An automated guided vehicle

Abstract

The utility model discloses an automatic guide car. Automatic guide car includes: car body, lifting module is set in the car body top, is used for placing carrier and drives the up and down movement of carrier, rudder wheel drive module, rudder wheel drive module includes at least four installation in car body chassis's rudder wheel, rudder wheel drive module is used for controlling rudder wheel operation, navigation module is set in the second side of car body, is used for scanning surrounding environment and carries out indoor and outdoor positioning and navigation, control module is connected with lifting module, rudder wheel drive module and navigation module, is used for sending control instruction to lifting module, rudder wheel drive module and navigation module, controls the automatic operation of automatic guide car. The utility model embodiment provides technical scheme to improve the flexibility and applicability of automatic guide car.

Description

Technical Field

[0001] This utility model relates to the field of automatic control technology, and in particular to an automated guided vehicle. Background Technology

[0002] With the rapid development of factory logistics and production automation, the application of automated guided vehicles (AGVs) is becoming more widespread. However, current AGVs generally operate on fixed tracks, requiring manual handling at the junctions between indoor and outdoor areas when cross-zone transfers are needed. Furthermore, factories often install dense storage racks to improve space utilization, further reducing the working space for AGVs. In narrow and limited aisles, the large turning radius limits their rotation and adjustment capabilities. Therefore, existing AGVs exhibit limited flexibility and applicability. Utility Model Content

[0003] This invention provides an automated guided vehicle (AGV) to solve the problems of low flexibility and poor applicability of AGVs.

[0004] According to one aspect of the present invention, an automated guided vehicle is provided, comprising:

[0005] Vehicle body;

[0006] A lifting module, located above the vehicle body, is used to place the vehicle and move the vehicle up and down.

[0007] A steering wheel drive module, comprising at least four steering wheels mounted on the vehicle chassis, the steering wheel drive module being used to control the operation of the steering wheels;

[0008] A navigation module, located on the second side of the vehicle body, is used to scan the surrounding environment and perform indoor and outdoor positioning and navigation;

[0009] The control module is connected to the lifting module, the steering wheel drive module, and the navigation module. The control module is used to set the starting point position information and the ending point position information.

[0010] Optionally, the navigation module includes: a long-range laser unit; used to scan the surrounding environment of the automated guided vehicle, locate itself according to preset environmental data, and navigate according to the starting point location information and the ending point location information.

[0011] Optionally, the lifting module includes: a lifting bracket and a lifting plate, the bottom end of the lifting bracket is fixed above the vehicle body, and the top end of the lifting bracket is fixedly connected to the lifting plate; the lifting bracket is used to drive the lifting plate to move up or down.

[0012] Optionally, the automated guided vehicle further includes a vehicle error prevention module, disposed on the first side of the vehicle body, for scanning the barcode on the vehicle and identifying the vehicle.

[0013] Optionally, the steering wheel drive module further includes at least four drive motors connected to the steering wheel. The steering wheel drive module is used to independently control each of the drive motors and drive the steering wheel to run through the drive motors.

[0014] Optionally, the automated guided vehicle further includes an obstacle avoidance module connected to the control module. The obstacle avoidance module is disposed on the second and third sides of the vehicle body and is used to scan obstacles in the direction of the vehicle's movement.

[0015] Optionally, the obstacle avoidance module includes: a first obstacle avoidance unit;

[0016] The first obstacle avoidance unit is disposed on the third side of the vehicle body and is connected to the control module; the first obstacle avoidance unit is used to scan ground obstacles in the direction of vehicle movement.

[0017] Optionally, the obstacle avoidance module further includes: a second obstacle avoidance unit;

[0018] The second obstacle avoidance unit is disposed on the second side of the vehicle body and is connected to the control module; the second obstacle avoidance unit is used to scan for spatial obstacles in the direction of vehicle movement.

[0019] Optionally, the automated guided vehicle further includes a communication module connected to the control module and also communicatively connected to a control host, the control host being used to control the operation of the automated guided vehicle through the control module.

[0020] Optionally, the automated guided vehicle further includes at least one emergency stop switch disposed on a first side of the vehicle body. The emergency stop switch is connected to the power supply of the automated guided vehicle and is used to control the power supply to be cut off when pressed.

[0021] The technical solution provided in this embodiment of the invention, by setting a navigation module, achieves the positioning and navigation of the automated guided vehicle (AGV), and also enables the AGV to automatically transport vehicles indoors and outdoors, demonstrating high applicability. Furthermore, by setting a steering wheel drive module, the AGV can move flexibly via the steering wheel, allowing it to operate in narrow spaces and greatly improving its flexibility. Therefore, the AGV provided in this embodiment of the invention achieves automatic transport of vehicles, has good transport capacity, can be applied in various different working environments, and has high reliability.

[0022] It should be understood that the description in this section is not intended to identify key or essential features of the embodiments of this utility model, nor is it intended to limit the scope of this utility model. Other features of this utility model will become readily apparent from the following description. Attached Figure Description

[0023] To more clearly illustrate the technical solutions in the embodiments of this utility model, the drawings used in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this utility model. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0024] Figure 1 This is a front view of an automated guided vehicle provided according to an embodiment of the present utility model;

[0025] Figure 2 This is a right view of an automated guided vehicle provided according to an embodiment of the present utility model;

[0026] Figure 3 This is a structural schematic diagram of an automated guided vehicle provided according to an embodiment of the present utility model. Detailed Implementation

[0027] To enable those skilled in the art to better understand the present invention, the technical solutions of the present invention 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 invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort should fall within the protection scope of the present invention.

[0028] It should be noted that the terms "first," "second," etc., in the specification, claims, and accompanying drawings of this utility model are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate so that the embodiments of the utility model described herein can be implemented in orders other than those illustrated or described herein. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover non-exclusive inclusion; for example, a process, method, system, product, or apparatus that comprises a series of steps or units is not necessarily limited to those steps or units explicitly listed, but may include other steps or units not explicitly listed or inherent to such processes, methods, products, or apparatus.

[0029] This utility model embodiment provides an automated guided vehicle. Figure 1A front view of an automated guided vehicle provided for an embodiment of this utility model. (Reference) Figure 1 The automated guided vehicle (AGV) includes: a vehicle body 1, a lifting module 2, a steering wheel drive module 3, a navigation module 4, and a control module (not shown in the figure). The lifting module 2 is located above the vehicle body 1 and is used to place the vehicle and move it up and down. The steering wheel drive module 3 includes at least four steering wheels 31 mounted on the vehicle chassis, and is used to control the operation of the steering wheels 31. The navigation module 4 is located on the second side of the vehicle body and is used to scan the surrounding environment and perform indoor and outdoor positioning and navigation. The lifting module 2, steering wheel drive module 3, and navigation module 4 are all connected to the control module, which is used to set the starting point and ending point positions.

[0030] The automated guided vehicle (AGV) is used for transporting goods within a factory. For example, it can move goods from one location in one workshop to another within the same workshop, or from one location in one workshop to another location in another workshop. The goods can be castings. When transporting goods, they are placed in a vehicle, and the AGV automatically travels to the designated storage location. The lifting module 2 then lifts the vehicle, and the vehicle is moved to the target location.

[0031] Specifically, the control module can send control commands to the navigation module 4. These commands can include starting point location information and ending point location information. The starting point location information includes the storage location information of the transport vehicle, and the ending point location information includes the destination information of the automated guided vehicle (AGV). Subsequently, the navigation module 4 begins scanning and locating the surrounding environment. For example, since the locations of various workshops, the external environment of the workshops, and the internal shelving of the workshops generally do not change, the information on the locations of these information can be stored in the navigation module 4 in advance. After scanning the surrounding environment, the navigation module 4 can determine the location of the AGV based on its environment. It then plans the AGV's route based on the location information of the various workshops and shelving within the factory, thereby enabling indoor navigation or navigation between indoor and outdoor areas. At this time, the steering wheel drive module 3 controls the operation of the steering wheel 31 according to the route planned by the navigation module 4, enabling the AGV to automatically transport goods.

[0032] To improve the storage efficiency in the factory, there is a small gap between each shelf. Since the steering wheel 31 can drive the vehicle body 1 to rotate 360 ​​degrees in place, the automated guided vehicle can be driven to move forward, backward, left, right, or diagonally through each steering wheel 31. It can also achieve functions such as turning around in place. Even though there is a small gap between each shelf, the automated guided vehicle can still operate stably.

[0033] The technical solution provided in this embodiment of the invention, by setting a navigation module, achieves the positioning and navigation of the automated guided vehicle (AGV), and also enables the AGV to automatically transport vehicles indoors and outdoors, demonstrating high applicability. Furthermore, by setting a steering wheel drive module, the AGV can move flexibly via the steering wheel, allowing it to operate in narrow spaces and greatly improving its flexibility. Therefore, the AGV provided in this embodiment of the invention achieves automatic transport of vehicles, has good transport capacity, can be applied in various different working environments, and has high reliability.

[0034] Continue to refer to Figure 1 Based on the above embodiments, the navigation module 4 may optionally include: a long-range laser unit 41; used to scan the surrounding environment of the automated guided vehicle, locate according to preset environmental data, and navigate according to the starting point location information and the ending point location information.

[0035] The preset environmental data can include information on the location of each workshop within the factory, the external environment of the workshop, and the location of shelves inside the workshop. The preset environmental data, starting point location information, and ending point location information can all be image data. The starting point location information includes the storage location of the transport vehicle, and the ending point location information includes the destination information of the transport.

[0036] When the control module controls the navigation module 4 to run, the long-range laser unit begins scanning the surrounding environment and locating itself based on preset environmental data. Then, based on the starting point location information, it plans the route for the automated guided vehicle (AGV) to move to the starting point, i.e., the storage location for the vehicle. Once the AGV reaches this location, the lifting module raises the vehicle and, based on the destination location information, plans the AGV's route again. The AGV then begins transporting the vehicle until it reaches its destination.

[0037] The long-distance laser unit used in this embodiment of the invention can scan the environment inside and outside the factory, enabling the automated guided vehicle to operate both inside and outside the factory, thus having high applicability.

[0038] Continue to refer to Figure 1 Based on the above embodiments, optionally, the lifting module 2 includes: a lifting bracket 21 and a lifting plate 22. The bottom end of the lifting bracket 21 is fixed above the vehicle body 1, and the top end of the lifting bracket 21 is fixedly connected to the lifting plate 22. The lifting bracket 21 is used to drive the lifting plate 22 to move up or down.

[0039] The lifting support 21 and the lifting plate 22 can be steel structural frames with a load-bearing capacity of more than 6 tons. Rainproof and dustproof bellows covers can also be installed around the lifting support 21 to ensure the reliability of the lifting module 2 when operating outdoors.

[0040] Continue to refer to Figure 1 Based on the above embodiments, optionally, the automated guided vehicle further includes: a vehicle error prevention module 5, which is disposed on the first side of the vehicle body 1, for scanning the barcode on the vehicle and identifying the vehicle.

[0041] To ensure the correctness of the goods transported by the automated guided vehicle, the vehicle on which the goods are placed can be identified and verified through the vehicle error prevention module 5.

[0042] For example, a QR code can be set on the vehicle, which includes information about the goods placed on the vehicle and the location information of the storage location where the vehicle is located. The vehicle error prevention module 5 can be a QR code recognition camera. By recognizing the QR code on the vehicle, the starting position information can be compared with the location information of the storage location where the vehicle is located to ensure that the goods transported by the automated guided vehicle meet the task requirements.

[0043] Continue to refer to Figure 1 Based on the above embodiments, optionally, the steering wheel drive module 3 further includes at least four drive motors connected to the steering wheel 31. The steering wheel drive module 3 is used to independently control each drive motor and drive the steering wheel 31 to run through the drive motors.

[0044] To enable the automated guided vehicle (AGV) to operate in multiple directions, each steering wheel 31 can be independently controlled. For example, the drive motor can be a servo motor. By adjusting the direction and speed of each servo motor, the AGV can travel in four directions (forward, backward, left, and right), as well as rotate in place and travel diagonally.

[0045] For example, the turning radius of the automated guided vehicle provided by this utility model can be less than 0.5 meters, which solves the problem of passage in narrow passages.

[0046] Continue to refer to Figure 1 Based on the above embodiments, optionally, the automated guided vehicle further includes an obstacle avoidance module 6, which is connected to the control module. The obstacle avoidance module 6 is disposed on the second and third sides of the vehicle body and is used to scan obstacles in the direction of vehicle movement.

[0047] Due to the complexity of the factory environment, there may be various obstacles within the factory area. For example, there may be various debris on the ground, or when the cargo on the vehicle supported by the lifting module 2 is too high, a collision may occur, leading to a safety accident for the automated guided vehicle (AGV). Therefore, by setting up the obstacle avoidance module 6, obstacles in the vehicle's direction of travel can be scanned in real time. When an obstacle in the vehicle's direction of travel obstructs the AGV's operation, the AGV can change direction to bypass the obstacle and continue driving.

[0048] Continue to refer to Figure 1 Based on the above embodiments, optionally, the obstacle avoidance module 6 includes: a first obstacle avoidance unit 61. The first obstacle avoidance unit 61 is disposed on the third side of the vehicle body 1 and is connected to the control module; the first obstacle avoidance unit 61 is used to scan ground obstacles in the direction of vehicle movement.

[0049] The first obstacle avoidance unit 61 can be an obstacle avoidance lidar, which can be used to emit laser signals to scan the ground in the direction of vehicle movement, thereby achieving obstacle avoidance of ground obstacles.

[0050] Continue to refer to Figure 1 Optionally, based on the above embodiments, the obstacle avoidance module 6 further includes a second obstacle avoidance unit 62. The second obstacle avoidance unit 62 is disposed on the second side of the vehicle body 1 and is connected to the control module; the second obstacle avoidance unit 62 is used to scan for spatial obstacles in the direction of vehicle movement.

[0051] The second obstacle avoidance unit 62 can be a 3D obstacle avoidance lidar, which can be used to emit laser signals to scan the spatial position of the vehicle's running direction, thereby achieving obstacle avoidance of spatial obstacles.

[0052] Continue to refer to Figure 1 Based on the above embodiments, optionally, the automated guided vehicle further includes a communication module, which is connected to the control module and also communicates with the control host, the control host being used to control the operation of the automated guided vehicle through the control module.

[0053] The communication module may include an antenna 81 for communicating with the control host. For example, the control host may be an industrial control host or a mobile control device, used to send preset environmental data, starting position information and ending position information to the control module, and also used to control the operation of the automated guided vehicle.

[0054] Figure 2 The right view of an automated guided vehicle provided for an embodiment of this utility model. Figure 3 This is a structural schematic diagram of an automated guided vehicle provided as an embodiment of the present utility model. (In conjunction with...) Figure 2 and Figure 3 Based on the above embodiments, optionally, the automated guided vehicle also includes: anti-collision strips 9, which are disposed on both sides of the chassis of the vehicle body 1, and are used to reduce the impact force on the automated guided vehicle when it collides due to an emergency.

[0055] Continue to combine Figure 2 and Figure 3 Optionally, based on the above embodiments, the automated guided vehicle further includes a charging interface 10. This interface is used to charge the automated guided vehicle when its battery is low.

[0056] Continue to combine Figure 1 and Figure 2 Based on the above embodiments, optionally, the automated guided vehicle further includes: at least one emergency stop switch 7, disposed on the first side of the vehicle body 1, the emergency stop switch 7 being connected to the power supply of the automated guided vehicle, and used to control the power supply to be cut off when pressed, so as to stop the automated guided vehicle from running.

[0057] In various embodiments of the pixel circuit, specific driving methods are described for different pixel circuits. These driving methods can all be considered as driving methods for the pixel circuit provided in the embodiments of this utility model, and repeated content will not be described here.

[0058] It should be understood that the various forms of the process shown above can be used, with steps reordered, added, or deleted. For example, the steps described in this utility model can be executed in parallel, sequentially, or in different orders, as long as the desired result of the technical solution of this utility model can be achieved, and this is not limited herein.

[0059] The specific embodiments described above do not constitute a limitation on the scope of protection of this utility model. Those skilled in the art should understand that various modifications, combinations, sub-combinations, and substitutions can be made according to design requirements and other factors. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of this utility model should be included within the scope of protection of this utility model.

Claims

1. An automated guided vehicle, characterized in that, include: Vehicle body; A lifting module, located above the vehicle body, is used to place the vehicle and move the vehicle up and down. A steering wheel drive module, comprising at least four steering wheels mounted on the vehicle chassis, the steering wheel drive module being used to control the operation of the steering wheels; A navigation module, located on the second side of the vehicle body, is used to scan the surrounding environment and perform indoor and outdoor positioning and navigation; The control module is connected to the lifting module, the steering wheel drive module, and the navigation module. The control module is used to set the starting point position information and the ending point position information.

2. The automated guided vehicle according to claim 1, characterized in that, The navigation module includes: a long-range laser unit; used to scan the surrounding environment of the automated guided vehicle, locate itself based on preset environmental data, and navigate based on the starting point location information and the ending point location information.

3. The automated guided vehicle according to claim 1, characterized in that, The lifting module includes a lifting bracket and a lifting plate. The bottom end of the lifting bracket is fixed above the vehicle body, and the top end of the lifting bracket is fixedly connected to the lifting plate. The lifting bracket is used to drive the lifting plate to move up or down.

4. The automated guided vehicle according to claim 1, characterized in that, The automated guided vehicle further includes a vehicle error prevention module, which is located on the first side of the vehicle body and is used to scan the barcode on the vehicle and identify the vehicle.

5. The automated guided vehicle according to claim 1, characterized in that, The steering wheel drive module further includes at least four drive motors connected to the steering wheel. The steering wheel drive module is used to independently control each of the drive motors and drive the steering wheel to run through the drive motors.

6. The automated guided vehicle according to claim 1, characterized in that, The automated guided vehicle further includes an obstacle avoidance module connected to the control module. The obstacle avoidance module is located on the second and third sides of the vehicle body and is used to scan obstacles in the direction of the vehicle's movement.

7. The automated guided vehicle according to claim 6, characterized in that, The obstacle avoidance module includes: a first obstacle avoidance unit; The first obstacle avoidance unit is disposed on the third side of the vehicle body and is connected to the control module; the first obstacle avoidance unit is used to scan ground obstacles in the direction of vehicle movement.

8. The automated guided vehicle according to claim 6, characterized in that, The obstacle avoidance module further includes: a second obstacle avoidance unit; The second obstacle avoidance unit is disposed on the second side of the vehicle body and is connected to the control module; the second obstacle avoidance unit is used to scan for spatial obstacles in the direction of vehicle movement.

9. The automated guided vehicle according to claim 1, characterized in that, The automated guided vehicle further includes a communication module connected to the control module and also communicating with a control host, the control host being used to control the operation of the automated guided vehicle through the control module.

10. The automated guided vehicle according to claim 1, characterized in that, The automated guided vehicle further includes at least one emergency stop switch, disposed on the first side of the vehicle body, the emergency stop switch being connected to the power supply of the automated guided vehicle, and used to control the power supply to be cut off when pressed.

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