CN220252451U - Indoor and outdoor autonomous positioning navigation AGV device - Google Patents
Indoor and outdoor autonomous positioning navigation AGV device Download PDFInfo
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- CN220252451U CN220252451U CN202322089335.2U CN202322089335U CN220252451U CN 220252451 U CN220252451 U CN 220252451U CN 202322089335 U CN202322089335 U CN 202322089335U CN 220252451 U CN220252451 U CN 220252451U
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T90/00—Enabling technologies or technologies with a potential or indirect contribution to GHG emissions mitigation
- Y02T90/10—Technologies relating to charging of electric vehicles
- Y02T90/16—Information or communication technologies improving the operation of electric vehicles
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Abstract
The utility model provides an indoor and outdoor autonomous positioning navigation AGV device which comprises a vehicle body, a controller, a laser radar, a map construction and positioning module, a path planning module, a Beidou RTK module, an optical sensor module, a wireless communication module and a power module, wherein the laser radar and the Beidou RTK module are arranged at the top of the vehicle body, the map construction and positioning module, the path planning module, the controller and the wireless communication module are arranged in the vehicle body, and the optical sensor is arranged on the side surface of the vehicle body; the laser radar is electrically connected with the map construction and positioning module, the map construction and positioning module is electrically connected with the path planning module, the path planning module is electrically connected with the controller, and the Beidou RTK module, the optical sensor module, the wireless communication module and the power supply module are respectively and electrically connected with the controller. The utility model realizes the indoor and outdoor effective intermodal transportation; meanwhile, the method does not need to modify the environment of an operation site in use, and gets rid of the constraint of the traditional ground magnetic tracking navigation.
Description
Technical Field
The utility model belongs to the technical field of positioning navigation technology and AGV, and particularly relates to an indoor and outdoor autonomous positioning navigation AGV device.
Background
An Automatic Guided Vehicle (AGV) is an industrial vehicle that travels with automatic steering using a battery as a power source. With the continuous development of artificial intelligence, information processing, automatic control and other technologies, the application and scene fields of AGVs are expanding continuously. The automatic guiding vehicle has various navigation modes in the automatic running process, and the adopted guiding technology mainly comprises an electromagnetic induction technology, a laser detection technology, an ultrasonic detection technology, a light reflection detection technology and the like, wherein the current mainstream electromagnetic induction guiding mode is provided with 2 electromagnetic sensors, and the guiding vehicle is driven along the embedded route by detecting the intensity of electromagnetic signals through the electromagnetic induction principle. The method has the advantages of higher reliability and wider application scene, but has high requirements on the flatness of the traveling road surface of the AGV trolley and is not easy to change the traveling path. In addition, in the manufacturing and logistics fields, it is required to realize "indoor and outdoor intermodal transportation" of an AGV in some situations, such as in a dock or a freight train station, and to realize "carriage-open outdoor site-warehouse" transportation. At this time, the conventional AGV applied to a single scene cannot simultaneously meet the requirements of indoor and outdoor scene characteristics.
Disclosure of Invention
In view of the above, the present utility model aims to overcome the above-mentioned drawbacks in the prior art, and provides an indoor and outdoor autonomous positioning navigation AGV device.
In order to achieve the above purpose, the technical scheme of the utility model is realized as follows:
an indoor and outdoor autonomous positioning navigation AGV device comprises a vehicle body, a controller, a laser radar, a map construction and positioning module, a path planning module, a Beidou RTK module, an optical sensor module, a wireless communication module and a power supply module,
the laser radar and the Beidou RTK module are arranged at the top of the vehicle body, the map construction and positioning module, the path planning module, the controller and the wireless communication module are arranged in the vehicle body, and the optical sensor is arranged on the side surface of the vehicle body;
the laser radar is electrically connected with the map construction and positioning module, the map construction and positioning module is electrically connected with the path planning module, the path planning module is electrically connected with the controller, and the Beidou RTK module, the optical sensor module, the wireless communication module and the power supply module are respectively and electrically connected with the controller.
Further, the device also comprises an upper scheduling system, wherein the device is connected with the upper scheduling system through a wireless communication module, and the upper scheduling system comprises an upper computer.
Further, the power module comprises a storage battery and a charging module electrically connected with the storage battery, wherein the storage battery is arranged inside the vehicle body, and the charging module is arranged at the bottom of the vehicle body.
Furthermore, the lower end of the vehicle body is also provided with anti-collision rubber.
Further, the side face of the vehicle body is also provided with a display screen, a loudspeaker and an indicator lamp, and the display screen, the loudspeaker and the indicator lamp are electrically connected with the controller.
Further, a first processor is arranged in the map construction and positioning module, a map construction and positioning algorithm is arranged in the first processor, point cloud characteristics of the surrounding environment are extracted by the algorithm, an environment map and accurate position information of the AGV relative to the environment are constructed, and the accurate position information is sent to the path planning module.
Further, a second processor is arranged in the path planning module, a path planning algorithm is arranged in the second processor, and the path planning algorithm is utilized to plan the AGV path so as to find an optimal path from the current point to the target point.
Compared with the prior art, the indoor and outdoor autonomous positioning navigation AGV device has the following advantages: the utility model is applicable to the environmental requirements of positioning navigation in two different indoor and outdoor scenes: constructing an environment map and accurate position information of the AGV relative to the environment in an indoor environment by adopting a map construction and positioning algorithm, and carrying out path planning and navigation by utilizing a path planning algorithm; the Beidou satellite system and the RTK technology are adopted for positioning and navigation in an outdoor environment, so that indoor and outdoor effective intermodal transportation is realized; meanwhile, the method does not need to modify the environment of an operation site in use, and gets rid of the constraint of the traditional ground magnetic tracking navigation.
Drawings
The accompanying drawings, which are included to provide a further understanding of the utility model and are incorporated in and constitute a part of this specification, illustrate embodiments of the utility model and together with the description serve to explain the utility model. In the drawings:
FIG. 1 is a schematic diagram of the internal structure of an indoor and outdoor autonomous positioning navigation AGV device according to the present utility model;
FIG. 2 is a right side view of an indoor and outdoor autonomous positioning navigation AGV device of the present utility model;
FIG. 3 is a schematic block diagram of an indoor and outdoor autonomous positioning navigation AGV device of the present utility model.
Description of the reference numerals
1-a vehicle body; 2-a controller; 3-laser radar; 4-a map construction and positioning module; 5-a path planning module; 6-Beidou RTK module; 7-a wireless communication module; an 8-optical sensor module; 9-a storage battery; 10-a charging module; 11-a safety monitoring module; 12-a display screen; 13-a speaker; 14-indicator lights; 15-anti-collision rubber; 16-wheels.
Detailed Description
It should be noted that, without conflict, the embodiments of the present utility model and features of the embodiments may be combined with each other.
In the description of the present utility model, it should be understood that the terms "center", "longitudinal", "lateral", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc. indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, are merely for convenience in describing the present utility model and simplifying the description, and do not indicate or imply that the devices or elements referred to must have a specific orientation, be configured and operated in a specific orientation, and thus should not be construed as limiting the present utility model. Furthermore, the terms "first," "second," and the like, are used for descriptive purposes only and are not to be construed as indicating or implying a relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defining "a first", "a second", etc. may explicitly or implicitly include one or more such feature. In the description of the present utility model, unless otherwise indicated, the meaning of "a plurality" is two or more.
In the description of the present utility model, it should be noted that, unless explicitly specified and limited otherwise, the terms "mounted," "connected," and "connected" are to be construed broadly, and may be either fixedly connected, detachably connected, or integrally connected, for example; can be mechanically or electrically connected; can be directly connected or indirectly connected through an intermediate medium, and can be communication between two elements. The specific meaning of the above terms in the present utility model can be understood by those of ordinary skill in the art in a specific case.
The utility model will be described in detail below with reference to the drawings in connection with embodiments.
As shown in fig. 1-3, the utility model provides an indoor and outdoor autonomous positioning navigation AGV device, which comprises a vehicle body 1, a controller 2, a laser radar 3, a map construction and positioning module 4, a path planning module 5, a beidou RTK module 6, an optical sensor module 8, a wireless communication module 7 and a power module,
the laser radar 3 and the Beidou RTK module 6 are arranged at the top of the vehicle body, the map construction and positioning module 4, the path planning module 5, the controller 2 and the wireless communication module 7 are arranged in the vehicle body 1, and the optical sensor module 8 is arranged on the side surface of the vehicle body 1;
the laser radar 3 is electrically connected with the map construction and positioning module 4, the map construction and positioning module 4 is electrically connected with the path planning module 5, the path planning module 5 is electrically connected with the controller 2, and the Beidou RTK module, the optical sensor module 8, the wireless communication module 7 and the power supply module are respectively electrically connected with the controller 2.
In the utility model, the laser radar 3 selects a measuring type S300 safe laser scanner, has higher scanning precision and good controllability, and is used for collecting surrounding environment information and sending the surrounding environment information to the map construction and positioning module 4.
In the utility model, a first processor is arranged in the map construction and positioning module 4, a map construction and positioning algorithm is arranged in the first processor, the surrounding environment information sent by the laser radar 3 is received, the point cloud characteristics of the surrounding environment are extracted by the map construction and positioning algorithm, and the accurate position information of the environment map and the AGV relative to the environment is constructed and sent to the path planning module 5. In the utility model, the point cloud characteristics can be extracted by adopting a mapping slam algorithm, and the map is built and the synchronous positioning is carried out on the surrounding environment.
In the utility model, a second processor is arranged in the path planning module 5, a path planning algorithm is arranged in the second processor, and the path planning algorithm is utilized to plan the AGV path so as to find the optimal path from the current point to the target point. The path planning module 5 of the utility model utilizes the grid map constructed by the map construction and positioning module 4 to plan the AGV path by applying an A-based algorithm, thereby realizing navigation in an indoor environment.
The controller, the first processor and the second processor used in the utility model are all realized by adopting the existing products, such as a singlechip, and the connection mode between the controller, the first processor and the second processor and each unit module is the conventional connection mode in the field, so long as the data transmission between the modules can be realized.
In the utility model, the Beidou RTK module 6 is used for navigation and positioning in an outdoor environment.
In the utility model, the optical sensor module 8 judges whether the current environment is indoor or outdoor according to the intensity of the received illumination signal, and simultaneously sends a corresponding signal to the controller 2 to control which positioning navigation mode is adopted.
The device is connected with the upper scheduling system through the wireless communication module 7, the upper scheduling system comprises an upper computer, the upper computer can schedule the AGVs through the wireless communication module, tasks are distributed to the AGVs according to the current overall working condition, and overall transfer efficiency is improved. Wherein, the chip model of the wireless communication module 7 selects NRF24L01.
In the utility model, the power supply module comprises a storage battery 9 and a charging module 10 connected with the storage battery 9, the storage battery 9 is arranged in a vehicle body, the charging module 10 is arranged at the bottom of the vehicle body, wherein a charging brush is arranged in the charging module 10, the charging brush has a lifting function, the controller 2 controls the motor to lift, the charging is lowered, the charging is carried out with a ground charging pile, and the charging is carried out after the charging is completed, and the charging can be realized by adopting the existing product.
In the utility model, the lower end of the vehicle body 1 is also provided with anti-collision rubber, and the impact force generated when parking or colliding with other objects is relieved by adopting a silica gel material, so as to protect AGV wheels 16.
In the present utility model, a display 12, a speaker 13, and an indicator light 14 are further mounted on the side of the vehicle body 1, and the display 12, the speaker 13, and the indicator light 14 are electrically connected to the controller 2. The display 12 is a Proface GP4402 series display.
In the utility model, the inside of the vehicle body 1 is also provided with a safety monitoring module 11 for monitoring the abnormal working state of the AGV device, outputting abnormal signals such as abnormal vehicle speed and the like, sending the data to the controller, and controlling the indicator lamp and the loudspeaker to alarm by the controller 2. The safety monitoring module 11 used in the utility model can be realized by adopting the existing products.
The AGV device realizes indoor and outdoor effective intermodal transportation, and can meet the environmental requirements of positioning navigation in two different indoor and outdoor scenes. According to the size of the optical signal received by the optical sensor module 8 in the AGV device, the AGV device is judged to be an outdoor environment when exceeding a set threshold value, and at the moment, the AGV device acquires position information by receiving signals from the Beidou satellite system, and meanwhile, the Beidou RTK module 6 performs real-time differential processing on the received signals of the Beidou satellite system to determine the current position and direction of the AGV device. The method has higher positioning precision and can effectively eliminate noise and interference in GPS signals. When the signal is lower than the set threshold, the indoor environment is judged, and the method is different from the traditional electromagnetic induction guiding mode, after the laser radar acquires the surrounding environment data, the surrounding environment data is transmitted into the map construction and positioning module 4, the point cloud characteristics are extracted by using the mapping slam algorithm, and the indoor environment is mapped and synchronously positioned. Meanwhile, the path planning module 5 utilizes the obtained grid map to plan the path of the robot according to the current position and the target position of the AGV device through an A-based algorithm, and carries goods forward. The indoor navigation mode has the characteristics of higher guiding and positioning precision, does not need to reform the running site environment in use, gets rid of the constraint of the traditional ground magnetic tracking navigation, and has obvious advantages.
The working of the utility model is described below by means of a specific example.
In this embodiment, the AGV device needs to complete the transportation of the railway carriage-open outdoor site-warehouse, and first, the transportation inside the railway carriage is performed, that is, the AGV device transports the goods at a certain place inside the railway carriage to the carriage door. At this time, the magnitude of the light signal received by the light sensor 8 is transmitted to the controller 2, and the controller 2 determines that the magnitude is smaller than the threshold, that is, determines that: in the indoor positioning navigation mode, before autonomous working is formally started, an AGV device is required to walk once in a carriage which needs to work, during the period, the laser radar 3 transmits collected surrounding environment (carriage and goods shelf) information into the map construction and positioning module 4, and point cloud characteristics of the surrounding environment are extracted in the map construction and positioning module 4 to construct an environment map. In formal work, the map construction and positioning module 4 transmits real-time positioning information into the path planning module 5, and the path planning module 5 plans an optimal path by utilizing an A-algorithm according to the real-time positioning at a target position (carriage door) so as to realize automatic navigation of the AGV device.
Secondly, carrying out the transportation process from the carriage door to the warehouse door through the open outdoor field, wherein the magnitude value of the light signal received by the illumination sensor 8 is transmitted into the controller 2, and the controller 2 judges that the magnitude value is larger than a threshold value, namely, judges that: an "outdoor positioning navigation" mode. The controller 2 transmits an execution command to the Beidou RTK module 6, controls the AGV trolley to receive signals from the Beidou satellite system, acquires position information, and simultaneously carries out real-time differential processing in the Beidou RTK module 6 to determine the current position and direction of the trolley, so that the AGV outdoor positioning and navigation are realized.
And finally, transferring the warehouse door to the interior of the warehouse, wherein the process is the same as the transferring process in the railway carriage, and the repeated description is omitted.
It should be noted that, each unit module used in the utility model is realized by adopting the existing product, and the connection mode between each unit module is the conventional connection mode in the field, so long as the data transmission between the modules can be realized.
The foregoing description of the preferred embodiments of the utility model is not intended to be limiting, but rather is intended to cover all modifications, equivalents, alternatives, and improvements that fall within the spirit and scope of the utility model.
Claims (7)
1. An indoor outer autonomous positioning navigation AGV device which is characterized in that: comprises a vehicle body, a controller, a laser radar, a map construction and positioning module, a path planning module, a Beidou RTK module, an optical sensor module, a wireless communication module and a power supply module,
the laser radar and the Beidou RTK module are arranged at the top of the vehicle body, the map construction and positioning module, the path planning module, the controller and the wireless communication module are arranged in the vehicle body, and the optical sensor is arranged on the side surface of the vehicle body;
the laser radar is electrically connected with the map construction and positioning module, the map construction and positioning module is electrically connected with the path planning module, the path planning module is electrically connected with the controller, and the Beidou RTK module, the optical sensor module, the wireless communication module and the power supply module are respectively and electrically connected with the controller.
2. The indoor and outdoor autonomous positioning navigation AGV device according to claim 1, wherein: the device is connected with the upper scheduling system through the wireless communication module, and the upper scheduling system comprises an upper computer.
3. The indoor and outdoor autonomous positioning navigation AGV device according to claim 1, wherein: the power module comprises a storage battery and a charging module electrically connected with the storage battery, wherein the storage battery is arranged inside a vehicle body, and the charging module is arranged at the bottom of the vehicle body.
4. The indoor and outdoor autonomous positioning navigation AGV device according to claim 1, wherein: and the lower end of the vehicle body is also provided with anti-collision rubber.
5. The indoor and outdoor autonomous positioning navigation AGV device according to claim 1, wherein: the side of the car body is also provided with a display screen, a loudspeaker and an indicator lamp, and the display screen, the loudspeaker and the indicator lamp are electrically connected with the controller.
6. The indoor and outdoor autonomous positioning navigation AGV device according to claim 1, wherein: the map construction and positioning module is internally provided with a first processor, the first processor is internally provided with a map construction and positioning algorithm, the algorithm is utilized to extract point cloud characteristics of surrounding environment, and accurate position information of an environment map and an AGV relative to the environment is constructed and sent to the path planning module.
7. The indoor and outdoor autonomous positioning navigation AGV device according to claim 1, wherein: and a second processor is arranged in the path planning module, a path planning algorithm is arranged in the second processor, and the path planning algorithm is utilized to plan the AGV path so as to find the optimal path from the current point to the target point.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202322089335.2U CN220252451U (en) | 2023-08-04 | 2023-08-04 | Indoor and outdoor autonomous positioning navigation AGV device |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202322089335.2U CN220252451U (en) | 2023-08-04 | 2023-08-04 | Indoor and outdoor autonomous positioning navigation AGV device |
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| CN220252451U true CN220252451U (en) | 2023-12-26 |
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| CN202322089335.2U Active CN220252451U (en) | 2023-08-04 | 2023-08-04 | Indoor and outdoor autonomous positioning navigation AGV device |
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- 2023-08-04 CN CN202322089335.2U patent/CN220252451U/en active Active
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