WO2023005301A1 - 一种agv叉车智能导引装置、agv叉车智能导引方法及agv叉车智能导引系统 - Google Patents

一种agv叉车智能导引装置、agv叉车智能导引方法及agv叉车智能导引系统 Download PDF

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Publication number
WO2023005301A1
WO2023005301A1 PCT/CN2022/089498 CN2022089498W WO2023005301A1 WO 2023005301 A1 WO2023005301 A1 WO 2023005301A1 CN 2022089498 W CN2022089498 W CN 2022089498W WO 2023005301 A1 WO2023005301 A1 WO 2023005301A1
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Prior art keywords
light source
camera
mounting block
agv forklift
source base
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Application number
PCT/CN2022/089498
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English (en)
French (fr)
Inventor
陈灵铭
Original Assignee
广东奥普特科技股份有限公司
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Publication date
Priority claimed from CN202110859524.6A external-priority patent/CN113433952B/zh
Priority claimed from CN202110859506.8A external-priority patent/CN113433951B/zh
Application filed by 广东奥普特科技股份有限公司 filed Critical 广东奥普特科技股份有限公司
Publication of WO2023005301A1 publication Critical patent/WO2023005301A1/zh

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
    • B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
    • B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02—Control of position or course in two dimensions

Definitions

  • the invention relates to the technical field of machine vision, in particular to an intelligent guidance device for an AGV forklift, an intelligent guidance method for an AGV forklift, and an intelligent guidance system for an AGV forklift.
  • Forklifts or forklifts, are common handling vehicles in industrial sites.
  • the forklift has a strong carrying capacity and can directly pick up material pallets for transportation.
  • AGV Automated Guided Vehicle
  • a notable feature of AGV forklifts is unmanned driving, that is, AGV forklifts have intelligent guidance capabilities without manual guidance.
  • the existing intelligent guidance methods of AGV forklifts are mostly electromagnetic guide rail coordinate guidance, gyroscope positioning guidance and laser guidance. These intelligent guidance methods generally have several problems such as complex structural components, high investment cost, time-consuming commissioning and installation, slow response speed, high technical requirements, and inconvenient maintenance and repair in the actual application, which leads to the existing AGV forklift.
  • the guidance method can no longer meet people's needs, and has a greater impact on the promotion of AGV forklifts.
  • the invention provides an AGV forklift intelligent guidance device, an AGV forklift intelligent guidance method and an AGV forklift intelligent guidance system to solve the deficiencies in the prior art.
  • the present invention provides the following technical solutions:
  • an embodiment of the present invention provides an intelligent guidance device for an AGV forklift.
  • the device includes a lens, a dust cover pressure plate, a camera, a transparent dust cover, a PCB mounting block with a round table, an LED integrated circuit board, and a camera.
  • the camera mounting block is fixed in the first end of the light source base through the camera cover plate, and a camera mounting hole is opened along the axis;
  • the axis of the PCB mounting block with a circular table top is concentric with the axis of the camera, and the PCB mounting block with a circular table top is arranged on the periphery of the camera mounting block and fixed in the first end of the light source base;
  • the LED integrated circuit boards are evenly distributed on the PCB mounting block with a circular table in a circular array;
  • the transparent dust cover is fixed on the first end of the light source base through the dust cover pressure plate to close the first end of the light source base, and the camera mounting block and the round table top
  • the PCB mounting block cover is set inside;
  • the camera is concentrically installed in the camera mounting hole; the lens is connected to the camera and exposed to the dust cover pressure plate;
  • the module mounting plate is detachably arranged on the second end of the light source base to close the second end of the light source base;
  • the light source line is arranged in the light source base and connected with the LED integrated circuit board.
  • the lens is connected to the camera through a threaded connection.
  • the camera cover is respectively connected to the camera mounting block and the light source base through screw connections.
  • the lens is a 360° panoramic lens.
  • the device also includes a wiring baffle
  • the wiring baffle is arranged between the PCB mounting block with a round table surface and the light source base, and is fixed in the first end of the light source base.
  • the outer surface of the PCB mounting block with a circular table top is plated with a chrome layer.
  • the included angle between the PCB mounting block with a circular table surface and the axis is 45°.
  • the outer surface of the light source base is provided with knurling and/or cooling teeth.
  • the inner circular wall of the PCB mounting block with a circular table surface is provided with cooling teeth.
  • the embodiment of the present invention provides an AGV forklift intelligent guidance method, the method is realized by an AGV forklift intelligent guidance system, and the system includes an intelligent guidance device arranged on the AGV forklift and an intelligent guidance system connected with the intelligent guidance system.
  • the LED integrated circuit board provides light source illumination to the area where the AGV forklift is located;
  • the camera and the lens capture in real time the photosensitive two-dimensional code label on the wall or object within the light source irradiation range;
  • the guidance controller locates the AGV forklift according to the photosensitive two-dimensional code label, and plans a guidance path;
  • the guide controller automatically guides the movement of the AGV forklift according to the guide path.
  • the method before the step of the LED integrated circuit board providing light source illumination to the area where the AGV forklift is located, the method further includes:
  • the intelligent guiding device and the guiding controller connected with the intelligent guiding device are arranged on the AGV forklift;
  • Arbitrary numbers of the photosensitive two-dimensional code labels are set on the walls or objects of the industrial site where the AGV forklift is located.
  • the embodiment of the present invention provides an AGV forklift intelligent guidance system.
  • the system includes an intelligent guidance device installed on the AGV forklift, a guidance controller connected with the intelligent guidance device, and an intelligent guidance device installed on the wall.
  • the intelligent guiding device includes a camera, a lens, and an LED integrated circuit board concentrically arranged in the light source base;
  • the LED integrated circuit board is used to provide light source illumination to the area where the AGV forklift is located;
  • the camera and the lens are used to capture in real time the photosensitive two-dimensional code label on the wall or object within the light source irradiation range;
  • the guidance controller is used to locate the AGV forklift according to the photosensitive two-dimensional code label, and plan a guidance path;
  • the guiding controller is used for automatically guiding the movement of the AGV forklift according to the guiding path.
  • the intelligent guidance device also includes a dust cover pressure plate, a transparent dust cover, a PCB mounting block with a round table, a camera mounting block, a camera cover, and a module installation board and light source line; among them,
  • the camera mounting block is fixed in the first end of the light source base through the camera cover plate, and a camera mounting hole is opened along the axis;
  • the PCB mounting block with a circular table top is arranged concentrically on the periphery of the camera mounting block, and is fixed in the first end of the light source base;
  • the LED integrated circuit boards are evenly distributed on the PCB mounting block with a circular table in a circular array;
  • the transparent dust cover is fixed on the first end of the light source base through the dust cover pressure plate to close the first end of the light source base, and the camera mounting block and the round table top
  • the PCB mounting block cover is set inside;
  • the camera is concentrically installed in the camera mounting hole; the lens is connected to the camera and exposed to the dust cover pressure plate;
  • the module mounting plate is detachably arranged on the second end of the light source base to close the second end of the light source base;
  • the light source line is arranged in the light source base and connected with the LED integrated circuit board.
  • the lens is a 360° panoramic lens.
  • the intelligent guidance device also includes a wire baffle
  • the wiring baffle is arranged between the PCB mounting block with a round table surface and the light source base, and is fixed in the first end of the light source base.
  • the outer surface of the PCB mounting block with a round table top is plated with a chrome layer.
  • the included angle between the PCB mounting block with a circular table surface and the axis is 45°.
  • the outer surface of the light source base is provided with knurling and/or cooling teeth.
  • the inner circular wall of the PCB mounting block with a circular table surface is provided with cooling teeth.
  • the LED integrated circuit boards are evenly distributed on the PCB mounting block with a circular table in a circular array On, and the axis of the PCB mounting block is concentric with the axis of the camera and lens to ensure that the camera and lens are combined with the LED integrated circuit board in a concentric manner, which can achieve synchronous reactions without affecting each other.
  • the structure is simple and compact, and the cost is low.
  • the utility model has the advantages of small space occupation, flexible adjustment and convenient maintenance, and is suitable for wide application.
  • Fig. 1 is a schematic exploded view of the structure of an AGV forklift intelligent guiding device provided in Embodiment 1 of the present invention
  • Fig. 2 is a schematic structural sectional view of an AGV forklift intelligent guiding device provided in Embodiment 1 of the present invention
  • Fig. 3 is a schematic perspective view of the structure of an AGV forklift intelligent guiding device provided in Embodiment 1 of the present invention
  • Fig. 4 is a schematic diagram of the application of an AGV forklift intelligent guiding device provided in Embodiment 1 of the present invention.
  • Fig. 5 is a schematic flow chart of an AGV forklift intelligent guidance method provided in Embodiment 2 of the present invention.
  • Fig. 6 is a schematic structural diagram of an AGV forklift intelligent guidance system provided by Embodiment 3 of the present invention.
  • Intelligent guidance device 100 guidance controller 200, photosensitive two-dimensional code label 300;
  • Lens 1 dust cover pressure plate 2, camera 3, transparent dust cover 4, wiring baffle 5, PCB mounting block with round table top 6, LED integrated circuit board 7, camera mounting block 8, light source base 9, camera cover Board 10, module mounting board 11, light source line 12.
  • the embodiment of the present invention provides an AGV forklift intelligent guiding device, the device includes a lens 1, a dust cover pressure plate 2, a camera 3, a transparent dust cover 4, and a PCB mounting block with a round table 6.
  • the camera mounting block 8 is fixed in the first end of the light source base 9 through the camera cover 10, and a camera mounting hole is opened along the axis;
  • the axis of the PCB mounting block 6 with a circular table top is concentric with the axis of the camera 3, and the PCB mounting block 6 with a circular table top is arranged on the periphery of the camera mounting block 8 and fixed on the first surface of the light source base 9. inside one end;
  • the LED integrated circuit board 7 is evenly distributed on the PCB mounting block 6 with a circular table surface in a circular array;
  • the transparent dust cover 4 is fixed on the first end of the light source base 9 through the dust cover pressing plate 2 to close the first end of the light source base 9, and the camera mounting block 8 and the
  • the above-mentioned PCB mounting block 6 with a round table is covered inside;
  • the camera 3 is concentrically installed in the camera mounting hole; the lens 1 is connected to the camera 3 and exposed to the dust cover pressure plate 2;
  • the module mounting plate 11 is detachably arranged on the second end of the light source base 9 to close the second end of the light source base 9;
  • the light source line 12 is arranged in the light source base 9 and connected to the LED integrated circuit board 7 .
  • the core of this embodiment lies in the integrated design of the camera 3, the lens 1 and the LED integrated circuit board 7, and the LED integrated circuit board 7 is evenly distributed on the PCB with a circular mesa in a circular array.
  • Smart guidance Compared with the existing technology, the guidance method provided by this embodiment is more convenient and low-cost, and the technical difficulty is lower, the response of the capture guidance is fast, and it is easier to implement.
  • the components can be quickly disassembled and assembled. Fast adaptation, flexible and convenient operation.
  • the lens 1 is connected to the camera 3 through screw connection.
  • the camera cover 10 is respectively connected to the camera mounting block 8 and the light source base 9 through threaded connection.
  • the lens 1 is selected as a 360° panoramic lens, which can capture the surrounding photosensitive two-dimensional code labels at a large angle.
  • the camera 3 is selected as an intelligent industrial camera, which can capture and transmit photosensitive signals.
  • the device further includes a wiring baffle 5;
  • the wiring baffle 5 is arranged between the PCB mounting block 6 with a round table surface and the light source base 9 , and is fixed in the first end of the light source base 9 .
  • wire baffle 5 can cover the connection wires between the PCB boards in the LED integrated circuit board 7 to prevent the wires from being exposed and play the role of insulation protection and aesthetic appearance.
  • the outer surface of the PCB mounting block 6 with a circular mesa is plated with a chrome layer. Chrome plating enables strong reflection of light across the entire luminous surface.
  • the included angle between the PCB mounting block 6 with a circular table surface and the axis is 45°.
  • the 45° design can make the light source shine upwards, which can effectively avoid the glare of the adjustment personnel standing under the forklift.
  • the camera 3 and the lens 1 are conveniently combined with the LED integrated circuit board 7 arranged on the PCB mounting block 6 with a round table in a concentric manner.
  • the LED integrated circuit board 7 provides stable and continuous high-intensity illumination in the circumferential direction, while the camera 3 and lens 1 can synchronously play their respective functions in a limited space, and the structure and layout are integrated into one, and the functions are synchronized without affecting each other.
  • the outer surface of the light source base 9 is provided with knurling and/or cooling teeth.
  • the knurling can increase friction and effectively prevent slippage when the surface is in contact, while the heat dissipation teeth increase the heat dissipation effect of the product, effectively dissipate the heat generated by light, and improve the reliability of the product.
  • the inner circular wall of the PCB mounting block 6 with a round table top on the periphery of the camera 3 can also be provided with cooling teeth.
  • the embodiment of the present invention provides an intelligent guidance device for an AGV forklift.
  • the camera and the lens are combined with the LED integrated circuit board in a concentric manner, and the LED integrated circuit board is evenly distributed in the belt circle in a circular array.
  • On the PCB mounting block on the countertop it can realize synchronous reaction without affecting each other.
  • the structure is simple and compact, which not only saves the investment cost and the wiring space for the connection of various components, but also has low technical difficulty, small space occupation, flexible adjustment, convenient maintenance, suitable for application on a large scale.
  • an embodiment of the present invention provides an AGV forklift intelligent guidance method, the method is realized by an AGV forklift intelligent guidance system, and the system includes an intelligent guidance device installed on the AGV forklift and the intelligent The guiding controller connected to the guiding device and the photosensitive two-dimensional code label arranged on the wall or object, the intelligent guiding device includes a camera, lens and LED integrated circuit board concentrically arranged in the light source base, the Methods include:
  • the LED integrated circuit board provides light source illumination to the area where the AGV forklift is located.
  • the LED integrated circuit boards are evenly distributed in a circular array, which can provide high-brightness light source illumination with no dead angle on the entire circumference.
  • the method further includes:
  • the intelligent guiding device and the guiding controller connected with the intelligent guiding device are arranged on the AGV forklift;
  • Arbitrary numbers of the photosensitive two-dimensional code labels are set on the walls or objects of the industrial site where the AGV forklift is located.
  • the camera and the lens capture in real time the photosensitive two-dimensional code label on the wall or object within the illumination range of the light source.
  • the lens is a 360° panoramic lens, which can capture the surrounding photosensitive two-dimensional code labels at a large angle;
  • the camera is an intelligent industrial camera, which can capture and transmit photosensitive signals.
  • the guidance controller locates the AGV forklift according to the photosensitive two-dimensional code label, and plans a guidance path.
  • the photosensitive two-dimensional code labels at different positions have different position coordinate information, which can reflect the specific position coordinates of the AGV forklift at the industrial site, and then a guiding path can be planned by combining the position coordinates of the destination.
  • this embodiment not only sets up a photosensitive two-dimensional code label, so the AGV forklift positioning and guidance path planning are performed more than once, that is, the AGV forklift positioning and guidance will be repeated continuously during the movement of the AGV forklift. The steps of path planning until the AGV forklift finally reaches the destination.
  • the guiding controller automatically guides the movement of the AGV forklift according to the guiding path.
  • An intelligent guidance method for an AGV forklift provided by an embodiment of the present invention can realize intelligent guidance for an AGV forklift by effectively combining the light source, the camera, and the lens in a concentric manner.
  • the required structure is simple and compact, which not only saves The investment cost and the wiring space for the connection of each component are low, and the technical difficulty is low, the space occupied is small, the adjustment is flexible, and the maintenance is convenient, so it has a high promotion and application value.
  • an embodiment of the present invention provides an AGV forklift intelligent guidance system, which includes an intelligent guidance device 100 installed on the AGV forklift and a guidance controller 200 connected to the intelligent guidance device 100 And a photosensitive two-dimensional code label 300 arranged on a wall or an object, the intelligent guiding device 100 includes a camera 3, a lens 1 and an LED integrated circuit board 7 concentrically arranged in the light source base 9;
  • the LED integrated circuit board 7 is used to provide light source illumination to the area where the AGV forklift is located;
  • the camera 3 and the lens 1 are used to capture in real time the photosensitive two-dimensional code label 300 on the wall or object within the range illuminated by the light source;
  • the guidance controller 200 is used for positioning the AGV forklift according to the photosensitive two-dimensional code label 300, and planning a guidance path;
  • the guiding controller 200 is used for automatically guiding the movement of the AGV forklift according to the guiding path.
  • the intelligent guiding device 100 also includes a dust cover pressure plate 2, a transparent dust cover 4, a PCB mounting block 6 with a circular table top, a camera mounting block 8, a camera cover 10, and a module mounting plate 11 and light source line 12;
  • the camera mounting block 8 is fixed in the first end of the light source base 9 through the camera cover 10, and a camera 3 mounting hole is opened along the axis;
  • the PCB mounting block 6 with a round table top is concentrically arranged on the periphery of the camera mounting block 8 and fixed in the first end of the light source base 9;
  • the LED integrated circuit board 7 is evenly distributed on the PCB mounting block 6 with a circular table surface in a circular array;
  • the transparent dust cover 4 is fixed on the first end of the light source base 9 through the dust cover pressing plate 2 to close the first end of the light source base 9, and the camera mounting block 8 and the
  • the above-mentioned PCB mounting block 6 with a round table is covered inside;
  • the camera 3 is concentrically installed in the mounting hole of the camera 3; the lens 1 is connected to the camera 3 and exposed to the dust cover pressure plate 2;
  • the module mounting plate 11 is detachably arranged on the second end of the light source base 9 to close the second end of the light source base 9;
  • the light source line 12 is arranged in the light source base 9 and connected to the LED integrated circuit board 7 .
  • the lens 1 is connected with the camera 3 through screw connection.
  • the camera cover 10 is respectively connected to the camera mounting block 8 and the light source base 9 through threaded connection.
  • the lens 1 is a 360° panoramic lens, capable of capturing the surrounding photosensitive two-dimensional code labels 300 at a large angle.
  • the intelligent guiding device 100 also includes a wiring baffle 5;
  • the wiring baffle 5 is arranged between the PCB mounting block 6 with a round table surface and the light source base 9 , and is fixed in the first end of the light source base 9 .
  • wire baffle 5 can cover the connection wires between the PCB boards in the LED integrated circuit board 7 to prevent the wires from being exposed and play the role of insulation protection and aesthetic appearance.
  • the outer surface of the PCB mounting block 6 with a circular mesa is plated with a chromium layer. Chrome plating enables strong reflection of light across the entire luminous surface.
  • the included angle between the PCB mounting block 6 with a circular table surface and the axis is 45°.
  • the 45° design can make the light source shine upwards, which can effectively avoid the glare of the adjustment personnel standing under the forklift.
  • the outer surface of the light source base 9 is provided with knurling and/or cooling teeth.
  • the knurling can increase friction and effectively prevent slippage when the surface is in contact, while the heat dissipation teeth increase the heat dissipation effect of the product, effectively dissipate the heat generated by light, and improve the reliability of the product.
  • the inner circular wall of the PCB mounting block 6 with a circular table surface is provided with cooling teeth.
  • the inner circular wall of the PCB mounting block 6 with a round table surface on the periphery of the camera 3 can also be provided with cooling teeth.
  • An AGV forklift intelligent guidance system provided by the embodiment of the present invention effectively combines the light source, camera and lens in a concentric manner to realize intelligent guidance for the AGV forklift.
  • the required structure is simple and compact, which not only saves The investment cost and the wiring space for the connection of each component are low, and the technical difficulty is low, the space occupied is small, the adjustment is flexible, and the maintenance is convenient, so it has a high promotion and application value.
  • Example embodiments are provided so that this disclosure will be thorough, and will fully convey the scope to those who are skilled in the art. Numerous details are set forth, such as examples of specific parts, devices and methods, in order to provide a thorough understanding of the embodiments of the present disclosure. It will be apparent to those skilled in the art that specific details need not be employed, that example embodiments may be embodied in many different forms and that neither should be construed to limit the scope of the disclosure. In some example embodiments, well-known processes, well-known device structures, and well-known technologies are not described in detail.
  • the term "and/or” includes any and all combinations of one or more of the associated listed items.
  • first, second, third, etc. may be used herein to describe various elements, components, regions, layers and/or sections, these elements, components, regions, layers and/or sections are not constrained by these terms. limit. These terms may be only used to distinguish one element, component, region or section from another element, component, region or section. Terms such as the terms “first,” “second,” and other numerical terms when used herein do not imply a sequence or order unless clearly indicated by the context. Thus, a first element, component, region, layer or section discussed below could be termed a second element, component, region, layer or section without departing from the teachings of the example embodiments.
  • Spatial relative terms such as “inside”, “outside”, “underneath”, “beneath”, “below”, “above”, “upper”, etc., may be used herein for convenience of description , to describe the relationship between one element or feature and one or more other elements or features as shown in the figures.
  • Spatially relative terms may be meant to encompass different orientations of the device in addition to the orientation depicted in the figures. For example, if the device in the figures is turned over, elements described as “below” or “beneath” other elements or features would then be oriented “above” the other elements or features.
  • the example term “below” can encompass both an orientation of upward and downward.
  • the device may be otherwise oriented (rotated 90 degrees or at other orientations) and interpreted in terms of the spatially relative descriptions herein.

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Abstract

一种AGV叉车智能导引装置、AGV叉车智能导引方法及AGV叉车智能导引系统，包括镜头（1）、防尘罩压板（2）、相机（3）、透明防尘罩（4）、带圆台面的PCB安装块（6）、LED集成电路板（7）、相机安装块（8）、光源底座（9）、模组安装板（11）以及光源线（12）；相机安装块（8）固定在光源底座（9）的第一端内；带圆台面的PCB安装块（66）的轴线跟相机（3）的轴线同心，设置在相机安装块（8）的外围，且固定在光源底座（9）的第一端内；LED集成电路板（7）设置在带圆台面的PCB安装块（6）上；透明防尘罩（4）固定在光源底座（9）的第一端上，且将相机安装块（8）和带圆台面的PCB安装块（6）罩设在内；相机（3）同心安装在相机安装块（8）的相机安装孔中。通过将相机（3）和镜头（1）与LED集成电路板（7）同心组合在一起，可实现同步反应但又互不影响，结构简单紧凑，调节灵活。

Description

一种AGV叉车智能导引装置、AGV叉车智能导引方法及AGV叉车智能导引系统
本申请要求下列中国专利申请的优先权，其全部内容通过引用结合在本申请中。
Figure PCTCN2022089498-appb-000001
技术领域
本发明涉及机器视觉技术领域，尤其涉及一种AGV叉车智能导引装置、AGV叉车智能导引方法及AGV叉车智能导引系统。
背景技术
叉车，或称叉架起货机，是工业现场常见的搬运用车辆。叉车的运载能力强，可以直接叉取物料托盘进行运输，在工业生产中能代替人工做一些单调、频繁、劳动强度大且重复时间长的搬运作业。随着工业自动化的发展，自动导引叉车(Automated Guided Vehicle，AGV)出现在了人们的视野中。
AGV叉车的显著特点是无人驾驶，也即AGV叉车具有智能引导能力而不需要人工引导。目前，现有的AGV叉车的智能引导方式多为电磁导轨坐标导引、陀螺仪定位导引以及激光导引这三种。该些智能引导方式在实际应用时普遍存在结构组成部件复杂、投入成本高、调试安装费时、响应速度慢、技术要求高、后期保养维修不便利等若干问题，从而导致现有 的AGV叉车的智能引导方式已经不能满足人们的需求，对于AGV叉车的推广影响较大。
因此，如何对现有的AGV叉车的智能引导方式进行改进，或者是研究出一种全新的AGV叉车的智能引导方式，对于本领域有着重大的意义。
以上信息作为背景信息给出只是为了辅助理解本公开，并没有确定或者承认任意上述内容是否可用作相对于本公开的现有技术。
发明内容
本发明提供一种AGV叉车智能导引装置、AGV叉车智能导引方法及AGV叉车智能导引系统，以解决现有技术的不足。
为实现上述目的，本发明提供以下的技术方案：
第一方面，本发明实施例提供一种AGV叉车智能导引装置，所述装置包括镜头、防尘罩压板、相机、透明防尘罩、带圆台面的PCB安装块、LED集成电路板、相机安装块、光源底座、相机盖板、模组安装板以及光源线；其中，
所述相机安装块通过所述相机盖板固定在所述光源底座的第一端内，且沿轴线开设有相机安装孔；
所述带圆台面的PCB安装块的轴线跟相机的轴线同心，所述带圆台面的PCB安装块设置在所述相机安装块的外围，且固定在所述光源底座的第一端内；
所述LED集成电路板以圆周阵列的方式均匀分布在所述带圆台面的PCB安装块上；
所述透明防尘罩通过所述防尘罩压板固定在所述光源底座的第一端上，以封闭所述光源底座的第一端，且将所述相机安装块和所述带圆台面的PCB安装块罩设在内；
所述相机同心安装在所述相机安装孔中；所述镜头与所述相机连接，且外露于所述防尘罩压板；
所述模组安装板可拆卸地设置在所述光源底座的第二端上，以封闭所述光源底座的第二端；
所述光源线设置在所述光源底座内，且与所述LED集成电路板连接。
进一步地，所述AGV叉车智能导引装置中，所述镜头通过螺纹连接的方式与所述相机连接。
进一步地，所述AGV叉车智能导引装置中，所述相机盖板分别通过螺纹连接的方式与所述相机安装块和所述光源底座连接。
进一步地，所述AGV叉车智能导引装置中，所述镜头为360°全景镜头。
进一步地，所述AGV叉车智能导引装置中，所述装置还包括走线挡板；
所述走线挡板设置在所述带圆台面的PCB安装块与所述光源底座之间，且固定在所述光源底座的第一端内。
进一步地，所述AGV叉车智能导引装置中，所述带圆台面的PCB安装块的外表面上镀有铬层。
进一步地，所述AGV叉车智能导引装置中，所述带圆台面的PCB安装块与轴线的夹角为45°。
进一步地，所述AGV叉车智能导引装置中，所述光源底座的外表面设置有滚花和/或散热齿。
进一步地，所述AGV叉车智能导引装置中，所述带圆台面的PCB安装块的内圆壁设置有散热齿。
第二方面，本发明实施例提供一种AGV叉车智能导引方法，所述方法通过AGV叉车智能导引系统实现，所述系统包括设置在AGV叉车上的智能导引装置和与所述智能导引装置连接的导引控制器以及设置在墙壁或物体上的感光二维码标签，所述智能导引装置包括同心设置在所述光源底座内的相机、镜头以及LED集成电路板，所述方法包括：
所述LED集成电路板对AGV叉车所在的区域提供光源照射；
所述相机和所述镜头实时捕捉光源照射范围内墙壁或物体上的感光二维码标签；
所述导引控制器根据所述感光二维码标签对AGV叉车进行定位，并规划出导引路径；
所述导引控制器根据所述导引路径自动导引所述AGV叉车运动。
进一步地，所述AGV叉车智能导引方法中，在所述LED集成电路板对AGV叉车所在的区域提供光源照射的步骤之前，所述方法还包括：
将所述智能导引装置和与所述智能导引装置连接的导引控制器设置在AGV叉车上；
将任意数目的所述感光二维码标签设置在AGV叉车所在工业现场的墙壁或物体上。
第三方面，本发明实施例提供一种AGV叉车智能导引系统，所述系统包括设置在AGV叉车上的智能导引装置和与所述智能导引装置连接的导引控制器以及设置在墙壁或物体上的感光二维码标签，所述智能导引装置包括同心设置在所述光源底座内的相机、镜头以及LED集成电路板；
所述LED集成电路板用于对AGV叉车所在的区域提供光源照射；
所述相机和所述镜头用于实时捕捉光源照射范围内墙壁或物体上的感光二维码标签；
所述导引控制器用于根据所述感光二维码标签对AGV叉车进行定位，并规划出导引路径；
所述导引控制器用于根据所述导引路径自动导引所述AGV叉车运动。
进一步地，所述AGV叉车智能导引系统中，所述智能导引装置还包括防尘罩压板、透明防尘罩、带圆台面的PCB安装块、相机安装块、相机盖板、模组安装板以及光源线；其中，
所述相机安装块通过所述相机盖板固定在所述光源底座的第一端内，且沿轴线开设有相机安装孔；
所述带圆台面的PCB安装块同心设置在所述相机安装块的外围，且固定在所述光源底座的第一端内；
所述LED集成电路板以圆周阵列的方式均匀分布在所述带圆台面的PCB安装块上；
所述透明防尘罩通过所述防尘罩压板固定在所述光源底座的第一端上，以封闭所述光源底座的第一端，且将所述相机安装块和所述带圆台面的PCB安装块罩设在内；
所述相机同心安装在所述相机安装孔中；所述镜头与所述相机连接，且外露于所述防尘罩压板；
所述模组安装板可拆卸地设置在所述光源底座的第二端上，以封闭所述光源底座的第二端；
所述光源线设置在所述光源底座内，且与所述LED集成电路板连接。
进一步地，所述AGV叉车智能导引系统中，所述镜头为360°全景镜头。
进一步地，所述AGV叉车智能导引系统中，所述智能导引装置还包括走线挡板；
所述走线挡板设置在所述带圆台面的PCB安装块与所述光源底座之间，且固定在所述光源底座的第一端内。
进一步地，所述AGV叉车智能导引系统中，所述带圆台面的PCB安装块的外表面上镀有铬层。
进一步地，所述AGV叉车智能导引系统中，所述带圆台面的PCB安装块与轴线的夹角为45°。
进一步地，所述AGV叉车智能导引系统中，所述光源底座的外表面设置有滚花和/或散热齿。
进一步地，所述AGV叉车智能导引系统中，所述带圆台面的PCB安装块的内圆壁设置有散热齿。
与现有技术相比，本发明实施例具有以下有益效果：
本发明实施例提供的一种AGV叉车智能导引装置、AGV叉车智能导引方法及AGV叉车智能导引系统，所述LED集成电路板以圆周阵列的方式均匀分布在带圆台面的PCB安装块上，且PCB安装块的轴线与相机和镜头的轴线同心，确保相机和镜头以同心的方式与LED集成电路板组合在一起，可实现同步反应但又互不影响，结构简单紧凑，成本低廉，且占用空间小、调节灵活、维修方便，适于大范围推广应用。
附图说明
为了更清楚地说明本发明实施例或现有技术中的技术方案，下面将对实施例或现有技术描述中所需要使用的附图作简单地介绍，显而易见地，下面描述中的附图仅仅是本发明的一些实施例，对于本领域普通技术人员来讲，在不付出创造性劳动性的前提下，还可以根据这些附图获得其它的附图。
图1是本发明实施例一提供的一种AGV叉车智能导引装置的结构爆炸示意图；
图2是本发明实施例一提供的一种AGV叉车智能导引装置的结构剖面示意图；
图3是本发明实施例一提供的一种AGV叉车智能导引装置的结构立体示意图；
图4是本发明实施例一提供的一种AGV叉车智能导引装置的应用示意图；
图5是本发明实施例二提供的一种AGV叉车智能导引方法的流程示意图；
图6是本发明实施例三提供的一种AGV叉车智能导引系统的结构示意图。
附图标记：
智能导引装置100，导引控制器200，感光二维码标签300；
镜头1，防尘罩压板2，相机3，透明防尘罩4，走线挡板5，带圆台面的PCB安装块6，LED集成电路板7，相机安装块8，光源底座9，相机盖板10，模组安装板11，光源线12。
具体实施方式
为使得本发明的目的、特征、优点能够更加的明显和易懂，下面将结合本发明实施例中的附图，对本发明实施例中的技术方案进行清楚、完整地描述，显然，下面所描述的实施例仅仅是本发明一部分实施例，而非全部的实施例。基于本发明中的实施例，本领域普通技术人员在没有做出创 造性劳动前提下所获得的所有其它实施例，都属于本发明保护的范围。
在本发明的描述中，需要理解的是，当一个组件被认为是“连接”另一个组件，它可以是直接连接到另一个组件或者可能同时存在居中设置的组件。当一个组件被认为是“设置在”另一个组件，它可以是直接设置在另一个组件上或者可能同时存在居中设置的组件。
此外，术语“长”“短”“内”“外”等指示方位或位置关系为基于附图所展示的方位或者位置关系，仅是为了便于描述本发明，而不是指示或暗示所指的装置或原件必须具有此特定的方位、以特定的方位构造进行操作，以此不能理解为本发明的限制。
下面结合附图并通过具体实施方式来进一步说明本发明的技术方案。
实施例一
有鉴于上述现有的AGV叉车智能导引方案存在的缺陷，本申请人基于从事该领域多年丰富的实务经验及专业知识，并配合学理的运用，积极加以研究创新，以希望创设能够解决现有技术中缺陷的技术，使得AGV叉车智能导引方案更符合人们的需求。经过不断的研究、设计，并经过反复试作样品及改进后，终于创设出确具实用价值的本发明。
请参考图1-4，本发明实施例提供一种AGV叉车智能导引装置，所述装置包括镜头1、防尘罩压板2、相机3、透明防尘罩4、带圆台面的PCB安装块6、LED集成电路板7、相机安装块8、光源底座9、相机盖板10、模组安装板11以及光源线12；其中，
所述相机安装块8通过所述相机盖板10固定在所述光源底座9的第一端内，且沿轴线开设有相机安装孔；
所述带圆台面的PCB安装块6的轴线跟相机3的轴线同心，所述带圆台面的PCB安装块6设置在所述相机安装块8的外围，且固定在所述光源底座9的第一端内；
所述LED集成电路板7以圆周阵列的方式均匀分布在所述带圆台面的PCB安装块6上；
所述透明防尘罩4通过所述防尘罩压板2固定在所述光源底座9的第一端上，以封闭所述光源底座9的第一端，且将所述相机安装块8和所述 带圆台面的PCB安装块6罩设在内；
所述相机3同心安装在所述相机安装孔中；所述镜头1与所述相机3连接，且外露于所述防尘罩压板2；
所述模组安装板11可拆卸地设置在所述光源底座9的第二端上，以封闭所述光源底座9的第二端；
所述光源线12设置在所述光源底座9内，且与所述LED集成电路板7连接。
需要说明的是，本实施例的核心在于将相机3、镜头1以及LED集成电路板7进行集成化设计，并且让LED集成电路板7以圆周阵列的方式均匀分布在所述带圆台面的PCB安装块6上，使得在实现LED集成电路板7呈一定角度大面积高亮度照射的同时，同心放置的相机3和镜头1能同步快速捕捉到目标位置的感光二维码标签，以快速实现定位智能导引。本实施例提供的这种导引方式相对现有技术来说，更为便捷和低成本，而且技术难度更低，捕捉导引响应快，更加容易实现，另外，各部件间可以快速拆卸组装，适配快速、操作灵活方便。
在本实施例中，所述镜头1通过螺纹连接的方式与所述相机3连接。
所述相机盖板10分别通过螺纹连接的方式与所述相机安装块8和所述光源底座9连接。
需要说明的是，当然以上的螺纹连接还可以替换为其他可拆卸连接方式，比如卡扣等，旨在实现各部件间的快速拆卸组装。
优选的，所述镜头1选型为360°全景镜头，可大角度第捕捉周边的感光二维码标签。所述相机3选型为智能工业相机，可捕捉和传输感光信号。
在本实施例中，所述装置还包括走线挡板5；
所述走线挡板5设置在所述带圆台面的PCB安装块6与所述光源底座9之间，且固定在所述光源底座9的第一端内。
需要说明的是，所述走线挡板5可以盖住所述LED集成电路板7中各PCB板间的连接线，防止走线裸露在外，起到绝缘保护和美观作用。
在本实施例中，所述带圆台面的PCB安装块6的外表面上镀有铬层。 镀铬可以使整个发光面强烈反射光照。
在本实施例中，所述带圆台面的PCB安装块6与轴线的夹角为45°。
需要说明的是，45°的设计可以使光源向上照射，可以有效规避站在叉车下方的调机人员感到强光炫目。相机3和镜头1以同心方式简便的与设置在带圆台面的PCB安装块6上的LED集成电路板7组合在一起，LED集成电路板7提供稳定的持续的圆周方向高强度照明，同时相机3和镜头1又可以在有限空间内同步发挥各自的功效，结构布局上融合为一体，功能同步又互不影响。
在本实施例中，所述光源底座9的外表面设置有滚花和/或散热齿。
需要说明的是，滚花可以增加摩擦力，有效防止表面接触时打滑，而散热齿则增加了产品的散热效果，有效散发光照所产生的热量，提高了产品的可靠度。
同理，由于相机3工作时也会产热，所以处于相机3外围的所述带圆台面的PCB安装块6的内圆壁也可以设置散热齿。
本发明实施例提供的一种AGV叉车智能导引装置，通过将相机和镜头以同心的方式与LED集成电路板组合在一起，且所述LED集成电路板以圆周阵列的方式均匀分布在带圆台面的PCB安装块上，可实现同步反应但又互不影响，结构简单紧凑，不仅节约了投入成本以及各部件连接的布线空间，而且技术难度低、占用空间小、调节灵活、维修方便，适于大范围推广应用。
实施例二
请参考图5，本发明实施例提供一种AGV叉车智能导引方法，所述方法通过AGV叉车智能导引系统实现，所述系统包括设置在AGV叉车上的智能导引装置和与所述智能导引装置连接的导引控制器以及设置在墙壁或物体上的感光二维码标签，所述智能导引装置包括同心设置在所述光源底座内的相机、镜头以及LED集成电路板，所述方法包括：
S101、所述LED集成电路板对AGV叉车所在的区域提供光源照射。
需要说明的是，所述LED集成电路板以圆周阵列方式均匀分布，可以 提供整个圆周无死角的高亮度光源照明。
优选的，在步骤S101之前，所述方法还进一步包括：
将所述智能导引装置和与所述智能导引装置连接的导引控制器设置在AGV叉车上；
将任意数目的所述感光二维码标签设置在AGV叉车所在工业现场的墙壁或物体上。
S102、所述相机和所述镜头实时捕捉光源照射范围内墙壁或物体上的感光二维码标签。
需要说明的是，所述镜头为360°全景镜头，可大角度第捕捉周边的感光二维码标签；所述相机为智能工业相机，可捕捉和传输感光信号。
S103、所述导引控制器根据所述感光二维码标签对AGV叉车进行定位，并规划出导引路径。
在本实施例中，不同位置的感光二维码标签具有不同的位置坐标信息，可反映AGV叉车在工业现场的具体位置坐标，然后通过结合目的地的位置坐标可规划处一条导引路径。
需要说明的是，本实施例不只设置了一个感光二维码标签，因此也不止进行一次AGV叉车定位以及导引路径规划，即在AGV叉车的运动过程中会不断地重复AGV叉车定位以及导引路径规划的步骤，直至AGV叉车最终到达目的地。
S104、所述导引控制器根据所述导引路径自动导引所述AGV叉车运动。
本发明实施例提供的一种AGV叉车智能导引方法，通过将光源与相机、镜头以同心设置的方式有效结合，可以实现对AGV叉车的智能导引，所需的结构简单紧凑，不仅节约了投入成本以及各部件连接的布线空间，而且技术难度低、占用空间小、调节灵活、维修方便，具有较高的推广应用价值。
实施例三
请参考图6，本发明实施例提供一种AGV叉车智能导引系统，所述系统包括设置在AGV叉车上的智能导引装置100和与所述智能导引装置100 连接的导引控制器200以及设置在墙壁或物体上的感光二维码标签300，所述智能导引装置100包括同心设置在所述光源底座9内的相机3、镜头1以及LED集成电路板7；
所述LED集成电路板7用于对AGV叉车所在的区域提供光源照射；
所述相机3和所述镜头1用于实时捕捉光源照射范围内墙壁或物体上的感光二维码标签300；
所述导引控制器200用于根据所述感光二维码标签300对AGV叉车进行定位，并规划出导引路径；
所述导引控制器200用于根据所述导引路径自动导引所述AGV叉车运动。
在本实施例中，所述智能导引装置100还包括防尘罩压板2、透明防尘罩4、带圆台面的PCB安装块6、相机安装块8、相机盖板10、模组安装板11以及光源线12；
所述相机安装块8通过所述相机盖板10固定在所述光源底座9的第一端内，且沿轴线开设有相机3安装孔；
所述带圆台面的PCB安装块6同心设置在所述相机安装块8的外围，且固定在所述光源底座9的第一端内；
所述LED集成电路板7以圆周阵列的方式均匀分布在所述带圆台面的PCB安装块6上；
所述透明防尘罩4通过所述防尘罩压板2固定在所述光源底座9的第一端上，以封闭所述光源底座9的第一端，且将所述相机安装块8和所述带圆台面的PCB安装块6罩设在内；
所述相机3同心安装在所述相机3安装孔中；所述镜头1与所述相机3连接，且外露于所述防尘罩压板2；
所述模组安装板11可拆卸地设置在所述光源底座9的第二端上，以封闭所述光源底座9的第二端；
所述光源线12设置在所述光源底座9内，且与所述LED集成电路板7连接。
其中，所述镜头1通过螺纹连接的方式与所述相机3连接。
所述相机盖板10分别通过螺纹连接的方式与所述相机安装块8和所述光源底座9连接。
需要说明的是，当然以上的螺纹连接还可以替换为其他可拆卸连接方式，比如卡扣等，旨在实现各部件间的快速拆卸组装。
优选的，所述镜头1为360°全景镜头，可大角度第捕捉周边的感光二维码标签300。
在本实施例中，所述智能导引装置100还包括走线挡板5；
所述走线挡板5设置在所述带圆台面的PCB安装块6与所述光源底座9之间，且固定在所述光源底座9的第一端内。
需要说明的是，所述走线挡板5可以盖住所述LED集成电路板7中各PCB板间的连接线，防止走线裸露在外，起到绝缘保护和美观作用。
在本实施例中，所述带圆台面的PCB安装块6的外表面上镀有铬层。镀铬可以使整个发光面强烈反射光照。
在本实施例中，所述带圆台面的PCB安装块6与轴线的夹角为45°。
需要说明的是，45°的设计可以使光源向上照射，可以有效规避站在叉车下方的调机人员感到强光炫目。
在本实施例中，所述光源底座9的外表面设置有滚花和/或散热齿。
需要说明的是，滚花可以增加摩擦力，有效防止表面接触时打滑，而散热齿则增加了产品的散热效果，有效散发光照所产生的热量，提高了产品的可靠度。
在本实施例中，所述带圆台面的PCB安装块6的内圆壁设置有散热齿。
同理，由于相机3工作时也会产热，所以处于相机3外围的所述带圆台面的PCB安装块6的内圆壁也可以设置散热齿。
本发明实施例提供的一种AGV叉车智能导引系统，通过将光源与相机、镜头以同心设置的方式有效结合，可以实现对AGV叉车的智能导引，所需的结构简单紧凑，不仅节约了投入成本以及各部件连接的布线空间，而且技术难度低、占用空间小、调节灵活、维修方便，具有较高的推广应用价值。
至此，以说明和描述的目的提供上述实施例的描述。不意指穷举或者限制本公开。特定的实施例的单独元件或者特征通常不受到特定的实施例的限制，但是在适用时，即使没有具体地示出或者描述，其可以互换和用于选定的实施例。在许多方面，相同的元件或者特征也可以改变。这种变化不被认为是偏离本公开，并且所有的这种修改意指为包括在本公开的范围内。
提供示例实施例，从而本公开将变得透彻，并且将会完全地将该范围传达至本领域内技术人员。为了透彻理解本公开的实施例，阐明了众多细节，诸如特定零件、装置和方法的示例。显然，对于本领域内技术人员，不需要使用特定的细节，示例实施例可以以许多不同的形式实施，而且两者都不应当解释为限制本公开的范围。在某些示例实施例中，不对公知的工序、公知的装置结构和公知的技术进行详细地描述。
在此，仅为了描述特定的示例实施例的目的使用专业词汇，并且不是意指为限制的目的。除非上下文清楚地作出相反的表示，在此使用的单数形式“一个”和“该”可以意指为也包括复数形式。术语“包括”和“具有”是包括在内的意思，并且因此指定存在所声明的特征、整体、步骤、操作、元件和/或组件，但是不排除存在或额外地具有一个或以上的其他特征、整体、步骤、操作、元件、组件和/或其组合。除非明确地指示了执行的次序，在此描述的该方法步骤、处理和操作不解释为一定需要按照所论述和示出的特定的次序执行。还应当理解的是，可以采用附加的或者可选择的步骤。
当元件或者层称为是“在……上”、“与……接合”、“连接到”或者“联接到”另一个元件或层，其可以是直接在另一个元件或者层上、与另一个元件或层接合、连接到或者联接到另一个元件或层，也可以存在介于其间的元件或者层。与此相反，当元件或层称为是“直接在……上”、“与……直接接合”、“直接连接到”或者“直接联接到”另一个元件或层，则可能不存在介于其间的元件或者层。其他用于描述元件关系的词应当以类似的方式解释(例如，“在……之间”和“直接在……之间”、“相邻”和“直接相邻”等)。在此使用的术语“和/或”包括该相关联的所罗列的项目的一 个或以上的任一和所有的组合。虽然此处可能使用了术语第一、第二、第三等以描述各种的元件、组件、区域、层和/或部分，这些元件、组件、区域、层和/或部分不受到这些术语的限制。这些术语可以只用于将一个元件、组件、区域或部分与另一个元件、组件、区域或部分区分。除非由上下文清楚地表示，在此使用诸如术语“第一”、“第二”及其他数值的术语不意味序列或者次序。因此，在下方论述的第一元件、组件、区域、层或者部分可以采用第二元件、组件、区域、层或者部分的术语而不脱离该示例实施例的教导。
空间的相对术语，诸如“内”、“外”、“在下面”、“在……的下方”、“下部”、“上方”、“上部”等，在此可出于便于描述的目的使用，以描述如图中所示的一个元件或者特征和另外一个或多个元件或者特征之间的关系。空间的相对术语可以意指包含除该图描绘的取向之外该装置的不同的取向。例如如果翻转该图中的装置，则描述为“在其他元件或者特征的下方”或者“在元件或者特征的下面”的元件将取向为“在其他元件或者特征的上方”。因此，示例术语“在……的下方”可以包含朝上和朝下的两种取向。该装置可以以其他方式取向(旋转90度或者其他取向)并且以此处的空间的相对描述解释。

Claims (19)

  1. 一种AGV叉车智能导引装置，其特征在于，所述装置包括镜头、防尘罩压板、相机、透明防尘罩、带圆台面的PCB安装块、LED集成电路板、相机安装块、光源底座、相机盖板、模组安装板以及光源线；其中，
    所述相机安装块通过所述相机盖板固定在所述光源底座的第一端内，且沿轴线开设有相机安装孔；
    所述带圆台面的PCB安装块的轴线跟相机的轴线同心，所述带圆台面的PCB安装块设置在所述相机安装块的外围，且固定在所述光源底座的第一端内；
    所述LED集成电路板以圆周阵列的方式均匀分布在所述带圆台面的PCB安装块上；
    所述透明防尘罩通过所述防尘罩压板固定在所述光源底座的第一端上，以封闭所述光源底座的第一端，且将所述相机安装块和所述带圆台面的PCB安装块罩设在内；
    所述相机同心安装在所述相机安装孔中；所述镜头与所述相机连接，且外露于所述防尘罩压板；
    所述模组安装板可拆卸地设置在所述光源底座的第二端上，以封闭所述光源底座的第二端；
    所述光源线设置在所述光源底座内，且与所述LED集成电路板连接。
  2. 根据权利要求1所述的AGV叉车智能导引装置，其特征在于，所述镜头通过螺纹连接的方式与所述相机连接。
  3. 根据权利要求1所述的AGV叉车智能导引装置，其特征在于，所述相机盖板分别通过螺纹连接的方式与所述相机安装块和所述光源底座连接。
  4. 根据权利要求1所述的AGV叉车智能导引装置，其特征在于，所述镜头为360°全景镜头。
  5. 根据权利要求1所述的AGV叉车智能导引装置，其特征在于，所述装置还包括走线挡板；
    所述走线挡板设置在所述带圆台面的PCB安装块与所述光源底座之 间，且固定在所述光源底座的第一端内。
  6. 根据权利要求1所述的AGV叉车智能导引装置，其特征在于，所述带圆台面的PCB安装块的外表面上镀有铬层。
  7. 根据权利要求1所述的AGV叉车智能导引装置，其特征在于，所述带圆台面的PCB安装块与轴线的夹角为45°。
  8. 根据权利要求1所述的AGV叉车智能导引装置，其特征在于，所述光源底座的外表面设置有滚花和/或散热齿。
  9. 根据权利要求1所述的AGV叉车智能导引装置，其特征在于，所述带圆台面的PCB安装块的内圆壁设置有散热齿。
  10. 一种AGV叉车智能导引方法，其特征在于，所述方法通过AGV叉车智能导引系统实现，所述系统包括设置在AGV叉车上的智能导引装置和与所述智能导引装置连接的导引控制器以及设置在墙壁或物体上的感光二维码标签，所述智能导引装置包括同心设置在所述光源底座内的相机、镜头以及LED集成电路板，所述方法包括：
    所述LED集成电路板对AGV叉车所在的区域提供光源照射；
    所述相机和所述镜头实时捕捉光源照射范围内墙壁或物体上的感光二维码标签；
    所述导引控制器根据所述感光二维码标签对AGV叉车进行定位，并规划出导引路径；
    所述导引控制器根据所述导引路径自动导引所述AGV叉车运动。
  11. 根据权利要求10所述的AGV叉车智能导引方法，其特征在于，在所述LED集成电路板对AGV叉车所在的区域提供光源照射的步骤之前，所述方法还包括：
    将所述智能导引装置和与所述智能导引装置连接的导引控制器设置在AGV叉车上；
    将任意数目的所述感光二维码标签设置在AGV叉车所在工业现场的墙壁或物体上。
  12. 一种AGV叉车智能导引系统，其特征在于，所述系统包括设置在AGV叉车上的智能导引装置和与所述智能导引装置连接的导引控制器 以及设置在墙壁或物体上的感光二维码标签，所述智能导引装置包括同心设置在所述光源底座内的相机、镜头以及LED集成电路板；
    所述LED集成电路板用于对AGV叉车所在的区域提供光源照射；
    所述相机和所述镜头用于实时捕捉光源照射范围内墙壁或物体上的感光二维码标签；
    所述导引控制器用于根据所述感光二维码标签对AGV叉车进行定位，并规划出导引路径；
    所述导引控制器用于根据所述导引路径自动导引所述AGV叉车运动。
  13. 根据权利要求12所述的AGV叉车智能导引系统，其特征在于，所述智能导引装置还包括防尘罩压板、透明防尘罩、带圆台面的PCB安装块、相机安装块、相机盖板、模组安装板以及光源线；其中，
    所述相机安装块通过所述相机盖板固定在所述光源底座的第一端内，且沿轴线开设有相机安装孔；
    所述带圆台面的PCB安装块同心设置在所述相机安装块的外围，且固定在所述光源底座的第一端内；
    所述LED集成电路板以圆周阵列的方式均匀分布在所述带圆台面的PCB安装块上；
    所述透明防尘罩通过所述防尘罩压板固定在所述光源底座的第一端上，以封闭所述光源底座的第一端，且将所述相机安装块和所述带圆台面的PCB安装块罩设在内；
    所述相机同心安装在所述相机安装孔中；所述镜头与所述相机连接，且外露于所述防尘罩压板；
    所述模组安装板可拆卸地设置在所述光源底座的第二端上，以封闭所述光源底座的第二端；
    所述光源线设置在所述光源底座内，且与所述LED集成电路板连接。
  14. 根据权利要求12所述的AGV叉车智能导引系统，其特征在于，所述镜头为360°全景镜头。
  15. 根据权利要求13所述的AGV叉车智能导引系统，其特征在于，所述智能导引装置还包括走线挡板；
    所述走线挡板设置在所述带圆台面的PCB安装块与所述光源底座之间，且固定在所述光源底座的第一端内。
  16. 根据权利要求13所述的AGV叉车智能导引系统，其特征在于，所述带圆台面的PCB安装块的外表面上镀有铬层。
  17. 根据权利要求13所述的AGV叉车智能导引系统，其特征在于，所述带圆台面的PCB安装块与轴线的夹角为45°。
  18. 根据权利要求12所述的AGV叉车智能导引系统，其特征在于，所述光源底座的外表面设置有滚花和/或散热齿。
  19. 根据权利要求13所述的AGV叉车智能导引系统，其特征在于，所述带圆台面的PCB安装块的内圆壁设置有散热齿。
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