CN110562354A - barrier heavy load AGV is kept away in space - Google Patents

Abstract

The invention relates to a heavy-duty AGV for space obstacle avoidance, comprising an AGV car body base, and a plurality of visual sensors for detecting high-altitude obstacles and for detecting different directions are arranged at different positions on the AGV car body base. Laser sensor for obstacles on the ground. Compared with the existing technology, the present invention has better preventive space obstacle avoidance, which can lay the foundation for the future automatic driving of heavy-duty AGV. The laser sensor is independent of the navigation sensor, and it is specially used for safety protection, which increases safety to a greater extent. .

Description

A heavy load AGV for space obstacle avoidance

technical field

The invention relates to the technical field of heavy-duty AGVs, in particular to a heavy-duty AGV for space obstacle avoidance.

Background technique

AGV (Automated Guided Vehicle), as the core equipment of automated handling, is penetrating into various industries. Heavy-duty AGV is characterized by large size and high load. It has been widely used in heavy machinery factories, railway transportation, aerospace, ports, etc. field.

However, the current heavy-duty AGVs are mainly operated manually, and there are few batch applications for large-scale automatic navigation.

The main reason is the lack of an effective all-round safety protection method for heavy-duty AGVs. Due to the heavy load and the high price of the materials carried by the heavy-duty AGV, more dimensional safety detection and safety protection methods are needed to ensure the safety of people and materials. It is necessary to ensure that the heavy-duty AGV is loaded with heavy objects and runs automatically Obstacle avoidance in all directions at the same time to realize the batch application of heavy-duty AGV large-scale automatic navigation.

Contents of the invention

The object of the present invention is to provide a space obstacle avoidance heavy-load AGV in order to overcome the above-mentioned defects in the prior art.

The purpose of the present invention can be achieved through the following technical solutions:

A heavy-duty AGV for space obstacle avoidance, including an AGV body base, a plurality of visual sensors for detecting high-altitude obstacles and ground obstacles in different directions are provided at different positions on the AGV body base. object laser sensor.

Further, the number of the laser sensors is four.

Further, each of the laser sensors is correspondingly arranged at the edge position of one side of the AGV car body base.

Further, the number of the visual sensors is 4.

Further, the vision sensors are arranged in groups of 2 at one-side edge positions of the AGV body base along the forward and backward direction.

Further, the AGV car body base is also provided with a plurality of steel coil supports for supporting steel coils.

Further, the number of said steel coil supports is 2.

Further, all the steel coil supports are symmetrically arranged on the AGV car body base.

Compared with the prior art, the present invention has the following advantages:

(1) The present invention has a prevention mechanism for high-level obstacles, preventing high-level obstacles from colliding due to untimely human handling.

(2) The heavy-duty AGV of the present invention can monitor whether there is a potential safety hazard in an all-round way after the trolley stops periodically and before starting.

(3) The heavy-duty AGV laser sensor of the present invention is independent of the navigation sensor and is specially used for safety protection. Increased security to a greater extent.

(4) Each sensor of the heavy-duty AGV of the present invention is divided into the detection area: alarm, deceleration, and sudden braking area. The specific area size is determined according to the movement conditions of the car body, and can be fine-tuned according to actual needs to adapt to different working conditions .

(5) The heavy-duty AGV of the present invention can lay the foundation for the full-automatic driving of the heavy-duty AGV.

Description of drawings

Fig. 1 is a schematic diagram of the overall structure of the heavy-duty AGV of the present invention;

Fig. 2 is a schematic diagram of the partial structure of A of the heavy-duty AGV of the present invention;

Fig. 3 is a schematic diagram of the partial structure of B of the heavy-duty AGV of the present invention;

Fig. 4 is the actual operation obstacle avoidance effect diagram of the heavy-duty AGV of the present invention;

In the figure, 1 is the base of the AGV car body, 2 is the visual sensor, 3 is the laser sensor, and 4 is the steel coil support.

Detailed ways

The following will clearly and completely describe the technical solutions in the embodiments of the present invention with reference to the drawings in the embodiments of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of them. Based on the embodiments of the present invention, all other embodiments obtained by persons of ordinary skill in the art without making creative efforts shall fall within the protection scope of the present invention.

Example

As shown in Figure 1, Figure 2 and Figure 3, the specific implementation mechanism of the space obstacle avoidance heavy-duty AGV of the present invention is mainly composed of: AGV car body base 1, visual sensor 2, laser sensor 3 and steel coil support 4;

The AGV car body base 1 has four moving multi-wheel sets with lifting functions, and is the main body of the load. Laser sensors 3 are installed on the front, rear, left, and right sides of the AGV body base 1 to detect obstacles placed on the ground. There are two visual sensors 2 in the front and rear directions of the AGV body base 1 for detecting high-altitude obstacles. The bracket 4 is used to carry the load and ensure the safe positioning of the load.

The working principle of the present invention is as follows:

The purpose of the present invention is to rely on the application of the laser sensor 3 and the visual sensor 2 to ensure the all-round safety and active protection of the heavy-duty AGV during the travel process, as shown in Figure 4, the principle is as follows:

4 laser sensors 3 are respectively used to detect ground obstacles in each direction. Each laser sensor 3 can be set to a plurality of detection areas for adapting to different working conditions, such as turning, diagonal driving, autorotation and so on. Each detection area can be divided into 3 detection layers, and these 3 detection layers are divided into: alarm layer, deceleration layer, and brake layer according to functions.

Among them, specifically:

Alarm layer: When an obstacle is detected, an alarm switch signal is sent.

Deceleration layer: When an obstacle is detected, an alarm switch signal and a deceleration switch signal are triggered at the same time.

Brake layer: trigger alarm and brake at the same time.

The visual sensor 2 is installed on the front and back of the AGV body base 1, and two visual sensors 2 are respectively installed on the front and rear sides of the AGV body base 1. It is used to detect the space detection when the AGV body base 1 moves forward and back, and is mainly used to protect high-altitude obstacles. For the removed hook, the reason why the visual sensor 2 is only installed in the front and rear directions is that the front and rear directions are the main movement direction of the heavy-duty AGV, and the left and right movements are the auxiliary movement directions. In addition, through path planning and area setting, it is stipulated that in the area with hooks, the car body can only travel in the front and rear directions.

Similarly, the visual sensor 2 can also be divided into several detection areas. The division of each area is related to the position angle of the sensor installation according to the direction of AGV advancement, that is, to ensure that effective protection is formed in the direction of vehicle body advancement.

The above is only a specific embodiment of the present invention, but the protection scope of the present invention is not limited thereto. Any person familiar with the technical field can easily think of various equivalents within the technical scope disclosed in the present invention. Modifications or replacements shall all fall within the protection scope of the present invention. Therefore, the protection scope of the present invention should be based on the protection scope of the claims.

Claims (8)

1. A space obstacle avoidance heavy-duty AGV is characterized in that, comprises AGV car body base (1), and the different positions on described AGV car body base (1) are provided with a plurality of for detecting high-altitude obstacle Vision sensors (2) and laser sensors (3) for detecting ground obstacles in different directions. 2. A heavy-load AGV for space obstacle avoidance according to claim 1, characterized in that the number of the laser sensors (3) is four. 3. A heavy-duty AGV for space obstacle avoidance according to claim 1, characterized in that, each of the laser sensors (3) is correspondingly arranged at the edge position of one side of the AGV car body base (1) . 4. The heavy-load AGV for space obstacle avoidance according to claim 1, characterized in that, the number of the visual sensors (2) is four. 5. A heavy-duty AGV for space obstacle avoidance according to claim 1, characterized in that, said vision sensors (2) are arranged in groups of two on said AGV car body base (1) to travel along the At the one-sided edge position in the backward direction. 6. A space obstacle avoidance heavy-duty AGV according to claim 1, characterized in that, the AGV body base (1) is also provided with a plurality of steel coil supports (4) for supporting steel coils ). 7. A heavy-duty AGV for space obstacle avoidance according to claim 6, characterized in that the number of said steel coil supports (4) is two. 8. A heavy-duty AGV for space obstacle avoidance according to claim 7, characterized in that, all the steel coil supports (4) are symmetrically arranged on the AGV car body base (1).