CN115626587A - Laser navigation AGV forklift and control method thereof - Google Patents

Abstract

Translated fromChinese

本发明公开了激光导航AGV叉车及其控制方法，它涉及自动化设备技术领域，其包括AGV车体，所述AGV车体内设置有驱动装置，所述驱动装置用于驱动AGV车体并控制AGV车体的车速和转向；货叉主体，所述货叉主体包括支架、液压升降装置及货叉，所述支架安装在所述AGV车体上，所述液压升降装置安装在所述支架上，所述货叉可上下移动的安装在所述液压升降装置上，所述液压升降装置用于带动货叉上下升降；激光导航仪，所述激光导航仪安装在所述支架的顶端，用于对运行路径进行激光导航；采用上述技术方案后，本发明能够节约人工、提高运输效率、提高自动化。

The invention discloses a laser navigation AGV forklift and a control method thereof, which relates to the technical field of automation equipment, and includes an AGV body, and a driving device is arranged in the AGV body, and the driving device is used to drive the AGV body and control the AGV body The speed and steering of the body; the main body of the fork, the main body of the fork includes a bracket, a hydraulic lifting device and a fork, the bracket is installed on the AGV body, the hydraulic lifting device is installed on the bracket, and the The fork can be moved up and down and installed on the hydraulic lifting device, and the hydraulic lifting device is used to drive the fork up and down; the laser navigator, the laser navigator is installed on the top of the bracket, and is used to control the operation The path is guided by laser; after adopting the above-mentioned technical solution, the present invention can save manpower, improve transportation efficiency, and improve automation.

Description

Translated fromChinese

激光导航AGV叉车及其控制方法Laser navigation AGV forklift and its control method

技术领域technical field

本发明涉及自动化设备技术领域，具体涉及激光导航AGV叉车及其控制方法。The invention relates to the technical field of automation equipment, in particular to a laser navigation AGV forklift and a control method thereof.

背景技术Background technique

现在的运输业及物流业中，货品的搬运一般由叉车完成，现在的叉车多为人工式，即由工人操纵叉车的运行及叉车上货叉的举升动作和下降动作，进而完成搬运作业。In the current transportation industry and logistics industry, the handling of goods is generally completed by forklifts. Most of the current forklifts are manual, that is, the workers control the operation of the forklift and the lifting and lowering of the fork on the forklift to complete the handling operation.

然而在大批量的货物运输或工厂车间内的运输中，若采用人工操作叉车的方式，则需要耗费较多的时间，且人工在长期工作时间下容易产生疲劳，运输效率不够高，且人工成本较高；而有时候由于工作环境的限制，人工操作叉车也容易存在一定的安全隐患，因此，采用自动化的叉车运输方式也成为了一种趋势。However, in the transportation of large quantities of goods or the transportation in the factory workshop, if the method of manually operating the forklift is used, it will take a lot of time, and the labor is prone to fatigue under long-term working hours, the transportation efficiency is not high enough, and the labor cost Higher; and sometimes due to the limitations of the working environment, manual operation of forklifts is prone to certain safety hazards. Therefore, the use of automated forklift transportation has also become a trend.

有鉴于此，本发明针对上述中未臻完善所导致的诸多缺失及不便，而深入构思，且积极研究改良试做而开发设计出本发明。In view of this, the present invention aims at many defects and inconveniences caused by the above-mentioned imperfections, and has been deeply conceived, and has been actively researched and improved to develop and design the present invention.

发明内容Contents of the invention

本发明的目的在于针对现有技术的缺陷和不足，提供一种能够节约人工、提高运输效率、提高自动化的激光导航AGV叉车及其控制方法。The purpose of the present invention is to provide a laser-guided AGV forklift and its control method that can save labor, improve transportation efficiency, and improve automation in view of the defects and deficiencies of the prior art.

为实现上述目的，本发明采用以下技术方案是：To achieve the above object, the present invention adopts the following technical solutions:

激光导航AGV叉车，其包括Laser navigation AGV forklift, which includes

AGV车体，所述AGV车体内设置有驱动装置，所述驱动装置用于驱动AGV车体并控制AGV车体的车速和转向；AGV car body, the AGV car body is provided with a driving device, and the driving device is used to drive the AGV car body and control the speed and steering of the AGV car body;

货叉主体，所述货叉主体包括支架、液压升降装置及货叉，所述支架安装在所述AGV车体上，所述液压升降装置安装在所述支架上，所述货叉可上下移动的安装在所述液压升降装置上，所述液压升降装置用于带动货叉上下升降；The main body of the fork, the main body of the fork includes a bracket, a hydraulic lifting device and a fork, the bracket is installed on the body of the AGV, the hydraulic lifting device is installed on the bracket, and the fork can move up and down installed on the hydraulic lifting device, and the hydraulic lifting device is used to drive the fork up and down;

激光导航仪，所述激光导航仪安装在所述支架的顶端，用于对运行路径进行激光导航；A laser navigator, the laser navigator is installed on the top of the bracket for laser navigation of the running path;

第一3D视觉定位相机，所述第一3D视觉定位相机位于所述激光导航仪的下方，用于对运行路径进行二次定位；The first 3D visual positioning camera, the first 3D visual positioning camera is located below the laser navigator, and is used for secondary positioning of the running path;

第二3D视觉定位相机，所述第二3D视觉定位相机安装在所述货叉主体上，用于对货叉叉取货物时进行定位；A second 3D visual positioning camera, the second 3D visual positioning camera is installed on the main body of the fork for positioning when the fork picks up the goods;

控制组件，所述控制组件包括搭载SLAM系统和导航系统的主控电路板，所述主控电路板设置在所述支架上，并与所述AGV车体及液压升降装置电性连接。A control assembly, the control assembly includes a main control circuit board equipped with a SLAM system and a navigation system, the main control circuit board is arranged on the bracket, and is electrically connected to the AGV body and the hydraulic lifting device.

进一步，所述驱动装置包括AGV舵轮、油泵、电池及万向轮，所述AGV舵轮及万向轮安装在所述AGV车体的底部，AGV舵轮用于控制AGV车体的运动方向，所述电池及油泵安装在所述AGV车体的内部，所述电池与所述AGV舵轮电性连接。Further, the drive device includes an AGV steering wheel, an oil pump, a battery, and a universal wheel, and the AGV steering wheel and the universal wheel are installed at the bottom of the AGV body, and the AGV steering wheel is used to control the direction of movement of the AGV body. The battery and the oil pump are installed inside the AGV body, and the battery is electrically connected to the steering wheel of the AGV.

进一步，所述液压升降装置包括液压油缸、提升链条、链轮、滑轮及固定块，所述支架上活动安装有内门架，所述内门架的两侧各设置有一滑槽，所述滑轮可滑动的设置在所述滑槽内，所述滑轮通过固定块与所述货叉连接；Further, the hydraulic lifting device includes a hydraulic cylinder, a lifting chain, a sprocket, a pulley and a fixed block, and an inner mast is movably installed on the support, and a chute is respectively arranged on both sides of the inner mast, and the pulley Slidably arranged in the chute, the pulley is connected with the fork through a fixed block;

所述液压油缸固定在所述内门架上，所述链轮固定在内门架上，所述提升链条绕过链轮，提升链条的一端固定在所述支架上，所述提升链条的另一端与所述货叉连接。The hydraulic cylinder is fixed on the inner mast, the sprocket is fixed on the inner mast, the lifting chain bypasses the sprocket, one end of the lifting chain is fixed on the bracket, and the other end of the lifting chain One end is connected with the fork.

进一步，所述提升链条数量为二，链轮数量为二，所述链轮设置在液压油缸的两侧，两提升链条各绕有一链轮。Further, there are two lifting chains and two sprockets, the sprockets are arranged on both sides of the hydraulic cylinder, and each of the two lifting chains is wound with a sprocket.

进一步，还包括拉绳传感器，所述拉绳传感器固定在所述支架上，所述拉绳传感器与所述主控电路板电性连接。Further, it also includes a rope sensor, the rope sensor is fixed on the bracket, and the rope sensor is electrically connected to the main control circuit board.

进一步，还包括碰撞检测组件，所述碰撞检测组件包括接触开关、挡板、固定安装板及导向轴，所述固定安装板固定在所述货叉上，所述接触开关固定在固定安装板上，所述挡板通过导向轴固定在所述固定安装板上，所述挡板位于货叉上靠近所述支架的一端，所述碰撞检测组件用于碰撞检测。Further, it also includes a collision detection component, the collision detection component includes a contact switch, a baffle plate, a fixed installation plate and a guide shaft, the fixed installation plate is fixed on the fork, and the contact switch is fixed on the fixed installation plate , the baffle plate is fixed on the fixed mounting plate through a guide shaft, the baffle plate is located on the fork near the end of the bracket, and the collision detection assembly is used for collision detection.

进一步，所述AGV车体的前端设置有激光雷达，所述激光雷达用于避障。Further, the front end of the AGV body is provided with a lidar, and the lidar is used for obstacle avoidance.

进一步，所述支架的两侧各设置有一安全区域灯，所述安全区域灯用于警示叉车两侧的安全边界。Further, a safety area light is provided on both sides of the bracket, and the safety area light is used to warn the safety boundary on both sides of the forklift.

进一步，所述主控电路板通过无线通信模块连接上位机。Further, the main control circuit board is connected to the host computer through the wireless communication module.

激光导航AGV叉车的控制方法，其包括以下步骤：The control method of laser navigation AGV forklift, it comprises the following steps:

步骤一：先将激光导航AGV叉车置于一工作场景中，通过上位机对激光导航AGV叉车进行操作，使得控制组件通过SLAM系统和激光导航仪的配合，控制AGV车体行驶至工作场景的各个角落，用以构建并保存该工作场景的3D地图参数；Step 1: First place the laser navigation AGV forklift in a working scene, and operate the laser navigation AGV forklift through the host computer, so that the control component can control the AGV body to drive to each work scene through the cooperation of the SLAM system and the laser navigator. Corner, used to construct and save the 3D map parameters of the working scene;

步骤二：上位机根据任务要求分配运行路径，AGV车体通过无线通信模块接收上位机发送的任务，并根据分配的运行路径行驶；Step 2: The upper computer assigns the running path according to the task requirements, and the AGV body receives the task sent by the upper computer through the wireless communication module, and drives according to the assigned running path;

步骤三：上位机根据AGV车体的运行路径，计算出AGV车体的运行速度、方向及制动调节并发送指令到AGV车体，AGV车体接收并执行相应的指令，同时将自身的状态及时反馈给上位机；Step 3: The upper computer calculates the running speed, direction and brake adjustment of the AGV body according to the running path of the AGV body, and sends instructions to the AGV body. Timely feedback to the host computer;

步骤四：AGV车体根据分配的运行路径行驶时，通过激光雷达进行实时障碍物检测，通过第一3D视觉定位相机进行二次检测，若在运行过程中遇到障碍物，则对障碍物的运动状态、尺寸大小、障碍物与AGV车体的距离信息进行分析，如果可通过，AGV车体绕过障碍物，如果不能安全通过，AGV车体停止运行，发出报警信号,直至障碍物被移除；若未遇到障碍物，则进行步骤五；Step 4: When the AGV car body is driving according to the assigned operating path, real-time obstacle detection is performed through the laser radar, and secondary detection is performed through the first 3D vision positioning camera. Analyze the movement state, size, and distance information between the obstacle and the AGV body. If it can pass, the AGV body will bypass the obstacle. If it cannot pass safely, the AGV body will stop running and send an alarm signal until the obstacle is removed. Except; if no obstacle is encountered, proceed to step five;

步骤五：AGV车体运行到目标位置后，通过第二3D视觉定位相机对货物及货叉进行定位，通过控制组件控制货叉叉取货物；Step 5: After the AGV body moves to the target position, the cargo and the fork are positioned through the second 3D vision positioning camera, and the cargo fork is controlled by the control component to pick up the cargo;

步骤六：激光导航AGV叉车根据上位机的指令将货物运送到目标位置，并将货物根据任务要求进行装或卸；Step 6: The laser navigation AGV forklift transports the goods to the target location according to the instructions of the host computer, and loads or unloads the goods according to the task requirements;

步骤七：在上位机上对当前的任务确认操作完成，对激光导航AGV叉车发送下一个任务指令或结束指令。Step 7: Confirm the completion of the current task on the host computer, and send the next task command or end command to the laser navigation AGV forklift.

采用上述技术方案后，本发明通过将AGV车与叉车结合在一起，利用AGV的特性实现无人驾驶，且设置有第一3D视觉定位相机，对路径进行二次定位，提高准确性，设置第二3D视觉定位相机对货物和货叉进行定位，能够准确叉取货物，提高运输效率，同时节约了人工，降低了人工成本，提高了自动化程度。After adopting the above technical solution, the present invention combines the AGV with the forklift, utilizes the characteristics of the AGV to realize unmanned driving, and is equipped with a first 3D visual positioning camera to perform secondary positioning on the path, improve accuracy, and set the second 2. The 3D visual positioning camera locates the goods and the forks, which can accurately fork the goods, improve the transportation efficiency, save labor, reduce labor costs, and improve the degree of automation.

附图说明Description of drawings

为了更清楚地说明本发明实施例或现有技术中的技术方案，下面将对实施例或现有技术描述中所需要使用的附图作简单地介绍，显而易见地，下面描述中的附图仅仅是本发明的一些实施例，对于本领域普通技术人员来讲，在不付出创造性劳动性的前提下，还可以根据这些附图获得其他的附图。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 drawings that need to be used in the description of the embodiments or the prior art. Obviously, the accompanying drawings in the following description are only These are some embodiments of the present invention. For those skilled in the art, other drawings can also be obtained according to these drawings without any creative effort.

图1是本发明的结构示意图。Fig. 1 is a schematic structural view of the present invention.

图2是本发明的立体图。Fig. 2 is a perspective view of the present invention.

图3是本发明中AGV车体的结构示意图。Fig. 3 is a structural schematic diagram of an AGV car body in the present invention.

图4是本发明中货叉主体的正视图。Fig. 4 is a front view of the main body of the fork in the present invention.

图5是本发明中货叉主体左侧的立体结构示意图。Fig. 5 is a schematic perspective view of the left side of the main body of the fork in the present invention.

图6是本发明中货叉主体右侧的立体结构示意图。Fig. 6 is a schematic perspective view of the right side of the main body of the fork in the present invention.

图7是本发明中第二3D视觉定位相机的结构示意图。Fig. 7 is a schematic structural diagram of the second 3D vision positioning camera in the present invention.

图8是本发明中碰撞检测组件的结构示意图。Fig. 8 is a schematic structural diagram of the collision detection component in the present invention.

具体实施方式Detailed ways

为了进一步解释本发明的技术方案，下面通过具体实施例来对本发明进行详细阐述。In order to further explain the technical solution of the present invention, the present invention will be described in detail below through specific examples.

在本发明的描述中，需要理解的是，术语“中心”、“纵向”、“横向”、“上”、“下”、“前”、“后”、“左”、“右”“竖直”、“水平”、“顶”、“底”、“内”、“外”等指示方位或位置关系为基于附图所示的方位或位置关系，仅是为了便于描述本发明和简化描述，而不是指示或暗示所指的装置或元件必须具有特定的方位、以特定的方位构造和操作，因此不能理解为对本发明的限制。在本发明的描述中，除非另有说明，“多个”的含义是两个或两个以上。In describing the present invention, it should be understood that the terms "center", "longitudinal", "transverse", "upper", "lower", "front", "rear", "left", "right", "vertical Direction, "horizontal", "top", "bottom", "inner", "outer", etc. indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the present invention and simplifying the description , rather than indicating or implying that the device or element referred to must have a particular orientation, be constructed and operate in a particular orientation, and thus should not be construed as limiting the invention. In the description of the present invention, unless otherwise specified, "plurality" means two or more.

参看图1-图8所示，本发明揭示了一种激光导航AGV叉车，其包括AGV车体1、货叉主体2、激光导航仪3、第一3D视觉定位相机4、第二3D视觉定位相机5、控制组件6、拉绳传感器7、碰撞检测组件8。1-8, the present invention discloses a laser navigation AGV forklift, which includes an AGV body 1, a fork body 2, alaser navigator 3, a first 3Dvisual positioning camera 4, a second 3Dvisual positioning Camera 5,control component 6,rope sensor 7,collision detection component 8.

所述AGV车体1内设置有驱动装置11，所述驱动装置11用于驱动AGV车体1并控制AGV车体1的车速和转向；所述驱动装置11包括AGV舵轮111、油泵112、电池113及万向轮114，所述AGV舵轮111及万向轮114安装在所述AGV车体1的底部，AGV舵轮111用于控制AGV车体1的运动方向，所述电池113及油泵112安装在所述AGV车体1的内部，所述电池113与所述AGV舵轮111电性连接。The AGV body 1 is provided with adriving device 11, thedriving device 11 is used to drive the AGV body 1 and control the speed and steering of the AGV body 1; thedriving device 11 includes anAGV steering wheel 111, anoil pump 112, abattery 113 anduniversal wheel 114, theAGV steering wheel 111 anduniversal wheel 114 are installed on the bottom of the AGV car body 1, theAGV steering wheel 111 is used to control the movement direction of the AGV car body 1, and thebattery 113 andoil pump 112 are installed Inside the AGV body 1 , thebattery 113 is electrically connected to theAGV steering wheel 111 .

所述AGV舵轮111为市面上常见的、现有的AGV舵轮，AGV舵轮111通过跟AGV车体1作相对运动来控制转向，电池113为蓄电池，AGV常采用24V直流蓄电池为动力，蓄电池供电一般应保持连续工作8小时以上的需要，当检测到电量低于一定值时，AGV车体1驶入充电区域时，车体接头与地面充电站接头接头对接，当确认对接良好后，开始充电；当充电完成后，AGV车体1驶离充电站，对接脱离。The AGVsteering wheel 111 is a common and existing AGV steering wheel on the market. TheAGV steering wheel 111 controls the steering by making relative motion with the AGV body 1. Thebattery 113 is a battery. The AGV often uses a 24V DC battery as power, and the battery power supply is generally It should keep working continuously for more than 8 hours. When it is detected that the power is lower than a certain value, when the AGV car body 1 enters the charging area, the car body connector is docked with the connector of the ground charging station. After confirming that the docking is good, start charging; After the charging is completed, the AGV body 1 leaves the charging station, docking and disengaging.

所述AGV车体1的前端设置有激光雷达12，所述激光雷达12用于躲避障碍物。The front end of the AGV body 1 is provided with alaser radar 12, and thelaser radar 12 is used for avoiding obstacles.

所述货叉主体2包括支架21、液压升降装置22及货叉23，所述支架21安装在所述AGV车体1上，所述液压升降装置22安装在所述支架21上，所述货叉23可上下移动的安装在所述液压升降装置22上，所述液压升降装置22用于带动货叉23上下升降；The fork main body 2 includes abracket 21, ahydraulic lifting device 22 and afork 23, thebracket 21 is installed on the AGV body 1, thehydraulic lifting device 22 is installed on thebracket 21, and the fork Thefork 23 can move up and down and is installed on thehydraulic lifting device 22, and thehydraulic lifting device 22 is used to drive thefork 23 up and down;

所述支架21上活动安装有内门架211，所述内门架211的两侧各设置有一滑槽2111，Aninner door frame 211 is movably installed on thebracket 21, and aslide groove 2111 is respectively arranged on both sides of theinner door frame 211,

所述支架21的两侧各设置有一安全区域灯212，所述安全区域灯212用于警示叉车两侧的安全边界。Asafety area light 212 is provided on both sides of thebracket 21, and thesafety area light 212 is used to warn the safety boundary on both sides of the forklift.

所述液压升降装置22包括液压油缸221、提升链条222、链轮223、滑轮224及固定块225，所述滑轮224可滑动的设置在所述滑槽2111内，所述滑轮224通过固定块225与所述货叉23连接；Thehydraulic lifting device 22 includes ahydraulic cylinder 221, alifting chain 222, asprocket 223, apulley 224 and afixed block 225. connected with thefork 23;

所述液压油缸221固定在所述内门架211上，所述链轮223固定在内门架211上，所述提升链条222绕过链轮223，提升链条222的一端固定在所述支架21上，所述提升链条222的另一端与所述货叉23连接；Thehydraulic cylinder 221 is fixed on theinner mast 211, thesprocket 223 is fixed on theinner mast 211, the liftingchain 222 bypasses thesprocket 223, and one end of thelifting chain 222 is fixed on thebracket 21 On, the other end of thelifting chain 222 is connected to thefork 23;

所述提升链条222数量为二，链轮223数量为二，所述链轮223设置在液压油缸221的两侧，两提升链条222各绕有一链轮223；The number of the liftingchains 222 is two, and the number of thesprockets 223 is two. Thesprockets 223 are arranged on both sides of thehydraulic cylinder 221, and each of the two liftingchains 222 is wound with asprocket 223;

液压油缸221与油泵112连接，油泵112为液压油缸221提供动力，油泵112给油，液压油缸221工作，液压油缸221动作，带动内门架211上下移动，内门架211上下移动，带动两提升链条222上下移动，货叉23与提升链条222连接，提升链条222在上下移动时，也带动货叉23上下移动，从而实现货叉23的上下升降，货叉23上下移动时，带动滑轮224在滑槽2111内上下滑动。Hydraulic cylinder 221 is connected withoil pump 112,oil pump 112 provides power forhydraulic cylinder 221,oil pump 112 supplies oil,hydraulic cylinder 221 works,hydraulic cylinder 221 moves, drivesinner mast 211 to move up and down,inner mast 211 moves up and down, drives two lifts Thechain 222 moves up and down, and thecargo fork 23 is connected with thelifting chain 222. When thelifting chain 222 moves up and down, it also drives thecargo fork 23 to move up and down, thereby realizing the lifting of thecargo fork 23. When thecargo fork 23 moves up and down, thedrive pulley 224 Slide up and down in thechute 2111.

所述控制组件6包括搭载SLAM系统和导航系统的主控电路板(图中未揭示)，所述主控电路板设置在所述支架21上，并与所述AGV车体1及液压升降装置22电性连接，所述主控电路板通过无线通信模块(图中未揭示)连接上位机(图中未揭示)，通过在上位机上对激光导航AGV叉车进行控制；具体地，主控电路板与液压油缸221、AGV舵轮111、油泵112、电池113电性连接。Thecontrol assembly 6 includes a main control circuit board (not shown in the figure) equipped with a SLAM system and a navigation system. 22 is electrically connected, the main control circuit board is connected to the host computer (not disclosed in the figure) through a wireless communication module (not disclosed in the figure), and the laser navigation AGV forklift is controlled on the host computer; specifically, the main control circuit board It is electrically connected with thehydraulic cylinder 221 , theAGV steering wheel 111 , theoil pump 112 and thebattery 113 .

所述激光导航仪3通过安装支架31安装在所述支架21的顶端，激光导航仪3用于对运行路径进行激光导航；所述激光导航仪3与所述主控电路板电性连接。Thelaser navigator 3 is installed on the top of thebracket 21 through a mountingbracket 31, and thelaser navigator 3 is used for laser navigating the running path; thelaser navigator 3 is electrically connected with the main control circuit board.

所述第一3D视觉定位相机4通过第一固定支架41安装在所述支架21上，位于所述激光导航仪3的下方，用于对运行路径进行二次定位；激光导航仪3用于对运行路径进行一次导航及定位，第一3D视觉定位相机4配合激光导航仪3，对运行路径进行二次视觉定位。所述第一3D视觉定位相机4与主控电路板电性连接。The first 3Dvision positioning camera 4 is installed on thesupport 21 by the first fixedbracket 41, and is positioned under thelaser navigator 3, and is used for relocating the running path; thelaser navigator 3 is used for The running path is navigated and positioned once, and the first 3Dvisual positioning camera 4 cooperates with thelaser navigator 3 to perform secondary visual positioning on the running path. The first 3Dvision positioning camera 4 is electrically connected to the main control circuit board.

所述第二3D视觉定位相机5通过第二固定支架51安装在所述货叉主体2的固定块225上，位于货叉23靠近支架21的一端，用于对货叉23叉取货物时进行定位，保证货叉23能够准确的叉取所需的货物。所述第二3D视觉定位相机5与主控电路板电性连接。The second 3Dvisual positioning camera 5 is installed on the fixedblock 225 of the fork body 2 through the second fixedbracket 51, and is located at the end of thefork 23 close to thebracket 21, and is used for checking when thefork 23 picks up the goods. Positioning ensures that thefork 23 can accurately fork the desired goods. The second 3Dvision positioning camera 5 is electrically connected to the main control circuit board.

所述拉绳传感器7固定在所述支架21上，所述拉绳传感器7与所述主控电路板电性连接。拉绳传感器7可以得出运动物体的位移、方向或速率。Therope sensor 7 is fixed on thebracket 21, and therope sensor 7 is electrically connected with the main control circuit board. Thepull cord sensor 7 can draw the displacement, direction or speed of the moving object.

所述碰撞检测组件8包括接触开关81、挡板82、固定安装板83及导向轴84，所述固定安装板83固定在所述货叉23上，所述接触开关81固定在固定安装板83上，所述挡板82通过导向轴84固定在所述固定安装板83上，所述挡板82位于货叉23上靠近所述支架21的一端，所述碰撞检测组件8用于碰撞检测。Thecollision detection assembly 8 includes acontact switch 81, abaffle plate 82, a fixed mountingplate 83 and aguide shaft 84, the fixed mountingplate 83 is fixed on thefork 23, and thecontact switch 81 is fixed on the fixed mountingplate 83 Above, thebaffle plate 82 is fixed on the fixed mountingplate 83 through aguide shaft 84, thebaffle plate 82 is located at one end of thefork 23 close to thebracket 21, and thecollision detection assembly 8 is used for collision detection.

碰撞检测组件8能够检测货物与支架21之间的距离，防止货叉23在叉取货物时，位置距离过近导致损坏货物。Thecollision detection component 8 can detect the distance between the goods and thebracket 21, so as to prevent theforks 23 from being too close to damage the goods when picking up the goods.

本发明还揭示了一种激光导航AGV叉车的控制方法：The invention also discloses a control method of a laser navigation AGV forklift:

使用前，先将激光导航AGV叉车置于一工作场景中，通过上位机对激光导航AGV叉车进行操作，使得控制组件6通过SLAM系统和激光导航仪3的配合，控制AGV车体1行驶至工作场景的各个角落，用以构建并保存该工作场景的3D地图参数；Before use, first place the laser navigation AGV forklift in a working scene, and operate the laser navigation AGV forklift through the host computer, so that thecontrol component 6 controls the AGV body 1 to drive to work through the cooperation of the SLAM system and thelaser navigator 3 Every corner of the scene is used to construct and save the 3D map parameters of the working scene;

然后，上位机根据任务要求分配运行路径，AGV车体1通过无线通信模块接收上位机发送的任务，并根据分配的运行路径行驶；Then, the upper computer assigns the running path according to the task requirements, and the AGV car body 1 receives the task sent by the upper computer through the wireless communication module, and drives according to the assigned running path;

再次，上位机根据AGV车体1的运行路径，计算出AGV车体1的运行速度、方向及制动调节并发送指令到AGV车体1，AGV车体1接收并执行相应的指令，同时将自身的状态及时反馈给上位机；Again, the host computer calculates the running speed, direction and brake adjustment of the AGV body 1 according to the running path of the AGV body 1, and sends instructions to the AGV body 1, and the AGV body 1 receives and executes the corresponding instructions, and at the same time Its own state is fed back to the host computer in time;

需要说明的是，AGV车体1的运行速度、方向等可以根据实际需求及针对工作的场景进行设定及修改，并且是本领域技术人员所熟知的，在此不再展开赘述；It should be noted that the running speed and direction of the AGV car body 1 can be set and modified according to actual needs and work scenarios, and are well known to those skilled in the art, and will not be repeated here;

再然后，AGV车体1根据分配的运行路径行驶时，通过激光雷达12进行实时障碍物检测，通过第一3D视觉定位相机4进行二次检测，若在运行过程中遇到障碍物，则对障碍物的运动状态、尺寸大小、障碍物与AGV车体的距离信息进行分析，如果可通过，AGV车体1绕过障碍物，如果不能安全通过，AGV车体1停止运行，发出报警信号,直至障碍物被移除；若未遇到障碍物，则进行下一步；Then, when the AGV car body 1 travels according to the assigned operating path, real-time obstacle detection is carried out by thelaser radar 12, and secondary detection is carried out by the first 3Dvisual positioning camera 4. If an obstacle is encountered during operation, the Analyze the movement state, size, and distance information between the obstacle and the AGV body of the obstacle. If it can pass, the AGV body 1 will bypass the obstacle. If it cannot pass safely, the AGV body 1 will stop running and send out an alarm signal. Until the obstacle is removed; if no obstacle is encountered, proceed to the next step;

当AGV车体1运行到目标位置后，通过第二3D视觉定位相机5对货物及货叉23进行定位，通过控制组件6控制货叉23叉取货物；After the AGV car body 1 moves to the target position, the cargo and thefork 23 are positioned by the second 3Dvisual positioning camera 5, and thecargo fork 23 is controlled by thecontrol component 6 to pick up the cargo;

取货完毕后，激光导航AGV叉车根据上位机的指令将货物运送到目标位置，并将货物根据任务要求进行装或卸；通过液压升降装置22控制货叉23的升降，从而完成货物的装车或卸车等操作；After picking up the goods, the laser navigation AGV forklift transports the goods to the target location according to the instructions of the host computer, and loads or unloads the goods according to the task requirements; the lifting of thefork 23 is controlled by thehydraulic lifting device 22, thereby completing the loading of the goods or unloading operations;

最后，在上位机上对当前的任务确认操作完成，对激光导航AGV叉车发送下一个任务指令或结束指令。Finally, confirm the completion of the current task on the host computer, and send the next task command or end command to the laser navigation AGV forklift.

根据指令，激光导航AGV叉车结束运动或者继续进行下一个任务，若激光导航AGV叉车检测到电量低于一定值时，AGV车体1驶入充电区域进行充电，充电完毕后，结束充电。According to the instruction, the laser navigation AGV forklift ends the movement or continues to the next task. If the laser navigation AGV forklift detects that the power is lower than a certain value, the AGV body 1 drives into the charging area for charging. After the charging is completed, the charging ends.

本发明通过将AGV车与叉车结合在一起，设置激光导航仪3进行激光导航，设置激光雷达12进行避障，且设置有第一3D视觉定位相机4，对路径进行二次定位，提高准确性，设置第二3D视觉定位相机5对货物和货叉23进行定位，能够准确叉取货物，提高运输效率，同时采用无人驾驶代替人工驾驶，节约了人工，降低了人工成本，提高了自动化程度。In the present invention, by combining the AGV and the forklift, alaser navigator 3 is provided for laser navigation, alaser radar 12 is provided for obstacle avoidance, and a first 3Dvisual positioning camera 4 is provided to perform secondary positioning on the path and improve accuracy , the second 3Dvisual positioning camera 5 is set to locate the goods and thefork 23, which can accurately pick up the goods and improve the transportation efficiency. .

以上所述，仅用以说明本发明的技术方案而非限制，本领域普通技术人员对本发明的技术方案所做的其它修改或者等同替换，只要不脱离本发明技术方案的精神和范围，均应涵盖在本发明的权利要求范围当中。The above is only used to illustrate the technical solution of the present invention and not to limit it. Other modifications or equivalent replacements made by those skilled in the art to the technical solution of the present invention should be considered as long as they do not depart from the spirit and scope of the technical solution of the present invention. fall within the scope of the claims of the present invention.

Claims (10)

1. Laser navigation AGV fork truck, its characterized in that: which comprises

The AGV comprises an AGV body, wherein a driving device is arranged in the AGV body and is used for driving the AGV body and controlling the speed and the steering of the AGV body;

the automatic loading and unloading device comprises a fork main body, wherein the fork main body comprises a support, a hydraulic lifting device and a fork, the support is installed on an AGV body, the hydraulic lifting device is installed on the support, the fork can be installed on the hydraulic lifting device in a vertically movable mode, and the hydraulic lifting device is used for driving the fork to lift up and down;

the laser navigator is arranged at the top end of the support and used for carrying out laser navigation on the running path;

the first 3D visual positioning camera is positioned below the laser navigator and used for carrying out secondary positioning on the operation path;

the second 3D visual positioning camera is mounted on the fork main body and used for positioning when goods are inserted into the fork;

the control assembly comprises a main control circuit board carrying an SLAM system and a navigation system, and the main control circuit board is arranged on the support and electrically connected with the AGV body and the hydraulic lifting device.

2. The laser navigation AGV forklift of claim 1, characterized in that: drive arrangement includes AGV steering wheel, oil pump, battery and universal wheel, AGV steering wheel and universal wheel are installed the bottom of AGV automobile body, the direction of motion that the AGV steering wheel is used for controlling the AGV automobile body, battery and oil pump are installed the inside of AGV automobile body, the battery with AGV steering wheel electric connection.

3. The laser navigation AGV forklift of claim 1, characterized in that: the hydraulic lifting device comprises a hydraulic oil cylinder, a lifting chain, a chain wheel, a pulley and a fixed block, an inner door frame is movably mounted on the support, two sides of the inner door frame are respectively provided with a sliding groove, the pulley is slidably arranged in the sliding grooves, and the pulley is connected with the fork through the fixed block;

the hydraulic oil cylinder is fixed on the inner door frame, the chain wheel is fixed on the inner door frame, the lifting chain bypasses the chain wheel, one end of the lifting chain is fixed on the support, and the other end of the lifting chain is connected with the fork.

4. The laser navigation AGV fork truck of claim 3, wherein: the lifting chain number is two, the chain wheel sets up the both sides at hydraulic cylinder, and two lifting chain are respectively around having a chain wheel.

5. The laser navigation AGV fork of claim 1, characterized in that: the pull rope sensor is fixed on the support and electrically connected with the main control circuit board.

6. The laser navigation AGV forklift of claim 1, characterized in that: still include collision detection subassembly, collision detection subassembly includes contact switch, baffle, fixed mounting panel and guiding axle, the fixed mounting panel is fixed on the fork, contact switch fixes on the fixed mounting panel, the baffle passes through the guiding axle to be fixed on the fixed mounting panel, the baffle is located and is close to on the fork the one end of support, collision detection subassembly is used for collision detection.

7. The laser navigation AGV forklift of claim 1, characterized in that: the front end of AGV automobile body is provided with laser radar, laser radar is used for keeping away the barrier.

8. The laser navigation AGV fork of claim 1, characterized in that: safe region lamp is respectively provided with on the both sides of support, safe region lamp is used for warning the safety boundary of fork truck both sides.

9. The laser navigation AGV forklift of claim 1, characterized in that: the main control circuit board is connected with the upper computer through a wireless communication module.

10. The method for controlling the AGV forklift by using the laser navigation of the claim 1-9 is characterized in that: which comprises the following steps:

the method comprises the following steps: the method comprises the steps that a laser navigation AGV forklift is placed in a working scene, the laser navigation AGV forklift is operated through an upper computer, a control assembly controls an AGV body to travel to each corner of the working scene through the cooperation of an SLAM system and a laser navigator, and 3D map parameters of the working scene are constructed and stored;

step two: the upper computer allocates a running path according to the task requirement, and the AGV body receives the task sent by the upper computer through the wireless communication module and runs according to the allocated running path;

step three: the upper computer calculates the running speed, the running direction and the brake regulation of the AGV body according to the running path of the AGV body, sends an instruction to the AGV body, receives and executes the corresponding instruction by the AGV body, and simultaneously feeds the self state back to the upper computer in time;

step four: when the AGV body runs according to the distributed running path, real-time obstacle detection is carried out through a laser radar, secondary detection is carried out through a first 3D vision positioning camera, if the AGV body meets the obstacle in the running process, the motion state and the size of the obstacle and the distance information between the obstacle and the AGV body are analyzed, if the obstacle can pass by the AGV body, the AGV body bypasses the obstacle, if the obstacle cannot pass safely, the AGV body stops running, and an alarm signal is sent out until the obstacle is removed; if the obstacle is not met, performing a fifth step;

step five: after the AGV body moves to a target position, positioning the goods and the fork through a second 3D visual positioning camera, and controlling the fork to fork and take the goods through a control assembly;

step six: the laser navigation AGV forklift transports the goods to a target position according to the instruction of the upper computer, and loads or unloads the goods according to the task requirement;

step seven: and confirming the completion of the current task on the upper computer, and sending a next task instruction or an ending instruction to the laser navigation AGV forklift.

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