CN214409282U - Laser radar adjustment system applied to AGV - Google Patents
Laser radar adjustment system applied to AGV Download PDFInfo
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- CN214409282U CN214409282U CN202022402160.2U CN202022402160U CN214409282U CN 214409282 U CN214409282 U CN 214409282U CN 202022402160 U CN202022402160 U CN 202022402160U CN 214409282 U CN214409282 U CN 214409282U
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Abstract
The utility model discloses a be applied to AGV's laser radar adjustment system, include the AGV automobile body and establish inclination detector, laser radar, position control device and the encoder on the AGV automobile body, laser radar sets up on position control device, inclination detector, encoder, position control device and laser radar all with AGV communication connection, inclination detector generates the inclination signal, the encoder generates distance signal, AGV receives and analyzes inclination signal, distance signal to according to analysis result control position control device work, thereby realize correcting of laser radar height and gradient, make the AGV automobile body when domatic walking, laser radar can parallel with ground all the time, and highly keep unanimous with the reflector panel. Therefore, the area of the reflector is not required to be increased, the material consumption is reduced, the laser radar emission light beam can be always vertically emitted to the reflector, and the positioning precision of the AGV is improved.
Description
Technical Field
The utility model relates to an automatic navigation field, concretely relates to be applied to AGV's laser radar adjustment system.
Background
The laser navigation has the advantages of high precision, small size and the like, and is a navigation mode widely adopted in the field of the current AGV. In order to achieve the purpose of accurate positioning, the installation height of the laser radar is generally required to be set to be consistent with the installation height of the reflector, and when the AGV executes a task, a light beam emitted by the laser radar is vertically incident on the reflector and reflected back, so that positioning is achieved. However, when the AGV runs on the slope ground, the laser radar is not level with the ground, the light beam is obliquely incident on the reflector, and the positioning accuracy of the laser radar is affected by the existence of the slope because the measurement error of the laser radar increases with the increase of the distance. Moreover, when the ground has a slope, the reflector generally needs to be lengthened during construction, so that when the AGV goes up the slope or goes down the slope, the light beam emitted by the laser radar can also irradiate the reflector, otherwise the navigation and the positioning of the AGV are influenced. In view of this, in order to improve the positioning accuracy of the AGV on the slope ground and avoid the waste of consumables such as a reflector, it is necessary to design a device capable of automatically adjusting the installation height and angle of the laser radar.
SUMMERY OF THE UTILITY MODEL
The present invention provides a laser radar adjusting system for AGVs, which can automatically adjust the angle and height of the laser radar through an adjustable laser sensing system, so that the light beam emitted by the laser radar is always parallel to the ground and the height of the light beam is unchanged.
In order to realize the purpose, the utility model adopts the following technical proposal:
be applied to AGV's laser radar adjustment system, include the AGV automobile body and establish inclination detector, laser radar, position control device and the encoder on the AGV automobile body, laser radar sets up on position control device, inclination detector, encoder, position control device and laser radar all with AGV automobile body's well accuse system communication connection, the inclination detector generates the inclination signal, the encoder generates distance signal, AGV automobile body's well accuse system receives and analyzes inclination signal, distance signal to according to analysis result control position control device work, thereby realize correcting of laser radar height and gradient.
The utility model discloses an adjustable laser sensing system accessible inclination detector detects the domatic angle of inclination ^ beta and generates the inclination signal of AGV automobile body place when domatic walking, detect AGV at domatic walking distance L through the encoder and generate distance signal, the center control system by the AGV automobile body again carries out the analysis to inclination signal and distance signal, then the action of controlling position adjusting device, through driving laser radar longitudinal movement and rotatory realization height, the correction of gradient, guarantee that laser radar parallels with ground, and highly and reflector panel keep unanimous. Compared with the prior art, the utility model discloses a system makes the AGV automobile body when domatic walking, and laser radar can parallel with ground all the time, and highly keep unanimous with the reflector panel. Therefore, the area of the reflector is not required to be increased, the material consumption is reduced, the laser radar emission light beam can be always vertically emitted to the reflector, and the positioning precision of the AGV is improved.
Preferably, the position adjusting device comprises a height adjusting mechanism and a slope adjusting mechanism, the slope adjusting mechanism is arranged on the upper side of the height adjusting mechanism, and the laser radar is arranged on the slope adjusting mechanism. The laser radar of this scheme sets up on inclination adjustment mechanism, and the system realizes the adjustment to laser radar height, inclination through height adjustment mechanism, inclination adjustment mechanism respectively.
Preferably, height adjusting mechanism includes mount pad, first motor and transmission platform, first motor passes through the vertical AGV automobile body upside that sets up of mount pad, the cover is established to transmission platform slidable on the output shaft of first motor, inclination adjusting mechanism locates on the transmission platform. In this scheme, the first motor action of AGV automobile body drive to drive transmission platform along its output shaft longitudinal sliding, and drive inclination adjustment mechanism longitudinal displacement, realize the regulation to laser radar height.
Preferably, the inclination adjusting mechanism comprises a second motor, a transmission assembly and a rotating shaft, the rotating shaft is in transmission connection with an output shaft of the second motor through the transmission assembly so as to rotate relative to the transmission table under the driving of the second motor, and the laser radar is fixedly arranged on the peripheral wall of the rotating shaft.
Preferably, the transmission assembly comprises a first gear and a second gear, the first gear and the second gear are both provided with a middle hole, the first gear is sleeved on an output shaft of the second motor, the second gear is sleeved on the rotating shaft, and the first gear is meshed with the outer peripheral wall of the second gear. In this scheme, the action of second motor, its output shaft rotate and drive first gear rotation, thereby the second gear rotates under the drive of first gear and drives the pivot and rotate, realizes the regulation to the laser radar inclination.
Preferably, the transmission platform is integrally U-shaped, the first gear and the second gear are both arranged on the outer side of the transmission platform, the second motor is arranged in the transmission platform, an output shaft of the second motor penetrates through the side wall of the transmission platform and is connected with the first gear, the rotating shaft is arranged in the transmission platform in a suspension mode and horizontally penetrates through the two sides of the transmission platform, and one side of the rotating shaft is connected with the second gear.
Preferably, the inclination detector is a three-axis gyroscope.
Preferably, the inclination detector is arranged on the transmission table.
Preferably, the height H of the slope where the AGV body is located is obtained by calculating according to a formula H ═ L × sin β.
Preferably, the laser radar device further comprises a mounting bracket, and the laser radar is mounted on the rotating shaft through the mounting bracket.
Drawings
Fig. 1 is a schematic view of the present invention;
fig. 2 is a schematic view of a partial structure of the present invention 1;
fig. 3 is a schematic view of a partial structure of the present invention 2.
Description of reference numerals:
the AGV comprises an AGV body 1, a laser radar 2, a position adjusting device 3, a height adjusting mechanism 4, a mounting seat 41, a first motor 42, a transmission table 43, an inclination adjusting mechanism 5, a second motor 51, a transmission assembly 52, a first gear 53, a second gear 54, a rotating shaft 55, a mounting bracket 56 and an inclination detector 6.
Detailed Description
The technical scheme of the utility model is further explained according to the attached drawings as follows:
in the description of the present invention, it should be understood that the directions or positional relationships indicated by the above-mentioned "upper", "lower", "left", "right", "horizontal", "inner", "outer", etc. are based on the directions or positional relationships shown in the drawings, and are only for convenience of description and simplification of description, but do not indicate or imply that the device or element referred to must have a specific direction, be constructed and operated in a specific direction, and thus, should not be construed as limiting the present invention.
As shown in fig. 1-3, the utility model discloses a be applied to 2 adjustment systems of laser radar of AGV, include AGV automobile body 1 and establish inclination detector 6, laser radar 2, position control device 3 and encoder on AGV automobile body 1, laser radar 2 sets up on position control device 3, inclination detector 6, encoder, position control device 3 and laser radar 2 all with AGV automobile body 1's central control system communication connection, inclination detector 6 generates the inclination signal, the encoder generates distance signal, AGV automobile body 1's central control system receives and analyzes inclination signal, distance signal to control position control device 3 work according to the analysis result, thereby realize the correction of 2 height of laser radar and gradient.
The position adjusting device 3 comprises a height adjusting mechanism 4 and a slope adjusting mechanism 5, wherein the slope adjusting mechanism 5 is arranged on the upper side of the height adjusting mechanism 4, and the laser radar 2 is arranged on the slope adjusting mechanism 5. The laser radar 2 of this scheme sets up on inclination adjustment mechanism 5, and the system realizes the adjustment to 2 height of laser radar, inclination through height adjustment mechanism 4, inclination adjustment mechanism 5 respectively.
Above-mentioned height adjusting mechanism 4 includes mount pad 41, first motor and transmission platform 43, first motor passes through the vertical 1 upside of AGV automobile body that sets up of mount pad 41, the cover is established to transmission platform 43 slidable on the output shaft of first motor, inclination adjusting mechanism 5 locates on the transmission platform 43. In this scheme, AGV automobile body 1 drive first motor action to drive transmission platform 43 along its output shaft longitudinal sliding, and drive 5 longitudinal displacement of inclination adjustment mechanism, realize the regulation to 2 heights of laser radar.
The inclination adjusting mechanism 5 comprises a second motor 51, a transmission assembly 52 and a rotating shaft 55, wherein the rotating shaft 55 is in transmission connection with an output shaft of the second motor 51 through the transmission assembly 52 so as to rotate relative to the transmission platform 43 under the driving of the second motor 51, and the laser radar 2 is fixedly arranged on the peripheral wall of the rotating shaft 55.
The transmission assembly 52 comprises a first gear 53 and a second gear 54, wherein the first gear 53 and the second gear 54 are both provided with a central hole, the first gear 53 is sleeved on an output shaft of the second motor 51, the second gear 54 is sleeved on a rotating shaft 55, and the first gear 53 is meshed with the outer peripheral wall of the second gear 54. In this embodiment, the second motor 51 is operated, and the output shaft thereof rotates to drive the first gear 53 to rotate, so that the second gear 54 is driven by the first gear 53 to rotate to drive the rotating shaft 55 to rotate, thereby realizing the adjustment of the inclination of the laser radar 2.
The transmission table 43 is U-shaped as a whole, the first gear 53 and the second gear 54 are both disposed outside the transmission table 43, the second motor 51 is disposed in the transmission table 43, an output shaft thereof penetrates through a side wall of the transmission table 43 to be connected with the first gear 53, the rotating shaft 55 is suspended in the transmission table 43 and horizontally penetrates through two sides of the transmission table 43, and one side of the rotating shaft is connected with the second gear 54.
The inclination detector 6 is a three-axis gyroscope.
The inclination detector 6 is disposed on the driving table 43.
The height H of the slope where the AGV body 1 is located is obtained by calculating the formula H ═ L × sin β for the AGV body 1.
The laser radar device further comprises a mounting bracket 56, and the laser radar 2 is mounted on the rotating shaft 55 through the mounting bracket 56.
The utility model discloses an adjustable laser sensing system accessible inclination detector 6 detects AGV automobile body 1 and is located domatic angle of inclination ^ beta and generates the inclination signal when domatic walking, detect AGV at domatic walking distance L through the encoder and generate distance signal, the center control system by AGV automobile body 1 again carries out the analysis to inclination signal and distance signal, then 3 actions of control position adjusting device, through driving 2 longitudinal movement of laser radar and rotatory realization height, the correction of gradient, guarantee that laser radar 2 parallels with ground, and highly keep unanimous with the reflector panel. Compared with the prior art, the utility model discloses a system makes AGV automobile body 1 when domatic walking, and laser radar 2 can parallel with ground all the time, and highly keep unanimous with the reflector panel. Therefore, the area of the reflector is not required to be increased, the consumable material is reduced, the laser radar 2 can emit light beams to the reflector in a perpendicular mode all the time, and therefore the positioning accuracy of the AGV is improved.
Variations and modifications to the above-described embodiments may occur to those skilled in the art, in light of the above teachings and teachings. Therefore, the present invention is not limited to the specific embodiments disclosed and described above, and some modifications and changes to the present invention should fall within the protection scope of the claims of the present invention. Furthermore, although specific terms are employed herein, they are used in a generic and descriptive sense only and not for purposes of limitation.
Claims (10)
1. The utility model provides a be applied to laser radar adjustment system of AGV, a serial communication port, include the AGV automobile body and establish inclination detector, laser radar, position control device and the encoder on the AGV automobile body, laser radar sets up on position control device, inclination detector, encoder, position control device and laser radar all with the central control system communication connection of AGV automobile body, the inclination detector generates the inclination signal, the encoder generates distance signal, the central control system of AGV automobile body receives and analyzes inclination signal, distance signal to according to analysis result control position control device work, thereby realize correcting of laser radar height and gradient.
2. The lidar adjustment system for AGVs of claim 1, wherein: the position adjusting device comprises a height adjusting mechanism and an inclination adjusting mechanism, the inclination adjusting mechanism is arranged on the upper side of the height adjusting mechanism, and the laser radar is arranged on the inclination adjusting mechanism.
3. The lidar adjustment system for AGVs of claim 2, wherein: height adjusting mechanism includes mount pad, first motor and transmission platform, first motor passes through the vertical AGV automobile body upside that sets up of mount pad, the cover is established to transmission platform slidable on the output shaft of first motor, inclination adjusting mechanism locates on the transmission platform.
4. The lidar adjustment system for AGVs of claim 3, wherein: the inclination adjusting mechanism comprises a second motor, a transmission assembly and a rotating shaft, the rotating shaft is in transmission connection with an output shaft of the second motor through the transmission assembly so as to rotate relative to the transmission platform under the driving of the second motor, and the laser radar is fixedly arranged on the peripheral wall of the rotating shaft.
5. The lidar adjustment system for AGVs of claim 4, wherein: the transmission assembly comprises a first gear and a second gear, the first gear and the second gear are both provided with a middle hole, the first gear is sleeved on an output shaft of the second motor, the second gear is sleeved on a rotating shaft, and the first gear is meshed with the outer peripheral wall of the second gear.
6. The lidar adjustment system of claim 5, wherein: the whole U-shaped that is of drive table, the outside of drive table is all located to first gear, second gear, the second motor is located in the drive table, and its output shaft runs through the lateral wall and the first gear connection of drive table, the unsettled locating of pivot just the level runs through in the drive table the both sides of drive table, one of them side is connected with the second gear.
7. The lidar adjustment system for AGVs of claim 1, wherein: the inclination detector is a three-axis gyroscope.
8. The lidar adjustment system for AGVs of claim 2, wherein: the inclination detector is arranged on the transmission table.
9. The lidar adjustment system for AGVs of claim 1, wherein: and the height H of the slope where the AGV body is located is obtained by calculating the AGV body through a formula H-L-sin beta.
10. The lidar adjustment system for AGVs of claim 4, wherein: the laser radar device is characterized by further comprising a mounting bracket, and the laser radar is mounted on the rotating shaft through the mounting bracket.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202022402160.2U CN214409282U (en) | 2020-10-26 | 2020-10-26 | Laser radar adjustment system applied to AGV |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202022402160.2U CN214409282U (en) | 2020-10-26 | 2020-10-26 | Laser radar adjustment system applied to AGV |
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| CN214409282U true CN214409282U (en) | 2021-10-15 |
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| CN202022402160.2U Active CN214409282U (en) | 2020-10-26 | 2020-10-26 | Laser radar adjustment system applied to AGV |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114167868A (en) * | 2021-12-03 | 2022-03-11 | 合肥市小鹏信息科技有限公司 | High-precision AGV based on single line laser |
-
2020
- 2020-10-26 CN CN202022402160.2U patent/CN214409282U/en active Active
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114167868A (en) * | 2021-12-03 | 2022-03-11 | 合肥市小鹏信息科技有限公司 | High-precision AGV based on single line laser |
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