CN207264195U - Unmanned trolley navigation system and unmanned trolley - Google Patents
Unmanned trolley navigation system and unmanned trolley Download PDFInfo
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- CN207264195U CN207264195U CN201721027974.4U CN201721027974U CN207264195U CN 207264195 U CN207264195 U CN 207264195U CN 201721027974 U CN201721027974 U CN 201721027974U CN 207264195 U CN207264195 U CN 207264195U
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Abstract
The utility model discloses the unmanned trolley navigation system and unmanned trolley suitable for indoor and outdoor navigation.The navigation system includes：Satellite navigation module, detects the current positional information of unmanned trolley, and the current positional information sends control module to；Inertial navigation module, sends the current posture information of the unmanned trolley being calculated to the control module；Tape navigation module, sends the magnetic signal detected to the control module；And control module, it is connected respectively with the satellite navigation module, inertial navigation module and tape navigation module, in outdoor when driving, closed-loop control is carried out to unmanned trolley using the current positional information and current posture information of the unmanned trolley received from satellite navigation module, indoors when driving, closed-loop control is carried out to unmanned trolley using from the magnetic signal that tape navigation module receives.The unmanned trolley includes small vehicle main body and the navigation system.
Description
Technical field
It the utility model is related to automobile navigation technology and vehicle automation field, and in particular to navigate suitable for indoor and outdoor
Unmanned trolley navigation system and unmanned trolley.
Background technology
The navigation mode of unmanned trolley (Automated Driving Vehicle, abbreviation ADV) is determined by its group
Into logistics system flexibility and reliability during system operation, with the development of science and technology, the navigation mode of ADV is also a variety of
It is various, according to the form of ADV navigation circuits, fixed route navigation mode and free path navigation mode can be divided into.Fixed route
Its cost of navigation mode is relatively low, and positioning accuracy is higher, also more stable reliable, but path is limited, to site environment requirement compared with
It is high；Free path navigation mode its path changeover is flexible, and flexible, the requirement to site environment is relatively low, but its positioning accuracy by
The influence of device therefor and Navigation Control algorithm, causes obtaining the situation with the fixed route navigation equal positioning accuracy of mode
Under, the cost higher of its ADV.
At present, the common navigation mode of unmanned trolley is laser navigation mode, optical guidance mode, tape navigation side
Formula, vision guided navigation mode and electromagnetic induction navigation mode.The advantage of electromagnetic induction navigation mode is that leading line is hidden, is not easy dirt
Dye and breakage, principle is simple and reliable, and cost is low, but the complexity of its guidance path is limited, and expands or change battle line very
Trouble, lacks flexibility.Optical guidance mode be by walking path paint or paste colour band, by optical sensor adopt into
Colour band picture signal is easily recognized and is handled to realize navigation, and the setting of its guidance path is more flexible, but colour band is polluted
It is very sensitive with damaging, easily limited by site environment.It is relatively easy that the advantage of tape navigation mode is that its tape is laid with, and change is led
Bit path is also easier, but easily contaminated, is easily limited by external environment, suitable for the preferable condition of environment.Laser navigation
Mode obtains advantage and is flexible, and without carrying out any processing to ground, path changeover is flexible, suitable for various live rings
Border, can conveniently change kinematic parameter and driving path, but its control and navigation algorithm are the most complicated, and positioning accuracy takes
Certainly in laser head and algorithm, cause the cost of ADV higher.Vision guided navigation mode obtains exemplary advantage and is ADV low costs, obtains
What is taken contains much information, and can build the three-dimensional map of panorama, it can be achieved that full-automatic navigate, but it is had a great influence by live light,
Information processing capacity is big, and Current hardware equipment is difficult to meet its requirement of real-time, and image processing algorithm is not yet ripe.
In addition, 1 (publication number of patent document：101387522 A of CN) disclose a kind of electromagnetic tracking based on inductance coil
Method, though its control and navigation algorithm are simple, it is of low cost, navigation accuracy by induction coil quantity and influence of arrangement, outside
See larger, inconvenience is used for small-sized ADV, and need to redesign number of coils and layout for different environment, excessively bothers.
Further more, 2 (publication number of patent document：103048996 A of CN) disclose drawing automatically based on laser scanning and ranging instrument
Guide-car, system and air navigation aid, though then navigated using laser scanning environment construction map, relative to traditional based on anti-
Plate laser navigation mode is penetrated, its requirement to environment further reduces；But its positioning accuracy depends critically upon coding angle, gyro
Instrument, laser head and algorithm, and more than two laser heads are needed, cause navigation and control algolithm complex, and ADV
Cost is higher.
Patent document 3 (103777637 A of CN) discloses a kind of areflexia Laser Self navigation ADV trolleies and its navigation
Method, is navigated using the method for single laser scanning environment construction map, and reflecting plate laser navigation side is based in contrast to tradition
For formula and more laser navigations, its requirement and algorithm to site environment further reduces, but its path planning depends critically upon
Motor encoder and gyroscope, and the calculation amount of the air navigation aid is excessive, and the complexity of navigation and control algolithm is excessive, causes
The cost of ADV is also high.
The content of the invention
The utility model be in view of the above-mentioned problems in the prior art and make, its purpose is to provide a kind of road
Footpath convert flexible, flexible, low cost and be applicable to indoor and outdoor surroundings unmanned trolley navigation system and nobody drive
Sail trolley.
The unmanned trolley navigation system for being suitable for indoor and outdoor navigation of the utility model for achieving the above object,
Including：Satellite navigation module, unmanned trolley close when driving indoors and unmanned trolley it is outdoor when driving
Start, detect the current positional information of unmanned trolley, and the current position of the unmanned trolley detected is believed
Breath sends control module to；Inertial navigation module, is closed and in unmanned trolley when driving indoors in unmanned trolley
Start when driving in outdoor, send the current posture information of the unmanned trolley being calculated to the control module；Magnetic
Band navigation module, closes and starts when driving indoors in unmanned trolley when driving in unmanned trolley in outdoor, will
The magnetic signal detected sends the control module to；And the control module, respectively with the satellite navigation module, inertia
Navigation module and the connection of tape navigation module, unmanned trolley it is outdoor when driving, connect using from satellite navigation module
The current positional information and current posture information for the unmanned trolley received carry out closed-loop control to unmanned trolley,
Unmanned trolley when driving, carries out unmanned trolley using from the magnetic signal that tape navigation module receives indoors
Closed-loop control.
Further, above-mentioned unmanned trolley navigation system further includes automatic charging module, and the automatic charging module is in nothing
When people drives the not enough power supply of trolley, information about power and charging instruction are sent to the control module, the control module root
Drive to and fill according to the current positional information of unmanned trolley, current posture information or magnetic signal guiding driverless trolley
Charge electric target location.
Further, above-mentioned unmanned trolley navigation system further includes anticollision module, which is used to detect obstacle
The presence or absence of thing, and detect barrier there are when, to the control module send barrier positional information, it is described
Control module is according to the current positional information of unmanned trolley, current posture information or magnetic signal and the barrier
Positional information to unmanned trolley carry out closed-loop control.
The unmanned trolley for being suitable for indoor and outdoor navigation of the utility model for achieving the above object, including trolley
Main body and the above-mentioned unmanned trolley navigation system suitable for indoor and outdoor navigation.
Further, above-mentioned unmanned trolley, further includes wireless communication module, for wireless communication, the radio communication mold
Block is connected with the control module.
Further, above-mentioned unmanned trolley, further includes electricity quantity display module, and for representing information about power, which shows
Show that module is connected with the control module.
Further, above-mentioned unmanned trolley, further includes voice cue module, and for carrying out voice prompt, which carries
Show that module is connected with the control module.
Invention effect
The unmanned trolley navigation system of the utility model and unmanned trolley, since mixing uses satellite navigation mould
Block, inertial navigation module, tape navigation mode, and indoors with navigate during outdoor mode can free switching, therefore can meet room
The dual requirements of interior and outdoor navigation, and cost is not high.
In addition, the utility model carries out Dual positioning by using satellite navigation and inertial navigation, obtained using blending algorithm
To vehicle real-time position information, positioning accuracy is improved.
In addition, the utility model positioning accuracy is high, control is reliable and stable, simple in structure, limits pathway requirements, navigation without complete
Path modification is convenient.
Brief description of the drawings
Fig. 1 is the block diagram for the unmanned trolley navigation system for showing first embodiment.
Fig. 2 is the block diagram for the unmanned trolley navigation system for showing second embodiment.
Fig. 3 is the block diagram for the unmanned trolley navigation system for showing 3rd embodiment.
Fig. 4 is the block diagram for the unmanned trolley navigation system for showing fourth embodiment.
Embodiment
In order to make the purpose of this utility model, technical solution and advantage clearer, below in conjunction with the accompanying drawings and it is embodied
The utility model is described in detail in example.
It will be appreciated that described embodiment is only the part of the embodiment of the utility model, rather than whole realities
Apply example.Based on the embodiment in the utility model, those of ordinary skill in the art institute without making creative work
The all other embodiment obtained, shall fall within the protection scope of the present invention.
The unmanned trolley suitable for indoor and outdoor of the utility model includes small vehicle main body and unmanned trolley navigates
System.In addition, unmanned being also an option that property of trolley include be connected with control module with lower module (not shown)
More than any：For the wireless communication module of wireless communication, it is connected with the control module；For representing the electricity of information about power
Display module is measured, is connected with the control module；Switch button；Storage battery as power supply；And/or connect with the control module
Connect be used for carry out voice cue module of voice prompt etc..
In the following, illustrate several preferred embodiments of unmanned trolley navigation system and its air navigation aid.
Fig. 1 is the block diagram for the unmanned trolley navigation system for showing first embodiment.
As shown in Figure 1, the unmanned trolley navigation system 100 of first embodiment includes control module 140, satellite navigation
Module 110, inertial navigation module 120 and tape navigation module 130.Wherein, satellite navigation module 110 can be global satellite
Alignment system (GPS) navigation module or other global position system navigation modules, such as big-dipper satellite alignment system are led
Model plane block.
The unmanned trolley navigation system 100 of the embodiment of the present embodiment becomes for the environment residing for unmanned trolley
Data source is changed to navigate to trolley.
Specifically, satellite navigation module 110 and inertial navigation module 120 are closed when driving indoors in unmanned trolley
Close, start when driving in outdoor in unmanned trolley.When unmanned trolley it is outdoor when driving, start satellite navigation module
The current positional information of the 110 unmanned trolleies of detection, and by the current positional information of the unmanned trolley detected
Send control module 140 to, while start inertial navigation module 130 by the current pose of the unmanned trolley being calculated
Information sends control module 140 to.Wherein, posture information includes positional information, acceleration, speed, course angle etc..Control module
The current positional information and inertial navigation module 120 for the unmanned trolley that 140 pairs of transmission of satellite navigation module 110 come transmit
The current posture information come carries out fusion treatment, generates the posture information and navigation route information of instruction, and is referred to using this
The posture information and navigation route information shown carry out closed-loop control to unmanned trolley, make unmanned trolley according to set
Speed and path operation.
Tape navigation module 130 is closed when driving in unmanned trolley in outdoor, is gone indoors in unmanned trolley
Start when sailing.When unmanned trolley indoors when driving, close satellite navigation module 110, inertial navigation module 120, and open
Dynamic tape navigation module 130 sends the magnetic signal detected to control module 140, control module 140 to the magnetic signal into
Row analyzing and processing obtains the posture information and navigation route information of instruction, and the posture information using the instruction and navigation road
Footpath information carries out closed-loop control to unmanned trolley, unmanned trolley is run according to set speed and path.
The unmanned trolley navigation system 100 of the present embodiment and unmanned trolley, since mixing uses satellite navigation
Module, inertial navigation module, tape navigation mode, and indoors with navigate during outdoor mode can free switching, therefore can meet
The dual requirements of indoor and outdoor navigation, and cost is not high.Simultaneously because vehicle real-time position information is obtained using blending algorithm,
Improve positioning accuracy.
Fig. 2 is the block diagram for the unmanned trolley navigation system for showing second embodiment.
The unmanned trolley navigation system of second embodiment, in the unmanned trolley navigation system of first embodiment
On the basis of, it can further comprise automatic charging module 160 when unmanned trolley is using storage battery as power supply.
The automatic charging module 160 sends information about power and charging instruction in the not enough power supply of unmanned trolley
To control module 140, control module 140 is according to the current positional information, current posture information or magnetic of unmanned trolley
The posture information and charging navigation route information of signal generation instruction, and navigated using the posture information and charging of the instruction
Routing information guiding driverless trolley drives to charge target position and charges.
Fig. 3 is the block diagram for the unmanned trolley navigation system for showing 3rd embodiment.3rd embodiment it is unmanned
Trolley navigation system, on the basis of the unmanned trolley navigation system of first embodiment, can further comprise anticollision module
170。
Fig. 4 is the block diagram for the unmanned trolley navigation system for showing fourth embodiment.Fourth embodiment it is unmanned
Trolley navigation system, further comprises anticollision module on the basis of the unmanned trolley navigation system of second embodiment
170。
Anticollision module 170 of anticollision module 170 in 3rd embodiment and fourth embodiment is for detecting depositing for barrier
Whether, and detect barrier there are when, to control module 140 send barrier positional information, control module 140
Generated and indicated according to the positional information of the current positional information of unmanned trolley, current posture information or the barrier
The navigation route information of posture information and avoiding obstacles, and according to the posture information of instruction and leading for avoiding obstacles
Bit path information carries out closed-loop control to unmanned trolley.
In several embodiments provided by the utility model, it should be understood that disclosed system, device, Ke Yitong
Other modes are crossed to realize.For example, device embodiment described above is only schematical, for example, the unit is drawn
Point, it is only a kind of division of logic function, there can be other dividing mode when actually realizing, for example, multiple units or component
Another system can be combined or be desirably integrated into, or some features can be ignored, or do not perform.It is another, it is shown or
The mutual coupling, direct-coupling or communication connection discussed can be the indirect coupling by some interfaces, device or unit
Close or communicate to connect, can be electrical, machinery or other forms.
The unit illustrated as separating component may or may not be physically separate, be shown as unit
The component shown may or may not be physical location, you can with positioned at a place, or can also be distributed to multiple
In network unit.Some or all of unit therein can be selected to realize the mesh of this embodiment scheme according to the actual needs
's.
In addition, each functional unit in each embodiment of the utility model can be integrated in a processing unit,
Can be that unit is individually physically present, can also two or more units integrate in a unit.It is above-mentioned integrated
Unit can both be realized in the form of hardware, can also be realized in the form of hardware adds SFU software functional unit.
The above-mentioned integrated unit realized in the form of SFU software functional unit, can be stored in one and computer-readable deposit
In storage media.Above-mentioned SFU software functional unit is stored in a storage medium, including some instructions are used so that a computer
Device (can be personal computer, server, or network equipment etc.) or processor (Processor) perform the utility model
Each action.And foregoing storage medium includes：USB flash disk, mobile hard disk, read-only storage (Read-Only Memory, ROM),
Random access memory (Random Access Memory, RAM), magnetic disc or CD etc. are various can be with store program codes
Medium.
The above is only the preferred embodiment of the utility model only, is not intended to limit the utility model, all at this
The spirit of utility model and any modification, equivalent substitution, improvement and etc. within principle, done, should be included in the utility model
Within the scope of protection.
Claims (10)
1. unmanned trolley navigation system, it is characterised in that
Including：
Satellite navigation module, closes and is opened when driving in outdoor in unmanned trolley when driving indoors in unmanned trolley
It is dynamic, detect the current positional information of unmanned trolley, and by the current positional information of the unmanned trolley detected
Send control module to；
Inertial navigation module, closes and is opened when driving in outdoor in unmanned trolley when driving indoors in unmanned trolley
It is dynamic, send the current posture information of the unmanned trolley being calculated to the control module；
Tape navigation module, closes and is opened when driving indoors in unmanned trolley when driving in unmanned trolley in outdoor
It is dynamic, send the magnetic signal detected to the control module；And
The control module, is connected with the satellite navigation module, inertial navigation module and tape navigation module, in nothing respectively
People drive trolley it is outdoor when driving, using the unmanned trolley received from satellite navigation module current positional information and
Closed-loop control is carried out to unmanned trolley from the current posture information that the inertial navigation module receives, unmanned small
Car when driving, closed-loop control is carried out using from the magnetic signal that tape navigation module receives to unmanned trolley indoors.
2. unmanned trolley navigation system according to claim 1, it is characterised in that
Further include automatic charging module, the automatic charging module in the not enough power supply of unmanned trolley, by information about power and
Charging instruction is sent to the control module, and the control module is according to the current positional information of unmanned trolley, current
Posture information or magnetic signal guiding driverless trolley drive to charge target position and charge.
3. unmanned trolley navigation system according to claim 1 or 2, it is characterised in that
Anticollision module is further included, which is used for the presence or absence for detecting barrier, and is detecting the presence of barrier
When, the positional information of barrier is sent to the control module, the control module is according to the current position of unmanned trolley
Confidence breath, current posture information or the positional information of magnetic signal and the barrier carry out closed loop to unmanned trolley
Control.
4. unmanned trolley, it is characterised in that
Unmanned trolley navigation system described in including small vehicle main body and claim 1 or 2.
5. unmanned trolley according to claim 4, it is characterised in that
Wireless communication module is further included, for wireless communication, which is connected with the control module.
6. unmanned trolley according to claim 4, it is characterised in that
Electricity quantity display module is further included, for representing information about power, which is connected with the control module.
7. unmanned trolley according to claim 4, it is characterised in that
Voice cue module is further included, for carrying out voice prompt, which is connected with the control module.
8. unmanned trolley, it is characterised in that
Unmanned trolley navigation system described in including small vehicle main body and claim 3.
9. unmanned trolley according to claim 8, it is characterised in that
Wireless communication module is further included, for wireless communication, which is connected with the control module.
10. unmanned trolley according to claim 8, it is characterised in that
Electricity quantity display module is further included, for representing information about power, which is connected with the control module.
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108909955A (en) * | 2018-07-19 | 2018-11-30 | 芜湖籁余新能源科技有限公司 | A kind of unmanned ship with solar energy deck |
| CN109079818A (en) * | 2018-08-31 | 2018-12-25 | 厦门匠腾信息科技有限公司 | Public lavatory robot control system |
| CN112660145A (en) * | 2020-12-24 | 2021-04-16 | 李敏 | Control system and control method of unmanned vehicle |
| CN113614573A (en) * | 2019-03-08 | 2021-11-05 | 采埃孚股份公司 | Positioning system for unmanned vehicle |
-
2017
- 2017-08-16 CN CN201721027974.4U patent/CN207264195U/en active Active
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108909955A (en) * | 2018-07-19 | 2018-11-30 | 芜湖籁余新能源科技有限公司 | A kind of unmanned ship with solar energy deck |
| CN109079818A (en) * | 2018-08-31 | 2018-12-25 | 厦门匠腾信息科技有限公司 | Public lavatory robot control system |
| CN113614573A (en) * | 2019-03-08 | 2021-11-05 | 采埃孚股份公司 | Positioning system for unmanned vehicle |
| CN113614573B (en) * | 2019-03-08 | 2024-06-04 | 采埃孚股份公司 | Positioning system for unmanned vehicle |
| CN112660145A (en) * | 2020-12-24 | 2021-04-16 | 李敏 | Control system and control method of unmanned vehicle |
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Inventor after: Zhang Xiaochun Inventor after: Qiu Jiandong Inventor after: Zhou Yong Inventor after: Zhang Xiaoyong Inventor after: Meng Liu Inventor before: Qiu Jiandong Inventor before: Zhou Yong Inventor before: Zhang Xiaoyong Inventor before: Meng Liu |