Intelligent AGV logistics trolley based on machine vision navigation

Abstract

The invention belongs to the technical field of intelligent logistics trolleys, and particularly relates to an intelligent AGV logistics trolley based on machine vision navigation, the intelligent AGV logistics trolley comprises a trolley body, a camera is fixedly connected to the trolley body, a chip is arranged in the trolley body, and connecting blocks are fixedly connected to a pair of side faces of the trolley body. A camera and a chip are used for optimizing the visual tracking control effect of a vehicle body, then the complex environment adaptability, visual tracking accuracy and real-time performance and functional module collaboration of the vehicle body can be improved, the camera and the chip are used for detecting foreign matter and dust in the advancing direction of the vehicle body, and after the foreign matter and the dust are detected, the vehicle body can be automatically controlled. Dust and foreign matter are blown away through the cleaning spray head, and the camera is subjected to blowing cleaning treatment, so that the foreign matter and the dust can be prevented from blocking advancing of the vehicle body, normal operation of material transportation is guaranteed, the cleanliness of the camera is improved, and the dust and the foreign matter are not prone to affecting the detection result of the camera.

Description

Technical Field

[0001] This invention belongs to the field of intelligent logistics vehicle technology, specifically an intelligent AGV logistics vehicle based on machine vision navigation. Background Technology

[0002] In the wave of intelligentization, intelligent vehicles, integrating multidisciplinary technologies, demonstrate broad application prospects, making their research highly significant. Currently, innovations in chip, algorithm, and sensor technologies are driving intelligent vehicles towards greater intelligence and autonomy. In industrial settings, they are used for material handling on automated production lines, improving production efficiency; the logistics industry leverages intelligent vehicles to achieve intelligent warehouse management and unmanned "last-mile" delivery; in the service sector, intelligent vehicles can undertake tasks such as food delivery and patrol. Furthermore, intelligent vehicles are ideal platforms for education and research, helping to cultivate innovation and practical abilities.

[0003] However, existing intelligent vehicles still have shortcomings. When they move in more complex environments, their visual tracking control effect is not ideal. Therefore, their adaptability to complex environments, visual tracking accuracy and real-time performance, as well as the coordination of functional modules are all insufficient.

[0004] Therefore, the present invention provides an intelligent AGV logistics vehicle based on machine vision navigation. Summary of the Invention

[0005] In order to overcome the shortcomings of the prior art, at least one technical problem raised in the background art is solved.

[0006] The technical solution adopted by the present invention to solve its technical problem is: the intelligent AGV logistics vehicle based on machine vision navigation of the present invention includes a vehicle body, a camera fixedly connected to the vehicle body, and a chip installed inside the vehicle body; Connecting blocks are fixedly connected to a pair of sides of the vehicle body. A pair of rectangular bars are fixedly connected to the side of the connecting blocks away from the vehicle body. A micro motor is fixedly connected to the side of one of the rectangular bars. A rotating plate is movably inserted between the pair of rectangular bars. A rotating shaft is fixedly connected to the output end of the micro motor. A micro air pump is fixedly connected to the top of the rotating plate. The interior of the rotating plate is hollow, and the rotating plate is connected to the air outlet of the micro air pump. A semi-circular plate is fixedly connected to the side of the rotating plate away from the connecting block. Several cleaning nozzles are fixedly connected to the upper and lower sides of the semi-circular plate. The semicircular plate has a hollow structure and is connected to the rotating plate. The cleaning nozzle is also connected to the semicircular plate.

[0007] Preferably, there is a gap between the rotating plate and the connecting block on the side away from the semicircular plate.

[0008] Preferably, one end of the rotating shaft passes through the rotating plate and one of the rectangular bars, and is rotatably inserted into the other rectangular bar, wherein the rotating plate is fixedly connected to the rotating shaft.

[0009] Preferably, there is a gap between the bottom end of the cleaning nozzle located below the semi-circular plate and the ground.

[0010] Preferably, a connecting rod is fixedly connected to the side of the connecting block away from the vehicle body, and an air intake plate is fixedly connected to the side of the connecting rod away from the connecting block. A flexible hose is fixedly connected between the air intake plate and the rotating plate. The top end of the flexible hose communicates with the rotating plate. An air intake hole communicating with the flexible hose is opened at the top end of the air intake plate. A lifting groove is opened at the bottom of the air intake plate. Several springs are fixedly connected to the inner top wall of the lifting groove, and the bottom ends of the several springs are fixedly connected to the same scraper.

[0011] Preferably, the hose has a certain length between the rotating plate and the air intake plate, and the cleaning nozzle does not contact the air intake plate.

[0012] Preferably, the side of the scraper away from the air intake plate has a conical structure, and the scraper slides and seals with the lifting groove.

[0013] Preferably, a limiting block is fixedly connected to each of the two sides of the scraper, and a limiting groove is provided on each of the two inner sidewalls of the lifting groove to slide in connection with the limiting block.

[0014] Preferably, a magnetic coating first is applied to both inner walls of the lifting groove, and a magnetic coating second is applied to both sides of the scraper, which is magnetically connected to the magnetic coating first.

[0015] The beneficial effects of this invention are as follows: 1. The present invention discloses an intelligent AGV logistics vehicle based on machine vision navigation. In use, the invention utilizes cameras and chips to optimize the visual tracking control effect of the vehicle body, thereby improving the vehicle body's adaptability to complex environments, the accuracy and real-time performance of visual tracking, and the synergy of functional modules. The invention also utilizes cameras and chips to detect foreign objects and dust in the vehicle's direction of travel. After detecting foreign objects and dust, cleaning nozzles are used to blow away the dust and foreign objects, and the cameras are also cleaned by blowing air. This prevents foreign objects and dust from obstructing the vehicle's progress, ensures the normal transport of materials, and improves the cleanliness of the cameras, making it less likely for dust and foreign objects to affect the camera's detection results.

[0016] 2. The intelligent AGV logistics vehicle based on machine vision navigation described in this invention, when in use, after starting the micro air pump, the controller can open the switch valve to allow gas to enter the air intake plate. Then, the pressure in the lifting groove will gradually increase, and under the action of gas thrust, the scraper pulls the spring down, causing the spring to extend until the bottom of the scraper contacts the ground. Then, during the movement of the vehicle, the scraper is used to scrape the ground, thereby optimizing the cleaning effect of dust and foreign objects on the ground, and further improving the smoothness of the vehicle when moving on the ground. Attached Figure Description

[0017] The invention will now be further described with reference to the accompanying drawings.

[0018] Figure 1 This is a perspective view of the present invention; Figure 2 This is an enlarged view of point A in this invention; Figure 3 This is a schematic diagram of the semicircular plate in this invention; Figure 4 This is a diagram showing the internal structure of the air intake plate in this invention; Figure 5 This is a schematic diagram of the scraper in this invention; Figure 6 This is an enlarged view of point B in this invention; Figure 7 This is a schematic diagram of the scraper moving downwards in this invention; Figure 8 This is a schematic diagram of the rotation of the semicircular plate in this invention.

[0019] In the diagram: 1. Vehicle body; 2. Camera; 3. Connecting block; 4. Rectangular strip; 5. Micro motor; 6. Rotating shaft; 7. Rotating plate; 8. Micro air pump; 9. Semicircular plate; 10. Cleaning nozzle; 11. Connecting rod; 12. Air inlet plate; 13. Hose; 14. Air inlet; 15. Lifting groove; 16. Spring; 17. Scraper; 18. Limiting block; 19. Limiting groove; 20. Magnetic coating one; 21. Magnetic coating two. Detailed Implementation

[0020] To make the technical means, creative features, objectives and effects of this invention easier to understand, the invention will be further described below in conjunction with specific embodiments.

[0021] Example 1: As Figure 1-3 and Figure 8 As shown in the figure, an intelligent AGV logistics vehicle based on machine vision navigation according to an embodiment of the present invention includes a vehicle body 1, a camera 2 fixedly connected to the vehicle body 1, and a chip disposed inside the vehicle body 1; Camera 2 can be an Intel RealSense D435i camera device (as the main sensor or auxiliary sensor), which can not only achieve 2D tracking, but also obtain rich depth information for precise obstacle avoidance, navigation and interaction, and is suitable for unmanned warehouses with more complex environments and higher requirements; The chip can be Jetson AGX Orin, which has a computing power of up to 275 TOPS and is suitable for large and complex logistics fleet management systems or scenarios that require simultaneous processing of multiple sensors such as vision and LiDAR. A connecting block 3 is fixedly connected to each of the two sides of the vehicle body 1. A pair of rectangular bars 4 are fixedly connected to the side of the connecting block 3 away from the vehicle body 1. A micro motor 5 is fixedly connected to the side of one of the rectangular bars 4. A rotating plate 7 is movably inserted between the pair of rectangular bars 4. A rotating shaft 6 is fixedly connected to the output end of the micro motor 5. A micro air pump 8 is fixedly connected to the top of the rotating plate 7. The interior of the rotating plate 7 is hollow, and the rotating plate 7 is connected to the air outlet of the micro air pump 8. A semi-circular plate 9 is fixedly connected to the side of the rotating plate 7 away from the connecting block 3. Several cleaning nozzles 10 are fixedly connected to the upper and lower sides of the semi-circular plate 9. The semicircular plate 9 has a hollow structure and is connected to the rotating plate 7. The cleaning nozzle 10 is connected to the semicircular plate 9. The vehicle body 1 is equipped with a controller, and the camera 2, chip, micro air pump 8 and micro motor 5 are all electrically connected to the controller via wires.

[0022] In the existing technology, there are still shortcomings of the existing intelligent vehicles. When they move in relatively complex environments, their visual tracking control effect is not ideal. Therefore, their adaptability to complex environments, visual tracking accuracy and real-time performance, as well as the coordination of functional modules are all insufficient. When in use, the present invention utilizes the controller to activate the camera 2 and enable the chip during the movement of the vehicle body 1 to detect the environment around the vehicle body 1 and provide timely feedback to determine the movement route of the vehicle body 1. This makes it less likely for the vehicle body 1 to collide with external objects while moving, thereby optimizing the visual tracking control effect of the vehicle body 1 and improving the adaptability of the vehicle body 1 to complex environments, the accuracy and real-time performance of visual tracking, and the synergy of functional modules. During the movement of vehicle body 1, when camera 2 and chip detect a large amount of dust and foreign objects on the ground in the direction of vehicle body 1's movement, the controller starts micro air pump 8, which inflates the rotating plate 7 with its air outlet. Then, the gas enters the semi-circular plate 9 from the rotating plate 7 and is finally sprayed onto the ground from the cleaning nozzle 10. The cleaning nozzle 10 under the semi-circular plate 9 blows air onto the ground to remove foreign objects and dust, so as to prevent them from hindering the movement of vehicle body 1, thereby ensuring the normal transport of materials by vehicle body 1. When cleaning the ground, the micro motor 5 can be started, and its output end drives the rotating shaft 6 to rotate clockwise upward, thereby causing the cleaning nozzle 10 to rotate upward. At this time, the cleaning nozzle 10 located above the semi-circular plate 9 will move towards the camera 2, and the cleaning nozzle 10 located below the semi-circular plate 9 will move away from the vehicle body 1, thereby blowing away dust from the camera 2, reducing the amount of foreign matter and dust attached to its surface, improving its detection accuracy, and expanding the cleaning range of the ground. In summary, when in use, this invention utilizes camera 2 and chip to optimize the visual tracking control effect of vehicle body 1, thereby improving the adaptability of vehicle body 1 to complex environments, the accuracy and real-time performance of visual tracking, and the synergy of functional modules. Furthermore, camera 2 and chip are used to detect foreign objects and dust in the direction of travel of vehicle body 1. After detecting foreign objects and dust, cleaning nozzle 10 is used to blow away the dust and foreign objects, and camera 2 is also cleaned by air blowing. This prevents foreign objects and dust from obstructing the movement of vehicle body 1, ensuring the normal transport of materials and improving the cleanliness of camera 2, making it less likely for dust and foreign objects to affect the detection results of camera 2.

[0023] like Figure 1 As shown, there is a gap between the side of the rotating plate 7 away from the semicircular plate 9 and the connecting block 3, so that the rotating plate 7 has enough space to rotate.

[0024] like Figure 3 As shown, one end of the rotating shaft 6 passes through the rotating plate 7 and one of the rectangular bars 4, and is rotatably inserted into the other rectangular bar 4. The rotating plate 7 is fixedly connected to the rotating shaft 6.

[0025] like Figure 1 As shown, there is a gap between the bottom end of the cleaning nozzle 10 located below the semi-circular plate 9 and the ground.

[0026] Example 2: Figure 4-5 and Figure 7As shown in the comparative embodiment one, another embodiment of the present invention is as follows: a connecting rod 11 is fixedly connected to the side of the connecting block 3 away from the vehicle body 1, an air intake plate 12 is fixedly connected to the side of the connecting rod 11 away from the connecting block 3, a hose 13 is fixedly connected between the air intake plate 12 and the rotating plate 7, the top end of the hose 13 communicates with the rotating plate 7, an air intake hole 14 communicating with the hose 13 is opened at the top end of the air intake plate 12, a lifting groove 15 is opened at the bottom of the air intake plate 12, a plurality of springs 16 are fixedly connected to the inner top wall of the lifting groove 15, the bottom ends of the plurality of springs 16 are fixedly connected to the same scraper 17, a switch valve is provided on the hose 13, and the switch valve is electrically connected to the controller through a wire.

[0027] When using this invention, after starting the micro air pump 8, the controller can open the switch valve to allow gas to enter the air intake plate 12. Then, the pressure in the lifting groove 15 will gradually increase. Under the action of gas thrust, the scraper 17 will pull the spring 16 down, causing the spring 16 to extend until the bottom of the scraper 17 contacts the ground. Then, during the movement of the vehicle body 1, the scraper 17 is used to scrape the ground, thereby optimizing the cleaning effect of dust and foreign objects on the ground, and further improving the smoothness of the vehicle body 1 when moving on the ground.

[0028] like Figure 1 As shown, the hose 13 has a certain length between the rotating plate 7 and the air intake plate 12, and the cleaning nozzle 10 does not contact the air intake plate 12 to prevent the cleaning nozzle 10 from colliding with the air intake plate 12 when it rotates.

[0029] like Figure 7 As shown, the side of the scraper 17 away from the air intake plate 12 has a conical structure, and the scraper 17 slides and seals with the lifting groove 15.

[0030] like Figure 5-6 As shown, a limiting block 18 is fixedly connected to a pair of sides of the scraper 17, and a limiting groove 19 is provided on a pair of inner sidewalls of the lifting groove 15 to slide in connection with the limiting block 18. When the scraper 17 moves down, the limiting block 18 will move in the limiting groove 19. The limiting block 18 can prevent the scraper 17 from moving completely out of the lifting groove 15.

[0031] like Figure 5-6 As shown, a pair of inner sidewalls of the lifting groove 15 are coated with a magnetic coating 20, and a pair of sidewalls of the scraper 17 are coated with a magnetic coating 21 that is magnetically connected to the magnetic coating 20. After the magnetic coating 20 and the magnetic coating 21 are attracted together, the stability of the scraper 17 in the lifting groove 15 can be improved.

[0032] The terms "front," "back," "left," "right," "top," and "bottom" all refer to the figures in the accompanying drawings. Figure 1Based on the perspective of the observer, the side of the device facing the observer is defined as the front, the left side of the observer is defined as the left, and so on.

[0033] In the description of this invention, it should be understood that the terms "center", "longitudinal", "lateral", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limiting the scope of protection of this invention.

[0034] The foregoing has shown and described the basic principles, main features, and advantages of the present invention. Those skilled in the art should understand that the present invention is not limited to the above embodiments. The embodiments and descriptions in the specification are merely illustrative of the principles of the invention. Various changes and modifications can be made to the invention without departing from its spirit and scope, and all such changes and modifications fall within the scope of the present invention as claimed. The scope of protection of the present invention is defined by the appended claims and their equivalents.

Claims

1. A smart AGV logistics vehicle based on machine vision navigation, comprising a vehicle body (1), wherein a camera (2) is fixedly connected to the vehicle body (1), characterized in that: The vehicle body (1) is equipped with a chip inside; A connecting block (3) is fixedly connected to a pair of sides of the vehicle body (1). A pair of rectangular bars (4) are fixedly connected to the side of the connecting block (3) away from the vehicle body (1). A micro motor (5) is fixedly connected to the side of one of the rectangular bars (4). A rotating plate (7) is movably inserted between the pair of rectangular bars (4). A rotating shaft (6) is fixedly connected to the output end of the micro motor (5). The top of the rotating plate (7) is fixedly connected to a micro air pump (8). The interior of the rotating plate (7) is hollow, and the rotating plate (7) is connected to the air outlet of the micro air pump (8). A semi-circular plate (9) is fixedly connected to the side of the rotating plate (7) away from the connecting block (3). Several cleaning nozzles (10) are fixedly connected to the upper and lower sides of the semi-circular plate (9). The semicircular plate (9) is a hollow structure and is connected to the rotating plate (7). The cleaning nozzle (10) is connected to the semicircular plate (9).

2. The intelligent AGV logistics vehicle based on machine vision navigation according to claim 1, characterized in that: There is a gap between the rotating plate (7) and the connecting block (3) on the side away from the semicircular plate (9).

3. The intelligent AGV logistics vehicle based on machine vision navigation according to claim 1, characterized in that: One end of the rotating shaft (6) passes through the rotating plate (7) and one of the rectangular bars (4), and is rotatably inserted into the other rectangular bar (4). The rotating plate (7) is fixedly connected to the rotating shaft (6).

4. The intelligent AGV logistics vehicle based on machine vision navigation according to claim 1, characterized in that: There is a gap between the bottom end of the cleaning nozzle (10) located below the semi-circular plate (9) and the ground.

5. The intelligent AGV logistics vehicle based on machine vision navigation according to claim 1, characterized in that: A connecting rod (11) is fixedly connected to the side of the connecting block (3) away from the vehicle body (1). An air intake plate (12) is fixedly connected to the side of the connecting rod (11) away from the connecting block (3). A hose (13) is fixedly connected between the air intake plate (12) and the rotating plate (7). The top end of the hose (13) communicates with the rotating plate (7). An air intake hole (14) communicating with the hose (13) is opened at the top end of the air intake plate (12). A lifting groove (15) is opened at the bottom of the air intake plate (12). Several springs (16) are fixedly connected to the inner top wall of the lifting groove (15). The bottom ends of the several springs (16) are fixedly connected to the same scraper (17).

6. The intelligent AGV logistics vehicle based on machine vision navigation according to claim 5, characterized in that: The hose (13) has a certain length between the rotating plate (7) and the air inlet plate (12), and the cleaning nozzle (10) does not contact the air inlet plate (12).

7. The intelligent AGV logistics vehicle based on machine vision navigation according to claim 5, characterized in that: The scraper (17) has a conical structure on the side away from the air intake plate (12), and the scraper (17) slides and seals with the lifting groove (15).

8. The intelligent AGV logistics vehicle based on machine vision navigation according to claim 5, characterized in that: Limiting blocks (18) are fixedly connected to a pair of sides of the scraper (17), and limiting grooves (19) that are slidably connected to the limiting blocks (18) are provided on a pair of inner sidewalls of the lifting groove (15).

9. The intelligent AGV logistics vehicle based on machine vision navigation according to claim 5, characterized in that: The inner walls of the lifting groove (15) are coated with a magnetic coating first (20), and the scraper (17) is coated with a magnetic coating second (21) that is magnetically connected to the magnetic coating first (20).

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