AGV collision avoidance structure based on multi-sensor fusion

Abstract

This utility model discloses an AGV anti-collision structure based on multi-sensor fusion, specifically relating to the field of AGV technology. It includes a protective structure, longitudinal anti-collision strips, and transverse anti-collision strips. Inner shear pins are provided at both ends of the protective structure. When impacted, the longitudinal and transverse anti-collision strips deform first, absorbing some of the impact force. Then, the outer shear pins provide protection against strip loss between the anti-collision strips and the fixed structure, allowing the anti-collision strips to detach from the vehicle body after a certain degree of impact. This alters the impact force transmission path, preventing the impact force from acting entirely on the vehicle body structure, thus better protecting the heavy-duty AGV body and internal equipment. By setting inner shear pins at the connection between the protective structure and the vehicle body, the inner shear pins will break when the impact force exceeds a certain threshold, achieving strip loss protection and dispersing the impact force, preventing excessive impact force from being transmitted to the frame, thereby protecting the frame from serious damage.

Description

Technical Field

[0001] This utility model relates to the field of AGV (Automated Guided Vehicle) technology, and more specifically, to an AGV anti-collision structure based on multi-sensor fusion. Background Technology

[0002] AGV (Automated Guided Vehicle) refers to a transport vehicle equipped with electromagnetic or optical automatic guidance devices, capable of traveling along a prescribed guidance path, with safety protection and various transfer functions, and a handling vehicle that does not require a driver in industrial applications.

[0003] A search revealed that patent publication number CN213007998U discloses an anti-collision enclosure structure for AGV (Automated Guided Vehicle) trolleys. The structure includes a vehicle body, with support rod grooves on the outer side of the body. Elastic anti-collision plates are housed inside these grooves, and support rods are mounted on the elastic anti-collision plates. Rubber connectors connect the elastic anti-collision plates, and rubber rings are provided on the outer sides of both the elastic anti-collision plates and the rubber connectors. Wheel grooves are located on both sides of the vehicle body, and drive wheels are rotatably mounted inside each wheel groove. This invention features twelve independently fixed elastic anti-collision plates, all connected by rubber connectors. This provides a buffering effect regardless of the direction of impact, improving the device's practicality. Rubber rolls and rubber strips provide secondary protection for the vehicle body, enhancing the device's efficiency. Anti-slip rings and mats improve the stability of objects during transport. The inventors discovered the following problems with the existing technology during the development of this invention:

[0004] Existing anti-collision structures are inadequate because, in actual operating environments, AGVs may encounter various unpredictable collision situations, such as high-speed or angular collisions with other vehicles or fixed obstacles. The impact force generated by these collisions may far exceed the normal bearing capacity of the anti-collision structure. Conventional buffering and shock absorption measures alone cannot completely eliminate their impact. Furthermore, the core components of AGVs, such as the chassis, motor, and control system, are quite precise and expensive. When subjected to a large impact, even with initial buffering functions such as anti-collision, a strong impact force may still be transmitted to the vehicle body, causing damage to these core components.

[0005] Therefore, a collision avoidance structure for AGVs based on multi-sensor fusion is proposed to address the above problems. Utility Model Content

[0006] In order to overcome the above-mentioned defects of the prior art, this utility model provides an AGV anti-collision structure based on multi-sensor fusion to solve the problems mentioned in the background art.

[0007] To achieve the above objectives, this utility model provides the following technical solution: an AGV anti-collision structure based on multi-sensor fusion, comprising a protective structure, longitudinal anti-collision strips, and transverse anti-collision strips. A buffer washer is installed in the inner cavity of the protective structure. Inner shear pins are provided at both ends of the protective structure, with eight sets of inner shear pins. Transverse supports are installed at the upper and lower ends of the protective structure, with four sets of transverse supports. Longitudinal supports are installed on both sides of the protective structure, with four sets of longitudinal supports. A longitudinal fixing plate is installed in the inner cavity of every two sets of longitudinal supports. A transverse fixing plate is installed in the inner cavity of every two sets of transverse supports. Outer shear pins are installed on the outer sides of both the transverse supports and the longitudinal supports.

[0008] Two sets of longitudinal anti-collision strips are respectively set on the outer side of the two sets of longitudinal fixed plates, and two sets of transverse anti-collision strips are respectively set on the outer side of the transverse fixed plate. Telescopic rods are provided on the opposite surfaces between the longitudinal fixed plate and the longitudinal anti-collision strips and between the transverse fixed plate and the transverse anti-collision strips. Several sets of telescopic rods are provided, and springs are installed on the outer surface of the telescopic rods. Pressure sensors are installed at the center of the perimeter of the protective structure.

[0009] Preferably, the two sets of transverse supports and the two sets of longitudinal supports are connected to each set of longitudinal fixing plates and each set of transverse fixing plates respectively by the outer shear pin.

[0010] Preferably, the two ends of every three sets of telescopic rods are connected to the transverse fixing plate and the transverse anti-collision strip, respectively, and the two ends of every two sets of telescopic rods are connected to the longitudinal fixing plate and the longitudinal anti-collision strip, respectively.

[0011] Preferably, the longitudinal anti-collision strip and the transverse anti-collision strip are made of aluminum alloy, and several sets of telescopic rods are distributed and arranged at equal intervals.

[0012] Preferably, the two sets of longitudinal fixing plates and the two sets of transverse fixing plates are symmetrically arranged, and the two sets of longitudinal fixing plates and the two sets of transverse fixing plates form a rectangular fixing structure.

[0013] Preferably, one end of each of the eight sets of inner shear pins penetrates and protrudes from the inner surface of the buffer washer, and the buffer washer is made of rubber.

[0014] The technical effects and advantages of this utility model are as follows:

[0015] 1. Compared with existing technologies, this AGV anti-collision structure based on multi-sensor fusion uses longitudinal and transverse anti-collision strips. When impacted, the anti-collision strips deform first to absorb part of the impact force. Then, the outer shear pins realize the strip separation protection function between the anti-collision strips and the fixed structure. This allows the anti-collision strips to detach from the vehicle body under a certain degree of impact, thereby changing the impact force transmission path and preventing the impact force from acting entirely on the vehicle body structure, thus better protecting the heavy AGV body and internal equipment.

[0016] 2. Compared with existing technologies, this AGV anti-collision structure based on multi-sensor fusion sets an inner shear pin at the connection between the protective structure and the vehicle body. When the impact force exceeds a certain threshold, the inner shear pin will break, causing the protective structure to separate from the vehicle body. This achieves frame loss protection and disperses the impact force, preventing excessive impact force from being transmitted to the frame, thereby protecting the frame from serious damage. Attached Figure Description

[0017] Figure 1 This is a top view of the structure of this utility model.

[0018] Figure 2 This is a top view schematic diagram of the protective structure of this utility model.

[0019] Figure 3 This utility model Figure 1 A magnified schematic diagram of the structure at point A in the diagram.

[0020] Figure 4 This is a top view schematic diagram of the cross-sectional structure of the transverse and longitudinal anti-collision strips of this utility model.

[0021] The attached diagram is labeled as follows: 1. Protective structure; 2. Buffer washer; 3. Transverse support; 4. Longitudinal support; 5. Inner shear pin; 6. Longitudinal fixing plate; 7. Outer shear pin; 8. Transverse fixing plate; 9. Telescopic rod; 10. Spring; 11. Longitudinal anti-collision strip; 12. Transverse anti-collision strip; 13. Pressure sensor. Detailed Implementation

[0022] 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.

[0023] Example 1

[0024] As attached Figures 1 to 4The AGV anti-collision structure based on multi-sensor fusion shown includes a protective structure 1, longitudinal anti-collision strips 11 and transverse anti-collision strips 12. The inner cavity of the protective structure 1 is equipped with a buffer washer 2. The two ends of the protective structure 1 are provided with inner shear pins 5, and there are eight sets of inner shear pins 5. The upper and lower ends of the protective structure 1 are equipped with transverse brackets 3, and there are four sets of transverse brackets 3. The two sides of the protective structure 1 are equipped with longitudinal brackets 4, and there are four sets of longitudinal brackets 4. The inner cavity of every two sets of longitudinal brackets 4 is equipped with a longitudinal fixing plate 6. The inner cavity of every two sets of transverse brackets 3 is equipped with a transverse fixing plate 8. The outer sides of the transverse brackets 3 and the longitudinal brackets 4 are equipped with outer shear pins 7.

[0025] Two sets of longitudinal anti-collision strips 11 are respectively set on the outside of the two sets of longitudinal fixed plates 6, and two sets of transverse anti-collision strips 12 are respectively set on the outside of the transverse fixed plate 8. Telescopic rods 9 are provided on the opposite surfaces between the longitudinal fixed plate 6 and the longitudinal anti-collision strips 11 and between the transverse fixed plate 8 and the transverse anti-collision strips 12. Several sets of telescopic rods 9 are provided. Springs 10 are installed on the outer surface of the telescopic rods 9. Pressure sensors 13 are installed at the center of the perimeter of the protective structure 1.

[0026] The protective structure 1 serves as the main frame of the entire anti-collision structure, providing the mounting base for other components. Installed around the vehicle body, it works in conjunction with the buffer gasket 2 to withstand and disperse external impact forces, protecting the AGV's body and internal critical components. The longitudinal anti-collision strips 11 and lateral anti-collision strips 12 directly contact external obstacles, providing initial buffering and blocking. When the AGV collides with an obstacle, it can withstand the impact force before the vehicle body, reducing direct damage to the body. Furthermore, the telescopic rod 9, in conjunction with the spring 10, can absorb some energy through deformation. Eight sets of inner shear pins 5 are located at both ends of the protective structure 1, connecting it to the AGV body. When the impact force exceeds a certain limit, the inner shear pins 5 will shear first, allowing a portion of the protective structure 1 to separate from the vehicle body, further dispersing the impact force and preventing excessive impact from being transmitted to the vehicle body, thus protecting the frame and critical components.

[0027] The transverse support 3 and the longitudinal support 4 are installed at the top and bottom and sides of the protective structure 1, respectively, to provide installation positions for other components such as the transverse fixing plate 8 and the longitudinal fixing plate 6. They can install the longitudinal anti-collision strip 11 and the transverse anti-collision strip 12 on the fixed structure, and can better withstand the impact force from different directions. When the impact force is large, the outer shear pin 7 will break, causing the transverse support 3, the longitudinal support 4 and the connection between the longitudinal anti-collision strip 11 and the transverse anti-collision strip 12 to separate, further releasing the impact energy and protecting the main structure of the AGV. At the same time, the pressure sensor 13 is installed at the center of the protective structure 1 to monitor the pressure on the anti-collision structure in real time. When the pressure exceeds the set threshold, the pressure sensor 13 will send a signal to the control system of the AGV, so that the vehicle can take timely safety measures such as braking.

[0028] Example 2

[0029] Based on Example 1, the solution in Example 1 will be further described in detail below with reference to the specific working method, such as... Figures 1 to 4 As shown below, see details:

[0030] In a preferred embodiment, the two sets of transverse supports 3 and the two sets of longitudinal supports 4 are connected to each set of longitudinal fixing plates 6 and each set of transverse fixing plates 8 respectively by outer shear pins 7. Furthermore, when the anti-collision structure of the AGV is subjected to a large impact, the outer shear pins 7, as relatively weak connecting links, will shear off under a certain impact force. This allows the transverse supports 3, longitudinal supports 4 and longitudinal fixing plates 6 and transverse fixing plates 8 to be separated in a controllable manner, preventing excessive impact force from being transmitted to the main structure of the AGV through these connecting parts, thereby protecting the core components of the vehicle such as the frame, motor and control system from serious damage.

[0031] In a preferred embodiment, the two ends of every three sets of telescopic rods 9 are connected to the transverse fixing plate 8 and the transverse anti-collision strip 12, respectively, and the two ends of every two sets of telescopic rods 9 are connected to the longitudinal fixing plate 6 and the longitudinal anti-collision strip 11, respectively. Furthermore, when the AGV trolley collides, the telescopic rods 9 can absorb the impact force generated by the collision through the elasticity of the spring and its own extension and contraction. Since the telescopic rods 9 have a certain degree of elasticity and extensibility, they can prolong the impact time when the longitudinal anti-collision strip 11 and the transverse anti-collision strip 12 are impacted, reduce the peak force at the moment of collision, and thus reduce the damage to the AGV trolley body and internal equipment.

[0032] In a preferred embodiment, the longitudinal anti-collision strip 11 and the transverse anti-collision strip 12 are made of aluminum alloy, and several sets of telescopic rods 9 are arranged at equal intervals. Furthermore, aluminum alloy has high strength and can withstand a certain degree of impact force. Its weight is relatively light and will not add too much burden to the AGV body. The telescopic rods distributed at equal intervals can ensure that the longitudinal anti-collision strip 11 and the transverse anti-collision strip 12 can be evenly supported and buffered when impacted.

[0033] In a preferred embodiment, the two sets of longitudinal fixing plates 6 and the two sets of transverse fixing plates 8 are symmetrically arranged, and the two sets of longitudinal fixing plates 6 and the two sets of transverse fixing plates 8 form a rectangular fixing structure; furthermore, the rectangular structure can better match the shape of the AGV trolley, make full use of the space around the trolley, and can evenly disperse the impact force from all directions. The symmetrically arranged longitudinal fixing plates 6 and the two sets of transverse fixing plates 8 facilitate the installation and positioning of other components.

[0034] In a preferred embodiment, one end of each of the eight sets of inner shear pins 5 penetrates and protrudes from the inner surface of the buffer washer 2, which is made of rubber. Furthermore, the fact that one end of each of the eight sets of inner shear pins 5 penetrates and protrudes from the inner surface of the buffer washer 2 provides precise positioning and support for the rubber buffer washer 2.

[0035] The working process of this utility model is as follows: First, when the AGV trolley collides with an obstacle, the longitudinal anti-collision strip 11 and the transverse anti-collision strip 12 first come into direct contact with the external obstacle. Since they are made of aluminum alloy, they have high strength and can withstand a certain impact force, playing a preliminary buffering and blocking role, reducing the direct damage to the vehicle body. At the same time, when the longitudinal anti-collision strip 11 and the transverse anti-collision strip 12 are impacted, the telescopic rod 9 absorbs the impact force generated by the collision through the elasticity of the spring 10 and its own extension and contraction, prolonging the collision action time, reducing the peak force at the moment of collision, and further reducing the damage to the AGV trolley body and internal equipment. If the impact force is large, the outer shear pin 7, as a relatively weak connecting link, will shear off, so that the transverse support 3, the longitudinal support 4 and the longitudinal fixing plate 6 and the transverse fixing plate 8 can be separated in a controllable manner, thereby changing the transmission path of the impact force and protecting the core components of the trolley such as the frame, motor and control system.

[0036] If the impact force continues to increase and exceeds the bearing limit of the inner shear pin 5, the inner shear pin 5 will shear first, allowing the protective structure 1 to separate from the vehicle body and further disperse the impact force. At the same time, the rubber buffer gasket 2 absorbs and dissipates some energy through its elastic deformation when compressed. Furthermore, one end of each of the eight sets of inner shear pins 5 penetrates and protrudes from the inner surface of the buffer gasket 2, providing precise positioning and support for the buffer gasket 2, enabling it to better perform its buffering function. Throughout the collision process, the pressure sensor 13 monitors the pressure on the anti-collision structure in real time. When the pressure exceeds the set threshold, the pressure sensor 13 sends a signal to the AGV's control system. Upon receiving the signal, the control system promptly takes safety measures such as braking to stop the AGV and prevent further collisions and damage. The above describes the working principle of this multi-sensor fusion-based AGV anti-collision structure.

Claims

1. An AGV anti-collision structure based on multi-sensor fusion, comprising a protective structure (1), longitudinal anti-collision strips (11), and transverse anti-collision strips (12), characterized in that: The inner cavity of the protective structure (1) is equipped with a buffer washer (2). The two ends of the protective structure (1) are provided with inner shear pins (5). There are eight sets of inner shear pins (5). The upper and lower ends of the protective structure (1) are equipped with transverse supports (3). There are four sets of transverse supports (3). The two sides of the protective structure (1) are equipped with longitudinal supports (4). There are four sets of longitudinal supports (4). The inner cavity of every two sets of longitudinal supports (4) is equipped with a longitudinal fixing plate (6). The inner cavity of every two sets of transverse supports (3) is equipped with a transverse fixing plate (8). The outer sides of the transverse supports (3) and the longitudinal supports (4) are equipped with outer shear pins (7). Two sets of longitudinal anti-collision strips (11) are respectively set on the outside of the two sets of longitudinal fixing plates (6), and two sets of transverse anti-collision strips (12) are respectively set on the outside of the transverse fixing plate (8). Telescopic rods (9) are provided on the opposite surfaces between the longitudinal fixing plate (6) and the longitudinal anti-collision strips (11) and between the transverse fixing plate (8) and the transverse anti-collision strips (12). Several sets of telescopic rods (9) are provided. Springs (10) are installed on the outer surface of the telescopic rods (9). Pressure sensors (13) are installed at the center of the perimeter of the protective structure (1).

2. The AGV anti-collision structure based on multi-sensor fusion according to claim 1, characterized in that: Two sets of transverse supports (3) and two sets of longitudinal supports (4) are connected to each set of longitudinal fixing plates (6) and transverse fixing plates (8) respectively by the outer shear pin (7).

3. The AGV anti-collision structure based on multi-sensor fusion according to claim 2, characterized in that: The two ends of every three sets of telescopic rods (9) are connected to the transverse fixing plate (8) and the transverse anti-collision strip (12), respectively, and the two ends of every two sets of telescopic rods (9) are connected to the longitudinal fixing plate (6) and the longitudinal anti-collision strip (11), respectively.

4. The AGV anti-collision structure based on multi-sensor fusion according to claim 3, characterized in that: The longitudinal anti-collision strip (11) and the transverse anti-collision strip (12) are made of aluminum alloy, and several sets of telescopic rods (9) are distributed and arranged at equal intervals.

5. The AGV anti-collision structure based on multi-sensor fusion according to claim 3, characterized in that: The two sets of longitudinal fixing plates (6) and the two sets of transverse fixing plates (8) are symmetrically arranged, and the two sets of longitudinal fixing plates (6) and the two sets of transverse fixing plates (8) form a rectangular fixing structure.

6. The AGV anti-collision structure based on multi-sensor fusion according to claim 1, characterized in that: One end of each of the eight inner shear pins (5) extends through and protrudes from the inner surface of the buffer washer (2), which is made of rubber.

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