Forward moving type AGV front suspended obstacle monitoring mechanism
By installing scanning and vision components on the top of the AGV, the problem of identifying suspended obstacles in the blind spot of the lidar sensor is solved, enabling precise monitoring of the AGV's driving direction and ensuring safety.
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- Filing Date
- 2025-06-12
- Publication Date
- 2026-04-17
AI Technical Summary
In the existing technology, the lidar sensor of the forward-moving AGV is located at the top, which has a blind spot in front of it and cannot identify suspended obstacles. Moreover, the accuracy of identification by lidar alone is insufficient, making it difficult to meet the monitoring needs in complex environments.
A scanning and detection component and a vision component are installed on the top of the AGV. The scanning and detection component scans for obstacles, while the vision component takes pictures of the ground at a predetermined angle. The images are then combined with a processor for identification. The scanning blind spots and the vision component complement each other to improve monitoring accuracy.
Effectively identify suspended obstacles in the direction of AGV travel, reduce collision risk, improve monitoring accuracy, and ensure the safe operation of AGV.
Smart Images
Figure CN224131189U_ABST
Abstract
Description
Technical Field
[0001] This application relates to the field of tobacco production and transportation equipment technology, and specifically to a forward-moving AGV (Automated Guided Vehicle) forward-suspended obstacle monitoring mechanism. Background Technology
[0002] In automated warehouses and logistics systems, reach trucks (AGVs) are widely used for handling and distributing goods because they can flexibly navigate between narrow aisles and shelves.
[0003] However, during AGV operation, obstacles may be encountered in front, such as suspended goods or low-hanging power lines, posing a potential threat to AGV safety. Current technology involves mounting a lidar sensor on the top of the AGV. Because the lidar sensor is located on top, there is a blind spot in front of the AGV, where objects cannot be identified. This makes it easy for the AGV to collide with obstacles in the blind spot. Furthermore, relying solely on lidar sensors to scan and identify obstacles results in insufficient monitoring accuracy, making it difficult to meet the monitoring needs in complex environments. Utility Model Content
[0004] This application provides a forward-moving AGV in-front obstacle monitoring mechanism to improve the ability to monitor in-front obstacles of AGV.
[0005] In one embodiment, a forward-moving AGV obstacle detection mechanism is provided for installation on the AGV trolley, comprising:
[0006] A bracket, which is fixedly equipped with a shock absorber, is fixedly connected to the AGV trolley through the shock absorber; the bracket is used to be installed on the top of the AGV trolley.
[0007] A scanning detection component is fixedly connected to the bracket; the scanning detection component scans environmental obstacles in the direction the AGV is traveling;
[0008] A vision component is fixedly connected to the bracket, and the vision component takes a picture of the ground in the direction of travel of the AGV at a predetermined angle;
[0009] Both the scanning detection component and the vision component are electrically connected to the processor for use with the AGV vehicle.
[0010] In one embodiment, the bracket includes a ring-shaped base plate; the shock absorber abuts between the base plate and the AGV trolley; a support plate is fixedly connected to the base plate; and the scanning detection component and the vision component are both fixedly connected to the support plate.
[0011] In one embodiment, the shock absorber includes multiple shock absorber pads and multiple shock absorbers, all of which are distributed circumferentially along the base plate; the base plate is fixedly connected to the AGV trolley via the shock absorber pads and the shock absorbers.
[0012] Specifically, shock-absorbing pads and shock absorbers are arranged at intervals.
[0013] In one embodiment, the shock absorber includes a base with a first recess and a telescopic rod. The base is fixedly connected to the AGV trolley. One end of the telescopic rod is fixedly connected to the base plate, and the other end has a second recess. The telescopic rod is movably inserted into the first recess, and the first and second recesses are connected and enclosed to form a closed chamber. A first spring is provided in the first recess, with one end abutting against the bottom of the first recess and the other end abutting against one end of the telescopic rod. A push plate is movably provided in the second recess. The push plate fits against the inner wall of the second recess, dividing the chamber into a first cavity and a second cavity. A through hole is provided on the push plate, which communicates with the first and second cavities. A second spring is provided in the first cavity, with one end fixedly connected to the push plate and the other end fixedly connected to the bottom of the first recess.
[0014] Specifically, the outer wall of the telescopic rod fits tightly with the inner wall of the first cavity, and the side wall of the push plate fits tightly with the inner wall of the second cavity.
[0015] A limit block is fixedly connected to the push plate. Both the first and second springs are helical springs, and the limit block extends into the second spring.
[0016] The chamber is filled with hydraulic oil.
[0017] In one embodiment, a limiting ring is fixedly provided on the inner wall of the second cavity, the limiting ring being close to the opening of the second cavity; the limiting ring abuts against the push plate, and the limiting ring restricts the push plate from moving between the second cavity and the limiting ring.
[0018] Specifically, the second spring passes through the limiting ring and is fixedly connected to the push plate.
[0019] In one embodiment, a lighting lamp is also included, which is fixedly connected to the support plate, and the illumination direction of the lighting lamp is the same as the shooting direction of the vision component; the lighting lamp is used for electrical connection with the processor.
[0020] In one embodiment, a recorder is also included, which is fixedly connected to the support plate, and the recording direction of the recorder is the same as the driving direction of the AGV vehicle; the recorder is used to be electrically connected to the processor.
[0021] In one embodiment, the vision component includes a binocular camera and a laser emitter; both the binocular camera and the laser emitter are electrically connected to the processor.
[0022] Specifically, the binocular camera's shooting direction is at a 60° angle to the horizontal plane.
[0023] In one embodiment, the scanning and detection assembly includes a lidar sensor; the lidar sensor is fixedly connected to the support plate and is electrically connected to the processor.
[0024] In one embodiment, there are two recorders, which are spaced apart on the support plate; the two recorders shoot in opposite directions.
[0025] The beneficial effects of this application are:
[0026] The scanning component scans and detects environmental obstacles in the direction the AGV is traveling, and can identify suspended obstacles in the direction the AGV is traveling. Combined with the vision component, it can obtain clearer photos of suspended obstacles in the direction the AGV is traveling, providing the AGV with more accurate information about the driving environment. Therefore, it can effectively prevent the AGV from colliding with suspended obstacles in the direction of travel.
[0027] Because the scanning component is mounted on top of the AGV, its scanning detection creates a certain blind spot in the AGV's travel direction. By using a vision component to photograph the ground in the AGV's travel direction at a predetermined angle, the blind spot scanned by the scanning component can be effectively identified. Therefore, the scanning of obstacles in the AGV's travel direction can be effectively improved, increasing the monitoring accuracy and ensuring the safety of the AGV's operation. Attached Figure Description
[0028] To more clearly illustrate the technical solutions in the embodiments of this application, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.
[0029] Figure 1 This is a schematic diagram of the AGV (Automated Guided Vehicle) structure according to an embodiment of this application;
[0030] Figure 2 This is a front view schematic diagram of an AGV vehicle according to an embodiment of this application;
[0031] Figure 3 This is a left-side view of an AGV (Automated Guided Vehicle) according to an embodiment of this application;
[0032] Figure 4 This is a schematic cross-sectional view of a shock absorber according to an embodiment of this application;
[0033] Figure 5 This is a schematic diagram of the control flow according to an embodiment of this application;
[0034] Labels for each item in the figure:
[0035] 1. AGV trolley; 2. Bracket; 21. Base plate; 22. Support plate; 3. Shock absorber; 31. Shock absorber pad; 32. Shock absorber; 321. Base; 322. First cavity; 323. Telescopic rod; 324. Second cavity; 325. First spring; 326. Push plate; 3261. Through hole; 3262. Limiting block; 327. Second spring; 328. Limiting ring; 4. Scanning and detection assembly; 5. Vision assembly; 6. Processor; 7. Lighting lamp; 8. Recorder. Detailed Implementation
[0036] The specific embodiments of this application will be further described in detail below with reference to the accompanying drawings and examples. The following examples are used to illustrate this application, but are not intended to limit the scope of this application. Similarly, the following examples are only some embodiments of this application, not all embodiments. All other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.
[0037] In the description of this utility model, it should be understood that the terms "center", "longitudinal", "transverse", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential", etc., indicating the orientation or positional relationship are based on the orientation or positional relationship shown in the accompanying drawings, and are only for the convenience of describing this utility model and simplifying the description, and are not intended to indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this utility model.
[0038] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of indicated technical features. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one of that feature. In the description of this utility model, "a plurality of" means at least two, such as two, three, etc., unless otherwise explicitly specified.
[0039] In this utility model, unless otherwise explicitly specified and limited, the terms "installation," "connection," "linking," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection, an electrical connection, or a connection that allows communication between them; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components, unless otherwise explicitly limited. Those skilled in the art can understand the specific meaning of the above terms in this utility model according to the specific circumstances.
[0040] In this utility model, unless otherwise explicitly specified and limited, "above" or "below" the second feature can mean that the first feature is in direct contact with the second feature, or that the first feature is in indirect contact with the second feature through an intermediate medium. Furthermore, "above," "on top of," and "over" the second feature can mean that the first feature is directly above or diagonally above the second feature, or simply that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature can mean that the first feature is directly below or diagonally below the second feature, or simply that the first feature is at a lower horizontal level than the second feature.
[0041] In this utility model, the terms "one embodiment," "some embodiments," "example," "specific example," or "some examples," etc., refer to a specific feature, structure, material, or characteristic described in connection with that embodiment or example, which is included in at least one embodiment or example of this utility model. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples. Moreover, without contradiction, those skilled in the art can combine and integrate the different embodiments or examples described in this specification, as well as the features of different embodiments or examples.
[0042] This application makes improvements and innovations, and proposes the following embodiments.
[0043] In some implementations, please refer to Figures 1 to 5 A forward-moving AGV obstacle detection mechanism is provided for installation on the AGV trolley 1, comprising:
[0044] The bracket 2 is fixedly equipped with a shock absorber 3, and the bracket 2 is fixedly connected to the AGV trolley 1 through the shock absorber 3; the bracket 2 is used to be installed on the top of the AGV trolley 1.
[0045] The scanning and detection component 4 is fixedly connected to the bracket 2; the scanning and detection component 4 scans environmental obstacles in the direction of travel of the AGV trolley 1.
[0046] Vision component 5 is fixedly connected to bracket 2, and vision component 5 captures images of the ground in the direction of travel of AGV trolley 1 at a predetermined angle;
[0047] Both the scanning detection component 4 and the vision component 5 are electrically connected to the processor 6 used to communicate with the AGV trolley 1.
[0048] The scanning component scans and detects environmental obstacles in the direction of travel of the AGV 1, and can identify suspended obstacles in the direction of travel of the AGV 1. Combined with the vision component 5, it can obtain clearer photos of suspended obstacles in the direction of travel of the AGV 1, providing the AGV 1 with more accurate driving environment information. Therefore, it can effectively avoid the AGV 1 from colliding with suspended obstacles in the direction of travel.
[0049] Because the scanning component is installed on top of the AGV 1, its scanning detection creates a certain blind spot in the AGV 1's travel direction. By using the vision component 5 to photograph the ground in the AGV 1's travel direction at a predetermined angle, the blind spot scanned by the scanning detection component 4 can be effectively identified. Therefore, the scanning of obstacles in the AGV 1's travel direction can be effectively improved, thus increasing the monitoring accuracy of the AGV 1's travel direction and ensuring the safety of the AGV 1's operation.
[0050] In some embodiments, the bracket 2 includes an annular base plate 21; a shock absorber 3 abuts against the base plate 21 and the AGV trolley 1; a support plate 22 is fixedly connected to the base plate 21; and the scanning detection component 4 and the vision component 5 are both fixedly connected to the support plate 22. The annular base plate 21 can be better mounted on the AGV trolley 1, and its weight can be reduced, thus improving the load capacity of the AGV trolley 1. The support plate 22 provides an installation position for the scanning detection component 4 and the vision component 5. The bracket 2 has a simple and reasonable structure.
[0051] In some embodiments, the shock absorber 3 includes a plurality of shock-absorbing pads 31 and a plurality of shock absorbers 32, which are distributed circumferentially along the base plate 21. The base plate 21 is fixedly connected to the AGV trolley 1 via the shock-absorbing pads 31 and shock absorbers 32. By setting a plurality of shock-absorbing pads 31 and shock absorbers 32, the bracket 2 can be provided with good shock absorption, reducing the scanning distortion caused by vibration during scanning detection by the scanning detection component 4, and also reducing the blurring and distortion of the image taken by the vision component 5 due to vibration, thereby improving the quality of scanning and imaging, and ultimately improving the monitoring accuracy of the AGV trolley 1 in the direction of travel.
[0052] Specifically, the damping pads 31 and shock absorbers 32 are arranged at intervals. This interval distribution ensures a reasonable distribution of stress, demonstrating a sound design.
[0053] In some embodiments, the shock absorber 32 includes a base 321 having a first cavity 322 and a telescopic rod 323; the base 321 is fixedly connected to the AGV trolley 1, one end of the telescopic rod 323 is fixedly connected to the base plate 21, and the other end has a second cavity 324; the telescopic rod 323 is movably inserted into the first cavity 322, and the first cavity 322 and the second cavity 324 communicate and enclose to form a closed chamber; a first spring 325 is provided in the first cavity 322, and one end of the first spring 325... One end abuts against the bottom of the first cavity 322, and the other end abuts against one end of the telescopic rod 323; a push plate 326 is movably provided in the second cavity 324; the push plate 326 fits against the inner wall of the second cavity 324 to divide the chamber into the first cavity and the second cavity; a through hole 3261 is provided on the push plate 326, and the through hole 3261 communicates with the first cavity and the second cavity; a second spring 327 is provided in the first cavity, one end of the second spring 327 is fixedly connected to the push plate 326, and the other end is fixedly connected to the bottom of the first cavity 322.
[0054] like Figure 4 As shown, when the AGV trolley 1 vibrates, the vibration is transmitted to the base 321. When the base 321 moves upward, the first spring 325 and the second spring 327 are compressed and undergo elastic deformation. The second spring 327 pushes the push plate 326 upward, and the push plate 326 compresses the fluid in the second cavity. The fluid, under pressure, flows from the through hole 3261 into the first cavity, converting the kinetic energy of the push plate 326 into the kinetic energy of the fluid, thus reducing the transfer of kinetic energy from the push plate 326 to the telescopic rod 323. When the vibration of the AGV trolley 1 is removed, that is, after the base 321 moves downward, the first spring 325 pushes the base 321 downward, the second spring 327 is pulled, and the push plate 326 moves downward. The push plate 326 compresses the fluid in the second cavity, and the fluid flows into the second cavity, slowing down the downward movement speed of the base 321. Therefore, the extension and retraction range of the telescopic rod 323 is reduced, thereby improving the shock absorption effect.
[0055] Specifically, the outer wall of the telescopic rod 323 fits tightly with the inner wall of the first cavity 322, and the side wall of the push plate 326 fits tightly with the inner wall of the second cavity 324. The tight fit between the outer wall of the telescopic rod 323 and the inner wall of the first cavity 322 reduces fluid leakage within the cavity, while the tight fit between the side wall of the push plate 326 and the inner wall of the second cavity 324 improves the buffering effect.
[0056] A limiting block 3262 is fixedly connected to the push plate 326. The first spring 325 and the second spring 327 are both helical springs, and the limiting block 3262 extends into the second spring 327. The limiting block 3262 can prevent the second spring 327 from moving within the first cavity 322 and interfering with the first spring 325, thus preventing the shock absorber 32 from failing.
[0057] The chamber is filled with hydraulic oil.
[0058] In some embodiments, a limiting ring 328 is fixedly provided on the inner wall of the second cavity 324, and the limiting ring 328 is close to the opening of the second cavity 324; the limiting ring 328 abuts against the push plate 326, and the limiting ring 328 restricts the push plate 326 from moving between the second cavity 324 and the limiting ring 328. The limiting ring 328 can prevent the push plate 326 from disengaging from the second cavity 324, which would cause the base 321 and the telescopic rod 323 to separate, and ensure that the fluid in the first cavity 322 and the second cavity 324 will not leak.
[0059] Specifically, the second spring 327 passes through the limiting ring 328 and is fixedly connected to the push plate 326.
[0060] In some embodiments, an illumination lamp 7 is also included, which is fixedly connected to the support plate 22. The illumination direction of the illumination lamp 7 is the same as the shooting direction of the vision component 5. The illumination lamp 7 is used for electrical connection with the processor 6. Setting the illumination lamp 7 can provide a good light source for the shooting of the vision component 5 and improve the shooting quality.
[0061] In some embodiments, a recorder 8 is also included. The recorder 8 is fixedly connected to the support plate 22, and the shooting direction of the recorder 8 is the same as the driving direction of the AGV 1. The recorder 8 is used for electrical connection with the processor 6. Setting up the driving recorder 8 can record the driving situation of the AGV 1, which is convenient for analyzing the accident situation after an accident occurs.
[0062] In some embodiments, the vision component 5 includes a binocular camera and a laser emitter; both the binocular camera and the laser emitter are electrically connected to the processor 6. The laser emitter and the binocular camera are integrated and fixed to the support plate 22. The laser emitter reflects laser light as a reference, the binocular camera captures images with laser light and transmits them to the processor 6 for processing. The processor 6 can determine the presence of obstacles on the ground based on the laser light in the images. The vision component 5 is an existing device, and a Hikvision binocular laser sensor is optional.
[0063] Specifically, the binocular camera's shooting direction is at a 60° angle to the horizontal plane. This 60° angle allows for better imaging of the ground and also compensates for the scanning blind spots of the scanning detection component 4.
[0064] In some embodiments, the scanning detection component 4 includes a lidar sensor; the lidar sensor is fixedly connected to the support plate 22 and is used for electrical connection with the processor 6. The lidar sensor is an existing device, widely available in the market, and easily accessible.
[0065] In some embodiments, there are two recorders 8, which are spaced apart on the support plate 22; the two recorders 8 shoot in opposite directions. Two recorders 8 can record the driving process of the AGV 1 more comprehensively.
[0066] The above are merely optional embodiments of this application and are not intended to limit this application. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this application should be included within the protection scope of this application. Although embodiments of this utility model have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting this utility model. Those skilled in the art can make changes, modifications, substitutions, and variations to the above embodiments within the scope of this utility model.
Claims
1. A forward-moving AGV (Automated Guided Vehicle) obstacle monitoring mechanism, for installation on an AGV trolley, characterized in that, include: A bracket, which is fixedly equipped with a shock absorber, is fixedly connected to the AGV trolley through the shock absorber; the bracket is used to be installed on the top of the AGV trolley. A scanning detection component is fixedly connected to the bracket; the scanning detection component scans environmental obstacles in the direction the AGV is traveling; A vision component is fixedly connected to the bracket, and the vision component takes a picture of the ground in the direction of travel of the AGV at a predetermined angle; Both the scanning detection component and the vision component are electrically connected to the processor for use with the AGV vehicle.
2. The monitoring mechanism of claim 1, wherein, The bracket includes a ring-shaped base plate; the shock absorber abuts between the base plate and the AGV trolley; a support plate is fixedly connected to the base plate; the scanning detection component and the vision component are both fixedly connected to the support plate.
3. The monitoring mechanism of claim 2, wherein, The shock-absorbing components include multiple shock-absorbing pads and multiple shock absorbers, which are distributed circumferentially along the base plate; the base plate is fixedly connected to the AGV trolley through the shock-absorbing pads and the shock absorbers.
4. The monitoring mechanism of claim 3, wherein, The shock absorber includes a base with a first concave cavity and a telescopic rod. The base is fixedly connected to the AGV trolley. One end of the telescopic rod is fixedly connected to the base plate, and the other end has a second concave cavity. The telescopic rod is movably inserted into the first concave cavity, and the first and second concave cavities are connected and enclosed to form a closed chamber. A first spring is provided in the first concave cavity, with one end of the first spring abutting against the bottom of the first concave cavity and the other end abutting against one end of the telescopic rod. A push plate is movably provided in the second concave cavity. The push plate fits against the inner wall of the second concave cavity to separate the chamber into a first cavity and a second cavity. A through hole is provided on the push plate, and the through hole communicates with the first and second cavities. A second spring is provided in the first cavity, with one end of the second spring fixedly connected to the push plate and the other end fixedly connected to the bottom of the first concave cavity.
5. The monitoring mechanism of claim 4, wherein, A limiting ring is fixedly provided on the inner wall of the second cavity, and the limiting ring is close to the opening of the second cavity; the limiting ring abuts against the push plate, and the limiting ring restricts the push plate from moving between the second cavity and the limiting ring.
6. The monitoring mechanism according to any one of claims 2-5, characterized in that, It also includes a lighting lamp, which is fixedly connected to the support plate, and the illumination direction of the lighting lamp is the same as the shooting direction of the vision component; the lighting lamp is used to be electrically connected to the processor.
7. The monitoring mechanism of claim 6, wherein, It also includes a recorder, which is fixedly connected to the support plate, and the recording direction of the recorder is the same as the driving direction of the AGV vehicle; the recorder is used to be electrically connected to the processor.
8. The monitoring mechanism of claim 7, wherein, The vision component includes a binocular camera and a laser emitter; both the binocular camera and the laser emitter are electrically connected to the processor.
9. The monitoring mechanism of claim 7, wherein, The scanning and detection component includes a lidar sensor; the lidar sensor is fixedly connected to the support plate, and the lidar sensor is used for electrical connection with the processor.
10. The monitoring mechanism of claim 9, wherein, The number of the recorders is two, and the two recorders are arranged at intervals on the support plate; and the shooting directions of the two recorders are opposite.