A laser-guided AGV

Abstract

The invention discloses a laser-guided AGV trolley, comprising a body, a frame, a vehicle-mounted controller and a vehicle-mounted power supply. Mecanum wheels are symmetrically installed on both sides of the bottom end of the body, and the AGV trolley can rotate and run in any direction through the Mecanum wheels. Anti-collision sensors are arranged on the outer sides of the body to detect whether there are obstacles around the AGV trolley, thereby ensuring the safety of the AGV trolley during operation. The frame comprises four hydraulic legs, a base and a loading and unloading plate. The height of the loading and unloading plate can be adjusted as the hydraulic legs are raised and lowered, which is convenient for loading and unloading objects. The hydraulic horizontal moving cylinder drives the loading and unloading plate to slide horizontally relative to the base, so that the loading and unloading plate can be moved horizontally, which is convenient for loading and unloading objects. A laser scanner is arranged on the top of one side of the frame. As the hydraulic legs are raised and lowered, the laser scanner can perform all-round scanning according to the on-site working conditions, and the navigation accuracy is high and the application flexibility is better.

Description

Technical Field

[0001] The invention belongs to the technical field of AGV vehicles, and in particular relates to a laser-guided AGV vehicle. Background Art

[0002] Automated Guided Vehicle, AGV for short, also commonly referred to as AGV cart, refers to a transport vehicle equipped with an electromagnetic or optical automatic guidance device, capable of traveling along a prescribed guide path, with safety protection and various transfer functions. It is a transport vehicle that does not require a driver in industrial applications and uses a rechargeable battery as its power source.

[0003] Since its invention, AGV has made significant breakthroughs in key technologies such as navigation, control, and safety, and has played an increasingly important role in industry. In the manufacturing industry, AGV can be used not only as an automatic handling vehicle, but also as a movable assembly and processing platform, and is an important part of the flexible manufacturing system. In modern logistics, AGV uses autonomous navigation to automatically count goods and undertake stacking and handling, which will greatly improve the efficiency of warehouse operations. With the continuous improvement of AGV performance, it has been widely used in agriculture, industry, national defense, services and other industries. The laser-guided AGV uses a laser scanner to identify several positioning marks set within its range of activity to determine its coordinate position, thereby guiding the operation of the AGV. The AGV forklift is a device that adds an automatic guide device to the forklift to automatically handle materials. The existing AGV forklift, when running, generally installs an anti-collision sensor to sense whether there are obstacles in the direction of the AGV's operation to achieve safety protection. AGV trolleys are widely used in pipe processing, but it is inconvenient to load and unload large-diameter pipes during handling. It is urgent to design an AGV trolley suitable for large-diameter pipe handling. Summary of the invention

[0004] The present invention solves the deficiencies of the prior art and provides a laser-guided AGV trolley which is suitable for the handling process of large-diameter pipes, has a simple structure, and is convenient for loading and unloading.

[0005] The technical solution adopted by the present invention is: a laser-guided AGV trolley, comprising a body, a frame, an on-board controller and an on-board power supply, wherein the on-board controller and the on-board power supply are arranged inside the body, Mecanum wheels are symmetrically installed on both sides of the bottom end of the body, the shaft ends of the Mecanum wheels are connected with servo motors, a driver is provided on one side of the servo motor, and a photoelectric encoder is provided on one side of the driver. Anti-collision sensors are provided on the outer sides of the body, a laser scanner is provided on the top of one side of the frame, the on-board controller comprises a main control module, a navigation module, a drive module, a safety module and a loading and unloading module, the on-board power supply is electrically connected to the main control module, the main control module is electrically connected to the navigation module, the drive module, the safety module and the loading and unloading module respectively, the drive module is electrically connected to the servo motor, the driver and the photoelectric encoder respectively, the anti-collision sensor is electrically connected to the safety module, the laser scanner is electrically connected to the navigation module, and the frame is electrically connected to the loading and unloading module.

[0006] Preferably, the frame includes four hydraulic legs, a base and a loading and unloading plate, the hydraulic rod end of one end of the hydraulic leg is connected to the vehicle body, and the other end is fixedly connected to the base, and the loading and unloading plate is arranged on the base.

[0007] More preferably, a hydraulic horizontal moving cylinder is fixedly connected to the end of the base, a hydraulic rod at one end of the hydraulic horizontal moving cylinder is connected to one end of the loading and unloading plate, and the hydraulic horizontal moving cylinder drives the loading and unloading plate to slide horizontally relative to the base.

[0008] Further more preferably, the hydraulic legs and the hydraulic horizontal moving cylinder are both electrically connected to the loading and unloading module.

[0009] Further preferably, the loading and unloading plate is symmetrically provided with track grooves, the track grooves are trapezoidal structures, slot plate tracks are provided on both sides of the track grooves, a support roller that can slide along the slot plate tracks is provided in the center of the track groove, and the support roller is connected to the loading and unloading module.

[0010] Further preferably, the support roller has a brake structure, and a support roller groove is provided at the bottom end of one side of the track groove.

[0011] Further more preferably, the steps of navigation by the navigation module are as follows:

[0012] Step 1: The car loads the two-dimensional map and obtains the current location information of the car;

[0013] Step 2: Load the planned path;

[0014] Step 3: The laser scanner scans the surrounding environment in real time and updates the position of the car on the two-dimensional map;

[0015] Step 4: According to the position of the car, the planned path is obtained. The main control module controls the navigation module to output different control signals to the four servo motors, thereby controlling the car to drive on the planned path.

[0016] Compared with the prior art, the present invention has the following beneficial effects: a laser-guided AGV trolley, comprising a body, a frame, an on-board controller and an on-board power supply, Mecanum wheels are symmetrically installed on both sides of the bottom end of the body, and the AGV trolley can rotate and run in any direction through the Mecanum wheels, the on-board controller comprises a main control module, a navigation module, a drive module, a safety module and a loading and unloading module, anti-collision sensors are arranged on the outer sides of the body, which can detect whether there are obstacles around the AGV trolley, thereby ensuring the safety of the AGV trolley during operation, the frame comprises four hydraulic legs, a base and a loading and unloading plate, the height of the loading and unloading plate can be adjusted as the hydraulic legs are raised and lowered, which is convenient for loading and unloading items, the hydraulic horizontal moving cylinder drives the loading and unloading plate to slide horizontally relative to the base, and the loading and unloading plate can be moved horizontally, which is convenient for loading and unloading items, a laser scanner is arranged on the top of one side of the frame, and as the hydraulic legs are raised and lowered, the laser scanner can perform all-round scanning according to the on-site working conditions, with high navigation accuracy and better application flexibility. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 It is a front view of the structure of the present invention;

[0018] Figure 2 It is a side view of the structure of the present invention;

[0019] Figure 3 is a top view of the loading and unloading plate of the present invention;

[0020] Figure 4 is a side view of the loading and unloading plate of the present invention;

[0021] Figure 5 is a top view of the track groove of the present invention;

[0022] Figure 6 This is a schematic diagram of the working of loading and unloading a plate of the present invention;

[0023] Figure 7 It is the overall structural principle diagram of the present invention. DETAILED DESCRIPTION

[0024] The present invention is described in detail below with reference to the accompanying drawings and specific embodiments.

[0025] A laser-guided AGV, see Figure 1 , Figure 2 , Figure 3 , Figure 4 , Figure 5 , Figure 6 , Figure 7 , including a body 1, a frame 2, a vehicle-mounted controller 3 and a vehicle-mounted power supply 4, wherein the vehicle-mounted controller 3 and the vehicle-mounted power supply 4 are arranged inside the body 1, and Mecanum wheels 5 are symmetrically installed on both sides of the bottom of the body 1, and the AGV trolley can rotate and run in any direction through the Mecanum wheels, and the shaft end of the Mecanum wheel 5 is connected to a servo motor 51, and a driver 52 is provided on one side of the servo motor 51, and a photoelectric encoder 53 is provided on one side of the driver 52, and anti-collision sensors 11 are provided on the outer sides of the body 1 to detect whether there are obstacles around the AGV trolley, thereby ensuring the safety of the AGV trolley during operation, and a laser scanner 22 is provided on the top of one side of the frame 2. As the hydraulic legs are raised and lowered, Low, the laser scanner can perform all-round scanning according to the on-site working conditions, with high navigation accuracy and better application flexibility. The vehicle-mounted controller 3 includes a main control module 31, a navigation module 32, a drive module 33, a safety module 34 and a loading and unloading module 35. The vehicle-mounted power supply 4 is electrically connected to the main control module 31, and the main control module 31 is electrically connected to the navigation module 32, the drive module 33, the safety module 34 and the loading and unloading module 35 respectively. The drive module 33 is electrically connected to the servo motor 51, the driver 52 and the photoelectric encoder 53 respectively. The anti-collision sensor 11 is electrically connected to the safety module 34, the laser scanner 22 is electrically connected to the navigation module 32, and the frame 2 is electrically connected to the loading and unloading module 35.

[0026] Continue reading Figure 1 , Figure 2 , Figure 3 , Figure 4 , Figure 5 , Figure 6 , Figure 7 The frame 2 includes four hydraulic legs 21, a base 23 and a loading and unloading plate 24. The hydraulic rod end of one end of the hydraulic leg 21 is connected to the vehicle body 1, and the other end is fixedly connected to the base 23. The loading and unloading plate 24 is arranged on the base 23. As the hydraulic leg 21 is raised and lowered, the height of the loading and unloading plate 24 can be adjusted to facilitate loading and unloading of items.

[0027] Continue reading Figure 1 , Figure 2 , Figure 3 , Figure 4 , Figure 5 , Figure 6 , Figure 7 A hydraulic horizontal moving cylinder 27 is fixedly connected to the end of the base 23. The hydraulic rod at one end of the hydraulic horizontal moving cylinder 27 is connected to one end of the loading and unloading plate 24. The hydraulic horizontal moving cylinder 27 drives the loading and unloading plate 24 to slide horizontally relative to the base 23, so that the loading and unloading plate 24 can be moved horizontally to facilitate loading and unloading of items.

[0028] Continue reading Figure 1 , Figure 2 , Figure 3 , Figure 4 , Figure 5 , Figure 6 , Figure 7 The hydraulic support legs 21 and the hydraulic horizontal moving cylinder 27 are both electrically connected to the loading and unloading module 35 .

[0029] Continue reading Figure 1 , Figure 2 , Figure 3 , Figure 4 , Figure 5 , Figure 6 , Figure 7 The loading and unloading plate 24 is symmetrically provided with track grooves 25, and the track grooves 25 are of a trapezoidal structure. Slot plate tracks 251 are provided on both sides of the track groove 25. A support roller 26 that can slide along the slot plate track 251 is provided in the center of the track groove 25. The support roller 26 is connected to the loading and unloading module 35. The support roller 26 supports the pipes during the transportation of the pipe sheet to prevent shaking during the transportation.

[0030] Continue reading Figure 1 , Figure 2 , Figure 3 , Figure 4 , Figure 5 , Figure 6 , Figure 7 The support roller 26 has a brake structure, and a support roller groove 27 is provided at the bottom end of one side of the track groove 25. During the transportation of the tube sheet, the support roller 26 moves to the support roller groove 27 so that the tube slides down along the track groove 25.

[0031] Continue reading Figure 1 , Figure 2 , Figure 3 , Figure 4 , Figure 5 , Figure 6 , Figure 7 The navigation steps of the navigation module 32 are as follows:

[0032] Step 1: The car loads the two-dimensional map and obtains the current location information of the car;

[0033] Step 2: Load the planned path;

[0034] Step 3: The laser scanner 22 scans the surrounding environment in real time and updates the position of the car on the two-dimensional map;

[0035] Step 4: According to the position of the car, the planned path is obtained, and the main control module 31 controls the navigation module 32 to output different control signals to the four servo motors 51, thereby controlling the car to travel on the planned path.

[0036] During operation, the driving module 33 controls the Mecanum wheel AGV trolley to rotate in any direction to reach the working position to be transported. The loading and unloading module 35 controls the hydraulic support legs 21. As the hydraulic support legs 21 are raised and lowered, the height of the loading and unloading plate 24 can be adjusted to a suitable position. The loading and unloading module 35 controls the hydraulic horizontal moving cylinder 27 to drive the loading and unloading plate 24 to slide horizontally to a suitable position relative to the base 23, and then rolls and loads the pipe. The loading and unloading module 35 controls the supporting rollers 26 to fix the pipe between the supporting rollers 26 and the trapezoidal track grooves 25. The supporting rollers 26 support the pipe during the transportation of the pipe sheet to prevent shaking during the transportation process.

[0037] The above embodiments are only preferred embodiments of the present invention and are not intended to limit the scope of implementation of the present invention. Therefore, all equivalent changes made to the contents described in the claims of the present invention should be included in the scope of the claims of the present invention.

Claims

1. A laser-guided AGV, characterized in that: The vehicle comprises a vehicle body (1), a vehicle frame (2), an on-board controller (3) and an on-board power supply (4), wherein the on-board controller (3) and the on-board power supply (4) are arranged inside the vehicle body (1), Mecanum wheels (5) are symmetrically installed on both sides of the bottom end of the vehicle body (1), the shaft ends of the Mecanum wheels (5) are connected to a servo motor (51), a driver (52) is provided on one side of the servo motor (51), and a photoelectric encoder (53) is provided on one side of the driver (52), anti-collision sensors (11) are provided on all four outer sides of the vehicle body (1), a laser scanner (22) is provided on the top of one side of the vehicle frame (2), the on-board controller (3) comprises a main control module (31), a navigation module (32), a drive module (33), a safety module (34) and a loading and unloading module (35), and the on-board power supply (4) is electrically connected to the main control module (31), The main control module (31) is electrically connected to the navigation module (32), the drive module (33), the safety module (34) and the loading and unloading module (35) respectively; the drive module (33) is electrically connected to the servo motor (51), the driver (52) and the photoelectric encoder (53) respectively; the anti-collision sensor (11) is electrically connected to the safety module (34); the laser scanner (22) is electrically connected to the navigation module (32); and the vehicle frame (2) is electrically connected to the loading and unloading module (35); The frame (2) comprises four hydraulic legs (21), a base (23) and a loading and unloading plate (24); the hydraulic rod end of one end of the hydraulic leg (21) is connected to the vehicle body (1), and the other end is fixedly connected to the base (23); the loading and unloading plate (24) is arranged on the base (23); a hydraulic horizontal moving cylinder is fixedly connected to the end of the base (23); the hydraulic rod of one end of the hydraulic horizontal moving cylinder is connected to one end of the loading and unloading plate (24); the hydraulic horizontal moving cylinder drives the loading and unloading plate (24) to slide horizontally relative to the base (23); The loading and unloading plate (24) is symmetrically provided with a track groove (25), the track groove (25) is a trapezoidal structure, both sides of the track groove (25) are provided with a groove plate track (251), the center of the track groove (25) is provided with a support roller (26) that can slide along the groove plate track (251), and the support roller (26) is connected to the loading and unloading module (35); The supporting roller (26) has a brake structure, and a supporting roller groove is provided at the bottom end of one side of the track groove (25).

2. The method for using a laser-guided AGV as claimed in claim 1, characterized in that: The navigation module (32) performs the following navigation steps: Step 1: The car loads the two-dimensional map and obtains the current location information of the car; Step 2: Load the planned path; Step 3: The laser scanner (22) scans the surrounding environment in real time and updates the position of the car on the two-dimensional map; Step 4: According to the position of the car, the planned path is obtained, and the main control module (31) controls the navigation module (32) to output different control signals to the four servo motors (51), thereby controlling the car to travel on the planned path.

Images