CN214360153U - AMR and AGV fork truck navigation positioning system - Google Patents
AMR and AGV fork truck navigation positioning system Download PDFInfo
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- CN214360153U CN214360153U CN202023219201.0U CN202023219201U CN214360153U CN 214360153 U CN214360153 U CN 214360153U CN 202023219201 U CN202023219201 U CN 202023219201U CN 214360153 U CN214360153 U CN 214360153U
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Abstract
The utility model relates to an AMR and AGV fork truck navigation positioning system, including being used for AMR or AGV fork truck positioning navigation, including fork truck automobile body, fork truck on-vehicle control system, fork truck navigation positioning system, fork truck this car communication system, control signal seamless wisdom interlinkage system, fork truck host computer communication system; the forklift truck-mounted control system is arranged on a forklift truck body, and the computer signal is seamlessly linked with the forklift truck control system through the control signal seamless intelligent linking system and the forklift truck communication system; the forklift vehicle-mounted control system and the forklift navigation positioning system are communicated with each other through the forklift vehicle communication system. The utility model has simple deployment, strong adaptability to light and ground flatness of AGV forklift operation environment, small workload of later maintenance and capability of realizing 24-hour black light operation; meanwhile, a control signal seamless intelligent link technology is adopted, the non-open/open forklift, particularly the non-open control interface forklift can be easily upgraded into AGV and AMR, and the intelligent manufacturing cost is reduced.
Description
Technical Field
The utility model belongs to the technical field of fork truck, especially, relate to an AMR and AGV fork truck navigation positioning system.
Background
The existing AGV (Automated Guided Vehicle, abbreviated as AGV) and AMR (Automated mobile robots, abbreviated as AMR) navigation positioning systems have the following technical defects:
1) navigation is performed in modes of laser radar, two-dimensional codes, geomagnetism, vision and the like, and the adaptability to the operation environment is poor.
2) Laser navigation is costly.
3) The laser radar navigation needs to arrange a reflecting plate and strictly survey and draw, and the arrangement is complex; the non-reflector laser SLAM has high requirements on the flatness of the operating ground of an AGV and an AMR forklift; the two-dimension codes and the geomagnetism need to be laid on the ground by adopting the two-dimension codes and the geomagnetism, the heavy-load AGV and the AMR forklift damage the two-dimension codes and the geomagnetism, and the two-dimension codes and the geomagnetism need to be maintained frequently; the visual navigation has high requirements on the uniformity and the illumination of the light of the working environment.
4) The AGV and the AMR are limited by the characteristics of the navigation mode, and the running speed of the AGV and the AMR is limited.
5) Most AGV and AMR forklift routes are not flexible enough.
6) The AGV and the AMR fork truck need to carry goods and need to be strictly limited.
7) AGV and AMR fork truck have no goods shelves/have goods shelves sign indicating number goods especially when no goods shelves sign indicating number goods, and the upper and lower floor of goods is difficult to align all around.
8) AGV, AMR forklift indoor, indoor and outdoor travel, especially in extreme environments (e.g.: uneven walking ground, large environmental humidity, easy dewing, large rain and fog weather, large dust and large light intensity change) under AMR & AGV accurate navigation and positioning are difficult.
9) The Beidou/GPS differential precise navigation has high cost, is greatly influenced by factors such as weather outdoors and has no signal indoors;
disclosure of Invention
The utility model aims at providing a AMR & AGV fork truck navigation positioning system to solve above-mentioned technical problem.
Navigation positioning system not only is used for AMR & AGV fork truck, still can be used to other autonomous movement platform of indoor outer operation, is applied to other autonomous movement platform the utility model discloses navigation positioning system also belongs to this patent protection scope.
The utility model provides an AMR and AGV fork truck navigation positioning system, which is used for AMR or AGV fork truck positioning navigation, and comprises a fork truck body, a fork truck vehicle-mounted control system, a fork truck navigation positioning system, a fork truck vehicle communication system, a control signal seamless intelligent link system and a fork truck upper communication system;
the forklift truck-mounted control system is arranged on the forklift truck body, and the computer signal is seamlessly linked with the forklift truck control system through the control signal seamless intelligent linking system and the forklift truck communication system;
the forklift truck-mounted control system and the forklift truck navigation positioning system are communicated through a forklift truck communication system;
the forklift navigation and positioning system comprises a uwb global navigation and positioning system, a vehicle-mounted inertial navigation system, a laser ranging and positioning system and a 3D visual positioning system; the uwb global navigation positioning system comprises a positioning base station arranged on the ceiling of a working area or on the periphery of a forklift working area and a positioning base station arranged on a forklift body; the vehicle-mounted inertial navigation system comprises an inertial navigation sensor arranged on the forklift body; the 3D vision positioning system comprises a 3D depth camera and a laser ranging sensor which are arranged on the forklift body.
Further, fork truck upper communication system is including installing wireless AP or 5G basic station on the work area ceiling to and install wireless AP customer end or the 5G receiving terminal on the fork truck automobile body.
Furthermore, the laser ranging positioning system and the 3D vision positioning system are arranged on the lower side of a fork of the forklift body and comprise two 3D depth cameras and two laser ranging sensors, wherein one set of the 3D depth camera and the laser ranging sensor is arranged at a fixed height and is used for left and right alignment between upper and lower layers or between upper and lower layers of goods and bottom layer goods, and accurate navigation positioning of the forklift during front and back alignment and different operation stages; the 3D depth camera is simultaneously used for three-dimensional obstacle avoidance during different operation stages of the forklift; the other set of 3D depth camera and the laser ranging sensor can move up and down along with the fork, and are used for accurate navigation positioning and three-dimensional obstacle avoidance during different operation stages of the fork truck.
Further, this system still includes the full car of fork truck safety and keeps away barrier system, the full car safety keeps away barrier system and includes safe laser radar, safe crashproof strip, safe crashproof basic station, 3D degree of depth camera and collision sensor.
Further, the system further comprises a forklift upper management control system, and the forklift upper management control system is communicated with the forklift vehicle-mounted control system through a forklift upper communication system.
Borrow by above-mentioned scheme, through AMR and AGV fork truck navigation positioning system, solved fork truck to the poor problem of operational environment adaptability, the system deploys simply, and to AGV fork truck operational environment's light, ground roughness strong adaptability, the later maintenance work load is little, can realize 24 hours black light operation.
Meanwhile, the utility model adopts the seamless wisdom link technology of the control signal, the non-open/open especially non-open control interface forklift can be easily upgraded to be AMR & AGV, the original attribute of the forklift (such as special equipment) is not required to be changed, the core part of the forklift (such as the motor drive of the forklift) is not reduced, the AMR & AGV body keeps the original attribute, the AMR & AGV can be safer and more reliable, and the intelligent manufacturing cost is reduced;
the navigation positioning system of the utility model integrates 3D vision and laser ranging, when the AMR & AGV fork truck forks the goods, the goods do not need to be strictly limited, even if the goods are shifted in position or angle, the AMR & AGV fork truck can also automatically and accurately align the tray holes, thereby avoiding the occurrence of potential safety hazards and safety accidents and realizing the real intelligent operation;
the 3D vision and laser ranging can output the left-right and front-back relative position information between the upper layer and the lower layer or between the upper layer and the lower layer when goods are stacked without a goods shelf or with a goods shelf, particularly when goods are stacked without a goods shelf, so that the AMR & AGV forklift can accurately align the front-back and left-right directions of the goods when the goods are stacked;
the navigation positioning system well solves the problem that environmental factors restrict the navigation positioning system when the AMR & AGV fork truck walks indoors and outdoors, and can realize safe and reliable indoor and outdoor operation of the AMR & AGV under extreme environments (such as uneven walking ground, large environmental humidity, easy dewing, rain, fog weather, large dust and large light intensity change).
The above description is only an overview of the technical solution of the present invention, and in order to make the technical means of the present invention clearer and can be implemented according to the content of the description, the following detailed description is made of preferred embodiments of the present invention.
Drawings
Fig. 1 is a schematic structural diagram of an automatic driving forklift to which the forklift navigation and positioning system of the invention is applied;
FIG. 2 is a schematic structural diagram of the forklift navigation and positioning system of the present invention;
fig. 3 is a schematic structural diagram of the safety obstacle avoidance system of the forklift of the present invention;
fig. 4 is the overlooking structure schematic diagram of the safety obstacle avoidance system of the forklift of the utility model.
Reference numbers in the figures:
1-forklift body; 2-a forklift truck-mounted control system; 3-a forklift navigation positioning system; 4-forklift upper communication system; 5-a safe obstacle avoidance system; 6-automatic charging receiving end; 7-charging pile and automatic charging transmitting terminal; 8-forklift upper management control system; 31-positioning a base station; 32-vehicle navigation positioning base station; 33-inertial navigation sensors; 34-a laser ranging sensor; 35-3D depth camera; 51-a safe collision avoidance base station; 52-safe three-dimensional obstacle avoidance 3D camera; 53-obstacle avoidance camera identification area; 54-safety bumper strip; 55-safety lidar; 56-safe lidar identification area; 57-safe collision avoidance base station identification zone.
Detailed Description
The following detailed description of the embodiments of the present invention is provided with reference to the accompanying drawings and examples. The following examples are intended to illustrate the invention, but are not intended to limit the scope of the invention.
Referring to fig. 1 to 4, the present embodiment provides an AGV and an AMR forklift navigation positioning system, including a forklift body 1, a forklift vehicle-mounted control system 2, a forklift navigation positioning system 3, an AMR and AGV forklift vehicle communication system, and a control signal seamless intelligent link system; fork truck vehicle control system 2 locates on the fork truck automobile body 1, through this car communication system of seamless wisdom link system of control signal, AMR & AGV fork truck, with the seamless link of computer signal with fork truck control system to light fork truck that upgrades to AMR & AGV, and control each item operation instruction of accurate, the safe execution of fork truck automobile body.
The forklift truck-mounted control system 2 and the forklift truck navigation positioning system 3 are communicated through an AMR and AGV forklift truck communication system;
the forklift navigation and positioning system 3 comprises a uwb global navigation and positioning system, a vehicle-mounted inertial navigation system, a laser ranging and positioning system and a 3D visual positioning system; the uwb global navigation positioning system comprises a positioning base station 31 arranged on the ceiling of a working area or the periphery of an AMR & AGV working area and a positioning base station 32 arranged on an AMR & AGV forklift body; the vehicle-mounted inertial navigation system comprises an inertial navigation sensor 33 arranged on the forklift body; the 3D vision positioning system comprises a 3D depth camera 35 and a laser ranging sensor 34 which are arranged on the forklift body 1;
through this AMR & AGV fork truck navigation positioning system, solved fork truck to the poor problem of operational environment adaptability, the system deploys simply, to AMR & AGV fork truck operational environment's light, ground roughness strong adaptability, the later maintenance work load is little, can realize 24 hours black light operation.
The AMR & AGV forklift navigation positioning system adopts a control signal seamless intelligent link technology, can easily upgrade a non-opening/opening forklift, particularly a non-opening control interface to be an AGV and an AMR, does not need to change the original attribute of the forklift (such as special equipment), does not reduce a forklift core component (such as forklift motor drive), enables an AMR & AGV body to keep the original attribute, and can be safer and more reliable, and reduces the intelligent manufacturing cost.
This AMR & AGV fork truck navigation positioning system has fused 3D vision and laser rangefinder, and when getting the goods to AMR & AGV fork truck fork, the goods need not strictly spacing, even goods position or angular deviation, AMR & AGV fork truck also can independently accurately aim at the tray hole, has stopped the potential safety hazard, prevents the emergence of incident, has realized the intelligent operation in the true sense.
When the goods are stacked on the AMR & AGV forklift navigation positioning system through 3D vision and laser ranging, the goods can be output without a goods shelf or with the goods shelf, and particularly, the goods are stacked on the goods without the goods shelf, the relative position information of the left layer and the right layer and the front layer and the back layer are obtained between the upper layer and the lower layer or between the upper layer and the lower layer, so that the AMR & AGV forklift can accurately align the goods in the front-back direction and the left-right direction when the goods are stacked on the goods.
The AMR & AGV forklift navigation positioning system well solves the problem that environmental factors restrict the navigation positioning system when the AMR & AGV forklift travels indoors and outdoors, and can realize safe and reliable indoor and outdoor operation of the AMR & AGV in extreme environments (such as uneven traveling ground, large environmental humidity, easy dewing, rain, fog weather, large dust and large light intensity change).
In the present embodiment, the AMR & AGV forklift upper communication system 4 includes a wireless AP or 5G base station installed on the ceiling of the working area, and a wireless AP client or 5G receiving terminal installed on the body of the forklift.
The present invention will be described in further detail below.
The AMR & AGV forklift body 1 is a forward type forklift, the forklift can move forward, move backward, stop, brake, steer, move forward a gantry, incline a goods fork tooth, move left and right the goods fork tooth, lift the goods fork tooth, descend the goods fork tooth, and simultaneously has the functions of battery power display, forklift working state display, gear display, steering angle display and the like, the forklift body 1 is in a dual-mode working mode, and can be switched into manual driving or unmanned automatic driving by one key; in addition to the forward fork truck, the AMR & AGV fork truck body 1 can also be selected from pallet carrying, stacking, counterweight, three-way fork truck, narrow lane fork truck.
AMR & AGV fork truck on-vehicle control system 2 locates on the fork truck automobile body 1, through the seamless wisdom link system of control signal, AMR & AGV fork truck this car communication system, seamlessly link the computer signal with fork truck control system to send forward, retreat, turn to, stop, the brake, the portal antedisplacement, goods prong slope, goods prong left and right movement, goods prong lifts, goods prong descends isorders, with guarantee that fork truck automobile body 1 is accurate according to system's instruction, each item operation of safe execution.
Further, the AMR & AGV forklift navigation positioning system 3 is provided with a certain number of positioning base stations 31 in the working area according to the size of the working area of the forklift body 1, and the positioning base stations 31 can electronically map the whole working area of the forklift body 1; the positioning base station 31 adopts a three-point positioning principle, obtains distances to a plurality of nearby base stations through the vehicle-mounted positioning base station 32, and only obtains original distance information from an AMR & AGV forklift to each base station, but not obtains global AMR & AGV positioning position information.
Furthermore, the global navigation positioning base station comprises vehicle-mounted positioning base stations, can complete two-way communication among all base stations besides the requirement for positioning, and adjusts the power of each base station according to the distance between the base stations and the signal intensity degree between the base stations and the AMR & AGV base stations according to the AMR & AGV vehicle-mounted control system instructions, so that the requirement for accurate operation of the AMR & AGV is met.
Further, AMR & AGV fork truck navigation positioning system 3 has fused 3D vision and laser rangefinder, 3D vision camera and laser rangefinder sensor install in fork truck automobile body fork downside, each two of 3D vision camera and laser rangefinder, one set of fixed height, another set of 3D vision camera and laser rangefinder up-and-down motion along with the fork.
Further, the AMR & AGV forklift vehicle-mounted control system 2 commands the AMR & AGV forklift to drive to the target position according to the coordinate position and the course of the vehicle; after the forklift body 1 is close to the appointed goods taking position, the navigation positioning intelligent integration SLAM algorithm carries out accurate positioning on goods tray fork holes according to data given by the laser ranging sensor 34 and the 3D depth camera 35, so that the fork of the forklift body 1 can be accurately aligned to the tray fork holes, the depth information of the fork entering the tray fork holes is given by the algorithm, and the AMR & AGV forklift body 1 can accurately take the tray by forking.
Furthermore, the fixed-height 3D vision camera and the laser ranging are used for realizing the accurate navigation and positioning of the AMR & AGV forklift in left and right and front and back alignment and different operation stages between the upper layer of goods, the lower layer of goods or the upper layers of goods and the bottom layer of goods, the 3D vision camera meets the three-dimensional obstacle avoidance function in different operation stages of the AMR & AGV forklift, and the other set of 3D vision camera and the laser ranging sensor can meet the accurate navigation and positioning and the three-dimensional obstacle avoidance function in different operation stages of the AMR & AGV forklift;
AMR & AGV fork truck navigation positioning system 3 fuses uwb global navigation positioning system (positioning base station), vehicle inertial navigation system (vehicle inertial sensor), laser range finding positioning system (laser range finding sensor), 3D visual positioning system (3D depth camera), provides enough accurate and reliable position information and course information for fork truck navigation control, uwb global positioning mainly ensures the reliability of positioning of vehicles in large-scale operation, vehicle inertial navigation system mainly ensures the continuous high-precision positioning of vehicles in short time, 3D depth camera can obtain the point cloud data and RGB data of targets, laser range finding sensor can provide accurate distance information, 3D visual positioning system and laser range finding positioning mainly ensure the accurate positioning and navigation of tail ends, so AMR & AGV fork truck actively corrects navigation information, realizes three-dimensional safe obstacle avoidance and yard cargo alignment, effectively ensures that the forklift can accurately, quickly and safely complete production control tasks.
The AMR & AGV forklift upper communication system 4 is composed of a wireless AP or 5G base station arranged on the ceiling of a working area, and a wireless AP client or 5G receiving end arranged on a forklift body 1.
AMR & AGV fork truck whole car is kept away barrier system 5 by safe laser radar 55, install downside anticollision strip 54 around the automobile body, 3D degree of depth camera 52, safe crashproof basic station 51 and is constituteed, safe laser radar 55 is responsible for the automobile body perimeter and keeps away the barrier safely all around, and 3D degree of depth camera 52 and install preceding and left and right both sides degree of depth camera on fork truck automobile body 1 are responsible for keeping away the barrier at fork truck front-back left and right sides three-dimensionally. The safety anti-collision strip 54 is used for an emergency obstacle avoidance function when a vehicle body contacts an obstacle, and the safety anti-collision base station is used for a safety obstacle avoidance between vehicles provided with the base station and between the vehicles and people wearing anti-collision electronic tags; meanwhile, the safety of the AMR & AGV forklift in the operation process can be ensured by means of arranging a collision sensor, a virtual electronic fence and the like. As shown in fig. 3.
The AMR & AGV forklift navigation positioning system has the following advantages:
1) adopt uwb, laser radar, 3D camera, the multiple navigation data of inertial navigation, fuse SLAM algorithm through navigation positioning wisdom, can satisfy unmanned fork truck high-speed transportation and high accuracy location demand simultaneously, positioning accuracy millimeter level (less than or equal to 10 mm).
2) The seamless intelligent link technology of the control signal is adopted, the forklift with the non-opening/opening and especially the non-opening control interface can be easily upgraded to be AMR & AGV, and the original attribute of the forklift does not need to be changed (for example: special equipment), not subtract and join in marriage fork truck core component (for example: fork truck motor drive), let AMR & AGV automobile body keep original attribute, AMR & AGV can be safer, more reliable, reduced intelligent manufacturing cost.
3) The local navigation positioning base station comprises vehicle-mounted positioning base stations, can also complete two-way communication among all base stations besides meeting the positioning requirement, and adjusts the power of all base stations according to the distance between the base stations and the signal intensity degree between the base stations and the AMR and AGV base stations according to the AMR and AGV vehicle-mounted control system instructions, so that the AMR and AGV accurate operation requirement is met.
4) This AMR & AGV fork truck navigation positioning system has fused 3D vision and laser rangefinder, and when getting the goods to AMR & AGV fork truck fork, the goods need not strictly spacing, even goods position or angular deviation, AMR & AGV fork truck also can independently accurately aim at the tray hole, has stopped the potential safety hazard, prevents the emergence of incident, has realized the intelligent operation in the true sense.
5) When the goods are stacked on the AMR & AGV forklift navigation positioning system through 3D vision and laser ranging, the goods can be output without a goods shelf or with the goods shelf, and particularly, the goods are stacked on the goods without the goods shelf, the relative position information of the left layer and the right layer and the front layer and the back layer are obtained between the upper layer and the lower layer or between the upper layer and the lower layer, so that the AMR & AGV forklift can accurately align the goods in the front-back direction and the left-right direction when the goods are stacked on the goods.
6) This AMR & AGV fork truck navigation positioning system is fine has solved AMR & AGV fork truck indoor, when outdoor walking environmental factor to navigation positioning system's restriction, can realize extreme environment (if: uneven walking ground, large environmental humidity, easy dewing, rain, fog, large dust and large light intensity change) under AMR & AGV safe and reliable indoor and outdoor operation.
7) Adopt laser radar to keep away the barrier, 3D camera barrier discernment, contact anticollision strip and set up the multiple mode of fence, can make fork truck still can monitor the safety condition of whole car when a safeguard measure is invalid.
8) By adopting the uwb global navigation mode, the flexible configuration of the forklift operation route and the flexible forklift operation route can be realized, the modification of the forklift operation mode does not need any modification of warehouse hardware, and the method can be well suitable for the rapid layout adjustment of the warehouse.
9) The AMR and AGV forklift navigation positioning system is low in cost, and the speed of the AMR and AGV forklift is not limited by the navigation positioning system;
10) the navigation and positioning are perfectly combined with the three-dimensional safe obstacle avoidance.
The above description is only a preferred embodiment of the present invention, and is not intended to limit the present invention, and it should be noted that, for those skilled in the art, a plurality of modifications and variations can be made without departing from the technical principle of the present invention, and these modifications and variations should also be regarded as the protection scope of the present invention.
Claims (5)
1. An AMR and AGV forklift navigation positioning system is characterized by being used for AMR or AGV forklift positioning navigation and comprising a forklift body, a forklift vehicle-mounted control system, a forklift navigation positioning system, a forklift vehicle communication system, a control signal seamless intelligent link system and a forklift upper communication system;
the forklift truck-mounted control system is arranged on the forklift truck body, and the computer signal is seamlessly linked with the forklift truck control system through the control signal seamless intelligent linking system and the forklift truck communication system;
the forklift truck-mounted control system and the forklift truck navigation positioning system are communicated through a forklift truck communication system;
the forklift navigation and positioning system comprises a uwb global navigation and positioning system, a vehicle-mounted inertial navigation system, a laser ranging and positioning system and a 3D visual positioning system; the uwb global navigation positioning system comprises a positioning base station arranged on the ceiling of a working area or on the periphery of a forklift working area and a positioning base station arranged on a forklift body; the vehicle-mounted inertial navigation system comprises an inertial navigation sensor arranged on the forklift body; the 3D vision positioning system comprises a 3D depth camera and a laser ranging sensor which are arranged on the forklift body.
2. The AMR and AGV forklift navigation positioning system of claim 1 wherein said forklift upper communications system includes a wireless AP or 5G base station mounted on the ceiling of the work area and a wireless AP client or 5G receiving end mounted on the body of the forklift.
3. The AMR and AGV forklift navigation and positioning system of claim 1, wherein the laser ranging and positioning system and the 3D vision positioning system are mounted on the underside of the forklift body fork, and comprise two 3D depth cameras and two laser ranging sensors, wherein one set of 3D depth camera and laser ranging sensor is mounted at a fixed height and used for left and right, front and back alignment between upper and lower layers or upper and lower layers of goods and bottom layer goods and accurate forklift navigation and positioning in different operation stages; the 3D depth camera is simultaneously used for three-dimensional obstacle avoidance during different operation stages of the forklift; the other set of 3D depth camera and the laser ranging sensor can move up and down along with the fork, and are used for accurate navigation positioning and three-dimensional obstacle avoidance during different operation stages of the fork truck.
4. The AMR and AGV forklift navigation and positioning system of claim 1, further comprising a forklift full-car safety obstacle avoidance system, wherein the full-car safety obstacle avoidance system comprises a safety laser radar, a safety collision strip, a safety collision base station, a 3D depth camera and a collision sensor.
5. The AMR and AGV forklift navigation and positioning system of claim 1 further comprising a forklift upper management control system, wherein the forklift upper management control system communicates with the forklift vehicle control system through a forklift upper communication system.
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Address after: 518057 area V, 2nd floor, a / F, junxiangda building, 9 Zhongshan Garden Road, Nantou street, Nanshan District, Shenzhen City, Guangdong Province Patentee after: Shenzhen Pengkun Zhike Technology Co., Ltd. Address before: 518057 area V, 2nd floor, a / F, junxiangda building, 9 Zhongshan Garden Road, Nantou street, Nanshan District, Shenzhen City, Guangdong Province Patentee before: Shenzhen yiaider Intelligent Technology Co.,Ltd. |
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