A mounted AGV positioning precision detection device

Abstract

The application provides a kind of mounting AGV positioning precision detection device, by means of independent rotatable adjusting seat, the detection angle of depth vision camera and laser ranging sensor can be flexibly adjusted, the use scene of limited field of view is coped with, the problem of sight obstruction caused by the fixed position detection of prior art is avoided;By placing the identification code in the corresponding environment and calibrating the depth vision camera. Then drive AGV to move and detect, when AGV stops at the measured position, the direct distance between the equipment and the obstacle is measured by the laser ranging sensor, and the vehicle space pose is measured by the depth vision camera. And transmit the signal to the main control board and transmit it to the remote operation platform through the wireless module. The automation detection of heavy load AGV positioning precision is realized, which replaces the traditional manual detection method, and significantly improves the convenience and reliability of detection.

Description

Technical Field

[0001] This invention relates to the field of AGV positioning measurement technology, and in particular to a mounted AGV positioning accuracy detection device. Background Technology

[0002] Currently, AGVs are widely used in various automated production scenarios, such as the automated handling of large, heavy goods like vehicles. While existing AGVs have built-in automatic navigation and positioning capabilities, in scenarios with limited visibility and high inertia, certain positioning errors may occur, negatively impacting automated applications. Therefore, it is necessary to perform accuracy testing on AGV parking and positioning in such scenarios to ensure their positioning accuracy.

[0003] Existing invention patents typically pre-set scenarios where the device is fixed in a site or at a designated location on the AGV. These scenarios cannot solve the problem of positioning accuracy detection under conditions such as obstructed vision or heavy loads. Furthermore, they do not consider factors such as the ease of installation and disassembly of the equipment. Therefore, they lack the feasibility of application in such detection scenarios. Currently, the positioning accuracy of heavy-load AGV parking still mainly relies on manual operation. Summary of the Invention

[0004] The purpose of this invention is to provide a mountable AGV positioning accuracy detection device, which realizes automated detection of the positioning accuracy of heavy-duty AGVs and improves the convenience and reliability of the detection.

[0005] In accordance with the above objectives, the present invention provides a mount-type AGV positioning accuracy detection device, comprising a backplate, a depth vision camera, a laser ranging sensor, a main control board, and a power module mounted on the front of the backplate. The back of the backplate is provided with a fixing mechanism for fixing to the AGV body. The depth vision camera and the laser ranging sensor are respectively connected to the backplate via independent rotatable adjustable seats. Each rotatable adjustable seat includes a fixed part and a rotating part. The fixed part is fixedly mounted on the backplate, and the rotating part and the fixed part are rotatably engaged via a damping shaft. The rotating part is provided with a locking element for locking the rotation angle. The depth vision camera and the laser ranging sensor are respectively snapped and fixed to the mounting surfaces of their respective rotating parts. The power module, the depth vision camera, and the laser ranging sensor are all connected to the main control board.

[0006] Furthermore, the power module is mounted on the back panel via a quick-release connection structure. The quick-release connection structure includes two parallel T-shaped slide rails on the back panel and two sliding blocks adapted to the T-shaped slide rails on the back of the power module. The sliding blocks slide in cooperation with the T-shaped slide rails. The sliding blocks are provided with elastic limiting pins for restricting the movement of the sliding blocks along the T-shaped slide rails. The back panel is provided with limiting ball holes adapted to the elastic limiting pins.

[0007] Furthermore, the main control board is mounted on the back panel via a perforated heat dissipation bracket. The edge of the main control board is provided with a flange, and mounting holes are provided on the flange. The main control board is bolted to the perforated heat dissipation bracket through the mounting holes, and a heat dissipation gap is reserved between the main control board and the perforated heat dissipation bracket.

[0008] Furthermore, the fixing mechanism includes an array of magnetic suction components, an elastic strap, and multiple buckles that correspond to and cooperate with the elastic strap. The buckles are fixed at the edges of the left and right sides of the back panel, and the array of magnetic suction components are arranged on the back of the back panel.

[0009] Furthermore, the array-type magnetic attraction assembly is detachably connected to the back of the back panel via an elastic buffer pad, which is arranged on the back of the back panel; the array-type magnetic attraction assembly includes at least six magnetic blocks, which are bonded to the elastic buffer pad in a rectangular array, and the elastic buffer pad is bonded to the back panel.

[0010] Furthermore, the rotating part of the rotatable adjustment seat is provided with a mounting groove, the inner wall of the mounting groove is provided with an annular elastic anti-slip ring, and the bottom of the depth vision camera and laser range sensor is provided with a mounting boss that matches the mounting groove, and the mounting boss is snapped into the mounting groove.

[0011] Furthermore, the back panel is made of a lightweight alloy material.

[0012] Furthermore, the outer wall of the power module is provided with a DC external power interface, the outer periphery of the external power interface is provided with an annular sealing groove, and a protective cover plate is hinged at the external power interface.

[0013] Furthermore, the surface of the elastic strap has an anti-slip texture.

[0014] The technical solution of this invention, by utilizing an independent rotatable adjustable base, allows for flexible adjustment of the detection angles of the depth vision camera and laser rangefinder, addressing usage scenarios with limited field of view and avoiding the line-of-sight obstruction problem caused by fixed-position detection in existing technologies. It involves placing identification codes in the corresponding environment and calibrating the depth vision camera. Then, the AGV is driven to move and perform detection. When the AGV stops at the test position, the laser rangefinder measures the direct distance between the device and obstacles, and the depth vision camera measures the vehicle's spatial pose. The signals are transmitted to the main control board and then wirelessly to a remote operating platform. This achieves automated detection of the positioning accuracy of heavy-duty AGVs, replacing traditional manual detection methods and significantly improving the convenience and reliability of the detection process. Attached Figure Description

[0015] To more clearly illustrate the specific embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the specific embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present invention. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0016] Figure 1 This is a top view of the structural arrangement of the present invention.

[0017] Figure 2 This is a schematic diagram of the structure of the present invention.

[0018] Figure 3 This is another structural schematic diagram of the present invention.

[0019] Explanation of reference numerals in the attached diagram: 1-Depth vision camera, 2-Laser rangefinder sensor, 3-Main control board, 4-Power module, 5-Back plate, 6-Elastic hanging strap, 7-Snap fastener, 8-Magnetic block, 9-T-shaped slide rail, 10-Limiting ball hole, 11-Hollow heat dissipation bracket, 12-Elastic buffer pad, 13-Fixing part, 14-Rotating part, 1401-Mounting groove, 15-Mounting boss, 16-Tightening bolt, 17-Sliding block. Detailed Implementation

[0020] The technical solution of the present invention will be clearly and completely described below with reference to the embodiments. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0021] In the description of this invention, it should be understood that the terms "center," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," and "counterclockwise," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are used 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 this invention.

[0022] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of indicated technical features. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of the stated features. In the description of this invention, "a plurality of" means two or more, unless otherwise explicitly specified. Furthermore, the terms "installed," "connected," and "linked" should be interpreted broadly; for example, they may refer to a fixed connection, a detachable connection, or an integral connection; they may refer to a mechanical connection or an electrical connection; they may refer to a direct connection or an indirect connection through an intermediate medium; and they may refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this invention based on the specific circumstances.

[0023] like Figures 1-3 As shown, this invention provides a mountable AGV positioning accuracy detection device, including a back plate 5, a depth vision camera 1, a laser rangefinder 2, a main control board 3, and a power module 4 mounted on the front of the back plate 5. The back plate 5 is integrally formed from aluminum alloy with a thickness of 8mm, ensuring both structural strength and lightweight design. The back of the back plate 5 has a pre-reserved flat bonding surface adapted to the elastic buffer pad 12, and the front has pre-set threaded holes and T-shaped slide rails 9 corresponding to the installation positions of each component. The back of the back plate 5 is provided with a fixing mechanism for fixing to the AGV body. The fixing mechanism includes an array of magnetic suction components, elastic straps 6, and multiple buckles 7 corresponding to the elastic straps 6. The buckles 7 are fixed at the edges of the left and right sides of the back plate 5.

[0024] The back of the back plate 5 has six neodymium iron boron magnetic blocks 8 arranged in a rectangular array. Each magnetic block 8 has a diameter of 20mm and a thickness of 10mm. They are arranged in a 2×3 rectangular array at the four corners and the center of the elastic buffer pad 12. The elastic buffer pad 12 is made of high-temperature resistant silicone material with a thickness of 5mm. Its size is adapted to the back of the back plate 5. The side of the elastic buffer pad 12 away from the magnetic blocks 8 is flatly bonded to the back of the back plate 5 with high-temperature resistant double-sided adhesive, so as to realize the detachable connection between the magnetic components and the back plate 5. At the same time, the elastic buffer pad 12 absorbs the vibration during AGV operation and prevents the device from shifting.

[0025] The elastic strap 6 is made of high-strength nylon woven material, with a width of 25mm. The surface of the strap is pressed with a diamond-shaped anti-slip texture to increase the friction with the AGV body. The side of the back plate 5 is provided with connecting ear plates for fixing the end of the elastic strap 6. There are 4 sets of buckles 7, symmetrically distributed on the left and right edges of the back plate 5. The free end of the elastic strap 6 is provided with a buckle that cooperates with the buckle 7. The strap can be quickly snapped and fixed by the cooperation of the buckle and the buckle 7 (actually a plastic buckle). In order to facilitate the use of the elastic strap 6, two crossbars can be symmetrically set on both sides of the top of the AGV body for wrapping the elastic strap 6. Both the depth vision camera 1 and the laser rangefinder sensor 2 are connected to the back plate 5 via independent rotatable adjustable seats. The specific assembly method is as follows: the fixing part 13 of the rotatable adjustable seat is a rectangular metal plate with a thickness of 6mm, which is locked and fixed to the pre-set threaded holes on the front of the back plate 5 by four M4 through bolts; the rotating part 14 is a circular metal seat, which is hinged to the fixing part 13 via a damping shaft. The damping torque of the damping shaft is 5N·m, ensuring stable angle maintenance after rotation. The top surface of the rotating part 14 has a mounting groove 1401, the diameter of which matches the diameter of the mounting boss 15 at the bottom of the detection element. A 2mm thick annular elastic anti-slip ring is bonded to the inner wall of the mounting groove 1401. The bottom of both the depth vision camera 1 and the laser rangefinder sensor 2 has an integrally formed mounting boss 15 with a height of 8mm. After the boss is inserted into the mounting groove 1401, the annular elastic anti-slip ring and the outer peripheral wall of the boss are interference-fitted, achieving initial fixation. The side wall of the rotating part 14 is provided with an M5 threaded through hole, and a stainless steel tightening bolt 16 (i.e., locking element) is screwed into the hole. A rubber pad is installed on the inner end of the tightening bolt 16. Tightening the tightening bolt 16 makes the rubber pad abut against the outer peripheral wall of the mounting boss 15, further locking the installation angle of the detection element and preventing vibration from causing angle deviation. The power module 4 uses an aluminum alloy shell with an internal annular elastic anti-vibration pad. The anti-vibration pad is adhered and fixed to the inner wall of the shell to buffer the vibration of the power module 4. The power module 4 is mounted on the back plate 5 via a quick-release connection structure. The quick-release connection structure includes two parallel T-shaped slide rails 9 on the back plate 5 and two sliding blocks 17 on the back of the power module 4 that are adapted to the T-shaped slide rails 9. The sliding blocks 17 slide with the T-shaped slide rails 9. The bottom of the sliding blocks 17 has an elastic limiting pin to restrict the movement of the sliding blocks 17 along the T-shaped slide rails 9. The back plate 5 has a limiting ball hole 10 that is adapted to the elastic limiting pin. The elastic limiting pin is a spring positioning ball that can cooperate with the limiting ball hole 10 to fix the power module 4. The outer wall of the power module 4 has a DC external power interface. The outer periphery of the external power interface has an annular sealing groove. A protective cover is hinged to the external power interface. A silicone sealing gasket adapted to the annular sealing groove is adhered to the inner side of the cover to achieve dustproof and waterproof sealing of the interface.

[0026] The main control board 3 is mounted on the backplate 5 via a perforated heat dissipation bracket 11. The bracket, made of stainless steel, consists of horizontal and vertical support rods welded together to form a grid structure. The main control board 3 is a rectangular PCB with a 10mm wide metal flange integrally formed along its edges. Four 4mm diameter mounting holes are provided on the flange. The main control board 3 is detachably connected to the heat dissipation bracket 11 via M3 bolts passing through the mounting holes. Insulating washers are placed between the bolts and the flange to prevent short circuits. A heat dissipation gap is provided between the main control board 3 and the heat dissipation bracket 11 to ensure airflow and timely dissipation of heat generated during operation.

[0027] The main control board 3 integrates a control chip, a wireless transmission module, and interfaces for each component. The connection cables of the depth vision camera 1, the laser rangefinder 2, and the power module 4 are electrically connected to the corresponding interfaces of the main control board 3 through waterproof connectors. In use, the main control board 3 is activated, and a wireless communication connection is established with the remote detection host via the wireless transmission module (such as WiFi, Bluetooth, or 4G module) on the main control board 3 to complete the matching of communication parameters. Then, the calibration command is sent through the remote detection host to complete the calibration of the camera's intrinsic parameters (focal length, principal point coordinates, etc.) and extrinsic parameters (relative positional relationship with the AGV body) using the preset identification code. The calibration data is stored in the storage unit of the main control board 3. The AGV is started, and the AGV's driving path and the parking position to be tested are set. The AGV drives automatically according to the preset program. When the AGV reaches the parking position to be tested and stops, the main control board 3 sends a detection command to activate the depth vision camera 1 and the laser ranging sensor 2: the laser ranging sensor 2 collects distance data with surrounding obstacles in real time, outputs a measurement value every 10ms, continuously collects 50 sets of data and transmits them to the main control board 3; the depth vision camera 1 captures the image information of the identification code, and transmits the clear image to the main control board 3. The main control board 3 performs preliminary preprocessing on the received distance data and image information (such as removing outliers and reducing image noise), and then sends the preprocessed data to the remote detection host via the wireless transmission module. The remote detection host parses the image information based on the calibration data to obtain the actual position coordinates of the AGV relative to the identification code; combined with the distance data from the laser rangefinder 2, it eliminates the influence of obstacle obstruction on positioning and calculates the final parking positioning accuracy of the AGV, thus completing the detection.

[0028] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, and not to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some or all of the technical features; and these modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present invention.

Claims

1. A mount-mounted AGV positioning accuracy detection device, characterized in that, The system includes a backplate, a depth vision camera, a laser rangefinder sensor, a main control board, and a power module mounted on the front of the backplate. The back of the backplate has a fixing mechanism for securing it to the AGV body. The depth vision camera and laser rangefinder sensor are each connected to the backplate via independent rotatable adjustable seats. Each rotatable adjustable seat includes a fixed part and a rotating part. The fixed part is fixedly mounted on the backplate, and the rotating part and the fixed part are rotatably engaged via a damping shaft. The rotating part has a locking element for locking the rotation angle. The depth vision camera and laser rangefinder sensor are respectively engaged and fixed with the mounting surfaces of their respective rotating parts. The power module, depth vision camera, and laser rangefinder sensor are all connected to the main control board.

2. The mounting-type AGV positioning accuracy detection device according to claim 1, characterized in that, The power module is mounted on the back plate via a quick-release connection structure. The quick-release connection structure includes two parallel T-shaped slide rails on the back plate and two sliding blocks adapted to the T-shaped slide rails on the back of the power module. The sliding blocks slide in cooperation with the T-shaped slide rails. The sliding blocks are provided with elastic limiting pins for restricting the movement of the sliding blocks along the T-shaped slide rails. The back plate is provided with limiting ball holes adapted to the elastic limiting pins.

3. The mounting-type AGV positioning accuracy detection device according to claim 1, characterized in that, The main control board is mounted on the back plate via a perforated heat dissipation bracket. The edge of the main control board is provided with a flange, and mounting holes are provided on the flange. The main control board is bolted to the perforated heat dissipation bracket through the mounting holes, and a heat dissipation gap is reserved between the main control board and the perforated heat dissipation bracket.

4. The mounting-type AGV positioning accuracy detection device according to claim 1, characterized in that, The fixing mechanism includes an array of magnetic components, an elastic strap, and multiple buckles that correspond to and cooperate with the elastic strap. The buckles are fixed to the edges of the left and right sides of the back panel, and the array of magnetic components is arranged on the back of the back panel.

5. The mounting-type AGV positioning accuracy detection device according to claim 4, characterized in that, The array-type magnetic attraction assembly is detachably connected to the back of the back panel via an elastic buffer pad, which is arranged on the back of the back panel. The array-type magnetic attraction assembly includes at least six magnetic blocks, which are bonded to the elastic buffer pad in a rectangular array. The elastic buffer pad is bonded to the back panel.

6. The mounting-type AGV positioning accuracy detection device according to claim 1, characterized in that, The rotating part of the rotatable adjustable seat is provided with a mounting groove, and the inner wall of the mounting groove is provided with an annular elastic anti-slip ring. The bottom of the depth vision camera and the laser rangefinder sensor is provided with a mounting boss that is adapted to the mounting groove, and the mounting boss is snapped into the mounting groove.

7. The mounting-type AGV positioning accuracy detection device according to claim 1, characterized in that, The backplate is made of lightweight alloy material.

8. The mounting-type AGV positioning accuracy detection device according to claim 1, characterized in that, The outer wall of the power module is provided with an external power interface, and the outer periphery of the external power interface is provided with an annular sealing groove. A protective cover plate is hinged to the external power interface.

9. The mounting-type AGV positioning accuracy detection device according to claim 4, characterized in that, The surface of the elastic strap has an anti-slip texture.

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