AGV vehicle

Abstract

The utility model relates to an AGV vehicle, and relates to the technical field of material transportation. The AGV comprises a vehicle body, a first laser radar is installed at the first end of the vehicle body, and a second laser radar is installed at the second end of the vehicle body; the first bumper is installed at the first end of the vehicle body, and the distance of the first bumper extending out of the vehicle body in the vehicle driving direction is larger than or equal to the distance of the first laser radar extending out of the vehicle body in the vehicle driving direction; and the protection cover is installed at the second end of the vehicle body, and the protection cover covers the second laser radar. The first laser radar and the second laser radar are protected through the bumper structure and the protective cover structure, the laser radars are prevented from being collided and damaged in the driving process of the AGV, and the service life of the AGV is prolonged.

Description

Technical Field

[0001] The utility model relates to the technical field of material transportation, and particularly to an AGV vehicle. Background Art

[0002] Since an AGV (Automated Guided Vehicle) can autonomously travel along a set trajectory, it is widely used in material transportation within a factory. By using an AGV cart to transport materials, the work intensity of the internal personnel in the factory is significantly reduced.

[0003] In related technologies, in order to improve the driving accuracy of an AGV vehicle, a lidar is used for navigation. On the other hand, the environment in a factory is complex and changeable, and the AGV vehicle will inevitably encounter collisions during driving. The internal structure of the lidar is relatively precise, and the lidar is often damaged due to collisions, thus affecting the normal operation of the AGV vehicle. Summary of the Utility Model

[0004] The utility model provides an AGV vehicle for improving the anti-collision ability of the AGV vehicle and reducing the probability of damage to the lidar during a collision.

[0005] The utility model provides an AGV vehicle, including: a vehicle body, a first lidar is installed at the first end of the vehicle body, and a second lidar is installed at the second end of the vehicle body; a first bumper, which is installed at the first end of the vehicle body, and the distance that the first bumper extends out of the vehicle body along the vehicle driving direction is greater than or equal to the distance that the first lidar extends out of the vehicle body along the vehicle driving direction; and a protective cover, the protective cover is installed at the second end of the vehicle body, and the protective cover covers the second lidar.

[0006] In one embodiment, through holes are provided on the protective cover, and both the laser emission direction and the laser reception direction of the second lidar face the through holes.

[0007] In one embodiment, the AGV vehicle further includes a first fastener, the protective cover is provided with kidney-shaped holes, and the first fastener passes through the kidney-shaped holes to detachably fix the protective cover to the vehicle body.

[0008] In one embodiment, the first end is the front end of the vehicle body, and the first lidar is a 3D lidar; the second end is the rear end of the vehicle body, and the second lidar is a 2D lidar.

[0009] In one embodiment, at least two second lidars are provided at the second end, and the second lidars are arranged at intervals in the vertical direction.

[0010] In one embodiment, the vehicle body is provided with a first installation cavity recessed inward along the driving direction at the first end, and a first lidar is partially received in the first installation cavity.

[0011] In one embodiment, four wheels are installed at the bottom of the vehicle body, and each wheel is correspondingly connected to a driving component, and the driving components are independent of each other.

[0012] In one embodiment, the driving component includes a first driving member, a mounting bracket, and a second driving member; wherein, the first driving member is installed on the vehicle body, the mounting bracket is connected to the first driving member, and the first driving member is used to drive the mounting bracket to rotate around the vertical axis; the second driving member is fixed to the mounting bracket, and the wheel is installed on the horizontal driving shaft of the second driving member.

[0013] In one embodiment, a vision camera is further provided on the outer side of the vehicle body.

[0014] In one embodiment, the vehicle body is provided with a first installation interface for detachably connecting to a manipulator.

[0015] Compared with the prior art, the advantages of the present utility model are that a first lidar and a second lidar are respectively provided at both ends of the vehicle body, which can realize obstacle detection in two directions of the vehicle body, thereby improving the navigation accuracy of the AGV vehicle. At the same time, a bumper is provided at the first end of the vehicle body where the first lidar is installed. By making the distance that the bumper extends out of the vehicle body along the driving direction of the vehicle greater than the distance that the first lidar extends out of the vehicle body along the driving direction of the vehicle. When the first end of the AGV vehicle is collided, the bumper with a longer extension distance can absorb the collision, avoiding direct collision with the first lidar installed at the first end, and reducing the probability of damage to the first lidar. And a protective cover is provided at the second end of the vehicle body where the second lidar is installed. By covering the protective cover outside the second lidar, direct collision with the second lidar during a collision is avoided, and the probability of damage to the second lidar is reduced.

[0016] That is to say, the AGV cart provided by the present application realizes the protection of the first lidar and the second lidar through the bumper structure and the protective cover structure, avoids the collision damage of the lidar during the driving of the AGV vehicle, and prolongs the service life of the AGV vehicle. Description of the Drawings

[0017] Hereinafter, the present utility model will be described in more detail based on embodiments and with reference to the drawings.

[0018] Figure 1 It is a three-dimensional structural schematic diagram of an AGV vehicle in an embodiment of the present utility model;

[0019] Figure 2 It is a schematic three-dimensional structure diagram of the AGV vehicle in another perspective in the embodiment of the present utility model;

[0020] Figure 3 It is a schematic front view structure diagram of the AGV vehicle in the embodiment of the present utility model;

[0021] Figure 4 It is a schematic three-dimensional structure diagram of the installation location of the first lidar in the embodiment of the present utility model;

[0022] Figure 5 It is a schematic three-dimensional structure diagram of the installation location of the second lidar in the embodiment of the present utility model;

[0023] Figure 6 It is a schematic left view structure diagram of the AGV vehicle in the embodiment of the present utility model;

[0024] Figure 7 It is a schematic top view structure diagram of the AGV vehicle in the embodiment of the present utility model;

[0025] Figure 8 It is a schematic three-dimensional structure diagram of the wheel part in the embodiment of the present utility model;

[0026] Figure 9 It is a schematic three-dimensional structure diagram of the AGV vehicle with a part of the housing of the vehicle body hidden in the embodiment of the present utility model.

[0027] Reference numerals:

[0028] 1, vehicle body; 11, first installation cavity; 12, second installation cavity; 13, ventilation hole; 14, first installation interface; 15, cooling fan; 16, mounting plate;

[0029] 21, first lidar; 22, second lidar; 3, vision camera; 41, first bumper; 42, second bumper; 5, protective cover; 51, through hole; 52, waist-shaped hole; 6, wheel; 71, first driving member; 72, mounting bracket; 73, second driving member;

[0030] 81, servo motor; 82, hydraulic pump; 83, air compressor; 91, control cabinet; 92, touch screen; 93, charging port; 94, warning light; 95, operation button. Detailed implementation manners

[0031] The present utility model will be further described below in conjunction with the accompanying drawings.

[0032] In the related art, some AGV vehicles are equipped with lidar, which can identify the environment through the lidar to improve the navigation accuracy of the AGV vehicle. For example, Patent CN208164905U discloses an AGV device equipped with lidar, which mounts the lidar on the AGV vehicle.

[0033] Among them, in order to make the scanning range of the lidar wider, the lidar is installed on the outside of the AGV vehicle to reduce the scanning dead angle caused by the occlusion of the main body of the AGV vehicle. However, since the lidar is set on the outside of the AGV vehicle, it is easy to collide with the lidar protruding from the AGV vehicle during a vehicle collision, resulting in damage to the structurally precise lidar.

[0034] See Figure 1 、 Figure 2 and Figure 3 As shown, an AGV vehicle provided by the present application includes a vehicle body 1. A first lidar 21 is installed at the first end of the vehicle body 1, and a second lidar 22 is installed at the second end of the vehicle body 1. During the driving of the AGV vehicle, the environment at the first end can be scanned through the first lidar 21, and the environment on one side of the second end can be scanned through the second lidar 22. Combining the scanning results of the first lidar 21 and the second lidar 22, compared with the single-side lidar scanning, the environment on both sides of the vehicle body 1 can be scanned, improving the scanning accuracy and bringing more accurate navigation for the driving of the AGV vehicle.

[0035] See Figure 1 、 Figure 3 and Figure 4 As shown, a first bumper 41 is installed at the first end of the vehicle body 1. The first bumper 41 can absorb the impact when receiving a collision at the first end. By making the length of the first bumper 41 extending out of the vehicle body 1 along the vehicle driving direction greater than or equal to the length of the first lidar 21 extending out of the vehicle body 1 along the vehicle driving direction, when the first end of the AGV vehicle receives a collision, first, the first bumper 41 of the AGV vehicle bears the impact, so that the first bumper 41 absorbs the impact, avoiding damage to the first lidar 21 due to the collision at the first end.

[0036] See Figure 2 、 Figure 5 As shown in, a protective cover 5 is installed at the second end of the vehicle body 1. By covering the protective cover 5 outside the second lidar 22, the protective cover 5 can be used to protect the second lidar 22, avoiding the second lidar 22 from bearing the impact when receiving a collision at the second end.

[0037] That is to say, in the present application, the protection of the first lidar 21 and the second lidar 22 is achieved through the first bumper 41 and the protective cover 5, avoiding damage to the first lidar 21 and the second lidar 22 when the AGV vehicle is subjected to a collision.

[0038] The material of the first bumper 41 can be selected as plastic. By setting the first bumper 41 as a detachable mounting structure, when the bumper is damaged, the subsequent collision energy absorption effect can be achieved by replacing the first bumper 41.

[0039] See Figure 3 As shown, not only is the first bumper 41 provided at the first end of the vehicle body 1, but also the second bumper 42 is provided at the second end of the vehicle body 1. By using the second bumper 42 provided at the second end of the vehicle body 1, the impact transmitted to the second end of the vehicle body 1 can be absorbed during the collision, thereby reducing the impact force on the vehicle body 1 when the second end is impacted.

[0040] See Figure 5 As shown, in some implementation manners, through holes 51 are provided on the protective cover 5, and both the laser emission direction and the laser reception direction of the second lidar 22 face the through holes 51. When the lidar works, it needs to emit laser light outward and receive the reflected laser light, so as to scan the external environment according to the reflected laser light. In the present application, by opening the through holes 51 on the protective cover 5 and setting the laser emission direction and the laser reception direction to face the through holes 51, the laser can pass through the through holes 51 to achieve the scanning of the lidar.

[0041] In some implementation manners, see Figure 5 As shown, two through holes 51 can be provided on the protective cover 5. One of the two through holes 51 faces the laser emission window of the second lidar 22, and the other through hole 51 of the two through holes 51 faces the laser reception window of the second lidar 22, so that the emitted laser and the received laser of the second lidar 22 pass through different through holes 51.

[0042] It can be understood that, in some implementation manners, a large-sized through hole 51 can also be opened on the protective cover 5, so that both the laser emission window and the laser reception window of the second lidar 22 face the same through hole 51.

[0043] Among them, the material of the protective cover 5 can be selected from metal materials such as iron, steel, and aluminum alloy, and the forming of the protective cover 5 is achieved through sheet metal processing.

[0044] See Figure 5 As shown, in some implementation manners, the AGV vehicle further includes a first fastener. The protective cover 5 is provided with a waist-shaped hole 52, and the first fastener passes through the waist-shaped hole 52 to detachably fix the protective cover 5 to the vehicle body 1.

[0045] Since the installation of the protective cover 5 is achieved by the first fastener passing through the kidney-shaped hole 52, the position of the protective cover 5 can be adjusted along the extension direction of the kidney-shaped hole 52 when installing the protective cover 5, so as to realize the adjustment of the position of the through hole 51, enabling the laser emission direction and the laser reception direction of the second lidar 22 to face the through hole 51. Compared with installing the protective cover 5 through a circular hole, setting the kidney-shaped hole 52 on the protective cover 5 facilitates the adjustment of the position of the protective cover 5, thus better protecting the second lidar 22.

[0046] Among them, the first fastener can be a fixing bolt or a fixing screw. Or a bolt structure is set on the vehicle body 1, and a nut is used as the first fastener to achieve the installation of the protective cover 5.

[0047] In this application, the protective cover 5 is detachably installed on the vehicle body 1 through a fastener, and the second lidar 22 can be protected by replacing the damaged protective cover 5 with a new one.

[0048] Referring to the figure shown, the first end is the front end of the vehicle body 1, the first lidar 21 is a 3D lidar, the second end is the rear end of the vehicle body 1, and the second lidar 22 is a 2D lidar.

[0049] That is to say, in this application, a 3D lidar is installed at the front end of the vehicle, and a 2D lidar is installed at the rear end of the vehicle. Although the scanning range of the 3D lidar is wider than that of the 2D lidar, the cost of the 3D lidar is also higher. By installing a 3D lidar at the front end of the vehicle, a large range of scanning can be realized in front of the vehicle when the vehicle is moving forward, thereby improving the driving accuracy when the vehicle is moving forward. Setting a 2D lidar at the rear end of the vehicle can roughly scan the rear side of the vehicle and enable navigation during the reverse process when the vehicle is moving backward.

[0050] Compared with moving forward, the situation of moving backward in reverse is less. By setting a 2D lidar at the rear end of the vehicle, the cost of the AGV vehicle is reduced compared with setting a 3D lidar at the rear end of the vehicle.

[0051] In some implementation manners, at least two second lidars 22 are provided at the second end, and the second lidars 22 are arranged at intervals in the vertical direction. Refer to Figure 2 and Figure 3 As shown, two second lidars 22 arranged at intervals in the vertical direction are provided at the second end of the vehicle body 1. The environmental scanning at different heights can be realized through two 2D lidars with different installation heights, and the scanning accuracy of the second end of the vehicle body 1 can be improved by combining the scanning results of the two 2D lidars.

[0052] See Figure 1 、 Figure 3 and Figure 6 As shown, in some implementations, the vehicle body 1 is provided with a first mounting cavity 11 recessed inward along the driving direction at the first end, and the first lidar 21 is partially received in the first mounting cavity 11.

[0053] By partially receiving the first lidar 21 in the inwardly recessed first mounting cavity 11, the distance that the first lidar 21 extends out of the vehicle body 1 is reduced, thereby reducing the length of the AGV vehicle in the longitudinal direction, enabling the AGV vehicle to travel more easily in a narrow environment. See Figure 6 As shown, a mounting plate 16 is installed in the first mounting cavity, and the first lidar is fixed on the horizontally arranged mounting plate 16.

[0054] See Figure 2 and Figure 8 As shown, four wheels 6 are installed at the bottom of the vehicle body 1, and each wheel 6 is correspondingly connected to a driving component, and the driving components are independent of each other. That is to say, the driving state of each wheel 6 is controlled by the corresponding driving component, that is, the AGV vehicle in this application is four-wheel drive. Compared with a front-wheel drive vehicle or a rear-wheel drive vehicle, it can control the two rear wheels to drive when the vehicle is moving backward, so that the turning radius when moving backward is the same as that when moving forward. For an AGV vehicle that needs to frequently reverse, it can be more flexible when reversing. In some implementations, the wheels 6 can be made of rubber material, and the rubber material has good wear resistance and can have a long service life.

[0055] See Figure 8 As shown, in some implementations, the driving component includes a first driving member 71, a mounting bracket 72, and a second driving member 73. Among them, the first driving member 71 is installed on the vehicle body 1, the mounting bracket 72 is connected to the first driving member 71, and the first driving member 71 is used to drive the mounting bracket 72 to rotate around the vertical axis. The second driving member 73 is fixed on the mounting bracket 72, and the wheel 6 is installed on the horizontal driving shaft of the second driving member 73. That is to say, the first driving member 71 can be used to drive the mounting bracket 72 to rotate around the vertical axis, so as to realize the position adjustment of the second driving member 73 installed on the mounting bracket 72, so that the extending direction of the horizontal driving shaft of the second driving member 73 changes. And the wheel 6 is installed on the horizontal driving shaft of the second driving member 73. When the extending direction of the horizontal driving shaft changes, the driving direction of the wheel 6 also changes, that is, the driving angle of the wheel 6 can be adjusted by driving the first driving member 71.

[0056] The driving state of the wheel 6 is controlled by two driving devices, which can more flexibly control the driving state of the wheel 6. Moreover, compared with realizing the steering adjustment of the vehicle through a differential mechanism, in this application, the steering of the wheel 6 is directly adjusted by the first driving member 71, which can make the turning radius of the AGV vehicle smaller, so that the AGV vehicle can drive flexibly in a narrow environment.

[0057] See Figure 7 As shown, in some implementation manners, a vision camera 3 is disposed outside the vehicle body 1. By means of the vision camera 3 disposed outside the vehicle body 1, the surrounding environment can be recognized by taking pictures and videos, adding another means of scanning the environment in addition to using a lidar to realize environment recognition, which can assist in scanning in an environment where the lidar is prone to recognition errors and improve the accuracy of environment scanning. For example, when the lidar scans high-reflectivity items such as traffic signs, the "ghost" phenomenon is likely to occur. The vision camera 3 can be used to compare and judge whether the structure suspected of being a "ghost" exists through the recognition result of visual recognition, so as to improve the scanning accuracy of the AGV vehicle.

[0058] See Figure 7 As shown, the first lidar is disposed at the front end of the vehicle, and the second lidar is disposed at the rear end of the vehicle body. By disposing the vision camera 3 on the right side of the vehicle body, the vehicle body can be photographed in the right direction, thereby expanding the scanning range of the external environment. In some implementation manners, a vision camera can also be disposed on the left side of the vehicle body, so as to further expand the scanning range of the external environment and improve the navigation accuracy.

[0059] In some implementation manners, the vehicle body 1 is provided with a first mounting interface 14, and the first mounting interface 14 is used for detachably connecting with a manipulator. A manipulator can be carried on the AGV vehicle. By installing the manipulator in the first mounting interface 14 of the vehicle body 1, the AGV vehicle can realize the function of material handling.

[0060] See Figure 7 As shown, in some implementation manners, the vehicle body 1 is provided with a second mounting cavity 12. The first mounting interface 14 is communicated with the second mounting cavity 12, and structures such as an air compressor 83, a servo motor 81, and a hydraulic pump 82 are disposed inside the second mounting cavity 12. When the manipulator is installed in the first mounting interface 14, the manipulator is connected to the servo motor 81 in the second mounting cavity 12 to adjust the mounting angle of the manipulator by the servo motor 81, so that the degree of freedom of the manipulator can be increased and the movement range of the manipulator can be expanded.

[0061] See Figure 7As shown, the vehicle body 1 is provided with a plurality of ventilation holes 13. The through hole 51 is in communication with the second installation cavity 12, enabling gas exchange between the second installation cavity 12 and the outside. Thus, the heat in the second installation cavity 12 can be dissipated more quickly, preventing high temperature from affecting the normal operation of the components in the second installation cavity 12. Among them, in order to achieve better heat dissipation, a cooling fan 15 is also installed on the vehicle body 1. By means of the cooling fan 15, the gas flow rate in the second installation cavity 12 can be increased, thereby improving the heat exchange efficiency inside the second installation cavity 12.

[0062] See Figure 7 and Figure 9 As shown, in some implementation manners, a control cabinet 91 is also installed on the vehicle body 1. The control cabinet 91 is electrically connected to the drive components corresponding to each wheel 6, thereby achieving the control of each wheel 6.

[0063] In some implementation manners, a touch screen 92 is provided above the control cabinet 91, and the control of the control cabinet 91 can be achieved by touching. An operation button 95 is also provided on the vehicle body 1, and the control of the control cabinet 91 can be achieved through the operation button 95. In some implementation manners, a warning light 94 is also provided on the vehicle body 1, and the staff in the factory area can be reminded by the light indication of the warning light 94 to avoid the staff interfering with the normal operation of the AGV vehicle.

[0064] See Figure 7 As shown, a charging port 93 is also provided on the vehicle body 1. The charging port 93 is connected to the battery assembly of the AGV vehicle, and the battery assembly of the AGV vehicle can be charged through the charging port 93.

[0065] Although the present invention has been described with reference to the preferred embodiments, various improvements can be made to it and its components can be replaced with equivalents without departing from the scope of the present invention. In particular, as long as there is no structural conflict, the technical features mentioned in each embodiment can be combined in any way. The present invention is not limited to the specific embodiments disclosed in the text, but includes all technical solutions falling within the scope of the claims.

Claims

1. An AGV vehicle, characterized in that, It includes: A vehicle body, a first lidar is installed at the first end of the vehicle body, and a second lidar is installed at the second end of the vehicle body; A first bumper, which is installed at the first end of the vehicle body, and the distance that the first bumper extends out of the vehicle body along the vehicle driving direction is greater than or equal to the distance that the first lidar extends out of the vehicle body along the vehicle driving direction; And A protective cover, which is installed at the second end of the vehicle body, and the protective cover covers the second lidar.

2. The AGV vehicle according to claim 1, characterized in that, Through holes are provided on the protective cover, and the laser emission direction and the laser reception direction of the second lidar both face the through holes.

3. The AGV vehicle according to claim 1 or 2, characterized in that, The AGV vehicle further includes a first fastener. The protective cover is provided with a waist-shaped hole, and the first fastener passes through the waist-shaped hole to detachably fix the protective cover to the vehicle body.

4. The AGV vehicle according to claim 1 or 2, characterized in that The first end is the front end of the vehicle body, and the first lidar is a 3D lidar; The second end is the rear end of the vehicle body, and the second lidar is a 2D lidar.

5. The AGV vehicle according to claim 4, wherein At least two of the second lidars are provided at the second end, and the second lidars are arranged at intervals in the vertical direction.

6. The AGV vehicle according to claim 1 or 2, characterized in that, The vehicle body is provided with a first installation cavity formed by being recessed inward along the driving direction at the first end, and the first lidar is partially received in the first installation cavity.

7. The AGV vehicle according to claim 1 or 2, characterized in that Four wheels are installed at the bottom of the vehicle body, and each wheel is correspondingly connected to a driving component, and the driving components are independent of each other.

8. The AGV vehicle according to claim 7, characterized in that The driving component includes a first driving member, a mounting bracket and a second driving member; Wherein, the first driving member is installed on the vehicle body, the mounting bracket is connected to the first driving member, and the first driving member is used to drive the mounting bracket to rotate around the vertical axis; The second driving member is fixed to the mounting bracket, and the wheel is installed on the horizontal driving shaft of the second driving member.

9. The AGV vehicle according to claim 1 or 2, characterized in that, A vision camera is further provided on the outer side of the vehicle body.

10. The AGV vehicle according to claim 1 or 2, characterized in that, The vehicle body is provided with a first installation interface, and the first installation interface is used to be detachably connected to a manipulator.

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