CN206096934U - Road surface obstacle detection's carrier can carry out - Google Patents
Road surface obstacle detection's carrier can carry out Download PDFInfo
- Publication number
- CN206096934U CN206096934U CN201621090187.XU CN201621090187U CN206096934U CN 206096934 U CN206096934 U CN 206096934U CN 201621090187 U CN201621090187 U CN 201621090187U CN 206096934 U CN206096934 U CN 206096934U
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- China
- Prior art keywords
- laser
- straight line
- car body
- road surface
- industrial computer
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- 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.)
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Abstract
The utility model discloses a road surface obstacle detection's carrier can carry out, including the driving license body, driving motor, motor control module, industrial computer, laser emission unit and binocular camera, the wheel is installed to the bottom of the driving license body, the wheel receives the driving motor drive, laser emission unit and binocular camera install the front end of the driving license body, laser emission unit is used for physically throwing the laser marking in the road surface in the place ahead to driving license, binocular camera is used for gathering the road surface image who contains the laser marking to send for the industrial computer, the industrial computer carries out analysis processes to the road surface image who contains the laser marking, and passes through motor control module is right driving motor controls. The utility model discloses a laser mark and the mode that binocular vision combined together come perception road surface obstacle to the automatic adjustment carrier march the orbit in order to get around the barrier, flexibility and adaptability are strong.
Description
Technical field
This utility model is related to automatic guided vehicle technical field, more particularly to a kind of carrying for carrying out road barrier detection
Car.
Background technology
Automatic guided vehicle (Automated Guided Vehicle, abbreviation AGV), refers to that being equipped with electricity magnetically or optically waits certainly
Dynamic guiding device, it can be travelled along the guide path of regulation, the transport vehicle with safeguard protection and various transfer functions,
AGV belongs to the category of wheeled mobile robot (WMR-- Wheeled Mobile Robot).
The guide mode of automatic guided vehicle is divided into rail guiding and trackless is guided.The subject matter that rail guide mode is present
It is to meet the requirement that operating path does not fix situation.Trackless rail guide mode is generally by along guide tracks side
Ground on the electronic tag at multiple intervals arranged be marked with realization navigation as the ground on dolly driving path, or little
The map data base of in-car storage, allows dolly to carry out automatic running according to perception of the dolly to surrounding.Above-mentioned guide mode
Common problem is, dolly can only according to the program and route for setting, when occurring barrier on predefined paths,
Dolly can not be got around automatically, and motility and adaptability are poor.
Utility model content
The purpose of this utility model is to provide a kind of mover for carrying out road barrier detection, and which can improve carrying
The motility of car self-navigation and adaptability.
For achieving the above object, this utility model is employed the following technical solutions：
A kind of mover for carrying out road barrier detection, including car body, motor, motor control module, industry control
Machine, laser emission element and binocular camera, the bottom of the car body are provided with wheel, and the wheel is driven by the motor
Move, installed in the front end of the car body, the laser emission element is for car for the laser emission element and binocular camera
Road surface projection straight line laser in front of body, the binocular camera is used for pavement image of the collection comprising straight line laser, and sends
To industrial computer, the industrial computer is analyzed process to the pavement image comprising straight line laser, and by the motor control mould
Block is controlled to the motor.
Further, which also includes radar for backing car, and the radar for backing car is arranged on the front end of car body, and connects the work
Control machine.
Preferably, the laser emission element includes two first laser devices, second laser and two the 3rd laser instrument,
The straight line laser of two first laser device projections is respectively facing the inner side of the car body, and second laser is used to project laterally sharp
Cursor line, the horizontal straight line laser are vertical with the car body direct of travel, the straight line laser of two the 3rd laser instrument projections
It is respectively facing the outside of the car body.
After above-mentioned technical proposal, this utility model is had the advantage that compared with background technology：
1st, this utility model is by the way of laser labelling is combined with binocular vision, perceives road barrier, and automatically
The travel track of adjustment mover to get around barrier, motility and adaptable.
2nd, this utility model is photographed after pavement image using binocular camera, reflects road surface shape by extracting straight line laser
Condition, without the need for process is analyzed to whole pavement image, needs the data processing amount for carrying out little, data-handling efficiency height.
3rd, this utility model can further avoid mover from bumping against sending out for barrier situation by arranging radar for backing car
It is raw.
Description of the drawings
Structural representations of the Fig. 1 for one mover of this utility model embodiment；
Fig. 2 is the schematic diagram that one laser emission element of this utility model embodiment projects straight line laser；
Schematic flow sheets of the Fig. 3 for two method for carrying of this utility model embodiment.
Specific embodiment
In order that the purpose of this utility model, technical scheme and advantage become more apparent, below in conjunction with accompanying drawing and enforcement
Example, is further elaborated to this utility model.It should be appreciated that specific embodiment described herein is only to explain
This utility model, is not used to limit this utility model.
Embodiment one
Coordinate shown in Fig. 1 and Fig. 2, the utility model discloses a kind of mover for carrying out road barrier detection, including
Car body 1, motor 2, motor control module 3, industrial computer 4, laser emission element 5, binocular camera 6 and radar for backing car 7, its
In：
The bottom of car body 1 is provided with wheel (not shown), and wheel motor driven 2 drives.Laser emission element 5 and double
Mesh camera 6 is arranged on the front end of car body 1.In the present embodiment, motor 2 is using band decelerator motor.
Laser emission element 5 is for the road surface projection straight line laser in front of car body 1.In the present embodiment, laser is sent out
Penetrating unit 5 includes two first laser devices 51, second laser 52 and two the 3rd laser instrument 53, two first laser devices 51
The main laser graticule A of projection is respectively facing the inner side of car body 1, and second laser 52 is used to project horizontal straight line laser B, laterally
Straight line laser B is vertical with 1 direct of travel of car body, and the secondary straight line laser C of two projections of the 3rd laser instrument 53 is respectively facing car sheet
The outside of body 1.It will be understood by those skilled in the art that first laser device 51, second laser 52 and two the 3rd laser
The setting angle of device 53 is all slightly towards ground inclination, to realize the projection of straight line laser.
Binocular camera 6 is used for pavement image of the collection comprising straight line laser, and is sent to industrial computer 4.
In the present embodiment, first laser device 51, second laser 52 and two the 3rd laser instrument 53 are red using a word
Outer laser instrument, binocular camera 6 are able to detect that infrared ray.
4 pairs of pavement images comprising straight line laser of industrial computer are analyzed process, and by 3 pairs of drivings of motor control module
Motor 2 is controlled.Road barrier testing and analysis system is installed on industrial computer 4, road barrier testing and analysis system is used for root
According to the straight line laser infomation detection road obstacle in pavement image.Road barrier testing and analysis system includes that straight line laser is extracted
Module, straight line laser analysis module and traveling Developing Tactics module, straight line laser extraction module is for the extraction in pavement image
Straight line laser, straight line laser analysis module for the line style according to straight line laser and the size of monochrome information disturbance of analysis thing, OK
Enter Developing Tactics module for advancing strategy according to the dimensioned car body 1 of barrier.Road barrier testing and analysis system
Straight line laser information can be processed using other image procossing modes, this utility model is not specifically limited.
Radar for backing car 7 is arranged on the front end of car body 1, and connects industrial computer 4.
Embodiment two
Coordinate shown in Fig. 1, Fig. 2 and Fig. 3, the utility model discloses a kind of carrying side for carrying out road barrier detection
Method, its mover based on embodiment one realize that the method is comprised the following steps：
S1, using laser emission element 5 in front of car body 1 road surface projection straight line laser, while utilize binocular camera 6
For gathering the pavement image comprising straight line laser and being sent to industrial computer 4.In this step, above-mentioned utilization Laser emission list
Unit 5 is realized to the road surface projection straight line laser in front of car body 1 especially by following methods：
Two first laser devices 51 of laser emission element 5 are respectively facing on the inside of car body 1 and are obliquely installed, and respectively to car
Road surface in front of body 1 projects a main laser graticule A；
The second laser 52 of laser emission element 5 is used to project horizontal straight line laser B, horizontal straight line laser B and car sheet
1 direct of travel of body is vertical；
Two the 3rd laser instrument 53 of laser emission element 5 are respectively facing on the outside of car body 1 and are obliquely installed, and respectively to car
Road surface in front of body 1 projects a secondary straight line laser C.
S2,4 pairs of pavement images comprising straight line laser of industrial computer are analyzed process, judge whether deposit in front of car body 1
In barrier, and generate car body 1 and advance strategy.This step specifically include it is following step by step：
Pavement image comprising straight line laser is supplied to road barrier testing and analysis system by S21, industrial computer 4；
S22, the straight line laser extraction module of road barrier testing and analysis system extract straight line laser in pavement image, raw
Into straight line laser image；
S23, the straight line laser analysis module of road barrier testing and analysis system are according to straight line laser in straight line laser image
Line style and monochrome information detect whether with the presence of barrier, if with the presence of obstacle, the size of disturbance of analysis thing, road barrier
The traveling Developing Tactics module of testing and analysis system is advanced strategy according to the dimensioned car body 1 of barrier.Step S23 is concrete
Realized by following steps：
S231, corresponding laterally straight line laser B in straight line laser image is analyzed, if laterally straight line laser B occurs
Interrupt or brighten, then judge that there is barrier on the road surface in front of car body 1.
S232, corresponding main laser graticule A in straight line laser image is analyzed, if there are main laser graticule A bendings
Or brighten, then judge that there is barrier on the road surface in front of car body 1, and calculate inflection point or brightness distortion point on main laser graticule A
Coordinate, according on main laser graticule A inflection point or brightness distortion point coordinate calculate barrier size, disturbance in judgement thing
Whether size exceedes barrier dimension threshold set in advance, if not less than car body 1 is travelled by former direct of travel, if super
Cross, then execution step S233.The calculation of barrier size can be, abnormal according to inflection point or brightness on main laser graticule A
Height, carries out graphical analyses, the profile of acquired disturbance thing, and then the dimension information of acquired disturbance thing along the edge of barrier.
S233, corresponding pair straight line laser C in straight line laser image is analyzed, if there are secondary straight line laser C bendings
Or brighten, then judge that there is placement thing the road surface side in front of the corresponding car bodies of the secondary straight line laser C 1, and calculate secondary laser mark
The coordinate of inflection point or brightness distortion point on line C, according to the coordinate and master of inflection point or brightness distortion point on secondary straight line laser C
The coordinate of inflection point or brightness distortion point on straight line laser A, calculates barrier and places the spacing between thing.
S234, according to barrier and place thing between spacing, judge whether car body 1 can pass through, if can pass through,
Then formulate car body 1 to advance strategy, car body 1 is passed through between thing from barrier and placing, if can not pass through, stop car sheet
Body 1 is advanced, 4 warning reminding related personnel's removing obstacles thing of industrial computer.
S3, strategy of being advanced based on car body 1, industrial computer 4 are controlled to motor 2 by motor control module 3, are adjusted
The travel track of car load wheel and car body 1.
The distance of S4, the detection car of radar for backing car 7 body 1 and preceding object thing, when the distance is less than anticollision set in advance
During distance threshold, radar for backing car 7 sends warning signal to industrial computer 4, and industrial computer 4 is by motor control module 3 to motor 2
It is controlled, stops car body 1, or retrogressing is separately found a way out.Radar for backing car 7 prevents laser emission element 5 as emergency
Scanning leakage or system erroneous judgement are not detected by barrier, cause vehicle collision to barrier.
The above, only this utility model preferably specific embodiment, but protection domain of the present utility model is not
This is confined to, any those familiar with the art can be readily occurred in the technical scope that this utility model is disclosed
Change or replacement, should all cover within protection domain of the present utility model.Therefore, protection domain of the present utility model should
It is defined by scope of the claims.
Claims (3)
1. a kind of mover for carrying out road barrier detection, it is characterised in that：Including car body, motor, motor control
Module, industrial computer, laser emission element and binocular camera, the bottom of the car body are provided with wheel, and the wheel is by described
Motor drives, and the laser emission element and binocular camera are installed in the front end of the car body, the Laser emission list
Unit is for the road surface projection straight line laser in front of car body, the binocular camera is used for road surface figure of the collection comprising straight line laser
Picture, and industrial computer is sent to, the industrial computer is analyzed process to the pavement image comprising straight line laser, and passes through the electricity
Machine control module is controlled to the motor.
2. a kind of mover for carrying out road barrier detection as claimed in claim 1, it is characterised in that：Which also includes reversing
Radar, the radar for backing car are arranged on the front end of car body, and connect the industrial computer.
3. a kind of mover for carrying out road barrier detection as claimed in claim 2, it is characterised in that：The Laser emission
Unit includes two first laser devices, second laser and two the 3rd laser instrument, the laser mark of two first laser device projections
Line is respectively facing the inner side of the car body, and second laser is used to projecting horizontal straight line laser, the horizontal straight line laser with
The car body direct of travel is vertical, and the straight line laser of two the 3rd laser instrument projections is respectively facing the outside of the car body.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621090187.XU CN206096934U (en) | 2016-09-29 | 2016-09-29 | Road surface obstacle detection's carrier can carry out |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621090187.XU CN206096934U (en) | 2016-09-29 | 2016-09-29 | Road surface obstacle detection's carrier can carry out |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN206096934U true CN206096934U (en) | 2017-04-12 |
Family
ID=58481312
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201621090187.XU Expired - Fee Related CN206096934U (en) | 2016-09-29 | 2016-09-29 | Road surface obstacle detection's carrier can carry out |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN206096934U (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106155066A (en) * | 2016-09-29 | 2016-11-23 | 翁锦祥 | A kind of mover carrying out road barrier detection and method for carrying |
| CN107608348A (en) * | 2017-09-04 | 2018-01-19 | 上海圭目机器人有限公司 | A kind of autonomous type graticule robot system and line-marking method |
| CN112406967A (en) * | 2019-08-23 | 2021-02-26 | 盟立自动化股份有限公司 | Railcar system, railcar, and visual sensing device |
-
2016
- 2016-09-29 CN CN201621090187.XU patent/CN206096934U/en not_active Expired - Fee Related
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106155066A (en) * | 2016-09-29 | 2016-11-23 | 翁锦祥 | A kind of mover carrying out road barrier detection and method for carrying |
| CN106155066B (en) * | 2016-09-29 | 2022-11-11 | 翁锦祥 | Carrier capable of detecting road surface obstacle and carrying method |
| CN107608348A (en) * | 2017-09-04 | 2018-01-19 | 上海圭目机器人有限公司 | A kind of autonomous type graticule robot system and line-marking method |
| CN112406967A (en) * | 2019-08-23 | 2021-02-26 | 盟立自动化股份有限公司 | Railcar system, railcar, and visual sensing device |
| CN112406967B (en) * | 2019-08-23 | 2023-01-20 | 盟立自动化股份有限公司 | Railcar system, railcar, and visual sensing device |
| US11623674B2 (en) | 2019-08-23 | 2023-04-11 | Mirle Automation Corporation | Rail vehicle system, rail vehicle, and visual sensing device |
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| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20170412 Termination date: 20190929 |