An AGV high-precision seamless positioning device inside and outside an elevator car based on inertial navigation

Abstract

The application discloses an elevator car inside and outside AGV high-precision seamless positioning device based on inertial navigation; the device comprises an elevator body, the elevator body comprises elevator columns and multiple car bodies, one side of the car body is provided with an AGV laser sensor; in the application, multiple laser positioning marker plates are arranged, one laser positioning marker plate is arranged on each floor, laser beams are emitted by the AGV laser sensor, then the laser beams reflected by the laser positioning marker plates are received, and meanwhile, the control mainboard in the elevator control box is matched, namely, when the laser positioning marker plate passes through the laser deceleration marker plate and passengers get on and off the elevator at the current floor, the elevator body is braked, the positioning precision of the AGV laser sensor matched with the laser positioning marker plate is high, so that the high-precision positioning of the elevator body is facilitated, meanwhile, the laser positioning marker plate is convenient to install, disassemble and replace, so that the reflection effect of the laser positioning marker plate is ensured, and therefore the positioning precision is ensured.

Description

TECHNICAL FIELD

[0001] The application belongs to the technical field of elevator car positioning, and particularly relates to an AGV high-precision seamless positioning device for an elevator car based on inertial navigation. BACKGROUND

[0002] With more and more high-rise buildings, the use of elevators is also increasing, and the stability and comfort of the elevator are also concerned by users in daily life. The elevator carrying part is a car, and the car is fixed on a car frame. The elevator with a traction ratio of 2:1 has a return pulley on the upper or lower part of the car frame. After the steel wire rope passes through the return pulley, it reaches the drive host, and the rotation of the drive host drives the operation of the elevator. The elevator moves up and down along the vertical guide rail, and inertia exists in the process. Therefore, in order to ensure stability, the car needs to be decelerated before stopping to ensure high-precision seamless positioning of the elevator car based on inertial navigation.

[0003] The existing patent (application number: CN205998814U) proposes a positioning device for an elevator car, which comprises two L-shaped positioners fixedly arranged on two columns of the elevator, and two L-shaped positioning plates arranged on the top of the car of the elevator. The two L-shaped positioning plates are respectively correspondingly limited and clamped with the two L-shaped positioners. The two L-shaped positioners are respectively provided with a limiting groove with an opening opposite to each other, and the two L-shaped positioning plates are matched and clamped in the corresponding limiting grooves. The positioning device for the elevator car in the actual application process can prevent the car of the elevator from moving in four directions of front, back, left and right. However, there is inertia in the process of the car moving up and down, so it is impossible to decelerate before the car stops, and sudden braking still exists the problem of unstable car, and it is difficult to improve the positioning precision of the elevator car.

[0004] Therefore, the present application is proposed. SUMMARY

[0005] The technical problem to be solved by the present application is to overcome the shortcomings of the prior art, and to provide an AGV high-precision seamless positioning device for an elevator car based on inertial navigation, so as to solve the problem that the positioning device for the elevator car cannot decelerate before the car stops, and sudden braking still exists the problem of unstable car, and it is difficult to improve the positioning precision of the elevator car.

[0006] To solve the above technical problems, the application provides an elevator car inside and outside AGV high-precision seamless positioning device based on inertial navigation, which comprises an elevator body, the elevator body comprises elevator columns and a plurality of car bodies, one side of the car body is provided with an AGV laser sensor, a plurality of laser positioning signboards are arranged between the two elevator columns, one side of the laser positioning signboard is provided with a mounting assembly, the mounting assembly comprises a box body mounted on the side of the laser positioning signboard away from the car body, a rotating shaft rotationally connected with the box body, a gear connected with the outer wall of the rotating shaft, a guide rod connected with the inner wall of the box body, a rack connected with the guide rod and meshed with the gear, a compression spring sleeved on the outer portion of the guide rod and connected with the box body and the rack at both ends, a mounting plate connected with the end of the rotating shaft extending to the outside of the box body, an arc plate mounted on one side of the mounting plate, a through hole opened on both sides of the box body and matched with the rack, and a plurality of limiting grooves opened on the opposite side of the two elevator columns and matched with the rack.

[0007] Further, the inner top wall and the inner bottom wall of the elevator body are embedded with a plurality of ball bearings.

[0008] Further, the laser positioning signboard is provided with a laser deceleration signboard above and below.

[0009] Further, the laser deceleration signboard is provided with a lead screw near the box body and on the top and bottom of the box body, a threaded sleeve is threadedly connected between the two adjacent lead screws, the threads on the two adjacent lead screws are oppositely arranged, a plurality of sleeves are mounted on the top and bottom of the box body, a sliding rod is slidingly connected with the inner wall of the sleeve, the end of the sliding rod away from the sleeve is connected with the laser deceleration signboard, an adjusting bolt is threadedly connected through the outer wall of the sleeve, and the end of the adjusting bolt is in abutment with the outer wall of the sliding rod.

[0010] Further, the outer wall of the threaded sleeve is provided with a rubber pad, and the outer surface of the rubber pad is integrally formed with anti-slip particles.

[0011] Further, the end of the adjusting bolt is integrally formed with a finger groove.

[0012] Further, the top and bottom of the AGV laser sensor are provided with a first L-shaped rod, the end of the first L-shaped rod away from the AGV laser sensor is provided with an elbow, the inner wall of the elbow is provided with a second L-shaped rod, the end of the second L-shaped rod away from the elbow is rotationally connected with a fan head, and the outer wall of the fan head is provided with a plurality of fan blades.

[0013] Further, a reinforcing rod is mounted on the first L-shaped rod.

[0014] After adopting the above technical scheme, the application has the following beneficial effects compared with the prior art.

[0015] 1. In this invention, multiple laser positioning markers are installed on the elevator columns along the elevator car's running path, with one marker for each floor. An AGV laser sensor emits a laser beam and receives the reflected beam from the positioning marker. Simultaneously, in conjunction with the control board in the elevator control box, the elevator is braked when a laser positioning marker passes a laser deceleration marker and passengers are boarding or alighting on the current floor. Because the positioning accuracy of the AGV laser sensor combined with the laser positioning markers is high, it facilitates precise positioning of the elevator, ensuring passengers can board and alight normally on the current floor. Each laser positioning marker corresponds to an elevator exit on each floor. This allows for high-precision seamless positioning of the AGV inside and outside the elevator car, preventing gaps that could cause passengers to fall into the elevator shaft. Elevator workers hold an arc-shaped plate and rotate it, which in turn drives the shaft to rotate the gears. This causes the two racks inside the housing to move left and right respectively, moving them away from the limiting slots on the elevator column. After releasing the arc-shaped plate, the elastic reset principle of the compression spring allows the racks to re-insert into one of the limiting slots. During this process, the initial compression spring causes the racks to insert into the limiting slots, facilitating the installation, disassembly, and replacement of the laser positioning marker plate. This ensures the reflective effect of the laser positioning marker plate, thus guaranteeing positioning accuracy.

[0016] 2. In this invention, laser deceleration markers are installed on elevator columns along the elevator car's running path. An AGV laser sensor emits a laser beam and receives the beam reflected back from the laser deceleration marker. Simultaneously, in conjunction with the control board in the elevator control box, when the AGV laser sensor passes the laser deceleration marker and passengers are boarding or alighting on the current floor, the elevator body is decelerated. This makes it easier for the AGV laser sensor to precisely position the elevator body via the laser positioning marker when the speed is lower, ensuring passengers can board and alight normally. Elevator operators first loosen the adjusting bolt, then rotate the threaded sleeve, and use the two lead screws on it to easily adjust the distance between the laser deceleration marker and the laser positioning marker. A greater distance between the two markers facilitates earlier deceleration of the elevator body, making it more suitable for high-rise buildings; conversely, it is more suitable for low-rise buildings. Furthermore, the use of a sleeve and sliding rod limits and guides the movement of the laser deceleration marker, ensuring stability during position adjustment. After adjustment, the adjusting bolt is tightened.

[0017] 3、The elevator body in the application, when rising or falling, air passes through the elbow, and uses the fan blade to form an air flow blowing to the laser emission port of the AGV laser sensor, thereby dusting the laser emission port of the AGV laser sensor, so as to ensure the normal emission of laser of the AGV laser sensor, and ensure the high-precision positioning of the elevator body, and in the process, the second L-shaped rod is arranged, so that the fan blade and the fan head are conveniently installed in the elbow. BRIEF DESCRIPTION OF DRAWINGS

[0018] The accompanying drawings are part of the present application and serve to provide a further understanding of the present application, the schematic embodiments of the present application and the description thereof serve to explain the present application, but do not constitute an improper limitation on the present application. Obviously, the drawings in the following description are only some embodiments, and other drawings can be obtained from these drawings by those skilled in the art without creative labor. In the drawings:

[0019] Figure 1 It is a whole structure schematic diagram of an AGV high-precision seamless positioning device inside and outside an elevator car based on inertial navigation;

[0020] Figure 2 It is a structure schematic diagram of an elbow in an AGV high-precision seamless positioning device inside and outside an elevator car based on inertial navigation;

[0021] Figure 3 It is a structure schematic diagram of an installation assembly in an AGV high-precision seamless positioning device inside and outside an elevator car based on inertial navigation;

[0022] Figure 4 It is a cross-sectional structure schematic diagram of a box body in an AGV high-precision seamless positioning device inside and outside an elevator car based on inertial navigation;

[0023] Figure 5 It is a structure schematic diagram of an elevator stand in an AGV high-precision seamless positioning device inside and outside an elevator car based on inertial navigation.

[0024] In the drawings, 1 is an elevator body, 2 is an elevator stand, 3 is a car body, 4 is an AGV laser sensor, 5 is a laser positioning mark plate, 6 is an installation assembly, 601 is a box body, 602 is a rotating shaft, 603 is a gear, 604 is a guide rod, 605 is a rack, 606 is a compression spring, 607 is a mounting plate, 608 is an arc plate, 609 is a through hole, 610 is a limiting groove, 7 is a ball, 8 is a laser deceleration mark plate, 9 is a lead screw, 10 is a threaded sleeve, 11 is a sleeve, 12 is a sliding rod, 13 is an adjusting bolt, 14 is a rubber pad, 15 is a first L-shaped rod, 16 is an elbow, 17 is a second L-shaped rod, 18 is a fan head, 19 is a fan blade, and 20 is a reinforcing rod.

[0025] It should be noted that the drawings and the written description are not intended to limit the scope of the inventive concept in any way, but are merely to illustrate the inventive concept to those skilled in the art by reference to specific embodiments. DETAILED DESCRIPTION

[0026] In order to make the purpose, technical scheme and advantages of the embodiments of the present application clearer, the technical scheme in the embodiments will be described clearly and completely below with reference to the drawings in the embodiments of the present application. The following embodiments are used to illustrate the present application, but are not used to limit the scope of the present application.

[0027] In the description of the present application, it should be noted that the terms "upper", "lower", "front", "back", "left", "right", "vertical", "inner", "outer" and the like indicate the orientation or positional relationship based on the drawings, and are only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the devices or elements referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as a limitation on the present application.

[0028] In the description of the present application, it should be noted that unless otherwise explicitly specified and limited, the terms "mounting", "connection", "connecting" should be understood broadly, for example, it can be fixed connection, or detachable connection, or integrally connected; it can be mechanical connection, or electrical connection; it can be directly connected, or indirectly connected through an intermediate medium. For those skilled in the art, the specific meaning of the above terms in the present application can be understood according to the specific circumstances.

[0029] The positioning device of the existing elevator car can prevent the car from moving in four directions of front, back, left and right. However, there is inertia in the process of the car moving up and down, so there is a problem that the car cannot be decelerated before stopping at the stop, and sudden braking still causes instability of the car, and there is a problem that it is difficult to improve the positioning accuracy of the elevator car.

[0030] By Figures 1 to 5 The present application provides a high-precision seamless positioning device for AGV inside and outside the elevator car based on inertial navigation.

[0031] Specifically, by Figure 1 , 3The application discloses an elevator car inside and outside AGV high-precision seamless positioning device based on inertial navigation, which comprises an elevator body 1, the elevator body 1 comprises elevator columns 2 and a plurality of car bodies 3, one side of the car body 3 is provided with an AGV laser sensor 4, a plurality of laser positioning mark plates 5 are arranged between the two elevator columns 2, one side of the laser positioning mark plate 5 is provided with a mounting assembly 6, the mounting assembly 6 comprises a box body 601 mounted on the side of the laser positioning mark plate 5 away from the car body 3, a rotating shaft 602 rotationally connected with the box body 601, a gear 603 connected with the outer wall of the rotating shaft 602, a guide rod 604 connected with the inner wall of the box body 601, a rack 605 engagedly connected with the guide rod 604 and the gear 603, a compression spring 606 sleeved on the outer portion of the guide rod 604 and connected with the box body 601 and the rack 605 at both ends, a mounting plate 607 connected with one end of the rotating shaft 602 extending to the outer portion of the box body 601, an arc plate 608 mounted on one side of the mounting plate 607, a through hole 609 formed in the two sides of the box body 601 and matched with the rack 605, and a plurality of limiting grooves 610 formed in the opposite side of the two elevator columns 2 and matched with the rack 605, a plurality of laser positioning mark plates 5 are arranged on the elevator columns 2 along the running path of the car body 3, one laser positioning mark plate 5 is arranged on each floor, a laser beam is emitted by the AGV laser sensor 4, then the laser beam reflected by the laser positioning mark plate 5 is received, and meanwhile, the control mainboard in the elevator control box is cooperated, that is, when the laser positioning mark plate 5 passes through the laser deceleration mark plate 8 and passengers are getting on and off the elevator at the current floor, the elevator body 1 is braked, because the positioning precision of the AGV laser sensor 4 cooperated with the laser positioning mark plate 5 is high, the high-precision positioning of the elevator body 1 is facilitated, the passengers on the current floor are ensured to normally get on and off the elevator, meanwhile, each laser positioning mark plate 5 corresponds to the elevator exit of each floor, so that the elevator car inside and outside AGV high-precision seamless positioning is realized, the problem that passengers fall into the elevator shaft due to the gap is avoided, the arc plate 608 is held and rotated by a relevant staff, the rotating shaft 602 is driven by the mounting plate 607 to rotate the gear 603, so that the two racks 605 in the box body 601 are moved to the left and right respectively, the rack 605 is moved away from the limiting grooves 610 on the elevator column 2, after the arc plate 608 is released by the hand, the rack 605 is inserted into one of the limiting grooves 610 again by the elastic reset principle of the compression spring 606, in the process, the compression spring 606 in the initial state makes the rack 605 inserted into the limiting groove 610, so that the laser positioning mark plate 5 is convenient to install, disassemble and replace, the reflection effect of the laser positioning mark plate 5 is ensured, and the positioning precision is ensured.

[0032] In addition, for the elevator body 1, the inner top wall and the inner bottom wall are embedded with a plurality of balls 7, which reduces the friction between the rack 605 and the inner wall of the elevator body 1, thereby ensuring that the sliding process of the rack 605 in the elevator body 1 is more smooth, and thus more convenient for installing and dismounting the laser positioning mark plate 5.

[0033] In addition, for the laser positioning mark plate 5, the upper and lower parts are provided with laser deceleration mark plates 8, which are arranged on the elevator column 2 along the running path of the car body 3, and emit laser beams by using the AGV laser sensor 4, and then receive the laser beams reflected back by the laser deceleration mark plate 8, and cooperate with the control mainboard in the elevator control box, that is, when the AGV laser sensor 4 passes through the laser deceleration mark plate 8 and there are passengers on the current floor, the elevator body 1 is decelerated, so that it is more convenient for the AGV laser sensor 4 to pass through the laser positioning mark plate 5 to position the elevator body 1 with high precision when the speed is slow, and ensure that the passengers on the current floor can normally get on and off the elevator.

[0034] In addition, the specific composition structure and working principle of the AGV laser sensor 4 are known to those skilled in the art, and will not be described in detail here.

[0035] The present application sets multiple laser positioning sign plates 5 on the elevator column 2 along the running path of the car body 3, and each floor has one laser positioning sign plate 5, and uses the AGV laser sensor 4 to emit a laser beam, and then receives the laser beam reflected back by the laser positioning sign plate 5, and cooperates with the control mainboard in the elevator control box, that is, when the laser positioning sign plate 5 passes through the laser deceleration sign plate 8 and there are passengers getting on and off the elevator at the current floor, the elevator body 1 is braked, because the positioning accuracy of the AGV laser sensor 4 cooperating with the laser positioning sign plate 5 is high, so it is convenient to position the elevator body 1 with high accuracy, and ensure that the passengers at the current floor normally get on and off the elevator, and each laser positioning sign plate 5 corresponds to the elevator exit of each floor, and then the AGV inside and outside the elevator car is positioned with high accuracy and seamlessly, avoiding the problem of passengers falling into the elevator shaft due to gaps, the arc-shaped plate 608 is held by the relevant elevator staff and is rotated, the shaft 602 is driven by the mounting plate 607 to rotate the gear 603, so that the two racks 605 in the box body 601 move left and right respectively, and then the rack 605 moves away from the limiting groove 610 on the elevator column 2, and after the hand releases the arc-shaped plate 608, the rack 605 is inserted into one of the limiting grooves 610 again by using the elastic reset principle of the compression spring 606, in the process, the compression spring 606 in the initial state makes the rack 605 inserted into the limiting groove 610, so as to facilitate the installation, disassembly and replacement of the laser positioning sign plate 5, so as to ensure the reflection effect of the laser positioning sign plate 5, and ensure the positioning accuracy, the friction between the rack 605 and the inner wall of the elevator body 1 is reduced by setting the ball 7, so as to ensure that the sliding process of the rack 605 in the elevator body 1 is more smooth, and thus the installation and disassembly of the laser positioning sign plate 5 are more convenient, the laser deceleration sign plate 8 is set on the elevator column 2 along the running path of the car body 3, and the AGV laser sensor 4 emits a laser beam, and then receives the laser beam reflected back by the laser deceleration sign plate 8, and cooperates with the control mainboard in the elevator control box, that is, when the AGV laser sensor 4 passes through the laser deceleration sign plate 8 and there are passengers getting on and off the elevator at the current floor, the elevator body 1 is decelerated, so that the AGV laser sensor 4 is more convenient to position the elevator body 1 with high accuracy through the laser positioning sign plate 5 when the speed is slow, and ensure that the passengers at the current floor normally get on and off the elevator.

[0036] Further, as a specific embodiment of the present application, the present application provides an AGV high-precision seamless positioning device inside and outside the elevator car based on inertial navigation.

[0037] Specifically, as Figure 3Give, laser deceleration signboard 8 close to the side of the box body 601 and the top and bottom of the box body 601 are provided with a lead screw 9, the adjacent two lead screws 9 are threadedly connected with a threaded sleeve 10, the threads on the adjacent two lead screws 9 are oppositely arranged, the top and bottom of the box body 601 are provided with a plurality of sleeves 11, the inner wall of the sleeve 11 is slidably connected with a slide rod 12, one end of the slide rod 12 away from the sleeve 11 is connected with the laser deceleration signboard 8, the outer wall of the sleeve 11 is threadedly connected with an adjusting bolt 13, one end of the adjusting bolt 13 abuts against the outer wall of the slide rod 12, by setting the laser deceleration signboard 8 on the elevator column 2 along the running path of the car body 3, and using the AGV laser sensor 4 to emit a laser beam, then receiving the laser beam reflected back by the laser deceleration signboard 8, and cooperating with the control mainboard in the elevator control box, that is, when the AGV laser sensor 4 passes through the laser deceleration signboard 8 and there is a passenger on the current floor, the elevator body 1 is decelerated, so that the AGV laser sensor 4 can pass through the laser positioning signboard 5 to position the elevator body 1 with high precision when the speed is slow, ensuring that the passengers on the current floor can normally get on and off the elevator, the relevant elevator staff first loosens the adjusting bolt 13, then rotates the threaded sleeve 10, and adjusts the distance between the laser deceleration signboard 8 and the laser positioning signboard 5 through the two lead screws 9, when the distance between the laser deceleration signboard 8 and the laser positioning signboard 5 is far, it is convenient to decelerate the elevator body 1 in advance, which is more suitable for high-rise buildings, and vice versa, which is more suitable for low-rise buildings, and in the process, the sleeve 11 and the slide rod 12 are set to limit and guide the movement of the laser deceleration signboard 8, ensuring the stability of the laser deceleration signboard 8 during adjustment, and after adjustment, the adjusting bolt 13 is tightened.

[0038] In addition, the outer wall of the threaded sleeve 10 is provided with a rubber pad 14, the outer surface of the rubber pad 14 is integrally formed with anti-skid particles, by setting the rubber pad 14, the hard contact between the hand and the threaded sleeve 10 is avoided, the comfort of the elevator construction personnel during holding the threaded sleeve 10 is improved, and by setting the anti-skid particles, the friction between the hand and the rubber pad 14 is increased, thereby avoiding the hand-off phenomenon.

[0039] In addition, one end of the adjusting bolt 13 is integrally formed with a finger groove, by setting the finger groove, the friction between the hand and the adjusting bolt 13 is increased, the rotation and tightening of the adjusting bolt 13 are facilitated, and the positioning effect after adjusting the position of the laser deceleration signboard 8 is ensured.

[0040] The application is characterized in that the laser deceleration signboard 8 is arranged on the elevator column 2 along the operation path of the car body 3, the laser beam is emitted by the AGV laser sensor 4, and then the laser beam reflected by the laser deceleration signboard 8 is received, and the control mainboard in the elevator control box is used, that is, when the AGV laser sensor 4 passes the laser deceleration signboard 8 and passengers are getting on and off the elevator at the current floor, the car body 1 is decelerated, so that the AGV laser sensor 4 is more convenient to pass the laser positioning signboard 5 to position the car body 1 with high precision at a slow speed, and the passengers at the current floor are ensured to normally get on and off the elevator, the relevant elevator staff first loosens the adjusting bolt 13, then rotates the threaded sleeve 10, and adjusts the distance between the laser deceleration signboard 8 and the laser positioning signboard 5 through the two lead screws 9 on the threaded sleeve 10, when the distance between the laser deceleration signboard 8 and the laser positioning signboard 5 is far, the car body 1 is conveniently decelerated in advance, and it is more suitable for high-rise buildings, and vice versa, it is more suitable for low-rise buildings, and in the process, the sleeve 11 and the slide rod 12 are arranged to limit and guide the movement of the laser deceleration signboard 8, so as to ensure the stability of the laser deceleration signboard 8 during the adjustment process, and after the adjustment, the adjusting bolt 13 is tightened, the rubber pad 14 is arranged to avoid hard contact between the hand and the threaded sleeve 10, improve the comfort of the elevator construction personnel during the process of holding the threaded sleeve 10, the anti-skid particles are arranged to increase the friction between the hand and the rubber pad 14, so as to avoid the hand from slipping, the finger groove is arranged to increase the friction between the hand and the adjusting bolt 13, so as to conveniently rotate and tighten the adjusting bolt 13, and then the positioning effect of the laser deceleration signboard 8 after the adjustment position is ensured.

[0041] Further, as another specific embodiment of the application, the application provides an AGV high-precision seamless positioning device inside and outside the elevator car based on inertial navigation.

[0042] Specifically, as shown in the drawings, Figure 1 and 2 It is given that the top and bottom of the AGV laser sensor 4 are provided with first L-shaped rods 15, the ends away from the AGV laser sensor 4 of the first L-shaped rods 15 are provided with elbows 16, the inner walls of the elbows 16 are provided with second L-shaped rods 17, the ends away from the elbows 16 of the second L-shaped rods 17 are rotatably connected with fan heads 18, the outer walls of the fan heads 18 are provided with a plurality of fan blades 19, when the car body 1 rises or falls, air passes through the elbows 16 and uses the fan blades 19 to form an air flow blowing to the laser emission port of the AGV laser sensor 4, so as to dust the laser emission port of the AGV laser sensor 4, thereby ensuring the normal emission of the laser of the AGV laser sensor 4, and ensuring the high-precision positioning of the car body 1, and in the process, the second L-shaped rods 17 are arranged to facilitate the installation of the fan blades 19 and the fan heads 18 in the elbows 16.

[0043] In addition, for the first L-shaped rod 15, the reinforcing rod 20 is mounted thereon, by arranging the reinforcing rod 20, the structural integrity of the first L-shaped rod 15 is ensured, the problem of disconnection at the right angle of the first L-shaped rod 15 is avoided, and thus the elbow 16 is more stable after installation.

[0044] In the application, when the elevator body 1 rises or falls, air passes through the elbow 16 and forms an air flow directed to the laser emission port of the AGV laser sensor 4 by the fan blade 19, thereby dusting the laser emission port of the AGV laser sensor 4, ensuring the normal emission of laser of the AGV laser sensor 4, and ensuring high-precision positioning of the elevator body 1. During the process, the fan blade 19 and the fan head 18 are installed in the elbow 16 by arranging the second L-shaped rod 17, and the structural integrity of the first L-shaped rod 15 is ensured by arranging the reinforcing rod 20, avoiding the problem of disconnection at the right angle of the first L-shaped rod 15, and thus the elbow 16 is more stable after installation.

[0045] Working principle: By arranging a plurality of laser positioning sign plates 5 on the elevator column 2 along the running path of the car body 3, and one laser positioning sign plate 5 on each floor, and using the AGV laser sensor 4 to emit a laser beam, then receiving the laser beam reflected back by the laser positioning sign plate 5, and cooperating with the control mainboard in the elevator control box, i.e. when the laser positioning sign plate 5 passes through the laser deceleration sign plate 8 and there are passengers getting on and off the elevator at the current floor, the elevator body 1 is braked. Since the positioning accuracy of the AGV laser sensor 4 cooperating with the laser positioning sign plate 5 is high, it is convenient to position the elevator body 1 with high precision, ensuring that passengers at the current floor can normally get on and off the elevator. At the same time, each laser positioning sign plate 5 corresponds to the elevator exit of each floor, and the AGV is positioned with high precision and seamlessly inside and outside the elevator car, avoiding the problem of passengers falling into the elevator shaft due to gaps. The arc-shaped plate 608 is held by the relevant elevator staff and rotated, the shaft 602 is driven to rotate the gear 603 by the mounting plate 607, thereby moving the two racks 605 in the box body 601 left and right respectively, and thus moving the rack 605 away from the limiting groove 610 on the elevator column 2. After the hand releases the arc-shaped plate 608, the rack 605 is inserted into one of the limiting grooves 610 again by using the elastic reset principle of the compression spring 606. During the process, the compression spring 606 in the initial state makes the rack 605 inserted into the limiting groove 610, thereby facilitating the installation, disassembly and replacement of the laser positioning sign plate 5, to ensure the reflection effect of the laser positioning sign plate 5, and thus to ensure the positioning accuracy.

[0046] The laser deceleration signboard 8 is arranged on the elevator column 2 along the operation path of the car body 3, and the laser beam is emitted by the AGV laser sensor 4 and then reflected back by the laser deceleration signboard 8, and the control mainboard in the elevator control box is used, that is, when the AGV laser sensor 4 passes the laser deceleration signboard 8 and there are passengers on the current floor, the car body 1 is decelerated, so that the AGV laser sensor 4 is more convenient to pass the laser positioning signboard 5 to position the car body 1 with high precision when the speed is slow, and the passengers on the current floor are ensured to normally get on and off the elevator, the adjusting bolt 13 is loosened, the threaded sleeve 10 is rotated, and the distance between the laser deceleration signboard 8 and the laser positioning signboard 5 is adjusted through the two lead screws 9, when the distance between the laser deceleration signboard 8 and the laser positioning signboard 5 is far, the car body 1 is conveniently decelerated in advance, which is more suitable for high-rise buildings, and vice versa, which is more suitable for low-rise buildings, and in the process, the sleeve 11 and the slide rod 12 are arranged to limit and guide the movement of the laser deceleration signboard 8, so as to ensure the stability of the laser deceleration signboard 8 during adjustment, and the adjusting bolt 13 is tightened after adjustment.

[0047] When the car body 1 rises or falls, air passes through the elbow 16 and uses the fan blade 19 to form an air flow to the laser emission port of the AGV laser sensor 4, thereby dusting the laser emission port of the AGV laser sensor 4, so as to ensure the normal emission of the laser of the AGV laser sensor 4, and thus ensure the high-precision positioning of the car body 1, and in the process, the second L-shaped rod 17 is arranged to facilitate the installation of the fan blade 19 and the fan head 18 in the elbow 16.

[0048] The above is only the preferred embodiment of the present application, and is not intended to limit the present application in any form. Although the present application has been disclosed as above with the preferred embodiment, it is not intended to limit the present application, and any skilled person in the art can make some changes or modifications to the above-mentioned technical content without departing from the technical solution of the present application, and the equivalent embodiments of the equivalent changes are equivalent. The embodiments in the above-mentioned embodiments can be further combined or replaced, but as long as it does not deviate from the technical solution of the present application, any simple modification, equivalent change and modification of the above-mentioned embodiments according to the technical essence of the present application are still within the scope of the present application.

Claims

1. An AGV high-precision seamless positioning device inside and outside an elevator car based on inertial navigation, comprising an elevator body (1), the elevator body (1) comprising an elevator column (2) and a plurality of car bodies (3), characterized in that, One side of the car body (3) is provided with an AGV laser sensor (4), a plurality of laser positioning signboards (5) are arranged between the two elevator columns (2), one side of the laser positioning signboard (5) is provided with a mounting assembly (6), the mounting assembly (6) comprises a box body (601) mounted on the side of the laser positioning signboard (5) away from the car body (3), a rotating shaft (602) rotatably connected with the box body (601), a gear (603) connected with the outer wall of the rotating shaft (602), a guide rod (604) connected with the inner wall of the box body (601), a rack (605) inserted with the guide rod (604) and meshed with the gear (603), a compression spring (606) sleeved outside the guide rod (604) and connected with the box body (601) and the rack (605) at both ends, a mounting plate (607) connected with one end of the rotating shaft (602) extending outside the box body (601), an arc plate (608) mounted on one side of the mounting plate (607), a through hole (609) formed on both sides of the box body (601) and matched with the rack (605), and a plurality of limiting grooves (610) formed on the opposite side of the two elevator columns (2) and matched with the rack (605). Laser deceleration signboards (8) are arranged above and below the laser positioning signboard (5). The laser deceleration signboards (8) above and below are provided with a lead screw (9) on one side close to the box body (601), the top and bottom of the box body (601) are provided with a lead screw (9), the adjacent two lead screws (9) are threadedly connected with a threaded sleeve (10), the threads on the adjacent two lead screws (9) are oppositely arranged, the top and bottom of the box body (601) are provided with a plurality of sleeves (11), the inner wall of the sleeve (11) is slidably connected with a sliding rod (12), one end of the sliding rod (12) away from the sleeve (11) is connected with the laser deceleration signboard (8), the outer wall of the sleeve (11) penetrates and is threadedly connected with an adjusting bolt (13), one end of the adjusting bolt (13) abuts against the outer wall of the sliding rod (12).

2. The high-precision seamless positioning device for AGV inside and outside the elevator car based on inertial navigation according to claim 1, characterized in that, The inner top wall and the inner bottom wall of the elevator body (1) are embedded with a plurality of balls (7).

3. The high-precision seamless positioning device for AGV inside and outside the elevator car based on inertial navigation according to claim 2, characterized in that, The outer wall of the threaded sleeve (10) is provided with a rubber pad (14), and the outer surface of the rubber pad (14) is integrally formed with anti-skid particles.

4. The high-precision seamless positioning device for AGV inside and outside the elevator car based on inertial navigation according to claim 3, characterized in that, One end of the adjusting bolt (13) is integrally formed with a finger groove.

5. The high-precision seamless positioning device for AGV inside and outside the elevator car based on inertial navigation according to claim 4, characterized in that, The top and bottom of the AGV laser sensor (4) are provided with a first L-shaped rod (15), one end of the first L-shaped rod (15) away from the AGV laser sensor (4) is provided with an elbow (16), the inner wall of the elbow (16) is provided with a second L-shaped rod (17), one end of the second L-shaped rod (17) away from the elbow (16) is rotatably connected with a fan head (18), and the outer wall of the fan head (18) is provided with a plurality of fan blades (19).

6. The high-precision seamless positioning device for AGV inside and outside the elevator car based on inertial navigation according to claim 5, characterized in that, A reinforcing rod (20) is mounted on the first L-shaped rod (15).

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