Visual navigation aid testing apparatus

Abstract

The application discloses a visual navigation auxiliary testing device and relates to the technical field of visual navigation testing. The visual navigation auxiliary testing device comprises a transmission mechanism, three testing devices for testing, receiving slopes arranged at the front and back ends of the three testing devices, and a control platform serving as a device control center and located at one side of one of the receiving slopes. The testing device comprises a testing pipeline, and the inner wall of the testing pipeline is provided with three illuminating lamps and four photoelectric sensors for monitoring light intensity. The visual navigation auxiliary testing device is driven by the transmission mechanism to move randomly, and the visual navigation judgment of the testing device is obstructed. In this state, the three testing devices emit different light intensities to test the visual navigation function of the AGV, and the testing device can also emit random light intensity to improve the testing intensity of the visual navigation function of the AGV.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of visual navigation test, in particular to a visual navigation auxiliary test device. BACKGROUND

[0002] Visual navigation is to paint or paste color tape with large color contrast on the ground on the driving path of AGV, and a camera sensor is installed on AGV to compare the continuously photographed pictures with the stored pictures, and the offset signal is output to the drive control system, the control system calculates and corrects the walking direction of AGV to realize the navigation of AGV. At present, with the increasing progress of computer technology, the price of hardware is also declining, which lays a good foundation for the application of machine vision technology. Moreover, with the continuous improvement of the automation and intelligence level of application systems, many practical application systems hope to add the function of machine vision, and visual guide vehicle emerges as the times require.

[0003] AGV (Automated Guided Vehicle), also known as automatic guided vehicle, is a kind of robot that can self-drive and carry materials, which is widely used in industries such as industrial manufacturing, logistics and warehousing. AGV realizes self-driving, obstacle avoidance and precise carrying functions through sensor, positioning system and control algorithm and other basic technologies.

[0004] The fundamental reason why AGV can realize the above-mentioned self-driving, obstacle avoidance and precise carrying functions is that it has a visual guidance mode, which stores the image information of the environment around the preset route in the database of the control system. In the running process, the surrounding image is dynamically obtained through the vehicle-mounted camera and sensor, and compared with the data in the database to determine the next position;

[0005] Visual navigation has good flexibility, and it is relatively easy to change or expand the path, the path is relatively simple to lay, the guiding principle is also simple and reliable, and it is easy to control communication, but the positioning accuracy of AGV is low, and it is sensitive to light interference. Considering this, whether the obstacles in the preset route interfere with the driving of AGV, in the prospect of wide application of AGV, it is particularly necessary to test the guiding level of AGV. Therefore, we propose a visual navigation auxiliary test device. SUMMARY

[0006] (I) Technical problems solved

[0007] In view of the shortcomings of the prior art, the present application provides a visual navigation auxiliary test device, which has the advantages of random test based on light intensity, and can effectively solve the problems in the background art.

[0008] (II) Technical solutions

[0009] In order to achieve the above object, the technical scheme adopted by the present application is as follows: the visual navigation auxiliary testing device comprises a transmission mechanism, further comprising

[0010] three testing devices for testing, the three testing devices are connected with the upper end of the transmission mechanism;

[0011] a receiving slope arranged at the front and rear ends of the three testing devices;

[0012] and a control machine table located at one side of one receiving slope as a device control center;

[0013] the testing device comprises a testing pipeline, and the inner wall of the testing pipeline is provided with three illuminating lamps, and the inner wall of the testing pipeline is also provided with four photoelectric sensors for monitoring the illumination intensity.

[0014] Preferably, the transmission mechanism comprises two linear sliding rails, and the two linear sliding rails are each attached with three sliding blocks, and the lower end of the two linear sliding rails is provided with a base for supporting.

[0015] three testing devices for testing, the three testing devices are connected with the upper end of the transmission mechanism;

[0016] a receiving slope arranged at the front and rear ends of the three testing devices;

[0017] and a control machine table located at one side of one receiving slope as a device control center;

[0018] the testing device comprises a testing pipeline, and the inner wall of the testing pipeline is provided with three illuminating lamps, and the inner wall of the testing pipeline is also provided with four photoelectric sensors for monitoring the illumination intensity.

[0019] the transmission mechanism comprises two linear sliding rails, and the two linear sliding rails are each attached with three sliding blocks, and the lower end of the two linear sliding rails is provided with a base for supporting.

[0020] Preferably, the transmission mechanism comprises two linear sliding rails, and the two linear sliding rails are each attached with three sliding blocks, and the lower end of the two linear sliding rails is provided with a base for supporting.

[0021] three testing devices for testing, the three testing devices are connected with the upper end of the transmission mechanism;

[0022] a receiving slope arranged at the front and rear ends of the three testing devices;

[0023] and a control machine table located at one side of one receiving slope as a device control center;

[0024] the testing device comprises a testing pipeline, and the inner wall of the testing pipeline is provided with three illuminating lamps, and the inner wall of the testing pipeline is also provided with four photoelectric sensors for monitoring the illumination intensity.

[0025] The transmission mechanism comprises two linear sliding rails, and three sliding blocks are attached to each of the two linear sliding rails; the lower ends of the two linear sliding rails are provided with bases for support;

[0026] The upper ends of the six sliding blocks are provided with mounting sleeves, and the upper ends of the six mounting sleeves are provided with limiting protrusions that are matched with the structure of the testing device.

[0027] Preferably, the two linear sliding rails are distributed on the front and back sides of the upper end of the base, and the lower ends of the two linear sliding rails are fixedly connected to the upper end of the base; the six sliding blocks are slidably connected to the outer walls of the two linear sliding rails in an enabled state.

[0028] Preferably, the six mounting sleeves are detachably connected to the outer walls of the corresponding sliding blocks, and the six limiting protrusions are formed in the middle of the upper ends of the corresponding mounting sleeves.

[0029] Preferably, the transmission mechanism further comprises

[0030] three testing devices for testing, which are connected to the upper end of the transmission mechanism;

[0031] inclined slopes arranged at the front and back ends of the three testing devices;

[0032] and a control platform located on one side of one of the inclined slopes as a control center of the devices;

[0033] The testing device comprises a testing pipeline, and the inner wall of the testing pipeline is provided with three illuminating lamps and four photoelectric sensors for monitoring the intensity of light;

[0034] The four photoelectric sensors are distributed in two groups on the front and back sides of the four illuminating lamps, and the lower end of the testing pipeline is provided with a walkway, and the lower end of the walkway is provided with four walk wheels.

[0035] Preferably, the transmission mechanism further comprises

[0036] three testing devices for testing, which are connected to the upper end of the transmission mechanism;

[0037] inclined slopes arranged at the front and back ends of the three testing devices;

[0038] and a control platform located on one side of one of the inclined slopes as a control center of the devices;

[0039] The testing device comprises a testing pipeline, and the inner wall of the testing pipeline is provided with three illuminating lamps and four photoelectric sensors for monitoring the intensity of light;

[0040] Four said photoelectric sensors are distributed in two groups on the front and back sides of the four illuminating lamps, the lower end of the test pipeline is provided with a walkway, and the lower end of the walkway is provided with four walk wheels one;

[0041] Two limiting sliding channels are formed in the inner side of the four walk wheels one at the lower end of the walkway, and a fitting groove is formed in the middle of the two limiting sliding channels and matched with the limiting protruding structure.

[0042] Preferably, the transmission mechanism further comprises

[0043] Three test devices for testing, three said test devices are connected with the upper end of the transmission mechanism;

[0044] The receiving slope is arranged at the front and back ends of the three test devices;

[0045] And the control machine table located on one side of one receiving slope as the device control center;

[0046] The test device comprises a test pipeline, and the inner wall of the test pipeline is provided with three illuminating lamps, and the inner wall of the test pipeline is also provided with four photoelectric sensors for monitoring the light intensity;

[0047] Four said photoelectric sensors are distributed in two groups on the front and back sides of the four illuminating lamps, the lower end of the test pipeline is provided with a walkway, and the lower end of the walkway is provided with four walk wheels one;

[0048] Two limiting sliding channels are formed in the inner side of the four walk wheels one at the lower end of the walkway, and a fitting groove is formed in the middle of the two limiting sliding channels and matched with the limiting protruding structure.

[0049] The power of the illuminating lamp is 80w, the test pipeline is fixedly connected to the upper end of the walkway, three said illuminating lamps are fixedly connected to the upper inner wall of the test pipeline, and three illuminating lamps are based on the geometric center of the test pipeline fan array.

[0050] Preferably, four said photoelectric sensors are also fixedly connected to the inner wall of the test pipeline, and four photoelectric sensors are distributed on the front and back sides of the three illuminating lamps, four said walk wheels one are fixedly connected to the lower end of the walkway and based on the central rectangular array.

[0051] Preferably, two said limiting sliding channels are formed in the inner side of the four walk wheels one at the lower end of the walkway, and two fitting grooves are formed in the middle of the corresponding limiting sliding channels, and in the assembled state, the fitting groove is matched with the limiting protrusion.

[0052] Preferably, the transmission mechanism further comprises

[0053] Three test devices for testing, three said test devices are connected with the upper end of the transmission mechanism;

[0054] The receiving slope is arranged at the front and back ends of the three test devices;

[0055] The control machine is arranged at one side of one receiving slope as the control center of the device.

[0056] The test device comprises a test pipeline, and the inner wall of the test pipeline is provided with three illumination lamps and four photoelectric sensors for monitoring the illumination intensity.

[0057] The four photoelectric sensors are distributed in two groups at the front and back sides of the four illumination lamps, the lower end of the test pipeline is provided with a walking platform, and the lower end of the walking platform is provided with four walking wheels I.

[0058] The lower end of the walking platform is provided with two limiting sliding grooves at the inner side of the four walking wheels I, and the middle part of the two limiting sliding grooves is provided with a fitting groove matched with the limiting protruding structure.

[0059] The receiving slope comprises a slope plate, and the end of the slope plate away from the test device is provided with a receiving plate, and the lower end of the slope plate is also provided with four walking wheels II for movement.

[0060] Preferably, the four walking wheels II are also fixedly connected to the lower end of the slope plate, and the four walking wheels II are based on the center rectangular array of the outer surface of the lower end of the slope plate, the receiving plate is arranged at the end of the slope plate away from the test device, and the bottom end of the receiving plate is attached to the ground.

[0061] Preferably, the upper end of the slope plate and the walking platform are coated with color bands.

[0062] (Three) beneficial effects

[0063] Compared with the prior art, the visual navigation auxiliary test device has the following beneficial effects:

[0064] The visual navigation auxiliary test device drives the three test devices to move randomly through the transmission mechanism, which constitutes an obstacle to the visual navigation judgment of the test device. In this state, different illumination intensities are emitted by the three test devices to test the visual navigation function of the AGV car, and the test device can also emit random illumination intensity, so as to improve the test intensity of the visual navigation function of the AGV car. BRIEF DESCRIPTION OF DRAWINGS

[0065] Figure 1 It is a schematic view of the overall structure of the visual navigation auxiliary test device.

[0066] Figure 2 It is a side view of the visual navigation auxiliary test device.

[0067] Figure 3It is a front view of the visual navigation auxiliary testing device of the present application.

[0068] Figure 4 It is a structural schematic diagram of the transmission mechanism of the visual navigation auxiliary testing device of the present application.

[0069] Figure 5 It is a partial structural schematic diagram of the testing device of the visual navigation auxiliary testing device of the present application Figure 1 .

[0070] Figure 6 It is a partial structural schematic diagram of the testing device of the visual navigation auxiliary testing device of the present application Figure 2 .

[0071] Figure 7 It is a structural schematic diagram of the receiving ramp of the visual navigation auxiliary testing device of the present application.

[0072] In the figure:

[0073] 001, AGV trolley;

[0074] 1, transmission mechanism; 2, testing device; 3, control machine table; 4, receiving ramp;

[0075] 11, linear slide rail; 12, sliding block; 13, base;

[0076] 121, mounting sleeve; 122, limiting protrusion;

[0077] 21, testing pipeline; 22, illuminating lamp; 23, photoelectric sensor; 24, walking table; 25, walking wheel one;

[0078] 241, limiting slide; 242, fitting groove;

[0079] 41, inclined plate; 42, receiving plate; 43, walking wheel two. DETAILED DESCRIPTION

[0080] In order to make the technical means, creative features, purposes and effects realized by the present application easy to understand, the present application will be further described below in combination with the drawings in the embodiments of the present application. Obviously, the described embodiments are only a part of the embodiments of the present application, not all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative labor fall within the scope of protection of the present application. Embodiment one

[0082] In view of the deficiencies of the prior art, such as Figure 1 , 2As shown in the drawings, the application provides a visual navigation auxiliary testing device, which comprises a transmission mechanism 1, three testing devices 2 for testing, each of which is connected with the upper end of the transmission mechanism 1, receiving slopes 4 arranged at the front and rear ends of the three testing devices 2, and a control platform 3 serving as the control center of the device and located at one side of one of the receiving slopes 4.

[0083] It should be noted that before testing the visual navigation function of the AGV 001, the device needs to be assembled into a closed dark environment. The operator first places the transmission mechanism 1 in a suitable position, then assembles the three testing devices 2 at the upper end of the transmission mechanism 1, and then places the two receiving slopes 4 at the front and rear ends of the transmission mechanism 1, respectively, and makes the two receiving slopes 4 adhere to the transmission mechanism 1.

[0084] During the visual navigation test of the AGV 001, the operator controls the transmission mechanism 1 to drive the three testing devices 2 to slide randomly between the two receiving slopes 4 through the control platform 3. In this process, the AGV 001 moves between the three testing devices 2 according to its visual navigation function.

[0085] Specifically, as shown in the drawings, Figure 4 The transmission mechanism 1 for the visual navigation auxiliary testing device, two linear sliding rails 11 are arranged on the front and rear sides of the upper end of the base 13, and the lower ends of the two linear sliding rails 11 are fixedly connected with the upper end of the base 13.

[0086] Six sliding blocks 12 are slidably connected to the outer walls of the two linear sliding rails 11 in an enabled state, and six mounting sleeves 121 are detachably connected to the outer walls of the corresponding sliding blocks 12, and six limiting protrusions 122 are arranged in the upper middle part of the corresponding mounting sleeves 121.

[0087] It should be noted that the application is a visual navigation auxiliary testing device. During the visual navigation test of the AGV 001, the operator controls the two sliding blocks 12 corresponding to one of the testing devices 2 to slide on the outer walls of the two linear sliding rails 11 through the control platform 3, so as to drive the testing device 2 to slide on the outer walls of the two linear sliding rails 11.

[0088] During the test, the operator can also control the transmission mechanism 1 to drive the three testing devices 2 to move randomly through the control platform 3. In this state, the AGV 001 can be disturbed to move to the testing pipe 21 with a specified light intensity.

[0089] Specifically, as shown in the drawings, Figure 3 , 5As shown in 6, the test device 2 for the visual navigation auxiliary test device, the power of the illuminating lamp 22 is 80w, the test pipeline 21 is fixedly connected to the upper end of the walking platform 24, the three illuminating lamps 22 are all fixedly connected to the upper inner wall of the test pipeline 21, and the three illuminating lamps 22 are based on the geometric center fan-shaped array of the test pipeline 21;

[0090] The four photoelectric sensors 23 are also fixedly connected to the inner wall of the test pipeline 21, and the four photoelectric sensors 23 are distributed on the front and rear sides of the three illuminating lamps 22, the four walking wheels one 25 are all fixedly connected to the lower end of the walking platform 24 and based on the center rectangular array thereof;

[0091] The two limiting sliding grooves 241 are both formed on the inner side of the four walking wheels one 25 at the lower end of the walking platform 24, and the two fitting grooves 242 are both formed in the middle section of the corresponding limiting sliding groove 241, in the assembled state, the fitting groove 242 is fitted with the limiting protrusion 122.

[0092] Specifically, as shown in Figure 7 The four walking wheels two 43 are also all fixedly connected to the lower end of the inclined plate 41, and the four walking wheels two 43 are based on the center rectangular array of the outer surface of the lower end of the inclined plate 41, the receiving plate 42 is formed at one end of the inclined plate 41 away from the test device 2, and the bottom end of the receiving plate 42 is fitted with the ground.

[0093] It should be noted that the present application is a visual navigation auxiliary test device, through the test device 2 arranged, before testing the visual navigation function of the transmission mechanism 1, the device must be assembled, the operator first places the transmission mechanism 1 as a whole based on the base 13 in a suitable position, and then moves through the four walking wheels one 25 at the lower end of the walking platform 24;

[0094] The operator slides the test device 2 as a whole based on the two limiting sliding grooves 241 formed at the lower end of the walking platform 24 to the upper side of the two linear sliding rails 11 in the process, in the process of moving the test device 2, the two limiting sliding grooves 241 attached to the walking platform 24 pass through the limiting protrusions 122, until the test device 2 moves to the fitting groove 242 formed in the middle of the two limiting sliding grooves 241 and the two limiting protrusions 122 are fitted respectively.

[0095] In the process of assembling the two receiving slopes 4, the four walking wheels two 43 added at the lower end of the inclined plate 41 are also moved, so that the vertical sections of the two inclined plates 41 are respectively fitted with the front and rear ends of the three test devices 2.

[0096] After the three control platforms 3 are installed according to the above embodiment, in the process of testing the visual navigation function of the AGV 001, the operator controls one of the three lighting lamps 22 on the test pipeline 21 to turn on through the control platform 3, at this time the internal illumination of the test pipeline 21 reaches the maximum, and then the operator controls the second lighting lamp 22 inside the other test pipeline 21 to turn on, and controls the first lighting lamp 22 inside the latter test pipeline 21 to turn on through the control platform 3;

[0097] In this state, the light intensity inside the three test pipelines 21 is different, and the operator can monitor the current light intensity through the four photoelectric sensors 23 inside the test pipeline 21 based on the control platform 3;

[0098] And on this premise, the operator starts the AGV 001, and the AGV 001 moves according to its own visual navigation, for example, the AGV 001 is set for visual navigation, such as moving to an environment with a visible light brightness of 200lx, the internal single lighting lamp 22 of the first test pipeline 21 is turned on, and the other two lighting lamps 22 are turned off, and the brightness is about 1000lx under the premise of a dark environment; Here, it should be considered whether the pre-installed lighting lamp 22 meets the test requirements. Taking an 80w energy-saving lamp as an example, 1w can produce about 12.56lx of light intensity;

[0099] If the AGV 001 normally moves to the inside of the first test pipeline 21 with only one lighting lamp 22 turned on, it indicates that the visual navigation function of the AGV 001 is normal.

[0100] Among them, the whole device adopts high separation degree design, and is convenient to move, and can test the visual navigation of the AGV 001 without site limitation;

[0101] Through the limiting slide 241 and the matching groove 242 opened at the lower end of the walkway 24, the assembly operation of the test device 2 is more simple, and the test device 2 is moved by the sliding block 12, so that the movement of the test device 2 is more random under the control of the control platform 3.

[0102] The skilled in the art should know that the random control program attached to the above-mentioned control platform 3 is a known technology in the art, so it is not described in detail here;

[0103] In addition, the color tape coated on the upper end of the walkway 24 and the inclined plate 41 can be added according to the actual visual navigation guidance requirements of the AGV 001, and the camera sensor attached to the AGV 001 can be identified during the test, and the performance interference of the test device 2 to the AGV 001 can also be judged under this premise. Specific embodiment two

[0105] The above embodiment one is for the recognition accuracy of AGV trolley 001 to light intensity, considering the use performance of AGV trolley 001, the embodiment is proposed:

[0106] Before testing AGV trolley 001, the specific parameters of three test devices 2 are set, the operator controls the three lighting lamps 22 in one test device 2 to be turned on, controls the three lighting lamps 22 in another test device 2 to be turned on and off intermittently, and the three lighting lamps 22 in the latter test device 2 are not turned on.

[0107] One of the test pipes 21 with intermittent opening and closing of the three internal lighting lamps 22 plays an interference role, in this state, AGV trolley 001 must make accurate judgment, such as giving AGV trolley 001 instructions to move to the test device 2 with light intensity lower than 1lx or higher than 1000lx.

[0108] Among them, the transmission mechanism 1 drives the three test devices 2 to move randomly, which constitutes an obstacle to the visual navigation judgment of the test device 2, in this state, different light intensities are emitted by the three test devices 2 to test the visual navigation function of AGV trolley 001, and the test device 2 can also emit random light intensity to improve the test intensity of the visual navigation function of AGV trolley 001.

[0109] The above shows and describes the basic principles and main features of the present application and the advantages of the present application. Those skilled in the art should understand that the present application is not limited to the above embodiments, the above embodiments and the description in the specification are only to illustrate the principles of the present application, and various changes and improvements can be made without departing from the spirit and scope of the present application, and these changes and improvements all fall within the scope of the present application.

Claims

1. A visual navigation-assisted testing device, characterized in that: Including the transmission mechanism (1), and also including Three test devices (2) are used for testing, and all three test devices (2) are connected to the upper end of the transmission mechanism (1); The receiving ramps (4) are set at both ends of the three test devices (2). And a control unit (3) located on one side of a receiving slope (4) as the control center of the device; The testing device (2) includes a test pipe (21), and the inner wall of the test pipe (21) is provided with three lighting lamps (22), and the inner wall of the test pipe (21) is also provided with four photoelectric sensors (23) for monitoring light intensity. The transmission mechanism (1) includes two linear slide rails (11), and each of the two linear slide rails (11) is equipped with three sliders (12). The lower ends of the two linear slide rails (11) are provided with bases (13) for support. During the visual navigation test of the AGV (001), the operator controls the transmission mechanism (1) through the control machine (3) to drive the three test devices (2) to slide randomly between the two supporting ramps (4). During this time, the AGV (001) moves with its own visual navigation and moves between the three test devices (2) for testing. During the test, the operator can also control the transmission mechanism (1) through the control machine (3) to drive the three test devices (2) to move randomly. In this state, the movement of the AGV car (001) can be interfered with to determine whether the AGV car (001) can be accurately moved to the test pipe (21) with the specified light intensity.

2. The visual navigation-assisted testing device according to claim 1, characterized in that: Each of the six sliders (12) is provided with an mounting sleeve (121) at its upper end, and each of the six mounting sleeves (121) is provided with a limiting protrusion (122) that matches the structure of the test device (2).

3. The visual navigation-assisted testing device according to claim 1, characterized in that: The four photoelectric sensors (23) are distributed in two groups on the front and back sides of the four lighting lamps (22). The lower end of the test pipe (21) is provided with a walkway (24), and the lower end of the walkway (24) is provided with four wheels (25).

4. The visual navigation-assisted testing device according to claim 3, characterized in that: The lower end of the walkway (24) has two limiting slides (241) on the inner side of the four wheels (25), and the middle of the two limiting slides (241) has a fitting groove (242) that matches the structure of the limiting protrusion (122).

5. The visual navigation-assisted testing device according to claim 4, characterized in that: The receiving ramp (4) includes an inclined plate (41), and a receiving plate (42) is provided at the end of the inclined plate (41) away from the test device (2). Four wheels (43) for movement are also provided at the lower end of the inclined plate (41).

6. The visual navigation-assisted testing device according to claim 5, characterized in that: The upper ends of the inclined plate (41) and the walkway (24) are coated with colored stripes.

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