CN209037703U - A kind of transportation robot to be navigated based on laser and visual combination - Google Patents
A kind of transportation robot to be navigated based on laser and visual combination Download PDFInfo
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- CN209037703U CN209037703U CN201821861016.1U CN201821861016U CN209037703U CN 209037703 U CN209037703 U CN 209037703U CN 201821861016 U CN201821861016 U CN 201821861016U CN 209037703 U CN209037703 U CN 209037703U
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- laser
- vehicle frame
- transportation robot
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- tank tower
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Abstract
A kind of transportation robot to be navigated based on laser and visual combination of the utility model, it includes vehicle frame, the upper tank tower that is installed on vehicle frame；The installed in front of the vehicle frame has laser radar, and the front side of vehicle frame and rear side are all equipped with ultrasonic radar；The vehicle frame, which is located on rear side of upper tank tower, is provided with control panel；It is set as transparent window on the left of the upper tank tower, is provided with high definition camera on rear side of transparent window；The top side of the upper tank tower is provided with the transport mechanism of left and right directions；The inside of the vehicle frame is additionally provided with control module and running gear；The control module is connect with running gear, laser radar, ultrasonic radar, control panel, high definition camera, transport mechanism respectively.A kind of transportation robot to be navigated based on laser and visual combination of the utility model, improves navigation accuracy, and precision is stopped up to 10mm, high-precision, and loading and unloading are accurate.
Description
Technical field
The utility model relates to robot fields, more particularly to a kind of transporter to be navigated based on laser and visual combination
Device people.
Background technique
As the exploitation of computer, the fast development of microelectric technique, intellectualized technology is getting faster, degree of intelligence is also got over
Come higher, the range of application has also obtained great extension, and intelligence storage robot welcomes large market；Currently, machine
People's technology tends to be mature, is increasingly approved by market, many labor-intensive productions seek the solution improved efficiency, machine
Substitution is very good solution method.Existing dining room service robot, workshop welding robot, logistics field gradually introduce machine
People, robot palletizer, sorting machine people, these robots be fixed on the same place mostly or without locomitivity or
Stopping accuracy is not high；A kind of removable and high robot of positioning accuracy is needed in the market, is used for logistics and storage.
Utility model content
In order to solve the above technical problems, the utility model provides a kind of transporter to navigate based on laser and visual combination
Device people improves navigation accuracy, and precision is stopped up to 10mm, high-precision, and loading and unloading are accurate.
The technical scheme adopted by the utility model to solve the technical problem is as follows: a kind of navigated based on laser and visual combination
Transportation robot, it includes vehicle frame, the upper tank tower that is installed on vehicle frame；The installed in front of the vehicle frame has laser radar, vehicle
The front side of frame and rear side are all equipped with ultrasonic radar；The vehicle frame, which is located on rear side of upper tank tower, is provided with control panel；It is described
It is set as transparent window on the left of upper tank tower, is provided with high definition camera on rear side of transparent window；The top side of the upper tank tower is arranged
There is the transport mechanism of left and right directions；The inside of the vehicle frame is additionally provided with control module and running gear；The control module point
It is not connect with running gear, laser radar, ultrasonic radar, control panel, high definition camera, transport mechanism.
The transport mechanism include support board, positioned at support board left and right ends roller, be set in the correspondences of two rollers
The belts of front-end and back-end, roller drive device.
The roller drive device is the roller driving motor being set on the roller of left end.
Hole window is provided on the support board；Optoelectronic switch is installed below the window of hole.
The support board is fixed by the way that the loading fixed frame of its bottom is arranged in upper tank tower.
The front and rear sides that the top side of the upper tank tower is located at transport mechanism are also respectively provided with baffle.
The running gear includes the traveling wheel and travel driving unit for being set to the bottom of vehicle frame.
The traveling wheel includes driving wheel；The vehicle frame is provided in position corresponding with driving wheel for driving driving wheel
Travel driving motor.
The driving wheel is a pair, is located at walking described in the left and right ends in bottom of frame front-rear direction middle position
Wheel further includes two pairs of auxiliary wheels, is located at the left and right ends of bottom of frame front and rear sides.
The high definition camera is fixed by the high definition camera fixed frame being fixed on upper tank tower inner wall.
The utility model has the beneficial effects that a kind of transportation machines to be navigated based on laser and visual combination of the utility model
People builds figure and coarse positioning using laser radar, carries out fine positioning using high definition camera, is independently kept away using ultrasonic radar realization
Barrier detects material state by optoelectronic switch, controls roller start and stop；Robot during the motion can real-time adjusts path, from
Main avoidance, by the combination of laser and vision can precise positioning, loading and unloading are carried out by roller, navigation accuracy, precision can be improved
Up to 10mm, high-precision is stopped, and loading and unloading are accurate, improves conevying efficiency.
Detailed description of the invention
Fig. 1 is a kind of stereoscopic schematic diagram of transportation robot to be navigated based on laser and visual combination of embodiment；
Fig. 2 is a kind of left view schematic diagram of transportation robot to be navigated based on laser and visual combination of embodiment；
Fig. 3 is the A-A diagrammatic cross-section of Fig. 2；
Fig. 4 is a kind of schematic top plan view of transportation robot to be navigated based on laser and visual combination of embodiment.
Specific embodiment
In order to deepen the understanding to the utility model, the utility model is done further below in conjunction with drawings and examples
Detailed description, the embodiment are only used for explaining the utility model, do not constitute and limit to the protection scope of the utility model.
Embodiment
As shown in Figures 1 to 4, a kind of transportation robot to be navigated based on laser and visual combination of the present embodiment, it is wrapped
The upper tank tower 11 for including vehicle frame 10, being installed on vehicle frame 10；The installed in front of the vehicle frame 10 has a laser radar 5, before vehicle frame 10
Side and rear side are all equipped with ultrasonic radar 9；The rear side that the vehicle frame 10 is located at upper tank tower 11 is provided with control panel 14；It is described
The left side of upper tank tower 11 is set as transparent window 8, and the rear side of transparent window 8 is provided with high definition camera 2；The top of the upper tank tower 11
Side is provided with the transport mechanism of left and right directions；The inside of the vehicle frame 10 is additionally provided with control module 7 and running gear；The control
Molding block 7 connects with running gear, laser radar 5, ultrasonic radar 9, control panel 14, high definition camera 2, transport mechanism respectively
It connects；The transport mechanism include support board 12, positioned at 12 left and right ends of support board roller 3, be set in the correspondences of two rollers
The belts 1 of front-end and back-end, roller drive device 15；The roller drive device 15 is to be set on the roller 3 of left end
Roller driving motor；Hole window is provided on the support board 12；Optoelectronic switch 6 is installed below the window of hole；The support board 12
It is fixed by loading fixed frame and upper tank tower 11 that its bottom is arranged in；Before the top side of the upper tank tower 11 is located at transport mechanism
Two sides are also respectively provided with baffle 13 afterwards；The running gear includes the traveling wheel and hoofing part for being set to the bottom of vehicle frame 10
Device；The traveling wheel includes driving wheel 16；The vehicle frame 10 is provided in position corresponding with driving wheel 16 and drives for driving
The travel driving motor 4 of driving wheel 16；The driving wheel 16 is a pair, is located at 10 bottom front-rear direction middle position of vehicle frame
Left and right ends described in traveling wheel further include two pairs of auxiliary wheels 17, be located at the left and right two of 10 bottom front and rear sides of vehicle frame
End；The high definition camera 2 is fixed by the high definition camera fixed frame 18 being fixed on upper 11 inner wall of tank tower.
A kind of transportation robot to be navigated based on laser and visual combination of the present embodiment, is also carried out using high definition camera
Identification marking code.
A kind of transportation robot to be navigated based on laser and visual combination of the present embodiment, in use, first by swashing
Optical radar demarcates self-position, and according to target point planning path, near optimal path to target point, then laser navigation is closed
It closes, vision guided navigation adapter tube, before being then slowly moved to connector units, last transmission mechanism goes to material and can unload or fill automatically
It carries；Laser radar and ultrasonic radar detect simultaneously avoiding obstacles on the way for movement；This equipment is greatly improved depot storage capacity, saves
Manpower and material resources.
A kind of transportation robot to be navigated based on laser and visual combination of the present embodiment, built-in power, power supply can be used
The charge power supplies such as battery.
A kind of transportation robot to be navigated based on laser and visual combination of the present embodiment builds figure and thick using laser radar
Positioning, carries out fine positioning using high definition camera, realizes automatic obstacle avoiding using ultrasonic radar, detects material shape by optoelectronic switch
State controls roller start and stop；Robot during the motion can real-time adjusts path, automatic obstacle avoiding passes through the group of laser and vision
Close can precise positioning, loading and unloading are carried out by roller, can be improved navigation accuracy, precision is stopped up to 10mm, high-precision, can be 24 small
When non-stop run, loading and unloading are accurate, improve conevying efficiency.
Above-described embodiment should not in any way limit the utility model, all by the way of equivalent replacement or equivalency transform
The technical solution of acquisition is all fallen in the protection scope of the utility model.
Claims (10)
1. a kind of transportation robot to be navigated based on laser and visual combination, it is characterised in that: it includes vehicle frame, is installed on vehicle frame
On upper tank tower；The installed in front of the vehicle frame has laser radar, and the front side of vehicle frame and rear side are all equipped with ultrasonic radar；Institute
It states vehicle frame and is located on rear side of upper tank tower and be provided with control panel；Transparent window, transparent window are set as on the left of the upper tank tower
Rear side be provided with high definition camera；The top side of the upper tank tower is provided with the transport mechanism of left and right directions；The inside of the vehicle frame
It is additionally provided with control module and running gear；The control module respectively with running gear, laser radar, ultrasonic radar, control
Panel processed, high definition camera, transport mechanism connection.
2. a kind of transportation robot to be navigated based on laser and visual combination according to claim 1, it is characterised in that: institute
State transport mechanism include support board, positioned at support board left and right ends roller, be set in two rollers corresponding front end and after
The belt at end, roller drive device.
3. a kind of transportation robot to be navigated based on laser and visual combination according to claim 2, it is characterised in that: institute
Stating roller drive device is the roller driving motor being set on the roller of left end.
4. a kind of transportation robot to be navigated based on laser and visual combination according to claim 2, it is characterised in that: institute
It states and is provided with hole window on support board；Optoelectronic switch is installed below the window of hole.
5. a kind of transportation robot to be navigated based on laser and visual combination according to claim 2, it is characterised in that: institute
It states support board and is fixed by the way that the loading fixed frame of its bottom is arranged in upper tank tower.
6. a kind of transportation robot to be navigated based on laser and visual combination according to claim 1, it is characterised in that: institute
The top side for stating tank tower is located at the front and rear sides of transport mechanism and is also respectively provided with baffle.
7. a kind of transportation robot to be navigated based on laser and visual combination according to claim 1, it is characterised in that: institute
Stating running gear includes the traveling wheel and travel driving unit for being set to the bottom of vehicle frame.
8. a kind of transportation robot to be navigated based on laser and visual combination according to claim 7, it is characterised in that: institute
Stating traveling wheel includes driving wheel；The vehicle frame is provided with the hoofing part for driving driving wheel in position corresponding with driving wheel
Motor.
9. a kind of transportation robot to be navigated based on laser and visual combination according to claim 8, it is characterised in that: institute
Driving wheel is stated as a pair, being located at traveling wheel described in the left and right ends in bottom of frame front-rear direction middle position further includes two
To auxiliary wheel, it is located at the left and right ends of bottom of frame front and rear sides.
10. a kind of transportation robot to be navigated based on laser and visual combination according to claim 1, it is characterised in that:
The high definition camera is fixed by the high definition camera fixed frame being fixed on upper tank tower inner wall.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821861016.1U CN209037703U (en) | 2018-11-13 | 2018-11-13 | A kind of transportation robot to be navigated based on laser and visual combination |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821861016.1U CN209037703U (en) | 2018-11-13 | 2018-11-13 | A kind of transportation robot to be navigated based on laser and visual combination |
Publications (1)
| Publication Number | Publication Date |
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| CN209037703U true CN209037703U (en) | 2019-06-28 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201821861016.1U Active CN209037703U (en) | 2018-11-13 | 2018-11-13 | A kind of transportation robot to be navigated based on laser and visual combination |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109278894A (en) * | 2018-11-13 | 2019-01-29 | 苏州索亚机器人技术有限公司 | A kind of transportation robot to be navigated based on laser and visual combination |
| CN112237359A (en) * | 2019-07-18 | 2021-01-19 | 北京吉家娜机器人研发有限公司 | Automatic change restaurant |
-
2018
- 2018-11-13 CN CN201821861016.1U patent/CN209037703U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109278894A (en) * | 2018-11-13 | 2019-01-29 | 苏州索亚机器人技术有限公司 | A kind of transportation robot to be navigated based on laser and visual combination |
| CN112237359A (en) * | 2019-07-18 | 2021-01-19 | 北京吉家娜机器人研发有限公司 | Automatic change restaurant |
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