Automatic guiding carrier

Abstract

The invention provides an automatic guiding carrier which comprises a carrier body (110) and a control unit, a tray mechanism (200) is arranged on the carrier body (110), the tray mechanism (200) comprises a tray (210) and a plurality of reflection sensors (220) arranged along the edge of the tray (210), the tray (210) is used for loading goods in the height direction of the carrier body (110), and the reflection sensors (220) are arranged along the edge of the tray (210). The reflection sensors (220) emit light in the vertical direction of the vehicle body (110), the light emitted by the reflection sensors (220) jointly form a boundary detection grating, when any reflection sensor (220) receives the reflected light, an electric signal is correspondingly output to the control unit electrically connected with the reflection sensor (220), and the control unit is electrically connected with the reflection sensor (220). And the control unit judges that the goods exceed the boundary detection grating based on the electric signal. The boundary detection grating is used for detecting whether the cargoes loaded on the tray (210) exceed the boundary of the tray (210) or not, and when the automatic guided vehicle enters a narrow channel and the cargoes (210) on the tray (210) do not exceed the boundary of the tray (210), the cargoes do not collide with the channel, so that the cargoes are prevented from being damaged.

Description

Technical Field

[0001] This invention belongs to the field of logistics and transportation technology, and specifically relates to an automated guided vehicle. Background Technology

[0002] Automated Guided Vehicles (AGVs) are unmanned intelligent transportation devices widely used in warehousing and logistics, smart manufacturing, and other fields to automatically transport various goods, improving transportation efficiency and automation levels. As core equipment in flexible manufacturing and intelligent logistics systems, AGVs integrate navigation, positioning, and transportation functions to achieve efficient handling of goods in complex environments. Existing AGV systems often employ optical radar, visual sensors, or magnetic navigation technology to build environmental perception capabilities, combined with path planning algorithms to complete transportation tasks in open environments. AGVs typically operate in open environments and can adapt to transporting goods of varying sizes. However, the application of AGVs faces severe challenges in confined environments (such as alleyways, passageways, and other complex scenarios). These scenarios require AGVs to be strictly adapted to the physical limitations of cargo size and passageway space to avoid collisions between goods and shelves, walls, or obstacles during transportation.

[0003] However, existing AGVs suffer from the following technical shortcomings: insufficient perception of cargo dimensions. Current AGV navigation sensors (such as radar and cameras) primarily focus on external environment modeling and path planning, lacking real-time perception capabilities for the dimensions of the cargo itself. Their perception systems typically rely solely on preset dimensions of cargo pallets or manual input of cargo parameters, making it difficult to dynamically adapt to non-standard cargo or flexible logistics needs. When the actual dimensions of the cargo exceed the allowable range of the passageway (e.g., excessive length, excessive width, or center of gravity shift), the AGV cannot proactively identify size anomalies and issue warnings, inevitably leading to collisions when the cargo enters narrow areas. For example, in a scenario where the passageway width is only 1.5 meters, if the actual width of the cargo reaches 1.4 meters and is not centered, the AGV will still travel along the preset path, causing the cargo to collide directly with the wall, resulting in damage, falling, or even affecting the normal operation of the AGV.

[0004] The aforementioned technical defects lead to frequent cargo collisions in narrow environments for AGVs, with serious consequences: (1) Cargo damage: Scratches, deformations, and even structural damage caused by collisions. For example, precision instruments or high-value-added electronic products may be scrapped after a collision. (2) Equipment failure: Frequent collisions accelerate the wear and tear on the AGV body and sensors, shortening the service life of the equipment. (3) Safety hazards: In special scenarios such as chemical and pharmaceutical industries, cargo collisions may cause leaks or pollution accidents, threatening personnel safety. Summary of the Invention

[0005] The primary objective of this invention is to solve at least one of the above-mentioned problems by providing an automated guided transport vehicle.

[0006] To achieve the various objectives of this invention, the following technical solution is adopted: To meet one of the objectives of this invention, an automated guided vehicle is provided, comprising a vehicle body (110) and a control unit. The vehicle body (110) is provided with a pallet mechanism (200). The pallet mechanism (200) includes a pallet (210) and a plurality of reflection sensors (220) arranged along the edge of the pallet (210). The pallet (210) is used to load goods along the height direction of the vehicle body (110). The reflection sensors (220) emit light along the vertical direction of the vehicle body (110). The light emitted by each of the plurality of reflection sensors (220) together form a boundary detection grating. When any one of the reflection sensors (220) receives the reflected light, it outputs an electrical signal to the control unit that is electrically connected to it. The control unit determines that the goods exceed the boundary detection grating based on the electrical signal.

[0007] In one embodiment, the plurality of reflection sensors (220) are divided into two groups, and the two groups of reflection sensors (220) are arranged on opposite sides of the width direction of the tray (210), and the light emitted by each group of reflection sensors (220) together form a boundary detection grating.

[0008] In another embodiment, the plurality of reflection sensors (220) are uniformly arranged along the edge of the tray (210), and the light emitted by each of the plurality of reflection sensors (220) together form a boundary detection grating of a cylindrical structure.

[0009] In one embodiment, the vehicle body (110) is further provided with a turntable mechanism (300), the turntable mechanism (300) includes a gear plate (310) and a motor, the tray (210) is mounted on the gear plate (310), the motor is electrically connected to the control unit, the motor is drively connected to the gear plate (310), and the gear plate (310) drives the tray (210) to move synchronously.

[0010] In one embodiment, the turntable mechanism (300) further includes a photoelectric sensor (360) and a light-blocking plate (370), the light-blocking plate (370) being disposed on the gear disk (310), the photoelectric sensor (360) being disposed on the rotation path of the light-blocking plate (370), and the photoelectric sensor (360) being electrically connected to the control unit.

[0011] In one embodiment, the automated guided vehicle further includes a base plate (113) and a wheel set (400). The wheel set (400) includes a drive assembly (410), which includes a drive wheel (4113), a support mechanism (413), and a pressure adjustment mechanism (414) located on the base plate (113). The drive wheel (4113) passes through the base plate (113) to contact the ground. The drive wheel (4113), the support mechanism (413), and the pressure adjustment mechanism (414) are connected by a support crossbar (412) and form a lever structure with the support mechanism (413) as the fulcrum.

[0012] In one embodiment, the pressure adjustment mechanism (414) includes a connecting plate (4141), a pressure spring (4142), an adjusting bolt (4144), and a first universal wheel (4143). The connecting plate (4141) is connected to the support crossbar (412), the adjusting bolt (4144) is screwed to the connecting plate (4141), one end of the pressure spring (4142) is connected to the adjusting bolt (4144), and the other end abuts against the base plate (113). The pressure spring (4142) is further away from the support crossbar (412) than the first universal wheel (4143).

[0013] In one embodiment, the support mechanism (413) includes a first bearing (4132), a first connecting shaft (4134), and a support block (4131). The support crossbar (412) has a first bearing hole (4121), the first bearing (4132) is installed in the first bearing hole (4121), the support block (4131) is located on the base plate (113), and the first connecting shaft (4134) is inserted into the support block (4131) and the first bearing (4132) respectively, so that the first bearing (4132) can rotate relative to the first connecting shaft (4134).

[0014] In one embodiment, the wheel assembly (400) further includes a driven mechanism (415), which includes a caster seat (4151), a wheel plate (4152), a second bearing (4158), a second connecting shaft (4159), and a second swivel wheel (4155). The caster seat (4151) is connected to the vehicle body (110), and a second bearing hole is provided on the caster seat (4151). The second bearing (4158) is installed in the second bearing hole, and the wheel plate (4152) has a... An eccentric hole (4153) is provided, and the two ends of the second connecting shaft (4159) are respectively connected to the second bearing (4158) and the eccentric hole (4153). The second universal wheel (4155) is pivotally mounted on the wheel plate (4152). The second universal wheel (4155) passes through the base plate (113) to contact the ground. The first universal wheel (4143) and the second universal wheel (4155) are respectively located on both sides of the drive wheel (4113) along the length direction of the vehicle body (110).

[0015] In one embodiment, the driven mechanism (415) further includes a compression spring (4154), which is installed in the gap between the wheel plate (4152) and the caster seat (4151), and the two ends of the compression spring (4154) are respectively connected to the wheel plate (4152) and the caster seat (4151).

[0016] Compared with existing technologies, the present invention has many advantages, including but not limited to: (1) The automated guided vehicle of the present invention uses multiple reflective sensors on the edge of the pallet to emit light and form a boundary detection grating, which can effectively detect whether the size of the goods loaded on the pallet exceeds the boundary of the pallet. Multiple reflective sensors are set on the edge of the pallet and emit light into the air to detect whether the goods loaded on the pallet exceed the boundary of the pallet. When the automated guided vehicle enters a narrow passage, if the goods on the pallet do not exceed the boundary of the pallet, the goods will not collide with the passage, thereby effectively protecting the goods and avoiding scratches, deformation or even structural damage caused by collision, thus improving the safety of goods transportation. This is especially important for the transportation of fragile goods such as precision instruments or high-value-added electronic products, which can directly reduce the loss of goods and improve customer satisfaction.

[0017] (2) The automated guided vehicle of the present invention can detect in real time whether the size of the goods exceeds the boundary, realizing dynamic monitoring of the size of the goods. This makes the automated guided vehicle better adaptable to the needs of non-standard goods or flexible logistics, without relying on manual input of goods parameters, improving the adaptability and intelligence of the automated guided vehicle in complex logistics scenarios, and broadening the application scope of the automated guided vehicle.

[0018] (3) The multiple reflection sensors of the present invention construct a three-dimensional detection grating, breaking through the planar detection limitations of traditional single-point or linear sensors. This vertical spatial coverage capability can accurately identify over-limit situations of goods at different heights (such as unstable stacked boxes, bulging of flexible packaging, etc.), and is especially suitable for mixed transportation scenarios of multiple types of goods, upgrading collision protection detection from two-dimensional plane to three-dimensional space. Attached Figure Description

[0019] The above and / or additional aspects and advantages of the present invention will become apparent and readily understood from the following description of the embodiments taken in conjunction with the accompanying drawings, wherein: Figure 1 This is a three-dimensional schematic diagram of an automated guided vehicle according to a typical embodiment of the present invention.

[0020] Figure 2 This is a schematic diagram of the structure of an automated guided vehicle (shell not shown) according to a typical embodiment of the present invention.

[0021] Figure 3 This is a schematic diagram of the assembly of the pallet mechanism and the turntable mechanism of the automated guided vehicle according to a typical embodiment of the present invention.

[0022] Figure 4 This is a schematic diagram illustrating the principle of an automated guided vehicle (AGV) in which a pallet and multiple reflective sensors work together, representing a typical embodiment of the present invention.

[0023] Figure 5 This is a schematic diagram illustrating the principle of an automated guided vehicle (AGV) pallet in conjunction with multiple reflective sensors, according to an embodiment of the present invention.

[0024] Figure 6 This is a first-view structural schematic diagram of the drive assembly of an automated guided vehicle according to a typical embodiment of the present invention.

[0025] Figure 7 This is a second-view structural schematic diagram of the drive assembly of an automated guided vehicle according to a typical embodiment of the present invention.

[0026] Figure 8 This is a schematic diagram of the driven mechanism of an automated guided vehicle according to a typical embodiment of the present invention.

[0027] Figure 9 This is a schematic diagram of the wheel plate structure of an automated guided vehicle according to a typical embodiment of the present invention.

[0028] Explanation of reference numerals in the attached figures: 10. Automated Guided Vehicle (AGV); 110. Vehicle body; 111. Vehicle roof; 112. Vehicle floor; 113. Floor plate; 200, Pallet mechanism; 210, Pallet; 220, Reflection sensor; 230, Baffle; 300. Turntable mechanism; 310. Gear disc; 320. First motor; 330. Support frame; 331. Support arm; 332. Crossbeam; 340. Drive gear; 350. Planetary reducer; 360. Photoelectric sensor; 370. Light-blocking plate; 400. Wheelset; 410. Drive assembly; 411. Drive mechanism; 4111. Drive component; 4112. First reducer; 4113. Drive wheel; 412. Support crossbar; 4121. First bearing hole; 413. Support mechanism; 4131. Support block; 4132. First bearing; 4134. First connecting shaft; 414. Pressure adjustment mechanism; 4141. Connecting plate; 4142. Pressure spring; 4143. First swivel wheel; 4144. Adjusting bolt; 415. Driven mechanism; 4151. Caster seat; 4152. Wheel plate; 4153. Eccentric hole; 4154. Compression spring; 4155. Second swivel wheel; 4156. Wheel body; 4157. Wheel frame; 4158. Second bearing; 4159. Second connecting shaft. Detailed Implementation

[0029] Embodiments of the present invention are described in detail below, examples of which are illustrated in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain the present invention and should not be construed as limiting the present invention.

[0030] Those skilled in the art will understand that, unless specifically stated otherwise, the singular forms “a,” “an,” “the,” and “the” used herein may also include the plural forms. It should be further understood that the term “comprising” as used in this specification means the presence of the stated features, integers, steps, operations, elements, and / or components, but does not exclude the presence or addition of one or more other features, integers, steps, operations, elements, and / or components, nor does it exclude the presence or addition of one or more other features, integers, steps, operations, elements, components, and / or groups thereof. It should be understood that when we say an element is “connected” or “coupled” to another element, it can be directly connected or coupled to the other element, or there may be intermediate elements. Furthermore, “connected” or “coupled” as used herein can include wireless connections or wireless coupling. The term “and / or” as used herein includes all or any units and all combinations of one or more associated listed items.

[0031] It will be understood by those skilled in the art that, unless otherwise defined, all terms used herein (including technical and scientific terms) have the same meaning as commonly understood by one of ordinary skill in the art to which this invention pertains. It should also be understood that terms such as those defined in general dictionaries should be understood to have the same meaning as in the context of the prior art, and should not be interpreted in an idealized or overly formal sense unless specifically defined as herein.

[0032] The present invention provides an automated guided vehicle (AGV) with multiple reflective sensors installed on the edge of the pallet. These sensors emit light into the air to detect whether the goods loaded on the pallet exceed the pallet's boundary. When the AGV enters a narrow passage, if the goods on the pallet do not exceed the pallet's boundary, the goods will not collide with the passage, thus protecting the goods.

[0033] In a typical embodiment of the present invention, combined with Figure 1 , Figure 4 and Figure 5 The automated guided vehicle 10 includes a vehicle body 110 and a control unit, which controls the operation of the automated guided vehicle 10. A pallet mechanism 200 is provided on the vehicle body 110. The pallet mechanism 200 includes a pallet 210 and multiple reflection sensors 220. The pallet 210 is disposed on the roof 111 of the vehicle body 110, and the orientation of the pallet 210 is the same as the orientation of the roof 111, to facilitate loading goods onto the pallet 210. The multiple reflection sensors 220 are electrically connected to the control unit. In this embodiment, the width of the pallet 210 is greater than or equal to the width of the automated guided vehicle 10. When loading goods onto the pallet 210, the goods can be stacked sequentially on the pallet 210 along the height direction of the vehicle body 110.

[0034] The plurality of reflection sensors 220 are arranged sequentially along the edge of the tray 210. The emitting head of the reflection sensor 220 faces the same direction as the roof 111. The emitting head emits light rays, which are rays emitted outward along the height direction. The reflection sensor 220 is an infrared sensor or a laser sensor. In this embodiment, the present invention is described using a laser sensor as an example, but this should not be construed as a limitation of the present invention.

[0035] When the multiple reflection sensors 220 simultaneously emit light, they form multiple light rays above the pallet 210, which together form a boundary detection grating. This boundary detection grating provides the automated guided vehicle 10 with an efficient and accurate mechanism for detecting the size of goods. When the reflection sensors 220 emit light, these rays form an invisible grating in space, namely the boundary detection grating. The layout of this boundary detection grating matches the size of the pallet 210, enabling real-time size monitoring of goods placed on the pallet 210.

[0036] When goods are placed on the pallet 210, if the size of the goods exceeds the allowable range of the pallet 210, a portion of the goods' structure (referred to as the "excess portion") will encroach on the detection area formed by the boundary detection grating. In this case, the excess portion will block the light emitted by the reflection sensor 220 and reflect the light back to the corresponding reflection sensor 220.

[0037] The reflection sensor 220 receives the reflected light and generates an electrical signal, which is then output to the control unit. Upon receiving the signal, the control unit determines whether the excess portion of the goods protrudes from the pallet 210, accurately determining whether the actual size of the goods exceeds the allowable range of the pallet 210. This rapid response mechanism significantly reduces detection time, enabling the automated guided vehicle 10 to acquire goods size information in real time and efficiently during loading. Compared to traditional detection methods, this avoids the problem of undetected oversized goods due to detection delays, effectively improving the accuracy and safety of loading, reducing the risk of subsequent safety accidents caused by goods size issues, and ensuring the smooth operation of the entire logistics handling process.

[0038] In this embodiment, combined with Figure 4 The plurality of reflection sensors 220 are divided into two groups, with each group of reflection sensors 220 disposed on one side of the tray 210 in the width direction, and the two groups of reflection sensors 220 respectively disposed on both sides of the tray 210 in the width direction. The light emitted by each of the plurality of reflection sensors 220 in each group forms a boundary detection grating, and the light emitted by the two groups of reflection sensors 220 respectively forms two boundary detection gratings, which are disposed on both sides of the tray 210 in the width direction.

[0039] Two boundary detection gratings can accurately detect the boundaries of goods from both sides of the pallet 210. No matter where the goods exceed the width of the pallet 210, they can be detected promptly and accurately. Compared to single-point detection or simple linear detection methods, grating detection has a wider coverage area, forming a continuous detection zone, greatly improving the reliability and accuracy of detection. Even if the goods have irregular shapes or local protrusions, the comprehensive detection by the gratings can accurately determine whether they exceed the pallet's allowable range, effectively avoiding misjudgments or omissions caused by blind spots, providing a solid guarantee for the safe operation of the automated guided vehicle 10.

[0040] In one embodiment, combined Figure 5 The plurality of reflection sensors 220 are arranged in a circular manner along the edge of the tray 210. Furthermore, these reflection sensors 220 are evenly distributed along the edge of the tray 210. This arrangement ensures that the light emitted by each reflection sensor 220 interacts with each other to form a cylindrical boundary detection grating.

[0041] The boundary detection grating works in conjunction with the pallet 210 to enclose a dedicated area for placing goods, namely the goods placement area. This goods placement area exhibits a cylindrical structure. In practical applications, goods will be loaded onto the pallet 210 and can be stacked sequentially along the height direction to meet the loading requirements of different cargo volumes.

[0042] In this embodiment, multiple reflective sensors 220 are evenly arranged around the edge of the pallet 210 to form a cylindrical boundary detection grating. Compared with traditional single-point or local detection methods, the cylindrical grating can detect the goods from all directions. No matter where the goods exceed the boundary on the pallet 210, or in which direction they protrude, they can be detected promptly by the light emitted by the reflective sensors 220. For example, when goods irregularly protrude from a corner of the pallet 210, the cylindrical grating can still effectively detect them, avoiding the problem of undetected out-of-limit goods due to blind spots. This greatly improves the accuracy and reliability of goods size detection, providing strong protection for the safe operation of the automated guided vehicle 10.

[0043] The reflective sensors 220 arranged around the edge of the pallet 210 and the cylindrical boundary detection grating they form optimize the space utilization and layout of the entire detection system. They do not occupy excessive effective loading space on the pallet 210, allowing goods to be placed using the pallet 210's area to the maximum extent. Simultaneously, the evenly distributed reflective sensors 220 ensure the uniformity and consistency of the detection light, preventing overly dense or sparse local detection and improving the overall performance of the detection system. Furthermore, the cylindrical boundary detection grating, combined with the pallet 210, forms a relatively independent goods placement area, facilitating goods management and monitoring, and making the loading and transportation process of the automated guided vehicle 10 more orderly and efficient.

[0044] In a typical embodiment of the present invention, combined with Figure 1 With the ground as a reference plane, the automated guided vehicle 10 is positioned on the ground. In the projection direction of the ground, when the projection of the goods protrudes beyond the projection of the pallet 210, the actual size of the goods exceeds the allowable range of the pallet 210. The goods may be longer or wider than the pallet 210 or have a shifted center of gravity, causing the excess portion of the goods to extend beyond the pallet 210.

[0045] When the automated guided vehicle (AGV) travels in narrow passages, such as alleyways where the width is equal to or slightly greater than the width of the pallet, the excess cargo may collide with the alleyway walls, or even fall to the ground, causing damage or breakage. For example, in an alleyway only 360mm wide, if the AGV's pallet is 350mm wide and the cargo is actually 380mm wide, the cargo loaded on the pallet will directly collide with the alleyway walls after the AGV enters the alley, causing damage, falling, or even affecting the normal operation of the AGV.

[0046] Combination Figure 4 In this invention, two sets of reflection sensors 220 on the automated guided vehicle 10 are respectively disposed on both sides of the pallet 210 in the width direction. The light emitted by the two sets of reflection sensors 220 forms two boundary detection gratings, which are disposed on both sides of the pallet 210 in the width direction. When the width of the goods is greater than the size of the pallet 210, at least one protruding part of the goods will protrude relative to the pallet 210 in the width direction. This protruding part will block the light emitted by at least one of the multiple reflection sensors 220. The protruding part will reflect the blocked light, and the light will be reflected back to the corresponding reflection sensor 220. After receiving the reflected light, the reflection sensor 220 will generate an electrical signal and output the electrical signal to the control unit.

[0047] After receiving the electrical signal, the control unit determines that a portion of the cargo's structure protrudes from the pallet 210 along its width. This means the cargo's actual dimensions exceed the pallet 210's allowable range. The cargo may be excessively long or wide relative to the pallet 210, or its center of gravity may be offset, causing a portion of the cargo's structure to extend beyond the pallet 210. Since the automated guided vehicle 10 primarily operates in narrow alleyways, when the cargo's actual dimensions exceed the pallet 210's allowable range, the cargo may collide with the alleyway walls during operation, causing damage or the cargo to fall.

[0048] After receiving the electrical signal, the control unit will analyze and determine the actual dimensions of the goods corresponding to that signal. If the determination shows that the actual dimensions of the goods exceed the preset allowable range of pallet 210, the control unit will perform at least one of the following operations according to a preset program and strategy: Firstly, the control unit sends control commands to the alarm module of the automated guided vehicle 10, driving the alarm module to perform alarm actions. The alarm module can realize the alarm function in various ways, such as emitting a loud alarm sound, flashing a conspicuous warning light, or using a combination of sound and light to alarm, thereby intuitively and clearly prompting the user that the current cargo size exceeds the allowable range, guiding the user to adjust the cargo size in a timely manner to ensure that the cargo size meets the load-bearing requirements of the pallet 210.

[0049] Secondly, the control unit can directly control the automated guided vehicle 10 to stop working. Specifically, the control unit will cut off the power output system of the automated guided vehicle 10 or lock its drive unit, so that the automated guided vehicle 10 stops running immediately, preventing safety accidents caused by the size of the goods exceeding the limit during subsequent operation, and ensuring the safety of the entire handling operation.

[0050] Third, the control unit can report overload information to external devices through the communication unit equipped on the automated guided vehicle 10. This communication unit can establish a connection and transmit data with external devices using wired communication (such as Ethernet communication) or wireless communication (such as Wi-Fi, Bluetooth, 4G / 5G communication, etc.). The reported overload information is detailed and comprehensive, clearly including specific information about the goods loaded on pallet 210 exceeding the permissible range of pallet 210, such as the direction of deviation, so that external devices (such as the management system of the monitoring center, the operator's handheld terminal, etc.) can promptly obtain relevant information and make corresponding decisions and actions.

[0051] Through the various operating modes of the aforementioned control unit, the safety of the automated guided vehicle 10 during subsequent operation can be effectively ensured. Especially when the automated guided vehicle 10 needs to operate in relatively narrow environments such as alleys, it can effectively prevent goods from colliding with the walls of the alley due to exceeding the size limit, thereby protecting the goods from damage. At the same time, it also helps maintain the structural integrity and normal operation of the automated guided vehicle 10 itself, improving the reliability and stability of the entire logistics handling system.

[0052] Furthermore, the reflective sensor 220 can detect not only the size of a single layer of goods but also the size of multiple stacked goods. Because the emitting head of the reflective sensor 220 faces the same direction as the roof 111, when multiple goods are stacked along the height direction, the light emitted by the reflective sensor 220 can simultaneously detect whether the stacked goods exceed the allowable range of the pallet 210, thus expanding the detection range of the reflective sensor 220. This ensures that when the automated guided vehicle 10 is loading multiple layers of goods, each layer will not exceed the allowable range of the pallet 210, further improving the safety and reliability of goods transportation. Through the synergistic effect of the boundary detection grating, the automated guided vehicle 10 can effectively prevent goods from colliding with the surrounding environment in various complex environments, ensuring the integrity of the goods and the normal operation of the vehicle.

[0053] In one embodiment, combined Figure 3 The pallet 210 is also provided with a plurality of baffles 230 along its edge. The baffles 230 are evenly arranged along the edge of the pallet 210 to limit the goods loaded on the pallet 210, so that the goods can be stably loaded on the pallet 210.

[0054] In a typical embodiment of the present invention, combined with Figure 3 The vehicle body 110 is also provided with a turntable mechanism 300. The pallet mechanism 200 and the turntable mechanism 300 are arranged vertically along the height direction, that is, the turntable mechanism 300 is closer to the bottom 112 of the vehicle body 110 than the pallet mechanism 200. The pallet mechanism 200 is mounted on the turntable mechanism 300, and the turntable mechanism 300 is used to drive the pallet mechanism 200 to rotate so that the pallet 210 can be loaded with goods.

[0055] The turntable mechanism 300 includes a geared disc 310, a first motor 320, and a support frame 330. The support frame 330 includes a pair of support legs 331 and a crossbeam 332. The pair of support legs 331 are spaced apart along the width direction. The crossbeam 332 is disposed on the support legs 331 and is connected to the pair of support legs 331. The geared disc 310 is disposed on the crossbeam 332 and is pivotally mounted on the crossbeam 332, that is, the geared disc 310 can rotate relative to the crossbeam 332.

[0056] The toothed disk 310 has external teeth on its edge. The first motor 320 meshes with the external teeth of the toothed disk 310 through a gear train, and the first motor 320 drives the toothed disk 310 to rotate through the gear train. In this embodiment, the gear train includes a drive gear 340. The output shaft of the first motor 320 is inserted into the gear hole of the drive gear 340, and the drive gear 340 meshes with the toothed disk 310, so that the first motor 320 drives the toothed disk 310 to rotate through the drive gear 340. The tray 210 is mounted on the toothed disk 310. When the toothed disk 310 is driven to rotate by the first motor 320, the toothed disk 310 will synchronously drive the tray 210 to rotate, so that the tray 210 can be adjusted at an angle to facilitate loading and unloading of goods. In this embodiment, the turntable mechanism 300 further includes a planetary reducer 350, the first motor 320 is driven by the planetary reducer 350, and the first motor 320 is connected to the drive gear 340 via the planetary reducer 350.

[0057] In one embodiment, the turntable mechanism 300 further includes a photoelectric sensor 360 and a light-blocking plate 370. The light-blocking plate 370 is disposed on the geared disk 310. When the geared disk 310 rotates, it will drive the light-blocking plate 370 to rotate synchronously. The photoelectric sensor 360 is disposed on the rotation path of the light-blocking plate 370. When the geared disk 310 drives the light-blocking plate 370 past the photoelectric sensor 360, the light-blocking plate 370 will block the light emitted by the photoelectric sensor 360, causing the photoelectric sensor 360 to generate a light-blocking signal. The photoelectric sensor 360 outputs the light-blocking signal to the control unit. Based on the light-blocking signal, the control unit obtains the rotation angle of the geared disk 310 to correspondingly obtain the rotation angle of the tray 210.

[0058] In this embodiment, the gear disk 310 is provided with multiple light-blocking plates 370, which are evenly distributed along the circumference of the gear disk 310. For example, if the gear disk 310 has two light-blocking plates 370, they are arranged at 180° apart; if the gear disk 310 has three light-blocking plates 370, they are arranged sequentially along the circumference of the gear disk 310, with adjacent light-blocking plates 370 arranged at 120° apart. By providing multiple light-blocking plates 370 on the gear disk 310, the gear disk 310 synchronously drives the multiple light-blocking plates 370 to rotate. The photoelectric sensor 360 generates a light-blocking signal based on the multiple light-blocking plates 370. Based on the received light-blocking signal, the control unit can effectively monitor the rotation angle of the gear disk 310. It can be understood that the control unit can also monitor the rotation angle of the tray 210.

[0059] In a typical embodiment of the invention, combined with Figure 1 and Figure 2 The automated guided vehicle 10 also includes a pair of wheel sets 400, which are respectively disposed on both sides of the width direction of the vehicle body 110 and located at the bottom 112 of the vehicle body 110. The pair of wheel sets 400 move in coordination to drive the automated guided vehicle 10 to move.

[0060] The wheel assembly 400 includes a drive assembly 410, combined with Figure 6 and Figure 7 The drive assembly 410 includes a drive mechanism 411, a support crossbar 412, and a pressure adjustment mechanism 414. The drive mechanism 411 and the pressure adjustment mechanism 414 are respectively disposed at both ends of the support crossbar 412 along its length. The drive mechanism 411 includes a drive member 4111 and a drive wheel 4113. The drive member 4111 and the drive wheel 4113 are respectively disposed on both sides of the support crossbar 412 along its thickness. The drive member 4111 and the drive wheel 4113 are connected in a transmission manner. The drive member 4111 is used to drive the drive wheel 4113 to rotate.

[0061] In one embodiment, the drive unit 4111 includes a first reducer 4112, which is connected to a second motor (not shown) disposed in the vehicle body 110. The two ends of the drive shaft passing through the support crossbar 412 are connected to the first reducer 4112 and the drive wheel 4113 respectively, so that the second motor can drive the drive wheel 4113 to rotate via the first reducer 4112.

[0062] The pressure adjustment mechanism 414 includes a connecting plate 4141 and a first universal wheel 4143. The connecting plate 4141 is connected to one end of the support crossbar 412 along its length, and the connecting plate 4141 extends from the end of the support crossbar 412 along the length direction. The first universal wheel 4143 is pivotally mounted on the bottom surface of the connecting plate 4141. After the driving member 4111 drives the driving wheel 4113 to rotate, the driving wheel 4113 will drive the first universal wheel 4143 to rotate.

[0063] The automated guided vehicle 10 is equipped with a pair of wheel sets 400, wherein the drive components 410 of each wheel set 400 work together to enable the automated guided vehicle 10 to move freely.

[0064] In this embodiment, the diameter of the drive wheel 4113 in the drive assembly 410 is larger than that of the first omnidirectional wheel 4143. During operation, the drive wheel 4113 drives the first omnidirectional wheel 4143 to rotate. Due to the difference in their wheel diameters, the drive wheel 4113 and the first omnidirectional wheel 4143 have different angular velocities while maintaining the same linear velocity.

[0065] The pair of wheel sets 400 are respectively disposed on both sides of the vehicle body 110 in the width direction. Each drive wheel 4113 in each wheel set 400 is individually equipped with a second motor. When the automated guided vehicle 10 performs a turning operation, the two second motors provide different angular velocities to their respective drive wheels 4113, thereby creating a linear velocity difference between the two drive wheels 4113, which enables the automated guided vehicle 10 to smoothly complete the turning action.

[0066] In this embodiment, the automated guided vehicle 10 further includes a base plate 113, the vehicle body 110 is disposed on the base plate 113, the pressure adjustment mechanism 414 and the drive assembly 410 are also disposed on the base plate 113, and the base plate 113 has multiple openings, the drive wheel 4113 and the first omnidirectional wheel 4143 can pass through the corresponding openings on the base plate 113, so that the drive wheel 4113 and the first omnidirectional wheel 4143 are in contact with the ground.

[0067] The pressure adjustment mechanism 414 further includes a pressure spring 4142, one end of which is connected to an adjusting bolt 4144, which is connected to the bottom surface of the connecting plate 4141. The other end of the pressure spring 4142 abuts against the top surface of the base plate 113, and the pressure spring 4142 is farther away from the support crossbar 412 than the first universal wheel 4143.

[0068] In this embodiment, the adjusting bolt 4144 is threadedly connected to the screw hole on the connecting plate 4141. By adjusting the distance between the adjusting bolt 4144 and the base plate 113, the elastic pressure between the pressure spring 4142 and the base plate 113 is adjusted. Specifically, as the adjusting bolt 4144 gradually approaches the base plate 113, the compression of the pressure spring 4142 continuously increases. According to Hooke's Law, the elastic force of the spring is proportional to the amount of compression. Therefore, as the amount of compression increases, the elastic pressure of the pressure spring 4142 on the base plate 113 also increases accordingly. Conversely, as the adjusting bolt 4142 gradually moves away from the base plate 113, the compression of the pressure spring 4142 gradually decreases, thereby causing the elastic pressure of the pressure spring 4142 on the base plate 113 to decrease accordingly.

[0069] The drive assembly 410 further includes a support mechanism 413, which includes a support block 4131, a first bearing 4132, and a first connecting shaft 4134. A first bearing hole 4121 is provided on the support crossbar 412. In this embodiment, the first bearing hole 4121 is located near the center of the support crossbar 412 along its length direction, and the first bearing 4132 is installed in the first bearing hole 4121. The support block 4131 is situated on the top surface of the base plate 113 and is located on one side of the support crossbar 412 along its thickness direction. The support block 4131 is correspondingly positioned to the first bearing 4132. One end of the first connecting shaft 4134 is inserted into the support block 4131, and the other end is inserted into the first bearing hole 4121 of the first bearing 4132, allowing the first bearing 4132 to rotate around the first connecting shaft 4132.

[0070] The drive mechanism 411 and the pressure adjustment mechanism 414 form a lever with the support mechanism 413 as the fulcrum. The support crossbar 412 acts as a rigid lever in the entire structure, playing an important role in transmitting force and realizing motion conversion. Because the pressure spring 4142 abuts against the base plate 113, it exerts elastic pressure on the base plate 113. Furthermore, since the drive mechanism 411 and the pressure adjustment mechanism 414 form a lever with the support mechanism 413 as the fulcrum, the pressure spring 4142 of the pressure adjustment mechanism 414 can transmit the elastic pressure to the drive wheel 4113 of the drive mechanism 411 via the lever. This gives the drive wheel 4113 a contact pressure towards the ground, thereby increasing the drive wheel 4113's grip on the ground. This allows the drive wheel 4113 to travel on uneven ground, effectively preventing the transport vehicle from shaking, dangling, or slipping due to sufficient grip.

[0071] This is crucial for the automated guided vehicle 10 to stably transport goods, as shaking during transportation can damage the goods, especially for precision instruments and fragile items, where the damage can be irreversible. In this embodiment, by enhancing the grip of the drive wheels 4113, the stability of the automated guided vehicle 10 is greatly improved, effectively preventing damage to the goods caused by shaking and ensuring safe transportation.

[0072] In a further embodiment, the elastic pressure between the pressure spring 4142 and the base plate 113 can be controlled by adjusting the distance between the adjusting bolt 4144 and the base plate 113. Since the elastic pressure of the pressure spring 4142 is closely related to the abutting pressure applied to the drive wheel 4113, the abutting pressure on the drive wheel 4113 can be indirectly controlled by adjusting the distance between the adjusting bolt 4144 and the base plate 113.

[0073] In practical use, different terrains require different grip from the drive wheels. For example, on relatively flat ground, the drive wheels 4113 do not need excessive contact pressure to ensure stable driving; however, on uneven ground with low friction, the contact pressure of the drive wheels 4113 needs to be increased to improve grip. By adjusting the contact pressure applied to the drive wheels 4113, the automated guided vehicle 10 can adapt to various complex terrain environments, greatly improving its adaptability.

[0074] Thus, the automated guided vehicle 10, through the reasonable application of the lever principle and combined with an adjustable pressure control mechanism, achieves the purpose of stable operation and effective protection of goods in various terrains.

[0075] In a typical embodiment of the present invention, combined with Figure 2 and Figure 8 The wheel assembly 400 further includes a driven mechanism 415, which includes a caster seat 4151, a wheel plate 4152, a compression spring 4154, and a second swivel wheel 4155. The caster seat 4151 is connected to the vehicle body 110, and the caster seat 4151 and the wheel plate 4152 are spaced apart and pivotally connected.

[0076] The second omnidirectional wheel 4155 includes a wheel body 4156 and a wheel frame 4157. The wheel body 4156 is pivotally mounted on the wheel frame 4157 to form the second omnidirectional wheel 4155. The wheel frame 4157 and the wheel plate 4152 are spaced apart. A plurality of compression springs 4154 are provided between the wheel plate 4152 and the wheel frame 4157. The plurality of compression springs 4154 are used to adjust the pressure of the second omnidirectional wheel 4155 on the ground to prevent the second omnidirectional wheel 4155 from being suspended in the air during travel, especially on uneven ground. The compression springs 4154 can adjust the pressure of the second omnidirectional wheel 4155 on the ground so that the second omnidirectional wheel 4155 will not be suspended in the air, thereby allowing the automated guided vehicle 10 to travel and operate stably.

[0077] From a mechanical perspective, the compression spring 4154 plays a mechanical adjustment role between the second omnidirectional wheel 4155 and the wheel plate 4152. When the automated guided vehicle 10 travels on uneven ground, the second omnidirectional wheel 4155 will be subjected to uneven pressure due to the undulations in the ground. At this time, the compression spring 4154 can absorb and buffer this uneven pressure through its own elastic deformation, ensuring that the second omnidirectional wheel 4155 always maintains good contact with the ground, thereby ensuring the stability of the automated guided vehicle 10 during travel.

[0078] Specifically, when the second caster wheel 4155 encounters a protrusion, the compression spring 4154 will be further compressed, reducing the upward impact force on the second caster wheel 4155; while when the second caster wheel 4155 travels to a depression, the second caster wheel 4155 will drop, stretching the compression spring 4154, causing the compression spring 4154 to change from a compressed state to an extended state, thereby extending the compression spring 4154, increasing the pressure of the second caster wheel 4155 on the ground, preventing it from being suspended in the air, ensuring sufficient friction between the second caster wheel 4155 and the ground, and maintaining the smooth travel of the automated guided vehicle 10.

[0079] In this embodiment, the first omnidirectional wheel 4143 and the second omnidirectional wheel 4155 of the same wheel set 400 are respectively disposed at both ends of the vehicle body 110 along its length, and the drive wheel 4113 is disposed between the first omnidirectional wheel 4143 and the second omnidirectional wheel 4155. In one embodiment, the drive wheel 4113 is disposed at the center position along the length of the vehicle body 110, and the drive member 4111 drives the drive wheel 4113 to rotate, and the drive wheel 4113 synchronously drives the first omnidirectional wheel 4143 and the second omnidirectional wheel 4155 to rotate. The pair of wheel sets 400 cooperate to enable the automated guided vehicle 10 to travel and operate stably.

[0080] The drive wheel 4113 is positioned at the center of the vehicle body 110 along its length, enabling the automated guided vehicle 10 to maintain a more balanced center of gravity during operation, thereby improving stability. When the drive wheel 4113 rotates, it generates driving force through friction with the ground, propelling the automated guided vehicle 10 forward. Because the drive wheel 4113 is centrally located, its driving force is evenly distributed to the first omnidirectional wheel 4143 and the second omnidirectional wheel 4155, resulting in more coordinated movement of the entire vehicle body 110. Simultaneously, the first omnidirectional wheel 4143 and the second omnidirectional wheel 4155 rotate synchronously under the drive wheel 4113, further enhancing the smoothness and reliability of the automated guided vehicle 10's movement.

[0081] In a further embodiment, combined with Figure 8 The driven mechanism 415 further includes a second bearing 4158 and a second connecting shaft 4159. A second bearing hole (not shown) is provided on the caster seat 4151, and the second bearing 4158 is installed in the second bearing hole. Figure 9 The wheel plate 4152 has an eccentric hole 4153, one end of the second connecting shaft 4159 is connected to the eccentric hole 4153, and the other end is connected to the second bearing hole of the second bearing 4158.

[0082] Because the eccentric hole 4153 is eccentrically set, through torque distribution, the second universal wheel 4155 will not be strained when the automatic guided transport vehicle 10 rotates 180 degrees when it changes direction, thus avoiding vehicle body swaying and enabling the automatic guided transport vehicle 10 to drive stably.

[0083] From a mechanical perspective, the eccentric hole 4153 cleverly utilizes the principle of torque distribution. When the automated guided vehicle 10 needs to reverse direction, the second universal wheel 4155 needs to rotate 180 degrees. Due to the presence of the eccentric hole 4153, an eccentric torque is generated when the second connecting shaft 4159 engages with the eccentric hole 4153. This eccentric torque effectively balances and counteracts the uneven torque generated during the rotation of the second universal wheel 4155, thus preventing the second universal wheel 4155 from experiencing force congestion during rotation. Simultaneously, this also prevents vehicle swaying caused by uneven forces, ensuring a smooth transition of the automated guided vehicle 10 during reversal and improving its stability and reliability.

[0084] In one embodiment, the width of the automated guided vehicle 10 of the present invention is 350 mm, making the automated guided vehicle 10 suitable for operation in narrow passages.

[0085] In summary, the automated guided vehicle of the present invention uses multiple reflective sensors on the edge of the pallet. The light emitted by each of these multiple reflective sensors together forms a boundary detection grating. The boundary detection grating detects whether the goods loaded on the pallet exceed the predetermined size, thereby preventing the goods from colliding with the passageway and causing damage when the automated guided vehicle is running in narrow passages.

[0086] The above description is merely a preferred embodiment of the present invention and an explanation of the technical principles employed. Those skilled in the art should understand that the scope of the invention is not limited to the specific combination of the above-described technical features, but also includes other technical solutions formed by arbitrary combinations of the above-described technical features or their equivalents without departing from the inventive concept. For example, technical solutions formed by substituting the above-described features with (but not limited to) technical features with similar functions as those in the present invention.

[0087] Although the subject matter has been described using language specific to structural features and / or methodological logic, it should be understood that the subject matter defined in the appended claims is not necessarily limited to the specific features or actions described above. Rather, the specific features and actions described above are merely illustrative examples of implementing the claims.

Claims

1. An automated guided vehicle, characterized in that, The application relates to an automatic guided vehicle, which comprises a vehicle body (110) and a control unit, wherein the vehicle body (110) is provided with a tray mechanism (200), the tray mechanism (200) comprises a tray (210) and a plurality of reflection sensors (220) arranged along the edge of the tray (210), the tray (210) is used for loading goods along the height direction of the vehicle body (110), the reflection sensors (220) emit light along the vertical direction of the vehicle body (110), and the light emitted by the plurality of reflection sensors (220) jointly forms a boundary detection grating; when any one of the reflection sensors (220) receives reflected light, a corresponding electrical signal is output to the control unit electrically connected thereto, and the control unit judges whether the goods exceed the boundary detection grating based on the electrical signal.

2. The automated guided carrier of claim 1, wherein, The plurality of reflection sensors (220) are divided into two groups, and the two groups of reflection sensors (220) are arranged on opposite sides in the width direction of the tray (210); the light emitted by each group of reflection sensors (220) jointly forms a boundary detection grating.

3. The automated guided carrier of claim 1, wherein, The plurality of reflection sensors (220) are uniformly arranged along the edge of the tray (210), and the light emitted by the plurality of reflection sensors (220) jointly forms a boundary detection grating in a cylindrical structure.

4. The automated guided carrier of claim 1, wherein, The vehicle body (110) is further provided with a turntable mechanism (300), the turntable mechanism (300) comprises a gear disc (310) and a motor, the tray (210) is arranged on the gear disc (310), the motor is electrically connected to the control unit, the motor is in transmission connection with the gear disc (310), and the gear disc (310) drives the tray (210) to move synchronously.

5. The automated guided vehicle of claim 4, wherein, The turntable mechanism (300) further comprises a photoelectric sensor (360) and a light shielding sheet (370), the light shielding sheet (370) is arranged on the gear disc (310), the photoelectric sensor (360) is arranged on the rotation path of the light shielding sheet (370), and the photoelectric sensor (360) is electrically connected to the control unit.

6. The automated guided carrier of claim 1, wherein, The automatic guided vehicle further comprises a bottom plate (113) and a wheel set (400), the wheel set (400) comprises a driving assembly (410), the driving assembly (410) comprises a driving wheel (4113), a supporting mechanism (413) and a pressure adjusting mechanism (414) arranged on the bottom plate (113), the driving wheel (4113) penetrates through the bottom plate (113) to contact the ground, the driving wheel (4113), the supporting mechanism (413) and the pressure adjusting mechanism (414) are connected through a supporting cross rod (412) and form a lever structure with the supporting mechanism (413) as a fulcrum.

7. The automated guided vehicle of claim 6, wherein, The pressure adjusting mechanism (414) comprises a connecting plate (4141), a pressure spring (4142), an adjusting bolt (4144) and a first universal wheel (4143), the connecting plate (4141) is connected with the support cross bar (412), the adjusting bolt (4144) is screwed with the connecting plate (4141), one end of the pressure spring (4142) is connected with the adjusting bolt (4144), the other end is abutted with the bottom plate (113), and the pressure spring (4142) is farther away from the support cross bar (412) than the first universal wheel (4143).

8. The automated guided vehicle of claim 7, wherein, The support mechanism (413) comprises a first bearing (4132), a first connecting shaft (4134) and a support block (4131), the support cross bar (412) is provided with a first bearing hole (4121), the first bearing (4132) is arranged in the first bearing hole (4121), the support block (4131) is arranged on the bottom plate (113), and the first connecting shaft (4134) is respectively arranged in the support block (4131) and the first bearing (4132), so that the first bearing (4132) can rotate relative to the first connecting shaft (4134).

9. The automated guided vehicle of claim 7, wherein, The wheel set (400) further comprises a driven mechanism (415), the driven mechanism (415) comprises a caster seat (4151), a wheel plate (4152), a second bearing (4158), a second connecting shaft (4159) and a second universal wheel (4155), the caster seat (4151) is connected with the vehicle body (110), the caster seat (4151) is provided with a second bearing hole, the second bearing (4158) is arranged in the second bearing hole, the wheel plate (4152) is provided with an eccentric hole (4153) arranged eccentrically, two ends of the second connecting shaft (4159) are connected with the second bearing (4158) and the eccentric hole (4153) respectively, the second universal wheel (4155) is pivotally arranged on the wheel plate (4152), the second universal wheel (4155) penetrates through the bottom plate (113) to contact the ground, and the first universal wheel (4143) and the second universal wheel (4155) are arranged on two sides of the driving wheel (4113) along the length direction of the vehicle body (110).

10. The automated guided vehicle of claim 9, wherein, The driven mechanism (415) further comprises a compression spring (4154), the compression spring (4154) is arranged in the gap between the wheel plate (4152) and the caster seat (4151), and two ends of the compression spring (4154) are connected with the wheel plate (4152) and the caster seat (4151) respectively.

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