CN213322794U

CN213322794U - AGV intelligent vehicle based on SLAM navigation technology

Info

Publication number: CN213322794U
Application number: CN202021954797.6U
Authority: CN
Inventors: 秦国威; 胡汪琪
Original assignee: Bengbu College
Current assignee: Bengbu College
Priority date: 2020-09-09
Filing date: 2020-09-09
Publication date: 2021-06-01
Anticipated expiration: 2030-09-09

Abstract

The utility model discloses a AGV intelligent vehicle based on SLAM navigation technology, including SLAM navigation automobile body and travelling wheel, the bottom of SLAM navigation automobile body is fixed with the travelling wheel, SLAM navigation automobile body and travelling wheel electric connection, the shell is installed to the upper end of SLAM navigation automobile body, be fixed with elevating system on the shell, install the feed box frame on the elevating system, be provided with the motion spout on the feed box frame, install fixed splint in the motion spout, the bottom of feed box frame is fixed with clamping mechanism, clamping mechanism and fixed splint are connected, install the loading and unloading controller on the shell, the loading and unloading controller is connected with elevating system, clamping mechanism electric connection; the utility model discloses an inside SLAM technique of SLAM navigation automobile body establishes a continuous environment map to current environment, need not carry out any adjustment to infrastructure, does not need installation mark or reflector, has reduced workshop transformation cost advantage, has improved the flexible and equipment portability in workshop.

Description

AGV intelligent vehicle based on SLAM navigation technology

Technical Field

The utility model relates to a AGV dolly technical field specifically is an AGV intelligent vehicle based on SLAM navigation.

Background

The AGV intelligent vehicle is provided with an electromagnetic or optical automatic navigation device, can run along a specified navigation path, has transportation and carrying vehicles with safety protection and various transfer functions, does not need a driver in industrial application, takes a rechargeable storage battery as a power source, can generally control the traveling path and behavior of the AGV intelligent vehicle through a computer, and is used in various fields as a novel multifunctional intelligent industrial device with real-time induction, safety identification, multiple obstacle avoidance, intelligent decision, automatic execution and the like along with the implementation of an industrial 4.0 technology, and the replacement of manual carrying is an inevitable trend.

The navigation modes adopted by the current AGV intelligent vehicle mainly comprise electromagnetic navigation, optical navigation and inertial navigation, wherein the electromagnetic navigation mainly utilizes an electromagnetic track to set a traveling path of the AGV intelligent vehicle, the electromagnetic track is adhered to a floor, an unmanned transport vehicle moves and acts by depending on information brought by the electromagnetic track, the optical navigation needs to add a colored tape or a reflecting mechanism on a traveling route of the AGV intelligent vehicle, an optical sensor is used for identifying an image signal to realize guidance, the inertial navigation mainly comprises the steps of installing a gyroscope on the AGV intelligent vehicle, arranging a positioning block on the traveling bottom surface, and realizing navigation by acquiring the angular rate of the intelligent vehicle passing through the positioning block, the three navigation modes all need to adjust a traveling workshop of the AGV intelligent vehicle, need to transform the infrastructure of the workshop, install a marking device or a reflecting belt, have higher cost and need to invest long time, moreover, the upper portion of the existing AGV intelligent vehicle is lack of a fixing structure for materials, the materials drop easily during transportation, the stability is insufficient, the goods can be toppled over, the existing AGV intelligent vehicle is usually unloaded manually, and the unloading efficiency is low.

SUMMERY OF THE UTILITY MODEL

An object of the utility model is to provide an AGV intelligent vehicle based on SLAM navigation to solve the problem of proposing among the above-mentioned background art.

In order to achieve the above object, the utility model provides a following technical scheme:

the utility model provides a AGV intelligent vehicle based on SLAM navigation technology, includes SLAM navigation automobile body and travelling wheel, the bottom of SLAM navigation automobile body is fixed with the travelling wheel, SLAM navigation automobile body and travelling wheel electric connection, the shell is installed to the upper end of SLAM navigation automobile body, be fixed with elevating system on the shell, the last storage box frame of installing of elevating system, be provided with the motion spout on the storage box frame, install solid fixed splint in the motion spout, the bottom of storage box frame is fixed with clamping mechanism, clamping mechanism and solid fixed splint are connected and are driven its motion, install loading and unloading controller on the shell, loading and unloading controller is controlled by SLAM navigation automobile body, loading and unloading controller and elevating system, clamping mechanism electric connection are used for controlling its operating condition.

Preferably, the SLAM navigation vehicle body is internally provided with a laser SLAM unit and a visual SLAM unit for scanning the surrounding environment.

Preferably, clamping mechanism is including rotating base, transmission lead screw and driving motor, it fixes the bottom at the feed box frame to rotate the base, driving motor fixes on rotating the base, the transmission lead screw is installed in rotating the base, the transmission lead screw passes solid fixed splint, transmission lead screw and driving motor coaxial coupling, driving motor and loading and unloading controller electric connection.

Preferably, the fixed splint include punch holder and fixing base, the punch holder sets up the upper end at the feed box frame, the fixing base card is in the motion spout and is connected with the punch holder bottom, the transmission lead screw passes the fixing base, and meshes through screw and transmission lead screw.

Preferably, elevating system is including upset hinge, lift seat, lower fixed ear, lift lead screw and elevator motor, install down fixed ear on the shell, elevator motor is installed to the bottom of fixed ear down, lift lead screw and elevator motor coaxial coupling, install the upset hinge on the workbin frame, install the lift seat on the upset hinge, the lift seat cover is on the lift lead screw and through screw and its meshing, elevator motor and loading and unloading controller electric connection.

Compared with the prior art, the beneficial effects of the utility model are that:

(1) the SLAM technology in the SLAM navigation vehicle body establishes a continuous environment map aiming at the existing environment, does not need to adjust infrastructure, does not need a navigation mode of ground marks, does not need to install marks or reflectors, has the advantages of reducing the cost of workshop reconstruction, shortening the time of installation and use, and improving the flexibility and equipment transportability of the workshop;

(2) the fixed clamping plates can move along the moving sliding groove under the driving of the clamping mechanism, so that the distance between the two fixed clamping plates is changed, the goods placed between the two fixed clamping plates are clamped and fixed, the goods are further limited, the stability is improved, and the goods are effectively prevented from falling;

(3) the inclination angle of the material box frame is changed through the lifting mechanism, so that goods can automatically slide down, automatic unloading is realized, and unloading efficiency is improved.

Drawings

Fig. 1 is a schematic view of the overall structure of the present invention;

FIG. 2 is a schematic view of the bottom of the work bin holder of the present invention;

FIG. 3 is a schematic structural view of a housing portion of the present invention;

FIG. 4 is a schematic view of the fixing splint of the present invention;

in the figure: 1SLAM navigation car body, 2 traveling wheels, 3 outer shells, 4 lifting mechanisms, 401 turning hinges, 402 lifting seats, 403 lower fixing lugs, 404 lifting screw rods, 405 lifting motors, 5 material box frames, 6 moving chutes, 7 fixing clamping plates, 701 upper clamping plates, 702 fixing seats, 8 clamping mechanisms, 801 rotating bases, 802 transmission screw rods, 803 driving motors and 9 loading and unloading controllers.

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.

Referring to fig. 1-4, an AGV smart car based on SLAM navigation technology includes a SLAM navigation car body 1 and a travel wheel 2, where the SLAM navigation car body 1 is a complete SLAM autonomous traveling car capable of implementing SLAM autonomous navigation function, is equipped with a raspberry-type mini computer, runs an open-source ROS operating system, and the SLAM navigation car body 1 is internally equipped with a laser SLAM unit and a visual SLAM unit for scanning surrounding environment, the laser SLAM unit is 2D laser radar technology, the visual SLAM unit is camera imaging technology, and an environment sensing device SLAM navigation car body 1 equipped with 2D laser radar technology and a camera starts from a certain position in an unknown environment, performs positioning according to sensing information obtained by an internal source and an external environment sensing device in the moving process, and gradually establishes a self-continuous environment map, i.e. SLAM process, and then, on the basis of the map, the accurate positioning and path planning of the AGV intelligent vehicle can be realized, the navigation is completed, no adjustment is needed to be carried out on infrastructure in comparison with the traditional navigation mode, no mark or reflector is needed to be installed, the cost advantage of workshop reconstruction is reduced, the time for installation and use is shortened, the AVG intelligent vehicle reduces the hardware requirement on a workshop during working, the applicability is wide, the flexibility of the workshop and the equipment transportability are improved, the bottom of the SLAM navigation vehicle body 1 is fixedly provided with the traveling wheels 2, the SLAM navigation vehicle body 1 is electrically connected with the traveling wheels 2, and the traveling wheels 2 are driven and supplied with power by the SLAM navigation vehicle body 1.

The upper end of the SLAM navigation vehicle body 1 is provided with a shell 3, a lifting mechanism 4 is fixed on the shell 3, four groups of lifting mechanisms 4 are arranged on the shell 3 and symmetrically arranged on two sides of the shell 3, a material box frame 5 is arranged on the lifting mechanism 4, the lifting mechanism 4 comprises a turnover hinge 401, a lifting seat 402, a lower fixing lug 403, a lifting screw 404 and a lifting motor 405, the lower fixing lug 403 is arranged on the shell 3, the bottom of the lower fixing lug 403 is provided with the lifting motor 405, the lifting screw 404 is coaxially connected with the lifting motor 405, the lifting motor 405 drives the lifting screw 404 to rotate, the turnover hinge 401 is arranged on the material box frame 5, the lifting seat 402 is arranged on the turnover hinge 401, the turnover hinge 401 can be freely turned over, when the material box frame 5 is inclined, the turnover hinge 401 turns over along with the inclined angle of the turnover hinge to ensure that the lifting seat 402 is always in a horizontal state, the lifting base 402 is sleeved on the lifting screw rod 404 and meshed with the lifting screw rod through threads, the lifting motors 405 are symmetrically distributed on two sides of the shell 3, when the lifting motor 405 on one side rotates to drive the lifting base 402 to move upwards, and the lifting motor 405 on the other side rotates to drive the lifting base 402 to move downwards, the material box frame 5 can incline to enable goods to automatically slide downwards, automatic unloading is achieved, unloading efficiency is improved, and the lifting motors 405 are electrically connected with the loading and unloading controller 9.

The feed box frame 5 is provided with a moving chute 6, a fixed clamping plate 7 is installed in the moving chute 6, the bottom of the feed box frame 5 is fixed with a clamping mechanism 8, the clamping mechanism 8 and the fixed clamping plate 7 are connected to drive the movement of the moving chute, the clamping mechanism 8 comprises a rotating base 801, a transmission screw rod 802 and a driving motor 803, the rotating base 801 is fixed at the bottom of the feed box frame 5, the driving motor 803 is fixed on the rotating base 801, the transmission screw rod 802 is installed in the rotating base 801, the rotating base 801 supports the transmission screw rod 802, the transmission screw rod 802 penetrates through the fixed clamping plate 7, the transmission screw rod 802 and the driving motor 803 are coaxially connected, the driving motor 803 drives the transmission screw rod 802 to rotate, the driving motor 803 is electrically connected with a loading and unloading controller 9, the fixed clamping plate 7 comprises an upper clamping plate 701 and a fixed base 702, the punch holder 701 sets up the upper end at workbin frame 5, fixing base 702 card just is connected bottom punch holder 701 in motion spout 6, transmission lead screw 802 passes fixing base 702, and meshes through screw thread and transmission lead screw 802, and solid fixed splint 7 is provided with two and opposite with the screw thread of transmission lead screw 802 meshing, drives two solid fixed splint 7 along motion spout 6 toward opposite relative motion when transmission lead screw 802 rotates to change the distance between two solid fixed splint 7, thereby fix the goods centre gripping of placing between two solid fixed splint 7, it is further spacing to the goods, and the stability is improved, prevents effectively that it from dropping.

The loading and unloading controller 9 is arranged on the shell 3, the loading and unloading controller 9 is controlled by the SLAM navigation vehicle body 1, the loading and unloading controller 9 is a microprocessor system which adopts STM32 as a processing chip and is used as a lower computer of the SLAM navigation vehicle body 1, the loading and unloading controller 9 is electrically connected with the lifting mechanism 4 and the clamping mechanism 8 and used for controlling the working state of the loading and unloading controller 9, the lifting mechanism 4 and the clamping mechanism 8 are directly driven and controlled by the I/O port, driving programs of the lifting mechanism 4 and the clamping mechanism 8 are stored in an STM32 chip, the programs are common motor driving control programs in the prior art, the driving and controlling of the lifting mechanism 4 and the clamping mechanism 8 are controlled by a peripheral independent controller, the execution of an SLAM program in the SLAM navigation vehicle body 1 cannot be influenced, a distributed control system is formed, the robustness of the system is enhanced, and later maintenance is facilitated.

Specifically, during the use, place the goods on the up end of workbin frame 5, clamping mechanism 8 drives down like middle removal under clamping mechanism 8's the drive of clamping mechanism 7 this moment, it fixes to press from both sides the goods between two clamping mechanism 7, then this AGV intelligent vehicle is from a certain position in unknown environment, SLAM navigation automobile body 1 carries out self-align according to the perception information that its removal in-process primitive and external environment perception device acquireed, establish a continuous instant environment map gradually simultaneously, then, on the basis of this map, accurate positioning and path planning that AGV intelligent vehicle carried out as required arrive appointed place, then clamping mechanism 7 loosens the goods of centre gripping, elevating system 4 work makes workbin frame 5 take place the slope, the goods slides down from workbin frame 5, realize independently dismantling.

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

1. The utility model provides a AGV intelligent vehicle based on SLAM navigation technology which characterized in that: the SLAM navigation car body comprises an SLAM navigation car body (1) and traveling wheels (2), the traveling wheels (2) are fixed at the bottom of the SLAM navigation car body (1), the SLAM navigation car body (1) is electrically connected with the traveling wheels (2), a shell (3) is installed at the upper end of the SLAM navigation car body (1), an elevating mechanism (4) is fixed on the shell (3), a box frame (5) is installed on the elevating mechanism (4), a moving sliding groove (6) is arranged on the box frame (5), a fixed clamping plate (7) is installed in the moving sliding groove (6), a clamping mechanism (8) is fixed at the bottom of the box frame (5), the clamping mechanism (8) and the fixed clamping plate (7) are connected to drive the movement of the clamping mechanism, a loading and unloading controller (9) is installed on the shell (3), the loading and unloading controller (9) is controlled by the SLAM navigation car body (1), and the loading and unloading controller (9) and the elevating mechanism (4), The clamping mechanism (8) is electrically connected to control the working state thereof.

2. The AGV intelligent vehicle based on the SLAM navigation technology of claim 1, wherein: the SLAM navigation vehicle body (1) is internally provided with a laser SLAM unit and a visual SLAM unit and is used for scanning the surrounding environment.

3. The AGV intelligent vehicle based on the SLAM navigation technology of claim 1, wherein: clamping mechanism (8) are including rotating base (801), transmission lead screw (802) and driving motor (803), it fixes the bottom at feed box frame (5) to rotate base (801), driving motor (803) are fixed on rotating base (801), install in rotating base (801) transmission lead screw (802), fixed splint (7) are passed in transmission lead screw (802), transmission lead screw (802) and driving motor (803) coaxial coupling, driving motor (803) and loading and unloading controller (9) electric connection.

4. The AGV intelligent vehicle based on the SLAM navigation technology of claim 3, wherein: the fixed clamp plate (7) comprises an upper clamp plate (701) and a fixed seat (702), the upper clamp plate (701) is arranged at the upper end of the material box frame (5), the fixed seat (702) is clamped in the moving sliding groove (6) and connected with the bottom of the upper clamp plate (701), and the transmission screw rod (802) penetrates through the fixed seat (702) and is meshed with the transmission screw rod (802) through threads.

5. The AGV intelligent vehicle based on the SLAM navigation technology of claim 1, wherein: elevating system (4) are including upset hinge (401), lift seat (402), fixed ear (403), lift lead screw (404) and elevator motor (405) down, install down fixed ear (403) on shell (3), elevator motor (405) are installed to the bottom of fixed ear (403) down, lift lead screw (404) and elevator motor (405) coaxial coupling, install upset hinge (401) on feed box frame (5), install lift seat (402) on upset hinge (401), lift seat (402) cover is on lift lead screw (404) and through screw and meshing with it, elevator motor (405) and loading and unloading controller (9) electric connection.