CN215679136U - Navigation system and AGV dolly - Google Patents
Navigation system and AGV dolly Download PDFInfo
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- CN215679136U CN215679136U CN202122349322.5U CN202122349322U CN215679136U CN 215679136 U CN215679136 U CN 215679136U CN 202122349322 U CN202122349322 U CN 202122349322U CN 215679136 U CN215679136 U CN 215679136U
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Abstract
The utility model relates to a navigation system and an AGV. Among this navigation, laser navigator scans the space profile of AGV place environment, carry out the coarse positioning, combine many meshes camera device at AGV dolly removal in-process, shoot including the yoke in real time, the image of yoke material loading frame and dolly surrounding environment, be used for AGV dolly the place ahead barrier to detect, and because many meshes camera device's the mode of setting up, can acquire the image that can characterize the phase position relation of yoke and material frame, on-vehicle control system is according to laser navigator, many meshes camera device and barrier detection device communication interactive data control automobile body's removal orbit, when keeping away the barrier, the dolly can move smoothly to the unloading district and carry out the fork of full frame material frame and get and move the full material and put the district and carry out putting of material frame. The problem of when carrying out the transport task with the equipment linkage, there are not enough and positioning accuracy is not high of environmental suitability is solved, simplify yoke department article detection mode, improve AGV dolly overall security.
Description
Technical Field
The utility model relates to the technical field of AGV car navigation, in particular to a navigation system applied to an AGV car and the AGV car with the navigation system.
Background
Agv (automated Guided vehicle) carts, because of their ability to travel automatically along a planned path, have been used in a wide variety of environments, such as workshops that generate gases that are harmful to the human body, dark rooms without illumination, and the like. And based on the automatic driving characteristic, the device can work in all weather, and can greatly improve the working efficiency. In the moving implementation of the AGV, the positioning accuracy is an important factor affecting the rationality of the planned path.
At present, laser navigation is mainly adopted to position the AGV, and the mainstream positioning mode is a triangular positioning algorithm based on a reflector and a space positioning algorithm based on a space contour. The triangulation positioning algorithm has natural limitation and strict requirements on the layout of the reflector; although the spatial positioning algorithm has high flexibility, the accumulated error of self-navigation is large, the control precision is not high, the self-movement error (+ -150 mm) of the forklift is superposed, and the adaptability and the positioning precision of the AGV are particularly insufficient when the accurate automatic carrying task linked with equipment is executed.
In view of the above, there is a need for a positioning system with high control accuracy and flexible configuration.
SUMMERY OF THE UTILITY MODEL
Based on this, it is necessary to provide a navigation system, which is applied to an AGV trolley, and can solve the defects of low positioning precision and insufficient applicability existing in the prior art when executing a carrying task linked with equipment, and the detection is more convenient and flexible, thereby greatly improving the safety and stability of the AGV executing efficiency and the running process of the trolley.
The navigation system provided by the embodiment of the application is applied to the AGV, the AGV comprises a vehicle body and a fork arm, and one end of the fork arm is mechanically connected with the vehicle body; the system comprises:
the laser navigator for scanning the spatial profile is arranged on the vehicle body;
the multi-view camera device is arranged on the vehicle body along a first direction, the first direction and a second direction form an acute angle, and the second direction is a direction perpendicular to the extending direction of the fork arm;
the obstacle detection device for anti-collision detection is arranged on the periphery of the vehicle body;
a vehicle control system for AGV dolly removes navigation sets up on the automobile body, and vehicle control system is connected with laser navigator, many meshes camera device and barrier detection device electricity respectively.
In one embodiment, the multi-view camera device is a binocular camera.
In one embodiment, the angle between the first direction and the second direction is 15-25 °.
In one embodiment, the number of the obstacle detection devices is two, and the obstacle detection devices are symmetrically arranged on two sides of the vehicle body.
In one embodiment, the angle between the two obstacle detecting devices is 120 °.
In one embodiment, an AGV includes an elevator gantry; the system further comprises a support, and the vehicle-mounted control system is installed on one side, far away from the fork arm, of the lifting door frame through the support.
In one embodiment, an in-vehicle control system includes:
the servo driver is used for being electrically connected with the input end of a servo motor of the AGV trolley, and the output shaft of the servo motor is mechanically connected with wheels of the AGV trolley;
the programmable logic controller is electrically connected with the servo driver;
and the data input end of the terminal is respectively in communication connection with the laser navigator and the multi-view camera device, and the control output end of the terminal is connected with the programmable logic controller.
In one embodiment, the navigation system further comprises:
and the alarm is electrically connected with the vehicle-mounted control system.
In one embodiment, the alarm comprises:
the buzzer is electrically connected with the vehicle-mounted control system.
This application on the other hand still provides an AGV dolly, including automobile body, one end and automobile body mechanical connection's yoke and above-mentioned navigation.
The navigation system and the AGV provided by the embodiment of the application have the following beneficial effects at least: when the navigation system is applied to the AGV trolley, the arranged laser navigator can scan the space profile of the environment where the AGV is positioned, a reference coordinate system and map information are given, on the basis of initial positioning, the multi-view camera device is combined to shoot images including the relative offset relation between the fork arms and the fork arm feeding frames and images of the surrounding environment of the AGV in real time in the moving process of the AGV, the system is used for detecting the obstacle in front of the AGV trolley, and provides important data basis for accurately adjusting the position of the material frame and loading and unloading due to the fact that the image capable of representing the phase position relation of the fork arm and the material frame is obtained, the vehicle-mounted control system controls the moving track of the trolley body according to the data of communication interaction of the laser navigator, the multi-view camera device and the obstacle detection device, when avoiding the barrier, the AGV dolly can move smoothly to the unloading district and carry out fork of full frame material frame and get and move full material and put the district and carry out putting of material frame to full material.
The navigation system that this application embodiment provided compares in reflector panel location and realizes the setting mode, can realize the space profile scanning through setting up the laser navigator that can dispose in a flexible way, and the setting mode is nimble more convenient.
On the other hand, compare in prior art, only adopt the mode of space profile direct positioning, through setting up many meshes camera device, acquire the real-time image in the AGV motion process, can accurately know the AGV dolly motion process apart from the distance position of destination, around the barrier condition and the skew condition etc. of material frame on the yoke, can realize keeping away barrier track planning and carry out the unloading position correction on the AGV dolly according to the material frame skew condition, the precision is high.
In addition, the navigation system that this application embodiment provided except can carrying out the barrier detection of yoke place direction with the help of many meshes camera device, still is provided with barrier detection device around the automobile body, carries out the scanning of barrier around the automobile body and detects, realizes all-round obstacle avoidance, makes AGV dolly security and the stability of motion higher.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments or the conventional technologies of the present application, the drawings used in the descriptions of the embodiments or the conventional technologies will be briefly introduced below, it is obvious that the drawings in the following descriptions are only some embodiments of the present application, and for those skilled in the art, other drawings can be obtained according to the drawings without creative efforts.
FIG. 1 is a schematic diagram of an embodiment of a navigation system and an AGV that carries the navigation system;
FIG. 2 is a schematic view of a working area of an AGV with a navigation system in a forging shop environment according to an embodiment;
FIG. 3 is a schematic diagram illustrating a relationship between a full frame, a target position and an AGV trolley in a blanking switching area of the AGV trolley in the application environment of FIG. 2 according to an embodiment;
FIG. 4 is a diagram illustrating the positional relationship between an AGV and rectangular areas of the fork arm loading frame and the full load placement area when the AGV reaches the designated point P1 in the full load placement area of FIG. 2 in an exemplary embodiment;
FIG. 5 is a diagram illustrating electrical connections of the navigation system in one embodiment.
Detailed Description
To facilitate an understanding of the present application, the present application will now be described more fully with reference to the accompanying drawings. Embodiments of the present application are set forth in the accompanying drawings. This application may, however, be embodied in many different forms and should not be construed as limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete.
Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs. The terminology used herein in the description of the present application is for the purpose of describing particular embodiments only and is not intended to be limiting of the application.
It will be understood that the terms "first," "second," and the like as used herein may be used herein to describe various orientations and components, but the components are not limited by these terms. For example, a first direction may be referred to as a second direction, and similarly, a second direction may be referred to as a first direction, without departing from the scope of the present application. The first direction and the second direction are both directions, but they are not the same direction.
It is to be understood that "connection" in the following embodiments is to be understood as "electrical connection", "communication connection", and the like if the connected circuits, modules, units, and the like have communication of electrical signals or data with each other.
As used herein, the singular forms "a", "an" and "the" may include the plural forms as well, unless the context clearly indicates otherwise. It will be further understood that the terms "comprises/comprising," "includes" or "including," etc., specify the presence of stated features, integers, steps, operations, components, parts, or combinations thereof, but do not preclude the presence or addition of one or more other features, integers, steps, operations, components, parts, or combinations thereof. Also, as used in this specification, the term "and/or" includes any and all combinations of the associated listed items.
With the development of automatic handling technology and continuous deepening of industrial application in recent years, higher and higher requirements are put forward on the flexibility, stability and accuracy of motion control of an AGV. At present, laser navigation is mainly applied to positioning of the AGV itself.
The implementation mode of adopting the reflector panel to fix a position among the prior art receives the limitation great, and the problem that the control accuracy is low although the flexibility is high is realized to traditional space location implementation mode based on space profile, in one of them embodiment, a navigation system as shown in figure 1 is provided, be applied to the AGV dolly, be used for controlling the removal of AGV dolly, so that carry out getting of material frame 1, make the AGV dolly can fix a position the full material frame 1 position in unloading district accurately, carry out the accurate fork of full material frame 1 and get, and the AGV dolly can be under this navigation system guides, the collision-free ground moves fast to full material frame 1 and puts the region, carry out the accurate of material frame 1 and put, in order to solve among the prior art when carrying task with the AGV linkage, have location accuracy not high, defects such as suitability is not enough.
In terms of arrangement mode, the laser navigator 4 and the multi-view camera device 3 are integrated on the vehicle body 2, and data and images required by navigation and positioning can be conveniently acquired. The multi-view camera device 3, set up on automobile body 2 along the first direction, because it and second direction, be acute angle setting with yoke vertical direction promptly, so the obstacle image of yoke place side when the multi-view camera device 3 not only can shoot AGV motion, can also shoot in the acquisition area material frame 1 relative position relation image in comparison with the yoke, and the relative position image of AGV dolly for the destination, these collection information provide very important judgement basis for how the AGV dolly carries out the transport task better, the image transmission that the multi-view camera device 3 gathered to on-vehicle control system 5, on-vehicle control system 5 carries out map information and automobile body parameter relation that obtains after the space scanning according to laser navigator 4, the process such as the fork degree of depth when carrying out material frame 1 fork of control AGV dolly. Meanwhile, in the moving process of the AGV trolley, the obstacle detection device 6 arranged on the periphery of the body 2 is used for detecting obstacles around the body, and the vehicle-mounted control system 5 corrects the moving track of the AGV trolley according to the obstacle condition fed back by the obstacle detection device 6.
Specifically, the working process of the navigation system will be described by taking the forging shop shown in fig. 2 as an example of an application environment. In the initial state, the AGV 10 is in the standby area A, waiting for scheduling, a forged part of the forging equipment falls into a material frame 1 of a blanking switching area D through a transmission device, after the material frame 1 is full, the material frame 1 for receiving materials is replaced, at the moment, the full material frame 1 needs to be transported to a full material placing area B, at the moment, the vehicle-mounted control system 5 controls the AGV 10 to move towards the blanking switching area D along a planned path, in the moving process, the deviation (if the whole system adopts polar coordinates) and the angular deviation of an actual target position (such as the actual position of the full material frame 1) and a theoretical target position (such as the discharge port of the blanking switching area D) shown in the figure 3 can be calculated through a laser scanner and camera vision, then a three-dimensional model is reconstructed to carry out positioning and track correction on the AGV 10, and parameters, the AGV 10 continuously optimize, the position and the track correction are carried out along with the movement of the AGV 10, And correcting the running track to realize accurate positioning. The path can be corrected automatically, and the positioning precision is high, stable and reliable. The algorithm on which the three-dimensional modeling is realized can be introduced with reference to the algorithm for three-dimensional modeling of the laser navigator 4 in the prior art, that is, the existing algorithm can be used to realize positioning here, and the improvement point of the scheme lies in the arrangement mode of the laser navigator 4 and the multi-view camera device 3, in particular the arrangement mode of the multi-view camera device 3. The implementation manner of the laser fusion visual positioning algorithm may also be an ORB-SLAM2 algorithm, which can be referred to the introduction in the existing literature and is not described herein again.
The vehicle-mounted control system 5 can firstly control the AGV trolley 10 to move to the designated position point P of the blanking switching area D, because the image of the full material placing area B, the fork arm and the full material frame 1 on the fork arm can be clearly shot by the multi-view camera device 3 at the position close to the discharging port, the position relation among the three can be fully reflected, after the image processing is carried out by the vehicle-mounted control system 5, the deviation angle alpha between the actual position of the full material frame 1 of the multi-view camera device 3 and the target position corresponding to the current fork arm can be obtained, the driving wheel direction of the AGV trolley 10 is adjusted based on the correction, the vehicle-mounted control system 5 controls the fork arm to accurately fork and take the full material frame 1, then the AGV trolley 10 bears the full material frame 1 to move to the full material placing area B under the action of the vehicle-mounted control system 5, firstly, the designated position point P1 of the full material placing area B is reached, and then the control realization is realized based on the control similar to the blanking area, according to the deviation angle beta between the rectangular area and the actual position of the material frame 1, the AGV trolley 10 can be controlled to accurately place the full material frames 1 in each rectangular area of the full material placement area B in the figure 4 according to the corresponding sequence of the figure. The full material frame 1 is accurately placed according to the array shown in the figure, so that the storage space is saved, and the delivery efficiency is improved.
Because the unloading switching area D usually can not place too many empty material frames 1, empty material frames 1 are generally placed in a designated area in a centralized manner, such as the empty material placing area C shown in FIG. 2, when the AGV 10 puts down the materials in the full material placing area B, the vehicle-mounted control system 5 can drive the AGV 10 to move to the empty material placing area C, similarly, images including the empty material placing area C, the fork arms and the empty material frames 1 are shot by the multi-view camera device 3, the vehicle-mounted control system 5 controls the AGV 10 to move to the position of one of the empty material frames 1, the fork arms are controlled to fork the empty material frame 1, and the empty material frame 1 is moved to the unloading switching area D from the empty material placing area C, so that the unloading area material frames 1 are switched.
As described in the implementation process, the system is applied to the navigation type AGV 10, and has a simpler detection mode and higher flexibility, so that the execution efficiency of the AGV 10 is greatly improved, and the overall safety and stability can be ensured. The schematic diagram of the electrical connection relationship of the navigation system and the electrical connection relationship between the navigation system and the devices in the workshop can be seen in fig. 5.
The laser navigator 4 uses laser as guidance, and can accurately position the position of the object to be navigated by using collimation and non-divergence of the laser so as to guide the direction in which the object to be navigated advances. The laser navigator 4 itself also has a data processing function and a path planning function, so in an implementable manner, the laser navigator 4 can give an initial planned path, and the onboard control system 5 corrects the planned path according to environmental conditions during the movement of the AGV cart 10, depending on the model selection and parameter configuration of each device.
Realize the high accuracy location in this application, leave the cooperation of laser navigator 4 and many meshes camera device 3, many meshes camera device 3 indicates the camera device that has two camera lenses at least, except can acquireing two-dimensional image information, can also obtain the depth information, is convenient for carry out accurate location, and in the aspect of the specific selection, can select 3D camera, industry two mesh cameras and depth camera etc. according to application environment. For example, if the AGV cart 10 is used to transport smaller sized materials, an industrial-scale binocular camera with a higher pixel level may be used to ensure accuracy. The 3D camera can be used for detecting the front object except improving the positioning precision and correcting the track path, and compared with the mode of detecting and judging by utilizing a linear detection switch and a distance sensor in the current industry, the structure is simpler, the detection range and the distance are larger, the operability is more flexible, and the safety guarantee of all directions and multiple angles is formed by the 3D camera and a safety scanner on the two sides of the automobile body.
The multi-view camera device 3 is an image pickup device having at least two lenses, and in one embodiment, a binocular camera can be used to meet the positioning accuracy requirement and control the cost.
The position rationality that the multi-view camera device 3 set up, whether can gather the yoke and the relative position relation of material frame 1 well to and whether can gather the image of fork truck place side environment object very much has very important influence, in the experimentation, we find, when the contained angle of first direction and second direction is between 15 ~ 25, when the contained angle that multi-view camera device 3 set up direction and yoke vertical direction was in this scope promptly, the image that multi-view camera device 3 gathered can include the yoke and the material frame 1 on the yoke, also can gather the picture that can reflect the obstacle condition around the side automobile body of yoke place. Not only can realize that fine the place ahead keeps away the barrier effect, also can be according to material frame 1 and treat the relative position relation between locating position, the yoke, adjust AGV dolly 10's yoke direction to carry out full material frame 1's accurate fork and get and put down.
In one of the possible embodiments, the multi-view camera device 3 may be fixed to the position on which the lifting door provided on the body 2 rests by a bracket, and the view of the image captured by the multi-view camera device 3 is not easily affected by the components of the AGV cart 10 itself.
Also, in some embodiments, in order to achieve double optimization in terms of obstacle avoidance effect and cost, the obstacle detection devices 6 may be two and symmetrically disposed on both sides of the vehicle body 2. Since the multi-view camera device 3 performs the acquisition of the image of the obstacle on the side where the yoke is located, the obstacle detecting device 6 may be disposed on the side away from the yoke, for example, at the position shown in fig. 1.
In one embodiment, the applicant finds that the included angle between the two obstacle detection devices 6 is 120 degrees, the obstacle scanning detection within the range of 360 degrees of the AGV body can be realized after the included angle is overlapped with the image acquisition range of the multi-view camera device 3, the detection reliability is high, and therefore the safety reliability of the AGV trolley 10 during movement is also improved.
In one embodiment, the AGV cart 10 includes a lift gantry; the system further comprises a support, and the vehicle-mounted control system 5 is installed on one side, far away from the fork arm, of the lifting door frame through the support. The setting mode of the vehicle-mounted control system 5 can avoid the interference of the vehicle-mounted control system 5 to the laser navigator 4 and the multi-view camera device 3 in the working process on one hand, and on the other hand, the vehicle-mounted control system 5 drives wheels to rotate and needs to rely on an electric connection line to place the wheels on one side far away from the fork arm, so that the abrasion of the electric connection line in the working process can be avoided, and the service life of the equipment is prolonged.
The specific configuration of the on-board control system 5, which is a complex, different model AGV cart 10, differs in its control system components, and in one embodiment, the on-board control system 5 includes: a servo driver 51, a programmable logic controller 52 and a terminal 53, wherein the terminal 53 can be an equipment with data processing and computing functions such as an industrial computer. The terminal 53 acquires raw data from the laser navigator 4 and the multi-view camera device 3, performs positioning calculation and image processing, and transmits the processing result to a Programmable Logic Controller (PLC) 52, so that the Programmable Logic Controller 52 performs movement control of the AGV cart 10. The programmable logic controller 52 performs logic operation and time sequence control based on the calculation result of the terminal 53 to control the moving process of the AGV 10 through digital mode input/output, the servo driver 51 is electrically connected with the input end of the servo motor of the AGV 10, the output shaft of the servo motor is mechanically connected with the wheels of the AGV 10, and the steering control of the AGV is realized when the instruction output by the programmable logic controller 52 is executed.
In some embodiments, the programmable logic controller 52 may be selected from Mitsubishi Q series products.
The AGV cart 10 may include, in addition to the above components, an analog module, a relay, etc., and the installation location and the function of the AGV cart 10 may vary depending on the model of the AGV cart. However, the operation of these devices is controlled by the programmable logic controller 52, and the high/medium/low gear shift can be switched by the programmable logic controller 52 controlling the middle potentiometer 91 of the handle inside the cab of the AGV 10. The programmable logic controller 52 controls the operating state of the servo driver 51 to achieve forward and reverse control of the AGV car 10. The PLC 52 is manually operated in the cab to control the operation in the manual mode, and the PLC 52 can also automatically operate according to the specific situation of the AGV car 10 in the moving process. The manual and automatic driving modes can be switched to each other.
The programmable logic controller 52 may also integrate a power supply, a CPU, an input/output module, a positioning module, an AD/DA conversion module, and an ethernet module to provide operating voltage for data operation and transmission. The input/output module may include a digital I/O template and an analog I/O template.
In order to better ensure the obstacle avoidance effect, the navigation system further comprises: and the alarm is electrically connected with the vehicle-mounted control system 5. When the vehicle-mounted control system 5 judges that obstacles exist around according to the data acquired by the obstacle detection device 6 or finds that an obstacle exists in front of the AGV 10 according to the image acquired by the multi-camera device 3, in order to avoid injury to workers around the AGV 10 during adjustment, the vehicle-mounted control system 5 controls the operation of an alarm, and the specific implementation process can be realized by referring to the short-distance obstacle detection and alarm during reversing of the existing vehicle. The alarm can remind a driver to intervene and adjust the moving track of the AGV trolley 10 in time in a manual mode.
The alarm can be an audible and visual alarm to improve the alarm effect.
In one embodiment, the alarm comprises: and the buzzer is electrically connected with the vehicle-mounted control system 5. The vehicle-mounted control system 5 controls the buzzer to work, and can control the on-off state of an air switch connected in series on a power supply loop of the buzzer. This can also be achieved by providing a contactor. The alarm can also comprise a warning lamp 6, and the warning lamp 6 is also electrically connected with the vehicle-mounted control system 5. The switch of the warning lamp 6 can be realized by controlling the on-off of a series relay in a power supply loop of the warning lamp 6 through the vehicle-mounted control system 5. The warning lamp 6 can also be in a state of always working, and can twinkle to remind operators around the vehicle body to avoid.
The navigation system, in some embodiments, is provided with a power supply 7, and the power supply 7, such as a DC power supply 7 which may be DC12V, is provided to supply operating power to the components of the system, and the power supply 7 may be integrated into a cavity in the vehicle body 2 to prevent damage. In some embodiments, the power supply 7 is integrated with a power supply 7 management circuit inside, which manages the power supply of the navigation system.
In one embodiment, the navigation system may further include a touch screen 8, and the touch screen 8 may be connected to the programmable logic controller 52 through an RS232 serial port for displaying data. In some embodiments, the obstacle detection device of the navigation system may be a check obstacle avoidance laser scanner, which can output deceleration and stop signals to the programmable logic controller 52.
In one embodiment, the navigation system further comprises an onboard wireless switch 9 connected to the programmable logic controller 52 and the terminal 53 via network cables, respectively. The terminal 53 may be an on-board computer in the AGV. The wireless switch is connected with the terminal 53 through a network port, and can adopt a TCP/IP protocol for communication.
The AGV comprises a body 2, a fork arm with one end mechanically connected with the body 2 and the navigation system.
The AGV dolly 10 that this application embodiment provided even sensation, because it has carried on above-mentioned navigation, adopt laser navigator 4 to carry out rough positioning based on space profile earlier, install many meshes camera device 3(3D camera) and carry out the essence location again in the middle of AGV dolly 10 lift portal, judge the target location before article fork is got/is put, carry out the route correction according to fork truck current position again, improve positioning accuracy, constitute omnidirection with both sides obstacle detection device 6 simultaneously, multi-angle safety detection scope, when having solved the carry task of carrying out with the equipment linkage among the prior art, there are not enough and the not high defect of positioning accuracy of environmental suitability, and compare in traditional travel switch monitoring mode, the fork arm department article detection mode has been simplified greatly, improve AGV dolly 10 overall security.
As described above in the embodiment of the AGV 10, the frame taking and placing of the AGV 10 with the navigation system is matched with the work rhythm of the forging shop equipment, when a material frame at a blanking port of the forging equipment is full, the AGV trolley 10 is commanded to go to a blanking area for material taking, the coordination is realized, a general dispatching monitoring computer 40 arranged in a workshop is used for monitoring the position of the AGV trolley, the computer realizes interaction with the navigation system by dispatching the fixed base station wireless switch 30 and the vehicle-mounted switch, can acquire the current position and the driving path of the AGV trolley 10, and in addition, the computer is also in communication connection with the workshop appliance control PLC21 (a TCP/IP protocol can be adopted) so that the processing progress and the discharging condition of the forging appliance can be known (specifically, the computer can be obtained from the running state parameters of the workshop appliance control PLC21 and the mobile platform 22 of the forging appliance), and reasonable scheduling of the AGV trolley 10 and the forging appliance can be realized by integrating two pieces of information.
In the description herein, references to the description of "some embodiments," "other embodiments," "desired embodiments," etc., mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the utility model. In this specification, a schematic description of the above terminology may not necessarily refer to the same embodiment or example.
The technical features of the embodiments described above may be arbitrarily combined, and for the sake of brevity, all possible combinations of the technical features in the embodiments described above are not described, but should be considered as being within the scope of the present specification as long as there is no contradiction between the combinations of the technical features.
The above-mentioned embodiments only express several embodiments of the present invention, and the description thereof is more specific and detailed, but not construed as limiting the scope of the utility model. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the inventive concept, which falls within the scope of the present invention. Therefore, the protection scope of the present patent shall be subject to the appended claims.
Claims (10)
1. The navigation system is characterized by being applied to an AGV, wherein the AGV comprises a vehicle body and a fork arm, and one end of the fork arm is mechanically connected with the vehicle body; the system comprises:
the laser navigator for scanning the spatial profile is arranged on the vehicle body;
the multi-view camera device is arranged on the vehicle body along a first direction, an acute angle is formed between the first direction and a second direction, and the second direction is a direction perpendicular to the extending direction of the fork arm;
the obstacle detection device for anti-collision detection is arranged on the periphery of the vehicle body;
a vehicle control system for AGV dolly removes navigation sets up on the automobile body, just vehicle control system respectively with laser navigator the many meshes camera device with barrier detection device electricity is connected.
2. The navigation system of claim 1, wherein the multi-view camera device is a binocular camera.
3. The navigation system of claim 2, wherein the first direction is at an angle of 15 ° to 25 ° to the second direction.
4. The navigation system of claim 1, wherein the obstacle detection devices are two and symmetrically disposed on both sides of the vehicle body.
5. The navigation system of claim 4, wherein the angle between the two obstacle detection devices is 120 °.
6. The navigation system of claim 1, wherein the AGV cart includes an elevator gantry; the system further comprises a support, and the vehicle-mounted control system is installed on one side, far away from the fork arm, of the lifting door frame through the support.
7. The navigation system of claim 1, wherein the in-vehicle control system comprises:
the servo driver is electrically connected with the input end of a servo motor of the AGV trolley, and the output shaft of the servo motor is mechanically connected with wheels of the AGV trolley;
the programmable logic controller is electrically connected with the servo driver;
and the data input end of the terminal is respectively in communication connection with the laser navigator and the multi-view camera device, and the control output end of the terminal is connected with the programmable logic controller.
8. The navigation system of any one of claims 1-7, wherein the system further comprises:
and the alarm is electrically connected with the vehicle-mounted control system.
9. The navigation system of claim 8, wherein the alarm comprises:
the buzzer is electrically connected with the vehicle-mounted control system.
10. An AGV cart comprising a body, a yoke mechanically connected at one end to the body, and a navigation system according to any one of claims 1 to 9.
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114715725A (en) * | 2022-04-29 | 2022-07-08 | 厦门航天思尔特机器人系统股份公司 | Yarn roll feeding system |
| CN114740492A (en) * | 2022-03-11 | 2022-07-12 | 南京航空航天大学 | Mobile flexible measurement system and measurement method for large complex component |
| CN115848878A (en) * | 2023-02-28 | 2023-03-28 | 云南烟叶复烤有限责任公司 | AGV-based cigarette frame identification and stacking method and system |
| CN116939160A (en) * | 2023-07-06 | 2023-10-24 | 浙江恒逸石化有限公司 | Channel monitoring method, device, equipment and storage medium |
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2021
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN114740492A (en) * | 2022-03-11 | 2022-07-12 | 南京航空航天大学 | Mobile flexible measurement system and measurement method for large complex component |
| CN114715725A (en) * | 2022-04-29 | 2022-07-08 | 厦门航天思尔特机器人系统股份公司 | Yarn roll feeding system |
| CN114715725B (en) * | 2022-04-29 | 2023-09-29 | 厦门航天思尔特机器人系统股份公司 | Yarn package feeding system |
| CN115848878A (en) * | 2023-02-28 | 2023-03-28 | 云南烟叶复烤有限责任公司 | AGV-based cigarette frame identification and stacking method and system |
| CN116939160A (en) * | 2023-07-06 | 2023-10-24 | 浙江恒逸石化有限公司 | Channel monitoring method, device, equipment and storage medium |
| US12105535B1 (en) | 2023-07-06 | 2024-10-01 | Zhejiang Hengyi Petrochemical Co., Ltd. | Channel monitoring method, electronic device, and storage medium |
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