High-position obstacle-avoiding cattle-shaped AGV (Automatic Guided Vehicle)

Abstract

The utility model discloses a high-position obstacle avoidance cattle-shaped AGV, which comprises an AGV body and a navigation support assembly, the navigation support assembly is arranged on the AGV body, a laser radar is arranged on the navigation support assembly, a moving mechanism is arranged at the lower end of the AGV body, the moving mechanism is used for driving the AGV body to move, and the laser radar is arranged on the moving mechanism. The moving mechanism comprises a driving wheel and a driven wheel, and the driving wheel is driven by a motor so as to drive the AGV body to move. According to the invention, through 360-degree scanning of the laser radar, the environment can be sensed in all directions and the distance and the position of an obstacle can be accurately measured, so that the operation safety of the AGV is greatly improved.

Description

TECHNICAL FIELD

[0001] The utility model relates to AGV technical field, concretely is a high -altitude obstacle avoidance ground ox type AGV. BACKGROUND

[0002] With the rapid development of logistics industry, the application of automatic guided vehicle (AGV) in cargo transportation is more and more widely. As a common logistics transportation equipment, ground ox type AGV has been widely concerned due to its flexibility and convenience. However, there is a common problem in the ground ox type AGV on the domestic market at present: the vehicle height is low, and high-altitude obstacle avoidance cannot be realized.

[0003] Specifically, due to the design limitation of the traditional ground ox type AGV, the vehicle body height is relatively low, which limits the scanning range of the perception device such as laser radar. This limitation makes it difficult for the AGV to detect obstacles in the high altitude when running, thereby increasing the risk of collision with obstacles, which not only affects the running efficiency and safety of the AGV, but also restricts its application range in complex environments. SUMMARY

[0004] The utility model aims at solving the above technical problem, and provides a high -altitude obstacle avoidance ground ox type AGV;

[0005] In order to solve the above technical problem, the utility model provides the following technical scheme:

[0006] The utility model provides a high -altitude obstacle avoidance ground ox type AGV,

[0007] Including AGV body, navigation support component, the navigation support component is arranged on the AGV body, be provided with laser radar on the navigation support component, the lower end of AGV body is provided with mobile mechanism, the mobile mechanism is used to drive AGV body moves, the mobile mechanism includes drive wheel and driven wheel, the drive wheel is driven by motor, to drive AGV body moves.

[0008] Optionally, the laser radar is configured to rotate and scan 360 degrees, and the laser radar is used to realize all-around environmental perception and obstacle detection.

[0009] Optionally, it further includes a control system, the control system is connected with the laser radar and the mobile mechanism, and the motion trajectory of the mobile mechanism is controlled according to the perception data of the laser radar, so as to realize the automatic obstacle avoidance function.

[0010] Optionally, it further includes a power management system, the power management system is used to manage the power supply of AGV, and ensures the stable operation of the AGV body, laser radar and mobile mechanism.

[0011] Optionally, the navigation support assembly is designed as a liftable structure, so as to adjust the scanning height of the laser radar as needed, and improve the flexibility of environmental perception and obstacle detection.

[0012] Optionally, a loading platform is further arranged on the AGV body, which is used to carry and transport goods, thereby improving the goods transportation capacity of the AGV.

[0013] Optionally, a safety protection system is further included, which is equipped with an emergency braking device and a collision avoidance sensor, and is used to automatically brake in an emergency to prevent the AGV body from colliding with obstacles, and ensure the operation safety.

[0014] Advantages of the present application

[0015] The present application can perceive the environment in all directions and accurately measure the distance and position of obstacles through 360-degree scanning of the laser radar, thereby greatly improving the safety of AGV operation, and the application of the collision avoidance sensor and the emergency braking device ensures that the AGV can quickly respond when obstacles or potential collision risks are detected, and collision accidents are avoided.

[0016] The present application adopts the liftable navigation support assembly, so that the laser radar can adjust the height according to different environments, and the flexibility of the AGV is improved, so that it can adapt to more different application scenarios. BRIEF DESCRIPTION OF DRAWINGS

[0017] Figure 1 It is a structural perspective view of the present application.

[0018] Figure 2 It is a structural front view of the present application.

[0019] Figure 3 It is a structural side view of the present application.

[0020] Figure 4 It is a structural top view of the present application.

[0021] Mark 1-AGV body, 2-navigation support assembly, 3-laser radar, 4-moving mechanism, 5-loading platform. DETAILED DESCRIPTION

[0022] The technical solutions in the embodiments of the present application will be described clearly and completely below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative labor are within the scope of protection of the present application.

[0023] Embodiment

[0024] As Figures 1-4 shown, the utility model provides a high position avoids the barrier ground ox type AGV,

[0025] Including AGV body 1, navigation support component 2, navigation support component 2 sets up on AGV body 1 body, be provided with laser radar 3 on navigation support component 2, laser radar 3 is configured as 360 degree rotation scanning, laser radar 3 is used to realize all -round environmental perception and obstacle detection, the lower end of AGV body 1 is provided with moving mechanism 4, moving mechanism 4 is used to drive AGV body 1 moves, moving mechanism 4 includes drive wheel and driven wheel, drive wheel is driven by motor to drive AGV body 1 moves;

[0026] Still include power management system, power management system is used to manage AGV's electric energy supply, ensures the stable operation of AGV body 1, laser radar 3 and moving mechanism 4;

[0027] Navigation support component 2 is designed as liftable structure to adjust the scanning height of laser radar 3 as required, improve the flexibility of environmental perception and obstacle detection, the liftable structure of the application is set as electric or hydraulic drive lifting structure, and the lifting structure driven by electricity or hydraulic pressure can realize automatic height adjustment, and the lifting of navigation support component 2 is driven by motor or hydraulic pump and the like power equipment, but is not limited to this, and can be set according to actual requirements.

[0028] AGV body 1 is also provided with a carrier 5, and the carrier 5 is used to carry and transport goods, thereby improving the goods transportation capacity of the AGV.

[0029] Still include control system, the control system connects laser radar 3 and moving mechanism 4, and the motion trajectory of moving mechanism 4 is controlled according to the sensing data of laser radar 3 to realize the automatic obstacle avoidance function, specifically:

[0030] Laser radar 3 continuously emits laser beams and receives reflected signals by 360 degree rotation scanning, laser radar 3 measures the time difference from emission to reception of the laser beam, determines the distance from the target object, and measures the reflection angle and direction of the laser beam to determine the position of the target object, and laser radar 3 transmits the collected environmental information to the control system in the form of data.

[0031] After the control system receives the data, it processes and analyzes the data through built-in algorithms, such as identifying obstacles through obstacle detection algorithms and establishing a three-dimensional point cloud model of the environment. Based on the processed environmental information, the control system plans a path, calculates the optimal or safe path from the current location to the target location, and dynamically adjusts the path planning based on the real-time data of the laser radar 3 to avoid detected obstacles.

[0032] The control system issues specific movement instructions to the mobile mechanism 4 based on the path planning results. After receiving the instructions, the mobile mechanism 4 drives the wheels and other execution components through the motor to move the AGV according to the instructions.

[0033] During the movement of the AGV, the laser radar 3 continuously scans the environment and feeds back real-time data to the control system. The control system continuously adjusts the path planning and movement instructions based on the feedback data to ensure that the AGV can safely and accurately reach the destination.

[0034] If the laser radar 3 detects a risk of collision with an obstacle, the control system will immediately trigger a safety protection mechanism, such as stopping the AGV through an emergency braking device, to avoid collision.

[0035] Through the above steps, the control system can effectively use the perception data of the laser radar 3 to control the movement trajectory of the mobile mechanism 4, realizing the automatic obstacle avoidance function of the AGV. This mechanism ensures that the AGV can safely and efficiently perform tasks in complex environments.

[0036] In this application, the control system can use a PLC system, but it is not limited to this, and can be set according to actual needs;

[0037] The laser radar 3 in this application is configured to rotate 360 degrees and is installed on a liftable navigation support assembly 2, which enables it to realize omnidirectional environmental perception and high-altitude obstacle detection. The laser radar 3 continuously emits laser and receives the reflected signal, measures the distance to the surrounding objects in this way, and constructs a three-dimensional map of the environment.

[0038] The control system connects the laser radar 3 and the mobile mechanism 4, and receives real-time environmental data perceived by the laser radar 3. These data are processed and analyzed by the control system to identify the position, size and distance of obstacles. Based on these data, the control system makes decisions and plans a safe movement trajectory.

[0039] When the AGV is moving, the control system continuously adjusts the movement trajectory of the mobile mechanism 4 based on the perception data of the laser radar 3 to ensure that the AGV can automatically avoid obstacles. If a high-altitude obstacle is detected, the control system will plan a detour path in advance or stop moving to prevent collision.

[0040] The power management system ensures the stable operation of the AGV body 1, the laser radar 3 and the moving mechanism 4, monitors the battery power, and reminds charging or replacing the battery when the power is insufficient, thereby ensuring the continuous working ability of the AGV.

[0041] The safety protection system is equipped with emergency brake device and anti-collision sensor, which can automatically trigger the brake in emergency to avoid collision with obstacles and ensure the safety of AGV operation.

[0042] The application includes the following steps in use:

[0043] Initialization:

[0044] After the AGV starts, the system is first initialized, including self-checking of the laser radar 3, starting of the control system, checking of the power management system and preparation of the safety protection system.

[0045] Environment scanning:

[0046] The laser radar 3 starts 360-degree rotation scanning to collect data of the surrounding environment, especially the obstacle information in the high altitude.

[0047] Path planning:

[0048] The control system receives and processes the data of the laser radar 3, identifies the position and distance of the obstacles, and then plans a safe moving path.

[0049] Moving execution:

[0050] According to the planned path, the control system drives the wheels through the motor drive, driving the AGV body 1 to move. During the moving process, the laser radar 3 continuously scans the environment, and the control system adjusts the path in real time to avoid obstacles.

[0051] Safety protection:

[0052] During the movement of the AGV, the anti-collision sensor of the safety protection system continuously monitors the surrounding environment. If a collision danger is detected, the emergency brake device will be triggered immediately to stop the AGV moving, ensuring safety.

[0053] Task completion:

[0054] When the AGV reaches the target position and completes the cargo transportation task, the system will confirm the end of the task and wait for the next instruction or return to the charging station for charging.

[0055] Through the above working steps, the high-position obstacle avoidance AGV of the application can effectively realize high-altitude obstacle avoidance, improve the operation efficiency and safety, and is suitable for various complex logistics transportation environments.

[0056] Also included is a safety shield system equipped with an emergency braking device and a collision avoidance sensor to automatically brake in emergency situations, preventing the AGV body 1 from colliding with obstacles and ensuring safe operation. Specifically:

[0057] Application of collision avoidance sensor

[0058] Laser obstacle sensor:

[0059] The laser obstacle sensor is installed at the front or around the AGV to detect obstacles. The sensor emits laser pulses and receives the reflected signals, calculating the distance of the obstacle by measuring the time difference.

[0060] For example, the sensor can be set to trigger the brake to stop when it detects an obstacle within a range of 0.2-0.5 meters, preventing a collision with the obstacle.

[0061] Safety zone setting:

[0062] The laser obstacle sensor can set different safety zones, such as the warning zone and the danger zone.

[0063] When the obstacle enters the warning zone, the AGV will slow down and emit a warning sound to alert people around to pay attention to safety.

[0064] When the obstacle enters the danger zone, the AGV will automatically stop to ensure that it will not collide with the obstacle.

[0065] Application of emergency braking device

[0066] Emergency braking circuit:

[0067] The AGV is equipped with an emergency braking circuit that can quickly cut off the power supply or reverse the motor in an emergency to achieve rapid braking.

[0068] For example, when the collision avoidance sensor detects an impending collision, the emergency braking circuit will be activated immediately to prevent accidents.

[0069] Bidirectional braking system:

[0070] It controls the operation of the brake motor in the opposite direction of the AGV's travel direction to brake.

[0071] For example, if the AGV moves forward, the system will control the rear brake to brake; if the AGV moves backward, the front brake will be controlled to brake. This design ensures the stability and efficiency of the brake.

[0072] System coordination and reaction time

[0073] Fast response:

[0074] The design of the safety protection system needs to ensure a fast response time, from the detection of an obstacle by the sensor to the triggering of the emergency braking device, the entire process needs to be completed in a very short time.

[0075] For example, the system can react within a few milliseconds, ensuring that the AGV stops or slows down before colliding with an obstacle.

[0076] System coordination:

[0077] In a large AGV system, multiple vehicles may need to operate in the same area, at this time, the safety protection system also needs to be combined with a central dispatch system or a decentralized coordination method to ensure the safety and efficiency of each AGV.

[0078] In summary, the safety protection system effectively prevents collisions between AGVs and obstacles through the precise detection of laser obstacle sensors and the rapid response of emergency braking devices, ensuring safe operation.

[0079] The present application can perceive the environment in all directions and accurately measure the distance and position of obstacles through the 360-degree scanning of the laser radar 3, thereby greatly improving the safety of AGV operation, the application of anti-collision sensors and emergency braking devices ensures that when obstacles or potential collision risks are detected, the AGV can quickly respond to avoid collision accidents.

[0080] The present application adopts a liftable navigation support assembly 2, which enables the laser radar 3 to adjust the height according to different environments, increases the flexibility of the AGV, and makes it adapt to more different application scenarios.

[0081] Finally, it should be noted that: the above only for the preferred embodiments of the present application, and not for limiting the present application, although the present application has been described in detail with reference to the foregoing embodiments, for those skilled in the art, it can still modify the technical solutions recorded in the foregoing embodiments, or make equivalent replacement for part of the technical features, any modification, equivalent replacement, improvement, etc. within the spirit and principles of the present application, shall be included in the protection scope of the present application.

Claims

1. A high-position obstacle-avoidance AGV, characterized in that, The system includes an AGV body and a navigation support assembly. The navigation support assembly is mounted on the AGV body and is equipped with a laser radar. A moving mechanism is located at the lower end of the AGV body. The moving mechanism is used to drive the AGV body to move. The moving mechanism includes a drive wheel and a driven wheel. The drive wheel is driven by a motor to move the AGV body. It also includes a safety protection system, which is equipped with an emergency braking device and anti-collision sensors to automatically brake in emergency situations, prevent the AGV body from colliding with obstacles, and ensure safe operation.

2. The high-position obstacle-avoidance AGV according to claim 1, characterized in that, The lidar is configured for 360-degree rotating scanning, and is used to achieve all-round environmental perception and obstacle detection.

3. The high-position obstacle-avoidance AGV according to claim 1, characterized in that, It also includes a control system, which connects the lidar and the moving mechanism, and controls the movement trajectory of the moving mechanism based on the perception data of the lidar to achieve automatic obstacle avoidance.

4. The high-position obstacle-avoidance AGV according to claim 3, characterized in that, It also includes a power management system, which manages the power supply of the AGV and ensures the stable operation of the AGV body, lidar, and moving mechanism.

5. The high-position obstacle-avoidance AGV according to claim 4, characterized in that, The navigation bracket assembly is designed with a height adjustable structure to allow for adjustment of the LiDAR's scanning height as needed, thereby improving the flexibility of environmental perception and obstacle detection.

6. The high-position obstacle-avoiding AGV according to claim 1, characterized in that, The AGV body is also equipped with a cargo platform, which is used to carry and transport goods, thereby improving the AGV's cargo transportation capacity.

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