CN211180655U - AGV system with wireless laser fusion positioning navigation - Google Patents
AGV system with wireless laser fusion positioning navigation Download PDFInfo
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- CN211180655U CN211180655U CN202020129038.XU CN202020129038U CN211180655U CN 211180655 U CN211180655 U CN 211180655U CN 202020129038 U CN202020129038 U CN 202020129038U CN 211180655 U CN211180655 U CN 211180655U
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Abstract
The utility model discloses an AGV system with wireless laser fusion positioning navigation, which comprises an AGV vehicle body, a wireless positioning system, an infrared scanning system, a visual camera system, a motion driving system and an industrial personal computer; the wireless positioning system comprises a vehicle-mounted label, a positioning engine and a plurality of wireless transceiving base stations; the infrared scanning system adopts a laser radar and is arranged at the front end of the AGV vehicle body; the visual camera system adopts a visual camera and is also arranged at the front end of the AGV vehicle body; the industrial computer is used for outputting a driving signal of the AGV vehicle to the motion driving system and controlling the AGV vehicle to move. The advantages are that: the automatic smooth driving process can be completed only by installing a small portable label without additionally installing a complex ground guide system. The wireless positioning system and the laser system are integrated, so that the whole system can complete a high-instantaneity task on the basis of balanced performance without increasing excessive expenditure.
Description
Technical Field
The utility model relates to a AGV system with wireless laser fuses location navigation belongs to AGV automatic guided technology field.
Background
At present, AGV industrial vehicles on the market mostly adopt a magnetic paste type or rail type running environment, the environment is high in cost and single in running mode and is not beneficial to subsequent transformation and upgrading, wherein a fixed rail is installed on the ground in the rail type, so that the vehicles run according to a set path, magnetic paste type is installed under the ground, the AGV vehicles are guided to run according to magnetism, the magnetic paste is complex to assemble and disassemble, the cost is increased invisibly, and pure S L AM laser or visual positioning is limited by the detection range of a radar, and certain requirements are also met on the installation structure.
Disclosure of Invention
The utility model aims to solve the technical problem that overcome prior art's AGV vehicle traveling route single, can not be in the defect of developments complex environment navigation smoothly, provide an AGV system with wireless laser fusion location navigation.
In order to solve the technical problem, the utility model provides an AGV system with wireless laser fusion positioning navigation, which comprises an AGV vehicle body, a wireless positioning system, an infrared scanning system, a visual camera system, a motion driving system and an industrial personal computer;
the wireless positioning system comprises a vehicle-mounted tag, a positioning engine and a plurality of wireless transceiving base stations, wherein the vehicle-mounted tag is mounted on an AGV vehicle body and used for sending wireless signals to different wireless transceiving base stations; the wireless transceiving base station is used for outputting the time stamp data of the wireless signal to a positioning engine; the positioning engine is used for converting the timestamp signal into positioning data and transmitting the positioning data to the industrial personal computer;
the infrared scanning system adopts a laser radar, is arranged at the front end of the AGV vehicle body, and is used for acquiring barrier distance information in front of the AGV vehicle and transmitting the barrier distance information to the industrial personal computer;
the visual camera system adopts a visual camera, is also arranged at the front end of the AGV vehicle body, and is used for acquiring video information in front of the AGV vehicle and transmitting the video information to the industrial personal computer;
the industrial computer is used for outputting a driving signal of the AGV vehicle to the motion driving system and controlling the AGV vehicle to move.
Furthermore, the motion driving system comprises a chassis controller and wheels, and the chassis controller receives a control signal of the industrial personal computer to drive the wheels to move.
Further, still include the power, establish in the inside of AGV vehicle automobile body for the power supply of AGV vehicle.
Furthermore, an object stage is arranged at the upper end of the AGV vehicle body.
Furthermore, can guarantee that laser scanning reaches surrounding region and not sheltered from, the front end of AGV vehicle automobile body is equipped with hollow support, installs on the support laser radar and vision camera.
Further, the positioning engine is connected to the base transceiver station through the switch for communicating with and controlling the base transceiver station.
Furthermore, in order to realize seamless indoor and outdoor fusion positioning, the wireless transceiving base stations are arranged indoors or outdoors, and the interval between each wireless transceiving base station is 20-40 meters.
The utility model discloses the beneficial effect who reaches:
the wireless positioning and the laser S L AM are integrated, so that the high real-time task can be completed without increasing too much expenditure on the basis of balanced performance of the whole system.
Drawings
FIG. 1 is an overhead view of an AGV vehicle of the present invention;
FIG. 2 is a side view of an AGV vehicle of the present invention;
fig. 3 is a block diagram of the system of the present invention.
In the figure, 1 is a laser radar, 2 is a vehicle-mounted tag, 3 is a visual camera, 4 is an industrial personal computer, 5 is a chassis controller, 6 is a driving wheel, 7 is a protective shell, 8 is a bottom plate, 9 is a carrying platform, 10 is a universal wheel, 11 is a support, 12 is a chassis, 13 is an emergency stop switch, and 14 is a battery module.
Detailed Description
The present invention will be further described with reference to the accompanying drawings. The following examples are only for illustrating the technical solutions of the present invention more clearly, and the protection scope of the present invention is not limited thereby.
As shown in fig. 1-2, an AGV system with wireless laser fusion positioning navigation includes a laser radar 1, a vehicle-mounted tag 2, a vision camera 3, an industrial personal computer 4, a chassis controller 5, a driving tire 6, a protective casing 7, a bottom plate 8, a loading platform 9, a universal wheel 10, a support 11, an emergency stop switch 13, and a battery module 14. The laser transmission radar 1 is arranged on a bracket 11 right in front of the AGV vehicle, the area above the bracket except for the upright post is empty, thus, the laser can be ensured to scan the surrounding area without being shielded, the visual camera 3 and the vehicle-mounted label 2 are arranged side by side, the industrial personal computer 4 is connected with the laser sensor 1, the visual camera 3 and the chassis controller 5, the bottom plate 8 is connected with the bracket 11 and fixed on the chassis 12, the chassis controller 5 is carried on the bottom plate 8, the front part of the AGV is provided with the universal wheel 10, the rear part of the AGV is provided with the driving wheel 6, the chassis controller 5 controls the movement of the driving wheel 6 and the running direction of the universal wheel 10, the protective casing 7 is arranged outside the body of the AGV vehicle, and the upper surface is provided with the, can load transportation material etc. scram switch 13 connect battery module 14, and battery module 14 sets up on bottom plate 8 and electricity connection AGV dolly each part for supply power for whole AGV dolly.
In the above-mentioned structure, laser radar 1 scans the surrounding environment, and vehicle-mounted label 2 receives the positioning data, and the place ahead visual information is gathered to vision camera 3 to send laser data, positioning data and video data to industrial computer 4, these data of industrial computer 4 integrated analysis, send instruction for chassis controller 5, and chassis controller 5 controls the motion of drive wheel 6 and the 10 traffic directions of universal wheel.
In this embodiment, the industrial personal computer 4 adopts a processing chip of a rainbow Q3-Ti7 industrial personal computer and a peripheral circuit thereof, and the chassis controller 5 adopts an STM32F407 controller and a peripheral circuit thereof.
In this embodiment, the wireless positioning system adopts a vehicle-mounted tag L S-TG-SV3, a wireless ultra-wideband signal transceiving base station L S-BN-IV3, and a V3.1 wireless positioning engine, and the V3.1 wireless positioning engine is mounted on an associated flying sky S560G 550 host.
As shown in fig. 3, the vehicle-mounted tag is mounted on an AGV, and communicates with a base station by transceiving ultra-wideband wireless signals, the tag sends original data to each base station, 4 positioning base stations can be deployed indoors, generally at corners, or outdoors, the interval between the base stations is about 20-40 meters, the base stations communicate with each other to keep alive, and receive wireless data of the positioning tag, and send the wireless data to a resolution engine server through a switch, the engine server resolves coordinate data of the tag, and forwards the coordinate data to the AGV through a router, and the AGV determines a driving path according to position information and a target point after receiving the coordinate data.
The positioning accuracy and the positioning real-time effect are guaranteed, so that the accurate control of the running track of the AGV trolley can be ensured, and the required running and transporting tasks are completed.
In the embodiment, the laser system adopts the laser radar YD L IDAR G4, and mainly realizes the function of avoiding obstacles and the function of drawing a map while advancing in the driving process in the fusion positioning, and can also carry out auxiliary positioning, wireless and laser S L AM fusion positioning, and finally realize continuous smooth positioning.
By collecting data transmitted by the laser radar, the distance between the obstacle and the vehicle can be judged in real time. This is divided into two cases. One is that obstacles, such as stationary walls, tables and chairs, etc., may be pre-scanned before the AGV approaches such stationary obstacles, thereby bypassing the obstacle and planning a new travel path.
The other is that when the AGV encounters an emergency such as a pedestrian in the driving process, the AGV can give way in advance according to the distance, and then the AGV selects a path without an obstacle to drive towards the target point.
In fact, the priority of obstacle avoidance is higher than that of path planning, that is, the obstacle avoidance is scanned in real time and switched to the path planning thread when there is no obstacle or far away from the obstacle.
The laser radar YD L IDAR is used for drawing a map in the fusion system, the map may not be originally provided, or the stored map is preloaded, more details of the map, including the position of an obstacle and the like, can be detected by a laser sensor along with the travel of the AGV.
In the embodiment, the vision camera system adopts a Haokawav vision camera DS-2CD2T26WD-I8 as a scheme for drawing a map and avoiding obstacles, the vision camera arranged at the front part of the AGV vehicle can shoot videos in real time, and whether obstacles exist in a path can be known by drawing a depth map for each frame of image, so that reasonable avoidance is performed. The visual camera in the fusion system has the functions of determining detailed distance information of the barrier by matching with the laser system and transmitting the distance information to the industrial personal computer for judging avoidance or changing a path.
The foregoing is only a preferred embodiment of the present invention, and it should be noted that, for those skilled in the art, a plurality of modifications and variations can be made without departing from the technical principle of the present invention, and these modifications and variations should also be considered as the protection scope of the present invention.
Claims (7)
1. An AGV system with wireless laser fusion positioning navigation comprises an AGV vehicle body, and is characterized by further comprising a wireless positioning system, an infrared scanning system, a visual camera system, a motion driving system and an industrial personal computer;
the wireless positioning system comprises a vehicle-mounted tag, a positioning engine and a plurality of wireless transceiving base stations, wherein the vehicle-mounted tag is mounted on an AGV vehicle body and used for sending wireless signals to different wireless transceiving base stations; the wireless transceiving base station is used for outputting the time stamp data of the wireless signal to a positioning engine; the positioning engine is used for converting the timestamp signal into positioning data and transmitting the positioning data to the industrial personal computer;
the infrared scanning system adopts a laser radar, is arranged at the front end of the AGV vehicle body, and is used for acquiring barrier distance information in front of the AGV vehicle and transmitting the barrier distance information to the industrial personal computer;
the visual camera system adopts a visual camera, is also arranged at the front end of the AGV vehicle body, and is used for acquiring video information in front of the AGV vehicle and transmitting the video information to the industrial personal computer;
the industrial computer is used for outputting a driving signal of the AGV vehicle to the motion driving system and controlling the AGV vehicle to move.
2. The AGV system with wireless laser fusion positioning navigation function according to claim 1, wherein the motion driving system comprises a chassis controller and wheels, and the chassis controller receives control signals of an industrial personal computer to drive the wheels to move.
3. The AGV system with wireless laser fusion positioning navigation function according to claim 1, further comprising a power supply arranged inside the body of the AGV vehicle and used for supplying power to the AGV vehicle.
4. The AGV system with wireless laser fusion positioning navigation of claim 1, wherein the AGV vehicle body is provided with a loading platform at the upper end.
5. The AGV system with wireless laser fusion positioning navigation function according to claim 1, wherein a hollow support is arranged at the front end of the AGV vehicle body, and the laser radar and the vision camera are mounted on the support.
6. The AGV system with wireless laser fusion positioning navigation of claim 1, wherein the positioning engine is connected to the base transceiver station through a switch for communicating with and controlling the base transceiver station.
7. The AGV system with the wireless laser fusion positioning navigation function according to claim 1, wherein the wireless base transceiver stations are arranged indoors or outdoors, and the distance between each wireless base transceiver station is 20-40 m.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202020129038.XU CN211180655U (en) | 2020-01-20 | 2020-01-20 | AGV system with wireless laser fusion positioning navigation |
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| CN202020129038.XU CN211180655U (en) | 2020-01-20 | 2020-01-20 | AGV system with wireless laser fusion positioning navigation |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113447950A (en) * | 2021-06-30 | 2021-09-28 | 湖南牛顺科技有限公司 | AGV positioning navigation system and method |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113447950A (en) * | 2021-06-30 | 2021-09-28 | 湖南牛顺科技有限公司 | AGV positioning navigation system and method |
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