CN206892659U - A kind of intelligent carriage indoor navigation system - Google Patents
A kind of intelligent carriage indoor navigation system Download PDFInfo
- Publication number
- CN206892659U CN206892659U CN201720463131.2U CN201720463131U CN206892659U CN 206892659 U CN206892659 U CN 206892659U CN 201720463131 U CN201720463131 U CN 201720463131U CN 206892659 U CN206892659 U CN 206892659U
- Authority
- CN
- China
- Prior art keywords
- navigation
- intelligent carriage
- wireless
- dolly
- controller
- 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.)
- Expired - Fee Related
Links
Landscapes
- Traffic Control Systems (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The utility model discloses a kind of intelligent carriage indoor navigation system, multiple generating lasers correspond with multiple light sensors and install and formed navigation array, intelligent carriage is placed in navigation array range, the signal output part of light sensor and the signal input part of navigation controller connect, the connection corresponding with the local communication end of navigation wireless communicator of the communication terminal of navigation controller, the wireless telecommunications end of navigation wireless communicator is connected with the wireless telecommunications end wireless telecommunications of the dolly wireless communication device on intelligent carriage.The utility model is that laser beam shielding, light sensor detect the laser beam signal, navigation controller and control the principle of intelligent carriage traffic direction to realize dolly location navigation in real time by wireless telecommunications in real time to physics light using intelligent carriage, and motion path is unfettered and accurate positioning；Due to being perceived based on physics light, so will not be disturbed by other signals, navigation accuracy is improved.
Description
Technical field
It the utility model is related to a kind of intelligent carriage navigation system, more particularly to a kind of intelligent carriage indoor navigation system.
Background technology
More and more higher, in the logistics links of the manufacturing, substantial amounts of intelligence are required to automaticity with manufacturing
Energy transfer robot is put into use, and it largely reduces the amount of labour of worker, controls the work in production process
Power cost.Typical Representative of the intelligent carriage as transfer robot, is widely deployed use.
Intelligent carriage must arrive at targeted delivery point exactly, it is necessary to be led in real time for it during transshipment cargo
Boat.Because intelligent carriage works indoors more, GPS information can not be received indoors, therefore GPS can not be used for indoor navigation.
Conventional indoor navigation mode is：On ground, paving location identifies, and by detecting land marking, obtains the real-time position of intelligent carriage
Put, guiding intelligent carriage reaches target point, and this navigation mode motion path is fixed, and route diversion workload is big；In addition with
Navigation mode based on image procossing, i.e., moved by the output control intelligent carriage of processing environment image information, which into
This is higher；In addition, wireless location technology also be used to navigate for intelligent carriage, but wireless signal is easily interfered, to operation
Environmental requirement is higher.
Utility model content
The purpose of this utility model is that to provide a kind of intelligence based on light sensing to solve the above problems small
Car indoor navigation system.
The utility model is achieved through the following technical solutions above-mentioned purpose：
A kind of intelligent carriage indoor navigation system, the intelligent carriage are provided with dolly power supply, agv controller, dolly and driven
Dynamic device, dolly direct current generator, dolly wireless communication device and the electronic compass for detecting the intelligent carriage traffic direction, it is described
Intelligent carriage indoor navigation system include navigation controller, navigation wireless communicator, generating laser and for detect it is described swash
The light sensor for the laser beam that optical transmitting set is sent, a pair of multiple generating lasers and the multiple light sensors 1
It should install and form navigation array, the intelligent carriage is placed in the navigation array range, the signal of the light sensor
Output end is connected with the signal input part of the navigation controller, and the communication terminal of the navigation controller leads to the navigation wireless
Interrogate the corresponding connection in local communication end of device, the wireless telecommunications end of the navigation wireless communicator and the dolly wireless communication device
The wireless telecommunications connection of wireless telecommunications end.
The navigation array is rectangular array.
The beneficial effects of the utility model are：
The utility model is that laser beam shielding, light sensor detect the laser in real time to physics light using intelligent carriage
Beam signal, navigation controller control the principle of intelligent carriage traffic direction to realize dolly location navigation in real time by wireless telecommunications,
Motion path is unfettered and accurate positioning；Due to being perceived based on physics light, so will not be disturbed by other signals, improve
Navigation accuracy.
Brief description of the drawings
Fig. 1 is the overlooking the structure diagram of intelligent carriage indoor navigation system described in the utility model；
Fig. 2 is the stereogram of intelligent carriage described in the utility model.
Embodiment
The utility model is described in further detail below in conjunction with the accompanying drawings：
Driven as shown in Fig. 2 intelligent carriage 8 described in the utility model is provided with dolly power supply 86, agv controller 84, dolly
Dynamic device 83, dolly direct current generator 82, dolly wireless communication device 85 and electronics sieve for detecting the intelligent carriage traffic direction
Disk 81, the connection corresponding with electronic compass 81, trolley driver 83 and dolly wireless communication device 85 respectively of agv controller 84；Such as figure
Shown in 1 and Fig. 2, intelligent carriage indoor navigation system described in the utility model include navigation controller 1, navigation wireless communicator 2,
The light sensor 6 of navigation power supply 3, generating laser 4 and the laser beam 5 sent for detecting generating laser 4, multiple laser
Transmitter 4 corresponds with multiple light sensors 6 installs and is formed rectangle navigation array, and intelligent carriage 8 is placed in the navigation
In array range, the signal output part of light sensor 6 is connected with the signal input part of navigation controller 1, navigation controller 1
Communication terminal connection corresponding with the local communication end of navigation wireless communicator 2, the wireless telecommunications end of navigation wireless communicator 2 and dolly
The wireless telecommunications end wireless telecommunications connection of wireless communication device 85.
It also show in Fig. 1 between two neighboring generating laser 4, the spacing 7 between two neighboring light sensor 6,
The spacing 7 is depending on practical application precision.
In order to make it easy to understand, below to the system using when can use preferred and air navigation aid for routine have
Body illustrates, but this method is not innovative approach, nor protection object of the present utility model.
As depicted in figs. 1 and 2, laser beam 5 caused by generating laser 4 is irradiated on corresponding light sensor 6, navigation
The output valve of each light sensor 6 is read in the circulation of controller 1, judges whether light sensor 6 receives laser beam 5.Work as intelligence
When energy dolly 8 is not appeared within the rectangle navigation array i.e. monitoring range of navigation system, judged result is each light sensor
Device 6 can receive laser beam 5；When intelligent carriage 8 is appeared within the rectangle navigation array i.e. monitoring range of navigation system,
Blocked by the laser beam 5 of intelligent carriage 8 by vehicle body, navigation controller 1 is not received by the photosensitive biography of laser beam 5 by detecting
The information that sensor 6 transmits, and coordinate of the intelligent carriage 8 in rectangle navigates array can be obtained easily with this, so as to obtain intelligence
Can accurate location information of the dolly 8 in rectangle navigates array.
Navigation controller 1 transmits this information to agv controller 84, and agv controller 84 passes through the second wireless telecommunications mould
Block 85 receives the coordinate information that navigation controller 1 is sent, and is currently located position by the coordinate information computational intelligence dolly 8 of reception
Put the position relationship with the target point of setting；Then agv controller 84 obtains the headstock of intelligent carriage 8 by electronic compass 81
Direction is currently located, judges whether headstock direction points to target point direction；If headstock direction is consistent with target point direction, intelligence
Dolly 8 does not adjust, and is directly moved to the target point of setting；If headstock direction and target point direction are variant, dolly control
Device 84 drives dolly direct current generator 82 by controlling trolley driver 83, adjusts the headstock of intelligent carriage 8 to target point side
To then to target point movement；When agv controller 84 judges that intelligent carriage 8 arrives at the target point of setting, control intelligent carriage 8
Stop motion, complete once to the navigation procedure of intelligent carriage 8.
Above-described embodiment is preferred embodiment of the present utility model, is not the limit to technical solutions of the utility model
System, as long as the technical scheme that can be realized without creative work on the basis of above-described embodiment, is regarded as falling into
In the rights protection scope of the utility model patent.
Claims (2)
1. a kind of intelligent carriage indoor navigation system, the intelligent carriage is provided with dolly power supply, agv controller, dolly driving
Device, dolly direct current generator, dolly wireless communication device and the electronic compass for detecting the intelligent carriage traffic direction, its feature
It is：The intelligent carriage indoor navigation system includes navigation controller, navigation wireless communicator, generating laser and for examining
Survey the light sensor for the laser beam that the generating laser is sent, multiple generating lasers and multiple light sensors
Device, which corresponds, installs and is formed navigation array, and the intelligent carriage is placed in the navigation array range, the light sensor
The signal output part of device is connected with the signal input part of the navigation controller, and the communication terminal of the navigation controller is led with described
The local communication end of boat wireless communication device is corresponding to be connected, the wireless telecommunications end of the navigation wireless communicator and the small vehicle radio
The wireless telecommunications end wireless telecommunications connection of communicator.
2. intelligent carriage indoor navigation system according to claim 1, it is characterised in that：The navigation array is rectangle battle array
Row.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720463131.2U CN206892659U (en) | 2017-04-28 | 2017-04-28 | A kind of intelligent carriage indoor navigation system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720463131.2U CN206892659U (en) | 2017-04-28 | 2017-04-28 | A kind of intelligent carriage indoor navigation system |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN206892659U true CN206892659U (en) | 2018-01-16 |
Family
ID=61325126
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201720463131.2U Expired - Fee Related CN206892659U (en) | 2017-04-28 | 2017-04-28 | A kind of intelligent carriage indoor navigation system |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN206892659U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108996220A (en) * | 2018-06-12 | 2018-12-14 | 芜湖乐创电子科技有限公司 | A kind of Shi Liao blowing robot based on positioning analysis |
| CN110044348A (en) * | 2019-03-15 | 2019-07-23 | 广东康云科技有限公司 | A kind of three-dimensional indoor navigation system and its implementation |
-
2017
- 2017-04-28 CN CN201720463131.2U patent/CN206892659U/en not_active Expired - Fee Related
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108996220A (en) * | 2018-06-12 | 2018-12-14 | 芜湖乐创电子科技有限公司 | A kind of Shi Liao blowing robot based on positioning analysis |
| CN110044348A (en) * | 2019-03-15 | 2019-07-23 | 广东康云科技有限公司 | A kind of three-dimensional indoor navigation system and its implementation |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN109323696B (en) | Indoor positioning navigation system and method for unmanned forklift | |
| US20220147053A1 (en) | Robot with perception capability of livestock and poultry information and mapping approach based on autonomous navigation | |
| CN102662377B (en) | Formation system and formation method of multi-mobile robot based on wireless sensor network | |
| Pugh et al. | A fast onboard relative positioning module for multirobot systems | |
| CN103487812B (en) | The ultrasound wave navigation device and method of a kind of greenhouse autonomous vehicle | |
| WO2019113877A1 (en) | Unmanned vehicle control method and unmanned lawn mowing vehicle | |
| CN107830832A (en) | Workpiece profile scanning system and method | |
| CN105044754A (en) | Mobile platform outdoor positioning method based on multi-sensor fusion | |
| WO2020151663A1 (en) | Vehicle positioning apparatus, system and method, and vehicle | |
| CN205121338U (en) | AGV navigation based on image recognition and wireless network | |
| CN104793637A (en) | Real-time tracking system and method of mobile equipment | |
| CN206892659U (en) | A kind of intelligent carriage indoor navigation system | |
| CN113478483B (en) | Mobile robot welding method and system based on stainless steel storage tank | |
| CN110888145A (en) | Laser radar, use method thereof and laser radar system | |
| US20230213946A1 (en) | Vehicle Navigation Positioning Method and Apparatus, and Base Station, System and Readable Storage Medium | |
| CN111984003A (en) | Off-line map algorithm-based trackless self-adaptive navigation method and system | |
| CN103076804B (en) | Based on the automatic guide vehicle of ultrasonic distance measuring apparatus, system and air navigation aid | |
| KR100948947B1 (en) | Localization apparatus of autonomous vehicle and method thereof | |
| US20180239351A1 (en) | Autonomous mobile device | |
| CN115164870A (en) | Indoor autonomous relative positioning navigation method in air-ground cooperation mode | |
| CN106197396B (en) | Positioning guidance system and method based on optical signal transmitting and receiving | |
| CN113758482B (en) | Vehicle navigation positioning method, device, base station, system and readable storage medium | |
| ITTO20080489A1 (en) | INFRARED DRIVING SYSTEM FOR AUTOMATIC DRIVING TROLLEYS | |
| CN108614574B (en) | Centimeter-level satellite positioning intelligent unmanned agricultural machinery control system and method | |
| CN111805557A (en) | Indoor explanation system and method based on humanoid robot |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20180116 |
|
| CF01 | Termination of patent right due to non-payment of annual fee |