An obstacle monitoring device for an AGV
By combining lifting and rotating mechanisms with detection sensors, sensitive detection and wide coverage of low obstacles are achieved, solving the problem of poor detection performance of traditional AGV vehicles, reducing costs and improving safety.
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- HONGYUN HONGHE TOBACCO (GRP) CO LTD
- Filing Date
- 2025-06-12
- Publication Date
- 2026-06-12
AI Technical Summary
Traditional AGV obstacle detection systems are ineffective at detecting low obstacles, which can easily lead to collisions. Increasing the number of sensors would increase costs.
The detection mechanism combines a lifting mechanism and a limiting mechanism, and achieves multi-angle and multi-directional detection through rotational lifting and horizontal rotation. It uses lidar and microwave radar sensors to flexibly adjust the detection direction and height.
It improves the detection sensitivity and detection area for low obstacles, reduces production costs, and enhances the safety and environmental adaptability of AGV vehicles.
Smart Images
Figure CN224349595U_ABST
Abstract
Description
Technical Field
[0001] This application relates to the field of tobacco production and transportation equipment technology, and specifically to an obstacle monitoring device for AGV (Automated Guided Vehicle) trolleys. Background Technology
[0002] In automated warehouses and logistics systems, AGVs (Automated Guided Vehicles) are crucial material handling equipment, and their operational safety is paramount. However, traditional AGV obstacle detection systems, by fixing sensors to a specific location on the AGV, often suffer from limited detection range or poor detection of low obstacles (such as small objects on the ground or protruding wires) due to their high mounting positions. This can easily lead to AGV collisions and disrupt smooth logistics operations. While adding more sensors to the AGVs could improve detection efficiency, it would inevitably increase production costs. Utility Model Content
[0003] This application provides an obstacle detection device for AGV (Automated Guided Vehicle) vehicles, which aims to solve the problem of poor detection performance in existing technologies.
[0004] In one embodiment, an obstacle detection device for an AGV (Automated Guided Vehicle) is provided for installation on the vehicle body, comprising:
[0005] A lifting mechanism is provided, which is fixedly connected to the trolley body; the lifting mechanism has a lifting part that can be raised and lowered by rotation; the lifting mechanism also has a driving part for driving the lifting part to rotate.
[0006] A limiting mechanism has a telescopic part that can abut or separate from the lifting part; when the telescopic part abuts with the lifting part, the telescopic part can restrict the rotation of the lifting part, and the lifting mechanism can move in the vertical direction; when the telescopic part separates from the lifting part, the lifting mechanism can rotate in the horizontal plane.
[0007] The testing mechanism is fixedly connected to the lifting mechanism.
[0008] The processor, the lifting mechanism, the limiting mechanism, and the detection mechanism are all electrically connected to the processor.
[0009] The processor is also electrically connected to the processing unit of the vehicle body.
[0010] In one embodiment, the detection mechanism includes a sensor for detecting obstacles; the sensor is electrically connected to the processor.
[0011] In one embodiment, the sensor is a lidar sensor.
[0012] Specifically, the sensors also include optical cameras and microwave radar.
[0013] In one embodiment, the lifting mechanism includes a screw, a sleeve threaded to the screw, and a drive motor; the drive motor is mounted on the trolley body, and its output end is connected to the screw; the sleeve is sleeved on the screw; the detection mechanism is fixedly connected to the sleeve; and the telescopic part of the limiting mechanism can abut against and limit the sleeve.
[0014] In one embodiment, a connecting plate is fixedly connected to the top of the sleeve, and the sensor is fixedly connected to the connecting plate.
[0015] In one embodiment, the limiting mechanism includes a telescopic cylinder; the telescopic cylinder is used for fixed connection with the trolley body; the outer surface of the sleeve has a groove, and the groove extends along the extension direction of the sleeve; the telescopic head of the telescopic cylinder is the telescopic part, which can extend into the groove.
[0016] In one embodiment, a plurality of racks are fixedly connected to the outer surface of the sleeve, and the plurality of racks are spaced apart along the circumference of the sleeve to form the grooves.
[0017] In one embodiment, the limiting mechanism includes a connecting gear; the gear meshes with the rack; and the telescopic portion can extend into the tooth gap of the connecting gear.
[0018] In one embodiment, the telescopic cylinder includes a housing, an electromagnetic coil, a telescopic rod, and a spring; the housing is fixedly connected to the trolley body, the housing has a cavity for accommodating the telescopic rod, the spring is located at the bottom of the cavity and abuts against the telescopic rod, the electromagnetic coil is sleeved on the outside of the telescopic rod, and the telescopic rod can extend and retract relative to the electromagnetic coil; the telescopic rod can extend into the tooth gap of the connecting gear.
[0019] In one embodiment, there are multiple detection mechanisms, and these multiple detection mechanisms are arranged at intervals along the circumference of the vehicle body.
[0020] The beneficial effects of this application are:
[0021] The detection mechanism is mounted on the lifting mechanism. The lifting mechanism changes the detection height of the detection mechanism, which improves the detection sensitivity of the detection mechanism for low obstacles. At the same time, it enables the AGV to maintain good detection performance in different environments.
[0022] The lifting mechanism can also rotate, causing the detection mechanism to rotate as well. This increases the detection area, making monitoring more comprehensive and improving the monitoring effect. Workers can also flexibly adjust the detection direction of the mechanism according to the working environment. This application requires only one detection mechanism to achieve multi-angle and multi-directional detection, with the same detection effect as the traditional method of fixing multiple sensors on the AGV. Therefore, this application can reduce the production cost of AGVs. Attached Figure Description
[0023] To more clearly illustrate the technical solutions in the embodiments of this application, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.
[0024] Figure 1 This is a front view schematic diagram of the vehicle body according to an embodiment of this application;
[0025] Figure 2 yes Figure 1 Enlarged view of point A in the middle;
[0026] Figure 3 This is a top view schematic diagram of the vehicle body according to an embodiment of this application;
[0027] Figure 4 yes Figure 3 Enlarged view at point B in the middle;
[0028] Figure 5 yes Figure 3 Enlarged view of point B (without the connecting gear);
[0029] Figure 6 This is a schematic diagram of the control flow according to an embodiment of this application;
[0030] Labels for each item in the figure:
[0031] 1. Car body; 2. Lifting mechanism; 21. Screw; 22. Sleeve; 221. Groove; 222. Rack; 23. Drive motor; 24. Connecting plate; 3. Limiting mechanism; 31. Telescopic cylinder; 311. Housing; 312. Electromagnetic coil; 313. Telescopic rod; 314. Spring; 32. Connecting gear; 4. Detection mechanism; 41. Sensor; 5. Processor. Detailed Implementation
[0032] The specific embodiments of this application will be further described in detail below with reference to the accompanying drawings and examples. The following examples are used to illustrate this application, but are not intended to limit the scope of this application. Similarly, the following examples are only some embodiments of this application, not all embodiments. All other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.
[0033] In the description of this utility model, it should be understood that the terms "center", "longitudinal", "transverse", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential", etc., indicating the orientation or positional relationship are based on the orientation or positional relationship shown in the accompanying drawings, and are only for the convenience of describing this utility model and simplifying the description, and are not intended to indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this utility model.
[0034] 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 at least one of that feature. In the description of this utility model, "a plurality of" means at least two, such as two, three, etc., unless otherwise explicitly specified.
[0035] In this utility model, unless otherwise explicitly specified and limited, the terms "installation," "connection," "joining," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection, an electrical connection, or a connection that allows communication between them; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components, unless otherwise explicitly limited. Those skilled in the art can understand the specific meaning of the above terms in this utility model according to the specific circumstances.
[0036] In this utility model, unless otherwise explicitly specified and limited, "above" or "below" the second feature can mean that the first feature is in direct contact with the second feature, or that the first feature is in indirect contact with the second feature through an intermediate medium. Furthermore, "above," "on top of," and "over" the second feature can mean that the first feature is directly above or diagonally above the second feature, or simply that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature can mean that the first feature is directly below or diagonally below the second feature, or simply that the first feature is at a lower horizontal level than the second feature.
[0037] In this utility model, the terms "one embodiment," "some embodiments," "example," "specific example," or "some examples," etc., refer to a specific feature, structure, material, or characteristic described in connection with that embodiment or example, which is included in at least one embodiment or example of this utility model. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples. Moreover, without contradiction, those skilled in the art can combine and integrate the different embodiments or examples described in this specification, as well as the features of different embodiments or examples.
[0038] This application proposes improvements and innovations, and presents the following embodiments.
[0039] In some implementations, please refer to Figures 1 to 6 An obstacle detection device for an AGV (Automated Guided Vehicle) is provided, which is installed on the vehicle body 1 and includes:
[0040] Lifting mechanism 2 is used to be fixedly connected to the trolley body 1; lifting mechanism 2 has a lifting part that can be lifted by rotation; lifting mechanism 2 also has a drive part for driving the lifting part to rotate.
[0041] The limiting mechanism 3 has a telescopic part that can abut or separate from the lifting part; when the telescopic part abuts with the lifting part, the telescopic part can restrict the rotation of the lifting part, and the lifting mechanism 2 can move in the vertical direction; when the telescopic part separates from the lifting part, the lifting mechanism 2 can rotate on the horizontal plane.
[0042] Testing mechanism 4 is fixedly connected to lifting mechanism 2;
[0043] The processor 5, lifting mechanism 2, limit mechanism 3, and detection mechanism 4 are all electrically connected to the processor 5.
[0044] The processor 5 is also electrically connected to the processing unit of the vehicle body 1.
[0045] The detection mechanism 4 is mounted on the lifting mechanism 2. The detection height of the detection mechanism 4 can be changed by lifting the lifting mechanism 2, which improves the detection sensitivity of the detection mechanism 4 to low obstacles. At the same time, it can enable the AGV to maintain good detection performance in different environments.
[0046] The lifting mechanism 2 can also rotate, causing the detection mechanism 4 to rotate as well. This increases the detection area of the detection mechanism 4, making the monitoring more comprehensive and improving the monitoring effect. Workers can also flexibly adjust the detection direction of the detection mechanism 4 according to the working environment. This application only requires one detection mechanism 4 to achieve multi-angle and multi-directional detection, with the same detection effect as the traditional method of fixing multiple sensors 41 on the AGV. Therefore, this application can reduce the production cost of the AGV.
[0047] In one embodiment, the detection mechanism 4 includes a sensor 41 for detecting obstacles; the sensor 41 is electrically connected to the processor 5. The sensor 41 allows for better detection of environmental obstacles, thereby improving the safety of the vehicle body 1 during use.
[0048] In one embodiment, sensor 41 is a lidar sensor 41. Using a lidar sensor 41 allows for better detection of low-lying obstacles on the ground and also provides a larger detection area. Furthermore, lidar sensors 41 are widely distributed and easy to acquire.
[0049] Specifically, sensor 41 also includes an optical camera and a microwave radar. Adding an optical camera and microwave radar further improves the vehicle's ability to recognize obstacles, thus enhancing the vehicle's driving safety.
[0050] In one embodiment, the lifting mechanism 2 includes a screw 21, a sleeve 22 threadedly engaged with the screw 21, and a drive motor 23. The drive motor 23 is mounted on the trolley body 1, and its output end is connected to the screw 21. The sleeve 22 is fitted onto the screw 21. The detection mechanism 4 is fixedly connected to the sleeve 22. The telescopic part of the limiting mechanism 3 can abut against and limit the sleeve 22. The rotation of the screw 21 drives the rotation of the sleeve 22, thereby enabling the detection mechanism 4 to rotate and scan obstacles, increasing the detection area of the detection mechanism 4. When the limiting mechanism 3 abuts against the sleeve 22, the rotation of the screw 21 cannot drive the sleeve 22 to rotate together. Therefore, the screw 21 and the sleeve 22 rotate relative to each other, and the relatively rotating screw 21 drives the sleeve 22 to move vertically. This enables the detection mechanism 4 to move vertically, thus adjusting the detection distance between the detection mechanism 4 and the ground to identify ground obstacles of different heights. The lower the height, the lower the ground obstacles can be detected.
[0051] In one embodiment, a connecting plate 24 is fixedly connected to the top of the sleeve 22, and the sensor 41 is fixedly connected to the connecting plate 24. The connecting plate 24 provides the installation position for the sensor 41, which is a reasonable design.
[0052] In one embodiment, the limiting mechanism 3 includes a telescopic cylinder 31; the telescopic cylinder 31 is used for fixed connection with the trolley body 1; the outer surface of the sleeve 22 has a groove 221, and the groove 221 extends along the extension direction of the sleeve 22; the telescopic head of the telescopic cylinder 31 is a telescopic part, which can extend into the groove 221. The extension of the telescopic cylinder 31 into the groove 221 can effectively limit the synchronous rotation of the sleeve 22 and the screw 21, and the telescopic part can slide in the groove 221, thereby ensuring the smooth lifting and lowering of the sleeve 22.
[0053] In one embodiment, a plurality of racks 222 are fixedly connected to the outer surface of the sleeve 22, and the racks 222 are spaced apart along the circumference of the sleeve 22 to form grooves 221. By designing the racks 222 to form grooves 221, the processing is simple and the method is practical and reliable.
[0054] In one embodiment, the limiting mechanism 3 includes a connecting gear 32; the gear meshes with a rack 222; and the telescopic part can extend into the tooth gap of the connecting gear 32. The connecting gear 32 facilitates the installation of the telescopic cylinder 31.
[0055] In one embodiment, the telescopic cylinder 31 includes a housing 311, an electromagnetic coil 312, a telescopic rod 313, and a spring 314. The housing 311 is fixedly connected to the trolley body 1 and has a cavity for accommodating the telescopic rod 313. The spring 314 is located at the bottom of the cavity and abuts against the telescopic rod 313. The electromagnetic coil 312 is sleeved on the outside of the telescopic rod 313, allowing the telescopic rod 313 to extend and retract relative to the electromagnetic coil 312. The telescopic rod 313 can extend into the tooth gap of the connecting gear 32. The magnetic field force generated by energizing the electromagnetic coil 312 drives the movement of the telescopic rod 313, causing it to retract against the elastic force of the spring 314, thus disengaging the telescopic rod 313 from the groove 221 or from the tooth gap of the connecting spring 314. When the electromagnetic coil 312 is de-energized, the magnetic field force disappears, and the telescopic rod 313 extends under the action of the spring 314, abutting against the groove 221 or the connecting gear 32. The limit function of telescopic rod 313 has been implemented.
[0056] In one embodiment, there are multiple detection mechanisms 4, and these mechanisms 4 are arranged at intervals along the circumference of the vehicle body 1. Multiple detection mechanisms 4 improve the vehicle's ability to detect environmental obstacles, thereby enhancing the vehicle's driving safety.
[0057] The above are merely optional embodiments of this application and are not intended to limit this application. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this application should be included within the protection scope of this application. Although embodiments of this utility model have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting this utility model. Those skilled in the art can make changes, modifications, substitutions, and variations to the above embodiments within the scope of this utility model.
Claims
1. An obstacle detection device for AGV (Automated Guided Vehicle) trolleys, for installation on the trolley body, characterized in that, include: A lifting mechanism is provided, which is fixedly connected to the trolley body; the lifting mechanism has a lifting part that can be raised and lowered by rotation; the lifting mechanism also has a driving part for driving the lifting part to rotate. A limiting mechanism has a telescopic part that can abut or separate from the lifting part; when the telescopic part abuts with the lifting part, the telescopic part can restrict the rotation of the lifting part, and the lifting mechanism can move in the vertical direction; when the telescopic part separates from the lifting part, the lifting mechanism can rotate in the horizontal plane. The testing mechanism is fixedly connected to the lifting mechanism. The processor, the lifting mechanism, the limiting mechanism, and the detection mechanism are all electrically connected to the processor.
2. The obstacle monitoring device according to claim 1, characterized in that, The detection mechanism includes sensors for detecting obstacles; the sensors are electrically connected to the processor.
3. The obstacle monitoring device according to claim 2, characterized in that, The sensor is a lidar sensor.
4. The obstacle monitoring device according to claim 2, characterized in that, The lifting mechanism includes a screw, a sleeve threaded to the screw, and a drive motor; the drive motor is mounted on the trolley body, and the output end of the drive motor is connected to the screw; the sleeve is sleeved on the screw; the detection mechanism is fixedly connected to the sleeve; the telescopic part of the limiting mechanism can abut against and limit the sleeve.
5. The obstacle monitoring device according to claim 4, characterized in that, A connecting plate is fixedly connected to the top of the sleeve, and the sensor is fixedly connected to the connecting plate.
6. The obstacle monitoring device according to claim 5, characterized in that, The limiting mechanism includes a telescopic cylinder; the telescopic cylinder is used to be fixedly connected to the trolley body; the outer surface of the sleeve has a groove, and the groove extends along the extension direction of the sleeve; the telescopic head of the telescopic cylinder is the telescopic part, and the telescopic part can extend into the groove.
7. The obstacle monitoring device according to claim 6, characterized in that, Multiple racks are fixedly connected to the outer surface of the sleeve, and the multiple racks are spaced apart along the circumference of the sleeve to form the groove.
8. The obstacle monitoring device according to claim 7, characterized in that, The limiting mechanism includes a connecting gear; the gear meshes with the rack; and the telescopic part can extend into the tooth gap of the connecting gear.
9. The obstacle monitoring device according to claim 8, characterized in that, The telescopic cylinder includes a housing, an electromagnetic coil, a telescopic rod, and a spring; the housing is fixedly connected to the trolley body, the housing has a cavity for accommodating the telescopic rod, the spring is located at the bottom of the cavity and abuts against the telescopic rod, the electromagnetic coil is sleeved on the outside of the telescopic rod, and the telescopic rod can extend and retract relative to the electromagnetic coil; the telescopic rod can extend into the tooth gap of the connecting gear.
10. The obstacle monitoring device according to any one of claims 1-9, characterized in that, The number of the detection mechanisms is multiple, and the multiple detection mechanisms are arranged at intervals along the circumference of the vehicle body.