CN213384509U

CN213384509U - Agricultural AGV transport vechicle based on visual navigation

Info

Publication number: CN213384509U
Application number: CN202021200361.8U
Authority: CN
Inventors: 王伟; 胡成举
Original assignee: Northeast Forestry University
Current assignee: Northeast Forestry University
Priority date: 2020-06-25
Filing date: 2020-06-25
Publication date: 2021-06-08
Anticipated expiration: 2030-06-25

Abstract

The utility model relates to automatic transportation equipment, and provides an agricultural AGV transportation vehicle based on visual navigation, which is mainly composed of a carrying body, a control room, a visual camera head, a power module, a frame and a walking module. A visual camera pan/tilt is installed on the front of the car to realize information collection, and the information is transmitted to the central processing module in the industrial computer for judgment and processing, thereby completing a series of motion control such as speed and steering. The invention is based on the premise that the agricultural transport vehicle has basic load and movement functions, adding a visual camera pan-tilt and GPS positioning functions, positioning the vehicle and collecting road condition information when the transport vehicle is running, and then handing it over to the control center for processing. Information planning route. It has compact structure, large carrying capacity, accurate route planning, flexible action when starting/stopping, accelerating/decelerating, low speed or climbing, etc. It is suitable for carrying goods on rural roads and greatly improves the labor of land contractors. Productivity, with high promotion value.

Description

Agricultural AGV transport vechicle based on visual navigation

Technical Field

The utility model relates to an agricultural transport vehicle, concretely relates to agricultural AGV transport vechicle based on visual navigation.

Background

The agricultural transport vehicle is a main transport means for agricultural transportation in China and is mainly used for rural road cargo transportation. An AGV is an intelligent carrier equipped with electromagnetic or optical automatic guidance modules, and generally includes two types: a rail-guided automatic guided vehicle and a trackless automatic guided vehicle. The AGV suitable for agricultural transportation is a trackless automatic vehicle working on a field road.

At present, AGV carrier vehicles are mostly applied to places such as factories, docks, freight ports and the like, special rails or other auxiliary equipment need to be additionally laid, and requirements on the width of the place, roads and working environment when the AGV carrier vehicles work are relatively low, so that the AGV carrier vehicles are relatively high in cost and large in limitation. The traditional agricultural transportation vehicles are common three-wheel transport vehicles, four-wheel transport vehicles and the like, generally the engine is a diesel engine, diesel oil is non-renewable energy, and the operation of the transportation vehicles is controlled by one person or one vehicle when the transportation vehicles are operated.

The agricultural transport AGV is a transport vehicle provided with an electromagnetic or optical device with an automatic guiding system control receiving device, a series of postures in the working process of the transport vehicle are realized by a set of special control system, and the running power is provided for the transport vehicle by a storage battery. Compared with the rail automatic guide trolley and the traditional agricultural transport vehicle, the agricultural transport AGV has the advantages that special rails or other auxiliary equipment do not need to be additionally paved during working operation, the power source is clean energy, and in addition, the requirements on the width of a running field, the road and the working environment are relatively low.

The use of an agricultural transport AGV as described herein frees people from heavy physical labor and the advent of an agricultural transport AGV that greatly increases the productivity of land contractors would be an overwhelming trend.

SUMMERY OF THE UTILITY MODEL

An object of the utility model is to provide an agricultural AGV transport vechicle based on visual navigation, in order to solve the unsatisfactory problem of rural open-air road delivery goods.

In order to achieve the above purpose, the agricultural AGV transport vehicle based on visual navigation in the utility model mainly comprises a visual camera pan-tilt 1, a control room, a load-bearing carriage 5, a frame, a main reducer 6, a driving motor 8, a steering motor 9, a storage battery 10, a universal shaft 15, a wheel hub 21, a driving half shaft 23, a steering system 27 and wheels 28; the visual camera cloud deck 1 collects road conditions in front of the transport vehicle, processes images of different information, converts the images into digital analog information and sends the digital analog information to the industrial personal computer 4 for information judgment; determining the position of the transport vehicle by using a GPS (global positioning system) positioner 3; the industrial personal computer 4 sends out an instruction to control a driving system of the transport vehicle and is provided with a main reducer 6; the steering system of the transport vehicle can also be controlled; the above transporter vehicle movement is powered by means of the battery 10.

The visual camera tripod head 1 mainly comprises a swing bracket 20, an industrial camera lens 18 and an image sensor 19; the information of road conditions is collected by an industrial camera lens 18 and then transmitted to an image sensor 19; the swing mount 20 supports the industrial camera lens 18 and the image sensor 19.

The driving system is characterized in that an industrial personal computer 4 controls a driving motor 8, the driving motor 8 drives a universal shaft 15 to rotate through a connecting flange 12, a shaft flange 13, an intermediate shaft I16 and an intermediate shaft II 17, the universal shaft 15 is connected with a driving half shaft 23 to drive wheels 28 to rotate, and the driving motor 8 is arranged at the bottom of a main frame.

The drive system requires a final drive 6 between the left and right wheels 28, the final drive 6 being provided on the drive axle shaft 23.

The power unit is essentially a battery 10 disposed in the control room to power the movement of the transporter.

The steering system 27 is driven by a steering motor 9.

The walking control system is essentially a system platform based on visual automatic navigation driving.

The invention has the following beneficial effects:

an agricultural AGV transport vehicle based on visual navigation mainly comprises a bearing vehicle body 5, a control room, a visual camera holder 1, a power module, a vehicle frame and a walking module. A visual camera cloud deck (1) is arranged on the head of the vehicle to realize information acquisition, and the information is transmitted to a central processing module in an industrial personal computer (4) to be judged and processed, so that a series of motion control such as speed, steering and the like is completed. On the premise that the agricultural transport vehicle has basic carrying and moving functions, the visual camera holder and the GPS positioning function are added to position the vehicle and collect road condition information when the transport vehicle runs, and then the road condition information is sent to the control center to process information to plan a route. The device has the advantages of compact structure, large bearing capacity, accurate route planning, flexible actions during operations such as starting/stopping, accelerating/decelerating, low speed or climbing and the like, is suitable for carrying goods on rural field roads, greatly improves the labor productivity of land contractors, and has high popularization value.

Drawings

FIG. 1 is a main view full-section view of an agricultural AGV based on visual navigation in the utility model;

FIG. 2 is a top cross-sectional view of an agricultural AGV based on visual navigation according to the present invention;

FIG. 2-1 is a top view of a partial cross-sectional view of an agricultural AGV based on visual navigation according to the present invention;

FIG. 2-2 is a top view of a partial sectional view II of an agricultural AGV based on visual navigation according to the present invention;

FIG. 3 is a right-view semi-sectional view of an agricultural AGV based on visual navigation according to the present invention;

FIG. 3-1 is a partial cross-sectional view III of a right-side half-sectional view of an agricultural AGV based on visual navigation according to the present invention;

FIG. 4 is a schematic view of a visual camera pan-tilt of an agricultural AGV based on visual navigation according to the present invention;

FIG. 5-1 is a front view of a visual navigation based steering system of an agricultural AGV according to the present invention;

5-2 is a top view of the agricultural AGV based on visual navigation of the present invention;

number in the figure: the visual camera shooting platform comprises a visual camera shooting platform body 1, an information display device 2, a 3GPS positioner, a 4 industrial personal computer, a 5 bearing carriage body, a 6 main speed reducer, a 7 steel plate spring suspension, an 8 driving motor, a 9 steering motor, a 10 storage battery, a 11 shaft sleeve, a 12 connecting flange, a 13 shaft flange, a 14-hole elastic retainer ring, a 15 universal shaft, a 16 intermediate shaft I, a 17 intermediate shaft II, an 18 industrial camera lens, a 19 image sensor, a 20 swing support, a 21 wheel hub, a 22 rolling bearing 7211C, a 23 driving half shaft, a 24 gasket 55, a 25 shaft shoulder retainer ring, a 26 oil seal, a 27 steering system, 28 wheels, 29 steering knuckles, a 30 front cross beam, a 31 steering main pin shaft, 32 steering knuckle arms and 33 steering pull.

Detailed Description

The specific embodiments of the agricultural AGV transport vehicle based on visual navigation according to the present invention will now be described with reference to the accompanying drawings.

As shown in fig. 2 and fig. 3, the agricultural AGV transport vehicle based on visual navigation in the present invention mainly comprises a visual camera pan-tilt 1, a control room, a load-bearing carriage 5, a frame, a main reducer 6, a driving motor 8, a steering motor 9, a storage battery 10, a cardan shaft 15, a wheel hub 21, a driving half shaft 23, a steering system 27, and wheels 28; the visual camera cloud deck 1 collects road conditions in front of the transport vehicle, processes images of different information, converts the images into digital analog information and sends the digital analog information to the industrial personal computer 4 for information judgment; determining the position of the transport vehicle by using a GPS (global positioning system) positioner 3; the industrial personal computer 4 sends out an instruction to control a driving system of the transport vehicle and is provided with a main reducer 6; the steering system of the transport vehicle can also be controlled; the above transporter vehicle movement is powered by means of the battery 10.

As shown in figure 1, the position of the transport vehicle is determined by the GPS positioner 3, and a control feedback is formed between the transport vehicle and the industrial personal computer, so that the functions of real-time positioning, track tracking, alarm and alarm, emergency help seeking and the like can be realized.

As shown in fig. 2 and 3, the driving system is that the industrial personal computer 4 controls the driving motor 8, the driving motor 8 drives the universal shaft 15 to rotate through the connecting flange 12, the shaft flange 13, the intermediate shaft i 16 and the intermediate shaft ii 17, the universal shaft 15 is connected with the driving half shaft 23 to drive the wheels 28 to rotate, and the operations of starting/stopping, accelerating/decelerating, low speed or climbing are performed.

As shown in fig. 3, the outermost wheels 28 of the transporter generally travel a little longer than the inner wheels 28, which greatly increases the wear of the tires of the wheels 28. In order to eliminate the friction loss generated by the left and right wheels 28, a main reducer 6 may be provided between the left and right wheels 28, so that the wheels on both sides of the drive axle can advance together at different rotation speeds while the friction between the wheels 28 and the ground is not too large when the travels are different, thereby meeting the working requirements of the transport vehicle in the advancing process.

As shown in fig. 1, the power unit is essentially an electric drive powered by a battery 10 disposed in a control room.

As shown in fig. 4, the vision camera head 1 uses a swing frame 20 to support an industrial camera lens 18 to capture the road conditions ahead of the transport vehicle during the traveling process, and transmits the images containing different information to an image sensor 19 in the form of optical signals. And finally, a photoelectric sensor in the industrial camera converts the optical signal into digital analog information, and sends the digital analog information to a central processing module in the industrial personal computer 4 for judging and processing the road condition in front of the transport vehicle.

As shown in fig. 5-1 and 5-2, the steering system is composed of a front beam 30, a knuckle 29, a kingpin 31 and the like; driven by a steering motor 9. The knuckle 29 supports the wheel hub of the wheel through a pair of hub bearings while being articulated with the kingpin 31 and the front beam 30 for the purpose of steering the wheel. A knuckle arm 32 is mounted on the knuckle, and the knuckle arm 32 and a steering drag link 33 are connected to each other.

The essence of the walking control system is a system platform based on visual automatic navigation driving, namely the AGV walking technology provided by the invention.

The above-mentioned embodiments, which have been described in further detail to the purpose, technical solutions and advantages of the present invention, are only embodiments of the present invention, and are not limited to the scope of the present invention, and any modifications, equivalent substitutions, improvements, etc. made within the spirit and principle of the present invention should be included in the scope of the present invention.

Claims

1. Agricultural AGV transport vechicle based on visual navigation, its characterized in that: the visual camera tripod head mainly comprises a visual camera tripod head (1), a control room, a bearing carriage (5), a frame, a main speed reducer (6), a driving motor (8), a steering motor (9), a storage battery (10), a cardan shaft (15), a wheel hub (21), a driving half shaft (23), a steering system (27) and wheels (28); the visual camera tripod head (1) uses a swing bracket (20) to support an industrial camera lens (18) to acquire road condition information, then transmits the road condition information to an image sensor (19), and finally transmits the road condition information to an industrial personal computer (4); the industrial personal computer (4) sends an instruction to control a driving motor (8) of the transport vehicle to work, the driving motor (8) drives a universal shaft (15) to rotate through a connecting flange (12), a shaft flange (13), an intermediate shaft I (16) and an intermediate shaft II (17), and the universal shaft (15) is connected with a driving half shaft (23) to drive wheels (28) to rotate; a main speed reducer (6) is arranged between a left wheel (28) and a right wheel (28), and a steering motor (9) is arranged to control the steering system (27) to work; the movement of the transport vehicle is powered by the storage battery (10).

2. An agricultural AGV transport vehicle based on visual navigation as claimed in claim 1, wherein: the visual camera holder (1) mainly comprises a swing bracket (20), an industrial camera lens (18) and an image sensor (19); the road condition information is collected by an industrial camera lens (18) and then transmitted to an image sensor (19); the swing mount (20) supports an industrial camera lens (18) and an image sensor (19).

3. An agricultural AGV transport vehicle based on visual navigation as claimed in claim 1, wherein: and a driving motor (8) controlled by the industrial personal computer (4) is arranged at the bottom of the main frame.

4. An agricultural AGV transport vehicle based on visual navigation as claimed in claim 1, wherein: a main speed reducer (6) is arranged between the left wheel and the right wheel (28), and the main speed reducer (6) is arranged on a driving half shaft (23).

5. An agricultural AGV transport vehicle based on visual navigation as claimed in claim 1, wherein: the battery (10) arranged in the control cabin provides power for the movement of the transport vehicle.

6. An agricultural AGV transport vehicle based on visual navigation as claimed in claim 1, wherein: the steering system (27) is driven by a steering motor (9).

7. An agricultural AGV transport based on visual navigation according to claim 1 or claim 2, further comprising: the essence of the industrial personal computer is a system platform based on visual automatic navigation driving.