CN201397390Y - Localization and navigation system of automatic truck for container - Google Patents
Localization and navigation system of automatic truck for container Download PDFInfo
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- CN201397390Y CN201397390Y CN2009201575566U CN200920157556U CN201397390Y CN 201397390 Y CN201397390 Y CN 201397390Y CN 2009201575566 U CN2009201575566 U CN 2009201575566U CN 200920157556 U CN200920157556 U CN 200920157556U CN 201397390 Y CN201397390 Y CN 201397390Y
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Abstract
The utility model relates to a localization and navigation system of an automatic truck for a container, comprising a control system decided by a vehicle, a wireless transmission system, a GRS positioning system, an inertial navigation system, a system positioning accurately by a laser, and an anticollision protection system. A sensor signal collection module, a logic analysis and judgment module,an information data decision-making and supporting module and a double-closed-loop vector control module are built in the control system decided by a vehicle, the wireless transmission system consists of a data radio station of a professional frequency modulation network, a wireless data link transmits the information between the a standard station of the positioning system and a mobile station of the positioning system, a vehicle centralizing and positioning system composed of the GPS positioning system, the inertial navigation system and the system positioning accurately by the laser can meet the all-weather and all-process localization requirement of the vehicle, the anticollision protection system realizes the three-stage anticollision protection for the vehicle. The localization andnavigation system of the utility model has the advantages of clear structure, high automatic degree, stand-out intelligence and high safety.
Description
Technical field
The utility model relates to the Position Fixing Navigation System of a kind of level from tansport equipment, relates in particular to a kind of Position Fixing Navigation System of container Automatic Guided Vehicle.
Background technology
In recent years, along with the expansion of China's Foreign Trade, the fast development of encased conveying industry.2008, China's container total amount of handling up reached 1.26 hundred million standard containers.In the evolution of encased conveying industry, huge variation has also taken place in the technical merit of port construction and handling equipment, and wherein level has consequence from tansport equipment.
1993, Rotterdam, NED ECT harbour company had come into effect since the horizontal automated transport system of container, and countries such as Germany, Britain, Italy, the U.S., Japan, Singapore also begin development in succession, use and promote the horizontal automated transport system of container.Wherein, adopting unpiloted container Automatic Guided Vehicle to bear the harbor district forward position is the core of the horizontal automated transport system of container to the horizontal transport of the container in stockyard.
At present, the Position Fixing Navigation System that is applied to the container Automatic Guided Vehicle abroad is numerous, and main location and navigation technology has electromagnetic induction sunken cord technology, laser measuring technology, ultrasonic detecting technology, light reflection detection technique, inertial navigation technology, image recognition technology and coordinate recognition technology.Wherein, the electromagnetic induction technology maturation of sunkening cord is used extensively, but its path is provided with and change is complicated, change expense height; The guiding and the bearing accuracy of laser measuring technology are higher, and the possibility of free routing planning is provided, but the cost height, sensor, emitter, reflection unit are installed complicated, the position calculation complexity; Ultrasonic detecting technology does not need to be provided with mirror surface, has reduced the guiding cost, but the reflection case of place environment is used difficulty when complicated; Light reflection detection technique signal stabilization, the accuracy height, but need on operating path, to lay the colour band with stable reflecting rate, to the site requirements height, it is big to lay cost; The inertial navigation technology real-time is good, needs known reference point to locate in the implementation process, the program complexity, and utility appliance is many; Image recognition technology does not need to be provided with physical pathway, but the operation real-time is poor, sets up operating path environmental information storehouse difficulty; Coordinate recognition technology path is provided with and changes simple and convenient, and cost of use is low, but the miniature electronic coordinate sensor is subjected to the interference of electromagnetic field big, and the bearing accuracy during long-distance running is low.
Summary of the invention
The utility model is exactly a kind of collection GPS location, inertial navigation, the pinpoint container Automatic Guided Vehicle of the laser Position Fixing Navigation System that proposes under the above-mentioned background technology, it is the part of the horizontal automated transport system of container, adopt unmanned technology automatically in the container wharf operation, the container of finishing from the harbor district forward position to the stockyard is carried automatically.
The technical solution of the utility model is:
Container Automatic Guided Vehicle Position Fixing Navigation System mainly is made up of make decisions on one's own control system, wireless transmitting system, GPS positioning system, inertial navigation system, laser Precise Position System, preventing collision protection system of vehicle.
The described vehicle control system of making decisions on one's own is the control center of container Automatic Guided Vehicle Position Fixing Navigation System, be installed in the control box in the vehicle frame, be responsible for signals collecting, data analysis, information judgement, decision support, the control output of container Automatic Guided Vehicle; Vehicle make decisions on one's own control system built-in sensors signal acquisition module, logic analysis judge module, information data decision support module, two closed-loop vector control module.
Described wireless transmitting system is made of professional frequency modulation network data radio station, is installed in vehicle frame front end one side, and its wireless data sending link is transmission information between positioning system base station and positioning system movement station.
It is the core of container Automatic Guided Vehicle Position Fixing Navigation System that the vehicle that described GPS positioning system, inertial navigation system, laser Precise Position System are formed is concentrated positioning system; The GPS positioning system provides the independent navigation of vehicle required real-time high-precision position data, and this system is made up of positioning system base station, positioning system movement station, gps satellite; Vehicle location measuring and calculating and assisting navigation when inertial navigation system realization GPS positioning system is blocked, this system is made up of inertia gyroscope sensing device, control display device, state selecting arrangement; The laser Precise Position System provides the accurate location and the check at vehicle key point place in course, and this system is made up of laser ranging module, galvanometer driver module, synchronization control module, outer corner measurement module.
Described preventing collision protection system is made up of contactless collision avoidance system of ultrasound wave and stroke contact collision avoidance system, and this system is installed in the vehicle frame rear and front end; The contactless collision avoidance system of ultrasound wave is made of the contactless sensing element of wireless ultrasonic, ultrasonic sensor in this system can detect measured object under discontiguous situation, the vehicle control system of making decisions on one's own is judged the distance that detects thing according to the power of sensor-based system feedback signal, and enforcement is in steps slowed down, stopped; Stroke contact collision avoidance system stroke touch sensor after the container Automatic Guided Vehicle touches the collision thing sends signal, implements to stop in emergency, and the snubber assembly in the preventing collision protection system can absorb the collision energy of car body simultaneously.
The beneficial effects of the utility model are:
The vehicle that the utility model adopts make decisions on one's own control system built-in sensors signal acquisition module, logic analysis judge module, information data decision support module, two closed-loop vector control module, system architecture is clear, level is clear and definite; The positioning system of concentrating the vehicle that the GPS positioning system that adopts, inertial navigation system, laser Precise Position System are formed can satisfy that vehicle is round-the-clock, the positioning requirements of overall process, and degree of accuracy height, real-time be good, be convenient to realize; The collision avoidance system that the contactless collision avoidance system of ultrasound wave that adopts, stroke contact collision avoidance system constitute is realized three grades of preventing collision protections, safe of vehicle; The utlity model has clear in structure, automaticity height, intelligent outstanding, safe characteristics.
Description of drawings
Fig. 1 is container Automatic Guided Vehicle profile and system layout synoptic diagram.
Fig. 2 is a container Automatic Guided Vehicle Position Fixing Navigation System block diagram.
Fig. 3 is a container Automatic Guided Vehicle positioning system block diagram.
Among Fig. 1,1. vehicle frame; 2. container; 3. the vehicle control system of making decisions on one's own; 4. wireless transmitting system; 5.GPS positioning system; 6. inertial navigation system; 7. laser Precise Position System; 8. preventing collision protection system;
Among Fig. 2,9. vehicle is concentrated positioning system; 10. collecting sensor signal module; 11. logic analysis judge module; 12. information data decision support module; 13. two closed-loop vector control modules; 14. the contactless collision avoidance system of ultrasound wave; 15. stroke contact collision avoidance system; 16. driver A; 17. driver B; 18. scrambler A; 19. scrambler B; 20. electric rotating machine A; 21. electric rotating machine B; 22. set of wheels A; 23. set of wheels B; 24. portable programmer;
Among Fig. 3,25. positioning system base stations; 26. positioning system movement station; 27. frequency modulation network data radio station A; 28. frequency modulation network data radio station B; 29.GPS receiver A; 30.GPS receiver B; 31.GPS antenna A; 32.GPS antenna B; 33. aided positioning system; 34.GPS satellite.
Embodiment
Below in conjunction with accompanying drawing and embodiment shown in the drawings the utility model is elaborated, but content of the present utility model is not limited to shown in the accompanying drawing.
The Position Fixing Navigation System of a kind of container Automatic Guided Vehicle of the present utility model mainly is made up of make decisions on one's own control system (3), wireless transmitting system (4), GPS positioning system (5), inertial navigation system (6), laser Precise Position System (7), preventing collision protection system (8) of vehicle.
In Fig. 1, container (2) leaves on vehicle frame (1) plane of container Automatic Guided Vehicle; Make decisions on one's own control system (3), GPS positioning system (5), inertial navigation system (6) of vehicle is installed in the control box in the vehicle frame (1); Wireless transmitting system (4), laser Precise Position System (7) are installed in vehicle frame (1) front end one side; Preventing collision protection system (8) is installed in vehicle frame (1) rear and front end, and this system is made of contactless collision avoidance system of ultrasound wave (14) and stroke contact collision avoidance system (15), realizes three grades of preventing collision protections of vehicle.
In Fig. 2, the vehicle control system (3) of making decisions on one's own is the control center of container Automatic Guided Vehicle Position Fixing Navigation System, be installed in the control box in the vehicle frame (1), be responsible for signals collecting, data analysis, information judgement, decision support, the control output of container Automatic Guided Vehicle; Vehicle make decisions on one's own control system (3) built-in sensors signal acquisition module (10), logic analysis judge module (11), information data decision support module (12), two closed-loop vector control module (13).
It is the core of container Automatic Guided Vehicle Position Fixing Navigation System that the vehicle that GPS positioning system (5), inertial navigation system (6), laser Precise Position System (7) are formed is concentrated positioning system (9); GPS positioning system (5) provides the independent navigation of vehicle required real-time high-precision position data; Inertial navigation system (6) realizes vehicle location measuring and calculating and the assisting navigation of GPS positioning system (5) when blocking; Laser Precise Position System (7) provides the accurate location and the check at vehicle key point place in course.
Preventing collision protection system (8) is made of contactless collision avoidance system of ultrasound wave (14) and stroke contact collision avoidance system (15), the contactless collision avoidance system of ultrasound wave (14) is made up of the contactless sensing element of wireless ultrasonic, ultrasonic sensor in this system can detect measured object under discontiguous situation, the vehicle control system (3) of making decisions on one's own is judged the distance that detects thing according to the power of sensor-based system feedback signal, and enforcement is in steps slowed down, stopped; Stroke contact collision avoidance system (15) stroke touch sensor after touching the collision thing sends signal, implements to stop in emergency, and the snubber assembly in the preventing collision protection system (8) can absorb the collision energy of car body simultaneously.
Being built in the make decisions on one's own output terminal of two closed-loop vector control modules (13) by driver A (16)/driver B (17) of control system (3) of vehicle links to each other with the input end of electric rotating machine A (20)/electric rotating machine B (21), driver A (16)/driver B (17) sends rotating speed and the torque of correspondent voltage, frequency signal control electric rotating machine A (20)/electric rotating machine B (21) according to the instruction of two closed-loop vector control modules (13); Scrambler A (18)/scrambler B (19) is installed on the rotating output shaft of electric rotating machine A (20)/electric rotating machine B (21), the feedback signal of its detection is directly inputted to vehicle makes decisions on one's own in the control system (3), calculates the speed of travel of set of wheels A (22)/set of wheels B (23) in real time; Portable programmer (24) is the monitor vehicle transport condition in real time, can revise, set the make decisions on one's own correlation parameter of control system (3) of vehicle in case of necessity by it.
In Fig. 3, GPS positioning system (5) is made up of positioning system base station (25), positioning system movement station (26), gps satellite (33); Comprise frequency modulation network data radio station A (27), GPS receiver A (29), gps antenna A (31) in the positioning system base station (25); Comprise frequency modulation network data radio station B (28), GPS receiver B (30), gps antenna B (32), aided positioning system (33) in the positioning system movement station (26); Aided positioning system in the present embodiment (33) is finished by inertial navigation system (6) and laser Precise Position System (7) combination; Gps antenna A (31), gps antenna B (32) receive the positioning instruction that sends from gps satellite (34), transfer to the input end of GPS receiver A (29), GPS receiver B (30) respectively, send to the receiving end of frequency modulation network data radio station A (27), frequency modulation network data radio station B (28) after GPS receiver A (29), GPS receiver B (30) the processing coded message, frequency modulation network data radio station A (27) and frequency modulation network data radio station B (28) set up the wireless data sending link of positioning system base station (25) and positioning system movement station (26), realize the bi-directional of information.
Claims (5)
1, a kind of Position Fixing Navigation System of container Automatic Guided Vehicle is characterized in that: be made up of make decisions on one's own control system, wireless transmitting system, GPS positioning system, inertial navigation system, laser Precise Position System, preventing collision protection system of vehicle; The described vehicle control system of making decisions on one's own is installed in the control box in the vehicle frame, vehicle make decisions on one's own control system built-in sensors signal acquisition module, logic analysis judge module, information data decision support module, two closed-loop vector control module; Described wireless transmitting system is made of professional frequency modulation network data radio station, is installed in vehicle frame front end one side, and its wireless data sending link is transmission information between positioning system base station and positioning system movement station.
2, the Position Fixing Navigation System of a kind of container Automatic Guided Vehicle according to claim 1 is characterized in that: described GPS positioning system, inertial navigation system, laser Precise Position System are formed vehicle and are concentrated positioning system; Described inertial navigation system is made up of inertia gyroscope sensing device, control display device, state selecting arrangement; Described laser Precise Position System is made up of laser ranging module, galvanometer driver module, synchronization control module, outer corner measurement module.
3, container Automatic Guided Vehicle Position Fixing Navigation System according to claim 1 is characterized in that: described preventing collision protection system is made up of contactless collision avoidance system of ultrasound wave and stroke contact collision avoidance system, is installed in the vehicle frame rear and front end; The contactless collision avoidance system of ultrasound wave is made of the contactless sensing element of wireless ultrasonic.
4, the Position Fixing Navigation System of a kind of container Automatic Guided Vehicle according to claim 1 is characterized in that: described the make decisions on one's own output terminal of two closed-loop vector control modules by driver A/ driver B of control system of vehicle that be built in links to each other with the input end of electric rotating machine A/ electric rotating machine B; Scrambler A/ scrambler B is installed on the rotating output shaft of electric rotating machine A/ electric rotating machine B, and the feedback signal of its detection is directly inputted to vehicle and makes decisions on one's own in the control system.
5, the Position Fixing Navigation System of a kind of container Automatic Guided Vehicle according to claim 1 is characterized in that: described GPS positioning system is made up of positioning system base station, positioning system movement station, gps satellite; Comprise frequency modulation network data radio station A, GPS receiver A, gps antenna A in the positioning system base station; Comprise frequency modulation network data radio station B, GPS receiver B, gps antenna B, aided positioning system in the positioning system movement station.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2009201575566U CN201397390Y (en) | 2009-05-26 | 2009-05-26 | Localization and navigation system of automatic truck for container |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2009201575566U CN201397390Y (en) | 2009-05-26 | 2009-05-26 | Localization and navigation system of automatic truck for container |
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| CN201397390Y true CN201397390Y (en) | 2010-02-03 |
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| CN2009201575566U Expired - Fee Related CN201397390Y (en) | 2009-05-26 | 2009-05-26 | Localization and navigation system of automatic truck for container |
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Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102121827A (en) * | 2010-11-29 | 2011-07-13 | 浙江亚特电器有限公司 | Positioning system of mobile robot and positioning method thereof |
| CN103587851A (en) * | 2013-11-15 | 2014-02-19 | 史臣 | Container |
| CN104729500A (en) * | 2015-02-15 | 2015-06-24 | 南京航空航天大学 | Global positioning method of laser-navigated AGV (automatic guided vehicle) |
| CN105824037A (en) * | 2015-11-29 | 2016-08-03 | 黄润芳 | Method for accurately positioning traveling vehicle in intelligent traffic system |
| CN109828577A (en) * | 2019-02-25 | 2019-05-31 | 北京主线科技有限公司 | The opposite automation field bridge high accuracy positioning parking method of unmanned container truck |
| CN111949022A (en) * | 2020-07-30 | 2020-11-17 | 深圳煜炜光学科技有限公司 | Intelligent guide carrier capable of automatically aligning bridge crane and use method |
| CN113391337A (en) * | 2020-03-12 | 2021-09-14 | 广东博智林机器人有限公司 | Handling equipment positioning system and method |
| CN114543878A (en) * | 2022-02-12 | 2022-05-27 | 龙合智能装备制造有限公司 | Intelligent detection method of container handling system based on multi-sensor fusion |
-
2009
- 2009-05-26 CN CN2009201575566U patent/CN201397390Y/en not_active Expired - Fee Related
Cited By (14)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102121827B (en) * | 2010-11-29 | 2013-12-18 | 浙江亚特电器有限公司 | Positioning system of mobile robot and positioning method thereof |
| CN102121827A (en) * | 2010-11-29 | 2011-07-13 | 浙江亚特电器有限公司 | Positioning system of mobile robot and positioning method thereof |
| CN103587851B (en) * | 2013-11-15 | 2015-12-30 | 史臣 | Freight container |
| CN103587851A (en) * | 2013-11-15 | 2014-02-19 | 史臣 | Container |
| CN104729500B (en) * | 2015-02-15 | 2017-09-08 | 南京航空航天大学 | A kind of laser navigation AGV global localization method |
| CN104729500A (en) * | 2015-02-15 | 2015-06-24 | 南京航空航天大学 | Global positioning method of laser-navigated AGV (automatic guided vehicle) |
| CN105824037A (en) * | 2015-11-29 | 2016-08-03 | 黄润芳 | Method for accurately positioning traveling vehicle in intelligent traffic system |
| CN109828577A (en) * | 2019-02-25 | 2019-05-31 | 北京主线科技有限公司 | The opposite automation field bridge high accuracy positioning parking method of unmanned container truck |
| CN109828577B (en) * | 2019-02-25 | 2022-02-18 | 北京主线科技有限公司 | High-precision positioning parking method for unmanned container truck relative to automatic field bridge |
| CN113391337A (en) * | 2020-03-12 | 2021-09-14 | 广东博智林机器人有限公司 | Handling equipment positioning system and method |
| CN111949022A (en) * | 2020-07-30 | 2020-11-17 | 深圳煜炜光学科技有限公司 | Intelligent guide carrier capable of automatically aligning bridge crane and use method |
| CN111949022B (en) * | 2020-07-30 | 2021-06-29 | 深圳煜炜光学科技有限公司 | Intelligent guide carrier capable of automatically aligning bridge crane and use method |
| CN114543878A (en) * | 2022-02-12 | 2022-05-27 | 龙合智能装备制造有限公司 | Intelligent detection method of container handling system based on multi-sensor fusion |
| CN114543878B (en) * | 2022-02-12 | 2023-11-14 | 龙合智能装备制造有限公司 | Intelligent detection method for container handling system based on multi-sensor fusion |
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| C14 | Grant of patent or utility model | ||
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| C17 | Cessation of patent right | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20100203 Termination date: 20140526 |