CN207741761U - A kind of Laser navigation system - Google Patents

A kind of Laser navigation system Download PDF

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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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CN
China
Prior art keywords
laser
reflection
navigation system
reflection plate
coordinate system
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Expired - Fee Related
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CN201721808609.7U
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Chinese (zh)
Inventor
韩勇
张腾飞
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Shanghai Jidao Robot Co ltd
Zhejiang Zhong Dao Robot Technology Co ltd
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Hefei Sunleads Robot Technology Co Ltd
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Priority to CN201721808609.7U priority Critical patent/CN207741761U/en
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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

A kind of Laser navigation system
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)

1.一种激光导航系统,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;1. A laser navigation system, characterized in that it comprises: a laser radar sensor, a laser emitting device, and a laser reflector; 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;Both the laser radar sensor and the laser emitting device are arranged on the sports equipment; 所述激光反射部件为激光反射板;The laser reflection component is a laser reflection plate; 所述激光反射板反射区域不等距地设置有三个反射点。The reflection area of the laser reflection plate is not equidistantly provided with three reflection points. 2.根据权利要求1所述的一种激光导航系统,其特征在于,所述激光发射装置为激光器。2. A laser navigation system according to claim 1, wherein the laser emitting device is a laser. 3.根据权利要求1所述的一种激光导航系统,其特征在于,所述三个反射点共线设置。3. A laser navigation system according to claim 1, wherein the three reflection points are collinearly arranged. 4.根据权利要求1所述的一种激光导航系统,其特征在于,所述三个反射点不共线设置。4. A laser navigation system according to claim 1, wherein the three reflection points are not collinearly arranged. 5.根据权利要求1所述的一种激光导航系统,其特征在于,所述激光反射板为玻璃纤维制成。5. A laser navigation system according to claim 1, wherein the laser reflection plate is made of glass fiber. 6.根据权利要求1所述的一种激光导航系统,其特征在于,所述激光反射板为长方形或正方形或圆形。6. A laser navigation system according to claim 1, characterized in that, the laser reflection plate is rectangular, square or circular. 7.根据权利要求1所述的一种激光导航系统,其特征在于,所述激光反射板背面设置有双面胶,所述激光反射板通过双面胶固定在预设的路线上。7. A laser navigation system according to claim 1, wherein a double-sided adhesive is provided on the back of the laser reflection board, and the laser reflection board is fixed on a preset route through the double-sided adhesive. 8.根据权利要求1所述的一种激光导航系统,其特征在于,所述激光反射板设置有螺钉孔,所述激光反射板通过所述螺钉孔固定在预设的路线上。8 . The laser navigation system according to claim 1 , wherein the laser reflection plate is provided with screw holes, and the laser reflection plate is fixed on a preset route through the screw holes.
CN201721808609.7U 2017-12-21 2017-12-21 A kind of Laser navigation system Expired - Fee Related CN207741761U (en)

Priority Applications (1)

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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

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Cited By (1)

* Cited by examiner, † Cited by third party
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

Cited By (1)

* Cited by examiner, † Cited by third party
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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Address before: 322000 2nd Floor, Building 14, Kechuang Garden, 968 Xuefeng West Road, Beiyuan Street, Yiwu City, Jinhua City, Zhejiang Province

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