CN210822532U - AGV car of accurate positioning - Google Patents
AGV car of accurate positioning Download PDFInfo
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- CN210822532U CN210822532U CN201921824061.4U CN201921824061U CN210822532U CN 210822532 U CN210822532 U CN 210822532U CN 201921824061 U CN201921824061 U CN 201921824061U CN 210822532 U CN210822532 U CN 210822532U
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Abstract
The utility model relates to an AGV car of accurate positioning, include: AGV automobile body, wheel part, navigation positioning system include: the device comprises a laser tracking reflection element, a laser tracker, a first communication unit and a second communication unit. The positioning method has the advantages that the positioning is carried out through the laser tracking reflecting element and the laser tracker, so that the positioning precision of the AGV body reaches +/-1 mm, and is superior to that of the traditional self-service navigation; the positioning navigation system can assist the traditional self-service navigation, and ensures the positioning precision with special requirements under the condition of ensuring the general positioning precision.
Description
Technical Field
The utility model relates to a navigation positioning technical field especially relates to an AGV car of accurate positioning.
Background
An Automated Guided Vehicle (AGV) generally refers to a transport vehicle equipped with an automatic guide device having electromagnetic or optical equipment, capable of traveling along a predetermined guide path, and having safety protection and various transfer functions. AGVs also belong to Wheeled Mobile Robots (WMRs), also known as transfer robots. Most of the occasions where AGVs are used most are factories with a high degree of automation.
The AGV navigation modes comprise direct coordinate, electromagnetic guidance, magnetic tape guidance, optical guidance, laser navigation, inertial navigation, visual navigation, GPS navigation and the like. When the positioning accuracy requirement is high, a laser radar navigation mode is generally used.
High precision autonomous navigation systems for AGVs typically use lidar as a sensor for ambient environment identification and distance measurement, assisted by inertial sensors.
SUMMERY OF THE UTILITY MODEL
The utility model aims at providing an accurate positioning's AGV car to not enough among the prior art.
In order to achieve the purpose, the utility model adopts the technical proposal that:
a precisely positioned AGV vehicle comprising:
an AGV body;
the wheel component is arranged at the lower part of the AGV body;
a navigational positioning system, comprising:
the laser tracking reflection element is arranged on the AGV body;
the laser tracker is installed in a specific environment and used for scanning and positioning by emitting laser signals to the laser tracking reflection element and detecting the laser signals reflected from the laser tracking reflection element;
a first communication unit mounted to the laser tracker;
and the second communication unit is arranged on the AGV body and is in communication connection with the first communication unit respectively.
Preferably, the laser tracker comprises:
the remote controller is in communication connection with the laser tracker;
the first communication unit is mounted to the remote controller.
Preferably, the AGV body includes:
the installation seat is arranged on the upper portion of the AGV body, and the laser tracking reflection element is installed in the installation seat.
Preferably, the number of the mounting seats is multiple, and the mounting seats are distributed on the front side, the rear side, the left side and the right side of the upper part of the AGV body;
the laser tracking reflection element is arranged on any one of the plurality of mounting seats.
Preferably, the navigation and positioning system further comprises:
and the first end of the height adjusting device is connected with the laser tracking reflecting element, and the second end of the height adjusting device is connected with the AGV body.
Preferably, the height adjustment device is a hydraulic adjustment device.
Preferably, the height adjusting means includes:
a first end of the first adjusting rod is connected with the laser tracking reflection element;
a first end of the second adjusting rod is connected with a second end of the first adjusting rod, and a second end of the second adjusting rod is connected with the AGV body;
and the limiting element is respectively connected with the second end of the first adjusting rod and the first end of the second adjusting rod.
Preferably, the navigation and positioning system further comprises:
the angle adjusting device is arranged at the first end of the height adjusting device and is connected with the laser tracking reflecting element.
Preferably, the angle adjusting means includes:
a first spherical connecting element connected with the laser tracking reflective element;
a second spherical connecting element connected with the height adjustment device;
a connecting rod, a first end of the connecting rod being connected with the first spherical connecting element, a second end of the connecting rod being connected with the second spherical connecting element.
Preferably, the laser tracking reflecting element includes:
a first mounting groove provided at the laser tracking reflection element, the first spherical connection element being mounted in the first mounting groove;
the height adjusting device includes:
a second mounting groove disposed at a first end of the height adjustment device, the second spherical connecting element being mounted in the mounting groove.
The utility model adopts the above technical scheme, compare with prior art, have following technological effect:
the AGV car with accurate positioning of the utility model is positioned by the laser tracking reflection element and the laser tracker, so that the positioning precision of the AGV car body reaches +/-1 mm, which is superior to that of the traditional self-service navigation; the positioning navigation system can assist the traditional self-service navigation, and ensures the positioning precision with special requirements under the condition of ensuring the general positioning precision.
Drawings
Fig. 1 is a schematic diagram of an exemplary embodiment of the present invention.
Fig. 2 is a schematic view of a height adjustment device according to an exemplary embodiment of the present invention.
Fig. 3 is a schematic view of an angle adjusting apparatus according to an exemplary embodiment of the present invention.
Fig. 4 is a schematic diagram of a laser tracking reflective element of an exemplary embodiment of the invention.
Wherein the reference numerals are: the AGV comprises an AGV body 1, a wheel component 2, a laser tracking reflection element 3, a laser tracker 4, a remote controller 5, a mounting seat 6, a height adjusting device 7, an angle adjusting device 8, a first adjusting rod 9, a second adjusting rod 10, a limiting element 11, a first spherical connecting element 12, a second spherical connecting element 13, a connecting rod 14, a first mounting groove 15 and a second mounting groove 16.
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 of the present invention, all other embodiments obtained by a person of ordinary skill in the art without creative efforts belong to the protection scope of the present invention.
It should be noted that, in the present invention, the embodiments and features of the embodiments may be combined with each other without conflict.
The present invention will be further described with reference to the accompanying drawings and specific embodiments, but the present invention is not limited thereto.
The utility model discloses an illustrative embodiment, as shown in FIG. 1, an AGV car of accurate positioning, including AGV automobile body 1, wheel part 2 and navigation positioning system, wheel part 2 is installed in AGV automobile body 1's lower part, and navigation positioning system includes laser tracking reflective element 3, laser tracker 4, first communication unit and second communication unit, and laser tracking reflective element 3 is installed on AGV automobile body 1, and laser tracker 4 is installed in specific environment, and first communication unit is installed at laser tracker 4, and the second communication unit is installed on AGV automobile body.
Other components such as a loading platform, a control unit, a power system and the like are arranged on the AGV body 1.
Further, the AGV body 1 is further mounted with a mounting seat 6, and the laser tracking reflection element 3 is mounted on the mounting seat 6.
Further, the mount 6 is provided on the front or rear side or left or right side of the upper portion of the AGV body 1.
Further, a mount 6 is provided on the front side of the upper portion of the AGV body 1.
Further, mount pad 6 is a plurality of, and mount pad 6 sets up front side, rear side, left side and right side on AGV automobile body 1's upper portion respectively, and its distribution can be adjusted according to actual need.
The laser tracking reflection element 3 is mounted on any one of the above-described mounting seats 6.
Further, the laser tracking reflection element 3 has a spherical or hemispherical shape, and reflects a laser signal emitted from the laser tracker 4.
In a specific environment, such as a factory building, the laser tracker 4 is installed at the top of the factory building and is used for emitting laser signals outwards and receiving the laser signals returned by the laser tracking reflection element 3, so that the accurate positioning of the AGV body 1 is realized.
Further, the laser tracker 4 further includes a remote controller 5, and the remote controller 5 is disposed in a specific environment, such as a factory building, and may be disposed close to the laser tracker 4 or disposed far from the laser tracker 4, and is configured to process the laser signal received by the laser tracker 4 and returned by the laser tracking reflection element 3, so as to obtain processing data.
Further, the remote controller 5 is a computing device, such as a computer, a tablet computer, a mobile phone, and the like.
Further, a first communication unit is installed in the remote controller 5 for transmitting the processing data to a second communication unit.
Further, the first communication unit is a wireless communication unit, such as a bluetooth module, a WiFi module, or a radio frequency module.
After receiving the processing data transmitted by the first communication unit, the second communication unit transmits the processing data to the control unit installed on the AGV body 1, and the control unit controls the AGV body 1 to move according to the processing data.
Further, the second communication unit is a wireless communication unit, such as a bluetooth module, a WiFi module, or a radio frequency module.
Further, the first communication unit and the second communication unit are both installed inside the respective devices or instruments or components.
In order to improve the ability of the laser tracking reflective element 3 to adapt to various environments, the navigation positioning system further comprises a height adjustment device 7 for adjusting the height of the laser tracking reflective element 3.
Further, the height adjusting device 7 may be a hydraulic adjusting device, or may be a telescopic adjusting device.
In the present embodiment, the height adjusting device 7 is described as an example of a telescopic adjusting device.
As shown in fig. 2, the height adjusting device 7 includes a first adjusting rod 9, a second adjusting rod 10 and a limiting element 11, a first end of the first adjusting rod 9 is connected to the laser tracking reflection element 3, a second end of the first adjusting rod 9 is connected to a first end of the second adjusting rod 10, a second end of the second adjusting rod 10 is connected to the mounting base 6, and the limiting element 11 is disposed at a second end of the first adjusting rod 9 and is used for limiting connection with the second adjusting rod 10.
Wherein, at the second end of the second adjusting rod 10, a plurality of limiting holes are provided, which are distributed along the axial direction of the second adjusting rod 10 and are used for connecting with the limiting element 11. The limiting element 11 is a spring limiting part, after the limiting element 11 is pressed, the limiting element 11 contracts, the first adjusting rod 9 can move along the axial direction of the second adjusting rod 10, and after the position of the first adjusting rod 9 is adjusted, the limiting element 11 pops out and extends out of a limiting hole of the second adjusting rod 10, so that the position of the first adjusting rod 9 is limited.
Further, the navigation positioning system further comprises an angle adjusting device 8 for adjusting the angle of the laser tracking reflection element 3.
As shown in fig. 3, the angle adjusting means 8 includes a first spherical connecting member 12, a second spherical connecting member 13, and a connecting rod 14, the first spherical connecting member 12 is provided at a first end of the connecting rod 14, the second spherical connecting member 13 is provided at a second end of the connecting rod 14, the first spherical connecting member 12 is connected with the laser tracking reflection element 3, and the second spherical connecting member 13 is connected with a first end of the first adjusting lever 9 of the height adjusting means 7.
Laser tracking reflecting element 3 includes a first mounting groove 15, first mounting groove 15 being provided at the bottom of laser tracking reflecting element 3 for receiving first spherical connecting element 12.
The height adjustment means 7 comprises a second mounting slot 15, a second mounting slot 16 being provided at a first end of the first adjustment bar 9 for receiving the second spherical connecting element 13.
The first mounting groove 15 and the second mounting groove 16 are both spherical grooves, which are 2/3 spheres or 3/4 spheres.
By using the angle adjusting device 8, the angle of the laser tracking reflection element 3 can be adjusted by using the universal principle, so that the reflection surface of the laser tracking reflection element can always face the laser tracker 4.
The utility model discloses a use method as follows:
1. fixing the laser tracker 4 above the specific environment, with the height lower than 10 m;
2. the laser tracking reflection element 3 is installed on an installation seat 6 of the AGV body 1, the height and the angle of the laser tracking reflection element 3 are respectively adjusted through a height adjusting device 7 and an angle adjusting device 8, so that the laser tracking reflection element and the laser tracker 4 are free from obstruction, and the laser tracker 4 can bring the laser tracking reflection element 3 into a visual field range when the AGV body 1 moves in a specific environment;
3. installing the remote controller 5 and testing the communication state between the first communication unit and the second communication unit;
4. under the condition that accurate positioning is needed, a control unit of the AGV body 1 transmits a signal and starts a laser tracker 4;
5. after the laser tracker 4 is started, emitting a laser signal outwards, scanning a specific environment, acquiring a laser signal returned by the laser tracking reflection element 3, and acquiring the real-time position of the laser tracking reflection element 3; the remote controller 5 processes the returned laser signal to obtain deviation information between the real-time position and the target position, so as to obtain processed data, and transmits the processed data to the second communication unit through the first communication unit;
6. after the control unit of the AGV body 1 receives the processed data, the automatic navigation unit in the AGV body 1 controls the AGV body 1 to move to the target position; after reaching the position, the laser tracker 4 is started again, and the step 5 is repeated;
7. when the deviation between the real-time position of the AGV body 1 measured by the laser tracker 4 and the target position is less than +/-1 mm, stopping ranging, and transmitting the processing data to the second communication unit through the first communication unit by the remote controller 5;
8. and (4) closing the laser tracker 4, and repeating the steps 4-7 when the AGV body 1 needs to be accurately positioned.
The utility model has the advantages that the positioning is carried out by the laser tracking reflection element and the laser tracker, so that the positioning precision of the AGV body reaches +/-1 mm, and is superior to that of the traditional self-service navigation; the positioning navigation system can assist the traditional self-service navigation, and ensures the positioning precision with special requirements under the condition of ensuring the general positioning precision.
The above description is only an example of the preferred embodiment of the present invention, and not intended to limit the scope of the present invention, and those skilled in the art should be able to realize the equivalent alternatives and obvious variations of the present invention.
Claims (10)
1. A precisely positioned AGV vehicle, comprising:
an AGV body;
the wheel component is arranged at the lower part of the AGV body;
a navigational positioning system, comprising:
the laser tracking reflection element is arranged on the AGV body;
the laser tracker is installed in a specific environment and used for scanning and positioning by emitting laser signals to the laser tracking reflection element and detecting the laser signals reflected from the laser tracking reflection element;
a first communication unit mounted to the laser tracker;
and the second communication unit is arranged on the AGV body and is in communication connection with the first communication unit respectively.
2. A precisely positioned AGV vehicle according to claim 1, wherein said laser tracker includes:
the remote controller is in communication connection with the laser tracker;
the first communication unit is mounted to the remote controller.
3. The accurately positioned AGV vehicle of claim 1, wherein said AGV body includes:
the installation seat is arranged on the upper portion of the AGV body, and the laser tracking reflection element is installed in the installation seat.
4. The AGV of claim 3, wherein said mounting seats are distributed on the front, rear, left and right sides of the upper portion of the AGV body;
the laser tracking reflection element is arranged on any one of the plurality of mounting seats.
5. A precisely positioned AGV vehicle according to claim 1 wherein said navigation positioning system further includes:
and the first end of the height adjusting device is connected with the laser tracking reflecting element, and the second end of the height adjusting device is connected with the AGV body.
6. A precisely positioned AGV according to claim 5 wherein said height adjustment means is a hydraulic adjustment means.
7. A precisely positioned AGV according to claim 5 wherein said height adjustment means comprises:
a first end of the first adjusting rod is connected with the laser tracking reflection element;
a first end of the second adjusting rod is connected with a second end of the first adjusting rod, and a second end of the second adjusting rod is connected with the AGV body;
and the limiting element is respectively connected with the second end of the first adjusting rod and the first end of the second adjusting rod.
8. A accurately positioned AGV according to claim 5 wherein said navigation positioning system further comprises:
the angle adjusting device is arranged at the first end of the height adjusting device and is connected with the laser tracking reflecting element.
9. A precisely positioned AGV vehicle according to claim 8, wherein said angular adjustment means includes:
a first spherical connecting element connected with the laser tracking reflective element;
a second spherical connecting element connected with the height adjustment device;
a connecting rod, a first end of the connecting rod being connected with the first spherical connecting element, a second end of the connecting rod being connected with the second spherical connecting element.
10. The accurately positioned AGV vehicle of claim 9, wherein said laser tracking reflective element comprises:
a first mounting groove provided at the laser tracking reflection element, the first spherical connection element being mounted in the first mounting groove;
the height adjusting device includes:
a second mounting groove disposed at a first end of the height adjustment device, the second spherical connecting element being mounted in the mounting groove.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201921824061.4U CN210822532U (en) | 2019-10-28 | 2019-10-28 | AGV car of accurate positioning |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201921824061.4U CN210822532U (en) | 2019-10-28 | 2019-10-28 | AGV car of accurate positioning |
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| Publication Number | Publication Date |
|---|---|
| CN210822532U true CN210822532U (en) | 2020-06-23 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201921824061.4U Active CN210822532U (en) | 2019-10-28 | 2019-10-28 | AGV car of accurate positioning |
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| CN (1) | CN210822532U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113296112A (en) * | 2021-05-31 | 2021-08-24 | 三门核电有限公司 | Portable measuring trolley device of laser tracker |
| CN116945208A (en) * | 2023-09-19 | 2023-10-27 | 湖南固工机器人有限公司 | Robot system |
-
2019
- 2019-10-28 CN CN201921824061.4U patent/CN210822532U/en active Active
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113296112A (en) * | 2021-05-31 | 2021-08-24 | 三门核电有限公司 | Portable measuring trolley device of laser tracker |
| CN113296112B (en) * | 2021-05-31 | 2023-07-14 | 三门核电有限公司 | Movable measuring trolley device of laser tracker |
| CN116945208A (en) * | 2023-09-19 | 2023-10-27 | 湖南固工机器人有限公司 | Robot system |
| CN116945208B (en) * | 2023-09-19 | 2023-12-15 | 湖南固工机器人有限公司 | Robot system |
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Address after: 200120 4th floor, building a, No.58 Xiangke Road, Pudong New Area, Shanghai Patentee after: Sofix Intelligent Technology (Shanghai) Co.,Ltd. Address before: 200120 4th floor, building a, No.58 Xiangke Road, Pudong New Area, Shanghai Patentee before: Dieling (Shanghai) Intelligent Technology Co.,Ltd. Address after: 200120 4th floor, building a, No.58 Xiangke Road, Pudong New Area, Shanghai Patentee after: Dieling (Shanghai) Intelligent Technology Co.,Ltd. Address before: 200120 4th floor, building a, No.58 Xiangke Road, Pudong New Area, Shanghai Patentee before: Lingrui (Shanghai) Medical Technology Co.,Ltd. |