An integrated detection device for an automatic guided vehicle

Abstract

The present invention provides an integrated detection device for an automatic guided vehicle, which relates to the technical field of guided vehicle detection. The adopted solution is as follows: it includes a vibration platform, a gantry, and a simulated operation manipulator. The simulated operation manipulator is installed on the cross beam of the gantry and can move. The vibration platform is located between the two columns of the gantry, and the gantry can move. The vibration platform is connected with a vibration power mechanism. The vibration platform has a plurality of table boards. A suspension mechanism is arranged at the lower part of the table board, and a plurality of rollers are installed on the suspension mechanism. The table board is supported on the rollers. A lifting mechanism is connected to the suspension mechanism, and the lifting mechanism can drive the suspension mechanism to lift and then push the table board to tilt. The effect brought by the present invention is that it is sufficient to cope with the test environments of extra tools for most special AGVs, and can effectively test a series of chain test reactions of AGVs to the driving environment, execution accuracy, self-judgment, trap test, etc.

Description

Technical Field

[0001] The invention relates to the technical field of navigation vehicle detection, and in particular to a comprehensive detection device for an automatic navigation vehicle. Background Art

[0002] The automatic guided vehicle (AGV) system has developed into one of the largest professional branches in the production logistics system, and has shown a trend of industrial development, becoming an indispensable and important part of the automation equipment of modern enterprises. Most domestic products have rich specifications, varieties, technical levels, equipment quantity and automation levels, and have reached the level of standardization, serialization and assembly line production.

[0003] However, the environment that AGV needs to cope with needs to be improved. Taking the common intelligent logistics handling manipulator as an example, it is generally composed of navigation system, vehicle-mounted computer system, vehicle-mounted control system, DC speed regulation drive and steering control system, safety warning system, battery power charging system, mechanical body and other parts. The control system is an important part of this equipment. It comprehensively applies advanced technologies such as DC speed regulation, high-speed data acquisition, wireless communication, laser ranging, PLC control and computer navigation controller control, and uses convenient and flexible hardware and software modules for standardized and modular design to adapt to the process control requirements of the equipment characteristics. The most basic AGV is also mainly composed of PLC control system, navigation control system, drive system and so on. The PLC control system includes PLC controller, laser guidance sensor, safety protection, human-machine interface (HMI), manual control and other hardware and function switches. The navigation control system is not just a separate manual control; it mainly consists of three key points: positioning function, determination of the current actual position; path description, calculation between the virtual set position and the actual driving position; path control, speed control of the driving motor and angular velocity control of the steering motor. These three functions are realized in a control mode, namely the so-called "control function of the navigation controller". For all wireless guided vehicles, these functions are used in the same way, using user-definable parameters, and these basic functions are likely to be applicable to all general-purpose guided vehicles. Generally speaking, these three functions are independent of each other. The drive control system is mainly composed of walking drive, steering drive, lifting drive and other parts; the direction of expansion from here will be the most basic AGV evolution and use process.

[0004] At present, AGVs generally have high requirements for the driving environment and move along a fixed route on a flat road. Therefore, in order to improve the professionalism of outdoor special AGVs and ensure automatic positioning and execution effects, the test equipment should be more perfect to ensure the safety of AGVs. Therefore, it is an urgent problem to develop an automatic guided vehicle (AGV) comprehensive detection device with overall test conditions sufficient to cope with most driving environments. Summary of the invention

[0005] The object of the present invention is to propose and design an integrated detection device for an automatic guided vehicle, in which the overall test conditions are sufficient to cope with most driving environments.

[0006] The technical solution adopted by the present invention to solve the above technical problems is: an integrated detection device for an automatic guided vehicle, including a vibration platform, a gantry, and a simulated operation manipulator. The simulated operation manipulator is installed on the cross beam of the gantry and can slide on the cross beam of the gantry. The vibration platform is located between the two columns of the gantry. The gantry can move along the longitudinal direction of the vibration platform. The vibration platform is connected with a vibration power mechanism. The vibration platform has a plurality of table boards. A suspension mechanism is arranged at the lower part of the table board. A plurality of rollers are installed on the suspension mechanism. The table board is supported on the rollers. An elevating mechanism is connected to the suspension mechanism. The elevating mechanism can drive the suspension mechanism to rise and fall, thereby pushing the table board to tilt. The automatic guided vehicle is placed on the vibration platform. The vibration power mechanism gives a vibration force to the vibration platform to make it vibrate, simulating the road surface vibration. And through the elevating mechanism, the suspension mechanism can be driven to rise and fall, thereby pushing the table board to tilt, simulating the running test of the automatic guided vehicle on the road surface within a slope of less than 30°, simulating the road conditions, and detecting the balance center of gravity function of the automatic guided vehicle. Among them, the vibration platform and the suspension mechanism are in point contact through the rollers, which is more conducive to the vibration and lifting and tilting of the table board; the gantry slides along the longitudinal direction of the vibration platform, so that its columns interfere with the laser and visual judgment of the AGV, simulating obstacle avoidance; by setting the manipulator to interfere with the operation of the AGV, simulating the operation. Therefore, the overall test conditions are sufficient to cope with the test environments of the additional tools of most special AGVs, and can effectively test a series of chain test reactions of the AGV to the driving environment, execution accuracy, self-judgment, trap test, etc., realizing an effective assessment scheme for most multi-functional AGVs, improving the professionalism of outdoor special AGVs, ensuring automatic positioning and execution effects, and the test equipment should be more perfect to ensure the safety effect of the AGV.

[0007] Further, the suspension mechanism includes a suspension bracket. A support is arranged at the upper part of the suspension bracket. The rollers are installed on the support. A buffer assembly is connected to the rollers. It provides support and buffering for the rollers and plays a buffering role when the table board vibrates, reducing the damage during rigid collision.

[0008] Further, the buffer assembly includes a buffer spring. The buffer spring is arranged obliquely and one end of it is connected to the roller. Elastic buffering is provided for the roller in contact with the table board.

[0009] Further, the suspension bracket includes a left support leg and a right support leg, the left support leg and the right support leg are arranged in parallel, the left support leg and the right support leg are connected by an intermediate support plate, the upper part of the left support leg and the right support leg are respectively provided with two rollers, the lower part of the left support leg and the right support leg are respectively provided with two groups of bottom wheels, each group has two, and the axes of the bottom wheels and the rollers are in the same direction. To increase the support surface and adapt to the size of the table panel, a suspension bracket can be provided at the bottom of each table panel.

[0010] Furthermore, a groove is provided on the lower surface of the table top, and the roller is located in the groove. The groove can limit the roller to prevent the table top from deflecting during vibration.

[0011] Furthermore, a plurality of positioning frames are provided at the bottom of the table panel, and the suspension mechanism is located in the positioning frames, and the number of positioning frames corresponds to the number of table panels. The lifting mechanism includes a lifting hydraulic cylinder, which is connected to the suspension bracket to drive the suspension bracket to lift and lower, and each suspension bracket is connected to a lifting hydraulic cylinder. The AGV running test is simulated on a slope of less than 30°. The purpose of the test is: general AGVs do not have detection and judgment in the Z-axis direction, because most AGVs do not need spatial coordinates, but in order to cooperate with the spatial coordinates of the manipulator carried on the back of the AGV, the AGV has a balancing center of gravity function inside, which can automatically calculate the relative movement in the Z-axis direction under the slope state to match the spatial coordinates of the manipulator.

[0012] Furthermore, sliding tables are provided on both sides of the vibration platform, and the sliding tables are provided with double slide rails, and the columns of the gantry are slidably installed on the double slide rails. The transmission method is preferably a gear rack transmission to achieve stable sliding of the gantry, and the movement of the gantry is used to interfere with the laser and visual judgment of the AGV to perform obstacle avoidance simulation.

[0013] Furthermore, the vibration power mechanism includes a vibration motor, and an adjustable eccentric block is connected to the vibration motor. The vibration motor is used as a power source. The centrifugal force generated by the high-speed rotation of the eccentric block driven by the vibration motor is used to obtain an exciting force, so that the vibration platform vibrates, and reliable simulation conditions are provided. Generally, a motor with a power of 30KN, a speed of 1.5KW, and a speed of 1500r / min is selected as the power source.

[0014] Furthermore, there are at least two simulation operation robots, and in this solution, there are two simulation operation robots, which can realize the coordinated interference of multiple robots with the AGV operation, and the robots are used to perform coordination tests, and multiple robots move with each other to achieve better simulation test effects.

[0015] Furthermore, the crossbeam of the gantry is provided with upper and lower guide rails. The two simulated operation manipulators are located on the same side. The simulated operation manipulators are respectively connected to the upper and lower guide rails through slider mounting plates. The crossbeam of the gantry is also provided with an upper driving lead screw and a lower driving lead screw, and the upper driving lead screw, the lower driving lead screw are in transmission connection with the slider mounting plate. The arrangement of the double guide rails and the double driving lead screws reduces the force on the cross-section of the driving lead screw, making the movement environment of the simulated operation manipulator more stable, and also facilitating unified scheduling of subsequent motion control to prevent interference with each other.

[0016] From the above technical solutions, it can be seen that the present invention has the following advantages:

[0017] 1. The overall test conditions are sufficient to cope with the test environments of most additional tools of special AGVs, and can effectively test a series of chain test responses of AGVs to driving environments, execution precision, self-judgment, trap tests, etc., realizing an effective assessment plan for most multi-functional AGVs, improving the professionalism of outdoor special AGVs, ensuring automatic positioning and execution effects, and the test equipment should be more perfect to ensure the safety effect of AGVs.

[0018] 2. The AGV tends to be single-machine intelligent, that is, the technical development of the AGV system without a fixed driving path, getting rid of the movement on a fixed route.

[0019] 3. The simulated operation manipulators are used for cooperative testing. Multiple simulated operation manipulators move relative to each other, and there is a two-way motor slide rail platform on the crossbeam. Initially, a two-way arrangement was considered, which can effectively protect the balance of the gantry, but it will waste the slide rail distance, and the moving distance of the platform is affected by the lead screw. The longer the lead screw, the more likely it is to be damaged and deformed. Therefore, after the design of the placement surface on the same side in this application, although the moving stroke of the slider mounting plate is shortened, the force on the cross-section of the relative lead screw is reduced, making the movement environment of the manipulator more stable. Moreover, the double slide rails are arranged on one side, saving general materials, facilitating unified scheduling of subsequent motion control to prevent interference with each other. The advantages of the same layout reduce the risk of the equipment during inspection operations and facilitate the safety of testing.

[0020] 4. The obstacle avoidance device of the gantry is used to interfere with the terrain recognition of the AGV infrared scan, misleading the AGV's judgment of its own position. At the same time, the function of the camera of the manipulator to transmit the drawing in real time is arranged for recognition. Of course, for the operation judgment result of manual intervention, it can also directly intervene in the operation console manually. Because the AGV is equipped with a main control PC, the control authority can be obtained through remote connection to adapt to complex test environments; the use of a rack and pinion as the track and the laying form of the double-slider slide rail provides a solid guarantee for the accuracy of movement and the stability of the frame structure. Similarly, it is convenient for the driving lead screw motor installed on the top to drive, making the platform of the simulated operation manipulator have a more stable guarantee.

[0021] 5. The lifting and tilting function of the tabletop is set, and a running test is simulated on the road surface where the AGV travels within a slope of less than 30°. Generally, AGVs do not have detection and judgment in the Z-axis direction because most AGVs do not require spatial coordinates. However, in order to cooperate with the spatial coordinate system of the manipulator mounted on the back of the AGV, the AGV has an internal function of balancing the center of gravity, which can automatically calculate the relative movement in the Z-axis direction in the slope state to match the spatial coordinates of the manipulator. Brief Description of the Drawings

[0022] In order to more clearly illustrate the technical solution of the present invention, the drawings required for description will be briefly introduced below. Obviously, the drawings in the following description are only some embodiments of the present invention. For those of ordinary skill in the art, other drawings can be obtained based on these drawings without creative efforts.

[0023] Figure 1 It is the front view structural diagram of the specific embodiment of the present invention.

[0024] Figure 2 It is the upper side structural diagram of the vibration platform in the specific embodiment of the present invention.

[0025] Figure 3 It is the bottom side structural diagram of the vibration platform in the specific embodiment of the present invention.

[0026] Figure 4 It is the structural diagram of the suspension structure in the specific embodiment of the present invention.

[0027] Figure 5 It is the structural diagram of the gantry in the specific embodiment of the present invention.

[0028] Figure 6 It is the structural diagram of the upper cross beam of the gantry in the specific embodiment of the present invention.

[0029] Figure 7 It is the state diagram during the interactive test operation in the specific embodiment of the present invention.

[0030] Figure 8 It is the top view structural diagram of the specific embodiment of the present invention.

[0031] In the figure, 1. Gantry, 2. Vibration platform, 3. Simulated operation manipulator, 4. Sliding table, 5. Cross beam, 6. Column, 7. Tabletop, 8. Positioning frame, 9. Suspension mechanism, 10. Roller, 11. Buffer spring, 12. Support, 13. Suspension bracket, 14. Intermediate support plate, 15. Bottom wheel, 16. Double slide rail, 17. Slide block mounting plate, 18. Upper guide rail, 19. Lower guide rail, 20. Upper drive lead screw, 21. Lower drive lead screw. Detailed Implementation Manner

[0032] To make the objectives, features, and advantages of the present invention more obvious and understandable, the technical solutions in the present invention will be clearly and completely described below with reference to the accompanying drawings in the specific embodiments of the present invention. Obviously, the embodiments described below are only a part of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments in this patent, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the scope of protection of this patent.

[0033] As Figures 1 to 8 shown, this specific implementation manner provides an automatic guided vehicle comprehensive detection device, including a vibration platform 2, a gantry 1, and a simulated operation manipulator 3. The simulated operation manipulator 3 is installed on the cross beam 5 of the gantry 1 and can slide on the cross beam 5 of the gantry 1. The vibration platform 2 is located between the two columns 6 of the gantry 1. The gantry 1 can move along the longitudinal direction of the vibration platform 2. The vibration platform 2 is connected with a vibration power mechanism. The vibration platform 2 has a plurality of table panels 7. A suspension mechanism 9 is arranged below the table panel 7. A plurality of rollers 10 are installed on the suspension mechanism 9. The table panel 7 is supported on the rollers 10.

[0034] Among them, the vibration power mechanism includes a vibration motor. An adjustable eccentric block is connected to the vibration motor in a transmission manner. The vibration motor serves as a power generation source. The centrifugal force generated by driving the eccentric block to rotate at a high speed by the vibration motor is used as the exciting force to make the vibration platform 2 vibrate, having reliable simulation conditions. Generally, a motor with a power of 30KN, a speed of 1.5KW, and a rotation speed of 1500r / min is selected as the power generation source. As Figure 3 shown, a plurality of positioning frames 8 are arranged at the bottom of the table panel 7. The suspension mechanism 9 is located in the positioning frames 8. The number of the positioning frames 8 corresponds to the number of the table panels 7. A lifting mechanism is connected to the suspension mechanism 9. The lifting mechanism can drive the suspension mechanism 9 to lift and then push the table panel 7 to tilt. The lifting mechanism includes a lifting hydraulic cylinder. The lifting hydraulic cylinder is connected to the suspension bracket 13 to drive the suspension bracket 13 to lift. A lifting hydraulic cylinder is connected to each suspension bracket 13; simulate the running test of the AGV driving road surface within a slope of less than 30°. The inspection purpose is: Generally, the AGV does not have the detection and judgment in the Z-axis direction. Because most AGVs do not require spatial coordinates, but in order to cooperate with the spatial coordinate system of the manipulator carried on the back of the AGV, the AGV has an internal function of balancing the center of gravity and can automatically calculate the relative movement in the Z-axis direction under the slope state to match the spatial coordinates of the manipulator. Specifically, as Figure 4As shown in the figure, the suspension mechanism 9 includes a suspension bracket 13. A support 12 is provided at the upper part of the suspension bracket 13. A roller 10 is installed on the support 12. A buffer assembly is connected to the roller 10. The buffer assembly includes a buffer spring 11. The buffer spring 11 is arranged obliquely and one end thereof is connected to the roller 10. A groove is provided on the lower plate surface of the table board 7. The roller 10 is located in the groove. The groove can limit the roller 10 to prevent the table board 7 from shifting during vibration. In this solution, the suspension bracket 13 includes a left support leg and a right support leg. The left support leg and the right support leg are arranged in parallel. The left support leg and the right support leg are connected by an intermediate support plate 14. Two rollers 10 are provided at the upper parts of the left support leg and the right support leg respectively. Two sets of bottom wheels 15 are provided at the lower parts of the left support leg and the right support leg respectively, with two in each set. The axes of the bottom wheels 15 and the rollers 10 are in the same direction. In order to simulate the road surface, the suspension mechanism 9 abandons the function of the corner in the design and only ensures the road surface slope, creating a simulated road surface condition where the AGV pitches forward and backward. Because if the corner is considered, in the space coordinate system, the rotation of the AGV and the rotation angle R of the simulated operation manipulator 3 are the most unstable factors. Therefore, only the current working height of the AGV is recorded and matched with the self-defined following coordinates of the manipulator; this is to ensure the logical self-consistency of the interaction signals between devices, enabling the simulated operation manipulator 3 to be aware of the presence of the AGV under its own position and perform matching of motion coordinates, identifying the surrounding environment while moving and cooperating with the real-time reading of the camera of the manipulator to update the coordinate system.

[0035] Among them, sliding tables 4 are provided on both sides of the vibration platform 2. As Figure 5 shown, the sliding table 4 is provided with double slide rails 16. The columns 6 of the gantry 1 are slidably installed on the double slide rails 16. The transmission method is preferably gear-rack transmission to achieve the stable sliding of the gantry 1. The movement of the gantry 1 is used to interfere with the laser and visual judgment of the AGV for obstacle avoidance simulation. The setting of the obstacle avoidance device of the gantry 1 is used to interfere with the terrain recognition of the AGV infrared scanning. After misleading the AGV's judgment of its own position, at the same time, the function of the real-time transmission of the drawing by the camera of the manipulator is arranged for recognition. Of course, the operation judgment result of manual intervention can also directly intervene in the operation console manually. Because the AGV is equipped with a main control PC, the control authority can be obtained through remote connection to adapt to a complex test environment; the gear-rack serves as the track, and the laying form of the double-slider slide rail provides a solid guarantee for the accuracy of movement and the stability of the frame structure. Similarly, it is convenient for the drive of the transmission lead screw motor installed on the top, making the platform of the simulated operation manipulator 3 more stable. The overall movement direction of the gantry 1 is restricted by the direction of the slide rail, but the form of the motor driving the gear to move along the rack can facilitate manual control of the motor for synchronous movement and fine-tuning with a reduction gear.

[0036] In addition, as Figure 6As shown in the figure, the two-way motor slide rail platform on the cross beam 5 can effectively protect the balance of the gantry, but it will waste the slide rail distance, and the moving distance of the platform is affected by the lead screw. The longer the lead screw is, the easier it is to be damaged and deformed. To avoid this phenomenon, in this application, multiple simulated operation manipulators 3 are located on the same side. The cross beam 5 of the gantry 1 is provided with an upper guide rail 18 and a lower guide rail 19. The simulated operation manipulators 3 are respectively connected to the upper guide rail 18 and the lower guide rail 19 through a slider mounting plate 17. The cross beam 5 of the gantry 1 is also provided with an upper driving lead screw 20 and a lower driving lead screw 21. The upper driving lead screw 20 and the lower driving lead screw 21 are in transmission connection with the slider mounting plate 17. Although the movable stroke of the slider mounting plate 17 is shortened, the stress on the cross section of the relative lead screw is reduced, making the movement environment of the manipulator more stable. Moreover, the upper and lower double tracks and the driving lead screws are arranged on one side, saving general materials and facilitating unified scheduling of subsequent motion control to prevent interference with each other. The benefits of the same layout reduce the risk during the detection operation of the equipment and facilitate the safety of the test.

[0037] In addition, as Figure 7 shown, when the automatic guided vehicle is tested, the manipulator mounted on its back and the simulated operation manipulator 3 on the gantry 1 form an interactive test operation combination to detect the recognition of the double-vision manipulator for trap tests. The front-end vision is mainly responsible for the detailed judgment of the execution end, and its movable range is limited. It mainly follows the multi-functional gripper at the end to ensure the control of work details. Secondly, the infrared scan carried by the AGV is used to identify the surrounding environment in real time and judge the surrounding activity changes. The camera vision on the back is responsible for the secondary judgment of the environment and transmits it to the PC carried by the AGV in the form of a three-dimensional drawing, and the signal is transmitted back to the console for the controller to judge. Moreover, the camera has a high degree of freedom of movement, can swing left and right, and can also flip to identify the situation above the head. For the cooperation test with the manipulator, multiple manipulators move relative to each other. For the simulated actions that the manipulator can complete, they are selected from the aspects of the effective payload, the number of joint axes, the activity radius, the use environment, and the process programming method of the manipulator. The test conditions used can meet the processes of more load movement trajectories, and the common conditions use six axes: the first-axis base rotation position at the bottom, the second-axis main arm rotation position, the third-axis main arm rotation position, the fourth-axis round tube rotation position, the fifth-axis flipping position, and the sixth-axis end rotation position.

[0038] Therefore, the overall test conditions are sufficient to cope with the test environments of most special AGV additional tools, and can effectively test a series of chain test responses of the AGV to the driving environment, execution accuracy, self-judgment, trap tests, etc.

[0039] The terms "upper", "lower", "outer side", "inner side", etc. (if any) in the specification, claims and above-mentioned drawings of the present invention are used to distinguish the relative relationship in position and do not necessarily give a qualitative definition. It should be understood that the data used in this way can be interchanged under appropriate circumstances so that the embodiments of the present invention described herein can be implemented in an order different from those illustrated or described herein. In addition, the terms "comprising" and "having" and any variations thereof are intended to cover non-exclusive inclusion.

[0040] The above description of the disclosed embodiments enables those skilled in the art to implement or use the present invention. Various modifications to these embodiments will be obvious to those skilled in the art, and the general principles defined herein can be implemented in other embodiments without departing from the spirit or scope of the present invention. Therefore, the present invention will not be limited to the embodiments shown herein, but rather to the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. An integrated detection device for an automatic guided vehicle, characterized in that, It includes a vibration platform, a gantry, and a simulated operation manipulator. The simulated operation manipulator is installed on the crossbeam of the gantry and can slide on the crossbeam of the gantry. The vibration platform is located between the two columns of the gantry. The gantry can move along the longitudinal direction of the vibration platform. The vibration platform is connected with a vibration power mechanism. The vibration platform has a plurality of table panels. A suspension mechanism is arranged at the lower part of the table panel. A plurality of rollers are installed on the suspension mechanism. The table panel is supported on the rollers. A lifting mechanism is connected to the suspension mechanism. The lifting mechanism can drive the suspension mechanism to lift and then push the table panel to tilt; The suspension mechanism includes a suspension bracket. A support is arranged at the upper part of the suspension bracket. The rollers are installed on the support. A buffer assembly is connected to the rollers. The buffer assembly includes a buffer spring. The buffer spring is arranged obliquely and one end of it is connected to the roller. A groove is arranged on the lower plate surface of the table panel. The roller is located in the groove. The groove can limit the roller to prevent the table panel from shifting during vibration. The suspension bracket includes a left support leg and a right support leg. The left support leg and the right support leg are arranged in parallel. The left support leg and the right support leg are connected by an intermediate support plate. Two rollers are arranged at the upper part of each of the left support leg and the right support leg. Two groups of bottom wheels are arranged at the lower part of each of the left support leg and the right support leg. Each group has two. The axes of the bottom wheels and the rollers are in the same direction; When the automatic guided vehicle is tested, the manipulator installed on its back and the simulated operation manipulator on the gantry form an interactive test operation combination to detect the recognition of the double-vision manipulator for the trap test; The front vision is responsible for the detailed judgment of the execution end; And the vision on the back is responsible for the secondary judgment of the environment and transmits it to the PC carried by the AGV in the form of a three-dimensional picture, and transmits the signal back to the console for the controller to judge; Secondly, the infrared scan carried by the AGV recognizes the surrounding environment in real time and judges the activities and changes around.

2. The integrated detection device for an automatic guided vehicle according to claim 1, wherein, A plurality of positioning frames are arranged at the bottom of the table panel. The suspension mechanism is located in the positioning frames. The number of the positioning frames corresponds to the number of the table panels.

3. The comprehensive detection device for an automatic guided vehicle according to claim 1, characterized in that Sliding tables are arranged on both sides of the vibration platform. The sliding tables are provided with double slide rails. The columns of the gantry are slidably installed on the double slide rails.

4. The integrated detection device for an automatic guided vehicle according to claim 1, characterized in that, The vibration power mechanism includes a vibration motor. An adjustable eccentric block is connected to the vibration motor through transmission.

5. The automatic navigation vehicle comprehensive detection device according to claim 1, characterized in that, At least two simulated operation manipulators are provided.

6. The integrated detection device for the automatic guided vehicle according to claim 5, characterized in that The crossbeam of the gantry is provided with an upper guide rail and a lower guide rail. The two simulated operation manipulators are on the same side. The simulated operation manipulators are respectively connected to the upper guide rail and the lower guide rail through slider mounting plates. The crossbeam of the gantry is also provided with an upper transmission lead screw and a lower transmission lead screw. The upper transmission lead screw, the lower transmission lead screw are in transmission connection with the slider mounting plates.

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