Light supplementing device applied to AGV ground stripe navigation
By using a fill light device composed of diffuse reflection light source and reflector in AGV ground pattern navigation, the reflection and aperture problems caused by traditional fill light methods are solved, and the uniformity of ground texture imaging is achieved, which is suitable for applications of different AGVs.
Patent Information
- Application Number
- CN202420858736.1
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- Filing Date
- 2024-04-23
- Publication Date
- 2024-12-27
- Estimated Expiration
- 2034-04-23
AI Technical Summary
The traditional fill light method will cause severe reflection and aperture in AGV ground texture navigation, resulting in uneven imaging of the ground texture.
A fill light device composed of a diffuse reflective light source and a plurality of reflective plates forms an infinite reflective extension area through the reflective channel, and adjusts the lighting effect with the electronically controlled dimming film to provide uniform fill light.
It realizes uniform lighting at the bottom of the AGV, reduces the reflective effect, and improves the uniformity of ground texture imaging, and is suitable for large-scale production of different AGVs.
Smart Images
Figure CN222259802U_ABST
Abstract
Description
Technical Field
[0001] The utility model relates to the technical field of AGV, in particular to a fill light device applied to AGV ground pattern navigation. Background Art
[0002] AGV is the abbreviation of Automated Guided Vehicle. It is a special vehicle that can autonomously carry out material handling and transportation according to pre-set paths and rules without manual operation. AGV is widely used in factories, warehouses, distribution centers and other places for automated material handling and transportation tasks.
[0003] The navigation methods of AGV include: magnetic navigation, laser navigation, inertial navigation, visual navigation, GPS navigation, etc. Ground texture navigation is actually a type of visual navigation, which relies on the characteristics of ground texture for positioning.
[0004] The camera that collects ground texture features generally needs to be installed at the bottom of the AGV and as close to the rotation center of the vehicle as possible. This brings up a problem: the bottom of the AGV is a dark environment. If no fill light measures are added, it will lead to low frame rate, too long exposure time, insufficient texture features, etc.
[0005] Because the camera needs to illuminate vertically downwards, traditional fill lighting methods (such as ring light sources) will cause severe reflections and obvious apertures when irradiated on the ground, resulting in uneven imaging of the ground texture. Utility Model Content
[0006] Based on the above description, the utility model provides a fill light device applied to AGV ground texture navigation to solve the problem that traditional fill light methods (such as ring light sources) irradiate the ground, resulting in serious reflections, obvious apertures, and uneven ground texture imaging.
[0007] The technical solution of the utility model to solve the above technical problems is as follows:
[0008] The present application provides a fill light device for AGV ground pattern navigation, and the technical solution adopted is as follows:
[0009] A fill light device for AGV ground pattern navigation, comprising:
[0010] A light board, which is a diffuse reflection light source, includes a light emitting surface, and is provided with a mounting hole for the camera to pass through;
[0011] A plurality of reflective plates, which are arranged on one side of the light-emitting surface of the light board, the plurality of reflective plates are arranged around the light-emitting surface, the plurality of reflective plates enclose a reflective channel, the side of the reflective plate facing the reflective channel is set as a reflective surface, the light board is located at one end of the reflective channel and the light-emitting surface faces the inside of the reflective channel;
[0012] The light-emitting surface and the light-reflecting surface are both covered with an electrically controlled dimming film.
[0013] Preferably, the light-emitting surface and the light-reflecting surface are both planes, and the light-reflecting surface is perpendicular to the light-emitting surface.
[0014] Preferably, four reflective plates are provided, and adjacent reflective plates are perpendicular to each other.
[0015] Preferably, the light panel is a backlight panel.
[0016] Preferably, the light panel is an LED array light source.
[0017] Preferably, the light board is a light guide plate.
[0018] Preferably, the reflector is a diffuse reflection light source, and the emitted light passes through the reflective surface and enters the reflective channel.
[0019] Preferably, it also includes:
[0020] The mounting plate comprises a mounting surface, the mounting surface is provided with a mounting groove for the lamp board to be embedded, the lamp board is embedded in the mounting groove, and the mounting plate is provided with a through hole connected with the mounting hole;
[0021] The mounting frame connects a plurality of the reflective plates to form the reflective channel, and the reflective plates are connected to the mounting plate through the mounting frame.
[0022] Preferably, the mounting frame includes two limiting rings, which are arranged around the light-emitting surface, and the two limiting rings are spaced apart and fixed to each other in a direction perpendicular to the light-emitting surface, and one of the limiting rings is fixed to the mounting plate, and the reflector is arranged on the inner side of the limiting ring and located between the two limiting rings, and limiting grooves are provided on the inner side of the limiting ring, and both sides of the reflector are respectively embedded in the limiting grooves on the two limiting rings, and the reflector is restricted from moving relative to the limiting ring along the central axis direction of the limiting ring.
[0023] Preferably, the limiting ring is in a rectangular ring shape, the limiting ring includes a plurality of link segments, the link segments include two segments perpendicular to each other, and the plurality of link segments of one limiting ring are fixedly connected with the plurality of link segments of another limiting ring in a one-to-one correspondence.
[0024] Compared with the prior art, the technical solution of this application has the following beneficial technical effects:
[0025] 1. The present application provides a light board, multiple reflective boards and an electrically controlled dimming film. The light board adopts a diffuse reflection light source and is provided with a light-emitting surface, and multiple reflective boards are arranged around the light-emitting surface and enclosed to form a reflective channel. The light-emitting surface faces the reflective channel, and the side of the reflective board facing the reflective channel is set as the reflective surface. When the light board is turned on, it emits light in all directions. The light is reflected on the reflective surfaces of the multiple reflective boards. The light is reflected multiple times by the multiple reflective boards in the reflective channel, forming an infinite reflective extension area in the reflective channel. The light is finally emitted from the reflective channel away from the end of the light board. The light board is provided with a mounting hole for the camera to be installed. The camera passes through the mounting hole to collect the image of the illuminated area on the ground. The light board and multiple reflectors provide effective and uniform fill light for the camera. The light-emitting surface of the light board and the reflective surface of the reflector are covered with an electrically controlled dimming film. The AGV control system can adjust the transparency of the light-emitting surface and the reflective surface by adjusting the transparency of the electrically controlled dimming film according to the reflection and overexposure of the camera image, adjust the lighting effect of the illuminated area on the ground, and achieve the best fill light effect.
[0026] 2. The present application sets a mounting plate and a mounting frame. A mounting groove is set on the mounting plate for the light board to be embedded, so as to facilitate the installation and fixation of the light board. In the mounting frame, multiple reflectors are connected by two limit rings to form a reflective channel, and the multiple reflectors are fixed to the mounting plate by the mounting frame and the mounting plate. The light board and the multiple reflectors are combined to form a fill light device, so that the fill light device can be used as an independent product on different AGVs, which is suitable for large-scale production. BRIEF DESCRIPTION OF THE DRAWINGS
[0027] Figure 1 A schematic diagram of the structure of a fill light device for AGV ground pattern navigation provided by an embodiment of the utility model;
[0028] Figure 2 A schematic structural diagram of the middle link segment of a fill light device for AGV ground pattern navigation provided by an embodiment of the utility model.
[0029] In the accompanying drawings, the components represented by the reference numerals are listed as follows:
[0030] 1. Light board; 11. Light-emitting surface; 2. Reflector; 21. Reflective surface; 3. Reflective channel; 4. Mounting plate; 5. Limiting ring; 51. Ring segment; 52. Slot; 53. Limiting protrusion; 54. Limiting groove; 6. Connecting plate. DETAILED DESCRIPTION
[0031] In order to facilitate understanding of the present application, the present application will be described more fully below with reference to the relevant drawings. Embodiments of the present application are provided in the drawings. However, the present application can be implemented in many different forms and is not limited to the embodiments described herein. On the contrary, the purpose of providing these embodiments is to make the disclosure of the present application more thorough and comprehensive.
[0032] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as those commonly understood by those skilled in the art to which this application belongs. The terms used herein in the specification of this application are only for the purpose of describing specific embodiments and are not intended to limit this application.
[0033] It will be appreciated that spatial relationship terms such as "under," "beneath," "below," "under," "above," "above," etc., may be used herein to describe the relationship of an element or feature shown in the figures to other elements or features. It will be appreciated that, in addition to the orientations shown in the figures, spatial relationship terms also include different orientations of the device in use and operation. For example, if the device in the accompanying drawings is flipped, an element or feature described as "under other elements" or "under it" or "under it" will be oriented as being "above" the other elements or features. Thus, the exemplary terms "under" and "under" may include both upper and lower orientations. In addition, the device may also include additional orientations (e.g., rotated 90 degrees or other orientations), and the spatial descriptors used herein are interpreted accordingly.
[0034] It should be noted that when an element is considered to be "connected" to another element, it can be directly connected to the other element, or connected to the other element through an intermediate element. The "connection" in the following embodiments should be understood as "electrical connection", "communication connection", etc. if the connected circuits, modules, units, etc. have electrical signals or data transmission between each other.
[0035] When used herein, the singular forms "a", "an", and "said / the" may also include plural forms, unless the context clearly indicates otherwise. It should also be understood that the terms "include / comprise" or "have" etc. specify the presence of stated features, wholes, steps, operations, components, parts or combinations thereof, but do not exclude the possibility of the presence or addition of one or more other features, wholes, steps, operations, components, parts or combinations thereof.
[0036] Reference Figure 1-2As shown, an embodiment of the present application provides a fill light device for AGV ground pattern navigation, which includes a light board 1 and multiple reflectors 2. The light board 1 is a diffuse reflection light source. The light board 1 includes a light-emitting surface 11. The light board 1 is provided with a mounting hole for a camera to pass through. The multiple reflectors 2 are arranged on one side of the light-emitting surface 11 of the light board 1. The multiple reflectors 2 are arranged around the light-emitting surface 11. The multiple reflectors 2 enclose a reflective channel 3. The side of the reflector 2 facing the reflective channel 3 is set as a reflective surface 21. The light board 1 is located at one end of the reflective channel 3 and the light-emitting surface 11 faces the inside of the reflective channel 3.
[0037] Through the above arrangement, the light board 1 is turned on to emit light in all directions. The light is reflected on the reflective surfaces 21 of the multiple reflectors 2. The light is reflected multiple times by the multiple reflective surfaces 21 in the reflective channel 3, and an infinite reflective extension area is formed in the reflective channel 3. The light is finally emitted from the end of the reflective channel 3 away from the light board 1, and forms a lighting area with uniform brightness on the ground. A mounting hole for the camera is provided on the light board 1. The camera collects the image of the illuminated area on the ground after passing through the mounting hole. The light board 1 and the multiple reflectors 2 provide effective and uniform fill light for the camera.
[0038] Reference Figure 1 As shown, further, the light-emitting surface 11 and the reflective surface 21 are both set to be planes, and the reflective surface 21 is set to be perpendicular to the light-emitting surface 11 to reduce the light directly hitting the ground vertically, reduce the reflective effect, and form a lighting area with uniform brightness.
[0039] Specifically, the light board 1 can select a suitable diffuse reflection light source according to actual conditions, and can use a backlight panel or an LED array light source or a light guide plate. The number of reflectors 2 is set according to actual needs. In this embodiment, four reflectors 2 are provided, and adjacent reflectors 2 are perpendicular to each other, so the four reflectors 2 form a reflective channel 3 with a rectangular cross-section.
[0040] Furthermore, the light-emitting surface 11 of the light board 1 and the reflective surface 21 of the reflector 2 are covered with an electrically controlled dimming film, which is connected to the control system of the AGV. The control system controls the transparency of the film. When the AGV is running, the software algorithm is used to determine the reflection and overexposure of the camera image, and the transparency of the electrically controlled dimming film is automatically adjusted to adjust the transparency of the light board 1 and the surface of the reflector 2 to achieve the optimal fill light effect.
[0041] Furthermore, the reflector 2 can also be set as a light source, specifically a diffuse reflection light source, which emits light through the reflective surface 21 and enters the reflective channel 3. Specifically, the reflector 2 can use the same light source as the light board 1, and its reflective surface 21 not only reflects the light from the reflective channel 3, but also serves as its own light-emitting surface to emit light into the reflective channel 3, which can further ensure the fill light effect for the camera.
[0042] Reference Figure 1-2As shown, further, in order to connect the light board 1 and multiple reflectors 2, the fill light device also includes a mounting plate 4 and a mounting bracket, the mounting plate 4 includes a mounting surface, the mounting surface is provided with a mounting groove for the light board 1 to be embedded, the light board 1 is embedded in the mounting groove, the mounting plate 4 is provided with a through hole connected to the mounting hole, the mounting bracket connects multiple reflectors 2 to form a reflective channel 3, and the reflector 2 is connected to the mounting plate 4 through the mounting bracket.
[0043] Reference Figure 1-2 As shown, specifically, one side surface of the mounting plate 4 is set as a mounting surface and a mounting groove is provided, the light board 1 is parallel to the mounting surface and embedded in the mounting groove, the light board 1 and the mounting plate 4 are fixed by bolts, and corresponding bolt holes are provided on the light board 1 and the mounting plate 4, and the bolt holes are also used for fixed connection between the camera and the mounting plate 4.
[0044] Reference Figure 1-2 As shown, the mounting frame includes two limit rings 5, which are arranged around the light-emitting surface 11. The two limit rings 5 are spaced apart and fixed to each other in a direction perpendicular to the light-emitting surface 11. One of the limit rings 5 is fixed to the mounting plate 4. The reflector 2 is arranged on the inner side of the limit ring 5 and is located between the two limit rings 5. A limit groove 52 is provided on the inner side of the limit ring 5. Both sides of the reflector 2 are respectively embedded in the limit grooves 52 on the two limit rings 5, and the reflector 2 is restricted from moving relative to the limit ring 5 along the central axis direction of the limit ring 5.
[0045] Reference Figure 1-2 As shown, the central axis of the limiting ring 5 is perpendicular to the light-emitting surface 11 of the lamp board 1, and the limiting ring 5 close to the mounting plate 4 is fixed to the mounting plate 4 by bolts, and a plurality of bolt holes are correspondingly opened on the mounting plate 4 and the limiting ring 5.
[0046] Reference Figure 1-2 As shown, further, the limiting ring 5 is in a rectangular ring shape and includes a plurality of segments 51, and the segment 51 includes two segments perpendicular to each other. The plurality of segments 51 of one limiting ring 5 are fixedly connected with the plurality of segments 51 of another limiting ring 5 in a one-to-one correspondence. In this embodiment, a segment 51 is arranged between two adjacent reflectors 2, and then four segments 51 are arranged. The two segments of the segment 51 are respectively attached to the side of the two adjacent reflectors 2 away from the reflective channel 3. Correspondingly, the slot 52 is arranged on the inner side of the segment 51 and along the length direction of the segment 51. The slot 52 on each segment 51 also includes two segments perpendicular to each other, so as to allow the two adjacent reflectors 2 to be embedded respectively. A segment 51 of one limiting ring 5 is fixedly connected with a segment 51 of another limiting ring 5 through a connecting plate 6.
[0047] Reference Figure 1-2As shown, a limiting structure is arranged between adjacent link segments 51, and the limiting structure includes a limiting protrusion 53 and a limiting groove 54 that cooperate with each other. The limiting protrusion 53 and the limiting groove 54 are respectively arranged on two adjacent link segments 51. When two adjacent link segments 51 are connected, the limiting protrusion 53 is embedded in the limiting groove 54 to limit the movement of the two adjacent link segments 51 in a direction perpendicular to the plane of the reflector 2 therebetween, thereby connecting multiple link segments 51 to form a limiting ring 5 with a stable structure.
[0048] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention should be included in the protection scope of the present invention.
Claims
1. A fill light device for AGV ground pattern navigation, characterized in that: include: A light board (1) which is a diffuse reflection light source, the light board (1) comprising a light emitting surface (11), and a mounting hole for a camera to pass through is provided on the light board (1); A plurality of reflective plates (2) are arranged on one side of the light-emitting surface (11) of the light board (1); the plurality of reflective plates (2) are arranged around the light-emitting surface (11); the plurality of reflective plates (2) enclose a reflective channel (3); a side of the reflective plate (2) facing the reflective channel (3) is set as a reflective surface (21); the light board (1) is located at one end of the reflective channel (3) and the light-emitting surface (11) faces the inside of the reflective channel (3); The light-emitting surface (11) and the light-reflecting surface (21) are both covered with an electrically controlled dimming film.
2. The fill light device for AGV ground pattern navigation according to claim 1, characterized in that: The light-emitting surface (11) and the light-reflecting surface (21) are both planes, and the light-reflecting surface (21) is perpendicular to the light-emitting surface (11).
3. The fill light device for AGV ground pattern navigation according to claim 2, characterized in that: Four reflective plates (2) are provided, and adjacent reflective plates (2) are perpendicular to each other.
4. The fill light device for AGV ground pattern navigation according to claim 1, characterized in that: The light panel (1) is a backlight panel.
5. The fill light device for AGV ground pattern navigation according to claim 1, characterized in that: The light panel (1) is an LED array light source.
6. The fill light device for AGV ground pattern navigation according to claim 1, characterized in that: The lamp panel (1) is a light guide panel.
7. The fill light device for AGV ground pattern navigation according to claim 1, characterized in that: The reflector (2) is a diffuse reflection light source, and the light emitted by it passes through the reflective surface (21) and enters the reflective channel (3).
8. The fill light device for AGV ground pattern navigation according to claim 2, characterized in that: Also includes: A mounting plate (4), comprising a mounting surface, the mounting surface being provided with a mounting groove for the lamp panel (1) to be embedded, the lamp panel (1) being embedded in the mounting groove, and the mounting plate (4) being provided with a through hole connected to the mounting hole; A mounting frame connects a plurality of the reflective plates (2) to form the reflective channel (3), and the reflective plates (2) are connected to the mounting plate (4) via the mounting frame.
9. The fill light device for AGV ground pattern navigation according to claim 8, characterized in that: The mounting frame comprises two limiting rings (5), the limiting rings (5) are arranged around the light-emitting surface (11), the two limiting rings (5) are spaced apart and fixed to each other in a direction perpendicular to the light-emitting surface (11), one of the limiting rings (5) is fixed to the mounting plate (4), the reflector (2) is arranged on the inner side of the limiting ring (5) and is located between the two limiting rings (5), a limiting groove (52) is provided on the inner side of the limiting ring (5), both sides of the reflector (2) are respectively embedded in the limiting grooves (52) on the two limiting rings (5), and the reflector (2) is restricted from moving relative to the limiting ring (5) along the central axis direction of the limiting ring (5).
10. The fill light device for AGV ground pattern navigation according to claim 9, characterized in that: The limiting ring (5) is in the shape of a rectangular ring. The limiting ring (5) comprises a plurality of ring segments (51). The ring segments (51) comprise two sections perpendicular to each other. The plurality of ring segments (51) of one limiting ring (5) are fixedly connected with the plurality of ring segments (51) of another limiting ring (5) in a one-to-one correspondence.