obstacles module, is connected to circuit straightening die
Block, whether have barrier for detecting, during having barrier on virtual rail is detected, make circuit school on virtual rail
Holotype tuber carries the run trace of car according to the position adjustment of barrier.
In the technical scheme, in car walking process is carried, by arranging the detection of obstacles moulds such as electro-optical distance measurement sensor
Block, detection front whether have obstacle I, when barrier is detected, Adjusted Option is determined according to the positional information of barrier,
Adjustment carries the run trace of car, to avoid the barrier in front, it is therefore prevented that strikes barrier and causes to damage to carrying car.
Specifically, detection of obstacles module can also be provided in carrying the detection radar on car.
In any of the above-described technical scheme, it is preferable that also include：The position detecting module of device to be detected, is connected to
Presetting module, for detecting the positional information of device to be detected.
In the technical scheme, by, on device to be detected, on such as container, set location detection module, such as fixed
Position system, determines the positional information of device to be detected, to determine virtual rail or walking according to the positional information of device to be detected
Track, determines equipment walking purpose, meets detection demand.
In any of the above-described technical scheme, it is preferable that also include：Display module, is connected to walking monitoring module, is used for
Show the working condition for carrying car.
In the technical scheme, by arranging display module, user is allow to understand the walking for carrying car in control station in real time
State, enables load car occurring carrying out emergent management when walking is abnormal.
Specifically, walk monitoring module can including GPS monitor and monitoring camera-shooting, realize GPS monitoring need GPS terminal,
Transmission network and monitor supervision platform, determine the position of monitored object by GPS terminal, after GPS terminal is installed on car is carried, GPS
The positional information for carrying car can be sent to monitor supervision platform by wireless network by module in real time, can on the electronic chart of monitor supervision platform
It is to see the visual location for carrying car, convenient and reliable.
In any of the above-described technical scheme, it is preferable that also include：Brake module, is connected to travelling control module, is used for
When detecting abnormal, emergency brake operations are carried out to carrying car.
In the technical scheme, by arranging brake module, when walking risk is run into, brake hard is carried out to carrying car,
Improve the safety for carrying that garage is walked.
In any of the above-described technical scheme, it is preferable that travelling control module includes：Programmable Logic Controller, for generating
Carry the run trace of car.
In any of the above-described technical scheme, it is preferable that also include：Alarm module, is connected to travelling control module, is used for
When monitoring module of walking monitors the run trace deviation virtual rail for carrying car, alert.
In the technical scheme, by arranging alarm module, the run trace for monitoring load car in walking monitoring module is inclined
From virtual rail when, alert facilitates the monitoring of user, so that be operated manually when going wrong in time should
It is right.
By above technical scheme, by arranging locating module, with reference to the current location of the real-time computing device of encoder, and
Send to server, according to the container space for detecting, combining environmental information generates virtual rail, in equipment according to virtual rail
When road is walked, the speed of driving wheel is consistent, and when there is the situation of Uneven road, due to the stroke experienced by driving wheel
It is inconsistent to cause direction of travel to deflect, when deflecting, run trace is corrected by circuit correction module, with
Load car is returned on predetermined driving trace, realize the equipment mobile detection apparatus such as load car and walk automatically according to virtual rail,
Prevent the skew in automatic Pilot direction, it is to avoid due to deviation of walking caused by road out-of-flatness, improve and carry what garage was walked
Intelligent level.
Description of the drawings
Fig. 1 shows the schematic block diagram of the automated navigation system according to one embodiment of the present utility model；
Fig. 2 shows the schematic diagram of the automated navigation system according to another embodiment of the present utility model.
Specific embodiment
In order to be more clearly understood that above-mentioned purpose of the present utility model, feature and advantage, below in conjunction with the accompanying drawings and tool
Body embodiment is further described in detail to this utility model.It should be noted that in the case where not conflicting, this Shen
Feature in embodiment please and embodiment can be mutually combined.
Many details are elaborated in the following description in order to fully understand this utility model, but, this practicality
It is new to be different from third party's mode described here to implement using third party, therefore, protection model of the present utility model
Enclose and do not limited by following public specific embodiment.
Fig. 1 shows the schematic flow diagram of the automated navigation system according to embodiment of the present utility model.
As shown in figure 1, automated navigation system 100 according to an embodiment of the invention, including：Door frame 102；Locating module
102, including at least two positioning antennas, at least two positioning antennas are arranged at least two designated areas of door frame 102, are used for
The deviation between at least two designated areas and virtual rail is monitored, to guarantee that door frame 102 is walked according to virtual rail；Walking
Monitoring module 106, is connected to locating module 104, for monitoring the actual walking track for carrying car；Travelling control module 108, is used for
Control carries car and walks according to virtual rail；Circuit correction module 110, is respectively connecting to walk monitoring module 106 and travelling control
Module 108, for when monitoring module 106 of walking monitors the actual walking track deviation virtual rail for carrying car, correction carries car
To virtual rail.
In the technical scheme, by arranging locating module 104, with reference to the current location of the real-time computing device of encoder,
And send to server, according to the container space for detecting, combining environmental information generates virtual rail, in equipment according to virtual
During track travel, the speed of driving wheel is consistent, and when there is the situation of Uneven road, due to the row experienced by driving wheel
Journey is inconsistent to cause direction of travel to deflect, and when deflecting, is entered by 110 pairs of actual walking tracks of circuit correction module
Row correction, so as to carry car return on predetermined driving trace, realizes the equipment mobile detection apparatus such as load car automatically according to virtual
Track travel, it is therefore prevented that the skew in automatic Pilot direction, it is to avoid due to deviation of walking caused by road out-of-flatness, improves load
The intelligent level that garage is walked.
Wherein, locating module 104 includes the positioning such as GPS location, Glonass (GPS), Big Dipper positioning
At least one in system.
The specially driving means of travelling control module 108, including Si Fu mechanisms and motor etc..
In above-mentioned technical proposal, it is preferable that also include：Presetting module 112, is connected to travelling control module 108, is used for
According to the default virtual rail in the position of device to be detected, so that the control of travelling control module 108 carries car and installs virtual rail walking.
In the technical scheme, by according to device to be detected, the position of such as container, tying the position of consolidated car itself
Information determines virtual rail, so that the control control of travelling control module 108 carries car and walks according to virtual rail, realizes nobody and drives
The load car sailed is travelled to device to be detected and is detected, makes detection process more intelligent.
In any of the above-described technical scheme, it is preferable that circuit correction module 110 includes：Determining unit, in monitoring
When deviateing virtual rail to actual walking track, it is determined that carrying offset direction and the offset distance of car；Adjustment unit, is connected to determination
Unit, for the direction of the front-wheel for carrying car, and the speed difference of determination driving wheel are adjusted according to offset direction and offset distance, with
When needing to turn to, it is desirable to steering mechanism's travel direction correction, or the speed difference that driving wheel is adjusted in straight line moving.
In the technical scheme, by when the actual walking track of monitoring deviates virtual rail, it is determined that carrying the skew side of car
To with offset distance, according to offset direction and offset distance travel direction and compensated distance, to specifically include according to offset direction
It is determined that the directional compensation angle of the front-wheel of car is carried, it is then determined that the speed difference of the driving wheel for compensation, to realize deviation of walking
Adjustment.
Specifically, when preparing to turn to, it is determined that front-wheel whne the anglec of rotation when, according to treating that the anglec of rotation determines driving wheel
Linear velocity relation, and driven according to the linear velocity relation for treating the anglec of rotation and driving wheel and carry the control devices such as car and realize turning to,
The automatic steering control of control device is realized, the automatization level of control device is improved.
When there is straight line moving deviation due to road unevenness, ensure to walk directly according to the speed difference of adjustment driving wheel.
In any of the above-described technical scheme, it is preferable that walking monitoring module 106 includes：Electro-optical distance measurement sensor, is used for
Detection carries whether car walks in virtual rail.
In the technical scheme, by the upper setting electro-optical distance measurement sensor for carrying car, setting on the track of virtual rail
Object of reference, such as body of wall are put, by whether exceeding predeterminable range scope apart from vertical dimension before detecting load car and object of reference,
It is determined that carrying whether car deviates virtual rail in the process of walking.
Specifically, detect that the requirement to environment is higher using photoelectric sensor, it is also possible to directly actual by GPS monitorings
Walking track, to judge whether just deviate virtual rail.
In any of the above-described technical scheme, it is preferable that also include：Detection of obstacles module 114, is connected to circuit correction
Module 110, whether have barrier for detecting, during having barrier on virtual rail is detected, make on virtual rail
Circuit correction module 110 carries the actual walking track of car according to the position adjustment of barrier.
In the technical scheme, in car walking process is carried, by arranging the detection of obstacles moulds such as electro-optical distance measurement sensor
Block 114, detection front whether have obstacle I, when barrier is detected, adjustment side is determined according to the positional information of barrier
Case, adjustment carry the actual walking track of car, to avoid the barrier in front, it is therefore prevented that strike barrier and cause to damage to carrying car
Wound.
Specifically, detection of obstacles module 114 can also be provided in carrying the detection radar on car.
In any of the above-described technical scheme, it is preferable that also include：The position detecting module 116 of device to be detected, connection
To presetting module 112, for detecting the positional information of device to be detected.
In the technical scheme, by, on device to be detected, on such as container, set location detection module, such as fixed
Position system, determines the positional information of device to be detected, to determine virtual rail or reality according to the positional information of device to be detected
Walking track, determines equipment walking purpose, meets detection demand.
In any of the above-described technical scheme, it is preferable that also include：Display module 118, is connected to walking monitoring module
106, for showing the working condition for carrying car.
In the technical scheme, by arranging display module 118, user is allow to understand the row for carrying car in control station in real time
State is walked, and enables load car occurring emergent management being carried out when walking is abnormal.
Specifically, monitoring module 106 of walking can be monitored including GPS and monitoring camera-shooting, realize that GPS monitoring needs GPS ends
End, transmission network and monitor supervision platform, determine the position of monitored object by GPS terminal, after GPS terminal is installed on car is carried,
The positional information for carrying car can be sent to monitor supervision platform by wireless network by GPS module in real time, in the electronic chart of monitor supervision platform
On can see carry car visual location, it is convenient and reliable.
In any of the above-described technical scheme, it is preferable that also include：Brake module 120, is connected to travelling control module
106, for when detecting abnormal, carrying out emergency brake operations to carrying car.
In the technical scheme, by arranging brake module, when walking risk is run into, brake hard is carried out to carrying car,
Improve the safety for carrying that garage is walked.
In any of the above-described technical scheme, it is preferable that travelling control module 108 includes：Programmable Logic Controller, for giving birth to
Into the run trace for carrying car.
In any of the above-described technical scheme, it is preferable that also include：Alarm module 122, is connected to travelling control module
108, when the run trace for load car is monitored in monitoring module 106 of walking deviates virtual rail, alert.
In the technical scheme, by arranging alarm module, the run trace for carrying car is monitored in walking monitoring module 106
When deviateing virtual rail, alert facilitates the monitoring of user, is answered with being operated manually when going wrong in time
It is right.
Unit in this utility model embodiment terminal can be merged according to actual needs, divides and be deleted.
Fig. 2 shows the schematic diagram of the automated navigation system according to another embodiment of the present utility model.
As shown in Fig. 2 according to the automated navigation system of another embodiment of the present utility model, including：
GPS differential reference stations：DGPS base stations are arranged on harbour high point, can pass through radio station or WIFI network distributes difference number
According to；
Local area radio alignment system：Based on 5.8G wireless location technologies, GPS can not be covered by way of similar GPS
Region carry out hi-Fix；
GPS difference movement station/integrated manipulator：It is installed on the electrical house of Work machine (RTG, RMG, front handling mobile crane etc.), chain
Connect PLC and motor encoder.Send number of slot to TOS terminals according to by plc data output, control device automatic Pilot, time
Pass the real time data such as device location and state.
Wireless network and data center：Wireless network includes radio station network and WIFI network, the available or original that extends a wharf
There is the network facilities, data center includes data base and DGPS function services softwares, there is provided data storage, visualized management, monitoring
The functions such as scheduling.
The technical solution of the utility model is described in detail above in association with accompanying drawing, it is contemplated that how to realize moving in correlation technique
The technical problem freely walked of dynamic testing equipment, the utility model proposes a kind of new self-navigation scheme, by arranging
Locating module, with reference to the current location of the real-time computing device of encoder, and sends to server, according to the container case for detecting
Position, combining environmental information generate virtual rail, and when equipment is walked according to virtual rail, the speed of driving wheel is consistent, and
When there is the situation of Uneven road, the stroke that experienced due to driving wheel is inconsistent to cause direction of travel to deflect, and is sending out
During raw deflection, run trace is corrected by circuit correction module, so as to carry car return on predetermined driving trace, is realized
The equipment mobile detection apparatus such as load car are walked automatically according to virtual rail, it is therefore prevented that the skew in automatic Pilot direction, it is to avoid
Due to deviation of walking caused by road out-of-flatness, the intelligent level for carrying that garage is walked is improved.
Preferred embodiment of the present utility model is the foregoing is only, this utility model is not limited to, for this
For the technical staff in field, this utility model can have various modifications and variations.It is all it is of the present utility model spirit and principle
Within, any modification, equivalent substitution and improvements made etc. are should be included within protection domain of the present utility model.
Claims (10)
1. a kind of automated navigation system, it is adaptable to carry car, it is characterised in that include：
Door frame；
Locating module, including at least two positioning antennas, at least two positioning antenna are arranged at least the two of the door frame
Individual designated area, for monitoring the deviation between at least two designated area and virtual rail, to guarantee that the door frame is
Walk according to the virtual rail；
Walking monitoring module, is connected to the locating module, for monitoring the actual walking track for carrying car；
Travelling control module, walks according to the virtual rail for controlling the load car；
Circuit correction module, is respectively connecting to the walking monitoring module and the travelling control module, in the walking
Monitoring module monitors the actual walking track for carrying car when deviateing the virtual rail, corrects the load car to described virtual
Track.
2. automated navigation system according to claim 1, it is characterised in that also include：
Presetting module, is connected to the travelling control module, for presetting the virtual rail according to the position of device to be detected,
So that the travelling control module control car that carries installs the virtual rail walking.
3. automated navigation system according to claim 2, it is characterised in that the circuit correction module includes：
Determining unit, for when the actual walking track deviation virtual rail is monitored, determining the inclined of the load car
Move direction and offset distance；
Adjustment unit, is connected to the determining unit, for adjusting the load with the offset distance according to the offset direction
The direction of the front-wheel of car, and determine the speed difference of driving wheel, with when needing to turn to, it is desirable to which steering mechanism's travel direction entangles
Partially, or in straight line moving adjust the speed difference of the driving wheel.
4. automated navigation system according to claim 3, it is characterised in that the walking monitoring module includes：
Electro-optical distance measurement sensor, for detecting whether the load car walks in the virtual rail.
5. automated navigation system according to claim 4, it is characterised in that also include：
Detection of obstacles module, is connected to the circuit correction module, whether have barrier for detecting on virtual rail, with
When there is the barrier on the virtual rail is detected, the circuit correction module is made according to the position of the barrier
The adjustment actual walking track for carrying car.
6. automated navigation system according to claim 5, it is characterised in that also include：
The position detecting module of device to be detected, is connected to the presetting module, for detecting the position of the device to be detected
Information.
7. automated navigation system according to claim 1, it is characterised in that also include：
Display module, is connected to the walking monitoring module, for showing the working condition for carrying car.
8. automated navigation system according to claim 7, it is characterised in that also include：
Brake module, is connected to the travelling control module, for when detecting abnormal, carrying out brake hard to the load car
Operation.
9. automated navigation system according to claim 8, it is characterised in that the travelling control module includes：
Programmable Logic Controller, for generating the run trace for carrying car.
10. automated navigation system according to any one of claim 1 to 9, it is characterised in that also include：
Alarm module, is connected to the travelling control module, for monitoring the row for carrying car in the walking monitoring module
When walking the track deviation virtual rail, alert.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621018351.6U CN206075137U (en) | 2016-08-30 | 2016-08-30 | Automated navigation system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621018351.6U CN206075137U (en) | 2016-08-30 | 2016-08-30 | Automated navigation system |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN206075137U true CN206075137U (en) | 2017-04-05 |
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ID=58435366
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| Application Number | Title | Priority Date | Filing Date |
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| CN201621018351.6U Active CN206075137U (en) | 2016-08-30 | 2016-08-30 | Automated navigation system |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109579869A (en) * | 2017-09-29 | 2019-04-05 | 维布络有限公司 | For correcting the method and system of the pre-generated guidance path of pilotless automobile |
| CN110543173A (en) * | 2019-08-30 | 2019-12-06 | 上海商汤智能科技有限公司 | Vehicle positioning system and method, and vehicle control method and device |
-
2016
- 2016-08-30 CN CN201621018351.6U patent/CN206075137U/en active Active
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109579869A (en) * | 2017-09-29 | 2019-04-05 | 维布络有限公司 | For correcting the method and system of the pre-generated guidance path of pilotless automobile |
| CN110543173A (en) * | 2019-08-30 | 2019-12-06 | 上海商汤智能科技有限公司 | Vehicle positioning system and method, and vehicle control method and device |
| WO2021036408A1 (en) * | 2019-08-30 | 2021-03-04 | 上海商汤智能科技有限公司 | Vehicle positioning system and method, and vehicle control method and apparatus |
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