Double-layer roller AGV (Automatic Guided Vehicle)

Abstract

The utility model relates to the technical field of roller AGVs, and discloses a double-layer roller AGV which comprises a shell, a base is fixed to the upper surface of the shell, a stopper is installed in the shell, a double-layer roller module is installed in the shell, and a lever floating type chassis is installed on the lower surface of the base. The lever floating type chassis is connected with a driving wheel, a laser radar is fixed to the outer side of the base, and a downward-looking camera is embedded in the lower surface of the base. The driving wheels form a two-wheel-drive differential walking steering system, and the laser radar is in linkage with a safety detection system. In the utility model, a differential steering structure of the lever floating type chassis and the symmetrical driving wheels is adopted, and the steering angles of the driving wheels on the two sides are independently controlled through the servo motor, so that the self-adaptive path tracking under the complex ground condition is realized, and the technical defects of running track deviation and steering response delay caused by uneven ground are overcome.

Description

Technical Field

[0001] This utility model relates to the field of roller AGV technology, and in particular to a double-layer roller AGV. Background Technology

[0002] In industrial automation scenarios, traditional AGVs mostly adopt rigid chassis and single-drive steering structures, which have inherent limitations in their mechanical design. When the ground is tilted or uneven, the rigid connection causes uneven stress distribution between the drive wheels and the ground, which can easily cause the driving trajectory to deviate from the preset path. Frequent correction operations not only increase energy consumption but also accelerate the wear of the steering mechanism, seriously restricting the stability of long-cycle operations.

[0003] Existing AGVs based on QR code navigation generally use a fixed scanning frequency positioning mode, which exposes significant defects under high-speed operation. Due to the mismatch between vehicle displacement speed and image acquisition rate, QR code recognition is prone to lag or missed detection at high speeds, forcing the vehicle to repeatedly perform deceleration and repositioning operations, resulting in interruption of the material handling task and failing to meet the efficiency requirements of modern high-cycle production lines.

[0004] Conventional obstacle avoidance systems rely on horizontally mounted lidar, whose monitoring plane is parallel to the ground, creating a vertical blind spot. For obstacles below the radar scanning plane (such as debris on the ground or protruding parts of equipment), the system cannot generate an effective warning signal. Such missed detections can easily lead to equipment collisions or material spills, forcing companies to add manual inspections, significantly increasing the complexity of production line maintenance and safety risks. Summary of the Invention

[0005] To overcome the above shortcomings, this utility model provides a double-layer roller AGV, which aims to improve the problems of driving trajectory deviation and sluggish steering response caused by uneven ground.

[0006] To achieve the above objectives, this utility model adopts the following technical solution: It includes: a housing; a base fixed to the upper surface of the housing; a stopper installed inside the housing; a double-layer roller module installed inside the housing; a lever-floating chassis installed on the lower surface of the base; a drive wheel connected to the lever-floating chassis; a laser radar fixed to the outer side of the base; and a downward-looking camera embedded in the lower surface of the base; the drive wheel constitutes a two-wheel drive differential walking and steering system; the laser radar is linked to a safety detection system; the roller module is equipped with a material detection sensor; and the stopper can be raised and lowered to control the docking of materials with production line equipment.

[0007] As a further description of the above technical solution:

[0008] The drive wheels are symmetrically arranged on both sides of the lever floating chassis, and the steering angle is controlled by an independent servo motor. The servo motor is connected to the two-wheel drive differential travel and steering system to realize differential steering and path correction.

[0009] As a further description of the above technical solution:

[0010] The lidar is installed on the outside of the base, with its scanning direction tilted downwards, covering the area in front of and to the side of the AGV, and is linked with the safety detection system to generate dynamic obstacle avoidance commands.

[0011] As a further description of the above technical solution:

[0012] The downward-facing camera is embedded in the center of the bottom of the base, with its lens facing the QR code on the ground. The scanning frequency is dynamically adjusted according to the AGV's driving speed.

[0013] As a further description of the above technical solution:

[0014] The blocker is a liftable structure, and its lifting end is equipped with a contact sensing module for detecting the docking status with the production line equipment. The lifting action is linked with the start and stop signal of the roller module.

[0015] As a further description of the above technical solution:

[0016] The material detection sensors are symmetrically arranged along the conveying direction of the double-layer roller module to detect the edge offset of the material tray and feed the signal back to the control system to trigger roller position adjustment.

[0017] As a further description of the above technical solution:

[0018] The base and the lever-floating chassis are connected by a floating connection mechanism to adapt to the undulations of the ground, and the base is equipped with a cable channel for integrating the connection harnesses of the control system and various sensors.

[0019] As a further description of the above technical solution:

[0020] The top of the casing has a reserved wireless communication module for real-time interaction with the host computer to exchange task instructions and status information.

[0021] This utility model has the following beneficial effects:

[0022] 1. This utility model adopts a differential steering structure with a lever-floating chassis and symmetrical drive wheels. The steering angle of both drive wheels is independently controlled by a servo motor, achieving adaptive path tracking under complex terrain conditions. Compared to existing technologies that use rigid chassis or single-drive steering, this solves the technical defects of trajectory deviation and sluggish steering response caused by uneven ground, enabling the AGV to maintain millimeter-level tracking accuracy even on bumpy or sloping surfaces.

[0023] This invention combines dynamic scanning frequency adjustment technology of a downward-looking camera with a QR code positioning and navigation system. By matching the driving speed and QR code recognition rate in real time, it achieves continuous and accurate positioning at high speeds. Existing fixed-frequency scanning schemes are prone to signal loss when the AGV accelerates, leading to path planning interruptions. This solution completely eliminates positioning blind spots at high speeds through a dynamic adaptation mechanism, ensuring seamless connection of transport tasks.

[0024] This invention constructs a three-dimensional obstacle avoidance perception system through the collaborative design of an inclined-mounted lidar and a floating connecting base. Compared with the traditional horizontally mounted lidar solution, its downward-tilted scanning angle expands the obstacle detection range, enabling it to identify obstacles ahead and also detect low-lying risk sources such as ground protrusions and scattered parts, thus solving the obstacle avoidance failure problem caused by monitoring blind spots in existing technologies. Attached Figure Description

[0025] Figure 1 This is a perspective view of a double-layer roller AGV proposed in this utility model;

[0026] Figure 2 This is a schematic diagram of the base structure of a double-layer roller AGV proposed in this utility model;

[0027] Figure 3 This is a schematic diagram of the contact sensing module of a double-layer roller AGV proposed in this utility model.

[0028] Figure 4 This invention presents a partial structural schematic of a lever-floating chassis for a double-layer roller AGV.

[0029] Figure 5 This is a schematic diagram of the drive wheel structure of a double-layer roller AGV proposed in this utility model.

[0030] Legend:

[0031] 1. Housing; 2. Blocker; 3. Roller module; 4. Base; 5. Drive wheel; 6. LiDAR; 7. Camera; 8. Lever floating chassis; 9. Contact sensing module; 10. Floating connection mechanism; 11. Material detection sensor. Detailed Implementation

[0032] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the protection scope of the present utility model.

[0033] Reference Figures 1-4 This utility model provides an embodiment of a double-layer roller AGV, comprising: a shell 1, a base 4 fixed to the upper surface of the shell 1, a stopper 2 installed inside the shell 1, a double-layer roller module 3 installed inside the shell 1, a lever-floating chassis 8 installed on the lower surface of the base 4, drive wheels 5 connected to the lever-floating chassis 8, a laser radar 6 fixed to the outer side of the base 4, and a downward-looking camera 7 embedded in the lower surface of the base 4; the drive wheels 5 constitute a two-drive differential walking and steering system, the laser radar 6 is linked with a safety detection system, the roller module 3 is equipped with a material detection sensor 11, the stopper 2 can lift and control the docking of materials with production line equipment, the drive wheels 5 are symmetrically arranged on both sides of the lever-floating chassis 8, and the steering angle is controlled by an independent servo motor, the servo motor is signal-connected to the two-drive differential walking and steering system to realize differential steering and path correction, and the laser radar 6 is installed on the outer side of the base 4, its scanning direction... The system tilts downwards, covering the area in front of and to the side of the AGV, and generates dynamic obstacle avoidance commands in conjunction with the safety detection system. The downward-looking camera 7 is embedded in the center of the bottom of the base 4, with its lens facing the QR code on the ground. The scanning frequency is dynamically adjusted according to the AGV's travel speed. The blocker 2 is a liftable structure, and its lifting end is equipped with a contact sensing module 9 for detecting the docking status with the production line equipment. The lifting action is linked with the start and stop signals of the roller module 3. The material detection sensor 11 is symmetrically arranged along the conveying direction of the double-layer roller module 3 to detect the edge offset of the material tray and feed the signal back to the control system to trigger the roller position adjustment. The base 4 and the lever floating chassis 8 are connected by a floating connection mechanism 10 to adapt to the ground undulations. The base 4 has a cable channel inside for integrating the connection harnesses of the control system and various sensors. The top of the outer shell 1 has a reserved wireless communication module for real-time interaction with the host computer for task commands and status information.

[0034] Specifically, the double-layer roller AGV achieves differential steering control of both wheels through independent servo motors of drive wheels 5, and, in conjunction with the adaptive terrain compensation mechanism of the lever floating chassis 8, corrects path deviation in real time during movement; the downward-facing camera 7 dynamically adjusts the scanning frame rate according to the real-time vehicle speed to ensure continuous capture of ground QR codes and rapid matching with pre-stored coordinate data during high-speed driving; the lidar 6 adopts a tilted downward multi-dimensional scanning mode to simultaneously monitor obstacles ahead and low-lying risk sources on the ground, generating a graded obstacle avoidance strategy; the stopper 2 verifies the docking status through the contact sensing module 9 during lifting and lowering, and controls the delayed start and stop logic of the double-layer roller module 3 in conjunction; the material detection sensor 11 detects the pallet deviation based on a symmetrical layout, triggering intermittent forward and reverse rotation of the rollers to achieve material self-correction; the wireless communication module uploads the equipment operating status in real time and receives dynamic scheduling instructions, and the floating connection mechanism 10 and the cable channel work together to ensure the stability of signal transmission under complex working conditions.

[0035] Working principle: Drive wheel 5 achieves differential steering through an independent servo motor, which, together with the floating mechanism of lever floating chassis 8, compensates for ground undulations in real time. During movement, it dynamically adjusts the speed difference between the two sides according to the path deviation. The downward-looking camera 7 adaptively adjusts the scanning frequency based on the real-time speed of the AGV, accurately captures the ground QR code and matches it with the pre-stored map data to achieve continuous positioning. LiDAR 6 performs three-dimensional scanning of the AGV's movement direction at a downward-tilted detection angle, simultaneously integrating ground protrusion detection and obstacle recognition functions to generate multi-level safety warning signals. The stopper 2 triggers the contact sensing module 9 through lifting action, and after descending to the correct position, it controls the start and stop sequence of the double-layer roller module 3 to ensure that the physical lock of the production line docking mechanism is completely released before material transfer is started. The double-layer roller module 3 is based on the pallet offset feedback from the material detection sensor 11. According to reports, the system performs intermittent forward and reverse operations to autonomously correct the material position. Material detection sensors 11 are symmetrically distributed along the roller conveyor axis, capturing the pallet edge offset in real time and generating position compensation commands. The wireless communication module continuously receives handling tasks issued by the host computer and synchronously uploads the AGV's real-time position, obstacle avoidance status, and material loading data. During operation, the control system completes the calibration of each sensor in the initialization phase, generates the optimal trajectory by combining the QR code coordinates and the steering limit of the drive wheel 5 in the path planning phase, and dynamically integrates the positioning data of the downward-looking camera 7 and the obstacle avoidance information of the lidar 6 to achieve closed-loop control in the driving phase. When picking up goods, the stopper 2 descends to trigger the roller delay start mechanism. After unloading, the material detection sensors 11 confirm that there is no residue and the actuator resets. When the task ends, the AGV autonomously activates the return navigation mode, and each sensing module continues to work until it safely returns to the standby point.

[0036] Finally, it should be noted that the above description is only a preferred embodiment of the present utility model and is not intended to limit the present utility model. Although the present utility model has been described in detail with reference to the foregoing embodiments, those skilled in the art can still modify the technical solutions described in the foregoing embodiments or make equivalent substitutions for some of the technical features. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present utility model should be included within the protection scope of the present utility model.

Claims

1. A double-layer roller AGV, characterized in that, include: The outer shell (1) has a base (4) fixed on its upper surface, a stopper (2) installed inside the outer shell (1), a double-layer roller module (3) installed inside the outer shell (1), a lever floating chassis (8) installed on the lower surface of the base (4), a drive wheel (5) connected to the lever floating chassis (8), a laser radar (6) fixed on the outer side of the base (4), and a downward-looking camera (7) embedded on the lower surface of the base (4); the drive wheel (5) constitutes a two-wheel drive differential walking and steering system, the laser radar (6) is linked with the safety detection system, the roller module (3) is equipped with a material detection sensor (11), and the stopper (2) can lift and control the docking of materials with production line equipment.

2. The double-layer roller AGV according to claim 1, characterized in that, The drive wheels (5) are symmetrically arranged on both sides of the lever floating chassis (8), and the steering angle is controlled by an independent servo motor. The servo motor is connected to the two-wheel drive differential walking and steering system to realize differential steering and path correction.

3. The double-layer roller AGV according to claim 1, characterized in that, The lidar (6) is installed on the outside of the base (4), with its scanning direction tilted downwards, covering the area in front of and to the side of the AGV, and is linked with the safety detection system to generate dynamic obstacle avoidance commands.

4. The double-layer roller AGV according to claim 1, characterized in that, The downward-facing camera (7) is embedded in the center of the bottom of the base (4), with its lens facing the QR code on the ground. The scanning frequency is dynamically adjusted according to the AGV's driving speed.

5. A double-layer roller AGV according to claim 1, characterized in that, The blocker (2) is a liftable structure, and its lifting end is equipped with a contact sensing module (9) for detecting the docking status with the production line equipment. The lifting action is linked with the start and stop signal of the roller module (3).

6. A double-layer roller AGV according to claim 1, characterized in that, The material detection sensors (11) are symmetrically arranged along the conveying direction of the double-layer roller module (3) to detect the edge offset of the material tray and feed the signal back to the control system to trigger roller position adjustment.

7. A double-layer roller AGV according to claim 1, characterized in that, The base (4) and the lever floating chassis (8) are connected by a floating connection mechanism (10) to adapt to the undulation of the ground. The base (4) is provided with a cable channel inside for integrating the connection harnesses of the control system and each sensor.

8. A double-layer roller AGV according to claim 1, characterized in that, The top of the outer shell (1) has a reserved wireless communication module for real-time interaction with the host computer to exchange task instructions and status information.

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