CN210741511U - Free path guide vehicle vision navigation device - Google Patents
Free path guide vehicle vision navigation device Download PDFInfo
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- CN210741511U CN210741511U CN201921952943.9U CN201921952943U CN210741511U CN 210741511 U CN210741511 U CN 210741511U CN 201921952943 U CN201921952943 U CN 201921952943U CN 210741511 U CN210741511 U CN 210741511U
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Abstract
The utility model discloses a free path guide vehicle vision navigation device, including backup pad, walking wheel, steering wheel, fixed bolster, induction mechanism, navigation mechanism and battery, the utility model discloses a set up induction mechanism, the camera is taken pictures in succession, and electronic gyroscope gathers real-time angle information, and navigation mechanism carries out the collection, analysis and processing of DM image, combines the data of electronic gyroscope to give AGV automobile body present positional information, and intelligent recognition operation module moves through steering wheel control guide car, can realize that free path is guide car navigation; through setting up navigation head, the position of DM sign indicating number that the visual tracking orientation module appears in camera field of vision scope fixes a position in real time, and after DM sign indicating number decoding algorithm module fixed a position the DM sign indicating number in the image, intelligent recognition operation module carries out real-time processing to the data information who acquires, does not receive road surface colour interference, does not receive the shadow interference, can carry out image recognition in all weather unmanned and detect.
Description
Technical Field
The utility model relates to a guide vehicle vision navigation technical field specifically is a free path guide vehicle vision navigation head.
Background
The manufacturing industry of the 21 st century enters a new stage, agile manufacturing becomes a leading mode of an enterprise, whether a market opportunity can be caught to develop a new product is a main means for the enterprise to gain competition, agile manufacturing equipment needs to be developed to reduce the dependence of the production cost on production batch, and the programmable, reconfigurable and quick response capabilities of heavy manufacturing equipment enable the efficiency of approaching medium-batch and large-batch production to be realized when small-batch production is carried out, because the robot has the characteristics of autonomous planning, programmability, coordinated operation, sensor control-based control and the like, the robot becomes an important component of the reconfigurable agile manufacturing equipment and system, provides important technical support for the spanning development of the traditional manufacturing enterprise to the agile manufacturing enterprise, and is an automatic guided vehicle, AGV, which is one of mobile robots and is an important device in a logistics system of the modern manufacturing enterprise, the AGV is mainly used for storing and transporting various materials, and provides important guarantee for flexible, integrated and efficient operation of a system, and the AGV mainly has two types, namely a fixed path AGV, and the operation path of the fixed path AGV is fixed and has a track, so that the guiding technology is relatively simple; the other is a free path AGV, which provides the greatest possible free travel for the AGV due to the absence of rails, but due to technical limitations, free travel of the AGV along any path remains a technical challenge to be solved.
The existing automatic guiding trolleys mostly adopt electromagnetic guiding AGV which belong to the fixed path guiding category, and the AGV which is free of fixed path automatic guiding has the problems of poor environmental adaptability, easy interference of road surface color and shadow and incapability of carrying out image recognition and detection in an all-weather unmanned manner.
SUMMERY OF THE UTILITY MODEL
Technical problem to be solved
The utility model provides a not enough to prior art, the utility model provides a free path guide vehicle vision navigation head solves current automatic guide dolly and mostly adopts the electromagnetic guidance AGV that belongs to fixed path direction category, and no fixed path is the AGV of independently leading, and environmental suitability is poor, receives the interference of road surface color and shade easily, can not carry out the problem that image recognition detected in all weather unmanned.
(II) technical scheme
In order to achieve the above object, the utility model provides a following technical scheme: a visual navigation device for a free path guide vehicle comprises a supporting plate, four traveling wheels, a steering engine, a fixed support, an induction mechanism, a navigation mechanism and a storage battery, wherein the four traveling wheels are fixed at four corners below the supporting plate through bolts; the steering engine is fixed at the left end of the front side of the supporting plate through a bolt and is connected with the traveling wheel on the left side through a steering engine connecting rod; the fixed bracket is fixed at the middle position above the supporting plate through a bolt; the induction mechanism is fixed on the left side above the fixed support through a bolt; the navigation mechanism is fixed on the right side above the fixed support through a bolt; the storage battery is fixed on the right side above the supporting plate through a bolt.
The steering engine is respectively connected with the storage battery and the intelligent identification operation module through wires and is of a DS3218mg type; the storage battery is in a 6-QW-60-L type.
The sensing mechanism comprises a camera, a light supplement lamp and an electronic gyroscope, and the camera is fixed on the left side above the fixed support through a bolt; the light supplement lamp is fixed above the left side of the camera through a bolt; the electronic gyroscope is fixed above the fixed support through a bolt, and the electronic gyroscope is positioned on the right side of the camera.
The camera is respectively connected with the storage battery and the visual tracking and positioning module through wires, and a CCD camera is selected as the camera; the light supplement lamp is connected with the storage battery through a lead and is E5 type; the electronic gyroscope is respectively connected with the storage battery and the visual tracking positioning module through leads, and the electronic gyroscope is of a WT901C type.
The navigation mechanism comprises a protective box, a cover plate, a visual tracking and positioning module, a DM code decoding algorithm module, an intelligent identification operation module and a junction box, wherein the protective box is fixed on the right side above the fixed support through a bolt; the cover plate is fixed above the protective box through bolts; the visual tracking positioning module is fixed on the left side inside the protective box through a bolt; the DM code decoding algorithm module is fixed on the left side of the lower part in the protective box through a bolt; the intelligent identification operation module is fixed on the right side below the inner part of the protective box through a bolt; the junction box is fixed on the right side inside the protective box through bolts.
The upper end of the protective box is opened; a handle is arranged above the cover plate; the visual tracking positioning module is respectively connected with the junction box and the DM code decoding algorithm module through wires, and the visual tracking positioning module is in HSPS-24W60-2T-E type; the DM code decoding algorithm module is respectively connected with the junction box and the intelligent identification operation module through leads, and the DM code decoding algorithm module is of ZAD-B7 type; the intelligent identification operation module is connected with the junction box through a wire, and adopts an LMV358 type; the junction box is connected with the storage battery through a wire.
(III) advantageous effects
The utility model provides a free path guide vehicle vision navigation head. The method has the following beneficial effects:
(1) the utility model discloses a set up induction mechanism, the camera can take a picture in succession, the light filling lamp is used for the device light filling when gathering the image under operational environment, real-time angle information is gathered to the electronic gyroscope, navigation mechanism is through the collection that can carry out the DM image, the analysis processes of image, the data that combine the electronic gyroscope give the present positional information of AGV automobile body, intelligent recognition operation module passes through steering wheel control guide vehicle and moves, can realize free path and navigate for guide vehicle.
(2) The utility model discloses a set up navigation head, visual tracking orientation module fixes a position in real time and appears the position of the DM sign indicating number in camera field of vision scope, and acquire the data information of electronic gyroscope output, DM sign indicating number decoding algorithm module fixes a position the position back of DM sign indicating number in the image, the DM sign indicating number decoding algorithm module of application optimization, carry out quick accurate decoding, the DM sign indicating number image that intelligent recognition operation module automatic identification gathered, and with the automatic output of the recognition result of DM sign indicating number, intelligent recognition operation module carries out real-time processing to the data information who acquires, the front end real-time analysis handles, static developments DM sign indicating number image all can be discerned, environmental suitability is strong, do not disturbed by road surface colour, do not disturbed by the shadow, can carry out the image recognition detection in all weather unmanned.
(3) The utility model discloses a set up steering wheel and light filling lamp, the steering wheel is convenient for guide the control of car direction, is favorable to navigation mechanism to guide the navigation operation of car, and the light filling lamp carries out the light filling to the camera, avoids light darker or the normal operating that the shadow influences the camera, enlarges the application scope of camera.
Drawings
Fig. 1 is a schematic structural view of the present invention;
fig. 2 is a schematic structural diagram of the sensing mechanism of the present invention;
fig. 3 is a schematic structural diagram of the navigation mechanism of the present invention.
In the figure: the intelligent tracking and positioning system comprises a supporting plate 1, a traveling wheel 2, a steering engine 3, a fixing support 4, a sensing mechanism 5, a camera 51, a light supplementing lamp 52, an electronic gyroscope 53, a navigation mechanism 6, a protective box 61, a cover plate 62, a vision tracking and positioning module 63, a DM code decoding algorithm module 64, an intelligent identification and operation module 65, a junction box 66 and a storage battery 7.
Detailed Description
The technical solutions in the embodiments of the present invention will be described clearly and completely with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative work belong to the protection scope of the present invention.
Example 1
As shown in fig. 1-3, the utility model provides a technical solution: a visual navigation device for a free path guide vehicle comprises a supporting plate, four traveling wheels, a steering engine, a fixed support, an induction mechanism, a navigation mechanism and a storage battery, wherein the four traveling wheels are fixed at four corners below the supporting plate through bolts; the steering engine is fixed at the left end of the front side of the supporting plate through a bolt and is connected with the traveling wheel on the left side through a steering engine connecting rod; the fixed bracket is fixed at the middle position above the supporting plate through a bolt; the induction mechanism is fixed on the left side above the fixed support through a bolt; the navigation mechanism is fixed on the right side above the fixed support through a bolt; the storage battery is fixed on the right side above the supporting plate through a bolt.
Example 2
A visual navigation device for a free path guide vehicle comprises a supporting plate, four traveling wheels, a steering engine, a fixed support, an induction mechanism, a navigation mechanism and a storage battery, wherein the four traveling wheels are fixed at four corners below the supporting plate through bolts; the steering engine is fixed at the left end of the front side of the supporting plate through a bolt and is connected with the traveling wheel on the left side through a steering engine connecting rod; the fixed bracket is fixed at the middle position above the supporting plate through a bolt; the induction mechanism is fixed on the left side above the fixed support through a bolt; the navigation mechanism is fixed on the right side above the fixed support through a bolt; the storage battery is fixed on the right side above the supporting plate through a bolt.
Preferably, the steering engine is respectively connected with the storage battery and the intelligent identification operation module through wires, and the steering engine is of a DS3218mg type; the storage battery is in a 6-QW-60-L type.
Example 3
A visual navigation device for a free path guide vehicle comprises a supporting plate, four traveling wheels, a steering engine, a fixed support, an induction mechanism, a navigation mechanism and a storage battery, wherein the four traveling wheels are fixed at four corners below the supporting plate through bolts; the steering engine is fixed at the left end of the front side of the supporting plate through a bolt and is connected with the traveling wheel on the left side through a steering engine connecting rod; the fixed bracket is fixed at the middle position above the supporting plate through a bolt; the induction mechanism is fixed on the left side above the fixed support through a bolt; the navigation mechanism is fixed on the right side above the fixed support through a bolt; the storage battery is fixed on the right side above the supporting plate through a bolt.
Preferably, the sensing mechanism comprises a camera, a light supplement lamp and an electronic gyroscope, and the camera is fixed on the left side above the fixed support through a bolt; the light supplement lamp is fixed above the left side of the camera through a bolt; the electronic gyroscope is fixed above the fixed support through a bolt, and the electronic gyroscope is positioned on the right side of the camera.
Preferably, the camera is respectively connected with the storage battery and the visual tracking and positioning module through wires, and a CCD camera is selected as the camera; the light supplement lamp is connected with the storage battery through a lead and is E5 type; the electronic gyroscope is respectively connected with the storage battery and the visual tracking positioning module through leads, and the electronic gyroscope is of a WT901C type.
Example 4
A visual navigation device for a free path guide vehicle comprises a supporting plate, four traveling wheels, a steering engine, a fixed support, an induction mechanism, a navigation mechanism and a storage battery, wherein the four traveling wheels are fixed at four corners below the supporting plate through bolts; the steering engine is fixed at the left end of the front side of the supporting plate through a bolt and is connected with the traveling wheel on the left side through a steering engine connecting rod; the fixed bracket is fixed at the middle position above the supporting plate through a bolt; the induction mechanism is fixed on the left side above the fixed support through a bolt; the navigation mechanism is fixed on the right side above the fixed support through a bolt; the storage battery is fixed on the right side above the supporting plate through a bolt.
Preferably, the navigation mechanism comprises a protective box, a cover plate, a visual tracking and positioning module, a DM code decoding algorithm module, an intelligent identification and operation module and a junction box, wherein the protective box is fixed on the right side above the fixed support through a bolt; the cover plate is fixed above the protective box through bolts; the visual tracking positioning module is fixed on the left side inside the protective box through a bolt; the DM code decoding algorithm module is fixed on the left side of the lower part in the protective box through a bolt; the intelligent identification operation module is fixed on the right side below the inner part of the protective box through a bolt; the junction box is fixed on the right side inside the protective box through bolts.
Preferably, the upper end of the protective box is opened; a handle is arranged above the cover plate; the visual tracking positioning module is respectively connected with the junction box and the DM code decoding algorithm module through wires, and the visual tracking positioning module is in HSPS-24W60-2T-E type; the DM code decoding algorithm module is respectively connected with the junction box and the intelligent identification operation module through leads, and the DM code decoding algorithm module is of ZAD-B7 type; the intelligent identification operation module is connected with the junction box through a wire, and adopts an LMV358 type; the junction box is connected with the storage battery through a wire.
Example 5
The camera 41 can take continuous pictures, the light supplement lamp 42 is used for supplementing light when the device collects images in a working environment, the electronic gyroscope 43 collects real-time angle information, the navigation mechanism 6 collects DM images, analyzes and processes the images, the current position information of the AGV body is given by combining the data of the electronic gyroscope 43, the intelligent recognition operation module 65 controls the guide vehicle to run through the steering engine 3, the free path can be used for guiding the guide vehicle, the visual tracking and positioning module 63 positions the position of the DM code appearing in the visual field range of the camera 41 in real time and acquires the data information output by the electronic gyroscope 43, the DM code decoding algorithm module 64 performs quick and accurate decoding by applying the optimized DM code decoding algorithm module 64 after positioning the position of the DM code in the images, the intelligent recognition operation module 65 automatically recognizes the collected DM code images and automatically outputs the recognition result of the DM code, intelligent recognition operation module 65 carries out real-time processing to the data information who acquires, the real-time analysis and processing of front end, static dynamic DM sign indicating number image is all recognizable, environmental adaptation ability is strong, do not receive road surface colour interference, do not receive shadow interference, can carry out image recognition in all weather and detect unmanned, steering wheel 3 is convenient for carry out the control of guide car direction, be favorable to navigation mechanism 6 to carry out the navigation operation of guide car, light filling lamp 42 carries out the light filling to camera 41, avoid dark or shadow influence camera 41's normal operating, enlarge camera 41's application scope.
In conclusion, the visual navigation device for the free path guide vehicle comprises a supporting plate 1, a traveling wheel 2, a steering engine 3, a fixed support 4, an induction mechanism 5, a navigation mechanism 6 and a storage battery 7, and solves the problems that the existing automatic guide trolleys mostly adopt electromagnetic guide AGVs belonging to the fixed path guide category, the fixed path independent guide AGVs are not available, the environmental adaptability is poor, the interference of road surface colors and shadows is easy to cause, and the image recognition and detection can not be carried out in an all-weather unmanned manner.
It is noted that, herein, relational terms such as first and second, and the like may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other identical elements in a process, method, article, or apparatus that comprises the element.
Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that changes, modifications, substitutions and alterations can be made in these embodiments without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.
Claims (6)
1. A free path guided vehicle visual navigation device, characterized by: the visual navigation device for the free path guide vehicle comprises a supporting plate (1), traveling wheels (2), steering engines (3), a fixing support (4), an induction mechanism (5), a navigation mechanism (6) and a storage battery (7), wherein the number of the traveling wheels (2) is four, and the traveling wheels (2) are fixed at four corners below the supporting plate (1) through bolts; the steering engine (3) is fixed at the left end of the front side of the supporting plate (1) through a bolt, and the steering engine (3) is connected with the traveling wheel (2) on the left side through a steering engine connecting rod; the fixed support (4) is fixed at the middle position above the support plate (1) through a bolt; the induction mechanism (5) is fixed on the left side above the fixed support (4) through a bolt; the navigation mechanism (6) is fixed on the right side above the fixed support (4) through a bolt; the storage battery (7) is fixed on the right side above the support plate (1) through a bolt.
2. A free-path guided vehicle visual navigation apparatus as claimed in claim 1, wherein: the steering engine (3) is respectively connected with the storage battery (7) and the intelligent identification operation module (65) through wires, and the steering engine (3) is of a DS3218mg type; the storage battery (7) is in a 6-QW-60-L type.
3. A free-path guided vehicle visual navigation apparatus as claimed in claim 1, wherein: the sensing mechanism (5) comprises a camera (51), a light supplement lamp (52) and an electronic gyroscope (53), and the camera (51) is fixed on the left side above the fixed support (4) through a bolt; the light supplement lamp (52) is fixed above the left side of the camera (51) through a bolt; the electronic gyroscope (53) is fixed above the fixed support (4) through a bolt, and the electronic gyroscope (53) is positioned on the right side of the camera (51).
4. A free-path guided vehicle visual navigation apparatus as claimed in claim 3, wherein: the camera (51) is respectively connected with the storage battery (7) and the visual tracking positioning module (63) through leads, and the camera (51) adopts a CCD camera; the light supplement lamp (52) is connected with the storage battery (7) through a lead, and the light supplement lamp (52) is E5 type; the electronic gyroscope (53) is respectively connected with the storage battery (7) and the visual tracking positioning module (63) through leads, and the electronic gyroscope (53) is in a WT901C type.
5. A free-path guided vehicle visual navigation apparatus as claimed in claim 1, wherein: the navigation mechanism (6) comprises a protective box (61), a cover plate (62), a visual tracking positioning module (63), a DM code decoding algorithm module (64), an intelligent recognition operation module (65) and a junction box (66), wherein the protective box (61) is fixed on the right side above the fixed support (4) through a bolt; the cover plate (62) is fixed above the protective box (61) through bolts; the visual tracking positioning module (63) is fixed on the left side inside the protective box (61) through a bolt; the DM code decoding algorithm module (64) is fixed on the left side of the lower part in the protective box (61) through a bolt; the intelligent identification operation module (65) is fixed on the right side below the inside of the protective box (61) through a bolt; the junction box (66) is fixed on the right side inside the protective box (61) through bolts.
6. The free-path guided vehicle visual navigation apparatus of claim 5, wherein: the upper end of the protective box (61) is opened; a handle is arranged above the cover plate (62); the visual tracking positioning module (63) is respectively connected with the junction box (66) and the DM code decoding algorithm module (64) through wires; the DM code decoding algorithm module (64) is respectively connected with the junction box (66) and the intelligent identification operation module (65) through wires; the intelligent identification operation module (65) is connected with the junction box (66) through a wire; the junction box (66) is connected with the storage battery (7) through a wire.
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| CN201921952943.9U CN210741511U (en) | 2020-04-07 | 2020-04-07 | Free path guide vehicle vision navigation device |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113433952A (en) * | 2021-07-28 | 2021-09-24 | 广东奥普特科技股份有限公司 | AGV fork truck intelligence guiding device and AGV fork truck intelligence guidance system |
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2020
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113433952A (en) * | 2021-07-28 | 2021-09-24 | 广东奥普特科技股份有限公司 | AGV fork truck intelligence guiding device and AGV fork truck intelligence guidance system |
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