A safety type automated guided vehicle

Abstract

The utility model relates to a safe automatic guide vehicle, the automatic guide vehicle includes chassis assembly, lifting rotation subassembly, and lifting rotation subassembly sets up in chassis assembly, and the rotation end of lifting rotation subassembly is connected with the jacking panel, a group of drive wheels also set up in chassis assembly and control drive through control module, SLAM laser navigation radar is respectively arranged in the proximal end and the distal end of chassis assembly, and in the vicinity of any SLAM laser navigation radar, still install RGBD camera on chassis assembly, the automatic guide vehicle still includes anti -collision strip subassembly, and anti -collision strip subassembly is respectively arranged in the proximal end and the distal end of chassis assembly. Through increasing anti -collision strip subassembly, and the trigger device in anti -collision strip subassembly is connected with pressure sensor, on one hand, avoid the AGV of no anti -collision device to contact the operating personnel, cause extrusion, impact and cause safety accident. On the other hand, through setting up anti -collision subassembly, not only avoid damaging the car body and goods shelves, production line equipment, still reduce the maintenance cost of car body.

Description

Technical Field

[0001] This utility model relates to the field of material handling equipment, and in particular to a safety-type automated guided vehicle. 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] Currently, when traditional automated guided vehicles (AGVs) are used to transport heavy goods, the large size of the goods necessitates a larger vehicle body design to accommodate them. However, this large-body design presents the following problems: (a) Traditional automated guided vehicles are equipped with only a single radar. Due to the large size of heavy cargo, a single radar cannot identify obstacles in all 360° directions, especially low-level obstacles, which makes it impossible to improve transportation efficiency.

[0004] (ii) Traditional automated guided vehicles (AGVs) do not have anti-collision functions, which may cause serious crushing, impact and other injuries if they come into contact with people. Secondly, direct collisions will damage the AGV body, resulting in high maintenance costs, and may also damage shelves, production line equipment, walls, columns and other structures. Utility Model Content

[0005] In view of the shortcomings of the prior art, the purpose of this utility model is to provide a safe automated guided vehicle to solve one or more problems in the prior art.

[0006] To achieve the above objectives, the technical solution of this utility model is as follows: A safe automated guided vehicle (AGV) includes a chassis assembly and a lifting and rotating assembly. The lifting and rotating assembly is mounted on the chassis assembly, and its rotating end is connected to a lifting panel. A set of drive wheels is also mounted on the chassis assembly and driven by a control module. SLAM (Single-Loop AM) laser navigation radars are respectively installed at the near and far ends of the chassis assembly, and an RGBD camera is also mounted on the chassis assembly near any SLAM laser navigation radar. The AGV also includes anti-collision strip assemblies, which are respectively installed at the near and far ends of the chassis assembly.

[0007] 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. A first camera and a second camera are also disposed at the center of the chassis assembly. The first camera and the second camera are arranged vertically along the same height direction.

[0008] Furthermore, multiple grooves are respectively formed at the end of the first chassis away from the second chassis and at the end of the third chassis away from the second chassis, and each groove is respectively formed with a first mounting hole.

[0009] Furthermore, the anti-collision strip assembly includes a profile strip, and multiple mounting parts that mate with the groove are provided on the inner side of the profile strip, each mounting part having a second mounting hole; the profile strip has a hollow inner cavity, and a triggering device is disposed in the hollow inner cavity; the anti-collision strip assembly also includes an air tube, one end of which extends into the interior of the triggering device, and the other end of which is connected to a pressure sensor.

[0010] 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.

[0011] 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 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.

[0012] 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, and the upper half of the fourth connecting sleeve is connected to the upper connecting shaft of the second connecting rod.

[0013] 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.

[0014] 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.

[0015] Furthermore, the first camera and the second 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.

[0016] Compared with the prior art, the beneficial technical effects of this utility model are as follows: This invention, by adding a collision avoidance strip assembly, with a triggering device connected to a pressure sensor within the assembly, prevents AGVs without collision avoidance devices from coming into contact with workers, causing crushing, impacts, and safety accidents. Furthermore, by incorporating the collision avoidance assembly, damage to the vehicle body, shelves, and production line equipment is prevented, and vehicle maintenance costs are reduced.

[0017] The RGBD camera setup, along with SLAM laser navigation radars installed at the front and rear ends of the chassis assembly, enables the AGV to detect objects below the scanning plane, such as fallen boxes and crouching personnel, as well as objects rapidly approaching from the side or rear of the AGV, allowing for quick identification.

[0018] This invention, by incorporating a SLAM laser navigation radar and a first and second camera, enables navigation, obstacle avoidance, and QR code or terrain pattern scanning in various scenarios. These cameras can be used in combination to construct a 3D map through real-time scanning for precise path planning. The SLAM laser navigation radar provides navigation and obstacle avoidance; the first camera identifies QR codes on the underside of the shelving and accurately positions and aligns the shelving with information; and the second camera identifies QR codes on the upper part of the shelving, ensuring the lifting and rotating assembly is centered on the shelving after lifting, guaranteeing the stability of the shelving's longitudinal center during automated guided vehicle operation.

[0019] Furthermore, by adding a lifting and rotating component, it is possible to rotate the material in different directions and to raise and lower the material, thereby enabling the material to be transported in different directions. Attached Figure Description

[0020] Figure 1 A schematic diagram of the structure of a safety-type automated guided vehicle according to an embodiment of the present invention is shown.

[0021] Figure 2 This diagram illustrates the structure of a collision avoidance strip assembly in a safety-type automated guided vehicle according to an embodiment of the present invention.

[0022] Figure 3 This diagram shows a partial structural schematic of a collision avoidance strip assembly in a safety-type automated guided vehicle according to an embodiment of the present invention.

[0023] Figure 4 An exploded structural diagram of a safety-type automated guided vehicle according to an embodiment of the present invention is shown.

[0024] Figure 5 This diagram shows a structural schematic of the housing of a safety-type automated guided vehicle according to an embodiment of the present invention.

[0025] Figure 6 The diagram shows a cross-sectional view of a safety-type automated guided vehicle according to an embodiment of the present invention.

[0026] Figure 7 A partial structural schematic diagram of a safety-type automated guided vehicle according to an embodiment of the present invention is shown.

[0027] Figure 8 The diagram shows a first state of a safety-type automated guided vehicle lifting and rotating assembly according to an embodiment of the present invention.

[0028] Figure 9 The diagram shows a second state of a safety-type automated guided vehicle lifting and rotating assembly according to an embodiment of the present invention.

[0029] Figure 10This diagram illustrates a chassis assembly in a safety-type automated guided vehicle according to an embodiment of the present invention.

[0030] Figure 11 This diagram shows a partial structural schematic of a SLAM laser navigation radar in a safety-oriented automated guided vehicle according to an embodiment of the present invention.

[0031] Figure 12 The diagram shows an enlarged view of a safety-type automated guided vehicle according to an embodiment of the present invention from a first-view perspective.

[0032] Figure 13 The diagram shows an enlarged view from a second perspective of a safety-type automated guided vehicle according to an embodiment of the present invention.

[0033] Figure 14 This diagram illustrates the structure of the first connecting bushing in a safety-type automated guided vehicle according to an embodiment of the present invention.

[0034] The attached diagram shows the following markings: 1. Chassis assembly; 100. First chassis; 101. Second chassis; 102. Third chassis; 103. Caster wheel mounting port; 104. Mounting column; 105. Groove; 106. First mounting hole; 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. 6. Adjustment plate; 7. SLAM laser navigation radar; 800. Battery; 801. Drive wheel; 802. Drive motor; 9. Control module; 10. Lifting and rotating assembly; 1001. Lower connecting shaft of the first link; 1002. Middle connecting shaft of the first link; 1003. First connecting bushing; 1004. Upper connecting shaft of the first link; 1005. Second connecting bushing; 1006. Long pull rod; 1007. Crossbar; 1008. Third connecting bushing; 1009. Fourth connecting shaft 10010, Lower connecting shaft of the second connecting rod; 10011, Middle connecting shaft of the second connecting rod; 10012, Upper connecting shaft of the second connecting rod; 10013, Fixing plate; 10014, Slewing support bearing; 10015, Tie rod bracket; 11, First camera; 12, Second camera; 13, Obstruction component; 1301, Through hole; 14, Power distribution unit; 15, Lifting motor; 1501, Lifting motor tie rod; 16, Rotary motor; 1601, Gear; 17. 18. Lifting panel; 19. Rubber pad; 20. Rotary 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; 2300. Air pipe; 2301. Profile bar; 2302. Triggering device; 2304. Mounting component; 2305. Second mounting hole; 2306. Pressure sensor; 2307. Hollow inner cavity; 24. RGBD camera. Detailed Implementation

[0035] To make the objectives, technical solutions, and advantages of this utility model clearer, the following detailed description of a safety-type automated guided vehicle proposed by this utility model, in conjunction with the accompanying drawings and specific embodiments, will further illustrate its purpose. 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.

[0036] Please refer to Figure 1 An automated guided vehicle (AGV) for safety includes a chassis assembly 1 and a lifting and rotating assembly 10. The lifting and rotating assembly 10 is mounted on the chassis assembly 1, and its rotating end is connected to a lifting panel 17. A set of drive wheels 800 are also mounted on the chassis assembly 1 and driven by a control module 9. The drive wheels 800 are connected to the output end of a drive motor 801, which is also controlled by the control module 9. The control module 9 mainly includes a vehicle controller, a motion controller, a navigation system, an information transmission and processing device, a steering control device, and a communication device, which are well-known in the art and will not be described in detail here. SLAM laser navigation radars 6 are respectively installed at the near and far ends of the chassis assembly 1, and an RGBD camera 24 is also installed on the chassis assembly 1 near any SLAM laser navigation radar 6. The AGV also includes anti-collision strip assemblies, which are respectively mounted at the near and far ends of the chassis assembly 1.

[0037] Please refer to Figure 8 and Figure 10 Furthermore, 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. Please continue to refer to... Figure 3 and Figure 4A first camera 11 and a second camera 12 are disposed at the center of the chassis assembly 1, and the first camera 11 and the second camera 12 are arranged vertically along the same height direction. Specifically, the center of the chassis assembly 1 is a second chassis 101, and a camera scanning port 1010 is opened at the center of the second chassis 101. At the camera scanning port 1010, a camera mounting housing 21 is fixed to the second chassis 101. The camera mounting housing 21 is a shell with an internal cavity. The first camera 11 is fixed to the lower part of the camera mounting housing 21 by fasteners, and the second camera 12 is fixed to the upper part of the camera mounting housing 21 by fasteners. A shielding member 13 is also provided on the top of the camera mounting housing 21. The shielding member 13 has a through hole 1301, which is used for scanning by the second camera 12. The shielding member 13 is used to shield other structures and electronic components on the chassis assembly 1, so as to prevent the structures on the chassis assembly 1 from being directly seen from the openings of the lifting panel 17 and the rubber pad 18. The aforementioned first camera 11 and second camera 12 can support rapid scanning and decoding of QR codes and are also suitable for ground texture positioning, thereby enabling real-time scanning to construct a 3D map for accurate path planning. Specifically, in ground texture navigation, the first camera 11 primarily collects ground texture features and assigns their coordinate values ​​and direction information to achieve navigation. The second camera 12 is used for identifying QR codes on goods, while the SLAM laser navigation radar 6 handles obstacle avoidance. In QR code navigation, the first camera 11 collects ground QR code information, locates and determines the position attributes based on the ground QR code information and direction, and achieves navigation. It also recognizes QR codes under shelves to achieve shelf positioning and goods information alignment. The second camera 12 is responsible for recognizing QR codes on shelves.

[0038] For further information, please refer to the following: Figure 8 and Figure 10 Multiple grooves 105 are respectively provided at the end of the first chassis 100 away from the second chassis 101 and at the end of the third chassis 102 away from the second chassis 101, and a first mounting hole 106 is provided on each groove 105.

[0039] For further details, please refer to... Figure 2 and Figure 9 The anti-collision strip assembly includes a strip 2301 and a triggering device 2302. Multiple mounting parts 2304 that cooperate with the groove 105 are provided on the inner side of the strip 2301. Specifically, the mounting part 2304 is a right-angle mounting part. A second mounting hole 2305 is opened on the mounting part 2304. One end of the mounting part 2304 with the second mounting hole 2305 is embedded in the groove 105. Fasteners pass through the second mounting hole 2305 and the first mounting hole 106 respectively, thereby fixing the strip 2301 to the first chassis 100 and the third chassis 102 through the mounting part 2304.

[0040] For further information, please refer to the following: Figure 2 , Figure 3 and Figure 9 The molding strip 2301 has a hollow inner cavity 2307, and a portion of the triggering device 2302 is fitted into the hollow inner cavity 2307. Preferably, the triggering device 2302 is a rubber sealing strip. The anti-collision strip assembly also includes an air tube 2300, one end of which extends into the triggering device 2302, and the other end of which is connected to a pressure sensor 2306, which is fixed to the first chassis 100 or the third chassis 102. A battery 7 is also provided on the first chassis 100, and a power distribution unit 14 is also provided on the third chassis 102. Specifically, when encountering an obstacle, the rubber sealing strip contacts and is squeezed, causing a change in the gas pressure inside the rubber sealing strip. The gas inside the air pipe 2300 is affected by this pressure change and transmitted to the pressure sensor 2306. The pressure sensor 2306 converts this pressure change into an electrical signal, which is transmitted to the control module 9. Upon receiving the danger signal, the control module 9 immediately issues a stop signal for the AGV, safely stopping the AGV, ensuring safety, and reducing losses.

[0041] For further information, please refer to the following: Figure 4 and Figure 10 The SLAM laser navigation radar 6 is respectively installed at the front or rear end of the chassis assembly 1. Specifically, the SLAM laser navigation radar 6 is arranged on the first chassis 100 and the third chassis 102. Through the SLAM laser navigation radar 6, the positioning, navigation and obstacle avoidance functions of the automated guided vehicle can be realized. A three-dimensional map is constructed by scanning the environment in real time to achieve accurate path planning. Specifically, multiple mounting columns 104 are set on both the first chassis 100 and the third chassis 102. The mounting columns 104 are installed in groups of four, and the tops of the four mounting columns 104 are jointly fixed to the 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.

[0042] For further details, please refer to... Figure 8 , Figure 9 , Figure 12 and Figure 13The automated guided vehicle also includes a lifting and rotating assembly 10, which includes a lifting motor 15. The lifting motor 15 is fixed on the third chassis 102. The output end of the lifting motor is connected to one end of the lifting motor pull rod 1501. The other end of the lifting motor pull rod 1501 is connected to a fixed plate 10013 through a linkage assembly. The fixed plate 10013 follows the movement of the linkage assembly to achieve lifting and lowering. 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. Since the outer ring of the slewing support bearing 10014 fixes the lifting panel 17, and the surface of the lifting panel 17 is fixed with a rubber pad 18, the lifting panel 17 with the rubber pad 18 can also rotate with the outer ring of the slewing support bearing 10014.

[0043] For further information, please refer to the following: Figure 9 , Figure 10 , Figure 12 and Figure 13 The 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.

[0044] 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.

[0045] For further information, please refer to the following: Figure 9 , Figure 10 , Figure 12and Figure 13 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.

[0046] Please continue to refer to this. Figure 9 , Figure 10 , Figure 12 and Figure 13 The 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.

[0047] For details, please refer to Figure 14 , Figure 14 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.

[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 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. The output 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 17 and the rubber pad 18 connected to the slewing support bearing 10014 to rotate together. 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] Furthermore, caster wheel mounting ports 103 are provided on both the first chassis 100 and the third chassis 102, and caster wheels 20 are installed in the caster wheel mounting ports 103. The caster wheels 20 are used to provide movement for the automated guided vehicle.

[0050] For further details, please refer to... Figure 1 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.

[0051] 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.

[0052] 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. A safety-type automated guided vehicle, characterized in that: The automated guided vehicle includes a chassis assembly and a lifting and rotating assembly. The lifting and rotating assembly is mounted on the chassis assembly, and its rotating end is connected to a lifting panel. A set of drive wheels is also mounted on the chassis assembly and driven by a control module. SLAM laser navigation radars are respectively installed at the near and far ends of the chassis assembly, and an RGBD camera is also installed on the chassis assembly near any SLAM laser navigation radar. The automated guided vehicle also includes anti-collision strip assemblies, which are respectively installed at the near and far ends of the chassis assembly.

2. The safety-type automated guided vehicle 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 pivot, so that the first chassis and the third chassis can rotate relative to the second chassis. A first camera and a second camera are also disposed at the center of the chassis assembly. The first camera and the second camera are arranged vertically along the same height direction.

3. A safety-type automated guided vehicle as described in claim 2, characterized in that: Multiple grooves are respectively formed at the end of the first chassis away from the second chassis and at the end of the third chassis away from the second chassis, and a first mounting hole is formed in each groove.

4. A safety-type automated guided vehicle as described in claim 3, characterized in that: The anti-collision strip assembly includes a profile strip, and multiple mounting parts that mate with the groove are provided on the inner side of the profile strip. Each mounting part has a second mounting hole. The profile strip has a hollow inner cavity, and a triggering device is disposed in the hollow inner cavity. The anti-collision strip assembly also includes an air tube, one end of which extends into the interior of the triggering device, and the other end of which is connected to a pressure sensor.

5. A safety-type automated guided vehicle 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 disposed on the fixed plate, and a rotating motor is also disposed on the fixed plate, with the output end of the rotating motor connected to the outer ring of the slewing support bearing.

6. A safety-type automated guided vehicle as described in claim 5, 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.

7. A safety-type automated guided vehicle as described in claim 6, 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, and the upper half of the fourth connecting sleeve is connected to the upper connecting shaft of the second connecting rod.

8. A safety-type automated guided vehicle as described in claim 2, 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. A safety-type automated guided vehicle as described in claim 2, 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. A safety-type automated guided vehicle as described in claim 2, characterized in that: The first camera and the second 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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