CN207826380U - A kind of automatic guiding carriage - Google Patents

Abstract

The present application discloses an automatic guided car, wherein the automatic guided car includes a laser radar sensor located at the front of the car for collecting target data; an embedded development board for acquiring and processing target data and issuing control commands; A drive circuit for receiving and executing control instructions; a universal wheel for omnidirectional movement; wherein, the target data includes position data and distance data. It can be seen that the above-mentioned automatic guided vehicle disclosed in this application uses a low-cost two-dimensional laser radar to collect target data; at the same time, a low-cost embedded development board is used to process the target data and send control instructions to the drive circuit, so that the drive circuit Execute the control command and control the automatic guided vehicle, that is, reduce the cost of the automatic guided vehicle while being able to automatically control the guided vehicle.

Description

An automatic guided vehicle

technical field

The utility model relates to the field of mobile robots, in particular to an automatic guiding trolley.

Background technique

In recent years, with the continuous development of science and technology in mobile robot technology, the society's demand for mobile robots is also constantly increasing. The development of e-commerce has driven the development of the logistics industry, and the workload of various goods sorting processes has become increasingly heavy. In the storage system, the application of automatic guided vehicles has gradually become a research hotspot.

The sensor used by the automatic guided vehicle generally uses a visual sensor. Through SLAM technology (SLAM, simultaneous localization and mapping, real-time positioning and mapping), the robot can explore the surrounding environment. In an unknown environment, the sensor can detect the surrounding environment. Build an environment map to position the robot for automatic guidance. In the research process of SLAM, the visual sensor is easily affected by the surrounding environment, which makes the test results unstable, and the calculation is large, which increases the cost.

Therefore, how to reduce the cost of the automatic guided vehicle is a problem to be solved urgently by the technicians of the utility model.

Utility model content

In view of this, the purpose of the utility model is to provide an automatic guided vehicle and an automatic control method thereof, so as to reduce the cost of the automatic guided vehicle. The specific plan is as follows:

An automatic guided vehicle, comprising:

Located at the front of the car, a two-dimensional laser radar sensor for collecting target data;

An embedded development board for acquiring and processing the target data and issuing control instructions;

a drive circuit for receiving and executing the control instruction;

Universal wheels for omnidirectional movement;

Wherein, the target data includes position data and distance data.

Preferably, the algorithm adopted by the embedded development board is a SLAM algorithm.

Preferably, the automatic guided vehicle further includes a weighing device.

Preferably, in the automatic guided vehicle, the weighing device includes a load cell, an electronic display screen and an overweight indicator light.

Preferably, the load cell includes a resistance strain load cell.

Preferably, the automatic guided vehicle further includes an overweight indicator light.

Preferably, the automatic guided vehicle also includes:

An N-layer platform for carrying target objects; wherein, N is an integer greater than 1; the target objects include electronic components and/or goods.

Preferably, the automatic guided vehicle also includes:

A fixing device for fixing the lidar sensor.

Preferably, the automatic guided vehicle also includes:

A hollow copper column for fixing the embedded development board and the driving circuit.

Preferably, the automatic guided vehicle also includes:

An overcurrent protection device for protecting the embedded development board and the lidar sensor.

The utility model discloses an automatic guiding trolley, which comprises a laser radar sensor located at the front of the trolley for collecting target data; an embedded development board for acquiring and processing target data and issuing control instructions; and an embedded development board for receiving and executing A drive circuit for control commands; a universal wheel for omnidirectional movement; wherein, the target data includes position data and distance data. It can be seen that the utility model collects target data by using a low-cost two-dimensional laser radar; at the same time, it uses a low-cost embedded development board to process the target data, and sends a control command to the drive circuit, so that the drive circuit executes the control command and controls the automatic Guided car, that is, while being able to automatically control the guided car, it reduces the cost of the automatic guided car.

Description of drawings

In order to more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the following will briefly introduce the accompanying drawings that need to be used in the description of the embodiments or the prior art. Obviously, the accompanying drawings in the following description It is only an embodiment of the utility model, and those skilled in the art can also obtain other drawings according to the provided drawings without creative work.

Fig. 1 is a schematic structural view of an automatic guided vehicle provided by an embodiment of the present invention;

Fig. 2 is a schematic diagram of the installation of an automatic guided trolley provided by the embodiment of the present invention;

Fig. 3 is a specific structural schematic diagram of a weighing device of an automatic guided trolley provided by an embodiment of the present invention.

Detailed ways

The technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of them. example. Based on the embodiments of the present utility model, all other embodiments obtained by persons of ordinary skill in the art without making creative efforts belong to the scope of protection of the present utility model.

The embodiment of the utility model discloses an automatic guided trolley, as shown in Figure 1, comprising:

Located at the front of the car, a two-dimensional laser radar sensor 1 for collecting target data; an embedded development board 2 for acquiring and processing target data, and issuing control commands; a drive circuit 3 for receiving and executing control commands; Universal wheel 4 for omnidirectional movement; wherein, the target data includes position data and distance data.

It should be noted that a specific installation diagram of the automatic guided vehicle disclosed in the embodiment of the present invention is shown in Figure 2. The two-dimensional laser radar 1 is widely used in mobile robots due to its fast response and accurate measurement characteristics. Environmental obstacle detection. Two-dimensional laser radar 1 uses the TOF ranging method (TOF, Time of Flight, two-way ranging method) for ranging. The TOF ranging method mainly uses the flight time of the signal to and fro between two asynchronous transceivers to measure the distance between nodes. distance. The TOF ranging method has two key constraints: one is that the sending device and the receiving device must always be synchronized; the other is the length of transmission time for the signal provided by the receiving device. In order to achieve clock synchronization, the TOF ranging method uses a clock offset to solve the clock synchronization problem. However, since the time of the TOF ranging method depends on the local and remote nodes, the ranging accuracy is easily affected by the clock offset in the nodes at both ends. In order to reduce the impact of such errors, the reverse measurement method is used here, that is, the remote node sends the data packet, the local node receives the data packet, and automatically responds, by averaging the average value obtained in the forward and reverse directions, reducing any clock skew The influence of displacement, thereby reducing the error of distance measurement. In the automatic guided vehicle provided by the utility model, the installation position of the two-dimensional laser radar 1 is usually located at the front of the automatic guided vehicle, and is fixed by a fixing device. Specifically, the scanning frequency of the two-dimensional laser radar 1 can reach 10 Hz, the number of collection points can reach 4,000 points, and the measurement distance can reach more than 15 meters, which meets the application scenarios of automatic guided vehicles.

It should be further explained that the above-mentioned embedded development board 2 is usually located in the middle of the automatic guided car, preferably at the bottom of the automatic guided car, so as to avoid damage to the embedded development board 2 caused by the impact or friction of goods, etc., and extend the time of embedded development. Plate 2 lifetime. In addition, the algorithm used by the embedded development board 2 in the utility model can be a SLAM algorithm (SLAM, Simultaneous Localization and Mapping, real-time positioning and mapping), and the SLAM algorithm is recognized as the frontier direction of spatial positioning technology in the visual field, and it is mainly used It is used to solve the problem of localization and map construction when the robot moves in an unknown environment. It can be understood that the embedded development board 2 can also use other algorithms that meet the requirements, and these are all within the protection scope of the present invention. The above-mentioned embedded development board 2 can be the development board Raspberry Pi 3, of course, it can also be other types of development boards. It should be noted that the development board Raspberry Pi 3 can process the data of the two-dimensional laser radar 1 , and the volume is only the size of a credit card, which saves the space on the bottom platform of the automatic guided vehicle.

The drive circuit 3 for receiving and executing the control commands is located at the bottom of the automatic guided vehicle as the embedded development board 2 . There are various types of driving circuits 3, and the structure of the specific circuits is designed according to the needs of users. The structure of the front wheel 4 of the self-guided dolly provided by the utility model is usually a universal wheel, and what needs to be specified is that the universal wheel is exactly a so-called movable caster, which allows horizontal 360-degree rotation. Casters are a general term, including movable casters and fixed casters. The fixed casters have no rotating structure, and cannot be rotated horizontally but can only be rotated vertically. These two types of casters are generally used together. For example, the structure of the trolley is two fixed wheels on the front, and two movable universal wheels near the push armrest on the back. The universal wheel means that the bracket installed on the caster wheel can rotate 360 degrees horizontally under dynamic load or static load. There are many kinds of materials for making universal wheels, the most common materials are: nylon, polyurethane, rubber, cast iron and other materials. Widely used in mining, mechanical equipment, electronic equipment, medical equipment, engineering decoration, textile, printing and dyeing, furniture, logistics equipment, warehousing, turnover vehicles, chassis, cabinets, equipment, electromechanical, dust-free workshops, production lines, large supermarkets, etc. industries and fields. In the utility model, the universal wheel is used as the front wheel 4 of the self-guiding dolly, and is used to select the correct direction according to the drive of the drive circuit 3 and run the correct route. In addition, the rear wheel 6 of the automatic guided trolley can be a rubberized wheel, and it is controlled by a DC geared motor.

It can be seen that the utility model collects target data by using a low-cost two-dimensional laser radar; at the same time, it uses a low-cost embedded development board to process the target data, and sends a control command to the drive circuit, so that the drive circuit executes the control command and controls the automatic Guided car, that is, while being able to automatically control the guided car, it reduces the cost of the automatic guided car.

Furthermore, the self-guided trolley provided by the utility model also includes hollow copper pillars for fixing the embedded development board 2 and the drive circuit 3; the car body material is usually aluminum alloy, and of course other types can also be used if necessary. Material. The structure of the vehicle body may include N layers of platforms for carrying target objects; wherein, N is an integer greater than 1; the target objects include electronic components or goods. Considering the load of the automatic guided vehicle, N is usually taken as 2. The above-mentioned electronic components include but are not limited to a two-dimensional laser radar 1, an embedded development board 2 and a driving circuit 3.

Further, in order to prevent the automatic guided vehicle from being damaged due to overweight, the automatic guided vehicle provided by the embodiment of the utility model also includes a weighing device. It should be noted that the weighing device includes but is not limited to a load cell 11, an electronic display The schematic diagram of the installation positions of the screen 12 and the overweight indicator light 10 and the substrate is shown in FIG. 3 . It should be specifically noted that the load cell 11 is a device that converts a mass signal into a measurable electrical signal output. According to the conversion method, the load cell is divided into 8 categories, such as photoelectric type, hydraulic type, electromagnetic force type, capacitive type, magnetic pole change type, vibration type, gyro ceremony, and resistance strain type. The resistance strain type load cell is the most widely used. . The above-mentioned electronic display is usually an LED display (LED, Light Emitting Diode, light-emitting diode), or an LCD (LCD, Liquid Crystal Display, liquid crystal display), and of course it can also be other types of display. The working process of the weighing device can be: when the goods carried by the automatic guided vehicle are less than the preset weight threshold, the color of the overweight indicator light is green; when the goods carried by the automatic guided vehicle exceed the preset weight threshold, the overweight indicator light Can turn red for warning. It can be understood that the above-mentioned weight threshold can be set according to the needs of the user, or can be set according to the nature of the component structure of the automatic guided vehicle, and the color design of the above-mentioned overweight indicator light 10 can be set according to the needs of the user.

Further, in order to protect the above-mentioned electronic components such as the embedded development board 2, the laser radar sensor 1 and the drive circuit 3, the automatic guided car provided by the utility model also includes an overcurrent protection device 8; specifically, the overcurrent protection device 8 is used to set The upper limit of the current value in a safe state is the threshold current. Once the current automatically guided to the trolley exceeds the preset threshold current, the overcurrent protection device will alarm or automatically cut off the power to protect the above-mentioned electronic components.

Finally, it should also be noted that in this text, relational terms such as first and second etc. are only used to distinguish one entity or operation from another, and do not necessarily require or imply that these entities or operations, any such actual relationship or order exists. Furthermore, the term "comprises", "comprises" or any other variation thereof is intended to cover a non-exclusive inclusion such that a process, method, article or apparatus comprising a set of elements includes not only those elements, but also includes elements not expressly listed. other elements of or also include elements inherent in such a process, method, article, or apparatus. Without further limitations, an element defined by the phrase "comprising a ..." does not preclude the presence of additional identical elements in the process, method, article, or apparatus that includes the element.

The above description of the disclosed embodiments enables those skilled in the art to realize or use the utility model. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the invention. Therefore, the present invention will not be limited to these embodiments shown herein, but will conform to the widest scope consistent with the principles and novel features disclosed herein.

Claims (10)

1. A self-guided dolly, characterized in that, comprising: Located at the front of the car, a two-dimensional laser radar sensor for collecting target data; An embedded development board for acquiring and processing the target data and issuing control instructions; a drive circuit for receiving and executing the control instruction; Universal wheels for omnidirectional movement; Wherein, the target data includes position data and distance data. 2. The automatic guided vehicle according to claim 1, wherein the algorithm adopted by the embedded development board is a SLAM algorithm. 3. The automatic guided vehicle according to claim 1, further comprising a weighing device. 4. The automatic guided vehicle according to claim 3, wherein the weighing device comprises a load cell, an electronic display screen and an overweight indicator light. 5 . The automatic guided vehicle according to claim 4 , wherein the load cell comprises a resistance strain type load cell. 6 . 6. The automatic guided vehicle according to claim 1, further comprising an overweight indicator light. 7. The automatic guided vehicle according to claim 1, further comprising: An N-layer platform for carrying target objects; wherein, N is an integer greater than 1; the target objects include electronic components and/or goods. 8. The automatic guided vehicle according to claim 1, further comprising: A fixing device for fixing the lidar sensor. 9. The automatic guided vehicle according to claim 1, further comprising: A hollow copper column for fixing the embedded development board and the driving circuit. 10. The automatic guided vehicle according to any one of claims 1 to 9, further comprising: An overcurrent protection device for protecting the embedded development board and the lidar sensor.