CN206671887U - A kind of AGV navigation deviation-rectifying systems based on assistant images - Google Patents
A kind of AGV navigation deviation-rectifying systems based on assistant images Download PDFInfo
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- CN206671887U CN206671887U CN201720424910.1U CN201720424910U CN206671887U CN 206671887 U CN206671887 U CN 206671887U CN 201720424910 U CN201720424910 U CN 201720424910U CN 206671887 U CN206671887 U CN 206671887U
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Abstract
The utility model discloses a kind of AGV navigation deviation-rectifying systems based on assistant images, including AGV robots and some navigation code units being attached on AGV robot rides path, the AGV robots are provided with code reader, the navigation code unit includes leading boat code and some auxiliary codes set around the leading boat code, the AGV robots realize the deviation-correcting function of navigation feature and route by the code that navigates.The utility model is attached to navigation code unit information on driving path by code reader collection, draws the angle of the position coordinates and deviation route where AGV robots；Control system is rectified a deviation or made it into Accreditation Waiting Area to AGV robots according to the angle of the speed of AGV robots, position coordinates and deviation route, so as to effectively improve AGV machine task efficiencies.
Description
Technical field
AGV (Automated Guided Vehicle) airmanship is the utility model is related to, more particularly to one kind is based on
The AGV navigation deviation-rectifying systems of assistant images.
Background technology
At present, as the fast development of e-commerce industry, logistics also burn the wind therewith, Express firm business scale
Automatic updating critical point is reached, to solve this problem, intelligent robot sorting system has arisen at the historic moment and in research and development
With the trial operation stage, AGV navigation system has larger application prospect in the field.At present, AGV navigation is mainly led using Quick Response Code
The mode drawn, i.e., Quick Response Code is sticked on road surface, scan the information realization navigation in Quick Response Code, still, AGV is passed through in way is travelled
Often there is the situation of offset track, influence the effect of automatic sorting.
Therefore, the prior art is defective, it is necessary to improve.
Utility model content
The technical problems to be solved in the utility model is：A kind of AGV navigation deviation-rectifying systems based on assistant images are provided, changed
The situation of positive AGV robots emerged in operation deviation route, lifts AGV machine task efficiencies.
The technical solution of the utility model is as follows：The utility model provides a kind of AGV navigation corrections based on assistant images
System, including：AGV robots and some navigation code units being attached on AGV robot rides path, the AGV robots
Code reader is provided with, the navigation code unit includes leading boat code and some auxiliary codes set around the leading boat code,
The AGV robots realize the deviation-correcting function of navigation feature and route by scanning navigation code unit.
Further, the code reader is arranged on AGV robots bottom.
Further, the leading boat code includes its location coordinate information, and the auxiliary code includes AGV robots and deviates row
Sail the angle information of route.
Further, the leading boat code and auxiliary code are Quick Response Code.
Further, it is described navigation code unit between at intervals of 200-1000 millimeters.
Preferably, it is described navigation code unit between at intervals of 600 millimeters.
Further, the quantity of the auxiliary code is 4, is respectively arranged on four angles of the leading boat code.
Further, the code reader is connected with the control system in AVG robots.
Further, the code reader scanning is to after dominating boat code or its some peripheral auxiliary code, the control system
The position coordinates of AVG robots and the angle of deviation route can be obtained to read and write the information of the auxiliary code；The control system
Navigation correction is carried out according to the angle of the speed of AGV robots, position coordinates and deviation route.
Using such scheme, the utility model provides a kind of AGV navigation deviation-rectifying systems based on assistant images, passes through AVG
Code reader collection in robot is attached to the navigation code unit information on driving path, draws the seat of AGV robots position
The angle of mark and deviation route, control system is according to the angle of the speed of AGV robots, position coordinates and deviation route to AGV
Accreditation Waiting Area is rectified a deviation or made it into robot, so as to effectively improve AGV machine task efficiencies.
Brief description of the drawings
Fig. 1 is functional framework schematic diagram of the present utility model；
Fig. 2 is the structural representation of navigation code unit；
Fig. 3 is the AGV navigation deviation-rectifying system schematic diagrams based on assistant images.
Embodiment
Below in conjunction with the drawings and specific embodiments, the utility model is described in detail.
Fig. 1, Fig. 2 and Fig. 3 are referred to, the utility model provides a kind of AGV navigation deviation-rectifying systems based on assistant images, bag
Include：AGV robots 20 and some navigation code units 40 being attached on the driving path of AGV robots 20, the AGV robots 20
Code reader 22 is provided with, the navigation code unit 40 includes leading boat code 41 and set around the leading boat code 41 some
Auxiliary code 42, the AGV robots 20 realize the deviation-correcting function of navigation feature and route by scanning navigation code unit 40.
The code reader 22 is arranged on the bottom of AGV robots 20, the convenient navigation code of scanning in the process of moving unit 40.Institute
State leading boat code 41 and include its location coordinate information, the auxiliary code 42 includes the angle that AGV robots 20 deviate travel route
Information.The leading boat code 41 and auxiliary code 42 are Quick Response Code.Between the navigation code unit 40 at intervals of 200-1000
Millimeter.Preferably, between the navigation code unit 40 at intervals of 600 millimeters.
The quantity of the auxiliary code 42 is according to setting is actually needed, and in the present embodiment, the quantity of the auxiliary code 42 is 4
It is individual, four angles of the leading boat code 41 are respectively arranged on, as shown in figure 3, the line and AGV machines of auxiliary code 42 and leading boat code 41
The travel route of device people 20 is into θ angle.The code reader 22 is connected with the control system 21 inside AVG robots 20.
To after dominating boat code 41 or its some peripheral auxiliary code 42, the control system 21 can for the scanning of code reader 22
To read and write the information of the auxiliary code, the position coordinates of AVG robots 20 and the angle of deviation route are just obtained；The control system
21 carry out navigation correction according to the angle of the speed of AGV robots 20, position coordinates and deviation route.
AGV robots 20 are navigated by the navigation code unit 40 pasted on driving path, the bottom installation of AGV robots 20
Code reader 22, navigation code unit 40 will be constantly shot, and information conveyance is true by analysis to control system 21, control system 21
The courses of AGV robots 20 is determined to realize the navigation of AGV robots 20.In this process, AGV robots 20 are possible to send out
Raw to deviate, the utility model is the correction navigated using auxiliary code 42 to AGV robots 20.
If the deviation from route, auxiliary code is arrived in the scanning of code reader 22 installed in the bottom of AGV robots 20 for AGV robots 20
42, the position coordinates x and y of AGV robots 20, and the deviation route of AGV robots 20 are obtained by the analysis of control system 21
Angle.Control system 21 is entered according to the gait of march of AGV robots 20, position coordinates and deviation angle to AGV robots 20
Row correction makes it into waiting area.
In summary, the utility model provides a kind of AGV navigation deviation-rectifying systems of assistant images, when the AGV machines of operation
When people deviates pre-determined route, auxiliary code is arrived in code reader scanning；The position that the AGV robots that control system determines according to auxiliary code deviate
Coordinate and angle are put, AGV robots are rectified a deviation or made it into waiting area, effectively improves the work of AGV robots
Make efficiency.
Preferred embodiment of the present utility model is these are only, is not limited to the utility model, it is all in this practicality
All any modification, equivalent and improvement made within new spirit and principle etc., should be included in guarantor of the present utility model
Within the scope of shield.
Claims (7)
- A kind of 1. AGV navigation deviation-rectifying systems based on assistant images, it is characterised in that including：AGV robots and it is attached to AGV Some navigation code units on robot ride path, the AGV robots are provided with code reader, and the navigation code unit includes Leading boat code and some auxiliary codes set around the leading boat code, the AGV robots are by scanning the code unit that navigates Realize the deviation-correcting function of navigation feature and route.
- 2. the AGV navigation deviation-rectifying systems according to claim 1 based on assistant images, it is characterised in that the code reader Installed in AGV robots bottom.
- 3. the AGV navigation deviation-rectifying systems according to claim 1 based on assistant images, it is characterised in that the leading boat Code includes its location coordinate information, and the auxiliary code includes the angle information that AGV robots deviate travel route.
- 4. the AGV navigation deviation-rectifying systems according to claim 3 based on assistant images, it is characterised in that the leading boat Code and auxiliary code are Quick Response Code.
- 5. the AGV navigation deviation-rectifying systems according to claim 1 based on assistant images, it is characterised in that the navigation code Between unit at intervals of 200-1000 millimeters.
- 6. the AGV navigation deviation-rectifying systems according to claim 5 based on assistant images, it is characterised in that the navigation code Between unit at intervals of 600 millimeters.
- 7. the AGV navigation deviation-rectifying systems according to claim 1 based on assistant images, it is characterised in that the auxiliary code Quantity be 4, be respectively arranged on it is described it is leading boat code four angles.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720424910.1U CN206671887U (en) | 2017-04-21 | 2017-04-21 | A kind of AGV navigation deviation-rectifying systems based on assistant images |
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| CN201720424910.1U CN206671887U (en) | 2017-04-21 | 2017-04-21 | A kind of AGV navigation deviation-rectifying systems based on assistant images |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109032129A (en) * | 2018-06-21 | 2018-12-18 | 昆山华恒工程技术中心有限公司 | Path method for correcting error and device, route guidance method, readable medium |
| CN111552297A (en) * | 2020-05-21 | 2020-08-18 | 深圳市海柔创新科技有限公司 | Navigation method and navigation device |
| CN112256009A (en) * | 2019-07-04 | 2021-01-22 | 深圳市越疆科技有限公司 | Line seeking method, device, equipment and readable storage medium |
| CN112327818A (en) * | 2019-07-19 | 2021-02-05 | 杭州海康机器人技术有限公司 | Method for correcting pose deviation of guide graph and walking equipment |
-
2017
- 2017-04-21 CN CN201720424910.1U patent/CN206671887U/en not_active Expired - Fee Related
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109032129A (en) * | 2018-06-21 | 2018-12-18 | 昆山华恒工程技术中心有限公司 | Path method for correcting error and device, route guidance method, readable medium |
| CN109032129B (en) * | 2018-06-21 | 2021-07-27 | 昆山华恒工程技术中心有限公司 | Path deviation rectifying method and device, path guiding method and readable medium |
| CN112256009A (en) * | 2019-07-04 | 2021-01-22 | 深圳市越疆科技有限公司 | Line seeking method, device, equipment and readable storage medium |
| CN112327818A (en) * | 2019-07-19 | 2021-02-05 | 杭州海康机器人技术有限公司 | Method for correcting pose deviation of guide graph and walking equipment |
| CN112327818B (en) * | 2019-07-19 | 2023-06-23 | 杭州海康机器人股份有限公司 | Method for correcting pose deviation of guide graph and walking equipment |
| CN111552297A (en) * | 2020-05-21 | 2020-08-18 | 深圳市海柔创新科技有限公司 | Navigation method and navigation device |
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