An automated guided vehicle with a position detection function

Abstract

The utility model relates to an automatic guided vehicle with in -place detection function, including chassis assembly and set up on chassis assembly lifting rotation subassembly, the rotation end connection of lifting rotation subassembly lifts the face plate, sets up lifting face plate rotation in -place detection board at the lower surface of lifting face plate, sets up respectively on chassis assembly upper in -place proximity switch and lower in -place proximity switch, lifting rotation subassembly still includes lifting device in -place detection board and rotation in -place proximity switch, still sets up driving wheel respectively on chassis assembly. Through increasing lifting device in -place detection board, rotation in -place proximity switch, lifting face plate rotation in -place detection board and upper in -place proximity switch, lower in -place proximity switch, its realization for lifting face plate in -place detection in the rotation direction and in the vertical direction, its need not in the original program on the reservation longer conservative action time, effectively reduced the work cycle, can immediately stop action through the proximity switch when its discovery fault, avoid the goods damage.

Description

Technical Field

[0001] This utility model relates to the field of material handling equipment, and in particular to an automatic guide vehicle with a positioning detection function. Background Technology

[0002] AGV is an abbreviation for "Automated Guided Vehicle," a type of driverless vehicle that navigates automatically. AGVs are mainly used for material handling and transportation tasks in industrial and commercial environments. They can travel along predetermined paths and perform specific tasks, such as picking up and placing goods.

[0003] However, traditional automated guided vehicles still have the following technical problems: (a) In order to ensure the completion of the action, the original program will reserve a long and conservative action time, which means that after the automated guided vehicle completes the specified action, it needs to wait for a long time margin, resulting in an increase in the work cycle.

[0004] (ii) Due to the lack of corresponding sensor detection functions, the automated guided vehicle cannot stop immediately when malfunctions occur, such as cargo jamming, motor failure, or sensor damage, which may even lead to damage to cargo or equipment.

[0005] (iii) In confined spaces, automated guided vehicles (AGVs) need to adjust their posture multiple times to pick up and place goods, resulting in low efficiency. In addition, some special goods need to maintain a specific posture during transportation to ensure the safe and efficient transfer of goods from the AGV to the workbench. How to maintain a specific posture and how to achieve access in both the rotational and vertical directions are the technical problems that AGVs urgently need to solve. Utility Model Content

[0006] In view of the shortcomings of the prior art, the purpose of this utility model is to provide an automated guided vehicle with a positioning detection function to solve one or more problems in the prior art.

[0007] To achieve the above objectives, the technical solution of this utility model is as follows: An automated guided vehicle (AGV) with a positioning detection function includes a chassis assembly and a lifting and rotating assembly mounted on the chassis assembly. The rotating end of the lifting and rotating assembly is connected to a lifting panel. A lifting panel rotation positioning detection plate is provided on the lower surface of the lifting panel. An upper positioning proximity switch and a lower positioning proximity switch are respectively provided on the chassis assembly. The lifting and rotating assembly also includes a lifting device positioning detection plate and a rotation positioning proximity switch. Drive wheels are also provided on the chassis assembly. A SLAM laser navigation radar is also provided at the end of the chassis assembly, away from the center of the chassis assembly.

[0008] Furthermore, the lifting and rotating assembly includes a lifting motor, the output end of which is connected to one end of a lifting motor tie rod, and the other end of the lifting motor tie rod is connected to a fixed plate via a connecting rod assembly. A slewing support bearing is disposed on the fixed plate, and a rotating motor is also disposed on the fixed plate, the output end of which is connected to the outer ring of the slewing support bearing.

[0009] Furthermore, the linkage assembly includes a first rocker assembly, a second rocker assembly, a long pull rod, and a crossbar. A portion of the first rocker assembly is rotatably mounted on a third chassis, and another portion of the first rocker assembly is connected to one end of a fixed plate. One end of the crossbar is connected to the first rocker assembly, and the other end of the crossbar is connected to the second rocker assembly. A portion of the second rocker assembly is rotatably mounted on the first chassis, and the other portion of the second rocker assembly is connected to the other end of the fixed plate. The fixed plate 10013 is also connected to one end of the long pull rod, and the other end of the long pull rod is rotatably mounted on a pull rod bracket.

[0010] Furthermore, the first rocker assembly includes a first connecting sleeve and a second connecting sleeve. The lower half of the first connecting sleeve is rotatably connected to the lower connecting shaft of the first connecting rod, and the upper half of the first connecting sleeve is rotatably connected to the middle connecting shaft of the first connecting rod. The lower half of the second connecting sleeve is rotatably connected to the middle connecting shaft of the first connecting rod, and the upper half of the second connecting sleeve is rotatably connected to the upper connecting shaft of the first connecting rod. The second rocker assembly includes a third connecting sleeve, a fourth connecting sleeve, a lower connecting shaft of the second connecting rod, a middle connecting shaft of the second connecting rod, and an upper connecting shaft of the second connecting rod. The lower half of the third connecting sleeve is connected to the lower connecting shaft of the second connecting rod, the upper half of the third connecting sleeve is connected to the middle connecting shaft of the second connecting rod, the lower half of the fourth connecting sleeve is also connected to the middle connecting shaft of the second connecting rod, and the upper half of the fourth connecting sleeve is connected to the upper connecting shaft of the second connecting rod.

[0011] Furthermore, the upper and lower position proximity switches are respectively mounted on the first proximity switch mounting bracket, which is fixed to the chassis assembly; a second proximity switch mounting bracket is also fixed to one end of the fixed plate, and the rotation position proximity switch is fixed to the second proximity switch mounting bracket.

[0012] Furthermore, a first QR code ground pattern camera and a second QR code ground pattern camera are also provided at the center of the chassis assembly, and the first QR code ground pattern camera and the second QR code ground pattern camera are arranged vertically along the same height direction.

[0013] Furthermore, the chassis assembly includes a first chassis, a second chassis, and a third chassis. The second chassis is disposed between the first chassis and the third chassis. The second chassis is hinged to the first chassis and the second chassis respectively via a pivot, so that the first chassis and the third chassis can rotate relative to the second chassis.

[0014] Furthermore, caster wheel mounting openings are provided on both the first and third chassis, and caster wheels are installed in the caster wheel mounting openings.

[0015] Furthermore, the automated guided vehicle also includes a housing, which is connected to the chassis assembly. The housing includes a housing body, on which multiple buttons and debugging interfaces are provided; a camera scanning port is provided on the second chassis.

[0016] Furthermore, the first QR code ground pattern camera and the second QR code ground pattern camera are respectively fixed inside the camera mounting housing, the camera mounting housing is fixed to the second chassis, and a shielding component is also connected to the outside of the camera mounting housing.

[0017] Compared with the prior art, the beneficial technical effects of this utility model are as follows: This utility model, by adding a lifting device positioning detection plate, a rotation positioning proximity switch, a lifting panel rotation positioning detection plate, an upper positioning proximity switch, and a lower positioning proximity switch, can realize the positioning detection of the lifting panel in the rotation direction and the vertical direction. It no longer needs to retain a long conservative action time in the original program, effectively reducing the work cycle. At the same time, when a fault is detected, the operation can be stopped immediately by the proximity switch to avoid damage to the goods.

[0018] By setting up a lifting and rotating assembly, the goods can be raised or lowered vertically and rotated. The lifting and rotating assembly can also maintain the stability of the goods during operation, which effectively improves the access capabilities of automated guided vehicles in both vertical and rotational directions. Attached Figure Description

[0019] Figure 1 The diagram shows a structural schematic of an automated guided vehicle with a positioning detection function according to an embodiment of the present invention.

[0020] Figure 2 This diagram illustrates the structure of the outer shell of an automated guided vehicle with a positioning detection function according to an embodiment of the present invention.

[0021] Figure 3 This diagram shows a partially enlarged structural schematic of an automated guided vehicle with a positioning detection function according to an embodiment of the present invention.

[0022] Figure 4The diagram shows the dynamic position detection on the lifting and rotating assembly of an automatic guide vehicle with a positioning detection function according to an embodiment of the present invention.

[0023] Figure 5 The diagram shows the dynamic position detection of the lifting and rotating assembly of an automatic guide vehicle with positioning detection function according to an embodiment of the present invention.

[0024] Figure 6 This diagram illustrates the rotation state of an automatic guide vehicle top lifting panel with positioning detection function according to an embodiment of the present invention.

[0025] Figure 7 This diagram illustrates the horizontal state of the lifting panel of an automatic guide vehicle with positioning detection function according to an embodiment of the present invention.

[0026] Figure 8 This invention illustrates an automated guided vehicle with a positioning detection function according to an embodiment of the present invention. Figure 7 A schematic diagram of the cross-sectional structure along the DD direction.

[0027] Figure 9 A partial structural schematic diagram of an automated guided vehicle with a positioning detection function according to an embodiment of the present invention is shown.

[0028] Figure 10 The diagram shows a first state of an automatic guide vehicle lifting and rotating assembly with a positioning detection function according to an embodiment of the present invention.

[0029] Figure 11 The diagram shows a second state of an automatic guide vehicle lifting and rotating assembly with a positioning detection function according to an embodiment of the present invention.

[0030] Figure 12 This diagram illustrates a chassis assembly of an automated guided vehicle with a positioning detection function according to an embodiment of the present invention.

[0031] Figure 13 This illustration shows a partial structural diagram of a SLAM laser navigation radar in an automated guided vehicle with a positioning detection function, according to an embodiment of the present invention.

[0032] Figure 14 The diagram shows an enlarged view from a first-view perspective of an automated guided vehicle with a positioning detection function according to an embodiment of the present invention.

[0033] Figure 15 The diagram shows an enlarged view from a second perspective of an automated guided vehicle with a positioning detection function according to an embodiment of the present invention.

[0034] Figure 16This diagram illustrates the structure of the first connecting bushing in an automated guided vehicle with a positioning detection function according to an embodiment of the present invention.

[0035] Attached Figure Descriptions: 1. Chassis Assembly; 100. First Chassis; 101. Second Chassis; 102. Third Chassis; 103. Caster Wheel Mounting Port; 104. Mounting Column; 1010. Camera Scanning Port; 2. Housing; 200. Housing Body; 201. First Button; 202. Second Button; 203. Third Button; 204. Debugging Interface; 205. Fourth Button; 3. Support Plate; 4. Shock Absorbing Column; 5. Adjustment Plate; 6. SLAM Laser Guide 7. Lifting device positioning detection plate; 800. Drive wheel; 801. Drive motor; 900. First proximity switch mounting bracket; 901. Upper positioning proximity switch; 902. Lower positioning proximity switch; 10. Lifting rotation assembly; 1001. Lower connecting shaft of the first connecting rod; 1002. Middle connecting shaft of the first connecting rod; 1003. First connecting bushing; 1004. Upper connecting shaft of the first connecting rod; 1005. Second connecting bushing; 1006. Long pull rod; 1007, Crossbar; 1008, Third Connecting Bushing; 1009, Fourth Connecting Bushing; 10010, Lower Connecting Shaft of Second Link; 10011, Middle Connecting Shaft of Second Link; 10012, Upper Connecting Shaft of Second Link; 10013, Fixing Plate; 10014, Slewing Support Bearing; 10015, Tie Rod Bracket; 11, First QR Code Texture Camera; 12, Second QR Code Texture Camera; 13, Obstruction Part; 1301, Through Hole; 1400 1401 Second proximity switch mounting bracket; 15. Rotation position proximity switch; 16. Lifting motor; 17. Lifting motor pull rod; 18. Rotation position detection plate for lifting panel; 19. Lifting panel; 20. Shaft; 21. Caster wheel; 2200. Camera mounting housing; 2201. Connecting rod body; 2202. Lower mounting block; 2203. Upper mounting block; 2204. First shaft hole; 2205. Second shaft hole. Detailed Implementation

[0036] To make the objectives, technical solutions, and advantages of this utility model clearer, the following detailed description of an automated guided vehicle with a positioning detection function, in conjunction with the accompanying drawings and specific embodiments, provides a further detailed explanation. The advantages and features of this utility model will become clearer from the following description. It should be noted that the accompanying drawings are in a very simplified form and use non-precise proportions, used only to facilitate and clearly illustrate the purpose of the embodiments of this utility model. Please refer to the accompanying drawings to make the objectives, features, and advantages of this utility model more apparent and understandable. It should be understood that the structures, proportions, sizes, etc., depicted in the accompanying drawings are only for illustrative purposes to aid those skilled in the art and are not intended to limit the implementation conditions of this utility model. Therefore, they have no substantial technical significance. Any modifications to the structure, changes in proportions, or adjustments to the size, without affecting the effects and objectives achieved by this utility model, should still fall within the scope of the technical content disclosed in this utility model.

[0037] Please refer to Figure 1 The automated guided vehicle with positioning detection function in this embodiment includes a chassis assembly 1 and a lifting and rotating assembly 10 disposed on the chassis assembly 1. The rotating end of the lifting and rotating assembly 10 is connected to the lifting panel 18.

[0038] Please refer to Figure 12 The chassis assembly 1 includes a first chassis 100, a second chassis 101, and a third chassis 102. The second chassis 101 is disposed between the first chassis 100 and the third chassis 102. The second chassis 101 is hinged to both the first chassis 100 and the third chassis 102 via pivots 19, allowing the first chassis 100 and the third chassis 102 to rotate relative to the second chassis 101. Drive wheels 800 are also provided on the left and right sides of the second chassis 101, and each drive wheel 800 is connected to the output end of a drive motor 801.

[0039] For further details, please refer to... Figure 9 and Figure 12A first QR code texture camera 11 and a second QR code texture camera 12 are centrally located in the chassis assembly 1. Specifically, the center of the chassis assembly 1 is a second chassis 101, with a camera scanning port 1010 at its center. A camera mounting shell 21 is fixed to the second chassis 101 at the scanning port 1010. The camera mounting shell 21 is a hollow shell. The first QR code texture camera 11 is fixed to the lower part of the camera mounting shell 21 by fasteners, and the second QR code texture camera 12 is fixed to the upper part of the camera mounting shell 21 by fasteners. A shielding member 13 is also provided on the top of the camera mounting shell 21. The shielding member 13 has a trumpet-shaped cross-section and a through hole 1301. This through hole 1301 is used for scanning by the second QR code texture camera 12, while the shielding member 13 is used to shield other structures and electronic components on the chassis assembly 1, preventing the structures on the chassis assembly 1 from being directly seen through the openings in the lifting panel 18.

[0040] For further details, please refer to... Figures 9 to 16 The lifting and rotating assembly 10 includes a lifting motor 15, which is fixed on the third chassis 102. The output end of the lifting motor 15 is connected to one end of the lifting motor rod 1501, and the other end of the lifting motor rod 1501 is connected to the fixing plate 10013 through the connecting rod assembly. The fixing plate 10013 follows the movement of the connecting rod assembly to realize the lifting action. A slewing support bearing 10014 and a rotary motor 16 are also provided on the surface of the fixed plate 10013. The output end of the rotary motor 16 is connected to the outer ring of the slewing support bearing 10014 through a gear 1601. By starting the rotary motor 16, the gear 1601 rotates and drives the outer ring of the slewing support bearing 10014 that meshes with it to rotate (the outer ring is simplified and does not show teeth, but the actual outer ring of the slewing support bearing 10014 has teeth). Since the outer ring of the slewing support bearing 10014 fixes the lifting panel 18, the lifting panel 18 can also rotate with the outer ring of the slewing support bearing 10014.

[0041] For further information, please refer to the following: Figure 5 , Figure 6 , Figure 9 and Figure 10The linkage assembly includes a first rocker assembly, a second rocker assembly, a long pull rod 1006, and a crossbar 1007. The long pull rod 1006 is located on the outermost side of both ends of the entire linkage assembly, while the crossbars 1007 are all located on the inner side of the long pull rod 1006. Specifically, the lower half of the first rocker assembly is rotatably mounted on the third chassis 102, the upper half of the first rocker assembly is connected to one end of the fixing plate 10013, the middle part of the first rocker assembly is connected to one end of the crossbar 1007, and the other end of the crossbar 1007 away from the first rocker assembly is connected to the middle part of the second rocker assembly. The lower half of the second rocker assembly is rotatably mounted on the first chassis 100, and the upper half of the second rocker assembly is connected to the other end of the fixing plate 10013. The fixing plate 10013 is also connected to one end of the long tie rod 1006. The other end of the long tie rod 1006 away from the fixing plate 10013 is rotatably mounted on the tie rod bracket 10015. The tie rod bracket 10015 is fixed to the third chassis 102.

[0042] Furthermore, the first rocker assembly and the second rocker assembly are swing elements of the linkage assembly, while the crossbar 1007 serves as a transmission mechanism for the sportswear, transmitting the swing of the first rocker assembly to the second rocker assembly. The long pull rod 1006 is used for lifting and can rotate around the pull rod bracket 10015 to realize the raising and lowering of the fixed plate 10013.

[0043] For further information, please refer to the following: Figure 5 , Figure 6 , Figure 9 and Figure 10 The first rocker assembly includes a first connecting bushing 1003, a second connecting bushing 1005, a lower connecting shaft 1001, a middle connecting shaft 1002, and an upper connecting shaft 1004. The upper half of the first connecting bushing 1003 is rotatably connected to the middle connecting shaft 1002, and the lower half of the first connecting bushing 1003 is rotatably connected to the lower connecting shaft 1001. Both ends of the lower connecting shaft 1001 pass through the lower half of the first connecting bushing 1003 and are rotatably connected to the third chassis 102. The lower half of the second connecting bushing 1005 is rotatably connected to the middle connecting shaft 1002, and the upper half of the second connecting bushing 1005 is rotatably connected to the upper connecting shaft 1004.

[0044] Please continue to refer to this. Figure 5 , Figure 6 , Figure 9 and Figure 10The second rocker assembly includes a third connecting bushing 1008, a fourth connecting bushing 1009, a lower connecting shaft 10010 of the second connecting rod, a middle connecting shaft 10011 of the second connecting rod, and an upper connecting shaft 10012 of the second connecting rod. The lower half of the third connecting bushing 1008 is connected to the lower connecting shaft 10010 of the second connecting rod. Both ends of the lower connecting shaft 10010 of the second connecting rod pass through the lower half of the third connecting bushing 1008 and are rotatably connected to the first chassis 100. The upper half of the third connecting bushing 1008 is connected to the middle connecting shaft 10011 of the second connecting rod. The lower half of the fourth connecting bushing 1009 is also connected to the middle connecting shaft 10011 of the second connecting rod, and the upper half of the fourth connecting bushing 1009 is connected to the upper connecting shaft 10012 of the second connecting rod.

[0045] For details, please refer to Figure 11 , Figure 11 A schematic diagram of the structure of the first connecting bushing 1003 is shown. The second connecting bushing 1005, the third connecting bushing 1008, and the fourth connecting bushing 1009 all have the same structure as the first connecting bushing 1003. Taking the first connecting bushing 1003 as an example, it includes a connecting rod body 2200. A pair of upper mounting blocks 2202 are connected to the upper half of the connecting rod body 2200. Each upper mounting block 2202 has a first shaft hole 2203. A pair of lower mounting blocks 2201 are connected to the lower half of the connecting rod body 2200. Each lower mounting block 2201 has a second shaft hole 2204. The upper mounting blocks 2202 are the upper half of the first connecting bushing 1003, and the lower mounting blocks 2201 are the lower half of the first connecting bushing 1003.

[0046] For further details, please refer to... Figure 1 , Figure 4 and Figure 5 A lifting panel rotation positioning detection plate 17 is also fixed to the lower surface of the lifting panel 18. An upper positioning proximity switch 901 and a lower positioning proximity switch 902 are respectively provided on the chassis assembly 1.

[0047] Please refer to the above for details. Figure 1 and Figure 3The lifting and rotating assembly 10 further includes a lifting device positioning detection plate 7 and a rotation positioning proximity switch 1401. Specifically, the lifting device positioning detection plate 7 is disposed at the tail end of the fixed plate 10013, and a second proximity switch mounting bracket 1400 is fixed to the front end of the fixed plate 10013 by fasteners. The rotation positioning proximity switch 1401 is also fixed to the end of the second proximity switch mounting bracket 1400 away from the fixed plate 10013. Similarly, in the chassis assembly 1, specifically the third chassis 102, a first proximity switch mounting bracket 900 is fixed to the chassis 1 by fasteners. The upper positioning proximity switch 901 is installed above the first proximity switch mounting bracket 900, and the lower positioning proximity switch 902 is installed below the first proximity switch mounting bracket 900.

[0048] Specifically, the working process of the aforementioned lifting and rotating assembly 10 is as follows: Once the automated guided vehicle moves to the appropriate position and the material is detected by the second QR code texture camera 12, the lifting motor 15 starts, and the lifting motor lever 1501 rotates clockwise. During this rotation, the first connecting bushing 1003 and the second connecting bushing 1005 are brought to a vertical position, and the third connecting bushing 1008 and the fourth connecting bushing 1009 are also brought to a vertical position via the crossbar 1007, thereby raising the fixed plate 10013. After rising to the designated position, if rotation is required, the control module 9 controls the rotary motor 16 to start, and the output end of the rotary motor 16 controls the gear 1601 to rotate, which in turn drives the slewing support bearing 10014 to rotate, causing the lifting panel 18 connected to the slewing support bearing 10014 to rotate. Conversely, when the lifting motor lever 1501 continues to rotate clockwise, the first connecting bushing 1003 and the second connecting bushing 1005 tilt successively. During the tilting process, the crossbar 1007 descends. As the crossbar 1007 descends, the third connecting bushing 1008 and the fourth connecting bushing 1009 tilt, thereby causing the fixing plate 10013 to descend. The descent of the fixing plate 10013 then causes the crossbar 1007 to rotate relative to the lever bracket 10015. The end of the crossbar 1007 away from the lever bracket 10015 is lower than the end of the crossbar 1007 close to the lever bracket 10015.

[0049] For further details, please refer to... Figure 1 and Figure 13At a location away from the center of the chassis assembly 1, a SLAM laser navigation radar 6 is also installed at the end of the chassis assembly 1. Specifically, the SLAM laser navigation radar 6 can be installed at the front or rear end of the chassis assembly 1, or it can be installed at both the front and rear ends of the chassis assembly 1. The SLAM laser navigation radar 6 enables the positioning, navigation, and obstacle avoidance functions of the automated guided vehicle, and constructs a three-dimensional map by scanning the environment in real time to achieve accurate path planning. Specifically, multiple mounting columns 104 are installed on the first chassis 100 and / or the third chassis 102. The mounting columns 104 are grouped into fours and installed at four points. The tops of the four mounting columns 104 are jointly fixed to a support plate 3. An adjustment plate 5 is connected to the support plate 3 through multiple shock-absorbing columns 4. The SLAM laser navigation radar 6 is fixed to the surface of the adjustment plate 5.

[0050] For further details, please refer to... Figure 12 Both the first chassis 100 and the third chassis 102 have caster mounting ports 103, and casters 20 are installed in the caster mounting ports 103. The casters 20 are used to provide movement for the automated guided vehicle.

[0051] For further details, please refer to... Figure 2 The automated guided vehicle also includes a housing 2, which is connected to the chassis assembly 1. The housing 2 includes a housing body 200, on which multiple buttons and debugging interfaces 204 are provided. The multiple buttons include a first button 201, a second button 202, a third button 203, and a fourth button 205. The first button 201 is a power button, the second button 202 is a reset button, the third button 203 is a start button, and the fourth button 205 is a manual / automatic switching button.

[0052] The detection function of this utility model is described below: Please refer to Figure 1 , Figure 3 , Figure 4 and Figure 5 When the fixed plate 10013 in the lifting and rotating assembly 10 rises to its highest position, the end of the lifting device positioning detection plate 7 approaches the upper positioning proximity switch 901. The upper positioning proximity switch 901 detects that the lifting device positioning detection plate 7 has reached its highest position and outputs a control signal to the control center. Similarly, when the fixed plate 10013 in the lifting and rotating assembly 10 descends to its lowest position, the end of the lifting device positioning detection plate 7 approaches the lower positioning proximity switch 902. The lower positioning proximity switch 902 detects that the lifting device positioning detection plate 7 has reached its lowest position and outputs a control signal to the control center.

[0053] For further information, please refer to the following: Figure 1 , Figure 3 and Figure 6 When rotating, the lifting panel rotation positioning detection plate 17 moves away from the rotation positioning proximity switch 1401, indicating that it is in the "selected but not positioned" state. Please refer to... Figure 7 When the lifting panel rotation positioning detection plate 17 approaches the rotation positioning proximity switch 1401, the rotation positioning proximity switch 1401 detects that the lifting panel 18 has rotated to a horizontal position and outputs a positioning control signal to the control center to indicate that the lifting panel 18 has rotated to the correct position.

[0054] The technical features of the above embodiments can be combined in any way. For the sake of brevity, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0055] The embodiments described above are merely illustrative of several implementations of this utility model, and while the descriptions are relatively specific and detailed, they should not be construed as limiting the scope of the utility model patent. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of this utility model, and these all fall within the protection scope of this utility model. Therefore, the protection scope of this utility model patent should be determined by the appended claims.

Claims

1. An automated guided vehicle with a positioning detection function, characterized in that: The automated guided vehicle includes a chassis assembly and a lifting and rotating assembly mounted on the chassis assembly. The rotating end of the lifting and rotating assembly is connected to a lifting panel. A lifting panel rotation positioning detection plate is provided on the lower surface of the lifting panel. An upper positioning proximity switch and a lower positioning proximity switch are respectively provided on the chassis assembly. The lifting and rotating assembly also includes a lifting device positioning detection plate and a rotation positioning proximity switch. Drive wheels are also provided on the chassis assembly. A SLAM laser navigation radar is also provided at the end of the chassis assembly, away from the center of the chassis assembly.

2. The automated guided vehicle with positioning detection function as described in claim 1, characterized in that: The lifting and rotating assembly includes a lifting motor, the output end of which is connected to one end of a lifting motor tie rod, and the other end of the lifting motor tie rod is connected to a fixed plate via a connecting rod assembly. A slewing support bearing is mounted on the fixed plate, and a rotating motor is also mounted on the fixed plate. The output end of the rotating motor is connected to the outer ring of the slewing support bearing.

3. An automated guided vehicle with a positioning detection function as described in claim 2, characterized in that: The linkage assembly includes a first rocker assembly, a second rocker assembly, a long pull rod, and a crossbar. A portion of the first rocker assembly is rotatably mounted on a third chassis, and another portion of the first rocker assembly is connected to one end of a fixed plate. One end of the crossbar is connected to the first rocker assembly, and the other end of the crossbar is connected to the second rocker assembly. A portion of the second rocker assembly is rotatably mounted on the first chassis, and another portion of the second rocker assembly is connected to the other end of a fixed plate. The fixed plate is also connected to one end of the long pull rod, and the other end of the long pull rod is rotatably mounted on a pull rod bracket.

4. An automated guided vehicle with a positioning detection function as described in claim 3, characterized in that: The first rocker assembly includes a first connecting sleeve and a second connecting sleeve. The lower half of the first connecting sleeve is rotatably connected to the lower connecting shaft of the first connecting rod, and the upper half of the first connecting sleeve is rotatably connected to the middle connecting shaft of the first connecting rod. The lower half of the second connecting sleeve is rotatably connected to the middle connecting shaft of the first connecting rod, and the upper half of the second connecting sleeve is rotatably connected to the upper connecting shaft of the first connecting rod. The second rocker assembly includes a third connecting sleeve, a fourth connecting sleeve, a lower connecting shaft of the second connecting rod, a middle connecting shaft of the second connecting rod, and an upper connecting shaft of the second connecting rod. The lower half of the third connecting sleeve is connected to the lower connecting shaft of the second connecting rod, the upper half of the third connecting sleeve is connected to the middle connecting shaft of the second connecting rod, the lower half of the fourth connecting sleeve is also connected to the middle connecting shaft of the second connecting rod, and the upper half of the fourth connecting sleeve is connected to the upper connecting shaft of the second connecting rod.

5. An automated guided vehicle with a positioning detection function as described in claim 3, characterized in that: The upper and lower position proximity switches are respectively mounted on the first proximity switch mounting bracket, which is fixed to the chassis assembly; a second proximity switch mounting bracket is also fixed to one end of the fixed plate, and the rotation position proximity switch is fixed to the second proximity switch mounting bracket.

6. An automated guided vehicle with a positioning detection function as described in claim 1, characterized in that: A first QR code ground pattern camera and a second QR code ground pattern camera are also provided at the center of the chassis assembly. The first QR code ground pattern camera and the second QR code ground pattern camera are arranged vertically along the same height direction.

7. An automated guided vehicle with a positioning detection function as described in claim 1, characterized in that: The chassis assembly includes a first chassis, a second chassis, and a third chassis. The second chassis is disposed between the first chassis and the third chassis. The second chassis is hinged to the first chassis and the second chassis respectively via a rotating shaft, so that the first chassis and the third chassis can rotate relative to the second chassis respectively.

8. An automated guided vehicle with a positioning detection function as described in claim 7, characterized in that: A universal wheel mounting port is provided on both the first chassis and the third chassis, and a universal wheel is installed in the universal wheel mounting port.

9. An automated guided vehicle with a positioning detection function as described in claim 8, characterized in that: The automated guided vehicle also includes a shell, which is connected to the chassis assembly. The shell includes a housing body, on which multiple buttons and debugging interfaces are provided; a camera scanning port is provided on the second chassis.

10. An automated guided vehicle with a positioning detection function as described in claim 6, characterized in that: The first QR code ground pattern camera and the second QR code ground pattern camera are respectively fixed inside the camera mounting housing. The camera mounting housing is fixed to the second chassis, and a shielding component is also connected to the outside of the camera mounting housing.

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