AGV chassis with obstacle avoidance and distance measurement functions

Abstract

The utility model relates to the technical field of AGV chassis, in particular to an AGV chassis with obstacle avoidance and distance measurement functions, which comprises a base, a controller is fixedly connected in the base, and a laser radar is fixedly connected in the side wall of the base; the two sides of the support are rotationally connected with rolling wheels; and the side walls of the rotating seats are rotationally connected with steering wheels. The accurate distance and position information of a front obstacle are obtained in real time through the laser radar, potential danger can be sensed in advance, then a proper obstacle avoidance path is calculated through an obstacle avoidance algorithm in the controller, the base can adjust the driving direction in time, collision with the obstacle is avoided, and therefore the safety in the running process is remarkably improved, and the driving safety is improved. The sound generated by the buzzer can quickly attract the attention of people around the base, then the base can actively avoid obstacles by adjusting the angle of the steering wheel, and the safety of the base in the driving process is further improved through the combination of sound warning and active obstacle avoidance.

Description

Technical Field

[0001] This utility model relates to the field of AGV chassis technology, and in particular to an AGV chassis with obstacle avoidance and distance measurement functions. Background Technology

[0002] The AGV chassis is the bottom support structure of the Automated Guided Vehicle (AGV), responsible for carrying and moving the entire AGV system. It provides a stable foundation for the AGV, enabling it to travel along a predetermined path and complete various logistics transportation tasks.

[0003] Existing AGV chassis rely solely on their own obstacle avoidance system without additional audible warning mechanisms. When an obstacle is detected, they cannot promptly alert those around them, increasing the risk of collisions. Utility Model Content

[0004] The purpose of this invention is to provide an AGV chassis with obstacle avoidance and distance measurement functions. This device improves safety and solves the problem of poor safety in the prior art.

[0005] To achieve the above objectives, the present invention adopts the following technical solution:

[0006] An AGV chassis with obstacle avoidance and distance measurement functions includes a base, in which a main gear and two gears are rotatably connected, with the sidewalls of the main gear meshing with the sidewalls of the gears; a controller is fixedly connected inside the base; a lidar is fixedly connected inside the sidewalls of the base, and the lidar is electrically connected to the controller; a bracket is located at the lower end of the base, with rollers rotatably connected to both sides of the bracket; and two rotating seats are located at the lower end of the base, with steering wheels rotatably connected to the sidewalls of the rotating seats; a vertical rod is fixedly connected to the upper end of the rotating seat, and the upper end of the vertical rod is fixedly connected to the lower end of the gear.

[0007] Preferably, the lower end of the base is provided with two grooves, and both ends of the upper section of the bracket are fixedly connected with protrusions, and the protrusions are fixedly connected to the grooves by bolts.

[0008] Preferably, a motor is fixedly connected to the lower end of the base, and the output end of the motor is fixedly connected to the lower end of the main gear.

[0009] Preferably, a buzzer is fixedly connected to the lower end of the base, and both the buzzer and the motor are electrically connected to the controller.

[0010] Preferably, protective pads are fixedly connected to all four sides of the base, and the protective pads are made of rubber.

[0011] Preferably, the bracket has two crossbars rotatably connected inside, one end of each crossbar is fixedly connected to the side wall of the roller, and a drive motor is fixedly connected inside the bracket. The output end of the drive motor is fixedly connected to the other end of the crossbar through a coupling.

[0012] Compared with the prior art, the advantages of this utility model are:

[0013] 1. By acquiring precise distance and location information of obstacles in front in real time through lidar, the base can detect potential dangers in advance during movement. Then, the obstacle avoidance algorithm inside the controller calculates a suitable obstacle avoidance path, allowing the base to adjust its driving direction in time to avoid collisions with obstacles, thereby significantly improving safety during operation.

[0014] 2. The sound emitted by the buzzer can quickly attract the attention of people around the base, reminding them to pay attention to the base's driving path and obstacles in front of them, so that they can avoid them in time and avoid collisions. By adjusting the angle of the steering wheels, the base can actively avoid obstacles. The combination of sound warning and active obstacle avoidance further improves the safety of the base during driving. Attached Figure Description

[0015] Figure 1 This is a front view of the external structure of the AGV chassis with obstacle avoidance and distance measurement functions proposed in this utility model.

[0016] Figure 2 This is a bottom view of the external structure of the AGV chassis with obstacle avoidance and distance measurement functions proposed in this utility model.

[0017] Figure 3 This is a front sectional view of the AGV chassis with obstacle avoidance and distance measurement functions proposed in this utility model.

[0018] Figure 4 This is a schematic cross-sectional view of the right side of the AGV chassis with obstacle avoidance and distance measurement functions proposed in this utility model.

[0019] Figure 5 This is a schematic cross-sectional view of the left side of the AGV chassis with obstacle avoidance and distance measurement functions proposed in this utility model.

[0020] In the diagram: 001, base; 101, groove; 102, motor; 103, main gear; 104, gear; 105, controller; 106, lidar; 107, buzzer; 108, protective pad; 002, bracket; 201, protrusion; 202, drive motor; 203, crossbar; 204, roller; 003, swivel; 301, steering wheel; 302, vertical bar. Detailed Implementation

[0021] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present utility model. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments.

[0022] Reference Figure 1-5 An AGV chassis with obstacle avoidance and ranging functions includes a base 001. Inside the base 001, a main gear 103 and two gears 104 are rotatably connected. The sidewalls of the main gear 103 mesh with the sidewalls of the gears 104. A controller 105 is fixedly connected inside the base 001, and a laser radar 106 is fixedly connected to the sidewall of the base 001, electrically connected to the controller 105. A bracket 002 is located at the lower end of the base 001, and rollers 204 are rotatably connected to both sides of the bracket 002. Two rotating seats 003 are located at the lower end of the base 001, with steering wheels 301 rotatably connected to the sidewalls of the rotating seats 003. A vertical rod 302 is fixedly connected to the upper end of the rotating seat 003, and the upper end of the vertical rod 302 is fixedly connected to the lower end of the gears 104. The two rollers 204 rotate in the same direction, causing the base 001 to move. During the movement of the base 001, the laser radar 106 continuously emits laser beams towards the surrounding environment in front of the base 001. The laser radar 106 receives reflected light and obtains precise distance and position information of obstacles in front. Then, the laser radar 106 converts the scanned environmental information into digital signals and transmits them to the controller 105. Through the obstacle avoidance algorithm integrated in the controller 105, the obstacle avoidance algorithm calculates a suitable obstacle avoidance path based on the environmental data provided by the laser radar 106. When an obstacle is detected in the travel path of the base 001, the controller 105 controls the main gear 103 to rotate. Through the cooperation between the main gear 103 and the gear 104, the gear 104 drives the vertical rod 302 to rotate. At the same time, the vertical rod 302 drives the rotating seat 003 to rotate, adjusting the steering wheel 301 to a suitable angle and changing the travel direction of the base 001 in order to avoid obstacles in front. An angle sensor is fixedly connected to the upper end of one of the gears 104. The angle sensor monitors the rotation angle of the gear 104. The angle sensor is electrically connected to the controller 105.

[0023] The lower end of the base 001 is provided with two grooves 101, and both ends of the upper section of the bracket 002 are fixedly connected with protrusions 201. The protrusions 201 and the grooves 101 are fixedly connected by bolts. The grooves 101 are used to position the protrusions 201.

[0024] A motor 102 is fixedly connected to the lower end of the base 001. The output end of the motor 102 is fixedly connected to the lower end of the main gear 103. The output end of the motor 102 drives the main gear 103 to rotate. Both the main gear 103 and the gear 104 are ordinary spur gears.

[0025] A buzzer 107 is fixedly connected to the lower end of the base 001. Both the buzzer 107 and the motor 102 are electrically connected to the controller 105. When an obstacle is detected, the controller 105 controls the buzzer 107 to emit a sound, providing an audible warning to the area around the base 001. The sound emitted by the buzzer 107 can attract the attention of people around the base 001, reminding them to pay attention to the travel path of the base 001 and the obstacles in front of it, and to avoid them. Subsequently, the controller 105 controls the motor 102 to operate.

[0026] Protective pads 108 are fixedly connected to all four sides of the base 001. The protective pads 108 are made of rubber. The multiple protective pads 108 protect the base 001 from all sides.

[0027] The bracket 002 has two crossbars 203 rotatably connected inside. One end of the crossbar 203 is fixedly connected to the side wall of the roller 204. The bracket 002 has a drive motor 202 fixedly connected inside. The output end of the drive motor 202 is fixedly connected to the other end of the crossbar 203 through a coupling. The drive motor 202 is a dual-axis motor. The two output ends of the drive motor 202 drive the two crossbars 203 to rotate in the same direction, so that the roller 204 rotates in the same direction.

[0028] In this invention, the two output ends of the drive motor 202 drive the two crossbars 203 to rotate in the same direction, causing the rollers 204 to rotate in the same direction, thus moving the base 001. During the movement of the base 001, the lidar 106 continuously emits laser beams into the surrounding environment in front of the base 001 and receives reflected light to obtain the precise distance and position information of obstacles in front. Subsequently, the lidar 106 converts the scanned environmental information into digital signals and transmits them to the controller 105. Through the obstacle avoidance algorithm integrated inside the controller 105, the obstacle avoidance algorithm calculates a suitable obstacle avoidance path based on the environmental data provided by the lidar 106.

[0029] When an obstacle is detected in the path of the base 001, the controller 105 controls the buzzer 107 to sound, providing an audible warning to the area around the base 001. The sound from the buzzer 107 can attract the attention of people around the base 001, reminding them to pay attention to the travel path of the base 001 and the obstacle in front, requiring them to avoid it. Subsequently, the controller 105 controls the motor 102 to operate, and the output of the motor 102 drives the main gear 103 to rotate. Through the cooperation between the main gear 103 and the gear 104, the gear 104 drives the vertical rod 302 to rotate. At the same time, the vertical rod 302 drives the rotating seat 003 to rotate. The angle sensor monitors the rotation angle of the gear 104 to ensure that the steering wheel 301 is adjusted to a suitable angle, changing the travel direction of the base 001 in order to avoid the obstacle in front.

[0030] The above description is only a preferred embodiment of the present utility model, but the protection scope of the present utility model is not limited thereto. Any equivalent substitutions or changes made by those skilled in the art within the technical scope disclosed in the present utility model, based on the technical solution and the inventive concept of the present utility model, should be included within the protection scope of the present utility model.

Claims

1. An AGV chassis with obstacle avoidance ranging function, characterized in that, The utility model relates to a kind of laser radar, including Base (001), the main gear (103) and two gear (104) are rotatably connected in the base (001) inside respectively, the side wall of the main gear (103) is engaged with the side wall of gear (104), the controller (105) is fixedly connected in the base (001) inside, the laser radar (106) is fixedly connected in the side wall of the base (001), and the laser radar (106) is electrically connected with the controller (105); Support (002), the support (002) is located at the lower end of base (001), and the roller (204) is rotatably connected to the both sides of the support (002); Two rotating seats (003), the rotating seat (003) is located at the lower end of base (001), the steering wheel (301) is rotatably connected to the side wall of the rotating seat (003), the vertical rod (302) is fixedly connected to the upper end of the rotating seat (003), and the vertical rod (302) is fixedly connected to the lower end of the gear (104).

2. The AGV chassis with obstacle avoidance and distance measurement function according to claim 1, characterized in that, The lower end of the base (001) is provided with two grooves (101), the convex block (201) is fixedly connected to the both ends of the upper segment of the support (002), and the convex block (201) and the groove (101) are fixedly connected by bolt.

3. The AGV chassis with obstacle avoidance and distance measurement function according to claim 1, characterized in that, The lower end of the base (001) is fixedly connected with the motor (102), and the output end of the motor (102) is fixedly connected with the lower end of the main gear (103).

4. The AGV chassis with obstacle avoidance ranging function according to claim 3, characterized in that, The lower end of the base (001) is fixedly connected with the buzzer (107), and the buzzer (107) and the motor (102) are electrically connected with the controller (105).

5. The AGV chassis with obstacle avoidance and distance measurement function according to claim 1, characterized in that, The side wall around the base (001) is fixedly connected with the protective pad (108), and the protective pad (108) is made of rubber material.

6. The AGV chassis with obstacle avoidance and distance measurement function according to claim 1, characterized in that, The support (002) is rotatably connected with two cross bars (203) inside, one end of the cross bar (203) is fixedly connected with the side wall of the roller (204), the drive motor (202) is fixedly connected inside the support (002), and the output end of the drive motor (202) and the other end of the cross bar (203) are fixedly connected by shaft coupling.

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