AGV (Automatic Guided Vehicle) with high intelligent degree

Abstract

The utility model relates to an AGV with a high intelligent degree, and relates to the field of AGVs, the AGV mainly comprises a 3DOF motion base and a carriage, the carriage is installed on the 3DOF motion base, a plurality of seats are fixedly installed in the carriage, and handrails are fixedly installed on the two sides of each seat; a navigation sensor, a signal positioning receiver and an automobile radar sensor are fixedly installed on the top of the 3DOF motion base, and a picture detection module used for detecting a display picture of the display screen is fixedly installed on the outer side wall of the compartment.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of AGV trolley, in particular to an AGV trolley with high intelligence. BACKGROUND

[0002] AGV is the abbreviation of Automated Guided Vehicle. AGV refers to a small car equipped with electromagnetic or optical automatic guiding device. It can travel according to the specified guiding path, and has high safety protection. AGV trolley mainly adopts wheeled movement. Wheeled trolley is fast, efficient, simple in structure, strong in controllability, high in safety performance and other advantages. AGV activity area does not need to lay track, support frame and other fixed devices, and is not limited by road and space.

[0003] In the prior art, the common sightseeing AGV dynamic trolley mainly comprises a 3DOF motion base and a car body. The car body is installed on the top of the 3DOF motion base. A plurality of seats for passengers to ride are fixedly installed in the car body. A door is installed on the car body. After the door is opened, the passengers can leave or enter the car body. In the actual experience process, the 3DOF motion base drives the car body to move in the sightseeing tunnel according to the set route. The display screens are installed on the two sides of the sightseeing tunnel. The passengers riding in the car body shuttle in the illusion composed of real scenes and stereoscopic films. The entire 3DOF motion base will change the vehicle movement mode at the designed moment, produce actions such as sharp turning, swinging and bumping, and simulate climbing, falling and other effects to assist the passengers in immersive experience.

[0004] However, the common AGV trolley mainly positions the position of the AGV trolley by using signal receiving sensors, SLAM navigation sensors and automobile radar sensors installed on the 3DOF motion base. The content displayed on the display cannot be compared according to the position of the AGV trolley. The running status of the AGV trolley cannot be judged. There is room for improvement. CONTENT OF THE INVENTION

[0005] In order to detect and judge the running status of the AGV trolley, the present application provides an AGV trolley with high intelligence.

[0006] The AGV trolley with high intelligence provided by the present application adopts the following technical scheme:

[0007] An AGV trolley with high intelligence mainly comprises a 3DOF motion base and a car body. The car body is installed on the 3DOF motion base. A plurality of seats are fixedly installed in the car body. Handrails are fixedly installed on the two sides of the seats.

[0008] The navigation sensor, signal positioning receiver and automobile radar sensor are fixedly installed on the top of the 3DOF motion base, and the picture detection module for detecting the display picture of the display screen is fixedly installed on the outer side wall of the carriage.

[0009] By adopting the above technical scheme, when the experience personnel ride on the AGV trolley to experience the immersive scene, the 3DOF motion base can drive the experience personnel in the carriage to shuttle in the sightseeing tunnel; in this process, the navigation sensor, signal positioning receiver and automobile radar sensor can monitor the position of the AGV trolley in real time, so that the positioning of the AGV trolley can be realized; at the same time, the picture detection module installed on the carriage can detect the picture displayed by the display screen in front of the AGV trolley, since the route of the AGV trolley is fixed and the position passed in each stage is fixed, if the AGV trolley operates normally, the picture of the display screen detected by the picture detection module should match the preset picture, by detecting and matching the picture, the accuracy of the AGV trolley can be judged.

[0010] Preferably, the picture detection module comprises:

[0011] A triggering unit is fixedly installed on the 3DOF motion base, used for detecting the rotation number of the wheel on the 3DOF motion base and outputting a collection control signal when the rotation number of the wheel reaches a set value;

[0012] An image collection unit is fixedly installed on the carriage, the signal input end is signal connected with the signal output end of the triggering unit, used for receiving the collection control signal and collecting display image data;

[0013] An image processor is data connected with the image collection unit, used for receiving the image data and outputting picture matching degree data;

[0014] A memory is data connected with the image processor and the image processor, used for receiving the display image data and picture matching degree data and storing.

[0015] By adopting the technical scheme, since the radius of the wheels of the AGV trolley is a known value, the driving route, the route length, and the positions of the displays displaying different pictures are known values, when the AGV trolley passes different display screens and display pictures, the image acquisition unit can acquire the display picture on the display screen in front of the AGV trolley, the image data of the display picture can be compared and processed by the image processor, the matching degree between the actual display picture of each display screen and the preset display picture can be calculated, and then the control accuracy of the AGV trolley can be judged; the image data acquired by the image acquisition unit and the matching degree data of the pictures output by each image processor can be stored by the memory, so that the detection data can be traced and verified subsequently.

[0016] Preferably, the trigger unit comprises:

[0017] The induction bump is fixedly installed on the inner side wall of the hub of any tire on the 3DOF motion base.

[0018] The ultrasonic ranging sensor is fixedly installed on the outer side wall of the 3DOF motion base, and the sensing end is arranged towards the induction bump, for detecting the sensing distance between the front shielding surface and outputting a sensing distance signal.

[0019] The comparator chip is connected with the signal output end of the ultrasonic ranging sensor, for receiving the sensing distance signal and outputting a high-level signal when the sensing distance is less than a set value.

[0020] The single-chip microcomputer is connected with the signal output end of the comparator chip, for counting the number of times of the high-level signal and outputting the acquisition control signal when the number of times of the high-level signal reaches a set value.

[0021] By adopting the technical scheme, when the tire on the 3DOF motion base rotates to the relative position of the induction bump and the sensing end of the ultrasonic ranging sensor, the comparator chip outputs a high-level signal, and the single-chip microcomputer counts the number of times of the high-level signal, so that the acquisition control signal can be outputted when the number of times of the high-level signal corresponds to the positions of different display screens respectively, and the image acquisition unit can acquire the image data of the display picture on the display screen in front of the carriage.

[0022] Preferably, the image acquisition unit comprises a CCD camera, and the front side of the carriage is provided with a mounting groove matched with the CCD camera, and the CCD camera is embeddedly installed in the mounting groove.

[0023] By adopting the technical scheme, the image data of the display picture on each display screen can be acquired by the CCD camera.

[0024] Preferably, the 3DOF motion base comprises a mounting side plate, a sensing hole is formed in the mounting side plate, a connecting plate is fixedly installed on the side wall away from the tire of the mounting side plate, and the ultrasonic ranging sensor is fixedly installed on the connecting plate.

[0025] By adopting the above technical scheme, the ultrasonic ranging sensor can be installed on the inner side wall of the mounting side plate through the connecting plate and the sensing hole, and the damage of the ultrasonic ranging sensor can be reduced.

[0026] In summary, the AGV trolley with high intelligence has at least one of the following beneficial technical effects:

[0027] 1. Since the radius of the wheel of the AGV trolley, the driving route of the AGV trolley, the route length, and the position of the display showing different pictures are known values, the image collector can collect the display picture on the display screen in front of the AGV trolley when the AGV trolley passes different display screens and display pictures through the triggering unit, the image data of the display picture can be compared and processed by the image processor, the matching degree between the actual display picture of each display screen and the preset display picture can be calculated, and then the control accuracy of the AGV trolley can be judged; the image data collected by the image collector and the matching degree data of the picture output by each image processor are stored in the memory, which can facilitate the subsequent tracing and verification of the detection data.

[0028] 2. The ultrasonic ranging sensor can be installed on the inner side wall of the mounting side plate through the connecting plate and the sensing hole, and the damage of the ultrasonic ranging sensor can be reduced. BRIEF DESCRIPTION OF DRAWINGS

[0029] Fig. 1 is a schematic view of the overall structure of the AGV trolley according to the embodiment of the present application.

[0030] Fig. 2 is a schematic view of the mounting position of the ultrasonic ranging sensor according to the embodiment of the present application.

[0031] Marked 1, 3DOF motion base; 11, tire; 12, sensing protrusion; 13, mounting side plate; 131, sensing hole; 132, connecting plate; 2, carriage; 3, seat; 31, armrest; 4, navigation sensor; 5, signal positioning receiver; 6, automobile radar sensor; 7, ultrasonic ranging sensor; 8, CCD camera. DETAILED DESCRIPTION

[0032] The following will be described in detail in combination with the accompanying drawings. Figs. 1-2 The present application will be further described in detail.

[0033] EMBODIMENT

[0034] The embodiment of the application discloses an AGV trolley with high intelligence. Figs. 1-2 It mainly comprises a 3DOF motion base 1 and a carriage 2, the carriage 2 is installed on the 3DOF motion base 1, a plurality of seats 3 are fixedly installed in the carriage 2, and handrails 31 are fixedly installed on both sides of the seats 3; a navigation sensor 4, a signal positioning receiver 5 and an automobile radar sensor 6 are fixedly installed on the top of the 3DOF motion base 1, and a picture detection module for detecting a display picture of a display screen is fixedly installed on the outer wall of the carriage 2.

[0035] When the experience personnel ride on the AGV trolley to experience the immersive scene, the 3DOF motion base 1 can drive the experience personnel in the carriage 2 to shuttle in the sightseeing tunnel; in this process, the navigation sensor 4, the signal positioning receiver 5 and the automobile radar sensor 6 can monitor the position of the AGV trolley in real time, so that the positioning of the AGV trolley can be realized; at the same time, the picture detection module installed on the carriage 2 can detect the picture displayed by the display screen in front of the AGV trolley, since the route of the AGV trolley is fixed, the position passed in each stage is fixed, if the AGV trolley normally runs, the picture of the display screen detected by the picture detection module should match the preset picture, by detecting and matching the picture, the accuracy of the AGV trolley can be judged.

[0036] Refer to Fig. 1 With Fig. 2 The picture detection module comprises a triggering unit, a picture acquisition unit and an image processor. The triggering unit is fixedly installed on the 3DOF motion base 1 and is used for detecting the rotation number of the wheels on the 3DOF motion base 1 and outputting a collection control signal when the rotation number of the wheels reaches a set value; the picture acquisition unit is fixedly installed on the carriage 2, a signal input end is signal connected with a signal output end of the triggering unit, is used for receiving the collection control signal and collecting display image data; the image processor is data connected with the picture acquisition unit, is used for receiving the image data and outputting picture matching degree data; the memory is data connected with the image processor and the image processor, is used for receiving the display image data and the picture matching degree data and storing.

[0037] Since the radius of the wheels of the AGV trolley is a known value, the driving route of the AGV trolley, the route length, and the positions of the displays displaying different pictures are known values, when the AGV trolley passes different display screens, the display pictures on the display screen in front of the AGV trolley can be collected by the image collector, the image data of the display pictures can be compared and processed by the image processor, the matching degree between the actual display pictures of each display screen and the preset display pictures can be calculated, and then the control accuracy of the AGV trolley can be judged; the image data collected by the image collector and the matching degree data of the pictures output by each image processor can be stored by the memory, which can facilitate subsequent tracing and verification of the detection data.

[0038] In the embodiment, the trigger unit comprises: a sensing bump 12 fixedly installed on the inner side wall of the hub of any tire 11 of the 3DOF motion base 1; an ultrasonic ranging sensor 7 fixedly installed on the outer side wall of the 3DOF motion base 1, with the sensing end facing the sensing bump 12, for detecting the sensing distance between the frontmost shielding surface and outputting a sensing distance signal; a comparator chip connected in signal with the signal output end of the ultrasonic ranging sensor 7, for receiving the sensing distance signal and outputting a high-level signal when the sensing distance is less than a set value; and a single-chip microcomputer connected in signal with the signal output end of the comparator chip, for counting the number of occurrences of the high-level signal and outputting a collection control signal when the number of occurrences of the high-level signal reaches a set value.

[0039] The ultrasonic ranging sensor 7 is used for detection, when the tire 11 on the 3DOF motion base 1 is rotated to the relative position of the sensing bump 12 and the sensing end of the ultrasonic ranging sensor 7, the comparator chip outputs a high-level signal, and the single-chip microcomputer counts the number of occurrences of the high-level signal, and outputs a collection control signal when the number of occurrences of the high-level signal corresponds to the positions of different display screens, so as to control the image collector to collect the image data of the display pictures on the display screen in front of the carriage 2.

[0040] In the embodiment, the image collector comprises a CCD camera 8, the front side of the carriage 2 is provided with a mounting groove matched with the CCD camera 8, and the CCD camera 8 is embeddedly installed in the mounting groove. The CCD camera 8 can be used to collect the image data of the display pictures on each display screen.

[0041] Reference Fig. 1 With Fig. 2 The 3DOF motion base 1 comprises a mounting side plate 13, the mounting side plate 13 is provided with a sensing hole 131, a connecting plate 132 is fixedly installed on the side wall of the mounting side plate 13 away from the tire 11, and the ultrasonic ranging sensor 7 is fixedly installed on the connecting plate 132.

[0042] Through the setting of the connecting plate 132 and the induction hole 131, the ultrasonic ranging sensor 7 can be installed on the inner side wall of the mounting side plate 13, and the damage of the ultrasonic ranging sensor 7 can be reduced.

[0043] The implementation principle of the AGV trolley with high intelligence degree in the embodiment of the application is as follows: since the radius of the wheel of the AGV trolley is a known value, the driving route, the route length, and the position of the display showing different pictures are known values, when the AGV trolley passes different display screens and display pictures, the image collector is controlled by the triggering unit, the display picture on the display screen in front of the AGV trolley can be collected by the image collecting unit, the matching degree between the actual display picture of each display screen and the preset display picture can be calculated by comparing and processing the image data of the display picture by the image processor, and then the control accuracy of the AGV trolley can be judged; the image data collected by the image collecting unit and the matching degree data of the picture output by each image processor are stored by the memory, which can facilitate the subsequent tracing and verification of the detection data.

[0044] The above are preferred embodiments of the application, and do not limit the protection scope of the application, therefore: equivalent changes made according to the structure, shape, principle of the application should be covered within the protection scope of the application.

Claims

1. A high intelligent AGV vehicle, characterized in that, It includes 3DOF motion base (1) and carriage (2), the carriage (2) is installed on the 3DOF motion base (1), a plurality of seats (3) are fixedly installed in the carriage (2), and handrails (31) are fixedly installed on the two sides of the seats (3); Navigation sensor (4), signal positioning receiver (5), automobile radar sensor (6) are fixedly installed on the top of the 3DOF motion base (1), and a picture detection module for detecting display screen display picture is fixedly installed on the outer side wall of the carriage (2).

2. The intelligent AGV vehicle according to claim 1, characterized in that, The picture detection module comprises: A trigger unit is fixedly installed on the 3DOF motion base (1), for detecting the rotation number of the wheel on the 3DOF motion base (1), and outputting a collection control signal when the rotation number of the wheel reaches a set value; An image acquisition unit is fixedly installed on the carriage (2), and a signal input end is signal connected with a signal output end of the trigger unit, for receiving the collection control signal and collecting display image data; An image processor is data connected with the image acquisition unit, for receiving the image data and outputting picture matching degree data; A memory is data connected with the image processor and the image processor, for receiving the display image data and the picture matching degree data and storing.

3. The intelligent AGV vehicle according to claim 2, characterized in that, The trigger unit comprises: An induction bump (12) is fixedly installed on the inner side wall of the hub of any tire (11) on the 3DOF motion base (1); An ultrasonic ranging sensor (7) is fixedly installed on the outer side wall of the 3DOF motion base (1), and an induction end is arranged towards the induction bump (12), for detecting the induction distance between the front shielding surface and outputting an induction distance signal; A comparator chip is signal connected with a signal output end of the ultrasonic ranging sensor (7), for receiving the induction distance signal and outputting a high-level signal when the induction distance is less than a set value; A single-chip microcomputer is signal connected with a signal output end of the comparator chip, for calculating the number of times of high-level signal appearance, and outputting the collection control signal when the number of times of high-level signal appearance reaches a set value.

4. The intelligent AGV vehicle according to claim 3, characterized in that, The image acquisition unit comprises a CCD camera (8), a mounting groove matched with the CCD camera (8) is formed in the front side of the carriage (2), and the CCD camera (8) is embeddedly installed in the mounting groove.

5. The intelligent AGV vehicle according to claim 3, wherein, The 3DOF motion base (1) comprises a mounting side plate (13), an induction hole (131) is formed in the mounting side plate (13), a connecting plate (132) is fixedly installed on the side wall away from the tire (11) of the mounting side plate (13), and the ultrasonic ranging sensor (7) is fixedly installed on the connecting plate (132).

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