CN212112235U - Raw material transportation trolley with automatic obstacle avoidance function - Google Patents
Raw material transportation trolley with automatic obstacle avoidance function Download PDFInfo
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- CN212112235U CN212112235U CN202021429707.1U CN202021429707U CN212112235U CN 212112235 U CN212112235 U CN 212112235U CN 202021429707 U CN202021429707 U CN 202021429707U CN 212112235 U CN212112235 U CN 212112235U
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Abstract
The utility model relates to a raw material transport trolley with automatic obstacle avoidance function, which comprises a transport trolley body; the transport vehicle is characterized by also comprising a control module, a safe obstacle avoidance module, a special steering engine and a charging plate, wherein a jacking mechanism and a driving mechanism are arranged on the transport vehicle body, the special steering engine is also arranged in the transport vehicle body, and the charging plate is also fixedly arranged in the transport vehicle body; the safety obstacle avoidance module comprises a visual sensor, an ultrasonic sensor and a laser range finder which are electrically connected with the control module; can detect the barrier far away to the transport vechicle front through visual sensor and ultrasonic sensor in advance, and can detect out the barrier of different distances, then carry out the distance through laser range finder and detect, rethread laser navigator carries out the route navigation, finally lets the transport vechicle body can effectually avoid the barrier.
Description
Technical Field
The utility model relates to a AGV dolly technical field specifically is a raw materials travelling bogie with automatically, keep away barrier function.
Background
The AGV car refers to a transport car which is provided with an electromagnetic or optical automatic navigation device, can run along a specified navigation path and has safety protection and various transfer functions; the industrial application does not need a driver's transport vehicle, and a rechargeable storage battery is used as a power source of the transport vehicle; transport trolley
With the development of electronic information technology, the intelligent level of the transport trolley is gradually improved; the four-wheel trolley is taken as a typical representative of mobile machinery, and is gradually developed and transformed to the field of unmanned and intelligent; the traditional transport trolley has certain problems in the aspect of obstacle avoidance function;
the existing obstacle avoidance probe for the transport trolley has short detection distance, and can not well detect obstacles in advance, so that the transport trolley with the obstacle avoidance function can not effectively avoid the obstacles;
in summary, the present application provides a raw material transportation cart with an automatic obstacle avoidance function to solve the above problems.
SUMMERY OF THE UTILITY MODEL
The utility model aims at providing a raw materials travelling bogie with automatically, keep away barrier function to solve the problem that proposes in the above-mentioned background art, the utility model discloses convenient to use, easy operation, systematic height, the practicality is strong.
In order to achieve the above object, the utility model provides a following technical scheme: a raw material transport trolley with an automatic obstacle avoidance function comprises a transport trolley body; the transportation vehicle is characterized by further comprising a control module, a safe obstacle avoidance module, a special steering engine and a charging plate, wherein a jacking mechanism and a driving mechanism are arranged on the transportation vehicle body, the special steering engine is further arranged in the transportation vehicle body, and the charging plate is further fixedly arranged in the transportation vehicle body; the safe obstacle avoidance module comprises a visual sensor, an ultrasonic sensor and a laser range finder, and the visual sensor, the ultrasonic sensor and the laser range finder are all electrically connected with the control module.
Preferably, still include the laser navigator, just the laser navigator fixed connection is on the transport vechicle body, just the laser navigator and control module electric connection.
Preferably, still include speed sensor, speed sensor fixed connection is in the transport vechicle body, just speed sensor and control module electric connection.
Preferably, the transport vehicle body is further provided with an emergency stop button and an indicator light.
Preferably, the outer end of the transport vehicle body is fixedly connected with a safe contact edge.
Compared with the prior art, the beneficial effects of the utility model are that: the utility model discloses a set up mutually supporting of control module, visual sensor, ultrasonic sensor, laser range finder and laser navigation appearance, can detect the barrier far away to the transport vechicle front in advance through visual sensor and ultrasonic sensor, and can detect out the barrier of different distances, then carry out the distance through laser range finder and detect, rethread laser navigation appearance carries out the route navigation, finally lets the transport vechicle body can effectually avoid the barrier.
Drawings
Fig. 1 is a schematic structural view of the transportation vehicle body of the present invention;
fig. 2 is a schematic structural diagram of the middle control module and the safety obstacle avoidance module of the present invention.
Reference numerals: 100. a transporter body; 110. a jacking mechanism; 120. a drive mechanism; 130. an emergency stop button; 140. an indicator light; 150. a charging plate; 160. a special steering engine; 170. a laser navigator; 180. safe edge contact; 200. a safety obstacle avoidance module; 210. a vision sensor; 220. an ultrasonic sensor; 230. a laser range finder; 300. a control module; 400. a speed sensor.
Detailed Description
The technical solutions in the embodiments of the present invention will be described clearly and completely with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative efforts belong to the protection scope of the present invention.
Referring to fig. 1 and fig. 2, the present invention provides a technical solution: a raw material transport trolley with an automatic obstacle avoidance function comprises a trolley body 100; the safe obstacle avoidance system is characterized by further comprising a control module 300, a safe obstacle avoidance module 200, a special steering engine 160 and a charging plate 150, wherein the carrier body 100 is provided with a jacking mechanism 110 and a driving mechanism 120, the carrier body 100 is also internally provided with the special steering engine 160, and the charging plate 150 is also fixedly arranged in the carrier body 100; the safety obstacle avoidance module 200 comprises a visual sensor 210, an ultrasonic sensor 220 and a laser range finder 230, wherein the visual sensor 210, the ultrasonic sensor 220 and the laser range finder 230 are electrically connected with the control module 300;
the jacking mechanism 110 is used for jacking up the transported articles;
wherein, the driving mechanism 120 is provided with universal wheels, the periphery of the bottom end of the transporter body 100 is provided with universal wheels, and the universal wheels are driven by the power module;
the charging plate 150 is used for supplying power to the transporter body 100 and other devices;
the control module 300 may be a circuit including at least one processor, a circuit including at least one single chip, or a combination of multiple circuits or chips, as long as the corresponding functions can be realized. It is understood that, for those skilled in the art, the control module 300 may also be a circuit formed by combining an amplifier, a comparator, a triode, a MOS transistor, etc. to implement the corresponding functions in a pure hardware manner;
wherein, the vision sensor 210 is a direct source of the whole machine vision system information, and mainly consists of one or two graphic sensors;
the vision sensor 210 is configured to detect an obstacle in front of the transporter body 100 and transmit a signal to the control module 300, and the control module 300 controls the driving mechanism 120 to allow the transporter body 100 to avoid the obstacle;
the ultrasonic sensor 220 is used for detecting an obstacle, and the laser range finder 230 is used for measuring the distance of the obstacle;
wherein the visual sensor 210 is a SICK-Inspector series visual sensor 210;
wherein the ultrasonic sensor 220 is of the HC-SR04 series;
wherein the laser range finder 230 is ZM31-YHJ200 series;
the transportation vehicle further comprises a laser navigator 170, wherein the laser navigator 170 is fixedly connected to the transportation vehicle body 100, and the laser navigator 170 is electrically connected with the control module 300;
wherein the laser navigator 170 is of a NAV350 series produced by Germany 5261 SICK;
wherein, the laser navigator 170 navigates the running route of the transporter body 100;
the speed sensor 400 is fixedly connected in the carrier vehicle body 100, and the speed sensor 400 is electrically connected with the control module 300;
the speed sensor 400 is used for detecting the carrier body 100 and the movement speed, so that the control module 300 can know the movement speed of the carrier body 100 in real time, and timely deceleration is facilitated;
the transporter body 100 is also provided with an emergency stop button 130 and an indicator lamp 140;
the outer end of the transport vehicle body 100 is fixedly connected with a safety contact edge 180, and the safety contact edge 180 is an anti-collision protection strip;
the working principle is as follows: when the transporter body 100 works, the speed sensor 400 is used for detecting the transporter body 100 and the movement speed, the vision sensor 210 is used for detecting an obstacle in front of the transporter body 100 in visual observation, the ultrasonic sensor 220 is used for detecting the obstacle, the laser range finder 230 is used for measuring the distance of the obstacle, after the obstacle is detected, the vision sensor 210, the ultrasonic sensor 220 and the laser range finder 230 transmit signals to the control module 300, the control module 300 navigates the running route of the transporter body 100 through the laser navigator 170 according to the movement speed of the transporter body 100 and the distance from the obstacle, and then the control module 300 controls the driving mechanism 120 to reduce the movement speed of the transporter body 100 and change the movement direction of the transporter body 100 to enable the transporter to avoid the obstacle; therefore, the equipment can detect the obstacle far away from the front of the transport vehicle in advance by arranging the visual sensor 210 and the ultrasonic sensor 220, and then carries out route navigation by the laser navigator 170, so that the transport vehicle body 100 can effectively avoid the obstacle.
The basic principles and the main features of the invention and the advantages of the invention have been shown and described above, it will be evident to those skilled in the art that the invention is not limited to the details of the foregoing illustrative embodiments, but that the invention may be embodied in other specific forms without departing from the spirit or essential characteristics of the invention. The present embodiments are therefore to be considered in all respects as illustrative and not restrictive, the scope of the invention being indicated by the appended claims rather than by the foregoing description, and all changes which come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein. Any reference sign in a claim should not be construed as limiting the claim concerned.
Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that changes, modifications, substitutions and alterations can be made in these embodiments without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.
Claims (5)
1. A raw material transport trolley with an automatic obstacle avoidance function comprises a transport trolley body (100); the method is characterized in that: the safe obstacle avoidance system is characterized by further comprising a control module (300), a safe obstacle avoidance module (200), a special steering engine (160) and a charging plate (150), wherein a jacking mechanism (110) and a driving mechanism (120) are arranged on the transport vehicle body (100), the special steering engine (160) is further arranged in the transport vehicle body (100), and the charging plate (150) is further fixedly arranged in the transport vehicle body (100);
the safety obstacle avoidance module (200) comprises a visual sensor (210), an ultrasonic sensor (220) and a laser range finder (230), wherein the visual sensor (210), the ultrasonic sensor (220) and the laser range finder (230) are electrically connected with the control module (300).
2. The raw material transportation trolley with the automatic obstacle avoidance function as claimed in claim 1, wherein: the device is characterized by further comprising a laser navigator (170), wherein the laser navigator (170) is fixedly connected to the transport vehicle body (100), and the laser navigator (170) is electrically connected with the control module (300).
3. The raw material transportation trolley with the automatic obstacle avoidance function as claimed in claim 1, wherein: the speed sensor (400) is fixedly connected in the carrier vehicle body (100), and the speed sensor (400) is electrically connected with the control module (300).
4. The raw material transportation trolley with the automatic obstacle avoidance function as claimed in claim 1, wherein: the transport vehicle body (100) is also provided with an emergency stop button (130) and an indicator light (140).
5. The raw material transportation trolley with the automatic obstacle avoidance function as claimed in claim 1, wherein: the outer end of the transport vehicle body (100) is fixedly connected with a safe contact edge (180).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202021429707.1U CN212112235U (en) | 2020-07-20 | 2020-07-20 | Raw material transportation trolley with automatic obstacle avoidance function |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202021429707.1U CN212112235U (en) | 2020-07-20 | 2020-07-20 | Raw material transportation trolley with automatic obstacle avoidance function |
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| CN212112235U true CN212112235U (en) | 2020-12-08 |
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| CN202021429707.1U Active CN212112235U (en) | 2020-07-20 | 2020-07-20 | Raw material transportation trolley with automatic obstacle avoidance function |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117518935A (en) * | 2023-11-30 | 2024-02-06 | 弥费科技(上海)股份有限公司 | Air transport vehicle and travelling control system thereof |
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2020
- 2020-07-20 CN CN202021429707.1U patent/CN212112235U/en active Active
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117518935A (en) * | 2023-11-30 | 2024-02-06 | 弥费科技(上海)股份有限公司 | Air transport vehicle and travelling control system thereof |
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