A material handling AGV dynamic autonomous navigation intelligent obstacle avoidance system based on multi-sensor fusion

Abstract

The utility model relates to the technical field of AGV obstacle avoidance system, and discloses a material handling AGV dynamic autonomous navigation intelligent obstacle avoidance system based on multi-sensor fusion. The utility model includes an AGV vehicle, and the two sides of the AGV vehicle are provided with clamping surfaces for fixing an adjustment frame, and the adjustment frame includes an annular fixed outer ring frame, and a rotatable stable rubber wheel is provided at annular intervals on the fixed outer ring frame, and a slewing hoop is rotatably provided in the fixed outer ring frame, and the outer wall surface of the slewing hoop is against the side wall of the stable rubber wheel, and an obstacle sensor for detecting obstacles is fixed on the slewing hoop. The utility model can quickly adjust the detection direction and adjust it in accordance with the forward direction of the ACV vehicle. The adjustment frame provides a certain external anti-collision effect, and the structure is simple, practical and reasonable.

Description

Technical Field

[0001] The utility model relates to the technical field of AGV obstacle avoidance systems, in particular to a material handling AGV dynamic autonomous navigation intelligent obstacle avoidance system based on multi-sensor fusion. Background Art

[0002] The existing Chinese patent publication number is (CN219487611U), which discloses an AGV chassis with an obstacle avoidance structure, including a main body. By setting a slide at one end of the obstacle avoidance sensor and pulling the limit link, the obstacle avoidance sensor can be limited. At this time, the direction of different obstacle avoidance sensors can be adjusted according to different road conditions, and then the telescopic spring column drives the card teeth to engage and connect to the inside of the card slot to form a limit to prevent loosening. The operation is simple and this structure can be used to easily adapt to different road conditions for the transportation of goods. After one end of the slide is slid and installed inside the slide slot, the push plate is pressed and the slide is pushed to adjust the sensing range. The positioning pin rod can be automatically engaged and connected to the inside of the positioning hole through the elastic folding plate to form a limit. The structure is simple and the obstacle avoidance sensor can be easily installed and disassembled for easy maintenance and use. At the same time, its sensing range can also cover both sides of the whole to avoid collision with external objects when the transported goods are wider.

[0003] However, the ACV vehicle can directly move forward, backward, left and right during movement, which is more convenient, while the above patent can only detect a single direction, which is not conducive to safety. Utility Model Content

[0004] The technical problem to be solved by the utility model is: in order to overcome the above-mentioned problems, a material handling AGV dynamic autonomous navigation intelligent obstacle avoidance system based on multi-sensor fusion is provided, which solves the above-mentioned problems.

[0005] The utility model solves the technical problem by adopting the following technical solutions:

[0006] A material handling AGV dynamic autonomous navigation intelligent obstacle avoidance system based on multi-sensor fusion, comprising an AGV vehicle, wherein both sides of the AGV vehicle are provided with clamping surfaces for fixing an adjustment frame;

[0007] The adjustment frame includes an annular fixed outer ring frame, on which rotatable stable rubber wheels are arranged at annular intervals, a swivel hoop is rotatably arranged inside the fixed outer ring frame, and the outer wall surface of the swivel hoop abuts against the side wall of the stable rubber wheel, an obstacle sensor for detecting obstacles is fixedly arranged on the swivel hoop, clamping arms for clamping are symmetrically fixedly arranged at the lower end of the fixed outer ring frame, and a clamping disk for clamping and fitting is fixedly arranged on the end surface of the clamping arm.

[0008] Preferably, driven teeth are provided at annular intervals on the lower edge of the swivel hoop, and a driving motor mounting frame is fixedly provided on the side of the fixed outer ring frame. A driving motor for driving the swivel hoop to rotate is fixedly provided in the driving motor mounting frame, and a driving gear is fixedly provided on the output shaft of the driving motor and meshes with the driven teeth on the swivel hoop. The swivel hoop can be rotated by controlling the driving motor mounting frame to adjust the direction of the obstacle sensor.

[0009] Preferably, a laser sensor for detecting the distance of an obstacle is fixedly provided on the obstacle sensor, an infrared sensor for detecting the moving speed of the obstacle, and a radar sensor for detecting the dangerous distance of the obstacle in an aerosol environment are also fixedly provided.

[0010] Preferably, an adjusting screw is provided in the inner thread connection of the clamping arm, the clamping plate is fixed at the front end of the adjusting screw, and a turning handle is fixed at the tail end of the adjusting screw. By rotating the turning handle, the clamping plate can be clamped on the clamping surface to achieve fixation, which is convenient for disassembly and assembly.

[0011] Preferably, the annular gap between the fixed outer ring frame and the swivel hoop is filled with grease to improve the stability of the swivel hoop during the rotation process.

[0012] Preferably, in order to improve the anti-skid property of the clamping disk, a rubber anti-skid sheet or a silicone anti-skid sheet is adhesively fixed on the front end surface of the clamping disk, and anti-skid patterns are provided on the surface of the anti-skid sheet.

[0013] The advantages and positive effects of the utility model are:

[0014] 1. This device can quickly adjust the detection direction to match the forward direction of the ACV vehicle.

[0015] 2. The adjustment frame provides a certain external anti-collision effect.

[0016] 3. Simple structure, practical and reasonable. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] The utility model is further described below in conjunction with the accompanying drawings and embodiments.

[0018] Figure 1 It is a structural schematic diagram of the utility model;

[0019] Figure 2 yes Figure 1 An enlarged structural schematic diagram of the middle adjustment frame 10;

[0020] Figure 3 yes Figure 1 An enlarged structural diagram of another embodiment of the middle clamping arm 16 is shown. DETAILED DESCRIPTION

[0021] Now the utility model is further described in detail with reference to the accompanying drawings. These drawings are simplified schematic diagrams, which only illustrate the basic structure of the utility model in a schematic manner, and therefore only show the components related to the utility model.

[0022] The following is a further description of the embodiments of the present invention in conjunction with the accompanying drawings:

[0023] like Figure 1-3 As shown, the material handling AGV dynamic autonomous navigation intelligent obstacle avoidance system based on multi-sensor fusion described in the utility model includes an AGV vehicle 11, and the two sides of the AGV vehicle 11 are provided with clamping surfaces 12 for fixing the adjustment frame 10;

[0024] The adjustment frame 10 includes an annular fixed outer ring frame 13, on which rotatable stabilizing rubber wheels 15 are arranged at annular intervals, a swivel hoop 14 is rotatably arranged inside the fixed outer ring frame 13, and the outer wall surface of the swivel hoop 14 abuts against the side wall of the stabilizing rubber wheel 15, an obstacle sensor 20 for detecting obstacles is fixedly arranged on the swivel hoop 14, a clamping arm 16 for clamping is symmetrically fixedly arranged at the lower end of the fixed outer ring frame 13, and a clamping disk 17 for clamping and fitting is fixedly arranged on the end surface of the clamping arm 16.

[0025] Preferably, driven teeth are provided at annular intervals on the lower edge of the rotating hoop 14, and a driving motor mounting frame 18 is fixedly provided on the side of the fixed outer ring frame 13. A driving motor 19 for driving the rotating hoop 14 to rotate is fixedly provided in the driving motor mounting frame 18. A driving gear is fixedly provided on the output shaft of the driving motor 19 and meshes with the driven teeth on the rotating hoop 14. The rotating hoop 14 can be controlled to rotate by the driving motor mounting frame 18 to adjust the direction of the obstacle sensor 20.

[0026] Preferably, a laser sensor 21 for detecting the distance of an obstacle is fixedly provided on the obstacle sensor 20, an infrared sensor 22 for detecting the moving speed of the obstacle, and a radar sensor 23 for detecting the dangerous distance of the obstacle in an aerosol environment are also fixedly provided.

[0027] Preferably, an adjusting screw 24 is provided in the internal thread connection of the clamping arm 16, the clamping plate 17 is fixed to the front end of the adjusting screw 24, and a turning handle 25 is fixed to the tail end of the adjusting screw 24. By rotating the turning handle 25, the clamping plate 17 can be clamped on the clamping surface 12 to achieve fixation, which is convenient for disassembly and assembly.

[0028] Preferably, the annular gap between the fixed outer ring frame 13 and the swivel hoop 14 is filled with grease to improve the stability of the swivel hoop 14 during the swivel process.

[0029] Preferably, in order to improve the anti-skid property of the clamping disk 17, a rubber anti-skid sheet or a silicone anti-skid sheet is glued and fixed on the front end surface of the clamping disk 17, and anti-skid patterns are provided on the surface of the anti-skid sheet.

[0030] It should be emphasized that the embodiments described in the present invention are illustrative rather than restrictive. Therefore, the present invention is not limited to the embodiments described in the specific implementation manner. Any other implementation manners derived by those skilled in the art based on the technical solution of the present invention also fall within the scope of protection of the present invention.

Claims

1. A material handling AGV dynamic autonomous navigation intelligent obstacle avoidance system based on multi-sensor fusion, comprising an AGV vehicle (11), wherein both sides of the AGV vehicle (11) are provided with clamping surfaces (12) for fixing an adjustment frame (10); characterized in that: The adjustment frame (10) comprises an annular fixed outer ring frame (13), on which rotatable stabilizing rubber wheels (15) are arranged at annular intervals, a swivel hoop (14) is rotatably arranged inside the fixed outer ring frame (13), and the outer wall surface of the swivel hoop (14) abuts against the side wall of the stabilizing rubber wheel (15), an obstacle sensor (20) for detecting obstacles is fixedly arranged on the swivel hoop (14), a clamping arm (16) for clamping is symmetrically fixedly arranged at the lower end of the fixed outer ring frame (13), and a clamping disc (17) for clamping and fitting is fixedly arranged on the end surface of the clamping arm (16).

2. The material handling AGV dynamic autonomous navigation intelligent obstacle avoidance system based on multi-sensor fusion according to claim 1 is characterized by: Driven teeth are provided at annular intervals on the lower edge of the slewing hoop (14); a driving motor mounting frame (18) is fixedly provided on the side of the fixed outer ring frame (13); a driving motor (19) is fixedly provided in the driving motor mounting frame (18) for driving the slewing hoop (14) to rotate; a driving gear is fixedly provided on the output shaft of the driving motor (19) and meshes with the driven teeth on the slewing hoop (14); the slewing hoop (14) can be controlled to rotate by the driving motor mounting frame (18) and the direction of the obstacle sensor (20) can be adjusted.

3. The material handling AGV dynamic autonomous navigation intelligent obstacle avoidance system based on multi-sensor fusion according to claim 2 is characterized by: A laser sensor (21) for detecting the distance of an obstacle is fixedly arranged on the obstacle sensor (20), an infrared sensor (22) for detecting the moving speed of the obstacle, and a radar sensor (23) for detecting the dangerous distance of the obstacle in an aerosol environment are also fixedly arranged.

4. The material handling AGV dynamic autonomous navigation intelligent obstacle avoidance system based on multi-sensor fusion according to claim 3 is characterized by: An adjusting screw (24) is provided in the internal thread connection of the clamping arm (16), the clamping plate (17) is fixed to the front end of the adjusting screw (24), and a rotating handle (25) is fixed to the rear end of the adjusting screw (24). By rotating the rotating handle (25), the clamping plate (17) can be clamped on the clamping surface (12) to achieve fixation, which is convenient for disassembly and assembly.

5. The material handling AGV dynamic autonomous navigation intelligent obstacle avoidance system based on multi-sensor fusion according to claim 4 is characterized by: The annular gap between the fixed outer ring frame (13) and the slewing hoop (14) is filled with lubricating grease to improve the stability of the slewing hoop (14) during the slewing process.

6. The material handling AGV dynamic autonomous navigation intelligent obstacle avoidance system based on multi-sensor fusion according to claim 5 is characterized by: In order to improve the anti-skid properties of the clamping disc (17), a rubber anti-skid sheet or a silicone anti-skid sheet is glued and fixedly provided on the front end surface of the clamping disc (17), and anti-skid patterns are provided on the surface of the anti-skid sheet.

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