AGV with area self-cleaning function
Patent Information
- Application Number
- CN202522198628.3
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- Filing Date
- 2025-10-17
- Publication Date
- 2026-10-20
- Estimated Expiration
- 2035-10-17
AI Technical Summary
[0005]为了弥补以上不足，本实用新型提供了一种区域自清扫的AGV小车，解决现有AGV小车在地面污染物影响下读码不准、行驶不稳、清扫结构复杂等问题
[0016]1、本实用新型中，通过在前底盘和后底盘底部倾斜布置多层T型尼龙毛刷，在AGV小车行驶过程中同步清扫读码区域与行驶区域，无需额外动力源，实现了无源化、轻量化自清洁，既简化了车体结构、降低了制造成本，又减少了额外功耗以提升设备续航能力；同时，多层T型尼龙毛刷按区域覆盖前轮、驱动轮、辅助轮的行驶路径及读码区域，且相邻毛刷交错排布形成朝向底盘两侧的污染物导向通道，可避免污染物堆积与二次污染，彻底消除双向行驶场景下的清洁盲区，确保二维码读取器始终精准识别地面标识，轮组无打滑、卡滞风险，显著提升AGV在复杂工业环境中的适应性与运行可靠性。
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Figure CN224868319U_ABST
Abstract
Description
Technical Field
[0001] This utility model relates to the field of intelligent logistics equipment technology, and in particular to an AGV (Automated Guided Vehicle) trolley with regional self-cleaning capability. Background Technology
[0002] The rapid development of industry has prompted factories to accelerate the pace of equipment upgrades and iterations. Currently, modern factories are moving towards unmanned operation. AGVs are favored by many industries due to their high efficiency and intelligence. However, factory upgrades place higher demands on the reliability and environmental adaptability of AGVs.
[0003] Existing AGVs generally use methods such as photo scanning and code reading to achieve automatic guidance. They use onboard cameras to identify path markings for positioning. The main function of AGVs is to replace manual labor in material handling. To ensure smooth operation during material handling, AGVs are usually designed to reduce wheel size and lower the overall center of gravity.
[0004] However, in actual operation, pollutants such as dust, debris, particles, or filaments left on the ground can easily adhere to the surface of the QR code, reducing the accuracy of the vehicle-mounted camera in reading the QR code. At the same time, due to the miniaturized wheel design, slippage and jamming are prone to occur in areas where pollutants accumulate. Current solutions mostly use independent cleaning devices, which require dedicated motors and control modules, resulting in a more complex vehicle structure, increased manufacturing costs, and additional power consumption that reduces the device's battery life. In addition, the directional cleaning characteristics of existing cleaning devices in bidirectional driving scenarios can easily create cleaning blind spots. Utility Model Content
[0005] To overcome the above shortcomings, this utility model provides an area self-cleaning AGV trolley, which solves the problems of inaccurate code reading, unstable driving, and complex cleaning structure of existing AGV trolleys under the influence of ground pollutants.
[0006] To achieve the above objectives, the present invention adopts the following technical solution: an AGV (Automated Guided Vehicle) for area self-cleaning, comprising an on-board navigation unit, a visual code reading unit, a wheel drive unit, and a self-cleaning unit. The wheel drive unit comprises a front chassis, a rear chassis, a connecting shaft, and an oil-free bushing. A swing arm front wheel assembly is installed at the front end of the front chassis. A drive wheel assembly is installed below the middle of the front chassis and the rear chassis. An auxiliary wheel assembly is installed at the rear end of the rear chassis. The front chassis and the rear chassis are connected through the connecting shaft, and both ends of the connecting shaft are clearance-fitted with the shaft holes on the side walls of the front chassis and the rear chassis through oil-free bushings. A controller is fixed on the top of the rear chassis.
[0007] The self-cleaning unit includes a multi-layer T-shaped nylon brush, which is obliquely installed at the bottom of the front and rear chassis to simultaneously clean the reading area of the vision reading unit and the driving area of the wheel drive unit when the AGV is moving.
[0008] As a further description of the above technical solution: the vehicle navigation unit includes a lidar, a front sheet metal part, a lifting and rotating assembly, and a lifting component mounting cylinder; the front sheet metal part is fixedly connected to the upper surface of the AGV chassis, a radar position sheet metal part is provided on the side of the front sheet metal part, a radar mounting sheet metal part is fixedly connected to the middle of the radar position sheet metal part, the lidar is fixedly connected in the radar mounting sheet metal part, the top of the front sheet metal part is covered by a car body cover plate, the lifting and rotating assembly passes through the car body cover plate and can rotate relative to it, the upper surface of the lifting and rotating assembly is fitted with an anti-slip rubber pad, and the bottom of the lifting and rotating assembly is coaxially connected to the AGV chassis through the lifting component mounting cylinder.
[0009] As a further description of the above technical solution: the visual code reading unit is located in the middle of the AGV chassis, and the visual code reading unit includes a QR code reader and a mounting bracket; one end of the mounting bracket is bolted to the AGV chassis, and the other end is fixedly connected to the QR code reader, and the reading window of the QR code reader faces the preset marking area on the ground vertically; both ends of the reading area of the QR code reader are equipped with multi-layer T-shaped nylon brushes.
[0010] As a further description of the above technical solution: the swing arm front wheel assembly includes a swing arm body and a wheel body; the middle part of the swing arm body is hinged to the lug plate at the bottom of the front chassis through a pin, and the two ends of the swing arm body are rotatably connected to the wheel body through axles, so that the swing arm body can drive the wheel body to swing up and down in the vertical direction to adapt to different road conditions.
[0011] As a further description of the above technical solution: the multi-layer T-shaped nylon brush on the front chassis covers the driving area of the swing arm front wheel assembly and the drive wheel assembly, the multi-layer T-shaped nylon brush on the rear chassis covers the driving area of the auxiliary wheel assembly, and the multi-layer T-shaped nylon brush in the middle covers the reading area of the visual reading unit.
[0012] As a further description of the above technical solution: the adjacent multi-layer T-shaped nylon brushes are arranged in an alternating pattern to form a pollutant guiding channel with a gradually changing width, and the outlet of the guiding channel faces both sides of the AGV chassis.
[0013] As a further description of the above technical solution: the tilt angle of the multi-layer T-shaped nylon brush is 15° to 30°, and the ends of its bristles contact the ground and form elastic pressure.
[0014] As a further description of the above technical solution: the signal input terminal of the controller is connected to the lidar of the vehicle navigation unit and the QR code reader of the visual code reading unit through wires to receive positioning and navigation signals; the output terminal of the controller is connected to the servo motor of the drive wheel assembly of the wheel group drive unit through a signal line to realize the speed and steering control of the drive wheel assembly.
[0015] This utility model has the following beneficial effects:
[0016] 1. In this utility model, by arranging multiple layers of T-shaped nylon brushes at an angle on the bottom of the front and rear chassis, the code reading area and the driving area are cleaned simultaneously during the AGV's movement. No additional power source is required, achieving passive, lightweight self-cleaning. This simplifies the vehicle structure, reduces manufacturing costs, and reduces additional power consumption to improve the equipment's endurance. At the same time, the multiple layers of T-shaped nylon brushes cover the driving path and code reading area of the front wheels, drive wheels, and auxiliary wheels according to the area, and the staggered arrangement of adjacent brushes forms a pollutant guiding channel towards both sides of the chassis, which can avoid pollutant accumulation and secondary pollution, completely eliminate cleaning blind spots in bidirectional driving scenarios, ensure that the QR code reader always accurately recognizes ground markings, and eliminate the risk of wheel slippage or jamming, significantly improving the AGV's adaptability and operational reliability in complex industrial environments.
[0017] 2. In this utility model, the wheel drive unit adopts a split structure of front chassis and rear chassis. The relative rotation with low friction and low wear is achieved through the connecting shaft and oil-free bushing. With the swing arm front wheel assembly (the swing arm body is hinged to the ear plate, which can drive the wheel to swing up and down), it can flexibly adapt to complex road conditions such as uneven ground and depressions, avoid vehicle body bumps or wheel suspension caused by uneven road conditions, and ensure stable material transfer. Attached Figure Description
[0018] Figure 1 This is a schematic diagram of the structure of an AGV (Automated Guided Vehicle) for area self-cleaning proposed in this utility model;
[0019] Figure 2 This is a schematic diagram of the onboard navigation unit of an AGV (Automated Guided Vehicle) with regional self-cleaning capability proposed in this utility model.
[0020] Figure 3 This is a schematic diagram of the structure of a visual barcode reading unit for a self-cleaning AGV (Automated Guided Vehicle) based on this utility model.
[0021] Figure 4 This is a schematic diagram of the wheel drive unit of an AGV (Automated Guided Vehicle) with regional self-cleaning capability proposed in this utility model.
[0022] Figure 5 In this utility model Figure 4 Enlarged view of point A;
[0023] Figure 6 This is a schematic diagram showing the distribution of multi-layer T-shaped nylon brushes in an AGV (Automated Guided Vehicle) for regional self-cleaning, as proposed in this utility model.
[0024] Legend:
[0025] 1. Vehicle navigation unit; 2. Visual barcode reader unit; 3. Wheel drive unit; 4. Self-cleaning unit; 5. LiDAR; 6. Radar position sheet metal parts; 7. Front sheet metal parts; 8. Body cover; 9. Anti-slip rubber mat; 10. Lifting and rotating assembly; 11. Radar mounting sheet metal parts; 12. Lifting component mounting cylinder; 13. QR code reader; 14. Mounting bracket; 15. Front chassis; 16. Swing arm front wheel assembly; 1601. Swing arm body; 1602. Wheel body; 1603. Ear plate; 17. Drive wheel assembly; 18. Rear chassis; 19. Auxiliary wheel assembly; 20. Controller; 21. Connecting shaft; 22. Oil-free bushing; 23. Multi-layer T-shaped nylon brush. Detailed Implementation
[0026] 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.
[0027] Reference Figure 1-6 This utility model provides an embodiment of an AGV (Automated Guided Vehicle) with regional self-cleaning capability, comprising an onboard navigation unit 1, a visual code reading unit 2, a wheel drive unit 3, and a self-cleaning unit 4. The wheel drive unit 3 includes a front chassis 15, a rear chassis 18, a connecting shaft 21, and an oil-free bushing 22. A swing arm front wheel assembly 16 is mounted on the front end of the front chassis 15, a drive wheel assembly 17 is mounted on the lower middle part between the front chassis 15 and the rear chassis 18, and an auxiliary wheel assembly 19 is mounted on the rear end of the rear chassis 18. The front chassis 15 and the rear chassis 18 are connected by the connecting shaft 21. The connecting shaft 21 is connected to the shaft holes on the side walls of the front chassis 15 and the rear chassis 18 through oil-free bushings 22. The front chassis 15 and the rear chassis 18 are a split structure. The connecting shaft 21 passes through and cooperates with the oil-free bushings 22 to achieve relative rotation with low friction and low wear. With multi-wheel support, the swing arm front wheel assembly 16, drive wheel assembly 17 and auxiliary wheel assembly 19 are arranged in different positions on the chassis to form a three-point support structure to ensure smooth driving. It improves ground adaptability and driving stability. The controller 20 is fixed on the top of the rear chassis 18.
[0028] The self-cleaning unit 4 includes a multi-layer T-shaped nylon brush 23, which is obliquely installed at the bottom of the front chassis 15 and the rear chassis 18. When the AGV is moving, the brush moves with the vehicle body to clean ground contaminants synchronously, covering the code reading area and the wheel travel area. It also cleans the code reading area and the wheel path, avoiding navigation failure and wheel slippage caused by contamination. The passive cleaning design requires no additional power, reducing power consumption and cost.
[0029] Specifically, the vehicle navigation unit 1 includes a lidar 5, a front sheet metal part 7, a lifting and rotating assembly 10, and a lifting component mounting cylinder 12; the front sheet metal part 7 is fixedly connected to the upper surface of the AGV chassis, a radar position sheet metal part 6 is provided on the side of the front sheet metal part 7, a radar mounting sheet metal part 11 is fixedly connected in the middle of the radar position sheet metal part 6, the lidar 5 is fixedly connected in the radar mounting sheet metal part 11, the top of the front sheet metal part 7 is covered with a car body cover plate 8, the lifting and rotating assembly 10 passes through the car body cover plate 8 and can rotate relative to it, the upper surface of the lifting and rotating assembly 10 is attached with an anti-slip rubber pad 9, and the bottom of the lifting and rotating assembly 10 is coaxially connected to the AGV chassis through the lifting component mounting cylinder 12;
[0030] The lidar 5 is used for environmental scanning and positioning. It is fixed to the side of the front sheet metal part 7 via the lidar mounting part 11 to ensure scanning stability. The lifting and rotating assembly 10 can rotate relative to the upper cover plate 8 of the vehicle body. It is coaxially connected to the chassis via the lifting assembly mounting cylinder 12 to realize the height and direction adjustment of materials. It can adapt to the material loading and unloading needs of different workstations, improve the versatility of AGV, and the coaxial connection design can ensure smooth rotation and avoid material deviation. The anti-slip rubber pad 9 prevents materials from sliding during rotation or transportation, ensuring the safety of material transportation.
[0031] Specifically, the visual code reading unit 2 is located in the middle of the AGV chassis. The visual code reading unit 2 includes a QR code reader 13 and a mounting bracket 14. One end of the mounting bracket 14 is bolted to the AGV chassis, and the other end is fixedly connected to the QR code reader 13. The reading window of the QR code reader 13 faces the preset marking area on the ground vertically to ensure the best reading angle and improve the success rate of QR code recognition. Both ends of the reading area of the QR code reader 13 are equipped with multi-layer T-shaped nylon brushes 23 to clean the dust and debris on the QR code surface in advance during the AGV's operation, ensuring that the AGV can still navigate stably in dusty industrial environments and reducing the code reading failure rate.
[0032] Specifically, the swing arm front wheel assembly 16 includes a swing arm body 1601 and a wheel body 1602. The middle part of the swing arm body 1601 is hinged to the ear plate 1603 at the bottom of the front chassis 15 via a pin. The two ends of the swing arm body 1601 are rotatably connected to the wheel body 1602 via axles, so that the swing arm body 1601 can drive the wheel body 1602 to swing up and down in the vertical direction to adapt to different road conditions. The swing design allows the wheel body 1602 to automatically adjust its height according to the undulation of the ground, keep in contact with the ground, and avoid being suspended in the air. It ensures that the front wheel is always in contact with the ground, improves driving stability, and enhances the adaptability of the AGV to complex road conditions such as ground bumps and depressions.
[0033] Specifically, the multi-layer T-shaped nylon brush 23 on the front chassis 15 covers the driving area of the swing arm front wheel assembly 16 and the drive wheel assembly 17, the multi-layer T-shaped nylon brush 23 on the rear chassis 18 covers the driving area of the auxiliary wheel assembly 19, and the multi-layer T-shaped nylon brush 23 in the middle covers the reading area of the visual barcode reading unit 2; each brush covers a specific area, providing targeted and comprehensive cleaning, avoiding pollutant residue from affecting driving and barcode reading; reducing the risk of wheel slippage and jamming; and improving the reliability and environmental adaptability of AGV operation.
[0034] Specifically, the adjacent multi-layer T-shaped nylon brushes 23 are arranged in an alternating pattern to form a pollutant guiding channel with a gradually changing width. The outlet of the guiding channel faces both sides of the AGV chassis, preventing pollutants from accumulating under the vehicle and avoiding secondary pollution. The alternating arrangement can cover a larger cleaning area, reduce blind spots, and provide cleaning effect in both directions, making it highly adaptable. The multi-layer T-shaped nylon brushes 23 have a tilt angle of 20°, with the bristle tips contacting the ground and forming elastic pressure. The tilt angle balances cleaning effect and brush life. The elastic pressure design avoids excessive wear on the ground or brushes.
[0035] Specifically, the signal input terminal of the controller 20 is connected to the lidar 5 of the vehicle navigation unit 1 and the QR code reader 13 of the visual code reading unit 2 via wires to receive positioning and navigation signals, perform positioning and path planning, and improve navigation reliability through dual-sensor fusion positioning. The output terminal of the controller 20 is connected to the servo motor of the drive wheel assembly 17 of the wheel drive unit 3 via signal lines to realize the speed and steering control of the drive wheel assembly 17. The driving strategy can be adjusted in real time according to environmental changes, thereby improving the level of intelligence.
[0036] Working principle: After the AGV starts, the LiDAR 5 scans the surrounding environment and, combined with the QR code markings on the ground read by the QR code reader 13, the controller 20 calculates the current position and target path. The controller 20 sends a signal to the servo motor of the drive wheel assembly 17 to control the AGV to travel along the preset path. At the same time, the multi-layer T-shaped nylon brushes 23 on the bottom of the chassis clean synchronously as the vehicle travels: the brushes in the code reading area clean the QR codes on the ground to ensure accurate recognition by the QR code reader 13; the brushes in the wheel assembly area clean the contaminants along the path to prevent the swing arm front wheel assembly 16 and the drive wheel assembly 17 from slipping or getting stuck; the contaminants are discharged to both sides of the vehicle body through the guide channel formed by the staggered brushes.
[0037] After the AGV arrives at the material station, the lifting and rotating assembly 10 lifts the material (anti-slip rubber pad 9 prevents the material from sliding), and rotates the material direction according to the requirements. After being transferred to the target station, the material is lowered. If reverse travel is required, the controller 20 controls the drive wheel to rotate in the opposite direction. Since the brush covers the entire area and the guide channel is effective in both directions, the entire area is still cleaned when traveling in the opposite direction, with no blind spots.
[0038] 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. An AGV (Automated Guided Vehicle) with regional self-cleaning capability, comprising an onboard navigation unit (1), a visual code reading unit (2), a wheel drive unit (3), and a self-cleaning unit (4), characterized in that: The wheel drive unit (3) includes a front chassis (15), a rear chassis (18), a connecting shaft (21), and an oil-free bushing (22). A swing arm front wheel assembly (16) is installed at the front end of the front chassis (15). A drive wheel assembly (17) is installed below the middle between the front chassis (15) and the rear chassis (18). An auxiliary wheel assembly (19) is installed at the rear end of the rear chassis (18). The front chassis (15) and the rear chassis (18) are connected through the connecting shaft (21), and the two ends of the connecting shaft (21) are fitted with the shaft holes on the side walls of the front chassis (15) and the rear chassis (18) through the oil-free bushing (22). A controller (20) is fixed on the top of the rear chassis (18). The self-cleaning unit (4) includes a multi-layer T-shaped nylon brush (23), which is obliquely installed on the bottom of the front chassis (15) and the rear chassis (18) to simultaneously clean the reading area of the visual code reading unit (2) and the driving area of the wheel drive unit (3) when the AGV is in motion.
2. The AGV (Automated Guided Vehicle) with regional self-cleaning capability according to claim 1, characterized in that: The vehicle navigation unit (1) includes a laser radar (5), a front sheet metal part (7), a lifting and rotating assembly (10), and a lifting component mounting cylinder (12). The front sheet metal part (7) is fixedly connected to the upper surface of the AGV chassis. A radar position sheet metal part (6) is provided on the side of the front sheet metal part (7). A radar mounting sheet metal part (11) is fixedly connected in the middle of the radar position sheet metal part (6). The laser radar (5) is fixedly connected in the radar mounting sheet metal part (11). The top of the front sheet metal part (7) is covered with a car body cover plate (8). The lifting and rotating assembly (10) passes through the car body cover plate (8) and can rotate relative to it. An anti-slip rubber pad (9) is attached to the upper surface of the lifting and rotating assembly (10). The bottom of the lifting and rotating assembly (10) is coaxially connected to the AGV chassis through the lifting component mounting cylinder (12).
3. The AGV (Automated Guided Vehicle) with regional self-cleaning capability according to claim 1, characterized in that: The visual code reading unit (2) is located in the middle of the AGV chassis. The visual code reading unit (2) includes a QR code reader (13) and a mounting bracket (14). One end of the mounting bracket (14) is bolted to the AGV chassis, and the other end is fixedly connected to the QR code reader (13). The reading window of the QR code reader (13) faces the ground with a preset marking area. Both ends of the reading area of the QR code reader (13) are equipped with multi-layer T-shaped nylon brushes (23).
4. The AGV (Automated Guided Vehicle) with regional self-cleaning capability according to claim 1, characterized in that: The swing arm front wheel assembly (16) includes a swing arm body (1601) and a wheel body (1602); the middle part of the swing arm body (1601) is hinged to the ear plate (1603) at the bottom of the front chassis (15) by a pin, and the two ends of the swing arm body (1601) are rotatably connected to the wheel body (1602) by axles, so that the swing arm body (1601) can drive the wheel body (1602) to swing up and down in the vertical direction to adapt to different road conditions.
5. The AGV (Automated Guided Vehicle) with regional self-cleaning capability according to claim 1, characterized in that: The multi-layer T-shaped nylon brush (23) on the front chassis (15) covers the driving area of the swing arm front wheel assembly (16) and the drive wheel assembly (17), the multi-layer T-shaped nylon brush (23) on the rear chassis (18) covers the driving area of the auxiliary wheel assembly (19), and the multi-layer T-shaped nylon brush (23) in the middle covers the reading area of the visual code reading unit (2).
6. The AGV (Automated Guided Vehicle) with regional self-cleaning capability according to claim 5, characterized in that: The adjacent multi-layer T-shaped nylon brushes (23) are arranged in an alternating pattern to form a pollutant guiding channel with a gradually changing width, and the outlet of the guiding channel faces both sides of the AGV chassis.
7. The AGV (Automated Guided Vehicle) for area self-cleaning according to claim 6, characterized in that: The tilt angle of the multi-layer T-shaped nylon brush (23) is 15° to 30°, and the ends of its bristles contact the ground and form elastic pressure.
8. The AGV (Automated Guided Vehicle) with regional self-cleaning capability according to claim 1, characterized in that: The signal input terminal of the controller (20) is connected to the lidar (5) of the vehicle navigation unit (1) and the QR code reader (13) of the visual code reading unit (2) respectively through wires to receive positioning and navigation signals; the output terminal of the controller (20) is connected to the servo motor of the drive wheel assembly (17) of the wheel group drive unit (3) through signal lines to realize the speed and steering control of the drive wheel assembly (17).