CN2352313Y - All direction position sensing device - Google Patents
All direction position sensing device Download PDFInfo
- Publication number
- CN2352313Y CN2352313Y CN 98239765 CN98239765U CN2352313Y CN 2352313 Y CN2352313 Y CN 2352313Y CN 98239765 CN98239765 CN 98239765 CN 98239765 U CN98239765 U CN 98239765U CN 2352313 Y CN2352313 Y CN 2352313Y
- Authority
- CN
- China
- Prior art keywords
- laser transmitter
- swivel head
- sensing device
- speed reducer
- transmission speed
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired - Fee Related
Links
- 230000005540 biological transmission Effects 0.000 claims abstract description 21
- 239000003638 chemical reducing agent Substances 0.000 claims description 16
- 230000000979 retarding effect Effects 0.000 abstract 3
- 230000007812 deficiency Effects 0.000 description 2
- 239000002390 adhesive tape Substances 0.000 description 1
- 230000003287 optical effect Effects 0.000 description 1
Images
Landscapes
- Manipulator (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The utility model discloses an all direction position sensing device which is used for a mobile carrier, wherein, a motor is engaged with a transmission retarding mechanism by an installing plate, and the motor and a code wheel are arranged coaxially; on the transmission retarding mechanism, a rotary head is connected with the bearing of an upper installing rack, and an eyeglass is installed at the rotary head; a modulation laser transmitter is fixed on the installing plate and is positioned at the lower surface of the transmission retarding mechanism, and a photoelectric receiver is arranged at one side of the modulation laser transmitter. The input terminal of a signal selector is connected with the output of the modulation laser transmitter and the output of the photoelectric receiver. The input terminal of an SCM data collecting processor is the code wheel and the signal selector, and a plurality of cooperative targets are arranged at a space which is horizontal to the rotary head. When the utility model is used, the self-governing capacity of the mobile carrier can be reinforced when the mobile carrier is in operation. The utility model has the advantages of high work efficiency and strong flexible performance.
Description
The utility model relates to the robot engineering field, specifically is a kind of comprehensive position sensing device that is used for mobile vehicle (robot).
The AGV (autonomous mobile robot) that uses is when advancing at present, the electromagnetic signal that main buried magnetic wire of dependence or face of land stickup magnetic adhesive tape are responded to is as the direction guiding signal, this mode has limited the operation capacity of will of robot or travel mechanism, can not be along with the convenient operating path of changing in time of the variation of job content, when many robots during along the operation of same task route, the fault of a robot can cause the pause of whole production line, has influenced the operating efficiency and the flexibility of mobile robot or autonomous travel mechanism.
The purpose of this utility model is to overcome above-mentioned deficiency, and a kind of reference position information that can obtain mobile vehicle (robot) flexibly is provided, and strengthens the capacity of self-government of its operation, operating efficiency height, the strong comprehensive sensing device of putting of performance flexibly.
To achieve these goals, the technical solution of the utility model is: it comprises cooperative target, code-disc, motor, the transmission speed reducer structure, the swivel head of eyeglass is housed, transfer generating laser, photelectric receiver, signal selector and single-chip data acquisition processor, wherein with of installing plate and the transmission speed reducer structure engagement of the coaxial mounted motor of code-disc by the band mesopore, the swivel head of eyeglass is housed to be connected with last installing rack bearing on being fixed on installing plate, and be positioned on the transmission speed reducer structure, the modulated laser transmitter that is positioned at below the transmission speed reducer structure is fixed on the installing plate, described modulated laser transmitter one side has photelectric receiver, signal selector and single-chip data acquisition processor are installed on the circuit board rack, the signal selector input is connected with the photelectric receiver output with the modulated laser transmitter, single-chip data acquisition processor input signal is a code-disc and from the data of signal selector, last installing rack is fixedly mounted on the base, and in the space of the same horizontal plane of swivel head a plurality of cooperative targets that are made of retroeflector is set;
Establish a window on the described swivel head, the filter lens that the outside is covered with the protection eyeglass places the window place, and speculum places among the cavity of swivel head the inside and becomes miter angle in the face of window;
Described modulated laser transmitter is made up of five-way that eyeglass is housed and transmitting illuminant, wherein transmitting illuminant places the five-way bottom, be fixed in below the installing plate around the five-way end face, wherein put a semi-transparent speculum perpendicular to speculum in the cavities, in the face of photelectric receiver becomes miter angle;
Described transmission speed reducer structure is made up of gear train, and wherein pinion is engaged in motor output end on the one hand, is engaged in gear wheel on the other hand, and swivel head 4 is fixedly connected on the gear wheel;
Described cooperative target is more than or equal to 4.
The utlity model has following advantage:
Owing to adopted modulated laser scanning work mode, utilize the cooperation of cooperative target, solved the technical problem of the reference position information of obtaining mobile (robot) mechanism flexibly, the accuracy and the antijamming capability of cooperative target reflected signal have been improved, simultaneously also improved the precision that positional information detects, this position sensing system practicality is guaranteed; It has overcome the deficiency that relies on the operation of electromagnetic wire guided robot, realized that autonomous mobile vehicle can in time align running status according to self-position information, when many robots during along the operation of same task route, the fault of a robot can not cause the pause of whole production line, the operating efficiency height, performance is strong flexibly.
Below in conjunction with accompanying drawing design feature of the present utility model and operation principle are described in further details.
Fig. 1 is the utility model structured flowchart.
Fig. 2 is the utility model structural principle front view.
Fig. 3 is the A-A cutaway view of Fig. 2.
As Fig. 1, shown in 2, the utility model comprises cooperative target, code-disc, motor, the transmission speed reducer structure, the swivel head of eyeglass is housed, transfer generating laser, photelectric receiver, signal selector and single-chip data acquisition processor, wherein with the installing plate (10) and transmission speed reducer structure (3) engagement of the coaxial mounted motor of code-disc (1) (2) by the band mesopore, the swivel head (4) of eyeglass is housed to be connected with last installing rack (11) bearing on being fixed on installing plate (10), and be positioned on the transmission speed reducer structure (3), being positioned at the following modulated laser transmitter (5) of transmission mechanism (3) is fixed on the installing plate (10), described modulated laser transmitter (5) one sides have photelectric receiver (6), signal selector (7) and single-chip data acquisition processor (8) are installed on the circuit board (13), signal selector (7) input is connected with photelectric receiver (6) output with modulated laser transmitter (5), single-chip data acquisition processor (8) input signal is a code-disc (1) and from the data of signal selector (7), last installing rack (11) is fixedly mounted on the base (12), with be provided with in the space of the same horizontal plane of swivel head (4) the described cooperative targets of 5 cooperative targets that constitute by retroeflector (9) (9) and swivel head (4) spatially operating distance be 2～10 m, receive the photoelectric effective signal of handling through signal selector (7) when single-chip data acquisition processor (8), read code-disc (1) value and carry out record, and by communication port data are delivered to computer and carry out computing;
Described swivel head is established a window on (4), and the filter lens (42) that the outside is covered with protection eyeglass (41) places the window place, and speculum (43) places among the cavity of swivel head (4) the inside and becomes miter angle in the face of window;
As shown in Figure 3, institute's rate modulation generating laser (5) is made up of five-way that eyeglass is housed (51) and transmitting illuminant (52), wherein transmitting illuminant (52) places five-way (51) bottom, be fixed in below the installing plate (10) around five-way (51) end face, wherein vertical reflector (43) is put a semi-transparent speculum (53) in the cavities, in the face of photelectric receiver (6) becomes miter angle;
As shown in Figure 1, described transmission speed reducer structure (3) is made up of gear train, and wherein pinion (31) is engaged in motor (2) output on the one hand, is engaged in gear wheel (32) on the other hand, and swivel head (4) is fixedly connected on the gear wheel (32).
Its operation principle is: as shown in Figure 1, motor (2) drives code-disc (1) and transmission speed reducer structure (3) action, the speculum (43) that is installed in transmission speed reducer structure (3) top rotates with swivel head (4), laser from modulated laser transmitter (8) is reflected away, form an optical scanning face, when this bundle laser scanning during to the cooperative target that constitutes by retroeflector (9), light beam is returned by former road, be radiated on the electrooptical device in the photelectric receiver (6) through semi-transparent reflection mirror (53), produce voltage signal, the laser pulse signal of this signal and modulation merges, after signal selector (7) is handled, excite the middle code-disc data acquisition program of single-chip data acquisition processor (8) to read code-disc (1) data, when arranging the enough cooperative target (9) of quantity at mobile robot's operation field (cooperative target (9) quantity of gathering in each week should more than or equal to four) in principle, can calculate position under the coordinate system of the relative cooperative target of mobile robot (9) place by each cooperative target (9) that this sensor-based system constantly provides current code-disc (1) value of living in.
The utility model has adopted the modulated laser transmitter of 30KHz, power is 30mw, eyeglass transmission rotating ratio is 40: 1, code-disc is the addition formula, every circle 500 lines, like this, the every run-down of camera lens, code wheel reading can reach 20000, and signal resolution is 0.018 degree, to satisfy mobile robot's positioning accuracy.
Photelectric receiver described in the utility model (6), signal selector (7) and single-chip data acquisition processor (8) are prior art, and described five-way (51) can be replaced by threeway, four-way.
Claims (5)
1. comprehensive position sensing device that has cooperative target, comprise code-disc, motor, the transmission speed reducer structure, the swivel head of eyeglass is housed, the modulated laser transmitter, photelectric receiver, signal selector and single-chip data acquisition processor, it is characterized in that: wherein with the installing plate (10) and transmission speed reducer structure (3) engagement of the coaxial mounted motor of code-disc (1) (2) by the band mesopore, the swivel head (4) of eyeglass is housed to be connected with last installing rack (11) bearing on being fixed on installing plate (10), and be positioned on the transmission speed reducer structure (3), being positioned at the following modulated laser transmitter (5) of transmission speed reducer structure (3) is fixed on the installing plate (10), described modulated laser transmitter (5) one sides have photelectric receiver (6), signal selector (7) is installed on the circuit board rack (13) with single-chip data acquisition processor (8), signal selector (7) input is connected with photelectric receiver (6) output with modulated laser transmitter (5), single-chip data acquisition processor (8) input signal is a code-disc (1) and from the data of signal selector (7), last installing rack (11) is fixedly mounted on the base (12), and in the space of the same horizontal plane of swivel head (4) a plurality of cooperative targets that are made of retroeflector (9) is set.
2. according to the described comprehensive sensing device of putting of claim 1; it is characterized in that: described swivel head is established a window on (4); the filter lens (42) that the outside is covered with protection eyeglass (41) places the window place, and speculum (43) places among the cavity of swivel head (4) the inside and becomes miter angle in the face of window.
3. according to the described comprehensive sensing device of putting of claim 1, it is characterized in that: described modulated laser transmitter (5) is made up of five-way that eyeglass is housed (51) and transmitting illuminant (52), wherein transmitting illuminant (52) places five-way (51) bottom, be fixed in below the installing plate (10) around five-way (51) end face, wherein put a semi-transparent speculum (53) perpendicular to speculum (43) in the cavities, in the face of photelectric receiver (6) becomes miter angle.
4. according to the described comprehensive sensing device of putting of claim 1, it is characterized in that: described transmission speed reducer structure (3) is made up of gear train, wherein pinion (31) is engaged in motor (2) output on the one hand, be engaged in gear wheel (32) on the other hand, swivel head (4) is fixedly connected on the gear wheel (32).
5. according to the described comprehensive sensing device of putting of claim 1, it is characterized in that: described cooperative target (9) is more than or equal to 4.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 98239765 CN2352313Y (en) | 1998-12-25 | 1998-12-25 | All direction position sensing device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 98239765 CN2352313Y (en) | 1998-12-25 | 1998-12-25 | All direction position sensing device |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN2352313Y true CN2352313Y (en) | 1999-12-08 |
Family
ID=33987079
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN 98239765 Expired - Fee Related CN2352313Y (en) | 1998-12-25 | 1998-12-25 | All direction position sensing device |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN2352313Y (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101907895A (en) * | 2010-08-06 | 2010-12-08 | 上海交通大学 | Beam rider type laser navigation unit |
| CN113093152A (en) * | 2021-04-08 | 2021-07-09 | 山东省科学院激光研究所 | Laser detector for panoramic view |
-
1998
- 1998-12-25 CN CN 98239765 patent/CN2352313Y/en not_active Expired - Fee Related
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101907895A (en) * | 2010-08-06 | 2010-12-08 | 上海交通大学 | Beam rider type laser navigation unit |
| CN101907895B (en) * | 2010-08-06 | 2011-09-28 | 上海交通大学 | Beam rider type laser navigation unit |
| CN113093152A (en) * | 2021-04-08 | 2021-07-09 | 山东省科学院激光研究所 | Laser detector for panoramic view |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN108388245B (en) | AGV trolley indoor positioning navigation system and control method thereof | |
| CN202267871U (en) | Automatic obstacle avoidance robot platform | |
| CN1101540C (en) | Omnibearing position transducer | |
| CN102878928B (en) | Storage yard real-time dynamic three dimensional measurement and control system | |
| CN107830832A (en) | Workpiece profile scanning system and method | |
| CN209833821U (en) | Intelligent logistics trolley | |
| CN2352313Y (en) | All direction position sensing device | |
| CN102980560A (en) | Laser optical disc-based digital inclined-angle sensor | |
| CN110744559A (en) | Laser automatic navigation library inventory robot | |
| CN210757693U (en) | Small-size map scanning robot in electric power place | |
| CN111687851A (en) | Museum collection checking robot | |
| CN101976068A (en) | Against-the-wall travel ultrasonic-navigation device for autonomous greenhouse moving platform | |
| CN114212432A (en) | Photoelectric positioning system applied to warehouse four-way shuttle | |
| CN210639464U (en) | Differential-control intelligent tracking obstacle avoidance trolley | |
| CN110661078A (en) | Vehicle-ground high-speed laser communication device | |
| CN217533056U (en) | Control system for autonomous mobile industrial robot and robot thereof | |
| CN204374774U (en) | A kind of intelligence guiding conveying arrangement of automatic collision | |
| CN110231607A (en) | A kind of laser radar system of the Special SOC chip based on high integration | |
| CN212352048U (en) | Museum collection checking robot | |
| CN210222568U (en) | Intelligent carrying trolley repeated positioning system | |
| CN215339883U (en) | Reagent card pusher and immunoassay appearance | |
| CN213562576U (en) | Four-wheel drive structure of CT laser scanning coal-coiling robot | |
| JPS633315A (en) | Drive controller for traveling object | |
| CN211977945U (en) | AGV based on laser scanner | |
| CN209765334U (en) | Wireless charging system for intelligent navigation trolley |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| C19 | Lapse of patent right due to non-payment of the annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |