CN211927279U - Double-differential gear train test vehicle based on SLAM navigation - Google Patents
Double-differential gear train test vehicle based on SLAM navigation Download PDFInfo
- Publication number
- CN211927279U CN211927279U CN202020477027.0U CN202020477027U CN211927279U CN 211927279 U CN211927279 U CN 211927279U CN 202020477027 U CN202020477027 U CN 202020477027U CN 211927279 U CN211927279 U CN 211927279U
- Authority
- CN
- China
- Prior art keywords
- body frame
- vehicle body
- gear train
- differential gear
- slam
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Images
Landscapes
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The utility model provides a double differential train test car based on SLAM navigation, include: the vehicle body frame is in a cuboid frame structure formed by fixedly connecting a plurality of connecting beams end to end; a front differential wheel fixed to a front side of a lower surface of the vehicle body frame; a rear differential wheel fixed to a rear side of a lower surface of the vehicle body frame; the battery pack is fixedly arranged in the middle of the upper surface of the vehicle body frame through a battery bracket; the electric control box is fixedly arranged at the front part and the rear part of the upper surface of the vehicle body frame; the front differential wheel and the rear differential wheel are electrically connected with the battery pack, and the battery pack is electrically connected with the electric cabinet. Through the driving mode of the front differential gear train and the rear differential gear train, the AGV driving device can be applied to the working environment of a complex scene, the transportation efficiency is improved, and the automation level of the AGV trolley is further improved.
Description
Technical Field
The utility model relates to a storage logistics transportation technical field, concretely relates to double differential train test car based on SLAM navigation.
Background
With the development of science and technology, various industries, especially labor-intensive enterprises, have higher and higher requirements for automation of factories. The AGV has come to the end, and is responsible for the transport of product, half product, raw materials. The AGV is also called an unmanned transport vehicle, an automatic navigation vehicle or a laser navigation vehicle. The automatic guided vehicle has the remarkable characteristics that the automatic guided vehicle is unmanned, an automatic guiding system is arranged on an AGV, the automatic guided vehicle can be ensured to automatically travel along a preset route under the condition that manual navigation is not needed, and goods or materials are automatically conveyed to a destination from a starting point.
The current AGV trolley has a single running mode, cannot be applied to the working environment of a complex scene, and is low in transportation efficiency. Therefore, how to improve the automation level of the AGV car and improve the transportation efficiency is a technical problem to be solved urgently.
SUMMERY OF THE UTILITY MODEL
An object of the utility model is to provide a two differential train test cars based on SLAM navigation solve above-mentioned difficult problem.
In order to achieve the above object, the utility model provides a following technical scheme: a double differential gear train test vehicle based on SLAM navigation comprises:
the vehicle body frame is in a cuboid frame structure formed by fixedly connecting a plurality of connecting beams end to end;
a front differential wheel fixed to a front side of a lower surface of the vehicle body frame;
a rear differential wheel fixed to a rear side of a lower surface of the vehicle body frame;
the battery pack is fixedly arranged in the middle of the upper surface of the vehicle body frame through a battery bracket;
the electric control box is fixedly arranged at the front part and the rear part of the upper surface of the vehicle body frame;
the front differential wheel and the rear differential wheel are electrically connected with the battery pack, and the battery pack is electrically connected with the electric cabinet.
As an improvement of the utility model, the vehicle body frame is built by the tie-beam concatenation of aluminum alloy material and is formed.
As an improvement of the utility model, still include navigation, navigation including the symmetry set up in the laser SLAM sensor at both ends around the automobile body frame, the laser SLAM sensor with electric cabinet electric connection.
As an improvement of the utility model, the four corners of the lower surface of the body frame are also provided with universal casters.
As an improvement of the utility model, both ends still are provided with safe limit of touching around automobile body frame, safe limit of touching is the fixed setting of platelike structure and symmetry and is in on automobile body frame's preceding, the rear end face, the extension length who touches the limit safely is greater than laser SLAM sensor's extension length.
As an improvement of the utility model, body frame's lower surface still symmetry is provided with four landmark sensors, the landmark sensor is close to body frame's side.
As an improvement of the utility model, the upper surface of automobile body frame still is provided with the control touch-sensitive screen through the control mounting panel, the control touch-sensitive screen with electric cabinet electric connection.
As an improvement of the utility model, still be provided with signal lamp and emergency stop button on the control support panel, signal lamp, emergency stop button with electric cabinet electric connection.
As an improvement of the utility model, the front end position of automobile body frame's lower surface still fixedly is provided with the trailer fixing base, the trailer fixing base is and draws the ring-type.
Additional features and advantages of the invention will be set forth in the description which follows, and in part will be obvious from the description, or may be learned by the practice of the invention. The objectives and other advantages of the invention will be realized and attained by the structure particularly pointed out in the written description and claims hereof as well as the appended drawings.
The technical solution of the present invention is further described in detail by the accompanying drawings and examples.
Drawings
Fig. 1 is a schematic structural view of the present invention;
fig. 2 is a front view of the present invention;
fig. 3 is a side view of the present invention.
The components in the figure are:
10-a body frame, 11-a connecting beam,
20-a front differential wheel and a rear differential wheel,
30-a rear differential wheel, and a rear differential wheel,
40-battery pack, 41-battery carrier,
50-an electric control box, wherein,
60-a laser SLAM sensor, which is,
70-a universal caster wheel, wherein the caster wheel is arranged on the upper portion of the caster wheel,
80-a safety contact edge is arranged on the safety contact edge,
a 90-landmark sensor, the landmark sensor,
100-control support plate, 110-control touch screen, 120-signal lamp, 130-emergency stop button,
200-trailer fixing seat.
Detailed Description
The preferred embodiments of the present invention will be described in conjunction with the accompanying drawings, and it will be understood that they are presented herein only to illustrate and explain the present invention, and not to limit the present invention.
Referring to fig. 1, a double differential gear train test vehicle based on SLAM navigation includes:
a body frame 10, which is fixedly connected end to end by a plurality of connecting beams 11 to form a rectangular frame structure; the vehicle body frame 10 is formed by splicing and building connecting beams 11 made of aluminum alloy materials;
a front differential wheel 20 fixed to a front side of a lower surface of the vehicle body frame 10;
a rear differential wheel 30 fixed to a rear side of a lower surface of the vehicle body frame 10;
a battery pack 40 fixedly disposed at a middle portion of an upper surface of the body frame 10 via a battery bracket 41;
an electric cabinet 50 fixedly provided at the front and rear of the upper surface of the body frame 10;
the front differential wheel 20 and the rear differential wheel 30 are electrically connected with the battery pack 40, and the battery pack 40 is electrically connected with the electric cabinet 50.
The working principle and the beneficial effects of the technical scheme are as follows: the AGV test vehicle is built by an aluminum profile frame, and can realize functions of advancing, retreating, turning, transversely moving and the like. The vehicle is provided with a front differential gear train unit and a rear differential gear train unit, when the vehicle runs forwards, the differential gear train unit on the front side is a driving wheel, and the differential gear train unit on the rear side is a driven wheel; when the vehicle runs backwards, the differential gear train unit at the rear side is a driving wheel, and the differential gear train unit at the front side is a driven wheel; when the vehicle needs to turn left, the whole turning of the vehicle body is realized through the difference value of the change of the rotating speeds of two wheels of the differential gear train unit at the front side; similarly, when the vehicle needs to turn right, the vehicle is also realized through the differential speed of the wheels.
The beneficial effects of the above technical scheme are that: through the driving mode of the front differential gear train and the rear differential gear train, the AGV driving device can be applied to the working environment of a complex scene, the transportation efficiency is improved, and the automation level of the AGV trolley is further improved.
As an embodiment of the utility model, still include navigation, navigation including the symmetry set up in the laser SLAM sensor 60 at both ends around body frame 10, laser SLAM sensor 60 with electric cabinet 50 electric connection.
The working principle of the technical scheme is as follows: magnetic stripes or electromagnetic navigation are mostly adopted in early AGVs, the two schemes are simple in principle, mature in technology and low in cost, but the change or the expansion of the path and the later maintenance are troublesome, and the AGVs can only walk according to a fixed route and cannot realize intelligent avoidance or change tasks in real time through a control system. The current mainstream navigation mode of the AGV is two-dimensional code + inertial navigation, the mode is relatively flexible to use, the path is easy to lay or change, the path needs to be maintained regularly, if the field is complex, the two-dimensional code needs to be frequently replaced, and in addition, the requirements on the precision and the service life of the gyroscope are strict.
With the development of the SLAM algorithm, the SLAM becomes an advanced navigation mode which is most advocated and preferably selected by each family at present, other positioning facilities are not needed in the SLAM mode, the form and the path are flexible and changeable, and the method can adapt to various field environments. Has a plurality of advantages. SLAM (simultaneous Localization and Mapping), also known as CML (current Mapping and Localization), performs instantaneous Localization and Mapping, or Concurrent Mapping and Localization. The problem can be described as: if a robot is placed at an unknown position in an unknown environment and there is a way to draw a complete map of the environment while the robot is moving, the complete map (a continuous map) refers to every corner where a room can enter without being obstructed.
The utility model provides a test car is based on SLAM navigation's double differential train AGV is based on the basis of current forward position technique, a new form dolly of research and development. The vehicle is characterized in that the vehicle weight is advanced in the test technology, and a novel vehicle body structure and a novel navigation mode combination are explored.
SLAM navigation technique AGV can be widely used in trades such as car, electron semiconductor, electricity merchant storage, electronic apparatus, can provide a novel solution for following some application scenarios:
1. the application scene of a user is limited, and large-scale installation of the reflective columns cannot be realized;
2. if a two-digit code landmark is pasted on the ground of a user, the application scene of damage and dust accumulation is easy to occur;
3. in the industrial production process, more man-machine interaction environments exist, and an application scene of adjusting material loading and unloading places for many times may exist in the technological process;
in sum, the double-differential gear train test vehicle based on the SLAM navigation has a very wide development trend in the application of the manufacturing industry. The utility model discloses as test car, be based on the test car under the technical principle frame, aim at blockading a plurality of technical essential of double differential train AGV within range based on SLAM navigation before in advance.
The front side and the rear side of the test AGV are respectively provided with a laser SLAM sensor, and the SLAM sensing system calculates the change of the relative movement distance and the posture of the laser SLAM sensor through matching and comparing two pieces of point clouds at different moments, so that the robot is positioned. Under the premise that the SLAM navigation does not have the surrounding environment information, the environment perception is positioned by the AGV in the motion process, and therefore the surrounding environment map is constructed in an incremental mode.
The beneficial effects of the above technical scheme are that: the operator can operate the dispatch test on the system dispatch software to travel from one loading point to another unloading point as required by the transfer task. Any track does not need to be paved in advance, the test AGV can avoid the obstacle in real time if meeting the obstacle in the running process, and the environment adaptability is strong.
As an embodiment of the present invention, the four corners of the lower surface of the body frame 10 are further provided with casters 70.
Safety touch edges 80 are further arranged at the front end and the rear end of the vehicle body frame 10, the safety touch edges 80 are of plate-shaped structures and are symmetrically and fixedly arranged on the front end face and the rear end face of the vehicle body frame 10, and the extension length of each safety touch edge 80 is larger than that of the laser SLAM sensor 60.
The working principle and the beneficial effects of the technical scheme are as follows: the universal caster 70 is set to make the running of the test cart more stable. The safety edge 80 is used for preventing the test trolley from being damaged by colliding foreign matters during running.
As an embodiment of the present invention, the lower surface of the body frame 10 is further symmetrically provided with four landmark sensors 90, and the landmark sensors 90 are close to the side of the body frame 10.
The working principle and the beneficial effects of the technical scheme are as follows: the role of the landmark sensor 90 is to further enhance the control of the test cart in combination with the SLAM sensor.
As an embodiment of the present invention, the upper surface of the body frame 10 is further provided with a control touch screen 110 through a control support plate 100, the control touch screen 110 is electrically connected to the electric cabinet 50.
The control bracket board 100 is further provided with a signal lamp 120 and an emergency stop button 130, and the signal lamp 120 and the emergency stop button 130 are electrically connected with the electric cabinet 50.
The working principle and the beneficial effects of the technical scheme are as follows: controlling the touch screen 110, the signal lights 120 and the emergency stop button 130 provides a manual control part to prevent accidents during driving.
As an embodiment of the present invention, a trailer fixing seat 200 is further fixedly disposed at the front end portion of the lower surface of the body frame 10, and the trailer fixing seat 200 is in a ring shape. The trailer holder 200 is used for connecting with a trailer for transportation.
Finally, it should be noted that: although the present invention has been described in detail with reference to the foregoing embodiments, it will be apparent to those skilled in the art that modifications and variations can be made in the embodiments or in part of the technical features of the embodiments without departing from the spirit of the present invention.
Claims (9)
1. A double differential gear train test vehicle based on SLAM navigation is characterized by comprising:
the car body frame (10) is fixedly connected with a rectangular frame structure by a plurality of connecting beams (11) end to end;
a front differential wheel (20) fixed to the front side of the lower surface of the vehicle body frame (10);
a rear differential wheel (30) fixed to the rear side of the lower surface of the vehicle body frame (10);
a battery pack (40) fixedly arranged in the middle of the upper surface of the vehicle body frame (10) through a battery bracket (41);
the electric control box (50) is fixedly arranged at the front part and the rear part of the upper surface of the vehicle body frame (10);
the front differential wheel (20) and the rear differential wheel (30) are electrically connected with the battery pack (40), and the battery pack (40) is electrically connected with the electric cabinet (50).
2. The double differential gear train test vehicle based on SLAM navigation, which is characterized in that: the car body frame (10) is formed by splicing and building connecting beams (11) made of aluminum alloy materials.
3. The double differential gear train test vehicle based on SLAM navigation, which is characterized in that: the vehicle body frame structure is characterized by further comprising a navigation system, wherein the navigation system comprises laser SLAM sensors (60) symmetrically arranged at the front end and the rear end of the vehicle body frame (10), and the laser SLAM sensors (60) are electrically connected with the electric cabinet (50).
4. The double differential gear train test vehicle based on SLAM navigation, which is characterized in that: four corners of the lower surface of the vehicle body frame (10) are also provided with universal casters (70).
5. The double differential gear train test vehicle based on SLAM navigation, which is characterized in that: safety touch edges (80) are further arranged at the front end and the rear end of the vehicle body frame (10), the safety touch edges (80) are of plate-shaped structures and are symmetrically and fixedly arranged on the front end face and the rear end face of the vehicle body frame (10), and the extension length of each safety touch edge (80) is greater than that of the laser SLAM sensor (60).
6. The double differential gear train test vehicle based on SLAM navigation, which is characterized in that: the lower surface of the car body frame (10) is further symmetrically provided with four landmark sensors (90), and the landmark sensors (90) are close to the side edges of the car body frame (10).
7. The double differential gear train test vehicle based on SLAM navigation, which is characterized in that: the upper surface of the car body frame (10) is further provided with a control touch screen (110) through a control support plate (100), and the control touch screen (110) is electrically connected with the electric cabinet (50).
8. The double differential gear train test vehicle based on SLAM navigation, which is characterized in that: the control support plate (100) is further provided with a signal lamp (120) and an emergency stop button (130), and the signal lamp (120) and the emergency stop button (130) are electrically connected with the electric cabinet (50).
9. The double differential gear train test vehicle based on SLAM navigation, which is characterized in that: the front end part of the lower surface of the vehicle body frame (10) is also fixedly provided with a trailer fixing seat (200), and the trailer fixing seat (200) is in a pull ring shape.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202020477027.0U CN211927279U (en) | 2020-04-03 | 2020-04-03 | Double-differential gear train test vehicle based on SLAM navigation |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202020477027.0U CN211927279U (en) | 2020-04-03 | 2020-04-03 | Double-differential gear train test vehicle based on SLAM navigation |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN211927279U true CN211927279U (en) | 2020-11-13 |
Family
ID=73374192
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202020477027.0U Active CN211927279U (en) | 2020-04-03 | 2020-04-03 | Double-differential gear train test vehicle based on SLAM navigation |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN211927279U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114572090A (en) * | 2022-03-07 | 2022-06-03 | 湖南利美防爆装备制造股份有限公司 | Double-differential-type negative-back type automatic navigation vehicle |
-
2020
- 2020-04-03 CN CN202020477027.0U patent/CN211927279U/en active Active
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114572090A (en) * | 2022-03-07 | 2022-06-03 | 湖南利美防爆装备制造股份有限公司 | Double-differential-type negative-back type automatic navigation vehicle |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| WO2018072712A1 (en) | Agv transport vehicle and control method therefor | |
| CN204241966U (en) | A kind of visually oriented floor truck voluntarily | |
| JP6109616B2 (en) | Automated guided vehicle | |
| CN201021981Y (en) | Magnetic navigation differential carrying robot | |
| CN204237151U (en) | A kind of leading screw lifting device and adopt the logistics carrier of this device | |
| CN107516143A (en) | A kind of preferred AGV handling systems in path based on dijkstra's algorithm | |
| CN104859440A (en) | Skid type AGV (automatic guided vehicle) | |
| CN212637735U (en) | Heavy load omnidirectional carrying type AGV | |
| CN107600221B (en) | Intelligent omnidirectional AGV (automatic guided vehicle) and control method thereof | |
| CN211927279U (en) | Double-differential gear train test vehicle based on SLAM navigation | |
| CN110794834A (en) | Carrier vehicle control system based on rear-drive front steering | |
| CN110727279A (en) | AGV dolly control system | |
| CN209281249U (en) | A kind of AGV trolley and system with barrier obstacle avoidance apparatus | |
| CN202518762U (en) | Manual automatic integrated van | |
| CN115771582A (en) | AGV trolley for transporting anode plates | |
| CN205809696U (en) | Cross-country heavy duty AGV | |
| CN209127483U (en) | A kind of scissor-type AGV trolley | |
| CN215479485U (en) | Jacking transport formula AGV robot mechanism of hiding | |
| CN208278194U (en) | Two-direction moving material transportation robot and material transport system | |
| CN209765333U (en) | AGV commodity circulation delivery system | |
| CN111716359B (en) | Composite navigation type differential storage robot and working method thereof | |
| CN111717845B (en) | Forklift AGV basket distribution transfer system and automatic control method thereof | |
| CN205114338U (en) | A device for AGV dolly trolley -bus traveles | |
| WO2023084637A1 (en) | Transport system and transport control method | |
| CN213974229U (en) | AGV dolly |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| TR01 | Transfer of patent right | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20230116 Address after: No. 1-1, Aofeng Road, Wozhou Town, Xinchang County, Shaoxing City, Zhejiang Province 312500 Patentee after: Jiuyao Intelligent Technology (Zhejiang) Co.,Ltd. Address before: Floor 9, building 26, courtyard 9, Linhe Avenue, Renhe Town, Shunyi District, Beijing Patentee before: Beijing Jiuquan Intelligent Technology Co.,Ltd. |