CN207741761U - A kind of Laser navigation system - Google Patents
A kind of Laser navigation system Download PDFInfo
- Publication number
- CN207741761U CN207741761U CN201721808609.7U CN201721808609U CN207741761U CN 207741761 U CN207741761 U CN 207741761U CN 201721808609 U CN201721808609 U CN 201721808609U CN 207741761 U CN207741761 U CN 207741761U
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- laser
- reflection
- navigation system
- reflection plate
- coordinate system
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- 239000003365 glass fiber Substances 0.000 claims description 3
- 239000000853 adhesive Substances 0.000 claims 2
- 230000001070 adhesive effect Effects 0.000 claims 2
- 238000010586 diagram Methods 0.000 description 5
- 238000005516 engineering process Methods 0.000 description 5
- 239000002390 adhesive tape Substances 0.000 description 4
- 238000000034 method Methods 0.000 description 4
- 230000004048 modification Effects 0.000 description 3
- 238000012986 modification Methods 0.000 description 3
- 230000007659 motor function Effects 0.000 description 1
- 239000007787 solid Substances 0.000 description 1
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Abstract
本实用新型提供一种激光导航系统，其特征在于，包含：激光雷达传感器、激光发射装置、激光反射部件；所述激光雷达传感器和所述激光发射装置均设置在运动设备上；所述激光反射部件为激光反射板；所述激光反射板设置在预设路线上，所述激光反射板反射区域的反射点为三个。通过设置激光雷达传感器和反射点的位置和个数，确定了直角坐标系标定的唯一性，并利用激光进行定位和坐标系设定，提高了定位的精度和准确性，避免了机器人导航的误差。
The utility model provides a laser navigation system, which is characterized in that it includes: a laser radar sensor, a laser emitting device, and a laser reflection component; the laser radar sensor and the laser emitting device are both arranged on the sports equipment; the laser reflection The component is a laser reflection plate; the laser reflection plate is arranged on a preset route, and there are three reflection points in the reflection area of the laser reflection plate. By setting the position and number of the laser radar sensor and reflection points, the uniqueness of the Cartesian coordinate system calibration is determined, and the laser is used for positioning and coordinate system setting, which improves the positioning accuracy and accuracy, and avoids robot navigation errors. .
Description
Technical field
The utility model is related to robot navigation's technical field, more particularly to a kind of Laser navigation system.
Background technology
With the fast development of industrial technology, the continuous propulsion of robot science and technology, so the application of sports equipment is not yet
Disconnected expansion.In most of sports equipment operational process, navigate as the core technology independently travelled, to sports equipment
Safety traffic, has great importance.Existing robot navigation's equipment coordinate system calibration generally using mechanical constraint point come
It realizes.But adopt this method not high enough to coordinate system stated accuracy, it is easy that robot is made in navigation procedure to deviate.
Utility model content
Utility model aims to solve the not high problems of existing airmanship coordinate system stated accuracy.
For this purpose, the utility model provides a kind of Laser navigation system, it is right in robotic laser independent navigation to can be adapted for
Rectangular coordinate system is demarcated, to improve the calibration accuracy and precision of coordinate system.
To achieve the goals above, the utility model provides a kind of Laser navigation system, which is characterized in that includes：Laser
Radar sensor, laser beam emitting device, laser reflection component；The laser radar sensor and the laser beam emitting device are all provided with
It sets on sports equipment；The laser reflection component is laser reflection plate；The laser reflection plate reflector space is non-equally set
Pip there are three setting.
Further, a kind of Laser navigation system described in the utility model, which is characterized in that the laser beam emitting device
For laser.
Further, a kind of Laser navigation system described in the utility model, which is characterized in that, three pips
Conllinear setting.
Further, a kind of Laser navigation system described in the utility model, which is characterized in that three pips are not
Conllinear setting.
Further, a kind of Laser navigation system described in the utility model, which is characterized in that the laser reflection plate is
Glass fibre is made.
Further, a kind of Laser navigation system described in the utility model, which is characterized in that the laser reflection plate is
Rectangle or square or circle.
Further, a kind of Laser navigation system described in the utility model, which is characterized in that the laser reflection backboard
Face is provided with double faced adhesive tape, and the laser reflection plate is fixed on by double faced adhesive tape on preset route.
Further, a kind of Laser navigation system described in the utility model, which is characterized in that the laser reflection plate is set
It is equipped with screw hole, the laser reflection plate is fixed on by the screw hole on preset route.
By a kind of Laser navigation system described in the utility model, by the way that laser radar sensor and pip is arranged
Position, when the number of baffle reflection region pip is three, it is determined that the uniqueness of coordinate system calibration, and utilize laser
Positioning and Coordinate Setting are carried out, the precision of positioning is improved, avoids the error of robot navigation.
Description of the drawings
Fig. 1 is the work flow diagram of Laser navigation system described in the utility model；
Fig. 2 is the structure chart of Laser navigation system described in the utility model；
Fig. 3 is that rectangular coordinate system demarcates schematic diagram when three pips described in the utility model are conllinear；
Fig. 4 is that rectangular coordinate system demarcates schematic diagram when three pips described in the utility model are not conllinear.
Specific implementation mode
In order to keep the purpose of this utility model, technical solution and advantage clearer, below in conjunction with the utility model reality
The attached drawing in example is applied, the technical scheme in the embodiment of the utility model is explicitly described, it is clear that described embodiment
It is a part of the embodiment of the utility model, rather than whole embodiments.Based on the embodiments of the present invention, this field is universal
The every other embodiment that technical staff is obtained without making creative work belongs to the utility model protection
Range.
In order to solve the problems, such as that existing coordinate system stated accuracy is not high.The utility model provides a kind of laser navigation system
System, is illustrated in figure 2 structural representation Figure 200 of this navigation system, including：Laser radar sensor 201, laser beam emitting device
202, laser reflection component 203.
Laser radar sensor 201 and laser beam emitting device 202 are arranged on sports equipment.
Laser beam emitting device 202 is laser.
Laser reflection component 203 is laser reflection plate, and laser reflection plate is made of glass fibre, the shape of laser reflection plate
Can be rectangle, square or circle.More preferably, the back side of laser reflection plate is provided with double faced adhesive tape, and laser reflection plate passes through
Double faced adhesive tape is fixed in predetermined paths.More preferably, screw hole is provided on laser reflection plate, laser reflection plate is solid by screw hole
It is scheduled in predetermined paths, enhances the fixed stability of laser reflection plate.
There are three pips for the setting of the laser reflection plate reflector space Unequal distance.
Laser beam emitting device 202 is for emitting laser, when in laser irradiation to laser reflection component 203, laser reflection
Plate can be by laser reflection to laser radar sensor 201, and laser radar sensor 201 can pick out three laser reflection plate reflections
The pip in region, the setting of three laser reflection points can be collinearly arranged can not also be conllinear.
Rectangular coordinate system is demarcated by laser reflection utilized above, because the rectangular coordinate system demarcated is unique, and
It is demarcated using laser, therefore enhances the precision of rectangular coordinate system calibration, reduce the error of robot navigation.
It is as shown in Figure 1 the flow chart of this system work, step includes：
S101：Laser radar sensor is scanned reflecting plate, and determines reflection of the scanning to three unequally distributed blades
Point；
Specifically, laser radar sensor is set as three by the pip on scanning reflection plate, herein pip.With
Machine counts the pip of nearest three Unequal distances, and the pip of three Unequal distances is divided into conllinear setting and is not arranged collinearly.
S102:It is when the pip of three unequally distributed blades scanned is conllinear, the maximum 2 points of places of spacing distance is straight
X-axis of the line as rectangular coordinate system, the point farthest apart from intermediate point determine straight as rectangular coordinate system origin according to right-hand rule
The Y direction of angular coordinate system；
Specifically, when laser radar sensor scan to three Unequal distances pip point-blank when, then first
Maximum 2 points of spacing is recognized, and using the straight line where maximum 2 points of spacing as the X-axis of rectangular coordinate system, it will be apart from centre
Then the farthest point of point determines Y axis coordinate system as rectangular coordinate system origin according to the right-hand rule, thereby determined that when three anti-
Exit point point-blank when rectangular coordinate system scaling method.As shown in Figure 3：Three are scanned for laser radar sensor to differ
Away from pip it is conllinear when, the rectangular coordinate system schematic diagram demarcated.
S103：When the pip of three unequally distributed blades scanned is not conllinear, the pip structure of three unequally distributed blades
At a non-isosceles triangle, the X-axis of the longest edge of non-isosceles triangle as rectangular coordinate system, between longest edge and another both sides
The vertex of longer one side intersection point determines the Y direction of rectangular coordinate system according to right-hand rule as rectangular coordinate system origin.
Specifically, when the pip of laser radar sensor scanning to three Unequal distances is not arranged on the same straight line, three
The pip of a unequally distributed blades just constitutes a non-isosceles triangle, laser radar sensor recognize first at 3 points between most
Remote 2 points, and using the straight line where 2 points as X-axis, by the vertex of longer one side intersection point between longest edge and another both sides
As the origin of rectangular coordinate system, the Y direction of rectangular coordinate system is determined according to right-hand rule, it is anti-to have demarcated three according to this
Rectangular coordinate system when exit point is not conllinear.As shown in Figure 4：The pip that three Unequal distances are scanned for laser radar sensor is not total
When line, the rectangular coordinate system schematic diagram demarcated.
Sports equipment can be the article that robot, AGV trolleies, fork truck etc. have motor function in the present embodiment.
Obviously, it is new without departing from this practicality can to carry out the utility model various modification and variations by those skilled in the art
The spirit and scope of type.If in this way, these modifications and variations of the present invention belong to the utility model claims and its
Within the scope of equivalent technologies, then the utility model is also intended to include these modifications and variations.
Claims (8)
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721808609.7U CN207741761U (en) | 2017-12-21 | 2017-12-21 | A kind of Laser navigation system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721808609.7U CN207741761U (en) | 2017-12-21 | 2017-12-21 | A kind of Laser navigation system |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN207741761U true CN207741761U (en) | 2018-08-17 |
Family
ID=63119109
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201721808609.7U Expired - Fee Related CN207741761U (en) | 2017-12-21 | 2017-12-21 | A kind of Laser navigation system |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN207741761U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108415022A (en) * | 2017-12-21 | 2018-08-17 | 合肥中导机器人科技有限公司 | A kind of the coordinate system scaling method and Laser navigation system of laser type reflecting plate |
-
2017
- 2017-12-21 CN CN201721808609.7U patent/CN207741761U/en not_active Expired - Fee Related
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108415022A (en) * | 2017-12-21 | 2018-08-17 | 合肥中导机器人科技有限公司 | A kind of the coordinate system scaling method and Laser navigation system of laser type reflecting plate |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CP03 | Change of name, title or address |
Address after: 322000 2nd Floor, Building 14, Kechuang Garden, 968 Xuefeng West Road, Beiyuan Street, Yiwu City, Jinhua City, Zhejiang Province Patentee after: Zhejiang Zhong Dao Robot Technology Co.,Ltd. Address before: 230601 Haiheng Building 543 No. 6 Cuiwei Road, Hefei City, Anhui Province Patentee before: ZHONGDAO ROBOT TECHNOLOGY Co.,Ltd. |
|
| CP03 | Change of name, title or address | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20210308 Address after: 201700 block B, room 126, area C, building 6, No. 500, Huapu Road, Qingpu District, Shanghai Patentee after: Shanghai Jidao robot Co.,Ltd. Address before: 322000 2nd Floor, Building 14, Kechuang Garden, 968 Xuefeng West Road, Beiyuan Street, Yiwu City, Jinhua City, Zhejiang Province Patentee before: Zhejiang Zhong Dao Robot Technology Co.,Ltd. |
|
| TR01 | Transfer of patent right | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20180817 |
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| CF01 | Termination of patent right due to non-payment of annual fee |