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Adaptive AGV robot and adaptive navigation method

A robotic and self-adaptive technology, applied in manipulators, program-controlled manipulators, manufacturing tools, etc., can solve problems such as difficulty in later changes and adjustments, increased self-weight, and difficulty in increasing the maximum load of the manipulator

Active Publication Date: 2018-12-25
上海秘塔网络科技有限公司
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  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

This makes it difficult to increase the maximum load of the robotic arm, because to increase the maximum load, it is necessary to increase the power and self-weight of each motor, but this brings about an increase in the self-weight of the high-position motor that each low-position motor bears, resulting in an increase A large part of the power is still used to carry the weight of the motor
[0009] The existing AGV navigation technology mainly includes navigation solutions using magnetic guide rail, laser detection or inertial technology. The navigation solution depends on the extremely high cost of equipment

Method used

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  • Adaptive AGV robot and adaptive navigation method
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  • Adaptive AGV robot and adaptive navigation method

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Embodiment 1

[0083] Such as figure 1 , figure 2 , image 3 , Figure 4 , Figure 5 As shown, this embodiment discloses an adaptive AGV robot, which includes a car body, a navigation device arranged on the car body, and an execution device arranged on the car body.

[0084] Specifically, the navigation device includes a processor, a detection radar 21, a detection camera 20, a first filter and a second filter, and the detection radar, the detection camera, the first filter and the second filter are respectively connected with the processor connected.

[0085] In this embodiment, the detection radar is a laser detection radar, the first filter is a laser radar filter; the detection camera is a depth camera, and the second filter is a depth camera point cloud filter.

[0086] The laser radar is installed and fixed according to a certain downward inclination, so that it can detect obstacles in a certain height range; the installation position of the depth camera is facing the front of th...

Embodiment 2

[0115] This embodiment discloses a method for adaptively navigating the robot disclosed in Embodiment 1, which mainly includes pathfinding steps during operation and processing steps after collision:

[0116] Pathfinding steps:

[0117] S01: Use the depth camera to perform scene recognition and data acquisition outside the range of 0.5 meters to form point cloud data; filter the point cloud according to the normal vector direction, and exclude all points whose normal vector direction is within 10 degrees from the Z-axis direction; The remaining points are sent to the obstacle map the robot is traveling on. In this way, all horizontal surfaces can be filtered out, leaving only real obstacle points; if there is a low slope ahead, since the normal vector of the slope is still within 10 degrees of the Z-axis direction, the points on the slope will still be filtered out, and will not be considered a hindrance.

[0118] S02: Use laser radar to scan and detect within 0.5 meters to ...

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Abstract

The invention belongs to the technical field of robots, and discloses an adaptive AGV robot and an adaptive navigation method. The adaptive AGV robot comprises a vehicle body, a navigation device arranged on the vehicle body, and an executing device arranged on the vehicle body. The navigation device comprises a detection radar, a detection camera and a processor and is used for planning the travelling path of the robot to enable the robot to actively avoid obstacles on the path. The executing mechanism comprises a base, a cooperative mechanical arm, and an executing steering engine. The cooperative mechanical arm comprises a first driving box, a four-bar linkage mechanism, a second driving box, a sleeve shaft engine arm, a tail end transmission head and a tail end executing head, and thusthe six-degree-of-freedom executing structure is formed. Under guidance of a bearing device and the navigation device of the vehicle body, the robot can freely travel in the indoor environment and drives the executing mechanism to carry out tasks. The adaptive AGV robot is small in self-weight and low in cost, and can realize more flexible path planning than similar cooperative robots, and the cooperative mechanical arm can have longer arm spread and larger load bearing, and has good expandability.

Description

technical field [0001] The invention belongs to the technical field of collaborative robots, and in particular relates to an adaptive AGV robot and an adaptive navigation method. Background technique [0002] AGV (Automated Guided Vehicle) refers to a transport vehicle equipped with automatic guidance devices such as electromagnetic or optical, which can drive along the prescribed guiding path, has safety protection and various transfer functions. AGV is widely used in warehousing and manufacturing handling, and more advanced AGVs are also used in dangerous places and special industries. [0003] The existing AGV frame basically adopts wheel-type movement, belt-type movement and other structures, which is convenient for the car body to realize free travel and steering in a narrow space. However, the current traveling and steering methods of the AGV frame are basically hinged steering. There is a minimum turning radius in this steering mechanism, and there are certain restri...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J5/00B25J9/16
CPCB25J5/007B25J9/1666
Inventor 唐悦卢展宏
Owner 上海秘塔网络科技有限公司
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