CN207689912U - A kind of robot of view-based access control model navigation AGV technologies - Google Patents
A kind of robot of view-based access control model navigation AGV technologies Download PDFInfo
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- CN207689912U CN207689912U CN201721572275.8U CN201721572275U CN207689912U CN 207689912 U CN207689912 U CN 207689912U CN 201721572275 U CN201721572275 U CN 201721572275U CN 207689912 U CN207689912 U CN 207689912U
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Abstract
The utility model provides a kind of robot of view-based access control model navigation AGV technologies, including shell, chassis, main controller, memory, bottom control unit, Power Management Unit and motor drive module, it further include sensor unit, sensor unit includes laser radar module, inertial navigation module, ultrasonic sensor, depth camera and visual sensor, sensor unit connects bottom control unit, bottom control unit connects the input terminal of main controller, bottom control unit is also connected with touch screen, touch screen is set to the side of shell, control room is collectively formed with chassis in shell, main controller is equipped in control room, memory, bottom control unit, Power Management Unit and motor drive module, main controller connects memory, main controller connects power supply by Power Management Unit, main controller connects motor by motor drive module；The robot of this kind of view-based access control model navigation AGV technology has more preferably environment sensing and autonomous actions ability, is navigated using trackless, it is not necessary that original environment is transformed.
Description
Technical field
A kind of robot for AGV technologies of navigating the utility model is related to view-based access control model.
Background technology
Traditional AGV needs to be used as guidance path by magnetic stripe, colour band etc., for occasions such as factory, warehouses, needs often
Change production line or shelf arrangement, this just brings prodigious workload.And there is also environment sensings for existing robot
The problem of ability relative deficiency.Traditional AGV is magnetic stripe navigation, can only patrol route traveling, dumb, changes path and needs
Magnetic stripe is re-lay, encountering obstacle can only stop.And it is difficult to make multi-machine collaborative work, and many occasions needs are more in factory
A flow is completed in robot collaboration.In addition, to consider the raising of utilization benefit, production cost should be controlled and existed with use cost
Reduced levels.
The above problem should be paid attention to and be solved the problems, such as in the design and production process of robot.
Utility model content
The purpose of this utility model is to provide a kind of robot of view-based access control model navigation AGV technologies, has more preferably environment
Sensing capability, and in the case where not changing existing environment, can realize positioning and the navigation scheduling of AGV trolleies, to reach
It transports goods or freely walks, to solve environment sensing ability relative deficiency existing in the prior art, need frequent change
The problem of dynamic production line or shelf arrange, bring prodigious workload.
The technical solution of the utility model is：
A kind of robot of view-based access control model navigation AGV technologies, including shell, chassis, main controller, bottom control unit, electricity
Source control unit and motor drive module, shell are set on chassis, and chassis includes axle, wheel and chassis, and chassis is equipped with and is used for
The through-hole that axle passes through is equipped with bearing between chassis and axle, the both ends of axle are respectively equipped with wheel, and axle is driven by motor, electricity
Machine is set on chassis, further includes sensor unit, sensor unit includes laser radar module, inertial navigation module, ultrasonic wave
Sensor, depth camera and visual sensor, sensor unit connect bottom control unit, and bottom control unit connects master control
The input terminal of device, bottom control unit are also connected with touch screen, and touch screen is set to the side of shell, and control is collectively formed with chassis in shell
Room processed, control room is interior to be equipped with main controller, memory, bottom control unit, Power Management Unit and motor drive module, main controller
Memory is connected, main controller connects power supply by Power Management Unit, and main controller connects motor by motor drive module.
Further, bottom control unit uses ARM plates.
Further, motor drive module controls bi-motor using DSP.
Further, laser radar module, inertial navigation module, ultrasonic sensor, depth camera and visual sensing
Device is respectively arranged on shell, and laser radar module, ultrasonic sensor, depth camera and visual sensor are set to shell
Front side.
Further, touch screen is set to the front side of shell, and laser radar module, ultrasonic sensor, depth camera
The top of touch screen is set to visual sensor.
Further, further include fault detection module, fault detection module is set to control room, and fault detection module connects
The input terminal of main controller.
Further, further include sound identification module and voice playing module, sound identification module connects the defeated of main controller
Enter end, the output end of main controller connects voice playing module.
Further, further include wireless communication module, wireless communication module connection main controller.
The utility model has the beneficial effects that：The robot of this kind of view-based access control model navigation AGV technology, by the way that sensor is arranged
Unit and main controller so that robot has more preferably environment sensing and autonomous actions ability, is navigated using trackless, without transformation
Original environment, after factory, warehouse change, by resetting circuit anchor point, several hours are enough to allow entire factory
Normal operation, and it is not necessarily to additional cost.The robot of this kind of view-based access control model navigation AGV technology, reasonable in design, production
Cost is relatively low with use cost, is easy to use.
Description of the drawings
Fig. 1 is that the robot of the view-based access control model navigation AGV technologies of the utility model embodiment illustrates block diagram；
Fig. 2 is the structural schematic diagram of embodiment robot；
Wherein：1- main controllers, 2- bottom control units, 3- sensor units, 4- Power Management Unit, 5- power supplys, 6- electricity
Machine drive module, 7- motors, 8- memories, 9- sound identification modules, 10- voice playing modules, 11- wireless communication modules, 12-
Shell, the chassis 13-, 14- wheels, 15- touch screens；
31- laser radar modules, 32- inertial navigation modules, 33- ultrasonic sensors, 34- depth cameras, 35- visions
Sensor.
Specific implementation mode
The preferred embodiment that according to the present invention will be described in detail below with reference to the accompanying drawings.
Embodiment
A kind of robot of view-based access control model navigation AGV technologies, such as Fig. 1, including shell 12, chassis 13, main controller 1, bottom
Control unit 2, Power Management Unit 4 and motor drive module 6, such as Fig. 2, shell 12 is set on chassis 13, and chassis 13 includes vehicle
Axis, wheel 14 and chassis, chassis are equipped with the through-hole passed through for axle, and bearing, the both ends point of axle are equipped between chassis and axle
Not She You wheel 14, axle drives by motor 7, and motor 7 is set on chassis, further includes sensor unit 3, and sensor unit 3 wraps
Laser radar module 31, inertial navigation module 32, ultrasonic sensor 33, depth camera 34 and visual sensor 35 are included, is passed
Sensor cell 3 connects bottom control unit 2, and bottom control unit 2 connects the input terminal of main controller 1, and bottom control unit 2 also connects
Touch screen 15 is connect, touch screen 15 is set to the side of shell 12, and shell 12 is collectively formed control room with chassis 13, is equipped in control room
Main controller 1, memory 8, bottom control unit 2, Power Management Unit 4 and motor drive module 6, main controller 1 connect memory
8, main controller 1 connects power supply 5 by Power Management Unit 4, and main controller 1 connects motor 7 by motor drive module 6.
The robot of this kind of view-based access control model navigation AGV technology, by the way that sensor unit 3 and main controller 1 is arranged so that machine
People has more preferably environment sensing and autonomous actions ability, can be applied to exhibition room, museum's progress medium intelligent introduction, can be used in each
The places such as class warehouse are as inspection.
The robot of this kind of view-based access control model navigation AGV technologies, is navigated using trackless, it is not necessary that original environment is transformed, factory,
After warehouse changes, map only need to be rescaned, circuit anchor point is reset by software, several hours are enough to allow entire
Factory's normal operation, and it is not necessarily to additional cost.The robot of this kind of view-based access control model navigation AGV technology, it is reasonable in design,
Production cost is relatively low with use cost, is easy to use.
Embodiment uses the comprehensive airmanship of the Multi-sensor Fusion of " laser radar+inertial navigation ", using laser
Radar carries out Primary Location, and the information such as subsidiary angular speed and displacement are carried out using inertial navigation.In addition in robot periphery
Assist carrying out the monitoring of surrounding enviroment in conjunction with sonar.Automatic obstacle avoiding uses adaptive barrier-avoiding method.Laser radar can detect barrier
Hinder object size and surrounding ambient, again planning path avoiding barrier.And according to detection barrier occur time and
Motion state judges that prompt is waited for or independently detoured.
In embodiment, bottom control unit 2 uses ARM plates.Motor drive module 6 controls bi-motor 7 using DSP.Laser
Radar module 31, inertial navigation module 32, ultrasonic sensor 33, depth camera 34 and visual sensor 35 are respectively arranged on shell
On body 12, and laser radar module 31, ultrasonic sensor 33, depth camera 34 and visual sensor 35 are set to shell 12
Front side.Touch screen 15 is set to the front side of shell 12, and laser radar module 31, ultrasonic sensor 33, depth camera 34
The top of touch screen 15 is set to visual sensor 35.
Further include fault detection module, fault detection module is set to control room, and fault detection module connects main controller 1
Input terminal.Realize the fault detect to equipment.Further include sound identification module 9 and voice playing module 10, sound identification module 9
The input terminal of main controller 1 is connected, the output end of main controller 1 connects voice playing module 10, to realize the voice pair with robot
Words, and realize speech sound eeplaining.Further include wireless communication module 11, wireless communication module 11 connects main controller 1.Pass through wireless telecommunications
Module 11 realizes the wireless telecommunications with host computer.
Claims (8)
1. a kind of robot of view-based access control model navigation AGV technologies, including shell, chassis, main controller, memory, bottom control list
Member, Power Management Unit and motor drive module, shell are set on chassis, and chassis includes axle, wheel and chassis, and chassis is equipped with
For the through-hole that axle passes through, bearing is equipped between chassis and axle, the both ends of axle are respectively equipped with wheel, and axle is driven by motor
Dynamic, motor is set on chassis, it is characterised in that：Further include sensor unit, sensor unit includes laser radar module, inertia
Navigation module, ultrasonic sensor, depth camera and visual sensor, sensor unit connect bottom control unit, bottom
Control unit connects the input terminal of main controller, and bottom control unit is also connected with touch screen, and touch screen is set to the side of shell, shell
Control room is collectively formed with chassis, main controller, memory, bottom control unit, Power Management Unit and electricity are equipped in control room
Machine drive module, main controller connect memory, and main controller connects power supply by Power Management Unit, and main controller is driven by motor
Module connects motor.
2. the robot of view-based access control model navigation AGV technologies as described in claim 1, it is characterised in that：Bottom control unit is adopted
With ARM plates.
3. the robot of view-based access control model navigation AGV technologies as described in claim 1, it is characterised in that：Motor drive module is adopted
Bi-motor is controlled with DSP.
4. the robot of view-based access control model navigation AGV technologies as described in claim 1, it is characterised in that：Laser radar module is used to
Property navigation module, ultrasonic sensor, depth camera and visual sensor are respectively arranged on shell, and laser radar module,
Ultrasonic sensor, depth camera and visual sensor are set to the front side of shell.
5. the robot of view-based access control model navigation AGV technologies according to any one of claims 1-4, it is characterised in that：Touch screen
Set on the front side of shell, and laser radar module, ultrasonic sensor, depth camera and visual sensor are set to touch screen
Top.
6. the robot of view-based access control model navigation AGV technologies according to any one of claims 1-4, it is characterised in that：Further include
Fault detection module, fault detection module are set to control room, and the input terminal of fault detection module connection main controller.
7. the robot of view-based access control model navigation AGV technologies according to any one of claims 1-4, it is characterised in that：Further include
Sound identification module and voice playing module, sound identification module connect the input terminal of main controller, the output end connection of main controller
Voice playing module.
8. the robot of view-based access control model navigation AGV technologies according to any one of claims 1-4, it is characterised in that：Further include
Wireless communication module, wireless communication module connect main controller.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721572275.8U CN207689912U (en) | 2017-11-22 | 2017-11-22 | A kind of robot of view-based access control model navigation AGV technologies |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721572275.8U CN207689912U (en) | 2017-11-22 | 2017-11-22 | A kind of robot of view-based access control model navigation AGV technologies |
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| CN207689912U true CN207689912U (en) | 2018-08-03 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201721572275.8U Active CN207689912U (en) | 2017-11-22 | 2017-11-22 | A kind of robot of view-based access control model navigation AGV technologies |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107844118A (en) * | 2017-11-22 | 2018-03-27 | 江苏清投视讯科技有限公司 | A kind of robot of view-based access control model navigation AGV technologies |
| CN109213149A (en) * | 2018-08-06 | 2019-01-15 | 珠海格力电器股份有限公司 | A kind of automated guided vehicle and its control method, device and storage medium |
-
2017
- 2017-11-22 CN CN201721572275.8U patent/CN207689912U/en active Active
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107844118A (en) * | 2017-11-22 | 2018-03-27 | 江苏清投视讯科技有限公司 | A kind of robot of view-based access control model navigation AGV technologies |
| CN109213149A (en) * | 2018-08-06 | 2019-01-15 | 珠海格力电器股份有限公司 | A kind of automated guided vehicle and its control method, device and storage medium |
| CN109213149B (en) * | 2018-08-06 | 2020-09-01 | 珠海格力电器股份有限公司 | Automatic guided transport vehicle and control method, device and storage medium thereof |
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