Multi-point laser obstacle detection equipment and obstacle avoidance method for AGV (Automatic Guided Vehicle)

Abstract

The invention discloses multi-point laser obstacle detection equipment and an obstacle avoidance method for an AGV, and belongs to the technical field of AGVs, the multi-point laser obstacle detection equipment comprises a vehicle body and a detection head, a mounting plate is fixedly mounted on the upper surface of the vehicle body, and a scraping and washing assembly is arranged on the outer surface of the detection head; according to the device, the spraying assembly and the scraping and washing assembly are arranged, an extruded telescopic liquid bag enables cleaning liquid in the telescopic liquid bag to be sprayed to the detection end of a detection head through a liquid outlet pipe, a cleaning brush can be driven to synchronously rotate along with rotation of a rotating rod, and at the moment, the cleaning brush can conduct scraping and washing on the detection end, sprayed with the cleaning liquid, of the detection head; the functions of automatic liquid spraying and automatic scraping and washing of the detection device are achieved, on one hand, the cleanliness of the detection device can be improved by spraying the cleaning liquid, and on the other hand, the cleaning liquid can play a lubricating role during scraping and washing, friction between the cleaning brush and the detection device is reduced, and then abrasion to the detection device is reduced; and the detection precision and definition of the detection equipment are ensured.

Description

TECHNICAL FIELD

[0001] The application belongs to the technical field of AGV trolleys, and particularly relates to a multi-point laser obstacle detection device and obstacle avoidance method for AGV trolleys. BACKGROUND

[0002] The AGV trolley is an industrial vehicle that adopts automatic or manual loading of goods, automatically travels according to a set route, drags a loading platform truck to a designated location, and then uses automatic or manual loading and unloading of goods. It is an industrial vehicle that automatically travels with a battery as a power source. In order to realize the automatic obstacle avoidance function of the AGV trolley in daily use, an obstacle detection device needs to be installed on the AGV trolley.

[0003] In the invention patent application with the publication (announcement) number CN115903830A and the publication (announcement) date April 4, 2023, and the name of building AGV chassis based on laser ranging navigation function, it includes AVG chassis, four corners of the lower end face of the AVG chassis are respectively provided with driving wheels, and a driving motor is installed on each driving wheel; an image acquisition device for acquiring front image information is installed on the front end of the AVG chassis, and laser ranging devices for detecting the distance of obstacles are installed on the front end and both sides of the AVG chassis; a roadblock detection unit, an angle gyroscope, a motion sensor, and a control system are installed in the AVG chassis; the roadblock detection unit is used to receive the front image information collected by the image acquisition device and the length information of the surrounding obstacles measured by the laser ranging device. The dynamic and static of the obstacle are detected, and the shortest and smoothest obstacle avoidance path is formulated according to the relative motion relationship between the dynamic obstacle and the AGV chassis, so as to complete the obstacle avoidance.

[0004] In the prior art including the above-mentioned patent, the obstacle detection device on the AGV trolley is installed on the outside of the vehicle body, so as the use time increases, dust or impurities will adhere to the detection head of the detection device. When cleaning these dust and impurities, the detection head is easy to be worn, which may reduce the detection accuracy and clarity of the detection device in the later period, and may also reduce the service life of the detection device. Therefore, a multi-point laser obstacle detection device and obstacle avoidance method for AGV trolleys is provided. SUMMARY

[0005] The purpose of the present application is to solve the problem that the obstacle detection device on the AGV trolley is easy to wear during cleaning in the later period, and a multi-point laser obstacle detection device and obstacle avoidance method for AGV trolleys are provided.

[0006] In order to achieve the above object, the technical scheme adopted by the present application is as follows: a multi-point laser obstacle detection device for an AGV trolley, comprising a trolley body and a detection head, the outer surface of the detection head is provided with a scraping and washing assembly, the scraping and washing assembly comprises a fixed rack and a rotating rod, one end of the rotating rod is rotatably connected to the outer surface of the detection head, the outer surface of the rotating rod is fixedly provided with a transmission gear, and the transmission gear is in meshing connection with the fixed rack.

[0007] Further description of the above technical scheme:

[0008] The outer surface of the rotating rod is fixedly provided with a cleaning brush, the cleaning brush is made of flexible material with certain supporting force, and the side wall of the cleaning brush is attached to the outer surface of the detection head.

[0009] Further description of the above technical scheme:

[0010] The protection assembly comprises a protective cover, limit sleeves and threaded sleeves are fixedly installed on the two side walls of the protective cover respectively, a limit rod is slidably installed on the inner wall of the limit sleeve, and a threaded rod is threadedly installed on the inner wall of the threaded sleeve.

[0011] Further description of the above technical scheme:

[0012] The size of the protective cover is matched with the detection head, the side wall of the fixed rack is fixedly connected with the inner side wall of the protective cover, and the upper surface of the protective cover is provided with a spraying assembly.

[0013] Further description of the above technical scheme:

[0014] The spraying assembly comprises a fixed cylinder, the lower surface of the fixed cylinder is fixedly connected with the upper surface of the protective cover, an elastic liquid bag is fixedly installed on the bottom inner wall of the fixed cylinder, and a liquid outlet pipe and a liquid inlet pipe are communicatively installed on the outer surface of the elastic liquid bag.

[0015] Further description of the above technical scheme:

[0016] One end of the liquid outlet pipe and the liquid inlet pipe extends to the outside of the fixed cylinder, one end of the liquid outlet pipe is aligned with the detection end of the detection head, and the upper surface of the elastic liquid bag is fixedly provided with a pressing plate.

[0017] Further description of the above technical scheme:

[0018] The outer surface of the pressing plate is attached to the inner wall of the fixed cylinder, a connecting spring is fixedly installed on the upper surface of the pressing plate, one end of the connecting spring is fixedly connected with the top inner wall of the fixed cylinder, a top rod is fixedly installed on the lower surface of the pressing plate, and one end of the top rod penetrates into the inside of the fixed cylinder and extends to the inside of the protective cover.

[0019] As a further description of the above technical solutions:

[0020] The rotating assembly comprises an aggregation cover, an outer surface of the aggregation cover is fixedly connected with an inner wall of the mounting groove, a inner wall of the aggregation cover is fixedly installed with a servo motor, an output end of the servo motor is fixedly installed with a supporting rod, one end of the supporting rod is fixedly installed with a rotating disc, an outer surface of the rotating disc is rotatably connected with an inner wall of the mounting plate.

[0021] As a further description of the above technical solutions:

[0022] An upper surface of the rotating disc is fixedly installed with a supporting block, an upper surface of the supporting block is fixedly connected with a lower surface of the detection head, an outer surface of the aggregation cover is communicatedly installed with a heat preservation tube, one end of the heat preservation tube extends to an outer surface of an upper surface of the vehicle body and is aligned with a periphery of the detection head, the upper surface of the rotating disc is fixedly connected with one end of the limiting rod, the upper surface of the rotating disc is fixedly installed with a motor, an output end of the motor is fixedly connected with one end of the threaded rod.

[0023] The application further discloses an obstacle avoidance method of the multi-point laser obstacle detection equipment for the AGV trolley.

[0024] S1, when the vehicle body needs to work, the motor drives the threaded rod to rotate, at this time, the threaded sleeve moves to the upper end of the threaded rod, thereby driving the protective cover to move upwards to the detection head under the limiting of the limiting sleeve and the limiting rod, until the detection end of the detection head is completely exposed;

[0025] S2, as the protective cover moves upwards, the top rod loses the extrusion above the detection head, at this time, the pressing plate moves downwards to the fixed cylinder under the action of the connecting spring, as the pressing plate moves downwards, the stretching liquid bag is extruded, and the stretching liquid bag extruded will make the cleaning liquid in the interior spray to the detection end of the detection head through the liquid outlet pipe;

[0026] S3, in the process that the protective cover moves upwards, the fixed rack is driven to move synchronously, at this time, under the action of the transmission gear, the rotating rod rotates on the outer surface of the detection head, as the rotating rod rotates, the cleaning brush is driven to rotate synchronously, at this time, the cleaning brush scrapes and washes the detection end of the detection head sprayed with the cleaning liquid;

[0027] S4, the support rod is rotated by the servo motor in the gathering cover in the process of the vehicle body movement, the support rod drives the rotating disc to rotate in the mounting plate, the rotating disc drives the detection head to rotate through the support block, in the process of the detection head rotating, the camera in the detection head can shoot the surrounding environment, at the same time, the laser radar in the detection head can scan the environment around the vehicle body with high-speed laser beam, real-time high-precision D map is generated, when encountering obstacles, the laser beam will reflect back, the system calculates the distance between the obstacle and the vehicle body according to the time of the laser returning, and then a route without obstacles is automatically planned out through the path planning algorithm, the heat generated by the servo motor in the working process is gathered in the gathering cover, and then is transported to the surrounding of the detection head through the heat preservation pipe, so that the fogging phenomenon of the detection section in the working process of the detection head is prevented.

[0028] In conclusion, due to the adoption of the above technical scheme, the present application has the following beneficial effects:

[0029] In the present application, with the upward movement of the protective cover, the top rod loses the extrusion above the detection head, at this time, the pressing plate will move downward of the fixed cylinder under the action of the connecting spring, with the downward movement of the pressing plate, the extrusion liquid bag will be extruded, the extruded extrusion liquid bag will make the cleaning liquid in the inside spray to the detection end of the detection head through the liquid outlet pipe, then the fixed rack will be synchronously moved with the upward movement of the protective cover, at this time, under the action of the transmission gear, the rotating rod will rotate on the outer surface of the detection head, with the rotation of the rotating rod, the cleaning brush will be synchronously rotated, at this time, the cleaning brush will scrape and wash the detection end of the detection head sprayed with the cleaning liquid, realizing the functions of automatic liquid spraying and automatic scraping and washing of the detection device, spraying the cleaning liquid can improve the cleanliness of the detection equipment on one hand, and the cleaning liquid can play a lubricating role when scraping and washing, reducing the friction between the cleaning brush and the detection equipment, thereby reducing the wear of the detection equipment, ensuring the detection accuracy and clarity of the detection equipment. BRIEF DESCRIPTION OF DRAWINGS

[0030] Figure 1 It is a three-dimensional structure schematic diagram of a multi-point laser obstacle detection device for an AGV trolley.

[0031] Figure 2 It is an exploded structure schematic diagram of a multi-point laser obstacle detection device for an AGV trolley.

[0032] Figure 3 It is an exploded structure schematic diagram of a rotating assembly in a multi-point laser obstacle detection device for an AGV trolley.

[0033] Figure 4 It is an exploded structure schematic diagram of a protective assembly in a multi-point laser obstacle detection device for an AGV trolley.

[0034] Figure 5 It is a three-dimensional structure diagram of a protective cover in a multi-point laser obstacle detection device for an AGV trolley.

[0035] Figure 6 It is a three-dimensional structure diagram of a protective cover in a multi-point laser obstacle detection device for an AGV trolley. Figure 4 It is an enlarged structure diagram of A in the middle.

[0036] Figure 7 It is an exploded structure diagram of a spraying assembly in a multi-point laser obstacle detection device for an AGV trolley.

[0037] Legend:

[0038] 1, trolley body; 2, mounting plate; 3, rotating assembly; 31, gathering cover; 32, servo motor; 33, support rod; 34, heat preservation pipe; 35, rotating disc; 36, support block; 4, mounting groove; 5, detection head; 6, protection assembly; 61, protective cover; 62, limiting sleeve; 63, limiting rod; 64, motor; 65, threaded rod; 66, threaded sleeve; 7, spraying assembly; 71, fixed cylinder; 72, liquid inlet pipe; 73, liquid outlet pipe; 74, telescopic liquid bag; 75, connecting spring; 76, pressing plate; 77, jacking rod; 8, scraping and cleaning assembly; 81, fixed rack; 82, rotating rod; 83, transmission gear; 84, cleaning brush. DETAILED DESCRIPTION

[0039] The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative labor fall within the scope of protection of the present application.

[0040] Please refer to Figures 1-7 The present application provides a technical solution: a multi-point laser obstacle detection device for an AGV trolley, which comprises a trolley body 1 and a detection head 5. The upper surface of the trolley body 1 is provided with a mounting groove 4, and the upper surface of the trolley body 1 is fixedly installed with a mounting plate 2. The outer surface of the detection head 5 is provided with a scraping and cleaning assembly 8. The inner wall of the mounting groove 4 is provided with a rotating assembly 3, and the upper surface of the rotating assembly 3 is provided with a protection assembly 6.

[0041] The scraping assembly 8 comprises a fixed rack 81 and a rotating rod 82, one end of the rotating rod 82 is rotatably connected with the outer surface of the detection head 5, the outer surface of the rotating rod 82 is fixedly installed with a transmission gear 83, the transmission gear 83 is meshingly connected with the fixed rack 81, the outer surface of the rotating rod 82 is fixedly installed with a cleaning brush 84, the cleaning brush 84 is made of flexible material with certain supporting force, for example, rubber, and the side wall of the cleaning brush 84 is attached to the outer surface of the detection head 5.

[0042] Specific embodiments are that the fixed rack 81 is synchronously moved by the protective cover 61 during the upward movement of the protective cover 61, at this time, the rotating rod 82 is rotated on the outer surface of the detection head 5 under the action of the transmission gear 83, the cleaning brush 84 is synchronously rotated with the rotation of the rotating rod 82, at this time, the cleaning brush 84 scrapes and cleans the detection end of the detection head 5 sprayed with cleaning liquid.

[0043] The protective assembly 6 comprises a protective cover 61, the two side walls of the protective cover 61 are respectively fixedly installed with a limiting sleeve 62 and a threaded sleeve 66, the inner wall of the limiting sleeve 62 is slidably installed with a limiting rod 63, the inner wall of the threaded sleeve 66 is threadedly installed with a threaded rod 65, the size of the protective cover 61 is adapted to the detection head 5, the side wall of the fixed rack 81 is fixedly connected with the inner side wall of the protective cover 61, and the upper surface of the protective cover 61 is provided with a spraying assembly 7.

[0044] Specific embodiments are that when the vehicle body 1 needs to work, the motor 64 drives the threaded rod 65 to rotate, at this time, the threaded sleeve 66 moves to the upper end of the threaded rod 65, thereby driving the protective cover 61 to move upwards above the detection head 5 under the limiting of the limiting sleeve 62 and the limiting rod 63, until the detection end of the detection head 5 is completely exposed.

[0045] The spraying assembly 7 comprises a fixed cylinder 71, the lower surface of the fixed cylinder 71 is fixedly connected with the upper surface of the protective cover 61, the bottom inner wall of the fixed cylinder 71 is fixedly installed with an elastic liquid bag 74, the outer surface of the elastic liquid bag 74 is communicatively installed with an outlet pipe 73 and an inlet pipe 72, one end of the outlet pipe 73 and the inlet pipe 72 extends to the outside of the fixed cylinder 71, one end of the outlet pipe 73 is aligned with the detection end of the detection head 5, the upper surface of the elastic liquid bag 74 is fixedly installed with a pressing plate 76, the outer surface of the pressing plate 76 is attached to the inner wall of the fixed cylinder 71, the upper surface of the pressing plate 76 is fixedly installed with a connecting spring 75, one end of the connecting spring 75 is fixedly connected with the top inner wall of the fixed cylinder 71, the lower surface of the pressing plate 76 is fixedly installed with a top rod 77, one end of the top rod 77 penetrates through the inside of the fixed cylinder 71 and extends to the inside of the protective cover 61.

[0046] With the upward movement of the protective cover 61, the top rod 77 loses the extrusion above the detection head 5, at this time the pressing plate 76 will move downwards under the fixed cylinder 71 under the action of the connecting spring 75, with the downward movement of the pressing plate 76, the telescopic liquid bag 74 will be extruded, the telescopic liquid bag 74 subjected to extrusion will make the cleaning liquid in the inside spray to the detection end of the detection head 5 through the liquid outlet pipe 73, the inside of the liquid outlet pipe 73 is provided with an inverted hard sheet membrane adopting the principle of heart valve.

[0047] In the application, the protective assembly is arranged, when the vehicle body needs to work, the motor drives the threaded rod to rotate, at this time the threaded sleeve moves to the upper end of the threaded rod, thereby driving the protective cover to move upwards above the detection head under the limiting of the limiting sleeve and the limiting rod, until the detection end of the detection head is completely exposed, the detection equipment is protected when the detection equipment is not used, the protection of the detection equipment itself is improved, thereby reducing the possibility of damage to the detection equipment, and the service life of the detection equipment is improved.

[0048] The rotating assembly 3 comprises an aggregation cover 31, the outer surface of the aggregation cover 31 is fixedly connected with the inner wall of the mounting groove 4, a servo motor 32 is fixedly installed on the inner wall of the aggregation cover 31, a support rod 33 is fixedly installed at the output end of the servo motor 32, a rotating disc 35 is fixedly installed at one end of the support rod 33, the outer surface of the rotating disc 35 is rotatably connected with the inner wall of the mounting plate 2, a support block 36 is fixedly installed on the upper surface of the rotating disc 35, the upper surface of the support block 36 is fixedly connected with the lower surface of the detection head 5, a heat preservation pipe 34 is communicated and installed on the outer surface of the aggregation cover 31, one end of the heat preservation pipe 34 extends to the upper surface of the vehicle body 1 and is aligned with the periphery of the detection head 5, the upper surface of the rotating disc 35 is fixedly connected with one end of the limiting rod 63, a motor 64 is fixedly installed on the upper surface of the rotating disc 35, and one end of the threaded rod 65 is fixedly connected with the output end of the motor 64.

[0049] Specific embodiments are as follows: in the process of moving the vehicle body 1, the servo motor 32 in the aggregation cover 31 drives the support rod 33 to rotate, the support rod 33 drives the rotating disc 35 to rotate in the mounting plate 2, the rotating disc 35 drives the detection head 5 to rotate through the support block 36, in the process of rotating the detection head 5, the camera in the detection head 5 will shoot the surrounding environment, at the same time, the laser radar in the detection head 5 will scan the environment around the vehicle body 1 with high-speed laser beams, and a high-precision D map is generated in real time, when an obstacle is encountered, the laser beams will be reflected back, the system calculates the distance between the obstacle and the vehicle body 1 according to the time of laser return, and then a route without obstacles is automatically planned through a path planning algorithm, the heat generated by the servo motor 32 in the working process will be gathered in the aggregation cover 31, and then is transported to the periphery of the detection head 5 through the heat preservation pipe 34, so that the detection section of the detection head 5 does not appear fogging in the working process.

[0050] The application has the functions of defogging and full use of resources, and embodies the environmental protection type of the detection device.

[0051] The application further discloses an obstacle avoidance method of the multi-point laser obstacle detection device for the AGV.

[0052] S1, when the vehicle body 1 needs to work, the motor 64 drives the threaded rod 65 to rotate, at this time, the threaded sleeve 66 moves to the upper end of the threaded rod 65, thereby driving the protective cover 61 to move upwards to the upper side of the detection head 5 under the limitation of the limiting sleeve 62 and the limiting rod 63, until the detection end of the detection head 5 is completely exposed;

[0053] S2, with the upward movement of the protective cover 61, the top rod 77 loses the extrusion on the upper side of the detection head 5, at this time, under the action of the connecting spring 75, the pressing plate 76 moves downwards to the lower side of the fixed cylinder 71, with the downward movement of the pressing plate 76, the stretchable liquid bag 74 is extruded, and the stretchable liquid bag 74 extruded will make the cleaning liquid in the interior spray to the detection end of the detection head 5 through the liquid outlet pipe 73;

[0054] S3, then the protective cover 61 will drive the fixed rack 81 to move synchronously in the process of upward movement, at this time, under the action of the transmission gear 83, the rotating rod 82 rotates on the outer surface of the detection head 5, with the rotation of the rotating rod 82, the cleaning brush 84 rotates synchronously, at this time, the cleaning brush 84 scrapes and washes the detection end of the detection head 5 sprayed with the cleaning liquid;

[0055] S4, in the process of movement of the vehicle body 1, the servo motor 32 in the gathering cover 31 drives the supporting rod 33 to rotate, the supporting rod 33 drives the rotating disc 35 to rotate in the mounting plate 2, the rotating disc 35 drives the detection head 5 to rotate through the supporting block 36, in the process of rotation of the detection head 5, the camera in the detection head 5 can shoot the surrounding environment, at the same time, the laser radar in the detection head 5 can scan the environment around the vehicle body 1 with high-speed laser beams, and a high-precision D map is generated in real time, when an obstacle is encountered, the laser beams are reflected back, the system calculates the distance between the obstacle and the vehicle body 1 according to the time of laser return, and then a route without obstacles is automatically planned through a path planning algorithm, the heat generated by the servo motor 32 in the working process is gathered in the gathering cover 31, and then is transported to the surrounding of the detection head 5 through the heat preservation pipe 34, so that the detection end of the detection head 5 does not appear fogging in the working process.

[0056] Working principle: when the vehicle body 1 needs to work, the motor 64 drives the threaded rod 65 to rotate, at this time the threaded sleeve 66 will move to the upper end of the threaded rod 65, thereby driving the protective cover 61 to move upwards under the limiting of the limiting sleeve 62 and the limiting rod 63 to the upper side of the detection head 5, until the detection end of the detection head 5 is completely exposed, with the upward movement of the protective cover 61, the ejector rod 77 loses the extrusion above the detection head 5, at this time the pressing plate 76 will move downwards under the fixed cylinder 71 under the action of the connecting spring 75, with the downward movement of the pressing plate 76, the extension liquid bag 74 will be extruded, the extension liquid bag 74 extruded will make the cleaning liquid inside sprayed to the detection end of the detection head 5 through the liquid outlet pipe 73, then the fixed rack 81 will move synchronously in the process of the upward movement of the protective cover 61, at this time under the action of the transmission gear 83, the rotating rod 82 will rotate on the outer surface of the detection head 5, with the rotation of the rotating rod 82, the cleaning brush 84 will be synchronously rotated, at this time the cleaning brush 84 will scrape and wash the detection end of the detection head 5 sprayed with cleaning liquid, in the process of movement of the vehicle body 1, the servo motor 32 in the gathering cover 31 drives the supporting rod 33 to rotate, the supporting rod 33 drives the rotating disc 35 to rotate in the mounting plate 2, the rotating disc 35 drives the detection head 5 to rotate through the supporting block 36, in the process of rotation of the detection head 5, the camera in the detection head 5 will shoot the surrounding environment, at the same time the laser radar in the detection head 5 will scan the environment around the vehicle body 1 with high-speed laser beam, real-time generate high-precision D map, when encountering obstacles, the laser beam will be reflected back, the system calculates the distance between the obstacle and the vehicle body 1 according to the time of laser return, then plans a route without obstacles through the path planning algorithm, the heat generated by the servo motor 32 in the working process will be gathered in the gathering cover 31, then transported to the surrounding of the detection head 5 through the heat preservation pipe 34, to prevent the detection section of the detection head 5 from fogging during work.

[0057] The above merely describes the preferred embodiments of the present application, but the protection scope of the present application is not limited to this, any person skilled in the art can make equivalent replacement or change according to the technical scheme and the inventive concept of the present application within the technical range disclosed by the present application, which should be covered in the protection scope of the present application.

Claims

1. A multi-point laser obstacle detection device for AGV, comprising a vehicle body (1) and a detection head (5), characterized in that: The outer surface of the detection head (5) is provided with a scraping and cleaning assembly (8); The scraping and cleaning assembly (8) comprises a fixed rack (81) and a rotating rod (82), one end of the rotating rod (82) is rotatably connected with the outer surface of the detection head (5), the outer surface of the rotating rod (82) is fixedly installed with a transmission gear (83), and the transmission gear (83) is in meshing connection with the fixed rack (81).

2. The multi-point laser barrier detection device for AGV according to claim 1, wherein, The outer surface of the rotating rod (82) is fixedly installed with a cleaning brush (84), the cleaning brush (84) is made of flexible material with certain supporting force, and the side wall of the cleaning brush (84) is attached to the outer surface of the detection head (5).

3. The multi-point laser barrier detection device for AGV according to claim 1, wherein, The upper surface of the vehicle body (1) is provided with a mounting groove (4), the upper surface of the vehicle body (1) is fixedly installed with a mounting plate (2), the inner wall of the mounting groove (4) is provided with a rotating assembly (3), and the rotating assembly (3) is provided with a protection assembly (6).

4. The multi-point laser barrier detection device for AGV according to claim 3, wherein, The protection assembly (6) comprises a protective cover (61), limit sleeves (62) and threaded sleeves (66) are fixedly installed on the two side walls of the protective cover (61), respectively, a limit rod (63) is slidably installed on the inner wall of the limit sleeve (62), and a threaded rod (65) is threadedly installed on the inner wall of the threaded sleeve (66).

5. A multi-point laser barrier detection device for an AGV vehicle according to claim 4, wherein, The size of the protective cover (61) is matched with the detection head (5), the side wall of the fixed rack (81) is fixedly connected with the inner side wall of the protective cover (61), and the upper surface of the protective cover (61) is provided with a spraying assembly (7).

6. A multi-point laser barrier detection device for an AGV vehicle according to claim 5, wherein, The spraying assembly (7) comprises a fixed cylinder (71), the lower surface of the fixed cylinder (71) is fixedly connected with the upper surface of the protective cover (61), the bottom inner wall of the fixed cylinder (71) is fixedly installed with an elastic liquid bag (74), the outer surface of the elastic liquid bag (74) is continuously installed with a liquid outlet pipe (73) and a liquid inlet pipe (72).

7. A multi-point laser barrier detection device for an AGV vehicle according to claim 6, wherein, One end of the liquid outlet pipe (73) and the liquid inlet pipe (72) extends to the outside of the fixed cylinder (71), one end of the liquid outlet pipe (73) is aligned with the detection end of the detection head (5), and the upper surface of the elastic liquid bag (74) is fixedly installed with a pressing plate (76).

8. The multi-point laser barrier detection device for AGV according to claim 7, wherein, The outer surface of the pressing plate (76) is attached to the inner wall of the fixed cylinder (71), the upper surface of the pressing plate (76) is fixedly installed with a connecting spring (75), one end of the connecting spring (75) is fixedly connected with the top inner wall of the fixed cylinder (71), the lower surface of the pressing plate (76) is fixedly installed with a top rod (77), and one end of the top rod (77) penetrates into the inside of the fixed cylinder (71) and extends into the inside of the protective cover (61).

9. The multi-point laser barrier detection device for AGV according to claim 3, wherein, The rotating assembly (3) comprises an aggregation cover (31), the outer surface of the aggregation cover (31) is fixedly connected with the inner wall of the mounting groove (4), the inner wall of the aggregation cover (31) is fixedly installed with a servo motor (32), the output end of the servo motor (32) is fixedly installed with a support rod (33), one end of the support rod (33) is fixedly installed with a rotating disc (35), and the outer surface of the rotating disc (35) is rotatably connected with the inner wall of the mounting plate (2).

10. The multi-point laser barrier detection device for AGV according to claim 8, wherein, The upper surface of the rotating disc (35) is fixedly provided with a supporting block (36), the upper surface of the supporting block (36) is fixedly connected with the lower surface of the detection head (5), the outer surface of the gathering cover (31) is communicatively provided with a heat preservation tube (34), one end of the heat preservation tube (34) extends to the upper surface of the vehicle body (1) and is in through connection with the quasi-detection head (5), the upper surface of the rotating disc (35) is fixedly connected with one end of the limiting rod (63), the rotating disc (35) is fixedly provided with a motor (64), and the output end of the motor (64) is fixedly connected with one end of a threaded rod (65).

11. A method for obstacle avoidance of a multi-point laser obstacle detection device for AGV, which is used for detecting the multi-point laser obstacle detection device for AGV according to any one of claims 1-10, characterized in that, The method comprises the following steps: S1, when the vehicle body (1) needs to work, the motor (64) drives the threaded rod (65) to rotate, so that the threaded sleeve (66) moves to the upper end of the threaded rod (65), the protective cover (61) moves to the upper side of the detection head (5) under the limiting of the limiting sleeve (62) and the limiting rod (63), and the detection end of the detection head (5) is completely exposed; S2, as the protective cover (61) moves upwards, the top rod (77) loses the extrusion of the upper side of the detection head (5), at this time, the pressing plate (76) moves to the lower side of the fixed cylinder (71) under the action of the connecting spring (75), and as the pressing plate (76) moves downwards, the stretching liquid bag (74) is extruded, and the stretching liquid bag (74) extruded is used for spraying the cleaning liquid in the internal to the detection end of the detection head (5) through the liquid outlet pipe (73); S3, in the process that the protective cover (61) moves upwards, the fixed rack (81) is driven to move synchronously, at this time, under the action of the transmission gear (83), the rotating rod (82) rotates on the outer surface of the detection head (5), and as the rotating rod (82) rotates, the cleaning brush (84) rotates synchronously, and at this time, the cleaning brush (84) scrapes and washes the detection end of the detection head (5) sprayed with the cleaning liquid; S4, in the process that the vehicle body (1) moves, the servo motor (32) in the gathering cover (31) drives the supporting rod (33) to rotate, the supporting rod (33) drives the rotating disc (35) to rotate in the mounting plate (2), the rotating disc (35) drives the detection head (5) to rotate through the supporting block (36), in the process that the detection head (5) rotates, the camera in the detection head (5) shoots the surrounding environment, and the laser radar in the detection head (5) scans the environment around the vehicle body (1) at a high speed, a high-precision map is generated in real time, when an obstacle is encountered, the laser beam is reflected back, the system calculates the distance between the obstacle and the vehicle body (1) according to the time of the laser return, and then a route without obstacles is automatically planned through a path planning algorithm, the heat generated by the servo motor (32) in the working process is gathered in the gathering cover (31), and then is transported to the surrounding of the detection head (5) through the heat preservation tube (34), so that the detection section of the detection head (5) is prevented from fogging in the working process.

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