CN207826380U - A kind of automatic guiding carriage - Google Patents
A kind of automatic guiding carriage Download PDFInfo
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- CN207826380U CN207826380U CN201820229739.3U CN201820229739U CN207826380U CN 207826380 U CN207826380 U CN 207826380U CN 201820229739 U CN201820229739 U CN 201820229739U CN 207826380 U CN207826380 U CN 207826380U
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- Prior art keywords
- automatic guiding
- guiding carriage
- target data
- embedded board
- carriage according
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Abstract
This application discloses a kind of automatic guiding carriages, wherein the automatic guiding carriage includes being located at trolley front, the laser radar sensor for acquiring target data；For obtaining, processing target data, and send out the embedded board of control instruction；Driving circuit for receiving and executing control instruction；Universal wheel for Omni-mobile；Wherein, target data includes position data and range data.As it can be seen that above-mentioned automatic guiding carriage disclosed in the present application, target data is acquired by using the two-dimensional laser radar of low cost；Simultaneously using the embedded board of low cost, processing target data, and control instruction is sent out to driving circuit, so that driving circuit executes control instruction, control automatic guiding carriage reduces the cost of automatic guiding carriage that is, while can automatically control guiding trolley.
Description
Technical field
The utility model is related to mobile robot field, more particularly to a kind of automatic guiding carriage.
Background technology
In recent years, mobile robot technology with the continuous development of science and technology, society for mobile robot demand
Also it is constantly being promoted.The development of e-commerce has driven the development of material flow industry, all kinds of kinds of goods to arrange the workload of flow more
It is heavy.In warehousing system, the application of automatic guiding carriage is increasingly becoming the hot topic of research.
Automatic guiding carriage use sensor be generally adopted by visual sensor, by SLAM technologies (SLAM,
Simultaneous localization and mapping, immediately positioning with structure map) allow robot to ambient enviroment into
Row is explored, and in circumstances not known, is detected to surrounding by sensor, is constructed environmental map, positioned to robot,
To carry out automatic guide.In the research process of SLAM, visual sensor is easy affected by the ambient, and test is made to tie
Fruit is unstable, and computationally intensive, improves expensive.
Therefore, how to reduce the cost of automatic guiding carriage is the utility model technical staff's urgent problem to be solved.
Utility model content
In view of this, the purpose of this utility model is to provide a kind of automatic guiding carriage and its autocontrol method, drop
The cost of low automatic guiding carriage.Its concrete scheme is as follows：
A kind of automatic guiding carriage, including：
Positioned at the trolley front, the two-dimensional laser radar sensor for acquiring target data；
For obtaining, handling the target data, and send out the embedded board of control instruction；
Driving circuit for receiving and executing the control instruction；
Universal wheel for Omni-mobile；
Wherein, the target data includes position data and range data.
Preferably, the algorithm that the embedded board uses is SLAM algorithm.
Preferably, the automatic guiding carriage further includes weighing device.
Preferably, the automatic guiding carriage, the weighing device include weighing sensor, electronic display and overweight finger
Show lamp.
Preferably, the weighing sensor includes the weighing sensor of resistance-strain type.
Preferably, the automatic guiding carriage further includes overweight indicator light.
Preferably, the automatic guiding carriage further includes：
N layer platforms for carrying target object；Wherein, N is the integer more than 1；The target object includes electronics member
Part and/or cargo.
Preferably, the automatic guiding carriage further includes：
Fixing device for fixing the laser radar sensor.
Preferably, the automatic guiding carriage further includes：
Hollow copper post for fixing the embedded board and the driving circuit.
Preferably, the automatic guiding carriage further includes：
Overcurrent protection for protecting the embedded board and the laser radar sensor.
A kind of automatic guiding carriage disclosed by the utility model, including it is located at trolley front, for acquiring target data
Laser radar sensor；For obtaining, processing target data, and send out the embedded board of control instruction；For receiving simultaneously
Execute the driving circuit of control instruction；Universal wheel for Omni-mobile；Wherein, target data includes position data and apart from number
According to.As it can be seen that the utility model acquires target data by using the two-dimensional laser radar of low cost；The embedding of low cost is utilized simultaneously
Enter formula development board, processing target data, and control instruction is sent out to driving circuit, so that driving circuit executes control instruction, control
Automatic guiding carriage processed reduces the cost of automatic guiding carriage that is, while can automatically control guiding trolley.
Description of the drawings
In order to illustrate the embodiment of the utility model or the technical proposal in the existing technology more clearly, below will be to embodiment
Or attached drawing needed to be used in the description of the prior art is briefly described, it should be apparent that, the accompanying drawings in the following description is only
It is the embodiments of the present invention, for those of ordinary skill in the art, without creative efforts, also
Other attached drawings can be obtained according to the attached drawing of offer.
Fig. 1 is a kind of structural schematic diagram for automatic guiding carriage that the utility model embodiment provides；
Fig. 2 is a kind of scheme of installation for automatic guiding carriage that the utility model embodiment provides；
Fig. 3 is a kind of concrete structure signal of the weighing device for automatic guiding carriage that the utility model embodiment provides
Figure.
Specific implementation mode
The following will be combined with the drawings in the embodiments of the present invention, carries out the technical scheme in the embodiment of the utility model
Clearly and completely describe, it is clear that the described embodiments are only a part of the embodiments of the utility model, rather than whole
Embodiment.Based on the embodiments of the present invention, those of ordinary skill in the art are without making creative work
The every other embodiment obtained, shall fall within the protection scope of the present invention.
The utility model embodiment discloses a kind of automatic guiding carriage, as shown in Figure 1, including：
Positioned at trolley front, the two-dimensional laser radar sensor 1 for acquiring target data；For obtaining, processing target
Data, and send out the embedded board 2 of control instruction；Driving circuit 3 for receiving and executing control instruction；For omnidirectional
Mobile universal wheel 4；Wherein, target data includes position data and range data.
It needs to illustrate, the specific installation of one kind of automatic guiding carriage disclosed in the utility model embodiment is shown
It is intended to as shown in Fig. 2, two-dimensional laser radar 1 is widely applied with its rapid reaction, accurate measuring characteristic in mobile robot
Environment Obstacles analyte detection in.Two-dimensional laser radar 1 utilizes TOF measurement method (TOF, Time of Flight, bidirectional ranging side
Method) ranging is carried out, TOF measurement method mainly measures section using the signal flight time round-trip between two asynchronous receiver-transmitters
Distance between point.There are two crucial constraints for TOF distance measuring methods：First, sending device must be synchronous always with receiving device；Two
It is the length for the transmission time that receiving device provides signal.In order to realize that clock synchronizes, TOF measurement method uses clock skew
It measures to solve clock synchronization issue.But since the Time Dependent of TOF measurement method is in local and remote node, range accuracy is easy
Clock offset is influenced in by two end nodes.Far in order to reduce the influence of such mistake, reverse measuremenet method is used here, i.e.,
Cheng Jiedian transmission data packets, local node received data packet, and automated toing respond to, as it is average in forward and reverse obtained by be averaged
Value reduces the influence to any clock offset, to reduce the error of ranging.It is small in automatic guide provided by the utility model
The installation site of Che Zhong, two-dimensional laser radar 1 are usually located at the front of automatic guiding carriage, and are consolidated using fixing device
It is fixed.Specifically, the scan frequency of two-dimensional laser radar 1 can reach 10 hertz, and acquisition points reach at 4000 points, and measurement distance reaches
To 15 meters or more, meet automatic guiding carriage application scenarios.
It should be further noted that above-mentioned embedded board 2 is usually located at the middle part of automatic guiding carriage, preferably
, it is located at automatic guiding carriage bottom, avoids the shock of cargo etc. or rub to damage caused by embedded board 2, extend
The service life of embedded board 2.In addition, the algorithm that the embedded board 2 in the utility model uses can be SLAM algorithms
(SLAM, Simultaneous Localization and Mapping, position and build immediately figure), SLAM algorithms are to generally acknowledge to regard
Feel the forward position direction of domain level constraints location technology, it is mainly used for solving positioning and map of the robot when circumstances not known moves
Construct question.It is understood that embedded board 2 can also utilize other algorithms met the requirements, these are in this reality
Within novel protection domain.Above-mentioned embedded board 2 can select 3 generation of development board Raspberry Pi, naturally it is also possible to be
Other kinds of development board, it should be noted that 3 generation of development board Raspberry Pi meets the processing energy to 1 data of two-dimensional laser radar
Power, while volume only has credit card-sized, saves the space of automatic guiding carriage underlying platform.
Driving circuit 3 for receiving and executing control instruction is located at automatic guiding carriage as embedded board 2
Bottom.The type of driving circuit 3 is various, and the structure of physical circuit is designed according to the demand of user.The utility model carries
The structure of the front-wheel 4 of the automatic guiding carriage of confession is typically universal wheel, needs to be specifically described, and universal wheel is exactly so-called
Movable castor, its tolerable injury level 360 degree rotation.Castor is a general designation, including movable castor and rigid castors.Rigid castors do not have
There is rotational structure, cannot horizontally rotate vertically to rotate.Both castors are typically all collocation, such as the knot of trolley
Structure is two, front fast pulley, and back is two movable universal wheels close to push handrail.Universal wheel refers to being mounted on castor wheel
The holder of son horizontal 360-degree can rotate in dynamic load or static load.There are many materials for manufacturing universal wheel, most common material
It is：Nylon, polyurethane, rubber, the materials such as cast iron.It is widely used in mine, mechanical equipment, electronic equipment, Medical Devices, engineering
Finishing, weaving, printing and dyeing, furniture, logistics equipment, storage, tote cart, cabinet, cabinet, equipment, electromechanics, dust-free workshop, production stream
Numerous industries such as waterline, large supermarket and various fields.In the present invention, universal wheel is used as the front-wheel of automatic guiding carriage
4, for being correctly oriented according to the driving of driving circuit 3 selection, run correct route.In addition, after automatic guiding carriage
Wheel 6 can be glue coating wheel, and be controlled using DC speed-reducing.
As it can be seen that the utility model acquires target data by using the two-dimensional laser radar of low cost；Simultaneously using it is low at
This embedded board, processing target data, and control instruction is sent out to driving circuit, so that driving circuit executes control and refers to
It enables, control automatic guiding carriage reduces the cost of automatic guiding carriage that is, while can automatically control guiding trolley.
Further, automatic guiding carriage provided by the utility model further includes for fixedly embedded formula development board 2 and driving
The hollow copper post of dynamic circuit 3；Its car body materials is usually aluminum alloy materials, can also be other kinds of in the case of certainly necessary
Material.The structure of car body may include the N layer platforms for carrying target object；Wherein, N is the integer more than 1；Object
Body includes electronic component or cargo.In view of the load-carrying of automatic guiding carriage, N usually takes 2.Above-mentioned electronic component includes but unlimited
In two-dimensional laser radar 1, embedded board 2 and driving circuit 3.
Further, automatic guiding carriage is damaged because overweight in order to prevent, what the utility model embodiment provided
Automatic guiding carriage further includes weighing device, needs to illustrate, weighing device include but not limited to weighing sensor 11,
Electronic display 12 and overweight indicator light 10, the schematic view of the mounting position of matrix are as shown in Figure 3.It needs to illustrate, claim
It is a kind of device that quality signal is changed into measurable electric signal output to retransmit sensor 11.Weighing sensor presses conversion method
It is divided into photo-electric, fluid pressure type, electromagnetic type, condenser type, magnetic pole deformation type, oscillatory type, gyro ceremony, resistance-strain type etc. 8
Class is most wide with the use of the weighing sensor of resistance-strain type.Above-mentioned electronic display is typically LED display (LED, Light
Emitting Diode, light emitting diode), can also be LCD (LCD, Liquid Crystal Display, liquid crystal display
Screen), naturally it is also possible to it is other kinds of display screen.The course of work of weighing device can be：When automatic guiding carriage carries
Cargo when being less than preset weight threshold, the color of overweight indicator light is green；When the cargo of automatic guiding carriage carrying is super
When crossing preset weight threshold, overweight indicator light can become red and carry out early warning.It is understood that above-mentioned weight threshold can
Can also be to be configured according to the property of the modular construction of automatic guiding carriage to be configured according to the demand of user, on
Stating the color design of overweight indicator light 10 can be configured according to the needs of user.
Further, in order to protect the electronics such as above-mentioned embedded board 2, laser radar sensor 1 and driving circuit 3
Element, automatic guiding carriage provided by the utility model further include overcurrent protection 8；Specifically, overcurrent protection is utilized
The upper limit of current value in the secure state, i.e. threshold current is arranged in device 8, once the electric current of automatic guiding carriage is more than preset
When threshold current, overcurrent protection will be alarmed or be automatically powered off, to protect above-mentioned electronic component.
Finally, it is to be noted that, herein, relational terms such as first and second and the like be used merely to by
One entity or operation are distinguished with another entity or operation, without necessarily requiring or implying these entities or operation
Between there are any actual relationship or orders.Moreover, the terms "include", "comprise" or its any other variant meaning
Covering non-exclusive inclusion, so that the process, method, article or equipment including a series of elements includes not only that
A little elements, but also include other elements that are not explicitly listed, or further include for this process, method, article or
The intrinsic element of equipment.In the absence of more restrictions, the element limited by sentence "including a ...", is not arranged
Except there is also other identical elements in the process, method, article or equipment including element.
The foregoing description of the disclosed embodiments enables those skilled in the art to realize or use the utility model.
Various modifications to these embodiments will be apparent for a person skilled in the art, general original as defined herein
Reason can be realized in other embodiments without departing from the spirit or scope of the present utility model.Therefore, this practicality is new
Type is not intended to be limited to the embodiments shown herein, and is to fit to and the principles and novel features disclosed herein phase
Consistent widest range.
Claims (10)
1. a kind of automatic guiding carriage, which is characterized in that including：
Positioned at the trolley front, the two-dimensional laser radar sensor for acquiring target data；
For obtaining, handling the target data, and send out the embedded board of control instruction；
Driving circuit for receiving and executing the control instruction；
Universal wheel for Omni-mobile；
Wherein, the target data includes position data and range data.
2. automatic guiding carriage according to claim 1, which is characterized in that the algorithm that the embedded board uses for
SLAM algorithms.
3. automatic guiding carriage according to claim 1, which is characterized in that further include weighing device.
4. automatic guiding carriage according to claim 3, which is characterized in that the weighing device include weighing sensor,
Electronic display and overweight indicator light.
5. automatic guiding carriage according to claim 4, which is characterized in that the weighing sensor includes resistance-strain type
Weighing sensor.
6. automatic guiding carriage according to claim 1, which is characterized in that further include overweight indicator light.
7. automatic guiding carriage according to claim 1, which is characterized in that further include：
N layer platforms for carrying target object；Wherein, N is the integer more than 1；The target object include electronic component and/
Or cargo.
8. automatic guiding carriage according to claim 1, which is characterized in that further include：
Fixing device for fixing the laser radar sensor.
9. automatic guiding carriage according to claim 1, which is characterized in that further include：
Hollow copper post for fixing the embedded board and the driving circuit.
10. according to claim 1 to 9 any one of them automatic guiding carriage, which is characterized in that further include：
Overcurrent protection for protecting the embedded board and the laser radar sensor.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820229739.3U CN207826380U (en) | 2018-02-08 | 2018-02-08 | A kind of automatic guiding carriage |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820229739.3U CN207826380U (en) | 2018-02-08 | 2018-02-08 | A kind of automatic guiding carriage |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN207826380U true CN207826380U (en) | 2018-09-07 |
Family
ID=63397697
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201820229739.3U Expired - Fee Related CN207826380U (en) | 2018-02-08 | 2018-02-08 | A kind of automatic guiding carriage |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN207826380U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108196550A (en) * | 2018-02-08 | 2018-06-22 | 广东工业大学 | A kind of automatic guiding carriage and its autocontrol method |
| CN109319013A (en) * | 2018-09-13 | 2019-02-12 | 徐州卓控科技有限公司 | It is a kind of can automatically walk transfer cart |
-
2018
- 2018-02-08 CN CN201820229739.3U patent/CN207826380U/en not_active Expired - Fee Related
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108196550A (en) * | 2018-02-08 | 2018-06-22 | 广东工业大学 | A kind of automatic guiding carriage and its autocontrol method |
| CN109319013A (en) * | 2018-09-13 | 2019-02-12 | 徐州卓控科技有限公司 | It is a kind of can automatically walk transfer cart |
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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: 20180907 Termination date: 20200208 |
|
| CF01 | Termination of patent right due to non-payment of annual fee |