Vehicle body structure of AGV
By installing lidar on the front and rear of the AGV car, instead of the infrared detection device, high-precision obstacle measurement and environmental perception are achieved, the problem of large errors in the infrared detection device in complex environments is solved, and the positioning and navigation accuracy of the AGV car is improved.
Patent Information
- Application Number
- CN202422268208.3
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- Filing Date
- 2024-09-18
- Publication Date
- 2025-07-22
- Estimated Expiration
- 2034-09-18
AI Technical Summary
The infrared detection and anti-collision devices of traditional AGV cars are not stable enough in complex and changeable environments, resulting in large driving errors.
The first and second lidars are used to measure the distances of obstacles ahead and rear respectively, instead of the traditional infrared detection and anti-collision device, providing high-precision distance measurement and environmental perception, and building a detailed three-dimensional map to achieve high-precision positioning and navigation.
It improves the positioning and navigation accuracy of AGV trolleys, reduces driving errors, and can still work normally in complex electromagnetic environments.
Smart Images
Figure CN223132219U_ABST
Abstract
Description
Technical Field
[0001] This application relates to the technical field of AGV vehicles, and particularly to a vehicle body structure of an AGV vehicle. Background Art
[0002] AGV vehicle, the full name is Automated Guided Vehicle, and is also often referred to as an automated guided transporter or an automatic guided transporter. It is an intelligent transport vehicle equipped with an automatic guiding device such as electromagnetic or optical, which can travel along a specified guiding path and has safety protection and various transfer functions. AGV vehicles are commonly used automated equipment in logistics warehousing and industrial applications, and realize the automatic transportation and handling of goods through the built-in automatic guiding device. AGV vehicles have the characteristics of simple structure, high safety, strong flexibility, high accuracy, etc., and can significantly reduce the labor cost of enterprises and improve work efficiency.
[0003] The anti-collision system of traditional AGV vehicles is usually an infrared detection anti-collision device. However, the infrared detection anti-collision device is not stable enough in a complex and changeable environment, resulting in a large driving error of the AGV vehicle. Utility Model Content
[0004] To solve or partially solve the problems existing in the related art, this application provides a vehicle body structure of an AGV vehicle.
[0005] To achieve the above object, this application is implemented through the following technical solutions:
[0006] A vehicle body structure of an AGV vehicle, the vehicle body structure of the AGV vehicle includes:
[0007] Vehicle body;
[0008] A loading mechanism provided at the upper end of the vehicle body;
[0009] A traveling mechanism provided at the lower end of the vehicle body;
[0010] Wherein, a first lidar and a second lidar are respectively provided at the head and tail of the vehicle body. The first lidar is used to emit laser pulses and measure the time difference of the reflected laser pulses to measure the distance of obstacles in front of the vehicle body, and the second lidar is used to emit laser pulses and measure the time difference of the reflected laser pulses to measure the distance of obstacles behind the vehicle body.
[0011] Optionally, USB interfaces and indicator lights are provided on both sides of the first lidar;
[0012] Wherein, a first switch button is provided on a side of the USB interface away from the first lidar, and a second switch button is provided on a side of the indicator light away from the first lidar. The first switch button and the second switch button are electrically connected to a power source disposed inside the vehicle body through a control circuit board.
[0013] Optionally, an LED light strip is installed around the vehicle body above the first lidar.
[0014] Optionally, emergency stop switches are provided on both sides of the front of the vehicle body, a high-definition touch display screen is provided on the upper end face of the front of the vehicle body, a charging brush block is provided at the bottom of the front of the vehicle body, and a drawer-type battery compartment for placing a battery is provided inside the rear of the vehicle body.
[0015] Optionally, a landmark sensor for reading ground landmarks is provided in the middle of the bottom of the vehicle body, and a first magnetic trace navigation and a second magnetic trace navigation are respectively installed on both sides of the landmark sensor.
[0016] Optionally, the traveling mechanism includes:
[0017] Two motors installed at the bottom of the vehicle body, and the output ends of the two motors are respectively connected to a first driving wheel and a second driving wheel;
[0018] Four driven wheels rotatably installed at the four corners of the bottom of the vehicle body.
[0019] Optionally, the cargo-carrying mechanism includes:
[0020] A conveying trough installed at the upper end of the vehicle body through a bracket, several conveying rollers are installed inside the conveying trough, and width adjusting plates are installed above the upper side walls of both sides of the conveying trough through adjusting bolts;
[0021] Wherein, waist-shaped holes are formed in the width adjusting plates, and the adjusting bolts are arranged inside the waist-shaped holes.
[0022] Optionally, handles are provided on both sides of the lower end of the bracket, and the handles are fixedly connected to the upper end face of the vehicle body.
[0023] Advantages of the present application: In the present application, the first lidar and the second lidar are used to replace the traditional infrared detection anti-collision device. The lidar can provide high-precision distance measurement and environmental perception, can accurately obtain three-dimensional information of the surrounding environment, and construct a detailed three-dimensional map, enabling the AGV vehicle to clearly understand its own position and the distribution of surrounding obstacles, thereby helping the AGV vehicle to achieve high-precision positioning and navigation, reducing driving errors, and improving the accuracy of transportation.
[0024] It should be understood that the above general description and the following detailed description are only exemplary and explanatory, and cannot limit the present application. Description of the Drawings
[0025] The above and other objects, features, and advantages of the present application will become more apparent by describing the exemplary embodiments of the present application in more detail with reference to the accompanying drawings, wherein, in the exemplary embodiments of the present application, the same reference numerals generally represent the same components.
[0026] Figure 1 is a schematic diagram of the vehicle body structure of the AGV cart shown in the embodiment of the present application;
[0027] Figure 2 is a side view of the vehicle body structure of the AGV cart shown in the embodiment of the present application;
[0028] Figure 3 is a front view of the vehicle body structure of the AGV cart shown in the embodiment of the present application;
[0029] Figure 4 is a bottom view of the vehicle body structure of the AGV cart shown in the embodiment of the present application;
[0030] Figure 5 is a top view of the vehicle body structure of the AGV cart shown in the embodiment of the present application.
[0031] Reference numerals: 1 vehicle body, 2 first lidar, 3 second lidar, 4 USB interface, 5 indicator light, 6 first switch button, 7 second switch button, 8 LED light bar, 9 emergency stop switch, 10 high-definition touch display screen, 11 charging brush block, 12 drawer-type battery compartment, 13 landmark sensor, 14 first magnetic trace navigation, 15 second magnetic trace navigation, 16 first driving wheel, 17 second driving wheel, 18 driven wheel, 19 bracket, 20 conveying trough, 21 conveying roller, 22 width adjusting plate, 23 adjusting bolt, 24 handle. Detailed implementation manners
[0032] In the description of the present invention, it should be understood that the terms "center", "longitudinal", "transverse", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential", etc. indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings. It is only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be construed as a limitation to the present invention.
[0033] In addition, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the quantity of the indicated technical features. Thus, features defined with "first" and "second" may explicitly or implicitly include at least one of such features. In the description of the present invention, the meaning of "a plurality of" is at least two, such as two, three, etc., unless otherwise specifically defined.
[0034] In the present invention, unless otherwise clearly defined and limited, terms such as "mounted", "connected", "coupled", "fixed", etc. shall be construed in a broad sense. For example, it may be a fixed connection, a detachable connection, or integrated; it may be a mechanical connection, an electrical connection, or communicable with each other; it may be directly connected, or indirectly connected through an intermediate medium, and may be the internal communication of two components or the interaction relationship between two components, unless otherwise clearly limited. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.
[0035] In the present invention, unless otherwise clearly defined and limited, the first feature being "on" or "under" the second feature may be that the first and second features are in direct contact, or the first and second features are indirectly in contact through an intermediate medium. Moreover, the first feature being "above", "over" and "on top of" the second feature may be that the first feature is directly above or obliquely above the second feature, or merely indicates that the first feature has a higher horizontal height than the second feature. The first feature being "under", "below" and "beneath" the second feature may be that the first feature is directly below or obliquely below the second feature, or merely indicates that the first feature has a lower horizontal height than the second feature.
[0036] In the present invention, terms such as "one embodiment", "some embodiments", "example", "specific example" or "some examples", etc. mean that the specific features, structures, materials or characteristics described in connection with the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic descriptions of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described may be combined in a suitable manner in any one or more embodiments or examples. In addition, without contradiction, those skilled in the art can combine and combine the different embodiments or examples described in this specification and the features of different embodiments or examples.
[0037] Although the embodiments of the present invention have been shown and described above, it can be understood that the above embodiments are exemplary and should not be construed as limiting the present invention. Those of ordinary skill in the art can make changes, modifications, substitutions and variations to the above embodiments within the scope of the present invention.
[0038] The above are only optional embodiments of the present application and are not intended to limit the present application. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principle of the present application shall be included in the protection scope of the present application.
[0039] In order to make the purpose, technical solution and beneficial effects of the present application clearer, the preferred embodiments of the present application will be described in detail below with reference to the drawings to facilitate understanding by those skilled in the art.
[0040] Embodiment 1:
[0041] See Figure 1 and Figure 2 , a vehicle body structure of an AGV vehicle, the vehicle body structure of the AGV vehicle includes:
[0042] Vehicle body 1;
[0043] A cargo-carrying mechanism provided at the upper end of the vehicle body 1;
[0044] A traveling mechanism provided at the lower end of the vehicle body 1;
[0045] Among them, a first lidar 2 and a second lidar 3 are respectively provided at the head and the tail of the vehicle body 1. The first lidar 2 is used to emit laser pulses and measure the time difference of the reflected laser pulses to measure the distance to the obstacles in front of the vehicle body 1, and the second lidar 3 is used to emit laser pulses and measure the time difference of the reflected laser pulses to measure the distance to the obstacles behind the vehicle body 1.
[0046] Specifically, the head and the tail of the vehicle body 1 are arc-shaped structures. The cargo-carrying mechanism is fixedly connected to the upper end of the vehicle body 1 for carrying goods, and the traveling mechanism is installed at the bottom of the vehicle body 1 for moving the vehicle body 1; an installation groove for installing the first lidar 2 is provided on the front side of the head, and the second lidar 3 is fixed to the upper end surface of the tail.
[0047] During operation, a safety distance threshold for detecting obstacles can be preset in advance. The first lidar 2 measures the distance to the obstacles in front of the vehicle body 1 by emitting laser pulses and measuring the time difference of the reflected laser pulses. By comparing the scanned data with the preset safety distance threshold, potential collision risks in front of the vehicle body 1 can be quickly identified; the second lidar 3 measures the distance to the obstacles behind the vehicle body 1 by emitting laser pulses and measuring the time difference of the reflected laser pulses. By comparing the scanned data with the preset safety distance threshold, potential collision risks behind the vehicle body 1 can be quickly identified. In this way, through the feedback of the first lidar 2 and the second lidar 3, the AGV vehicle can make timely responses and then take obstacle avoidance measures such as deceleration, steering or stopping to ensure safety.
[0048] In this embodiment, the first lidar 2 and the second lidar 3 are used to replace the traditional infrared detection anti-collision device. The lidar can provide high-precision distance measurement and environmental perception, accurately obtain the three-dimensional information of the surrounding environment, and construct a detailed three-dimensional map, enabling the AGV vehicle to clearly understand its own position and the distribution of surrounding obstacles, thus helping the AGV vehicle to achieve high-precision positioning and navigation, reduce driving errors, and improve the accuracy of transportation.
[0049] In addition, the lidar is not affected by electromagnetic interference and can still work normally even when the AGV vehicle is in a complex electromagnetic environment.
[0050] Embodiment 2:
[0051] See Figures 1 to 5 , based on Embodiment 1, optionally, USB interfaces 4 and indicator lights 5 are provided on both sides of the first lidar 2;
[0052] Among them, a first switch button 6 is provided on the side of the USB interface 4 away from the first lidar 2, and a second switch button 7 is provided on the side of the indicator light 5 away from the first lidar 2. The first switch button 6 and the second switch button 7 are electrically connected to the power supply arranged inside the vehicle body 1 through a control circuit board.
[0053] Specifically, the first switch button 6 and the second switch button 7 turn on / off the power supply arranged inside the vehicle body through the control circuit board to control the output of the control circuit board; the USB interface 4 can be connected to external devices to facilitate the control of the AGV vehicle, and the working state of the device can be conveniently judged by the indicator light 5.
[0054] Optionally, an LED light strip 8 is installed around the vehicle body above the first lidar 2.
[0055] Specifically, the LED light strip 8 emits light so that the staff can observe the position of the AGV vehicle, quickly lock the target or avoid it, or make a timely pre-judgment on unsafe situations.
[0056] Optionally, emergency stop switches 9 are provided on both sides of the front of the vehicle body 1, a high-definition touch screen 10 is provided on the upper end face of the front of the vehicle, a charging brush block 11 is provided at the bottom of the front of the vehicle, and a drawer-type battery compartment 12 for placing batteries is provided inside the rear of the vehicle.
[0057] Specifically, in case of an emergency, the staff can promptly control the AGV cart to stop running through the emergency stop switch 9, enhancing safety; observe the running status of the AGV cart in real time through the high-definition touch display screen 10 and can perform command operations on the AGV cart; the charging brush block 11 is installed on the AGV cart. When the vehicle travels to the charging position, the brush block docks with the charging pile to achieve the transmission of electric energy. It enables electric devices or vehicles to be quickly charged without interrupting work, improving the usage efficiency and running time of the devices. The drawer-type battery compartment 12 is adopted to facilitate the operator to replace or maintain the battery.
[0058] Optionally, a landmark sensor 13 for reading ground landmarks is provided in the middle of the bottom of the vehicle body 1, and a first magnetic trace navigation 14 and a second magnetic trace navigation 15 are respectively installed on both sides of the landmark sensor 13.
[0059] Specifically, the landmark sensor 13 is used to read the ground landmarks to enable the AGV cart to execute corresponding running commands; the first magnetic trace navigation 14 and the second magnetic trace navigation 15 utilize the principle of electromagnetic induction to detect the magnetic field changes on the surrounding ground, thereby realizing navigation and positioning. When a vehicle or device travels on a path buried with an electromagnetic wire, the magnetic field generated by the electromagnetic wire will cause the induction device of the electromagnetic sensor to generate an electrical signal. By detecting the magnitude and changes of these electrical signals, the position and direction of the vehicle or device relative to the electromagnetic wire can be determined, and then trace navigation can be realized. By setting the first magnetic trace navigation 14 and the second magnetic trace navigation 15, the AGV can run along the laid track.
[0060] Optionally, the traveling mechanism includes:
[0061] Two motors installed at the bottom of the vehicle body 1, and the output ends of the two motors are respectively connected with a first driving wheel 16 and a second driving wheel 17;
[0062] Four driven wheels 18 rotatably installed at the four corners of the bottom of the vehicle body 1.
[0063] Specifically, the motors drive the first driving wheel 16 and the second driving wheel 17 to move, enabling the AGV cart to move. At the same time, the four driven wheels 18 follow the first driving wheel 16 and the second driving wheel 17 to move synchronously. By setting the four driven wheels 18, the AGV cart runs more smoothly.
[0064] In addition, a charging module is also installed at the front end of the head of the AGV cart, enabling the AGV cart to autonomously reach the charging area for charging.
[0065] Optionally, the cargo-carrying mechanism includes:
[0066] The conveying trough 20 is installed at the upper end of the vehicle body 1 through the bracket 19. A number of conveying rollers 21 are installed in the conveying trough 20. Width adjusting plates 22 are installed above the two side walls of the conveying trough 20 through adjusting bolts 23.
[0067] Among them, waist-shaped holes are formed in the width adjusting plates 22, and the adjusting bolts 23 are arranged in the waist-shaped holes.
[0068] Optionally, handles 24 are provided on both sides of the lower end of the bracket 19, and the handles 24 are fixedly connected to the upper end surface of the vehicle body 1.
[0069] Specifically, when it is necessary to increase the width of the conveying channel, loosen the adjusting bolt 23, move the width adjusting plate 22 to reduce its covering area of the conveying roller 21, so as to increase the effective conveying area of the conveying roller 21, and then lock the width adjusting plate 22 and the conveying trough 20 through the adjusting bolt 23; when it is necessary to reduce the width of the conveying channel, the above operations can be performed.
[0070] During maintenance, troubleshooting or special handling tasks, the operator can move or adjust the position of the AGV cart through the handle 24.
[0071] It should be noted that the structures and / or installation methods not elaborated in this application can be known to those skilled in the art in combination with common general knowledge and / or existing technologies, and are not the key points of disclosure in this application, so no further elaboration will be made here.
[0072] Finally, it should be noted that the above preferred embodiments are only used to illustrate the technical solutions of this application and not to limit them. Although this application has been described in detail through the above preferred embodiments, those skilled in the art should understand that various changes can be made in form and details without departing from the scope defined by the claims of this application; the dimensions of the drawings have nothing to do with the specific physical objects, and the physical dimensions can be changed arbitrarily.
Claims
1. The vehicle body structure of an AGV cart, characterized in that, The vehicle body structure of the described AGV vehicle includes: Vehicle body (1); A cargo-carrying mechanism provided at the upper end of the vehicle body (1); A traveling mechanism provided at the lower end of the vehicle body (1); Among them, a first lidar (2) and a second lidar (3) are respectively provided at the head and the tail of the vehicle body (1). The first lidar (2) is used to emit laser pulses and measure the time difference of the reflected laser pulses to measure the distance to the obstacles in front of the vehicle body (1), and the second lidar (3) is used to emit laser pulses and measure the time difference of the reflected laser pulses to measure the distance to the obstacles behind the vehicle body (1).
2. The vehicle body structure of the AGV vehicle according to claim 1, characterized in that, USB interfaces (4) and indicator lights (5) are provided on both sides of the first lidar (2); Among them, a first switch button (6) is provided on the side of the USB interface (4) away from the first lidar (2), and a second switch button (7) is provided on the side of the indicator light (5) away from the first lidar (2). The first switch button (6) and the second switch button (7) are electrically connected to the power supply provided inside the vehicle body (1) through a control circuit board.
3. The vehicle body structure of the AGV cart according to claim 1 or 2, characterized in that, An LED light strip (8) is installed around the vehicle body above the first lidar (2).
4. The vehicle body structure of the AGV cart according to claim 1, characterized in that, Emergency stop switches (9) are provided on both sides of the head of the vehicle body (1), a high-definition touch display screen (10) is provided on the upper end face of the head, a charging brush block (11) is provided at the bottom of the head, and a drawer-type battery compartment (12) for placing batteries is provided inside the tail.
5. The vehicle body structure of the AGV vehicle according to claim 1, characterized in that, A landmark sensor (13) for reading ground landmarks is provided in the middle of the bottom of the vehicle body (1), and a first magnetic trace navigation (14) and a second magnetic trace navigation (15) are respectively installed on both sides of the landmark sensor (13).
6. The vehicle body structure of the AGV vehicle according to claim 1, characterized in that, The traveling mechanism includes: Two motors installed at the bottom of the vehicle body (1), and the output ends of the two motors are respectively connected to a first driving wheel (16) and a second driving wheel (17); Four driven wheels (18) rotatably installed at the four corners of the bottom of the vehicle body (1).
7. The vehicle body structure of the AGV cart according to claim 1, characterized in that, The cargo-carrying mechanism includes: A conveying trough (20) installed at the upper end of the vehicle body (1) through a bracket (19). A number of conveying rollers (21) are installed in the conveying trough (20). Width adjusting plates (22) are installed above the two side walls of the conveying trough (20) through adjusting bolts (23); Among them, waist-shaped holes are provided on the width adjusting plates (22), and the adjusting bolts (23) are provided in the waist-shaped holes.
8. The vehicle body structure of the AGV vehicle according to claim 7, characterized in that, Handles (24) are provided on both sides of the lower end of the bracket (19), and the handles (24) are fixedly connected to the upper end face of the vehicle body (1).