Self-adaptive telescopic navigation system for flat plate type AGV (Automatic Guided Vehicle) body and use method of self-adaptive telescopic navigation system

Abstract

The invention discloses a self-adaptive telescopic navigation system for a flat plate type AGV body and a use method. The self-adaptive telescopic navigation system comprises the AGV body and a self-adaptive device, the self-adaptive device comprises a navigation head, a self-adaptive adjusting platform and a self-adaptive telescopic device; the self-adaptive adjusting platform comprises a navigation head mounting plate, a vertical direction stabilizing motor, a horizontal direction stabilizing motor and a bottom mounting plate; the self-adaptive telescopic device is mounted in the AGV body, the bottom mounting plate is mounted at the top of the self-adaptive telescopic device, the horizontal stabilizing motor is mounted on the bottom mounting plate, the vertical stabilizing motor is mounted on an output shaft of the horizontal stabilizing motor, and the navigation head mounting plate is fixed to an output shaft of the vertical stabilizing motor. And the navigation head is mounted on the navigation head mounting plate. According to the invention, the navigation head is kept in a horizontal stable state by utilizing the self-adaptive adjusting platform, so that the height of the navigation head can be kept stable when the AGV body works in different height environments, and stable and uninterrupted accurate navigation is further realized.

Description

Technical Field

[0001] The present invention relates to the field of AGV navigation technology, and more specifically, to an adaptive telescopic navigation system for a flat-plate AGV body and a method of using the system. Background Art

[0002] It is known that the AGV navigation process requires the vehicle navigation head to be able to form a reliable docking with the reflective plate or reflective column; usually the navigation head is fixed on the top surface of the vehicle body. Since the position of the navigation head is fixed, interference may occur in complex working conditions: such as narrow alleys or when the position of the machine is not fixed, which may cause damage to the navigation head; currently, this working condition generally abandons the navigation head and uses environmental navigation to complete the AGV navigation operation, but the navigation accuracy of this mode is low and cannot meet the requirements of precise docking; magnetic navigation and natural navigation have emerged so that the AGV navigation accuracy can meet the requirements of precise docking; among them, the disadvantages of magnetic navigation are: 1. Due to the laying of magnetic strips on the ground, long-term use may easily cause the magnetic strips to break; 2. The magnetic strips will attract metal substances, which will cause AGV equipment to malfunction, and other sensors are still needed to realize the positioning site function; and the cost of natural navigation is high, and the requirements for the on-site environment are high. The on-site environment requires a fixed scene with identifiable features and no interference; it can be seen that magnetic navigation and natural navigation still have difficulties that are difficult to overcome.

[0003] In actual AGV navigation, due to the low height of the flatbed AGV body, about 800mm, its operating environment varies, for example, obstacles are stored at irregular intervals within the height range of 1500mm; therefore, the existing flatbed AGV body navigation system has the following problems that need to be overcome: 1. Conventional navigation cannot effectively locate according to the on-site environment; 2. If the navigation height exceeds the height of the plane on the vehicle, there is a high risk of damaging the navigation when the AGV picks up and puts goods.

[0004] Therefore, an adaptive telescopic navigation system and a method of use for a flat-bed AGV body are proposed as a further improvement, so that potential interference factors on the AGV path can be acquired through environmental perception means, and the height and position of the navigation head can be changed in real time through a self-adjusting mechanism to ensure that the navigation head and the body can still achieve stable and uninterrupted precise navigation under the premise of safety. Summary of the invention

[0005] In order to overcome the above-mentioned defects of the prior art, an embodiment of the present invention provides an adaptive telescopic navigation system for a flat-bed AGV body and a method of use to solve the problems raised in the above-mentioned background technology.

[0006] To achieve the above-mentioned object, the present invention provides the following technical solutions: an adaptive telescopic navigation system for a flat-bed AGV body, the system comprising: an AGV body and an adaptive device;

[0007] The adaptive device comprises: a navigation head, an adaptive adjustment platform and an adaptive telescopic device;

[0008] The self-adaptive adjustment platform comprises: a navigation head mounting plate, a vertical stabilization motor, a horizontal stabilization motor and a bottom mounting plate;

[0009] The bottom of the adaptive telescopic device is fixedly installed at one end of the AGV body, the top of the adaptive telescopic device passes through the upper surface of the AGV body, the bottom mounting plate is fixedly installed on the top of the adaptive telescopic device, the horizontal direction stabilizing motor is fixedly installed on the bottom mounting plate through the first fixing frame, the output shaft of the horizontal direction stabilizing motor is fixedly connected to the second fixing frame, the vertical direction stabilizing motor is fixedly installed on the second fixing frame, the output shaft of the vertical direction stabilizing motor is fixedly connected to the navigation head mounting plate, and the navigation head is fixedly installed on the navigation head mounting plate.

[0010] Furthermore, the bottom mounting plate includes: an upper mounting plate and a lower mounting plate, the lower surface of the upper mounting plate is fixedly connected to the upper surface of the lower mounting plate through at least four evenly distributed buffer pads, the lower surface of the lower mounting plate is fixedly mounted on the top of the adaptive telescopic device, and the bottom of the first fixing frame is fixedly mounted on the upper surface of the upper mounting plate.

[0011] Furthermore, the second fixing frame and the navigation head mounting plate are both configured to be L-shaped.

[0012] Furthermore, the output shaft of the vertical direction stabilizing motor is perpendicular to the output shaft of the horizontal direction stabilizing motor.

[0013] Furthermore, the upper mounting plate is perpendicular to the first fixing frame.

[0014] Furthermore, the adaptive telescopic device comprises: a telescopic drive servo motor, a drive shield and a mounting seat and a telescopic execution unit;

[0015] The driving shield and the mounting seat are fixedly installed inside the AGV body, the telescopic driving servo motor and the telescopic execution unit are both fixedly installed on the top of the driving shield and the mounting seat, the telescopic driving servo motor is transmission-connected to the input end at the bottom of the telescopic execution unit through a transmission mechanism; the output end at the top of the telescopic execution unit is fixedly connected to the lower mounting plate.

[0016] A method for using an adaptive telescopic navigation system for a flat-bed AGV vehicle body includes the system, and the specific operating steps are as follows:

[0017] S1: The camera on the navigation head collects fixed feature information in the AGV's driving path, and uploads the information to the adaptive adjustment platform and adaptive telescopic device in real time to perform feature positioning in real time:

[0018] If the camera detects an obstacle on the route that interferes with the navigation head or identifies that the vehicle is traveling to the operation point, it enters S2;

[0019] If the camera detects that the AGV has passed through an obstacle or recognizes that a human has completed the cargo pick-up and placement operation and left the vehicle, then the process goes to S3;

[0020] If the navigation head cannot detect sufficient natural navigation features, and the camera recognizes that there are suitable navigation features at other heights nearby, then enter S4;

[0021] S2: The telescopic drive servo motor of the adaptive telescopic device drives the telescopic actuator to complete the descending action, so that the navigation head can be automatically lowered;

[0022] S3: The telescopic drive servo motor of the adaptive telescopic device drives the telescopic actuator to complete the rising action, so that the navigation head can rise automatically;

[0023] S4: The telescopic drive servo motor of the adaptive telescopic device drives the telescopic actuator unit to perform an adaptive lifting action to achieve automatic adjustment of the height of the navigation head, and adjust the navigation head to a height with more navigation features.

[0024] Furthermore, in S1, the camera on the navigation head uploads the fixed feature information in the AGV vehicle's driving path to the adaptive adjustment platform, and the adaptive adjustment platform controls the vertical stabilization motor and the horizontal stabilization motor to keep the navigation head fixed on the navigation head mounting plate in a horizontal and stable state; thereby automatically adjusting the navigation height of the navigation head.

[0025] Technical effects and advantages of the present invention:

[0026] Compared with the existing technology, an adaptive adjustment platform is set up, and the vertical stabilization motor and the horizontal stabilization motor are used to keep the navigation head fixed on the navigation head mounting plate in a horizontal stable state. Therefore, when the flat-panel AGV body works in different height environments, the height of the navigation head can be kept stable, which helps to achieve stable and uninterrupted precise navigation; an adaptive telescopic device is set up to raise the navigation head to the height position of the adapted reflective tube in the driving path. When the AGV body needs to pick up and place goods, the system uses the adaptive telescopic device to retract the navigation head into the body to protect the navigation head from damage; when the vibration of the AGV body is transmitted to the navigation head through the bottom mounting plate, the buffer foot pad is used to reduce the impact on the navigation head. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] Figure 1 It is a schematic diagram of the overall structure of the present invention.

[0028] Figure 2 It is a schematic diagram of the structure of the adaptive device of the present invention.

[0029] Figure 3 It is a structural schematic diagram of the adaptive adjustment platform of the present invention.

[0030] Figure 4 It is a schematic structural diagram of the adaptive telescopic device of the present invention.

[0031] Figure 5 It is a structural schematic diagram of the telescopic execution unit of the present invention.

[0032] Figure 6 It is a color-coded schematic diagram of the telescopic execution unit structure of the present invention.

[0033] The accompanying drawings are marked as follows:

[0034] 1. AGV body;

[0035] 2. Adaptive device;

[0036] 21. Navigation header;

[0037] 22. Adaptive adjustment platform;

[0038] 221. Navigation head mounting plate; 222. Vertical stabilization motor; 223. Horizontal stabilization motor;

[0039] 224, bottom mounting plate; 2241, upper mounting plate; 2242, lower mounting plate;

[0040] 225, first fixing frame; 226, second fixing frame; 227, cushioning foot pad;

[0041] 23. Adaptive telescopic device;

[0042] 231. telescopic drive servo motor; 232. drive shield and mounting seat;

[0043] 233. Telescopic execution unit.

[0044] 2331, driving screw rod; 2332, mechanism housing; 2333, primary telescopic mechanism;

[0045] 2334. Second-stage telescopic mechanism; 2335. Third-stage telescopic mechanism; 2336. End cover. DETAILED DESCRIPTION

[0046] In order to make the purpose, technical solution and advantages of the present invention more clearly understood, the present invention is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not intended to limit the present invention.

[0047] As attached Figure 1-5 An adaptive telescopic navigation system for a flat-type AGV body is shown, the system comprising: an AGV body 1 and an adaptive device 2;

[0048] The adaptive device 2 comprises: a navigation head 21, an adaptive adjustment platform 22 and an adaptive telescopic device 23;

[0049] The adaptive adjustment platform 22 includes: a navigation head mounting plate 221, a vertical direction stabilizing motor 222, a horizontal direction stabilizing motor 223 and a bottom mounting plate 224;

[0050] The bottom of the adaptive telescopic device 23 is fixedly installed at one end of the AGV body 1, the top of the adaptive telescopic device 23 passes through the upper surface of the AGV body 1, the bottom mounting plate 224 is fixedly installed on the top of the adaptive telescopic device 23, the horizontal direction stabilizing motor 223 is fixedly installed on the bottom mounting plate 224 through the first fixing frame 225, the output shaft of the horizontal direction stabilizing motor 223 is fixedly connected to the second fixing frame 226, the vertical direction stabilizing motor 222 is fixedly installed on the second fixing frame 226, the output shaft of the vertical direction stabilizing motor 222 is fixedly connected to the navigation head mounting plate 221, and the navigation head 21 is fixedly installed on the navigation head mounting plate 221.

[0051] Among them, the present invention adopts laser navigation in conjunction with the adaptive telescopic navigation system, and it is necessary to arrange the reflective tube above the variable obstacle height in the driving path of the AGV body 1;

[0052] The adaptive adjustment platform 22 uses a vertical stabilizing motor 222 and a horizontal stabilizing motor 223 to keep the navigation head 21 fixed on the navigation head mounting plate 221 in a horizontal stable state, so that when the flat-type AGV body 1 works in different height environments, the height of the navigation head 21 can be kept stable, which helps to achieve stable and uninterrupted accurate navigation.

[0053] In a preferred embodiment, as shown in the attached Figure 1-5As shown, the bottom mounting plate 224 includes: an upper mounting plate 2241 and a lower mounting plate 2242, the lower surface of the upper mounting plate 2241 is fixedly connected to the upper surface of the lower mounting plate 2242 by at least four evenly distributed buffering pads 227, the lower surface of the lower mounting plate 2242 is fixedly mounted on the top of the adaptive telescopic device 23, and the bottom of the first fixed frame 225 is fixedly mounted on the upper surface of the upper mounting plate 2241; so that when the vibration of the AGV body 1 is transmitted to the navigation head 21 through the bottom mounting plate 224, the buffering pads 227 are utilized to reduce the impact on the navigation head 21.

[0054] In a preferred embodiment, as shown in the attached Figure 1-5 As shown, the shapes of the second fixing frame 226 and the navigation head mounting plate 221 are both set to be L-shaped; so that the vertical direction stabilizing motor 222 and the horizontal direction stabilizing motor 223 of the adaptive adjustment platform 22 ensure that the navigation head 21 on the navigation head mounting plate 221 is in a stable horizontal state.

[0055] In a preferred embodiment, as shown in the attached Figure 1-5 As shown, the output shaft of the vertical direction stabilizing motor 222 is perpendicular to the output shaft of the horizontal direction stabilizing motor 223, thereby ensuring a simple and reasonable structure.

[0056] In a preferred embodiment, as shown in the attached Figure 1-5 As shown, the upper mounting plate 2241 is perpendicular to the first fixing frame 225 , thereby helping to ensure that the navigation head 21 on the navigation head mounting plate 221 is in a stable horizontal state.

[0057] In a preferred embodiment, as shown in the attached Figure 1-5 As shown, the adaptive telescopic device 23 includes: a telescopic driving servo motor 231, a driving shield and mounting seat 232 and a telescopic execution unit 233;

[0058] The driving shield and mounting seat 232 are fixedly installed inside the AGV body 1, and the telescopic driving servo motor 231 and the telescopic execution unit 233 are both fixedly installed on the top of the driving shield and mounting seat 232. The telescopic driving servo motor 231 is transmission-connected to the input end at the bottom of the telescopic execution unit 233 through a transmission mechanism; the output end at the top of the telescopic execution unit 233 is fixedly connected to the lower mounting plate 2242.

[0059] Among them, the adaptive telescopic device 23 adopts the principle of a multi-stage telescopic mechanism;

[0060] Example:

[0061] The telescopic execution unit 233 includes: a driving screw rod 2331, a mechanism housing 2332, a primary telescopic mechanism 2333, a secondary telescopic mechanism 2334, a tertiary telescopic mechanism 2335, and an end cover 2336;

[0062] The transmission mechanism can be in the form of synchronous belt transmission, that is, the output shaft of the telescopic driving servo motor 231 is fixed with a sleeve driving wheel, and the end of the driving screw rod 2331 at the bottom of the telescopic execution unit 233 is fixedly sleeved with a driven wheel, and the driving wheel is connected to the driven wheel through a synchronous belt; thus, the telescopic driving servo motor 231 drives the driving screw rod 2331 to rotate through the synchronous belt;

[0063] Among them, Figure 5 and Figure 6 As shown, the telescopic execution unit 233 adopts the principle of a multi-stage telescopic mechanism, and uses the output shaft of the telescopic drive servo motor 231 to drive the driving screw 2331 to rotate through a synchronous belt, and the first-stage telescopic mechanism 2333, the second-stage telescopic mechanism 2334 and the third-stage telescopic mechanism 2335 evenly divide the rotating part and the telescopic part, and the rotating part is restrictedly rotated in the end of the telescopic part, so that the rotating part threadedly sleeved on the outer surface of the driving screw 2331 is telescopically moved along the axial direction of the driving screw 2331 as the driving screw 2331 rotates, and then the rotating part pushes the telescopic part to be telescopically moved along the axial direction of the driving screw 2331 when the rotating part rotates, so that the multi-stage telescopic mechanism is realized by converting the spiral motion of the driving screw 2331 into linear motion, completing the linear telescopic action;

[0064] Among them, the driving screw 2331 is as follows Figure 6 As shown, yellow+orange+brown are all driving screw rods 2331;

[0065] A method for using an adaptive telescopic navigation system for a flat-bed AGV vehicle body includes an adaptive telescopic navigation system, and specific operation steps are as follows:

[0066] S1: The camera on the navigation head 21 collects fixed feature information in the driving path of the AGV body 1, and uploads the information to the adaptive adjustment platform 22 and the adaptive telescopic device 23 in real time to perform feature positioning in real time:

[0067] If the camera detects that there is an obstacle on the running route that interferes with the navigation head 21 or recognizes that the vehicle is traveling to the operation point, then enter S2;

[0068] If the camera detects that the AGV body 1 has passed the obstacle or recognizes that the manual operation has been completed and the cargo has left the vehicle, then the process goes to S3;

[0069] If the navigation head 21 cannot detect enough natural navigation features, and the camera recognizes that there are suitable navigation features at other heights nearby, then enter S4;

[0070] S2: The telescopic driving servo motor 231 of the adaptive telescopic device 23 drives the telescopic execution unit 233 to complete the descending action, so that the navigation head 21 automatically descends;

[0071] S3: The telescopic driving servo motor 231 of the adaptive telescopic device 23 drives the telescopic execution unit 233 to complete the rising action, so that the navigation head 21 automatically rises;

[0072] S4: The telescopic driving servo motor 231 of the adaptive telescopic device 23 drives the telescopic execution unit 233 to perform an adaptive lifting action to achieve automatic height adjustment of the navigation head 21, and adjust the navigation head 21 to a height with more navigation features.

[0073] The navigation head 21 has the function of automatically identifying the height of a fixed feature position.

[0074] In a preferred embodiment, in S1, the camera on the navigation head 21 uploads the fixed feature information in the driving path of the AGV body 1 to the adaptive adjustment platform 22, and the adaptive adjustment platform 22 controls the vertical stabilization motor 222 and the horizontal stabilization motor 223 to keep the navigation head 21 fixed on the navigation head mounting plate 221 in a horizontal stable state; thereby automatically adjusting the navigation height of the navigation head 21.

[0075] The working principle of the present invention is as follows: when in use, the reflective tube is first arranged above the variable obstacle height in the travel path of the AGV body 1;

[0076] When the flatbed AGV body 1 has completed picking up and placing goods and needs to move to the next station, the system uses the adaptive telescopic device 23 to raise the navigation head 21 to the height position of the adaptive reflector in the driving path. When the AGV body 1 needs to pick up and place goods, the system uses the adaptive telescopic device 23 to retract the navigation head 21 into the body to protect the navigation head 21 from damage.

[0077] When the flat-bed AGV body 1 works in environments with different heights, the system uses an adaptive adjustment platform 22 to maintain the horizontal stability of the position of the navigation head 21; and uses an adaptive telescopic device 23 to plan in advance according to the on-site path, so that the navigation head 21 can be adaptively adjusted to a suitable height for navigation through different environments.

[0078] It should be noted that, in this article, relational terms such as first and second, etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device.

[0079] Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. An adaptive telescopic navigation system for a flat-bed AGV body, characterized in that: The system comprises: an AGV body (1) and an adaptive device (2); The adaptive device (2) comprises: a navigation head (21), an adaptive adjustment platform (22) and an adaptive telescopic device (23); The self-adaptive adjustment platform (22) comprises: a navigation head mounting plate (221), a vertical direction stabilizing motor (222), a horizontal direction stabilizing motor (223) and a bottom mounting plate (224); The bottom of the adaptive telescopic device (23) is fixedly mounted on one end of the AGV body (1), the top of the adaptive telescopic device (23) passes through the upper surface of the AGV body (1), the bottom mounting plate (224) is fixedly mounted on the top of the adaptive telescopic device (23), the horizontal direction stabilizing motor (223) is fixedly mounted on the bottom mounting plate (224) via a first fixing frame (225), the output shaft of the horizontal direction stabilizing motor (223) is fixedly connected to a second fixing frame (226), the vertical direction stabilizing motor (222) is fixedly mounted on the second fixing frame (226), the output shaft of the vertical direction stabilizing motor (222) is fixedly connected to a navigation head mounting plate (221), and the navigation head (21) is fixedly mounted on the navigation head mounting plate (221).

2. The adaptive telescopic navigation system for a flat-bed AGV according to claim 1, characterized in that: The bottom mounting plate (224) comprises: an upper mounting plate (2241) and a lower mounting plate (2242); the lower surface of the upper mounting plate (2241) is fixedly connected to the upper surface of the lower mounting plate (2242) via at least four evenly distributed buffer pads (227); the lower surface of the lower mounting plate (2242) is fixedly mounted on the top of the adaptive telescopic device (23); and the bottom of the first fixing frame (225) is fixedly mounted on the upper surface of the upper mounting plate (2241).

3. The adaptive telescopic navigation system for a flat-bed AGV according to claim 1, characterized in that: The second fixing frame (226) and the navigation head mounting plate (221) are both configured to be L-shaped.

4. The adaptive telescopic navigation system for a flat-bed AGV according to claim 1, characterized in that: The output shaft of the vertical direction stabilizing motor (222) is perpendicular to the output shaft of the horizontal direction stabilizing motor (223).

5. The adaptive telescopic navigation system for a flatbed AGV body according to claim 2, characterized in that: The upper mounting plate (2241) is perpendicular to the first fixing frame (225).

6. The adaptive telescopic navigation system for a flat-bed AGV body according to claim 2, characterized in that: The adaptive telescopic device (23) comprises: a telescopic driving servo motor (231), a driving shield and mounting seat (232), and a telescopic execution unit (233); The driving shield and mounting seat (232) are fixedly mounted inside the AGV body (1); the telescopic driving servo motor (231) and the telescopic execution unit (233) are both fixedly mounted on the top of the driving shield and mounting seat (232); the telescopic driving servo motor (231) is transmission-connected to the input end at the bottom of the telescopic execution unit (233) through a transmission mechanism; and the output end at the top of the telescopic execution unit (233) is fixedly connected to the lower mounting plate (2242).

7. A method for using an adaptive telescopic navigation system for a flatbed AGV body, comprising the system according to any one of claims 1 to 6, characterized in that: The specific steps are as follows: S1: The camera on the navigation head (21) collects fixed feature information in the driving path of the AGV body (1), and uploads the information to the adaptive adjustment platform (22) and the adaptive telescopic device (23) in real time to perform feature positioning in real time: If the camera detects that there is an obstacle on the running route that interferes with the navigation head (21) or recognizes that the vehicle has traveled to the operation point, then enter S2; If the camera detects that the AGV body (1) has passed through an obstacle or recognizes that a human has completed the cargo pick-up and placement operation and left the vehicle, then the process proceeds to S3; If the navigation head (21) cannot detect sufficient natural navigation features, and the camera recognizes that there are suitable navigation features at other heights nearby, then enter S4; S2: The telescopic driving servo motor (231) of the adaptive telescopic device (23) drives the telescopic execution unit (233) to complete the descending action, thereby realizing the automatic descending of the navigation head (21); S3: The telescopic driving servo motor (231) of the adaptive telescopic device (23) drives the telescopic execution unit (233) to complete the ascending action, thereby realizing the automatic ascending of the navigation head (21); S4: The telescopic driving servo motor (231) of the adaptive telescopic device (23) drives the telescopic execution unit (233) to perform an adaptive lifting action, thereby realizing automatic height adjustment of the navigation head (21), and adjusting the navigation head (21) to a height with more navigation features.

8. The method for using the adaptive telescopic navigation system for a flat-bed AGV according to claim 7, characterized in that: In S1, a camera on the navigation head (21) uploads fixed feature information in the driving path of the AGV body (1) to the adaptive adjustment platform (22), and the adaptive adjustment platform (22) controls a vertical stabilization motor (222) and a horizontal stabilization motor (223) to keep the navigation head (21) fixed on the navigation head mounting plate (221) in a horizontal stable state; thus, the navigation height of the navigation head (21) is automatically adjusted.

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