A high-precision seamless positioning device for AGV inside and outside the elevator car based on laser radar

Abstract

The utility model relates to the technical field related to elevator car positioning, and discloses a high-precision seamless positioning device for AGV inside and outside the elevator car based on laser radar. The utility model includes a car body for installing an AGV positioning frame, and the AGV positioning frame includes a laser positioning base station, a processing module, and a terminal control system. The utility model can achieve the purpose of real-time positioning of the car body under high-speed operation by arranging AGV positioning frames inside and outside the car body. Through the mutual cooperation of the laser positioning base station, the processing module, and the terminal control system, high-precision positioning can be achieved while its accuracy is further improved, and the positioning effect itself will not be interfered by external factors. With the input of laser, the real-time position of the current car body can be obtained, and the AGV positioning frame can be moved to a suitable position to control the entire elevator system.

Description

Technical Field

[0001] The utility model relates to the technical field related to elevator car positioning, and in particular to a laser radar-based high-precision seamless positioning device for AGVs inside and outside an elevator car. Background Art

[0002] The use of AGV high-precision seamless positioning in the elevator car is to ensure that the elevator car stays in a more accurate position during operation.

[0003] In the existing elevator industry, the difficulty of positioning elevators in high-speed operation environments continues to increase, and as the service life increases, the positioning effect of the elevator car during operation will be affected, resulting in differences in the positioning of the elevator car, which affects the user's riding experience and is prone to a series of dangers. In order to solve such problems, a high-precision seamless positioning device for AGVs inside and outside the elevator car based on laser radar is proposed. Utility Model Content

[0004] The technical problem to be solved by the present invention is: to solve the problem that the existing elevator car has poor positioning effect during high-speed operation; in order to overcome the above-mentioned problems, a high-precision seamless positioning device for AGV inside and outside the elevator car based on laser radar is provided, which solves the above-mentioned problems.

[0005] The utility model solves the technical problem by adopting the following technical solutions:

[0006] A laser radar-based high-precision seamless positioning device for AGVs inside and outside an elevator car, comprising a car body for installing an AGV positioning frame, wherein the AGV positioning frame includes a laser positioning base station, a processing module, and a terminal control system;

[0007] The AGV positioning frame is equipped with a wireless digital transmission module, and the vehicle can be controlled through the terminal control system;

[0008] The laser positioning base station includes a laser probe and a coding controller. The laser probe can emit surface lasers. The coding controller can encode the laser probe and can encode the angle and the laser probe serial number.

[0009] The processing module is installed on the upper side of the car body and is directly below the AGV positioning frame. The processing module is electrically connected to the laser positioning base and the terminal control system;

[0010] The processing module includes a positioning sensor and a processor. The positioning sensor receives the laser emitted by the laser positioning base station. The positioning sensor identifies the received laser and transmits it to the processor. According to the laser coding information, the three-dimensional coordinates of the processing module relative to the laser positioning device are calculated, and the data is transmitted to the terminal control system wirelessly.

[0011] Preferably, the terminal control system can set the starting point or end point of the AGV positioning frame through remote data transmission.

[0012] Preferably, the laser probes are respectively arranged on both sides of the AGV positioning frame and are used to correspond to the elevator corridor doors.

[0013] The advantages and positive effects of the utility model are as follows: by arranging AGV positioning frames on the inside and outside of the car body, the purpose of real-time positioning of the car body in a high-speed running state can be achieved; by the mutual cooperation of the laser positioning base station, the processing module and the terminal control system, high-precision positioning can be achieved while the accuracy is further improved, and the positioning effect itself will not be interfered by external factors; the real-time position of the current car body can be obtained with the input of the laser, and the AGV positioning frame can be moved to a suitable position to control the entire elevator system. BRIEF DESCRIPTION OF THE DRAWINGS

[0014] The utility model is further described below in conjunction with the accompanying drawings and embodiments.

[0015] Figure 1 It is a structural schematic diagram of the utility model;

[0016] Figure 2 It is a module schematic diagram of the utility model;

[0017] The symbols in the accompanying drawings are described as follows:

[0018] 1. Car body; 2. AGV positioning frame; 3. Laser positioning base station; 31. Laser probe; 4. Processing module; 41. Positioning sensor; 42. Processor; 5. Terminal control system. DETAILED DESCRIPTION

[0019] Now the utility model is further described in detail with reference to the accompanying drawings. These drawings are simplified schematic diagrams, which only illustrate the basic structure of the utility model in a schematic manner, and therefore only show the components related to the utility model.

[0020] The following is a further description of the embodiments of the present invention in conjunction with the accompanying drawings:

[0021] Reference Figure 1 and Figure 2As shown, the application of AGV high-precision seamless positioning in the elevator car is to ensure that the elevator car can stay in a more accurate position during operation. In the existing elevator industry, the difficulty of positioning the elevator in a high-speed operation environment continues to increase, and as the service life is extended, the positioning effect of the elevator car during operation will be affected, resulting in differences in the positioning of the elevator car, which affects the user's riding experience and is prone to a series of dangers. In order to solve such problems, a high-precision seamless positioning device for AGV inside and outside the elevator car based on laser radar is proposed, including a car body 1 for installing an AGV positioning frame 2, and the AGV positioning frame 2 includes a laser positioning base station 3, a processing module 4, and a terminal control system 5;

[0022] The AGV positioning frame 2 is provided with a wireless digital transmission module, and the vehicle can be controlled through the terminal control system 5;

[0023] The laser positioning base station 3 includes a laser probe 31 and a coding controller. The laser probe 31 can emit surface lasers. The coding controller can encode the laser probe 31 and can encode the angle and the serial number of the laser probe 31.

[0024] The processing module 4 is installed on the upper side of the car body 1 and is directly below the AGV positioning frame 2. The processing module 4 is electrically connected to the laser positioning base and the terminal control system 5;

[0025] The processing module 4 includes a positioning sensor 41 and a processor 42. The positioning sensor 41 receives the laser emitted by the laser positioning base station 3. The positioning sensor 41 identifies the received laser and transmits it to the processor 42. According to the laser coding information, the three-dimensional coordinates of the processing module 4 relative to the laser positioning device are calculated, and the data is transmitted to the terminal control system 5 by wireless. By arranging the AGV positioning frame 2 inside and outside the car body 1, the purpose of real-time positioning of the car body 1 in a high-speed running state can be achieved. Through the mutual cooperation of the laser positioning base station 3, the processing module 4 and the terminal control system 5, high-precision positioning can be achieved while its accuracy is further improved, and the positioning effect itself will not be interfered by external factors. With the input of the laser, the real-time position of the current car body 1 can be obtained, and the AGV positioning frame 2 can be moved to a suitable position to control the entire elevator system.

[0026] It should be noted that the starting and ending coordinates of the AGV positioning frame 2 can be reset through the terminal control system 5. The terminal control system 5 will reasonably allocate the AGV's running route and AGV's running speed according to the number of AGVs and the task mode, thereby improving work efficiency and improving its positioning accuracy.

[0027] Furthermore, when the elevator car is running at high speed and stops at a certain floor, the AGV positioning frame 2 will form a series of data as the laser probe 31 reflects the laser of the floor door. With the subsequent processing module 4 and the terminal control system 5, the purpose of mutual integration with the elevator system can be achieved, which can ensure the accuracy of the elevator car's stop during long-term operation.

[0028] It should be emphasized that the embodiments described in the present invention are illustrative rather than restrictive. Therefore, the present invention is not limited to the embodiments described in the specific implementation manner. Any other implementation manners derived by those skilled in the art based on the technical solution of the present invention also fall within the scope of protection of the present invention.

Claims

1. A laser radar-based high-precision seamless positioning device for AGVs inside and outside an elevator car, comprising a car body (1) for mounting an AGV positioning frame (2), characterized in that: The AGV positioning frame (2) includes a laser positioning base station (3), a processing module (4), and a terminal control system (5); The AGV positioning frame (2) is provided with a wireless digital transmission module, and the vehicle can be controlled via a terminal control system (5); The laser positioning base station (3) comprises a laser probe (31) and a coding controller. The laser probe (31) can emit surface laser light. The coding controller can encode the laser probe (31) and can encode the angle and the serial number of the laser probe (31). The processing module (4) is installed on the upper side of the car body (1) and is located directly below the AGV positioning frame (2). The processing module (4) is electrically connected to the laser positioning base and the terminal control system (5); The processing module (4) comprises a positioning sensor (41) and a processor (42). The positioning sensor (41) receives laser light emitted by a laser positioning base station (3). The positioning sensor (41) identifies the received laser light and transmits it to the processor (42). The three-dimensional coordinates of the processing module (4) relative to the laser positioning device are calculated based on the laser coding information, and the data is wirelessly transmitted to the terminal control system (5).

2. According to claim 1, a laser radar-based high-precision seamless positioning device for AGV inside and outside the elevator car, characterized in that: The terminal control system (5) can set the starting point or end point of the AGV positioning frame (2) through remote data transmission.

3. According to claim 1, a laser radar-based high-precision seamless positioning device for AGV inside and outside an elevator car, characterized in that: The laser probes (31) are respectively arranged on both sides of the AGV positioning frame (2) and are used to correspond to the elevator corridor doors.

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