技术领域technical field
本发明涉及智能设备控制领域，具体涉及一种带有二维码站点位置信息的智能小车循迹系统。The invention relates to the field of intelligent equipment control, in particular to an intelligent car tracking system with two-dimensional code site location information.
背景技术Background technique
随着物流仓储行业的发展和自动化技术的成熟,AGV设备在工业自动化现场,自动化生产线得到了大量的运用。AGV Automated Guided Vehicle，意即“自动导引运输车”，是指装备有电磁或光学等自动导引装置，它能够沿规定的导引路径行驶，具有安全保护以及各种移载功能的运输车，AGV属于轮式移动机器人。With the development of the logistics and warehousing industry and the maturity of automation technology, AGV equipment has been widely used in industrial automation sites and automated production lines. AGV Automated Guided Vehicle, which means "automatically guided transport vehicle", refers to a transport vehicle equipped with automatic guidance devices such as electromagnetic or optical, which can drive along the prescribed guiding path, and has safety protection and various transfer functions. , AGV is a wheeled mobile robot.
在AGV的研发和使用中，主要包含机械总成和通信总成，机械总成包含小车的行走装置、转向装置、举升装置等，而通信总成则是通过通信网络来获知系统派发的运输任务，并根据多种室内定位技术感知自身位置信息，从而通过计算来制定自行运输的路径规划，并执行运输任务，从而完成自动化生产线上的物资搬运工作。在AGV在现场,例如室内仓库进行运输任务时,需要时刻获取自身的定位数据,从而感知自身位置信息,通过计算来制定自行运输的路径规划,完成运输任务,因此,AGV的定位和导航模块使AGV的研发和设计重点之一。In the research and development and use of AGV, it mainly includes the mechanical assembly and the communication assembly. tasks, and perceive its own position information according to a variety of indoor positioning technologies, so as to formulate the path planning of self-transportation through calculation, and perform transportation tasks, thereby completing the material handling work on the automated production line. When the AGV is in the field, such as an indoor warehouse, for transportation tasks, it needs to obtain its own positioning data at all times, so as to perceive its own location information, formulate its own transportation path planning through calculation, and complete the transportation task. Therefore, the positioning and navigation module of the AGV uses One of the key points of AGV's research and development and design.
在现有技术中， 定位技术，尤其是室内定位技术，常常采用地面轨迹导航的技术方案。由于在市内，GPS信号弱，定位不可靠，而地面轨迹可靠性高。但是这样的技术方案也同样存在缺陷，该种导航机制只能限定AGV在固定路线上的行走，适合于固定场所和固定目标的任务执行模式，不利于柔性化制造场所，以及对业务变更有很高要求的电商仓储领域的应用。In the prior art, the positioning technology, especially the indoor positioning technology, often adopts a technical solution of ground track navigation. Due to the weak GPS signal in the city, the positioning is unreliable, while the reliability of the ground track is high. However, such a technical solution also has defects. This kind of navigation mechanism can only limit the walking of AGV on a fixed route, which is suitable for the task execution mode of fixed places and fixed targets, which is not conducive to flexible manufacturing places, and has great influence on business changes. Applications in the field of e-commerce warehousing with high requirements.
因此，人们对其他的导航技术方案进行了研发，尤其是基于激光导航的AGV系统，但是基于激光导航的AGV系统，是依赖激光线阵雷达或者激光面阵雷达，通过测量AGV设备与标志物或者固定式障碍物的距离，构建基于AGV视角的地图模型，然后根据系统指派的任务执行相关运动动作。为了在任意时刻能够对自身有很好的定位，需要AGV系统中的激光雷达能够在任意时刻可以扫描到三点以上的标志物或者固定式障碍物。因此在工厂或者电商仓储等比较空旷的环境下，通常要求激光雷达的测量距离在米以上，并且水平分辨率越高越好、水平视野越广阔越好，满足这种技术要求的激光雷达动辄在上万元甚至五万元以上的成本，成本昂贵，难以大规模普及。Therefore, people have researched and developed other navigation technology solutions, especially the AGV system based on laser navigation, but the AGV system based on laser navigation relies on laser line array radar or laser area array radar, by measuring AGV equipment and markers or Based on the distance of fixed obstacles, build a map model based on the perspective of AGV, and then perform related motion actions according to the tasks assigned by the system. In order to be able to position itself well at any time, the lidar in the AGV system needs to be able to scan more than three markers or fixed obstacles at any time. Therefore, in a relatively empty environment such as a factory or an e-commerce warehouse, it is usually required that the measurement distance of the laser radar is more than one meter, and the higher the horizontal resolution, the better, and the wider the horizontal field of view, the better. The laser radar that meets this technical requirement is easily At a cost of tens of thousands or even more than 50,000 yuan, it is expensive and difficult to popularize on a large scale.
发明内容Contents of the invention
本发明的目的是提供一种带有二维码站点位置信息的智能小车循迹系统，使用循迹装置作为主导航，可靠性高，采用二维码坐标系统，灵活性强，整个系统成本可控，利于推广。The purpose of the present invention is to provide a smart car tracking system with two-dimensional code site location information, which uses the tracking device as the main navigation, has high reliability, adopts the two-dimensional code coordinate system, has strong flexibility, and the cost of the whole system can be reduced Control is good for promotion.
本发明的上述技术目的是通过以下技术方案得以实现的：一种带有二维码站点位置信息的智能小车循迹系统，包含智能小车，所述智能小车包含行走装置、驱动装置、电源部件，还包含主导航装置，所述主导航装置包含帖设在地面上的轨迹贴条，所述轨迹贴条上贴设有内含坐标信息的中心标签，所述智能小车上还设有用于扫描识别所述轨迹贴条与所述中心标签的识别镜头。The technical purpose of the present invention is achieved through the following technical solutions: a smart car tracking system with two-dimensional code site location information, including a smart car, the smart car includes a walking device, a driving device, a power supply unit, It also includes a main navigation device, the main navigation device includes a track sticker posted on the ground, the track sticker is affixed with a central label containing coordinate information, and the smart car is also equipped with a label for scanning and identification. Recognition shots of the track sticker and the center label.
作为本发明的优选，所述智能小车上还设有惯性导航装置，所述惯性导航装置包含惯性导航传感器，所述惯性导航传感器为三轴陀螺仪或三轴加速度计或三轴地磁传感器。As a preference of the present invention, the smart car is further provided with an inertial navigation device, the inertial navigation device includes an inertial navigation sensor, and the inertial navigation sensor is a three-axis gyroscope or a three-axis accelerometer or a three-axis geomagnetic sensor.
作为本发明的优选，：所述轨迹贴条包含多条轨迹横条和多条轨迹竖条，多条所述轨迹横条和多条所述轨迹竖条相互垂直，所述中心标签帖设在所述轨迹横条和所述轨迹竖条的交叉点位置。As a preference of the present invention, the track stickers include a plurality of track horizontal bars and a plurality of track vertical bars, a plurality of track horizontal bars and a plurality of track vertical bars are perpendicular to each other, and the center label is set at The position of the intersection of the track horizontal bar and the track vertical bar.
作为本发明的优选，所述中心标签为二维码标签。As a preference of the present invention, the central label is a two-dimensional code label.
在本技术方案中，所述轨迹贴条作为了主导航装置，利用循迹导航的可靠性，系统中AGV，即所述智能小车的运动和任务执行以循迹为主，这样即使轨迹施工有所偏差，但经过这个偏差点之后，其影响面不会累计到后续的导航效果，执行非常可靠。而另一方面，所述中心标签，即二维码坐标系统成为了导航方案的补充。利用二维码坐标系统带来的系统执行灵活性，将在空间坐标点粘贴带有坐标信息的二维码，被所述智能小车的所述识别镜头识别到。需要说明的是，在本案中，所述识别镜头仅需要识别二维码的坐标信息，并需要不识别该二维码带来的中心偏移和角度偏移信息，因此对二维码粘贴和维护极大地放宽要求，从而降低了系统实施和维护难度。In this technical solution, the track sticker is used as the main navigation device, and the reliability of the track navigation is utilized. The AGV in the system, that is, the movement and task execution of the smart car is mainly based on the track, so that even if the track construction has problems The deviation, but after passing this deviation point, its influence surface will not be accumulated to the subsequent navigation effect, and the execution is very reliable. On the other hand, the central label, that is, the two-dimensional code coordinate system becomes a supplement to the navigation scheme. Using the system execution flexibility brought by the two-dimensional code coordinate system, the two-dimensional code with coordinate information will be pasted on the spatial coordinate point, and will be recognized by the recognition lens of the smart car. It should be noted that in this case, the recognition lens only needs to recognize the coordinate information of the two-dimensional code, and does not need to recognize the center offset and angle offset information brought about by the two-dimensional code, so the two-dimensional code paste and Maintenance greatly relaxes the requirements, thereby reducing the difficulty of system implementation and maintenance.
在本技术方案中,用光学轨迹条或者磁性轨迹条按照坐标线的方式贴满整个空间，形成相互垂直的轨迹横条和轨迹竖条,并在轨迹交叉点贴上带有坐标信息的二维码，即中心标签,用以指示AGV设备该交叉点的具体空间坐标，虽然施工工程量有所增加，但整个系统的施工工程对精度要求降低非常多，并没有提出特别的施工精度要求。In this technical solution, optical track strips or magnetic track strips are used to fill the entire space in the form of coordinate lines to form horizontal track bars and vertical track bars perpendicular to each other, and two-dimensional track bars with coordinate information are pasted on track intersection points. The code, that is, the center label, is used to indicate the specific spatial coordinates of the intersection point of the AGV equipment. Although the amount of construction work has increased, the construction work of the entire system has greatly reduced the accuracy requirements, and no special construction accuracy requirements have been proposed.
所述智能小车除了通过所述轨迹贴条和所述中心标签获得定位坐标外，还通过惯性导航装置获得数据。具体的，所述智能小车内置惯性导航传感器，如陀螺仪、加速度计、地磁等，从而在地面轨迹或者二维码有破损或者丢失情况下，能够保持运动参数，重新等待捕捉良好的轨迹或者二维码出现，从而进一步降低系统运行的维护难度，提高系统容错率。In addition to obtaining positioning coordinates through the track sticker and the center label, the smart car also obtains data through an inertial navigation device. Specifically, the smart car has built-in inertial navigation sensors, such as gyroscopes, accelerometers, geomagnetism, etc., so that when the ground track or the two-dimensional code is damaged or lost, it can maintain the motion parameters and wait to capture a good track or two. The emergence of two-dimensional codes further reduces the maintenance difficulty of system operation and improves the system fault tolerance rate.
作为本发明的优选，所述智能小车底面设有所述识别镜头和用于为所述识别镜头提供补光光线的补光灯。As a preference of the present invention, the bottom surface of the smart car is provided with the identification lens and a supplementary light for providing supplementary light for the identification lens.
作为本发明的优选，所述补光灯为多个，位于所述识别镜头的外侧。As a preference of the present invention, there are multiple supplementary light lamps located outside the identification lens.
作为本发明的优选，所述识别镜头和所述补光灯下方设有透镜，所述透镜包含透光部和位于所述透光部外侧的磨砂部。As a preference of the present invention, a lens is provided under the identification lens and the supplementary light, and the lens includes a light-transmitting portion and a frosted portion located outside the light-transmitting portion.
作为本发明的优选，所述智能小车底面还设有清洁装置，所述清洁装置包含有由弹性材料制成的弹性基座、设置在所述弹性基座上且倾斜延伸的斜刮板和设在所述弹性基座上的毛刷。As a preference of the present invention, the bottom surface of the smart trolley is also provided with a cleaning device, the cleaning device includes an elastic base made of elastic material, an inclined scraper arranged on the elastic base and extending obliquely, and a device Brush on the elastic base.
当所述智能小车在移动时，需要使用所述识别镜头扫描地上的所述轨迹横条和所述中心标签，但是由于所述识别镜头往往设置在所述智能小车的底面，光线不佳，为了获得较好的视场视角，需要使用所述补光灯进行补光。When the smart car is moving, it is necessary to use the recognition lens to scan the track bar and the center label on the ground, but because the recognition lens is often set on the bottom surface of the smart car, the light is not good, in order To obtain a better field of view angle of view, it is necessary to use the fill light for fill light.
一般的，所述补光灯可以设置为多个，设在所述识别镜头的外侧。本案中，特设所述透镜。所述透镜的中部为透光部，正对所述识别镜头的下方，使得所述识别镜头获得透明清晰的视野。而所述透光部的外侧为磨砂部，正对所述补光灯的下方，使得周边一圈的所述补光灯，即LED灯透过磨砂玻璃之后变成漫反射的环境光，而不是直射的点光源，避免由于在所述中心标签和所述轨迹贴条反光，从而影响所述识别镜头的画面捕捉。Generally, the supplementary light can be provided in multiples, and is arranged outside the identification lens. In this case, the lens is ad hoc. The middle part of the lens is a light-transmitting part, facing directly below the identification lens, so that the identification lens can obtain a transparent and clear view. The outer side of the light-transmitting part is a frosted part, facing directly below the supplementary light, so that the supplementary light around the periphery, that is, the LED light becomes diffusely reflected ambient light after passing through the frosted glass. A point light source that is not directly irradiated, avoids reflecting light on the center label and the track sticker, thereby affecting the picture capture of the recognition lens.
当所述智能小车移动过所述轨迹贴条和所述中心标签后，所述清洁装置会自动对贴条和标签进行清洁。具体的，所述斜刮板对污垢进行刮除，所述毛刷对贴条和标签上的灰尘进行除尘，从而提升所述识别镜头对于所述轨迹贴条和所述中心标签的识别率。After the smart car moves past the track stickers and the center label, the cleaning device will automatically clean the stickers and labels. Specifically, the inclined scraper scrapes off the dirt, and the brush removes the dust on the sticker and the label, so as to improve the recognition rate of the recognition lens for the track sticker and the center label.
作为本发明的优选，所述智能小车设有所述识别镜头，所述识别镜头下方设有可滑动的防尘装置。As a preference of the present invention, the smart car is provided with the identification lens, and a slidable dust-proof device is provided under the identification lens.
作为本发明的优选，所述防尘装置包含固定框、滑动连接在所述固定框上的滑动板和开设在所述滑动板上的矩形槽，所述矩形槽中设有滤网。As a preference of the present invention, the dust-proof device includes a fixed frame, a sliding plate slidably connected to the fixed frame, and a rectangular slot opened on the sliding plate, and a filter screen is arranged in the rectangular slot.
作为本发明的优选，所述智能小车上设有安装板，所述识别镜头和用于吹风的吹风管都设在所述安装板上。As a preference of the present invention, the smart car is provided with a mounting plate, and both the recognition lens and the blowing pipe for blowing air are provided on the mounting plate.
作为本发明的优选，所述滑动板至少为两块，在两块所述滑动板相对的侧面上用于彼此固定连接的连接插片。As a preference of the present invention, there are at least two sliding plates, and the connecting inserts on the opposite sides of the two sliding plates are used for fixed connection with each other.
作为本发明的优选，所述连接插片包含用于将所述吹风管的风流反弹向所述识别镜头的反弹上扬部，所述反弹上扬部按远离所述滑动板方向逐渐向上方倾斜延伸。As a preference of the present invention, the connecting insert includes a rebounding rising portion for bouncing the wind flow of the blowing pipe toward the identification lens, and the rebounding rising portion gradually extends upwards in a direction away from the sliding plate.
作为本发明的优选，所述滑动板上设有由弹性材料制成的碰撞凸体，所述碰撞凸体呈半球形。As a preference of the present invention, the sliding plate is provided with a bumping body made of elastic material, and the bumping body is hemispherical.
所述智能小车的行走装置、举升装置、驱动装置、电源部件等部件都和现有技术中相同，可不做过多的改进。在本案中，识别镜头用于识别所述中心标签和所述轨迹贴条。所述滑动板可在所述固定框上水平滑动，当所述智能小车处于行走状态时，所述滑动板滑开，而在静止状态的时候，可以使得所述滑动板合上。所述滑动板上开设有多个矩形槽，其中设有滤网，起到保护镜头，过滤粉尘的作用。而在所述滑动板的侧端设有多个所述碰撞凸体，所述碰撞凸体有着两个作用，一方面，在两个相对的所述滑动板合上的时候起到保护和缓冲的作用。另一方面，所述碰撞凸体也是一个感应部件，当感应到碰触时所述滑动板就停止滑动。The walking device, lifting device, driving device, power supply parts and other parts of the smart car are all the same as those in the prior art, and there is no need to make too many improvements. In this case, a recognition lens is used to recognize the center label and the track sticker. The sliding plate can slide horizontally on the fixed frame. When the smart car is in a walking state, the sliding plate slides open, and in a stationary state, the sliding plate can be closed. The sliding plate is provided with a plurality of rectangular slots, in which a filter screen is provided to protect the lens and filter dust. The side ends of the sliding plates are provided with a plurality of collision protrusions, and the collision protrusions have two functions. On the one hand, when the two opposite sliding plates are closed, they play a role of protection and buffering. role. On the other hand, the collision protrusion is also a sensing part, and the sliding plate stops sliding when a touch is sensed.
在所述滑动板的侧面还设有连接插片和与之匹配的插槽，当所述滑动板合上时，所述连接插片进入所述插槽，完成固定。The side of the sliding plate is also provided with a connecting insert and a matching slot. When the sliding plate is closed, the connecting insert enters the slot to complete the fixing.
在所述连接插片上的反弹上扬部，还存在一个风力反弹的作用，当所述吹风管上的风力吹出时，碰撞到所述反弹上扬部，风路会回弹，吹向所述识别镜头，有助镜头的清洁。There is also a wind rebound effect on the rebound rising part on the connecting insert. When the wind on the blowpipe blows out, it collides with the rebound rising part, and the wind path will rebound and blow to the identification lens , helps to clean the lens.
综上所述，本发明具有如下有益效果：In summary, the present invention has the following beneficial effects:
1.系统中智能小车，即AGV的运动和任务执行以循迹为主，这样即使轨迹施工有所偏差，但经过这个偏差点之后，其影响面不会累计到后续的导航效果，执行可靠。1. The movement and task execution of the smart car in the system, that is, the AGV, is mainly based on tracking, so that even if there is a deviation in the track construction, after passing this deviation point, its impact will not accumulate to the subsequent navigation effect, and the execution is reliable.
2、通过扫描地面的中心标签，获取当前的位置信息。2. Obtain the current location information by scanning the center label on the ground.
3、系统通过惯性导航装置获知的运动参数/姿态信息，融合空间定位信息，进行融合算法，从而感知自身设备的完全定位及其姿态信息，灵活程度高。3. The system uses the motion parameters/attitude information obtained by the inertial navigation device, fuses the spatial positioning information, and performs a fusion algorithm to perceive the complete positioning and attitude information of its own equipment, with a high degree of flexibility.
4、透镜能对补光灯的光源进行处理，避免光线反射影响识别镜头的画面捕捉。4. The lens can process the light source of the fill light to avoid light reflection from affecting the image capture of the recognition lens.
5、清洁装置能自动对经过的轨迹贴条和中心标签进行清洁。5. The cleaning device can automatically clean the passing track stickers and center labels.
附图说明：Description of drawings:
图1是实施例1中轨迹贴条和中心标签的布置示意图；Fig. 1 is the layout schematic diagram of track sticking bar and center label in embodiment 1;
图2是智能小车上各部件的安装示意图；Figure 2 is a schematic diagram of the installation of the components on the smart car;
图3是图2A处的放大图；Figure 3 is an enlarged view at Figure 2A;
图4是实施例2中识别镜头与清洁装置的示意图。FIG. 4 is a schematic diagram of the identification lens and the cleaning device in Embodiment 2. FIG.
图中：In the picture:
1、主导航装置，11、轨迹横条，12、轨迹竖条，2、中心标签，3、安装板，4、识别镜头，41、补光灯，42、透镜，421、磨砂部，422、透光部，5、防尘装置，51、固定框，52、滑动板，53、矩形槽，6、吹风管，7、碰撞凸体，8、连接插片，81、反弹上扬部，9、清洁装置，91、弹性基座，92、斜刮板，93、毛刷。1. Main navigation device, 11. Track horizontal bar, 12. Track vertical bar, 2. Center label, 3. Mounting plate, 4. Recognition lens, 41. Fill light, 42. Lens, 421, Frosted part, 422, Light-transmitting part, 5, dust-proof device, 51, fixed frame, 52, sliding plate, 53, rectangular groove, 6, blowing pipe, 7, collision convex body, 8, connecting insert piece, 81, rebound rising part, 9, Cleaning device, 91, elastic base, 92, inclined scraper, 93, hair brush.
具体实施方式detailed description
以下结合附图对本发明作进一步详细说明。The present invention will be described in further detail below in conjunction with the accompanying drawings.
本具体实施例仅仅是对本发明的解释，其并不是对本发明的限制，本领域技术人员在阅读完本说明书后可以根据需要对本实施例做出没有创造性贡献的修改，但只要在本发明的权利要求范围内都受到专利法的保护。This specific embodiment is only an explanation of the present invention, and it is not a limitation of the present invention. Those skilled in the art can make modifications to this embodiment without creative contribution as required after reading this specification, but as long as they are within the rights of the present invention All claims are protected by patent law.
实施例1，如图1所示，一种带有二维码站点位置信息的智能小车循迹系统，包含智能小车，智能小车包含行走装置、驱动装置、电源部件，还包含主导航装置1，主导航装置1包含帖设在地面上的轨迹贴条，轨迹贴条上贴设有内含坐标信息的中心标签2，智能小车上还设有用于扫描识别轨迹贴条与中心标签2的识别镜头4，智能小车上还设有惯性导航装置。惯性导航装置包含惯性导航传感器，惯性导航传感器为三轴陀螺仪或三轴加速度计或三轴地磁传感器。轨迹贴条包含多条轨迹横条11和多条轨迹竖条12，多条轨迹横条11和多条轨迹竖条12相互垂直，中心标签2帖设在轨迹横条11和轨迹竖条12的交叉点位置。中心标签2为二维码标签。Embodiment 1, as shown in Figure 1, a smart car tracking system with two-dimensional code site location information, including a smart car, the smart car includes a walking device, a driving device, a power supply unit, and also includes a main navigation device 1, The main navigation device 1 includes a track sticker posted on the ground, on which a center label 2 containing coordinate information is pasted, and the smart car is also equipped with a recognition lens for scanning and identifying the track sticker and the center label 2 4. The smart car is also equipped with an inertial navigation device. The inertial navigation device includes an inertial navigation sensor, and the inertial navigation sensor is a three-axis gyroscope or a three-axis accelerometer or a three-axis geomagnetic sensor. The track stickers include multiple track horizontal bars 11 and multiple track vertical bars 12, the multiple track horizontal bars 11 and the multiple track vertical bars 12 are perpendicular to each other, and the central label 2 is set on the track horizontal bar 11 and the track vertical bar 12. intersection location. Center label 2 is a QR code label.
在本技术方案中，轨迹贴条作为了主导航装置，利用循迹导航的可靠性，系统中AGV，即智能小车的运动和任务执行以循迹为主，这样即使轨迹施工有所偏差，但经过这个偏差点之后，其影响面不会累计到后续的导航效果，执行非常可靠。而另一方面，中心标签，即二维码坐标系统成为了导航方案的补充。利用二维码坐标系统带来的系统执行灵活性，将在空间坐标点粘贴带有坐标信息的二维码，被智能小车的识别镜头识别到。需要说明的是，在本案中，识别镜头仅需要识别二维码的坐标信息，并需要不识别该二维码带来的中心偏移和角度偏移信息，因此对二维码粘贴和维护极大地放宽要求，从而降低了系统实施和维护难度。In this technical solution, track stickers are used as the main navigation device. Taking advantage of the reliability of track navigation, the AGV in the system, that is, the movement and task execution of the smart car are mainly based on track. In this way, even if the track construction deviates, but After passing this deviation point, its influence surface will not accumulate to subsequent navigation effects, and the execution is very reliable. On the other hand, the central label, that is, the QR code coordinate system, becomes a supplement to the navigation scheme. Utilizing the system execution flexibility brought by the two-dimensional code coordinate system, the two-dimensional code with coordinate information will be pasted on the spatial coordinate point, which will be recognized by the recognition lens of the smart car. It should be noted that in this case, the recognition lens only needs to recognize the coordinate information of the QR code, and does not need to recognize the center offset and angle offset information brought by the QR code, so it is very important for the QR code to be pasted and maintained. The requirements are greatly relaxed, thereby reducing the difficulty of system implementation and maintenance.
在本技术方案中,用光学轨迹条或者磁性轨迹条按照坐标线的方式贴满整个空间，形成相互垂直的轨迹横条11和轨迹竖条12,并在轨迹交叉点贴上带有坐标信息的二维码，即中心标签2,用以指示AGV设备该交叉点的具体空间坐标，虽然施工工程量有所增加，但整个系统的施工工程对精度要求降低非常多，并没有提出特别的施工精度要求。In this technical solution, the entire space is covered with optical track strips or magnetic track strips in the form of coordinate lines to form horizontal track bars 11 and vertical track bars 12 perpendicular to each other, and stickers with coordinate information are pasted at the intersection points of the tracks. The two-dimensional code, that is, the center label 2, is used to indicate the specific spatial coordinates of the intersection point of the AGV equipment. Although the amount of construction work has increased, the construction work of the entire system has greatly reduced the accuracy requirements, and no special construction accuracy has been proposed. Require.
智能小车除了通过轨迹贴条和中心标签2获得定位坐标外，还通过惯性导航装置获得数据。具体的，智能小车内置惯性导航传感器，如陀螺仪、加速度计、地磁等，从而在地面轨迹或者二维码有破损或者丢失情况下，能够保持运动参数，重新等待捕捉良好的轨迹或者二维码出现，从而进一步降低系统运行的维护难度，提高系统容错率。In addition to obtaining the positioning coordinates through the track stickers and the center label 2, the smart car also obtains data through the inertial navigation device. Specifically, the smart car has built-in inertial navigation sensors, such as gyroscopes, accelerometers, geomagnetism, etc., so that when the ground track or QR code is damaged or lost, it can maintain the motion parameters and wait for a good track or QR code to be captured again. appear, thereby further reducing the maintenance difficulty of system operation and improving the system fault tolerance rate.
智能小车设有识别镜头4，识别镜头4下方设有可滑动的防尘装置5。防尘装置5包含固定框51、滑动连接在固定框51上的滑动板52和开设在滑动板52上的矩形槽53，矩形槽53中设有滤网。智能小车上设有安装板3，识别镜头4和用于吹风的吹风管6都设在安装板3上。滑动板52至少为两块，在两块滑动板52相对的侧面上用于彼此固定连接的连接插片8。连接插片8包含用于将吹风管6的风流反弹向识别镜头4的反弹上扬部81，反弹上扬部81按远离滑动板52方向逐渐向上方倾斜延伸。滑动板52上设有由弹性材料制成的碰撞凸体7，碰撞凸体7呈半球形。智能小车的行走装置、举升装置、驱动装置、电源部件等部件都和现有技术中相同，可不做过多的改进。在本案中，识别镜头4用于识别中心标签2和轨迹贴条。滑动板52可在固定框51上水平滑动，当智能小车处于行走状态时，滑动板52滑开，而在静止状态的时候，可以使得滑动板52合上。滑动板52上开设有多个矩形槽53，其中设有滤网，起到保护镜头，过滤粉尘的作用。而在滑动板52的侧端设有多个碰撞凸体7，碰撞凸体7有着两个作用，一方面，在两个相对的滑动板52合上的时候起到保护和缓冲的作用。另一方面，碰撞凸体7也是一个感应部件，当感应到碰触时滑动板52就停止滑动。The smart car is provided with a recognition lens 4, and a slidable dustproof device 5 is provided below the recognition lens 4. The dustproof device 5 includes a fixed frame 51 , a sliding plate 52 slidably connected to the fixed frame 51 , and a rectangular groove 53 provided on the sliding plate 52 , and a filter screen is arranged in the rectangular groove 53 . The smart car is provided with a mounting plate 3, and the recognition lens 4 and the blowing pipe 6 for blowing are all arranged on the mounting plate 3. There are at least two sliding plates 52, and the connecting inserts 8 on the opposite sides of the two sliding plates 52 are used for fixed connection with each other. The connecting insert 8 includes a rebounding rising portion 81 for bouncing the wind flow of the blowing pipe 6 to the identification lens 4 , and the rebounding rising portion 81 extends obliquely upwards in a direction away from the sliding plate 52 . The sliding plate 52 is provided with a collision convex body 7 made of elastic material, and the collision convex body 7 is hemispherical. Parts such as the traveling gear of intelligent dolly, hoisting device, drive unit, power supply unit are all identical with the prior art, can not do too much improvement. In this case, the recognition lens 4 is used to recognize the center label 2 and the track sticker. The sliding plate 52 can slide horizontally on the fixed frame 51. When the smart car is in a walking state, the sliding plate 52 slides open, and when in a stationary state, the sliding plate 52 can be closed. A plurality of rectangular slots 53 are provided on the sliding plate 52, and filter screens are arranged therein to protect the lens and filter dust. And the side end of sliding plate 52 is provided with a plurality of collision convex bodies 7, and collision convex body 7 has two functions, on the one hand, plays the effect of protection and buffer when two relative sliding plates 52 are closed. On the other hand, the collision convex body 7 is also a sensing part, and the sliding plate 52 stops sliding when a touch is sensed.
在滑动板52的侧面还设有连接插片8和与之匹配的插槽，当滑动板52合上时，连接插片8进入插槽，完成固定。在连接插片8上的反弹上扬部81，还存在一个风力反弹的作用，当吹风管6上的风力吹出时，碰撞到反弹上扬部81，风路会回弹，吹向识别镜头4，有助镜头的清洁。The side of the sliding plate 52 is also provided with a connecting insert 8 and a matching slot. When the sliding plate 52 is closed, the connecting insert 8 enters the slot to complete the fixing. The rebound rising part 81 on the connecting insert 8 also has the effect of wind force rebounding. When the wind force on the blowing pipe 6 blows out, it hits the rebound rising part 81, and the wind path will rebound and blow to the identification lens 4. Helps clean the lens.
实施例2，如图4所示，智能小车底面设有识别镜头4和用于为识别镜头4提供补光光线的补光灯41。补光灯41为多个，位于识别镜头4的外侧。识别镜头4和补光灯41下方设有透镜42，透镜42包含透光部422和位于透光部422外侧的磨砂部421。Embodiment 2, as shown in FIG. 4 , the bottom surface of the smart car is provided with an identification lens 4 and a supplementary light 41 for providing supplementary light for the identification lens 4 . There are multiple supplementary lights 41 located outside the identification lens 4 . A lens 42 is disposed below the identification lens 4 and the fill light 41 , and the lens 42 includes a light-transmitting portion 422 and a frosted portion 421 outside the light-transmitting portion 422 .
智能小车底面还设有清洁装置9，清洁装置9包含有由弹性材料制成的弹性基座91、设置在弹性基座91上且倾斜延伸的斜刮板92和设在弹性基座91上的毛刷93。The bottom surface of the smart car is also provided with a cleaning device 9, and the cleaning device 9 includes an elastic base 91 made of elastic material, an inclined scraper 92 arranged on the elastic base 91 and extending obliquely, and an elastic base 91 arranged on the elastic base 91. brush93.
当智能小车在移动时，需要使用识别镜头4扫描地上的轨迹横条和中心标签，但是由于识别镜头4往往设置在智能小车的底面，光线不佳，为了获得较好的视场视角，需要使用补光灯41进行补光。When the smart car is moving, it is necessary to use the recognition lens 4 to scan the track bars and center labels on the ground. However, since the recognition lens 4 is often set on the bottom of the smart car and the light is not good, in order to obtain a better field of view, it is necessary to use The fill light 41 performs fill light.
一般的，补光灯41可以设置为多个，设在识别镜头4的外侧。本案中，特设透镜42。透镜42的中部为透光部422，正对识别镜头4的下方，使得识别镜头4获得透明清晰的视野。而透光部422的外侧为磨砂部421，正对补光灯41的下方，使得周边一圈的补光灯41，即LED灯透过磨砂玻璃之后变成漫反射的环境光，而不是直射的点光源，避免由于在中心标签2和轨迹贴条反光，从而影响识别镜头4的画面捕捉。Generally, multiple fill lights 41 can be provided, and are arranged outside the identification lens 4 . In this case, lens 42 is ad hoc. The middle part of the lens 42 is a light-transmitting part 422 , facing directly below the identification lens 4 , so that the identification lens 4 can obtain a transparent and clear view. The outside of the light-transmitting part 422 is a frosted part 421, facing directly below the fill light 41, so that the fill light 41 around the periphery, that is, the LED light becomes diffusely reflected ambient light after passing through the frosted glass, rather than direct light. The point light source is used to avoid the image capture of the recognition lens 4 being affected by reflections on the center label 2 and track stickers.
当智能小车移动过轨迹贴条和中心标签2后，清洁装置9会自动对贴条和标签进行清洁。具体的，斜刮板92对污垢进行刮除，毛刷93对贴条和标签上的灰尘进行除尘，从而提升识别镜头4对于轨迹贴条和中心标签的识别率。After the smart car moves past the track stickers and the center label 2, the cleaning device 9 will automatically clean the stickers and labels. Specifically, the inclined scraper 92 scrapes off the dirt, and the brush 93 removes the dust on the stickers and labels, thereby improving the recognition rate of the recognition lens 4 for the track stickers and the center label.
| Application Number | Priority Date | Filing Date | Title |
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| CN201710850425.5ACN107562059A (en) | 2017-09-20 | 2017-09-20 | A kind of intelligent carriage tracking system with Quick Response Code site location information |
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| CN201710850425.5ACN107562059A (en) | 2017-09-20 | 2017-09-20 | A kind of intelligent carriage tracking system with Quick Response Code site location information |
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| CN107562059Atrue CN107562059A (en) | 2018-01-09 |
| Application Number | Title | Priority Date | Filing Date |
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| CN201710850425.5APendingCN107562059A (en) | 2017-09-20 | 2017-09-20 | A kind of intelligent carriage tracking system with Quick Response Code site location information |
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| Date | Code | Title | Description |
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| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication | ||
| RJ01 | Rejection of invention patent application after publication | Application publication date:20180109 |