CN209972611U - Automatic following transport vehicle capable of tracking LED target - Google Patents
Automatic following transport vehicle capable of tracking LED target Download PDFInfo
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- CN209972611U CN209972611U CN201920647972.8U CN201920647972U CN209972611U CN 209972611 U CN209972611 U CN 209972611U CN 201920647972 U CN201920647972 U CN 201920647972U CN 209972611 U CN209972611 U CN 209972611U
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Abstract
The utility model discloses an above-mentioned automatic transport vechicle of following of LED target can be followed, it is right the LED target carries out automatic tracking, for the messenger follow the transport task better completion of transport vechicle, the LED target is equipped with the LED lamp, LED lamp scintillation forms the facula, follow the transport vechicle, locate follow the transport vechicle two mesh cameras, two mesh cameras are furnished with image identification module and space coordinate calculation module, image identification module discernment the position of facula, space coordinate calculation module calculates the three-dimensional coordinate value of facula in the space, ultrasonic sensor locates follow the transport vechicle, ultrasonic sensor surveys follow the peripheral barrier of transport vechicle to accomplish with high quality and follow the transport job task.
Description
[ technical field ] A method for producing a semiconductor device
The utility model relates to a transport vechicle indicates an automatic transport vechicle of following of traceable LED target especially.
[ background of the invention ]
There are two main design schemes for trackable transportation vehicles available on the market: the first method is to adopt an ultrasonic sensor to detect an object, acquire the relative spatial position of a tracking target and a tracking transport vehicle and further guide the tracking transport vehicle to complete the following function. And secondly, acquiring the space relative position of the tracking target and the tracking transport vehicle by adopting an Xbee communication mode, and further guiding the tracking transport vehicle to complete the following function.
The first ultrasonic sensor scheme has the defect that the first ultrasonic sensor scheme does not have the capability of tracking a specific target in real time, the design concept is that a plurality of ultrasonic sensors are arranged at different positions, the relative distance between an object in front of a tracking transport vehicle and the ultrasonic sensor is detected, and then the guidance is finished, however, any object can be considered as an effective tracking target, so that the tracking transport vehicle can only follow the front target closest to the tracking transport vehicle, the capability of tracking the specific target is not realized, the measurement defect exists on the tracking target, the tracking error frequently occurs, the spatial three-dimensional coordinate value of the tracking target cannot be measured, the correct and accurate tracking effect cannot be realized, the vehicle cannot be accurately guided to finish the following task, and particularly, the Chinese patent application publication number is CN 105629998A.
While the second Xbee scheme has the capability of tracking a specific target, in terms of measurement principle, the Xbee scheme can only measure the relative distance between an Xbee transmitter and a receiver installed on a following vehicle, and lacks spatial height information. Therefore, the Xbee scheme has the disadvantages that the spatial three-dimensional coordinate value of the tracking target cannot be accurately measured in principle, effective information is lost, and an accurate tracking effect cannot be realized, and specifically, reference may be made to chinese patent application publication No. CN 207198661U.
Both of the above two schemes have the similar problems of high cost, low efficiency, time consumption and the like, and therefore, it is necessary to design a good automatic following transport vehicle capable of tracking the LED target to overcome the problems.
[ Utility model ] content
To the problem that the background art faces, the utility model aims to provide an utilize two mesh cameras based on machine vision, measure the tracking target, the accurate space three-dimensional coordinate value of LED target promptly does not have height information disappearance problem, possesses the automatic tracking transport vechicle of the trackable LED target of the specific target ability of real-time tracking moreover, can make the utility model discloses the automatic tracking transport vechicle more accurately tracks the target object, accomplishes the following transportation task more effectively.
In order to achieve the above object, the utility model adopts the following technical means:
an automatic following transport vehicle capable of tracking an LED target automatically tracks the LED target, which comprises an LED lamp arranged on the LED target, a tracking transport vehicle and a binocular camera arranged on the tracking transport vehicle, wherein the LED lamp flickers to form a light spot, the binocular camera is provided with an image recognition module and a space coordinate calculation module, the image recognition module recognizes the position of the light spot, the space coordinate calculation module calculates the three-dimensional coordinate value of the light spot in the space, two ultrasonic sensors are arranged on the tracking transport vehicle, the ultrasonic sensors detect the obstacles around the tracking transport vehicle, the tracking transport vehicle is provided with a chassis, a battery and a controller are arranged on the chassis, the battery supplies power to the tracking transport vehicle, the binocular camera, the ultrasonic sensors and the controller, the controller is right track the transport vechicle, binocular camera, ultrasonic sensor carries out operation control, receives and handles the signal, and a switch module is right track the transport vechicle and control.
Further, the LED lamp of the LED target is arranged in a plastic shell, the plastic shell is white, and the light spot is formed on the plastic shell.
Further, the LED lamp has different frequencies and different modes of flicker through a control circuit, the control circuit is located in the LED target, correspondingly, the facula also has different frequencies and different modes, the LED lamp is provided with specific flicker frequency and flicker mode, the facula has specific flicker frequency and flicker mode, the binocular camera identifies the facula of specific flicker frequency and specific flicker mode, when the flicker frequency and the flicker mode set in the binocular camera are matched with the flicker frequency and the flicker mode of the facula, the binocular camera tracks, and when the flicker frequency and the flicker mode set in the binocular camera are matched with the flicker frequency and the flicker mode of the facula, the binocular camera stops tracking.
Further, the LED lamp forms multiple flicker frequencies and multiple flicker modes, correspondingly, the facula forms multiple flicker frequencies and multiple flicker modes, the quantity of tracking transport vechicles is a plurality of, correspondingly, every the tracking transport vechicle possess oneself the binocular camera, every the binocular camera of tracking transport vechicle is to multiple flicker frequencies and multiple flicker modes the facula is tracked respectively.
Further, the binocular camera install in the preceding terminal surface of tracking transport vechicle, ultrasonic sensor's quantity is two, two ultrasonic sensor installs respectively the left and right sides of terminal surface before the tracking transport vechicle.
Furthermore, the chassis is provided with two motors, two front wheels and two rear wheels, the two motors are respectively and independently arranged, the two motors drive the two rear wheels, the tracking transport vehicle is controlled by a differential control algorithm to complete steering, and the two front wheels are universal wheels.
Further, the chassis is provided with a loudspeaker, when the tracking transport vehicle fails or fails to follow, the loudspeaker gives out voice prompt, and the voice prompt given out by the loudspeaker comprises tracking target loss, low battery power, overweight and vehicle self failure.
Further, the switch module comprises a main switch and an emergency stop switch, the main switch is used for powering on and powering off the tracking transport vehicle, and the emergency stop switch is used for emergency stop when the tracking transport vehicle is out of control of an operator.
Further, a task management system is divided into a remote management system and a terminal management system, the remote management system issues goods transportation tasks, the terminal management system receives the goods transportation tasks, the tasks are checked through computer terminal hardware, and confirmation return is carried out after the tasks are completed.
Further, the remote management system and the terminal management system communicate through a 4G communication module, the remote management system is a cloud server and a web management program, the terminal management system is a tablet computer and a corresponding APP program, and the 4G communication module is located in the controller of the chassis.
Compared with the prior art, the utility model discloses following beneficial effect has:
the automatic following transport vechicle of above-mentioned trackable LED target right the LED target carries out automatic tracking, for the messenger track the transport vechicle and accomplish better and follow the transportation task, the LED target is equipped with the LED lamp, the LED lamp scintillation forms the facula, track the transport vechicle, locate track the transport vechicle binocular camera, binocular camera is furnished with image recognition module and space coordinate calculation module, image recognition module discernment the position of facula, space coordinate calculation module calculates the three-dimensional coordinate value of facula in the space, ultrasonic sensor locates track the transport vechicle, ultrasonic sensor surveys track the peripheral barrier of transport vechicle, it has to track the transport vechicle the chassis, the chassis is installed the battery with the controller, the battery is right track the transport vechicle, The binocular camera ultrasonic sensor with the controller carries out power supply, the controller is right track the transport vechicle binocular camera ultrasonic sensor carries out operation control, receives and handles the signal, switch module is right track the transport vechicle and control, so three-dimensional coordinate value of LED target in the space definitely reachs, the guide track the transport vechicle and accurately accomplish specific target tracking to accomplish and follow the transportation task with high quality.
[ description of the drawings ]
Fig. 1 is a schematic view of an LED target of an automatic following transport vehicle capable of tracking the LED target according to the present invention;
fig. 2 is a schematic view of a truck of the automatic following transporter of the trackable LED target of the present invention;
FIG. 3 is a matching diagram of the tracking transportation vehicle and the truck of the automatic following transportation vehicle capable of tracking the LED target according to the present invention;
fig. 4 is a schematic view of the automatic following transportation vehicle capable of tracking the LED target according to the present invention;
fig. 5 is a schematic view of another view angle of the automatic following transportation vehicle capable of tracking the LED target according to the present invention;
fig. 6 is the bottom perspective view of the automatic following transportation vehicle with the trackable LED target of the present invention.
Detailed description of the embodiments reference is made to the accompanying drawings in which:
Connecting block 141 tablet computer 15 control circuit 16
[ detailed description ] embodiments
For better understanding of the objects, structures, features, and functions of the present invention, reference should now be made to the drawings and detailed description of the invention.
Please refer to fig. 1 to 3, the utility model provides an utilize two mesh cameras 3 based on machine vision, measure the tracking target, the accurate space three-dimensional coordinate value of LED target 1 promptly does not have height information disappearance problem, possesses the automatic tracking transport vechicle 2 of the trackable LED target 1 who tracks specific target ability in real time moreover, can make the utility model discloses the automatic tracking transport vechicle 2 more accurately tracks the target object, accomplishes the following transportation task more effectively.
Referring to fig. 1 to 3, an automatic following carriage capable of tracking an LED target 1 automatically tracks the LED target 1, which includes the LED target 1 having an LED lamp 11, forming a light spot 13 by the LED lamp 11 continuously flashing, a following carriage 2, a binocular camera 3 disposed on the following carriage 2, the binocular camera 3 having an image recognition module and a spatial coordinate calculation module, the image recognition module (not shown, the same applies below) recognizing the position of the light spot 13, the spatial coordinate calculation module (not shown, the same applies below) calculating a three-dimensional coordinate value of the light spot 13 in space, and further guiding to complete the following, an ultrasonic sensor (not shown, the same applies below) disposed on the following carriage 2, the ultrasonic sensor detecting obstacles around the following carriage 2, the following carriage 2 having a chassis 4, a battery 5 and a controller 6 are installed to chassis 4, battery 5 is right track transport vechicle 2 binocular camera 3 ultrasonic sensor with controller 6 carries out power supply, controller 6 is right track transport vechicle 2 binocular camera 3 ultrasonic sensor carries out operation control, receives and handles the signal, and a switch module 7 is right track transport vechicle 2 is controlled.
Referring to fig. 1 to 3, the LED lamp 11 of the LED target 1 is disposed in a plastic housing 12, the plastic housing 12 is white, and the light spot 13 is formed on the plastic housing 12, but in other embodiments, the plastic housing 12 may be made of other light-permeable materials as long as the light spot 13 can be formed on the plastic housing 12 and transmit light.
Referring to fig. 1 to 3, the LED lamp 11 has flashes with different frequencies and different modes through a control circuit 16, the control circuit 16 is located in the LED target 1, the control circuit 16 controls the LED lamp 11 to complete flashes with different frequencies and different modes, correspondingly, the light spot 13 also has different frequencies and different modes, the LED lamp 11 has a specific flash frequency and flash mode, the light spot 13 has a specific flash frequency and flash mode and is displayed outside the plastic housing 12, the binocular camera 3 identifies the light spot 13 with the specific flash frequency and specific flash mode, when the flash frequency and flash mode set in the binocular camera 3 are matched with the flash frequency and flash mode of the light spot 13, the binocular camera 3 is determined to be valid, and the binocular camera 3 performs a tracking operation, thereby effectively avoiding tracking errors. When the flicker frequency and the flicker mode set in the binocular camera 3 are matched with the flicker frequency and the flicker mode of the light spot 13, namely, when the flicker frequency and the flicker mode are not matched with each other, the binocular camera 3 stops tracking and cannot track the light spot 13 continuously, other targets can be transferred or the work can be stopped, so that the identification is reliable, the identification error is not generated, and the tracking error caused by the error identification is avoided. From the viewpoint of production safety, it is preferable that the following failure occurs, and it is also not preferable that the following error occurs. Of course, LED lamp 11 can form multiple flicker frequency and multiple flicker mode, correspondingly, facula 13 forms multiple flicker frequency and multiple flicker mode, the quantity of tracking transport vechicle 2 is a plurality of, correspondingly, the quantity of binocular camera 3 is a plurality of, and is a plurality of binocular camera 3 is a plurality of multiple flicker frequency and multiple flicker mode respectively facula 13 is tracked, realizes that the multi-vehicle is followed and is gone, for example through designing multiple flicker frequency and multiple flicker mode, can realize three the function of traveling is followed to the multi-vehicle of tracking transport vechicle 2.
Referring to fig. 1 to 3, the binocular camera 3 is installed on the front end surface of the tracking transporter 2, and is mainly used for shooting a scene in front of the tracking transporter 2 in real time, obtaining the position of the light spot 13 in an image by using the image recognition module, and then obtaining a three-dimensional coordinate value of the light spot 13 in the space by using a binocular space coordinate system calculation method of the space coordinate calculation module, so as to complete guidance of the tracking transporter 2. The number of the ultrasonic sensors is two, the two ultrasonic sensors are respectively installed on the left side and the right side of the front end face of the tracking transport vehicle 2 and used for detecting obstacles in front of the tracking transport vehicle 2, when the obstacles exist in front of the tracking transport vehicle 2, the vehicle is immediately stopped, vehicle collision accidents are avoided, and the safety of the tracking transport vehicle 2 can be effectively improved by the aid of the measures.
Referring to fig. 3 to 5, the chassis 4 has two motors 8, two rear wheels 21 and two front wheels 22, the two motors 8 are respectively and independently arranged, the two motors 8 drive the two rear wheels, the tracking transport vehicle 2 is controlled by using a differential control algorithm to complete steering, and the two front wheels 22 are universal wheels. In this embodiment, the binocular camera 3, the ultrasonic sensor, a handspike, and the like are all mounted on the chassis 4, and may be mounted at other positions of the tracking carriage 2 in other embodiments.
Referring to fig. 3 to 5, the chassis 4 has a speaker (not shown, the same applies below), when the tracking transportation vehicle 2 fails or fails to follow, the speaker sends out a voice prompt, the voice prompt sent out by the speaker includes that a tracking target is lost, a battery 5 is low in power, overweight and a vehicle has a fault, and the controller 6 receives and processes various sensor signals, such as the binocular camera 3, the ultrasonic sensor, the pressure sensor and the like, and controls the tracking transportation vehicle 2 to advance through a control algorithm.
Referring to fig. 3 to 5, the switch module 7 is installed on the side of the handrail, the switch module 7 includes a main switch 71 and an emergency stop switch 72, the main switch 71 powers on and off the tracking transportation vehicle 2, and the emergency stop switch 72 performs emergency stop when the tracking transportation vehicle 2 is out of the control of the operator. Through a chain, there is the hasp at chain both ends, and one end lock is in from emergency stop switch 72 on, another lock is on operating personnel's waistband, works as manual driving when tracking transport vechicle 2, in case take place tracking transport vechicle 2 takes off the hand, and is uncontrolled, the lock is in from emergency stop switch 72's hasp breaks away from emergency stop switch 72, tracking transport vechicle 2 parks immediately to avoid the collision accident, effectively ensure transportation safety.
Referring to fig. 3 to 5, a task management system (not shown, the same below) is divided into a remote management system and a terminal management system, the remote management system is a platform and is responsible for issuing an article transportation task, the terminal management system receives the article transportation task, performs task check through a computer terminal hardware, and performs confirmation return after the task is completed. The remote management system with the terminal management system carries out the communication through 4G communication module, the remote management system is cloud ware and web management program, the terminal management system is a tablet computer 15 and corresponding APP program, 4G communication module is located chassis 4 in the controller 6. The task management system can assist operators in correctly transporting articles, and effectively avoids the problems of article loading errors, site transportation errors and the like.
Referring to fig. 3 to 5, the vehicle further includes a following vehicle shelf 9, and the following vehicle shelf 9 is mainly used for self-cargo transportation, and can be used for transporting 150kg of cargos under normal conditions. The tracking transport vehicle 2 not only can realize the following function, but also has a manual driving function, and in the manual driving mode, the forward, backward and steering control can be realized through the driving operation handle 17 arranged on the handrail.
In addition, the tracking transport vehicle 2 can be used as a carrier for carrying goods, and also can be used as a traction vehicle head for drawing the truck 14 for carrying goods, and the traction weight can be twice of the self-bearing weight. The truck 14 is used for carrying out goods transportation by traction of the tracking transport vehicle 2 and is connected with the tow bar of the tracking transport vehicle 2 through the connecting block 141, the truck 14 only comprises a goods shelf, a vehicle body and wheels and does not comprise driving components such as a motor 8 and a controller 6, and meanwhile, the multi-vehicle following mode is adopted, so that the transportation capacity can be improved exponentially.
Referring to fig. 1 to 3, in order to enable the following transportation task to be better completed by the following transportation vehicle 2, the LED target 1 is provided with the LED lamp 11, the LED lamp 11 flashes to form a light spot 13, the following transportation vehicle 2 is provided with the binocular camera 3 of the following transportation vehicle 2, the binocular camera 3 is provided with an image recognition module and a spatial coordinate calculation module, the image recognition module recognizes the position of the light spot 13, the spatial coordinate calculation module calculates a three-dimensional coordinate value of the light spot 13 in a space, the ultrasonic sensor is provided on the following transportation vehicle 2, the ultrasonic sensor detects obstacles around the following transportation vehicle 2, the following transportation vehicle 2 is provided with the chassis 4, the chassis 4 is provided with the battery 5 and the controller 6, the battery 5 is right track transport vechicle 2 binocular camera 3 ultrasonic sensor with controller 6 carries out power supply, controller 6 is right track transport vechicle 2 binocular camera 3 ultrasonic sensor carries out operation control, receives and handles the signal, switch module 7 is right track transport vechicle 2 is controlled, so the three-dimensional coordinate value of LED target in the space definitely reachs, guides track transport vechicle 2 accurately accomplishes specific target and tracks to accomplish and follow the transportation task with high quality.
The above detailed description is only for the purpose of illustrating the preferred embodiments of the present invention, and not for the purpose of limiting the scope of the present invention, therefore, all the equivalent technical changes applying the present specification and the drawings are included in the scope of the present invention.
Claims (10)
1. An automatic following transport vehicle capable of tracking an LED target, which automatically tracks the LED target, is characterized by comprising: the LED target is provided with an LED lamp, the LED lamp flickers to form a light spot, a tracking transport vehicle is arranged on the tracking transport vehicle, the binocular camera is provided with an image recognition module and a space coordinate calculation module, the image recognition module recognizes the position of the light spot, the space coordinate calculation module calculates the three-dimensional coordinate value of the light spot in the space, an ultrasonic sensor is arranged on the tracking transport vehicle, the ultrasonic sensor detects the obstacles around the tracking transport vehicle, the tracking transport vehicle is provided with a chassis, the chassis is provided with a battery and a controller, the battery supplies power to the tracking transport vehicle, the binocular camera, the ultrasonic sensor and the controller, and the controller controls the operation of the tracking transport vehicle, the binocular camera and the ultrasonic sensor, receiving and processing the signals, and controlling the tracking transport vehicle by a switch module.
2. The auto-follow transporter that can track an LED target according to claim 1, wherein: the LED target is arranged in a plastic shell, the plastic shell is white, and the light spots are formed on the plastic shell.
3. The auto-follow transporter that can track an LED target according to claim 1, wherein: the LED lamp has the flicker of different frequencies and different modes through a control circuit, the control circuit is located in the LED target, correspondingly, the facula also has different frequencies and different modes, LED lamps and lanterns are equipped with specific flicker frequency and flicker mode, the facula possesses specific flicker frequency and flicker mode, binocular camera is to specific flicker frequency and specific flicker mode the facula is discerned, when flicker frequency and the flicker mode that sets for in the binocular camera with the flicker frequency and the flicker mode of facula all match mutually, the binocular camera is tracked, when flicker frequency and the flicker mode that set for in the binocular camera with the flicker frequency and the flicker mode of facula match difference, the binocular camera stops tracking.
4. The auto-follow transporter that can track an LED target according to claim 3, wherein: the LED lamp forms multiple flicker frequency and multiple scintillation mode, correspondingly, the facula forms multiple flicker frequency and multiple scintillation mode, the quantity of tracking transport vechicle is a plurality of, correspondingly, the quantity of binocular camera is a plurality of, and is a plurality of the binocular camera is a plurality of multiple flicker frequency and multiple scintillation mode respectively the facula is tracked.
5. The auto-follow transporter that can track an LED target according to claim 1, wherein: binocular camera install in the preceding terminal surface of tracking transport vechicle, ultrasonic sensor's quantity is two, two ultrasonic sensor installs respectively the left and right sides of terminal surface before the tracking transport vechicle.
6. The auto-follow transporter that can track an LED target according to claim 1, wherein: the chassis is provided with two motors, two front wheels and two rear wheels, the two motors are respectively and independently arranged, the two motors drive the two rear wheels, the tracking transport vehicle is controlled by a differential control algorithm to complete steering, and the two front wheels are universal wheels.
7. The auto-follow transporter that can track an LED target according to claim 1, wherein: the chassis is provided with a loudspeaker, when the tracking transport vehicle fails or fails to follow, the loudspeaker gives out voice prompt, and the voice prompt given out by the loudspeaker comprises that the tracking target is lost, the battery power is low, the vehicle is overweight, and the vehicle has self failure.
8. The auto-follow transporter that can track an LED target according to claim 1, wherein: the switch module comprises a main switch and an emergency stop switch, the main switch is used for powering on and powering off the tracking transport vehicle, and the emergency stop switch is used for emergency stop when the tracking transport vehicle is controlled by an operator.
9. The auto-follow transporter that can track an LED target according to claim 1, wherein: a task management system is divided into a remote management system and a terminal management system, the remote management system issues goods transportation tasks, the terminal management system receives the goods transportation tasks, the tasks are checked through computer terminal hardware, and confirmation return is carried out after the tasks are completed.
10. The auto-following transporter that can track an LED target according to claim 9, wherein: the remote management system with the terminal management system carries out the communication through 4G communication module, the remote management system is cloud ware and web management program, the terminal management system is a panel computer and corresponding APP program, 4G communication module is located the chassis in the controller.
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| CN201920647972.8U CN209972611U (en) | 2019-05-08 | 2019-05-08 | Automatic following transport vehicle capable of tracking LED target |
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| CN201920647972.8U CN209972611U (en) | 2019-05-08 | 2019-05-08 | Automatic following transport vehicle capable of tracking LED target |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113925490A (en) * | 2021-10-14 | 2022-01-14 | 河北医科大学 | Space-oriented obstacle classification method |
| CN115068109A (en) * | 2022-06-13 | 2022-09-20 | 元化智能科技(深圳)有限公司 | Infrared target identification method and device for medical operation navigation |
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2019
- 2019-05-08 CN CN201920647972.8U patent/CN209972611U/en active Active
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113925490A (en) * | 2021-10-14 | 2022-01-14 | 河北医科大学 | Space-oriented obstacle classification method |
| CN113925490B (en) * | 2021-10-14 | 2023-06-27 | 河北医科大学 | Space orientation obstacle classification method |
| CN115068109A (en) * | 2022-06-13 | 2022-09-20 | 元化智能科技(深圳)有限公司 | Infrared target identification method and device for medical operation navigation |
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