Two-dimensional laser radar leveling device for AGV navigation and positioning

Abstract

The utility model relates to a two-dimensional laser radar leveling device for AGV navigation and positioning, which relates to the technical field of automated guided vehicles, and comprises a two-dimensional laser radar, an adjustable disc, a gradienter, an adjusting column, a steel ball, a support, an adjusting bolt and an adjusting nut, the two-dimensional laser radar is in bolted connection with the adjustable disc, the gradienter is fixed on the adjustable disc, and the adjusting column is fixed on the support. The adjusting column and the steel ball are arranged between the adjustable disc and the support, the upper end of the adjusting column is connected with the adjustable disc, the steel ball is arranged between the lower end of the adjusting column and the support, adjusting holes are formed in the adjustable disc and the support, and the bolt penetrates through the adjusting holes in the adjustable disc and the support and then is locked through the nut. The two-dimensional laser radar installation device is simple in structural design, convenient to level, easy to manufacture, low in cost and high in applicability, and the stability and convenience of installation of the two-dimensional laser radar on the AGV are effectively guaranteed.

Description

Technical Field

[0001] The utility model relates to the technical field of automatic guided vehicles, in particular to a two-dimensional lidar leveling device for AGV navigation and positioning. Background Technique

[0002] AGV is the abbreviation of English (Automated Guided Vehicle), which means "Automated Guided Vehicle" and is also known as an unmanned transport vehicle. Generally speaking, an AGV is a mobile robot used for transportation. For an AGV to automatically drive inside a factory, it needs navigation. Among many navigation methods, the laser SLAM navigation technology has been relatively mature and is also the most stable and reliable high-performance SLAM navigation method so far. Laser navigation AGVs achieve automatic navigation through laser technology and have the characteristics of high automation, high flexibility, high safety, improved operation efficiency, and cost reduction. They are widely used in fields such as manufacturing, logistics, airport baggage handling, postal express, and the medical industry.

[0003] Laser SLAM can be further divided into two types according to the sensor application: single-line (2D, i.e., two-dimensional) and multi-line (3D, i.e., three-dimensional) lidar. A two-dimensional lidar is a sensor that uses a laser beam for scanning and ranging. Its core principle is to emit a laser beam and receive the reflected signal to obtain the distance and position information of the target object. Compared with three-dimensional lidar, a two-dimensional lidar can only scan in the horizontal direction, but its advantages such as simple structure and low cost have enabled it to be widely used in multiple fields such as automation, navigation, and monitoring.

[0004] A necessary condition for the normal operation of a two-dimensional lidar is that the installation position of the lidar needs to be horizontal; otherwise, it will affect the map construction accuracy and the positioning accuracy of the vehicle body. Therefore, the installation and leveling of the lidar directly affect the positioning accuracy and normal use of the AGV. In existing leveling devices, some have a relatively complex structure, resulting in increased installation difficulty and cost, and also greater adjustment difficulty. Each adjustment takes a relatively long time, affecting the maintenance progress. For example, the AGV forklift with a navigator leveling device provided by the prior patent with the patent number "201920911992.1" requires adjusting four adjustment knobs simultaneously, otherwise it is easy to get stuck and difficult to adjust. Another example is the AGV lidar leveling bracket provided by the prior patent with the patent number "202223357437.X", which adopts a double-layer structure and needs to adjust two directions of the plane separately, with complex adjustment. Also, for the AGV laser head leveling device provided by the prior patent with the patent number "201721375014.7", it uses a laser rangefinder to adjust the level. The device measures the distance between two plates. If the mounting plate cannot ensure horizontal, then measuring the equal distance between the two plates is meaningless, and measuring the distance between the two plates can be completely replaced by low-cost measuring tools such as calipers instead of a laser rangefinder.

[0005] Now, there is an urgent need for a two-dimensional lidar leveling device with a simple structure, convenient use and good leveling effect. Content of the Utility Model

[0006] The purpose of the present utility model is to provide a two-dimensional lidar leveling device for AGV navigation and positioning, which has a simple structure and a convenient leveling process.

[0007] Technical solution of the present utility model:

[0008] A two-dimensional lidar leveling device for AGV navigation and positioning includes a two-dimensional lidar, an adjustable disc, a level, an adjustment column, steel balls, a bracket, an adjustment bolt and an adjustment nut. The two-dimensional lidar is installed on the adjustable disc, the level is fixed on the adjustable disc, the adjustment column and the steel balls are placed between the adjustable disc and the bracket. The upper end of the adjustment column is connected to the adjustable disc, and steel balls are installed between the lower end of the adjustment column and the bracket. Adjustment holes are opened on both the adjustable disc and the bracket, and the bolt passes through the adjustment holes on the adjustable disc and the bracket and is locked by a nut.

[0009] Advantages of the present utility model:

[0010] 1. When the two-dimensional lidar leveling device of the present application is in the leveling operation, only the screwing lengths of three adjustment nuts need to be adjusted, so as to drive the adjustable disc together with the two-dimensional lidar to be adjusted. Whether it is adjusted to the horizontal state is judged by the level pasted on the adjustable disc. The leveling device of the present application has a simple structure, is easy to manufacture, has a low cost, is convenient for leveling, has strong applicability, and effectively ensures the stability and convenience of the installation of the two-dimensional lidar on the AGV. Description of the Drawings

[0011] In order to more clearly illustrate the technical solutions in the embodiments of the present utility model, the following will briefly introduce the drawings required for the description of the embodiments. Obviously, the drawings in the following description are only the embodiments of the present utility model. For those of ordinary skill in the art, other drawings can be obtained according to the provided drawings without creative work.

[0012] Figure 1 It is the overall structure schematic diagram of the two-dimensional lidar leveling device for AGV navigation and positioning of the present application.

[0013] Figure 2 It is the side view of the two-dimensional lidar leveling device for AGV navigation and positioning of the present application.

[0014] Figure 3 It is the enlarged upper-end structure diagram of the two-dimensional lidar leveling device for AGV navigation and positioning of the present application.

[0015] Reference Signs:

[0016] 1. Two-dimensional lidar; 2. Level; 3. Adjustable disc; 4. Adjusting column; 5. Steel ball; 6. Upper flange of the bracket; 7. Bracket round tube; 8. Rib plate; 9. Bottom flange of the bracket; 10. Adjusting nut; 11. Adjusting bolt. Detailed implementation manner

[0017] In order to solve the problems in the background technology, a two-dimensional lidar leveling device for AGV navigation and positioning is specifically invented in this application, and this leveling device is convenient and fast to operate.

[0018] The following details the specific implementation manner of the present utility model. It should be noted that in the description of the present utility model, the orientation or positional relationship indicated by terms such as "upper", "lower", "left", "right", "inner", "outer", etc. is based on the orientation or positional relationship shown in the drawings, and is only for the convenience of describing the present utility model and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, so it cannot be understood as a limitation to the present utility model.

[0019] A two-dimensional lidar leveling device for AGV navigation and positioning includes a two-dimensional lidar 1, a level 2, an adjustable disc 3, an adjusting column 4, a steel ball 5, a bracket, an adjusting nut 10 and an adjusting bolt 11. The two-dimensional lidar 1 is connected to the adjustable disc 3 by bolts, the level 2 is fixed on the adjustable disc 3, the adjusting column 4 and the steel ball 5 are placed between the adjustable disc and the bracket. The upper end of the adjusting column 4 is connected to the adjustable disc 3, and a steel ball is installed between the lower end of the adjusting column 4 and the bracket. Adjusting holes are opened on both the adjustable disc 3 and the bracket, and the adjusting bolt 11 passes through the adjusting holes on the adjustable disc 3 and the bracket and is locked by the adjusting nut 10. Two adjusting nuts 10 are installed on each adjusting bolt 11. The adjusting holes on the adjustable disc 3 and the bracket are preferably three and are evenly distributed on the outer periphery of the adjustable disc and the bracket.

[0020] The adjusting column 4 is a stepped cylindrical shape. The upper end of the adjusting column 4 is in interference fit with the center of the adjustable disc 3. A concave pit is provided at the lower end of the adjusting column 4, and a concave pit is also provided on the upper surface of the bracket. The steel ball 5 is embedded between the two concave pits.

[0021] The bracket is composed of an upper flange 6 of the bracket, a bracket round tube 7, a bottom flange 9 of the bracket, and a rib plate 8. The upper end of the bracket round tube 7 is fixedly connected to the upper flange 6 of the bracket, the lower end of the bracket round tube 7 is fixedly connected to the bottom flange 9 of the bracket, and a rib plate 8 is installed between the bracket round tube 7 and the bottom flange 9 of the bracket. The bracket round tube 7 is a hollow structure.

[0022] The following will clearly and completely describe the technical solutions in the embodiments of the present utility model in conjunction with the accompanying drawings in the embodiments of the present utility model. Obviously, the described embodiments are only a part of the embodiments of the present utility model, rather than all of the embodiments. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present utility model without making creative efforts belong to the scope of protection of the present utility model.

[0023] As Figures 1-3 shown, a leveling device for a two-dimensional lidar (2D lidar) used for AGV navigation and positioning according to the present utility model includes a two-dimensional lidar 1, a level 2 (a disc level is used in the embodiment), an adjustable disc 3, an adjustment column 4, steel balls 5, a bracket upper flange 6, a bracket round tube 7, a bracket bottom flange 9, a rib plate 8, an adjusting nut 10, and an adjusting bolt 11.

[0024] The outer ring of the adjustable disc 3 is evenly distributed with adjustment holes, and the inner ring is evenly distributed with mounting holes. The two-dimensional lidar 1 is installed on the adjustable disc 3 through bolts with spring washers passing through the mounting holes. A circular hole is opened in the center of the adjustable disc 3 for installing the adjustment column 4. The adjustment column 4 is a stepped cylindrical shape. The upper cylindrical surface of the adjustment column 4 and the circular hole on the adjustable disc have a small interference fit, and it can be pressed in during installation without falling off. A 120-degree conical concave pit is drilled at the center of the lower cylindrical surface of the adjustment column 4 to facilitate the installation of the steel balls 5 during assembly.

[0025] The level 2 is pasted on the upper surface of the adjustable disc 3 to judge the leveling state of the two-dimensional lidar 1.

[0026] As Figures 1-3 shown, a leveling structure is provided between the adjustable disc 3 and the bracket upper flange 6. The leveling structure includes three adjusting bolts, and two nuts are assembled on each bolt. The adjusting bolt 11 passes through the adjustment holes on the adjustable disc 3 and the bracket upper flange 6 and is fixedly connected through the adjusting nut 10. During the leveling operation, it is necessary to separately adjust the screwing lengths of the three adjusting nuts 10, so as to drive the adjustable disc 3 together with the two-dimensional lidar 1 to be adjusted. Whether it is adjusted to the horizontal state is judged by the level 2 pasted on the adjustable disc 3. The adjusting nut 10 is a double-nut structure. The upper nut is used for adjusting the level, and the lower nut is used for locking to avoid loosening of the nut due to vibration or the like, which affects the working stability of the laser navigation.

[0027] As Figures 1-2As shown, the bracket is composed of a bracket upper flange 6, a bracket round tube 7, and a bracket bottom flange 9. The bracket upper flange 6 is a circular plate, and a conical concave pit is opened at the center of the bracket upper flange to facilitate the installation of steel balls 5 during assembly. Adjustment holes corresponding to the adjustable disc 3 are opened on the bracket upper flange 6 for installing adjustment bolts 11. The bracket bottom flange 9 is used to fix the AGV two-dimensional lidar leveling device to the AGV vehicle body through bolts. The bracket upper flange 6, the bracket bottom flange 9, and the bracket round tube 7 are connected together by welding. To enhance stability, rib plates 8 are evenly welded around the connection between the bracket bottom flange 9 and the bracket round tube 7. The length of the bracket round tube 7 is determined according to the application scenario of the AGV, accuracy requirements, etc. The bracket round tube 7 is a hollow structure, and wiring can be arranged inside. The bracket upper flange 6 has wire passing holes.

[0028] In this application, a leveling structure is provided between the adjustable disc 3 under the two-dimensional lidar 1 and the bracket upper flange 6. When leveling the two-dimensional lidar 1, only the screwing lengths of the three adjusting nuts need to be adjusted respectively, so that the adjustable disc 3 together with the two-dimensional lidar is adjusted. The horizontal state of the two-dimensional lidar is judged by the disc level pasted on the adjustable disc 3, and the leveling operation can be carried out from three directions. The operation is very simple, ensuring the installation accuracy of the two-dimensional lidar 1 and improving the installation convenience.

[0029] The above schematically describes the present invention and its implementation manners. This description is not restrictive, and what is shown in the drawings is only one of the implementation manners of the present invention. The actual structure is not limited thereto. Therefore, if those of ordinary skill in the art are inspired by it and without departing from the content of the technical solution of the present invention, and design similar structural manners and implementations to this technical solution without creative efforts based on the technical essence of the present invention, they should all fall within the protection scope of the present invention.

Claims

1. A two-dimensional laser radar leveling device for AGV navigation and positioning, characterized in that: It includes a two-dimensional laser radar, an adjustable disc, a spirit level, an adjustment column, a steel ball, a bracket, an adjustment bolt and an adjustment nut. The two-dimensional laser radar is installed on the adjustable disc, the spirit level is fixed on the adjustable disc, the adjustment column and the steel ball are placed between the adjustable disc and the bracket, the upper end of the adjustment column is connected to the adjustable disc, and the steel ball is installed between the lower end of the adjustment column and the bracket. Adjustment holes are opened on the adjustable disc and the bracket, and the bolts pass through the adjustment holes on the adjustable disc and the bracket and are locked by nuts.

2. The two-dimensional laser radar leveling device for AGV navigation and positioning according to claim 1, characterized in that: The adjusting column is a stepped cylindrical shape, the upper end of the adjusting column is interference fit with the center of the adjustable disc, the lower end of the adjusting column is provided with a pit, the upper surface of the bracket is also provided with a pit, and the steel ball is embedded between the pits on the adjusting column and the bracket.

3. The two-dimensional laser radar leveling device for AGV navigation and positioning according to claim 1, characterized in that: The adjustable disc has three adjustment holes which are evenly distributed on the outer circumference of the adjustable disc.

4. The two-dimensional laser radar leveling device for AGV navigation and positioning according to claim 1, characterized in that: The bracket is composed of a bracket upper flange, a bracket circular tube, a bracket bottom flange, and a rib plate. The upper end of the bracket circular tube is fixedly connected to the bracket upper flange, the lower end of the bracket circular tube is fixedly connected to the bracket bottom flange, and a rib plate is installed between the bracket circular tube and the bracket bottom flange.

5. The two-dimensional laser radar leveling device for AGV navigation and positioning according to claim 4, characterized in that: The support round tube is a hollow structure.

6. The two-dimensional laser radar leveling device for AGV navigation and positioning according to claim 1, characterized in that: Two nuts are arranged on each of the adjusting bolts.

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