Automatic obstacle avoidance control circuit

Abstract

The utility model discloses an automatic obstacle avoidance control circuit, and specifically relates to the AGV technology field, the automatic obstacle avoidance control circuit comprises a radar loop, and the radar loop comprises a 3D obstacle avoidance radar, a 2D obstacle avoidance radar, a fork tip obstacle avoidance sensor and an upper controller; positive electrodes of the 3D obstacle avoidance radar, the 2D obstacle avoidance radar and the fork tip obstacle avoidance sensor are connected with a power supply positive electrode of the switching power supply; the signal output of the 3D obstacle avoidance radar, the signal output of the 2D obstacle avoidance radar and the signal output of the fork tip obstacle avoidance sensor are all connected with the upper controller, and the upper controller is connected with the negative electrode of the lithium battery through a first relay coil and a second relay coil. According to the utility model, the 3D obstacle avoidance radar and the fork tip obstacle avoidance sensor are additionally arranged, so that the obstacle avoidance effect on obstacles at different heights and in different advancing directions is improved; a 2D obstacle avoidance radar is prevented from being adopted, and a good obstacle avoidance effect is achieved on obstacles located at the installation height; when the AGV adopts the circuit, the obstacle avoidance effect can be remarkably improved, and the safety of the whole vehicle during task execution is ensured.

Description

Technical Field

[0001] The utility model relates to the technical field of AGV, and more specifically, to an automatic obstacle avoidance control circuit. Background Art

[0002] AGV, also known as automatic guided vehicle, is a transport equipment with automatic guidance and handling functions. It is usually equipped with automatic guidance devices such as electromagnetic or optical devices, can travel along a specified guide path, and has safety protection and various transfer functions. With the progress of society, AGV, as an advanced automated transport equipment, is playing an increasingly important role in modern industry, warehousing and logistics.

[0003] Among them, when AGVs on the market are running in unmanned driving mode, in order to avoid collisions or injuries to personnel during mission execution and travel routes, the industry generally uses hardware such as obstacle avoidance radars or photoelectric sensors to implement obstacle avoidance functions.

[0004] Among them, the Chinese patent application number 202223083582.3-AGV discloses an automatic obstacle avoidance control circuit, which detects obstacles through a laser sensor and controls the operation of the walking motor and buzzer through a relay, so that the AGV stops when encountering obstacles and automatically alarms.

[0005] However, in actual situations, since obstacles may appear not only on the ground but also at different heights, the actual obstacle avoidance effect is not good if only laser sensors are used for automatic obstacle avoidance. Therefore, an automatic obstacle avoidance control circuit is proposed as a further improvement to enhance the obstacle avoidance function of AGV and ensure the safety of the entire vehicle in performing tasks. Utility Model Content

[0006] In order to overcome the above-mentioned defects of the prior art, an embodiment of the present invention provides an automatic obstacle avoidance control circuit to solve the problems raised in the above-mentioned background technology.

[0007] To achieve the above object, the utility model provides the following technical solution: an automatic obstacle avoidance control circuit, the automatic obstacle avoidance control circuit comprising: a lithium battery, a switching power supply, a first relay, a second relay, an electromagnetic brake, an alarm module and a radar circuit;

[0008] The positive electrode and negative electrode of the lithium battery are connected to the positive electrode and negative electrode of the switching power supply respectively.

[0009] The first relay comprises: a first relay coil and a first relay normally closed contact switch;

[0010] The second relay includes: a second relay coil and a second relay normally open contact switch;

[0011] The other positive pole of the switching power supply is respectively connected to the positive pole of the first relay normally closed contact switch, the second relay normally open contact switch and the radar circuit; the other ends of the first relay normally closed contact switch and the second relay normally open contact switch are respectively connected to the positive pole of the electromagnetic brake and the positive pole of the alarm module; the negative pole of the radar circuit, the negative pole of the electromagnetic brake and the negative pole of the alarm module are all connected to the negative pole of the lithium battery;

[0012] The radar circuit includes: 3D obstacle avoidance radar, 2D obstacle avoidance radar, fork obstacle avoidance sensor and upper controller;

[0013] The positive poles of the 3D obstacle avoidance radar, 2D obstacle avoidance radar and fork obstacle avoidance sensor are connected to the positive pole of the switching power supply;

[0014] The signal output ports OUT1 of the 3D obstacle avoidance radar, 2D obstacle avoidance radar and fork obstacle avoidance sensor are all connected to the signal input port DI 1 of the host controller, and the signal output ports OUT2 of the 3D obstacle avoidance radar, 2D obstacle avoidance radar and fork obstacle avoidance sensor are all connected to the signal input port DI 2 of the host controller.

[0015] The negative electrodes of the 3D obstacle avoidance radar, 2D obstacle avoidance radar, fork obstacle avoidance sensor and upper controller are all connected to the negative electrode of the lithium battery;

[0016] The signal output port DO1 of the host controller is connected to the negative electrode of the lithium battery through the first relay coil;

[0017] The signal output port DO2 of the host controller is connected to the negative electrode of the lithium battery through the second relay coil.

[0018] Furthermore, there are at least two 2D obstacle avoidance radars.

[0019] Furthermore, the two 2D obstacle avoidance radars are respectively located on the left side and the right side of the vehicle.

[0020] Furthermore, the 3D obstacle avoidance radar is arranged on a navigation bracket on the top of the vehicle, and the fork tip obstacle avoidance sensor is installed at the tail of the fork.

[0021] Furthermore, the height of the 3D obstacle avoidance radar is higher than that of the 2D obstacle avoidance radar and the fork obstacle avoidance sensor.

[0022] Furthermore, the automatic obstacle avoidance control circuit further comprises: a key switch;

[0023] One end of the key switch is connected to the BMS positive electrode of the lithium battery, and the other end of the key switch is connected to the BMS negative electrode of the lithium battery.

[0024] Technical effects and advantages of this utility model:

[0025] Compared to the existing technology, the circuit of the utility model application adds a 3D obstacle avoidance radar and a fork-tip obstacle avoidance sensor to improve the obstacle avoidance effect for obstacles at different heights and different travel directions. It avoids the problem that the 2D obstacle avoidance radar only has a good obstacle avoidance effect for obstacles below the installation height. Therefore, when the obstacle is not near this height, the 3D obstacle avoidance radar can better complete the obstacle avoidance task for obstacles at different heights. The fork-tip obstacle avoidance sensor provides a rear obstacle avoidance effect, forming a more three-dimensional obstacle avoidance effect, more effectively protecting the safe passage of pedestrians. Therefore, when the AGV adopts this circuit, it can significantly improve the obstacle avoidance effect and ensure the safety of the entire vehicle in performing its tasks. The obstacle avoidance signals generated by the 3D obstacle avoidance radar, 2D obstacle avoidance radar, and fork-tip obstacle avoidance sensor are combined with the vehicle body status by the upper controller to provide more accurate judgment for automatic obstacle avoidance. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] Figure 1 This is a circuit diagram of the utility model.

[0027] Figure 2 This is a schematic diagram of the positions of the 3D obstacle avoidance radar, 2D obstacle avoidance radar and fork obstacle avoidance sensor of the utility model.

[0028] The accompanying drawings are:

[0029] 1. Lithium battery;

[0030] 2. Switching power supply;

[0031] 3. First relay; 31. First relay coil; 32. First relay normally closed contact switch;

[0032] 4. Second relay; 41. Second relay coil; 42. Second relay normally open contact switch;

[0033] 5. Electromagnetic brake;

[0034] 6. Alarm module;

[0035] 7. Radar circuit;

[0036] 71. 3D obstacle avoidance radar; 72. 2D obstacle avoidance radar; 73. Fork tip obstacle avoidance sensor; 74. Upper controller; 8. Key switch. DETAILED DESCRIPTION

[0037] In order to make the purpose, technical solutions and advantages of the present invention more clearly understood, the present invention is further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not intended to limit the present invention.

[0038] As attached Figure 1 and attached Figure 2 An automatic obstacle avoidance control circuit is shown, which includes: a lithium battery 1, a switching power supply 2, a first relay 3, a second relay 4, an electromagnetic brake 5, an alarm module 6 and a radar circuit 7;

[0039] The positive and negative electrodes of the lithium battery 1 are connected to the positive and negative electrodes of the switching power supply 2 respectively.

[0040] The first relay 3 includes: a first relay coil 31 and a first relay normally closed contact switch 32;

[0041] The second relay 4 includes: a second relay coil 41 and a second relay normally open contact switch 42;

[0042] The other positive pole of the switching power supply 2 is connected to the positive pole of the first relay normally closed contact switch 32, the second relay normally open contact switch 42 and the radar circuit 7 respectively. The other ends of the first relay normally closed contact switch 32 and the second relay normally open contact switch 42 are connected to the positive pole of the electromagnetic brake 5 and the positive pole of the alarm module 6 respectively. The negative pole of the radar circuit 7, the negative pole of the electromagnetic brake 5 and the negative pole of the alarm module 6 are all connected to the negative pole of the lithium battery 1.

[0043] The radar circuit 7 includes: a 3D obstacle avoidance radar 71, a 2D obstacle avoidance radar 72, a fork obstacle avoidance sensor 73 and a host controller 74;

[0044] Among them, the 3D obstacle avoidance radar 71, 2D obstacle avoidance radar 72, and fork obstacle avoidance sensor 73 electrical components are used to increase the scanning effect of obstacles at different heights and directions, providing a more three-dimensional safety guarantee;

[0045] Among them, the upper controller 74 combines the obstacle avoidance signals generated by the 3D obstacle avoidance radar 71, the 2D obstacle avoidance radar 72 and the fork obstacle avoidance sensor 73 with the vehicle body status to provide more accurate judgment for automatic obstacle avoidance;

[0046] The positive electrodes of the 3D obstacle avoidance radar 71, the 2D obstacle avoidance radar 72 and the fork obstacle avoidance sensor 73 are connected to the positive electrode of the switching power supply 2;

[0047] Among them, the switching power supply 2 converts DC 24V to DC 24V, plays a voltage stabilizing role, and provides stable power supply for various electrical components;

[0048] The signal output ports OUT1 of the 3D obstacle avoidance radar 71, the 2D obstacle avoidance radar 72, and the fork obstacle avoidance sensor 73 are all connected to the signal input port DI 1 of the host controller 74. The signal output ports OUT2 of the 3D obstacle avoidance radar 71, the 2D obstacle avoidance radar 72, and the fork obstacle avoidance sensor 73 are all connected to the signal input port DI 2 of the host controller 74.

[0049] The negative electrodes of the 3D obstacle avoidance radar 71, the 2D obstacle avoidance radar 72, the fork obstacle avoidance sensor 73 and the upper controller 74 are all connected to the negative electrode of the lithium battery 1;

[0050] The signal output port DO1 of the host controller 74 is connected to the negative electrode of the lithium battery 1 through the first relay coil 31;

[0051] The signal output port DO2 of the host controller 74 is connected to the negative electrode of the lithium battery 1 through the second relay coil 41 .

[0052] Among them, compared with the original circuit, the circuit applied for by the utility model adds a 3D obstacle avoidance radar 71 and a fork obstacle avoidance sensor 73; and the 2D obstacle avoidance radar 72 only has a good obstacle avoidance effect on obstacles below the installation height; when the obstacle is not near this height, the 3D obstacle avoidance radar 71 can better complete the obstacle avoidance task of obstacles at different heights, and the fork obstacle avoidance sensor 73 provides a rear obstacle avoidance effect, forming a more three-dimensional obstacle avoidance effect, and more effectively protecting the safety of pedestrians.

[0053] Embodiment: The 3D obstacle avoidance radar 71 and the 2D obstacle avoidance radar 72 are both infrared laser radars. For example, the 3D obstacle avoidance radar 71 adopts the model of Mid 360, while the 2D obstacle avoidance radar 72 adopts TIM 32;

[0054] When the laser radar emits a laser pulse, if there is an object within the scanning range, the obstacle will reflect the laser and be received by the receiver of the laser scanner to detect the position of the object; the fork obstacle avoidance sensor 73 is an infrared photoelectric sensor, and its working principle is similar to that of the obstacle avoidance radar; the 3D obstacle avoidance radar 71 and the 2D obstacle avoidance radar 72 have switchable sensing areas, the outermost area is the warning area, and the inner area is the stop area; the fork obstacle avoidance sensor 73 directly outputs a signal by detecting the distance to the obstacle; when an object appears in the sensing area, the 3D obstacle avoidance radar 71, the 2D obstacle avoidance radar 72, and the fork obstacle avoidance sensor 73 output a high-level signal to the upper controller 74; the upper controller 74 transmits the judgment signal to the signal output port DO1 or the signal output port DO2; and then controls the corresponding first relay normally closed contact switch 32 to be on and off or the second relay normally open contact switch 42 to be on and off, thereby controlling the vehicle operation.

[0055] In a preferred embodiment, as shown in the attached Figure 1 and attached Figure 2 As shown, there are at least two 2D obstacle avoidance radars 72 in order to improve the accuracy of detection in multiple directions.

[0056] In a preferred embodiment, as shown in the attached Figure 1 and attached Figure 2 As shown, two 2D obstacle avoidance radars 72 are respectively located on the left side and the right side of the vehicle; so that the 2D obstacle avoidance radar 72 can achieve 360° obstacle scanning without blind spots on the ground, thereby helping to achieve automatic obstacle avoidance.

[0057] Embodiment: Three 2D obstacle avoidance radars 72 are used, which are located at the lower part of the vehicle, the left side of the vehicle, and the right side of the vehicle respectively;

[0058] In a preferred embodiment, as shown in the attached Figure 1 and attached Figure 2 As shown, the 3D obstacle avoidance radar 71 is located on the navigation bracket on the top of the vehicle, so as to provide obstacle avoidance effect for obstacles at a height comparable to that of the vehicle.

[0059] The fork tip obstacle avoidance sensor 73 is installed at the tail of the fork to provide the fork with a rearward obstacle avoidance effect;

[0060] Finally, the circuit integrating the 3D obstacle avoidance radar 71, the 2D obstacle avoidance radar 72 and the fork-tip obstacle avoidance sensor 73 provides multiple obstacle avoidance effects.

[0061] In a preferred embodiment, as shown in the attached Figure 1 and attached Figure 2 As shown, the height of the 3D obstacle avoidance radar 71 is higher than that of the 2D obstacle avoidance radar 72 and the fork obstacle avoidance sensor 73; thereby facilitating the use of the height difference among the 3D obstacle avoidance radar 71, the 2D obstacle avoidance radar 72, and the fork obstacle avoidance sensor 73 to increase the scanning of obstacles at different heights, providing a more three-dimensional safety guarantee;

[0062] Among them, the alarm module 6 includes: a warning light and a buzzer; the function of the warning light and buzzer is to increase the sound and light warning. When any obstacle avoidance radar triggers the obstacle avoidance effect, the warning light will light up red and be accompanied by a buzzer, trying to remind people as much as possible that there is a risk of collision, stay away from the vehicle, and prevent accidents.

[0063] Among them, when a pedestrian or obstacle enters the slow-moving area of ​​any obstacle avoidance radar, the alarm module 6 is controlled to issue an audible and visual warning to remind pedestrians to pay attention to safety or prompt personnel to clear the obstacle; when a pedestrian or obstacle enters the emergency stop area of ​​any obstacle avoidance radar, the normally closed contact switch 32 of the first relay of the electromagnetic brake 5 is controlled to be disconnected, and then the brake is applied to stop the vehicle to avoid collision, while maintaining audible and visual warnings; this design strikes a balance between maintaining task efficiency and ensuring safety, and strives to improve work efficiency while ensuring personal safety to the greatest extent possible.

[0064] In a preferred embodiment, as shown in the attached Figure 1 and attached Figure 2 As shown, the automatic obstacle avoidance control circuit further includes: a key switch 8;

[0065] One end of the key switch 8 is connected to the BMS positive electrode of the lithium battery 1 , and the other end of the key switch 8 is connected to the BMS negative electrode of the lithium battery 1 .

[0066] When the key switch 8 is closed, the relay MR in the lithium battery 1 is energized, and the vehicle is powered on; thereby, the circuit formed by the switching power supply 2 and the lithium battery 1 is connected;

[0067] Working principle of this utility model:

[0068] With lithium battery 1 as the power source, when the key switch 8 is closed, the switching power supply 2 outputs +24V voltage, at which point the vehicle can operate normally and perform tasks;

[0069] When an obstacle exists in the planned path and is in the warning zone sensed by any one of the 3D obstacle avoidance radar 71, the 2D obstacle avoidance radar 72 or the fork obstacle avoidance sensor 73, they all output a high level through the corresponding signal output port OUT2, the signal input port DI 2 of the upper controller 74 detects the signal input, and the algorithm determines that the signal output port DO2 of the upper controller 74 outputs a signal, thereby energizing the second relay coil 41, closing the second relay normally open contact switch 42, and turning on the warning light of the alarm module 6 in red with a buzzer warning. At this time, the vehicle reduces its speed.

[0070] If the obstacle reaches the stop zone of any of the sensing areas of the 3D obstacle avoidance radar 71, the 2D obstacle avoidance radar 72 or the fork obstacle avoidance sensor 73, they all output a high level through the corresponding output port OUT1, the signal input port DI1 of the upper controller 74 detects the signal input, and the algorithm determines that the signal output port DO1 of the upper controller 74 outputs a signal, the first relay coil 31 is energized, and the first relay normally closed contact switch 32 is disconnected, thereby de-energizing the electromagnetic brake 5, stopping the vehicle and continuously sounding an alarm;

[0071] When the staff removes the obstacle, the 3D obstacle avoidance radar 71, the 2D obstacle avoidance radar 72 or the fork obstacle avoidance sensor 73 cannot sense the obstacle, and the output ports OUT1 and OUT2 of the three stop outputting signals. There is no signal input to the signal input port DI 1 and the input port DI 2 of the upper controller 74, and then the first relay coil 31 connected to the signal output port DO1 of the upper controller 74 and the second relay coil 41 connected to the signal output port DO2 are both de-energized; then the second relay normally open contact switch 42 changes from the energized state to the disconnected state, the warning light of the alarm module 6 goes out and no longer buzzes; and the first relay normally closed contact switch 32 changes from the disconnected state to the energized state, the electromagnetic brake 5 is energized, the brake is released, and the vehicle continues to travel and completes the task.

[0072] It should be noted that, in this document, relational terms such as first and second, etc., are used only to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any actual relationship or order between these entities or operations. Moreover, the terms "comprises," "comprising," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that includes a list of elements includes not only those elements but also other elements not explicitly listed, or elements inherent to such process, method, article, or apparatus.

[0073] Although the embodiments of the present invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and variations may be made to these embodiments without departing from the principles and spirit of the present invention, and the scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. An automatic obstacle avoidance control circuit, comprising: A lithium battery (1), a switching power supply (2), a first relay (3), a second relay (4), an electromagnetic brake (5), an alarm module (6) and a radar circuit (7); The positive electrode and negative electrode of the lithium battery (1) are connected to the positive electrode and negative electrode of the switching power supply (2) respectively. The first relay (3) comprises: a first relay coil (31) and a first relay normally closed contact switch (32); The second relay (4) comprises: a second relay coil (41) and a second relay normally open contact switch (42); The other positive electrode of the switching power supply (2) is respectively connected to the positive electrode of the first relay normally closed contact switch (32), the second relay normally open contact switch (42) and the radar circuit (7); the other ends of the first relay normally closed contact switch (32) and the second relay normally open contact switch (42) are respectively connected to the positive electrode of the electromagnetic brake (5) and the positive electrode of the alarm module (6); the negative electrode of the radar circuit (7), the negative electrode of the electromagnetic brake (5) and the negative electrode of the alarm module (6) are all connected to the negative electrode of the lithium battery (1); It is characterized in that: the radar circuit (7) includes: a 3D obstacle avoidance radar (71), a 2D obstacle avoidance radar (72), a fork obstacle avoidance sensor (73) and an upper controller (74); The positive electrodes of the 3D obstacle avoidance radar (71), the 2D obstacle avoidance radar (72) and the fork obstacle avoidance sensor (73) are connected to the positive electrode of the switching power supply (2); The signal output ports OUT1 of the 3D obstacle avoidance radar (71), the 2D obstacle avoidance radar (72) and the fork obstacle avoidance sensor (73) are all connected to the signal input port DI 1 of the upper controller (74); the signal output ports OUT2 of the 3D obstacle avoidance radar (71), the 2D obstacle avoidance radar (72) and the fork obstacle avoidance sensor (73) are all connected to the signal input port DI 2 of the upper controller (74). The negative electrodes of the 3D obstacle avoidance radar (71), the 2D obstacle avoidance radar (72), the fork obstacle avoidance sensor (73) and the upper controller (74) are all connected to the negative electrode of the lithium battery (1); The signal output port DO1 of the upper controller (74) is connected to the negative electrode of the lithium battery (1) through the first relay coil (31); The signal output port DO2 of the upper controller (74) is connected to the negative electrode of the lithium battery (1) via the second relay coil (41).

2. The automatic obstacle avoidance control circuit according to claim 1, characterized in that: The number of the 2D obstacle avoidance radars (72) is at least two.

3. The automatic obstacle avoidance control circuit according to claim 2, characterized in that: The two 2D obstacle avoidance radars (72) are respectively located on the left side and the right side of the vehicle.

4. The automatic obstacle avoidance control circuit according to claim 1, characterized in that: The 3D obstacle avoidance radar (71) is arranged on a navigation bracket on the top of the vehicle, and the fork tip obstacle avoidance sensor (73) is installed at the tail of the fork.

5. The automatic obstacle avoidance control circuit according to claim 1, characterized in that: The height of the 3D obstacle avoidance radar (71) is higher than the heights of the 2D obstacle avoidance radar (72) and the fork obstacle avoidance sensor (73).

6. The automatic obstacle avoidance control circuit according to claim 1, characterized in that: The automatic obstacle avoidance control circuit further comprises: a key switch (8); One end of the key switch (8) is connected to the BMS positive electrode of the lithium battery (1), and the other end of the key switch (8) is connected to the BMS negative electrode of the lithium battery (1).

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