Omnidirectional automatic following transfer trolley

Abstract

The invention provides an omni-directional automatic following transfer trolley. The omni-directional automatic following transfer trolley comprises a trolley body. Mecanum wheel sets are arranged at the bottom of the trolley body and controlled through a motor and a driver, a laser radar system and a camera system are arranged on the trolley body, the position navigation service is provided for the omni-directional automatic following transfer trolley by transmitting and receiving laser pulse signals and calculating the position and distance of a target, a laser obstacle avoidance device is further arranged on the trolley body, and the laser obstacle avoidance device is connected with the laser radar system and the camera system. And the trolley body is controlled by a controller. Through effective combination of the microphone wheel set, the controller, the laser radar, the camera and other devices, the automatic control trolley can rapidly move in all directions and rapidly change the movement route, through cooperative use of the sensor and the single-chip microcomputer, the mutual position and the relative speed of personnel and vehicles and the mutual position and the relative speed of vehicles are accurately judged, and the safety of personnel and vehicles is improved. And meanwhile, by using an obstacle avoidance sensor, the functions of automatically avoiding obstacles and re-planning a motion route are realized.

Description

Technical Field

[0001] The invention belongs to the field of automatic control, and in particular relates to an omnidirectional automatic following transfer trolley. Background Art

[0002] In assembly workshops or warehouses, trolleys are widely used. Operators use trolleys to move back and forth in various corners of the workshop. Operators often need to push and pull the trolleys while controlling the direction, which is time-consuming and laborious.

[0003] In recent years, with the widespread application of various technologies in the field of industrial control, various remote-controlled cars have gradually been used in production workshops and warehouses, gradually replacing traditional carts. However, since remote-controlled cars require manual control of the movement trajectory and speed of the car using a remote control, the requirements for operators are relatively high. Later, conventional wheeled automatic following cars gradually appeared, which basically realized the functions of automatic following and obstacle avoidance. However, conventional wheeled cars have a slow response speed and can only complete conventional movements such as turning and going straight, and cannot achieve 360° omnidirectional movements such as automatic U-turns and diagonal driving. In complex application scenarios, ordinary wheeled automatic following cars are difficult to achieve real-time automatic following and the most efficient path planning. Summary of the invention

[0004] The purpose of the present invention is to provide an omnidirectional automatic following transfer vehicle to achieve the goal of convenient, fast and accurate indoor transportation of goods.

[0005] An omnidirectional automatic following and transporting vehicle comprises a vehicle body; a Mecanum wheel set is arranged at the bottom of the vehicle body and is controlled by a motor and a driver; a laser radar system and a camera system are arranged on the vehicle body and the position and distance of a target are calculated by transmitting and receiving laser pulse signals, thereby providing position navigation services for the omnidirectional automatic following and transporting vehicle; a laser obstacle avoider is also arranged on the vehicle body and the vehicle body is controlled by a controller.

[0006] Furthermore, the Mecanum wheel set is driven by four drive motors in combination with a reducer to achieve omnidirectional movement functions such as forward, backward, diagonal, on-the-spot U-turn, lateral, and 360° movement.

[0007] Furthermore, the Mecanum wheel set consists of a wheel hub and evenly arranged rotating hubs, and the wheel hub and the rotating hub are at 45 degrees.

[0008] Furthermore, an ultrasonic sensor is also provided on the vehicle body as a backup system for the laser radar system and the camera system. When the laser radar and the camera cannot work normally, the ultrasonic sensor is used to detect the distance, speed and target position.

[0009] Furthermore, a contact type anti-collision strip is provided on the vehicle body as the final anti-collision measure for the vehicle. When the vehicle contacts an obstacle, the contact type anti-collision strip triggers the controller to brake.

[0010] The beneficial effects of the present invention are as follows: the present invention effectively combines the mecanum wheel set, controller, laser radar, camera and other devices, so that the automatic control car can move quickly in all directions and change the movement route quickly. Through the coordinated use of sensors and single-chip microcomputers, the relative positions and relative speeds of personnel and vehicles, vehicles and vehicles can be accurately judged to realize the function of automatic following. At the same time, through the use of obstacle avoidance sensors, the function of automatic obstacle avoidance and replanning of movement routes can be realized. Compared with the automatic following of ordinary wheel sets, the mecanum wheel set has the advantages of fast reaction speed, turning around on the spot, driving diagonally and other omnidirectional movements. Through the wireless series connection of multiple vehicles, the function of multiple vehicles following the same person at the same time is realized, which greatly improves the transportation capacity and efficiency, reduces the physical output of workers, and reduces the operation requirements of the vehicle on workers. BRIEF DESCRIPTION OF THE DRAWINGS

[0011] Figure 1 It is a schematic diagram of the structure of the present invention;

[0012] Figure 2 It is a front view of the present invention;

[0013] Figure 3 It is a bottom view of the vehicle of the present invention. DETAILED DESCRIPTION

[0014] The present invention is further described below in conjunction with the accompanying drawings.

[0015] like Figure 1-Figure 3 As shown, an omnidirectional automatic following transport vehicle comprises a vehicle body; a Mecanum wheel set 2 is provided at the bottom of the vehicle body, which is controlled by a motor and a driver 8, and the motor and the driver receive electrical signals sent by the controller, and the steering, movement and acceleration and deceleration of the Mecanum wheel are realized by the forward and reverse speed control of the motor; a laser radar system 3 and a camera system 4 are provided on the vehicle body, which calculate the position and distance of the target by transmitting and receiving laser pulse signals, and provide position navigation services for the omnidirectional automatic following transport vehicle; a laser obstacle avoider 6 is also provided on the vehicle body, and when an obstacle is within a certain distance and range, an obstacle position signal is input to the controller 1 in time, prompting the controller to change the movement route or brake, and the vehicle body is controlled by the controller 1.

[0016] Controller 1 receives signals from cameras, lidar, obstacle avoidance sensors, etc., determines the characteristics of the target to be followed after calculation, calculates the relative position and speed of the vehicle and the target through image recognition and other technologies, and plans the best route to avoid obstacles, including movable obstacles. It outputs analog signals to accurately control the motor driver to output drive voltage to the servo motor, controls the forward and reverse rotation of the four motors, controls the rotation of the Mecanum wheel set 2, and realizes fast response, omnidirectional movement, and automatic and fast automatic following function.

[0017] The Mecanum wheel set 2 is driven by four drive motors in combination with a reducer 9 to meet the speed and torque required by the vehicle to achieve omnidirectional movement functions such as forward, backward, diagonal, turn around on the spot, lateral, and 360° movement. The reducer 9 is used to slow down the speed of the motor. The Mecanum wheel set 2 consists of a wheel hub and a uniformly arranged rotating hub, and the wheel hub and the rotating hub are 45°, so that the forward and reverse rotation of the four sets of Mecanum wheel sets 2 can achieve omnidirectional movement functions such as turn around on the spot and diagonal driving. The control system can plan the best driving path that traditional wheel sets cannot achieve by detecting signals combined with omnidirectional movement functions.

[0018] The camera system 4 completes the information input of image recognition and identifies features. At the same time, when there is a blind spot in the laser radar, the camera supplements the distance, speed and target position detection.

[0019] The vehicle body is also provided with an ultrasonic sensor 5 as a backup system for the laser radar system 3 and the camera system 4. When the laser radar and the camera cannot work normally, the ultrasonic sensor 5 is used to detect the distance, speed and target position.

[0020] A contact anti-collision strip 7 is provided on the vehicle body. First, when the vehicle's laser radar, camera, and ultrasonic sensor fail to fully detect surrounding obstacles, laser obstacle avoidance can be used as a safety measure to identify obstacles in the moving direction, and the controller will identify and avoid or brake. If the laser obstacle avoidance also fails to effectively identify the obstacle and contacts the obstacle or the target person, the contact anti-collision strip triggers the automatic braking function, thereby realizing automatic braking to avoid loss of life or property.

[0021] The vehicle body is also provided with a lithium battery 10, which is used as an energy source for the vehicle.

[0022] When multiple vehicles follow the same operator at the same time, the vehicles switch to series or parallel following mode, each vehicle sets the primary and secondary right of way, and automatically identifies the position, size and speed of other vehicles, realizing the function of multiple vehicles following the same target person.

[0023] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. For those skilled in the art, the present invention may have various modifications and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

Claims

1. An omnidirectional automatic following transfer vehicle, characterized in that: The invention comprises a trolley body; a Mecanum wheel set (2) is provided at the bottom of the trolley body and is controlled by a motor and a driver (8); a laser radar system (3) and a camera system (4) are provided on the trolley body, which calculate the position and distance of a target by transmitting and receiving laser pulse signals, and provide position navigation services for an omnidirectional automatic following transport trolley; a laser obstacle avoider (6) is also provided on the trolley body, and the trolley body is controlled by a controller (1).

2. The omnidirectional automatic following transfer vehicle according to claim 1 is characterized in that: The Mecanum wheel set (2) is driven by four drive motors in combination with a reducer to achieve omnidirectional movement functions such as forward, backward, diagonal, on-the-spot U-turn, lateral, and 360° movement.

3. The omnidirectional automatic following transfer vehicle according to claim 2 is characterized in that: The Mecanum wheel set (2) is composed of a wheel hub and evenly arranged rotating hubs, and the wheel hub and the rotating hub are at an angle of 45 degrees.

4. The omnidirectional automatic following transfer vehicle according to claim 1 is characterized in that: The vehicle body is also provided with an ultrasonic sensor (5) as a backup system for the laser radar system (3) and the camera system (4). When the laser radar and the camera fail to work properly, the ultrasonic sensor (5) is used to detect the distance, speed and target position.

5. The omnidirectional automatic following transfer vehicle according to claim 1 is characterized in that: The trolley body is provided with a contact anti-collision strip (7) as the final anti-collision measure for the vehicle. When the vehicle contacts an obstacle, the contact anti-collision strip triggers the controller to brake.

6. The omnidirectional automatic following transfer vehicle according to claim 1, characterized in that: The trolley body is provided with an operation warning light (11) and an operation sounder (12).

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