CN215375795U

CN215375795U - Obstacle detection device for AGV

Info

Publication number: CN215375795U
Application number: CN202023178278.8U
Authority: CN
Inventors: 梁杰俊; 曹建业; 何全添
Original assignee: Guangdong Jaten Robot and Automation Co Ltd
Current assignee: Guangdong Jaten Robot and Automation Co Ltd
Priority date: 2020-12-25
Filing date: 2020-12-25
Publication date: 2021-12-31
Anticipated expiration: 2030-12-25

Abstract

The utility model provides a barrier detection device for an AGV, which comprises a lifting device, an installation platform and a scanner, wherein the rear end of the installation platform is hinged with a body of the AGV, so that the installation platform can swing up and down relative to the body of the AGV; the scanner is arranged on the swinging end of the mounting platform; the lifting device is used for enabling the swinging end of the mounting platform to swing up and down. Compared with the prior art, the obstacle detection device for the AGV has the advantages of low cost and larger detection range.

Description

Obstacle detection device for AGV

Technical Field

The utility model relates to the field of AGV devices, in particular to a barrier detection device for an AGV.

Background

With the popularization of the AGV equipment, the requirement for setting the safety device on the AGV is higher and higher, the most common AGV security device is a laser radar scanner, which is used to scan objects at a long distance, thereby realizing the non-contact safety detection of the front obstacle of the AGV, but the laser radar scanner commonly used in the market is 2D plane detection equipment, the detection window can only scan a single plane, a blind area exists due to neglect of multi-angle detection, and suspended or overlow obstacles cannot be detected, so that the safety effect is limited, in order to overcome the above problems, there have been proposed safety devices which constitute a large scanning range using a plurality of laser radars, the safety device can upgrade single 2D plane detection to a plurality of 2D planes, thereby realizing multi-angle safety detection, but the cost of the safety device is larger because the price of the laser radar is very expensive.

SUMMERY OF THE UTILITY MODEL

The utility model aims to overcome the defects of the prior art and provides an obstacle detection device for an AGV, which is low in cost and has a large detection range.

In order to achieve the purpose, the utility model adopts the following technical scheme:

the obstacle detection device for the AGV comprises a lifting device, an installation platform and a scanner, wherein the rear end of the installation platform is hinged with the body of the AGV, so that the installation platform can swing up and down relative to the body of the AGV; the scanner is arranged on the swinging end of the mounting platform; the lifting device is used for enabling the swinging end of the mounting platform to swing up and down.

Compared with the prior art, the obstacle detection device for the AGV has the advantages that the lifting device drives the mounting platform to swing up and down around the hinged position of the AGV body, the scanner on the mounting platform is driven to do curve reciprocating motion, multi-angle multi-plane scanning is carried out on the space of the AGV body, and the 2D plane detection function of the scanner can be expanded into 3D three-dimensional detection by combining an algorithm.

Preferably, the lifting device comprises a driving device and a guide mechanism; the guiding mechanism comprises a guiding piece and a sliding block, the guiding piece is arranged on the AGV body in a vertical horizontal plane mode, the sliding block is connected with the guiding piece in a sliding mode, and the driving device is used for driving the sliding block to move up and down along the length direction of the guiding piece; the sliding block is connected with the swinging end of the mounting platform.

The lifting device is simple in structure and low in cost, and in addition, the installation platform can be ensured to stably swing up and down along the preset direction by arranging the guide mechanism, so that the scanning precision of the scanner is improved, and the subsequent position of the barrier is conveniently determined.

Preferably, the driving device comprises a driving motor, an eccentric wheel and a connecting rod, wherein the eccentric wheel is arranged on the output end of the driving motor; one end of the connecting rod is connected with the eccentric position of the eccentric wheel, and the other end of the connecting rod is hinged with the sliding block.

The driving device is arranged in the mode, the connecting rod can periodically swing up and down by rotating the eccentric wheel through the operation of the driving motor, and the connecting rod is connected with the sliding block, so that the swinging section of the mounting platform connected with the sliding block can be driven to periodically swing up and down, the scanner can be driven to perform reciprocating swinging scanning, and the scanning device is stable and reliable, low in maintenance cost and simple in operation.

Preferably, the driving motor is arranged on the AGV body through a mounting seat.

Preferably, a swing rod is arranged between the sliding block and the swing end of the mounting platform, one end of the swing rod is hinged to the sliding block, and the other end of the swing rod is hinged to the swing end of the mounting platform.

Through the arrangement of the swing rod, the swing end of the mounting platform is directly pushed to swing up and down synchronously when the sliding block slides up and down, the response speed is high, and the structural strength is high.

Preferably, a connecting piece is arranged on the side of the sliding block, and one side of the swing rod, facing the sliding block, is hinged to the connecting piece.

The connecting piece is arranged on the sliding block and is connected with the swing rod, so that the requirement on the type selection of the sliding block is reduced, and the selected sliding block can be suitable for the utility model by adjusting the specification of the connecting piece.

Preferably, a bracket is arranged on the mounting platform, and the scanner is arranged in the bracket.

Through set up the support at mounting platform and supply the scanner installation to ensure that the scanner is firm to be set up on mounting platform, the scanner is deviate from when avoiding mounting platform luffing motion, leads to the scanner impaired.

Drawings

FIG. 1 is a first angular schematic of the present invention;

FIG. 2 is a second angular schematic of the present invention;

FIG. 3 is a third schematic angle view of the present invention;

FIG. 4 is an exploded view of the present invention;

FIG. 5 is a schematic view of the present invention mounted to the body of an AGV;

FIG. 6 is a diagram of the operating state of an AGV utilizing the present invention.

Description of reference numerals:

the device comprises a lifting device 1, a driving device 11, a driving motor 12, a mounting seat 13, an eccentric wheel 14, a connecting rod 15, a guide mechanism 2, a guide piece 21, a sliding block 22, a connecting piece 23, a mounting platform 3, a hinge piece 30, a bracket 31, a bulge 32, a swing rod 4, a scanner 5 and a vehicle body 6.

Detailed Description

Embodiments of the present invention are described below with reference to the accompanying drawings:

referring to fig. 1 to 6, the obstacle detecting apparatus for an AGV of the present embodiment includes a lifting device 1, an installation platform 3, and a scanner 5, wherein the rear end of the installation platform 3 is hinged to a vehicle body 6 of the AGV, so that the installation platform 3 can swing up and down relative to the vehicle body 6 of the AGV; the scanner 5 is arranged on the swinging end of the mounting platform 3; the lifting device 1 is used for enabling the swinging end of the mounting platform 3 to swing up and down.

Referring to fig. 1 to 4, the lifting device 1 includes a driving device 11 and a guide mechanism 2; the guiding mechanism 2 comprises a guiding piece 21 and a sliding block 22, the guiding piece 21 is vertically and horizontally arranged on the AGV body 6, the sliding block 22 is connected with the guiding piece 21 in a sliding mode, and the driving device 11 is used for driving the sliding block 22 to move up and down along the length direction of the guiding piece 21; the slide 22 is connected to the swing end of the mounting platform 3.

Lifting devices 1 simple structure, low cost in addition, through setting up guiding mechanism 2, can ensure that mounting platform 3 is stable along presetting the direction luffing motion to improve scanner 5's scanning precision, be convenient for follow-up position of confirming the barrier.

Referring to fig. 1 to 4, the driving device 11 includes a driving motor 12, an eccentric wheel 14, and a connecting rod 15, the eccentric wheel 14 being disposed on an output end of the driving motor 12; one end of the connecting rod 15 is connected with the eccentric position of the eccentric wheel 14, and the other end is hinged with the sliding block 22.

The driving device 11 of the present invention is arranged in the above manner, the driving motor 12 operates to rotate the eccentric wheel 14, so that the connecting rod 15 can periodically swing up and down, and the connecting rod 15 is connected with the sliding block 22, so that the swinging section of the mounting platform 3 connected with the sliding block 22 can be driven to periodically swing up and down, and the scanner 5 can be driven to perform reciprocating swinging scanning, which is stable and reliable, low in maintenance cost and simple in operation.

Referring to fig. 1 to 4, the drive motor 12 is provided on the body 6 of the AGV through a mount 13.

Referring to fig. 1 to 4, a swing rod 4 is disposed between the slider 22 and the swing end of the mounting platform 3, one end of the swing rod 4 is hinged to the slider 22, and the other end is hinged to the swing end of the mounting platform 3.

Through the arrangement of the swing rod 4, the swing end of the mounting platform 3 is directly pushed to swing up and down synchronously when the sliding block 22 slides up and down, the response speed is high, and the structural strength is high.

Specifically, a protrusion 32 is arranged at the bottom of the mounting platform 3, and one end of the swing rod 4 connected with the mounting platform 3 is hinged to the protrusion 32.

Specifically, pendulum rod 4 is equipped with two, and two relative settings of pendulum rod 4 are in the both sides of mounting platform 3 bottom, thereby ensure that 3 both sides atress of mounting platform are even, mounting platform 3's both sides can be lifted by synchronous.

Referring to fig. 1 to 4, a connecting member 23 is disposed at a side portion of the slider 22, and the swing link 4 is hinged to the connecting member 23 toward one side of the slider 22.

The connecting piece 23 is arranged on the sliding block 22 and is connected with the swing rod 4, so that the requirement on the type selection of the sliding block 22 is reduced, and the selected sliding block 22 can be suitable for the utility model by adjusting the specification of the connecting piece 23.

Referring to fig. 1 to 4, a bracket 31 is provided on the mounting platform 3, and the scanner 5 is disposed in the bracket 31.

Through setting up support 31 at mounting platform 3 and supplying scanner 5 to install to ensure that scanner 5 stabilizes the setting on mounting platform 3, scanner 5 deviates from when avoiding mounting platform 3 luffing motion, leads to scanner 5 impaired.

Specifically, mounting platform 3 rear end is equipped with articulated elements 30, mounting platform 3 passes through articulated elements 30 is connected with AGV's automobile body 6.

The scanner 5 is a 2D lidar scanner 5.

Referring to fig. 5 and 6, in the present embodiment, the lifting device 1 is disposed in the body 6 of the AGV, the mounting platform 3 is located outside the body 6 of the AGV, the swing link 4 penetrates through the body 6 of the AGV, and two ends of the swing link are respectively connected to the slider 22 of the lifting device 1 and the swing end of the mounting platform 3.

Compared with the prior art, the obstacle detection device for the AGV has the advantages that the installation platform 3 is driven to swing up and down around the hinged position with the AGV body 6 through the lifting device 1, the scanner 5 positioned on the installation platform 3 is driven to do curvilinear reciprocating motion, multi-angle multi-plane scanning is conducted on the space of the AGV body 6, the 2D plane detection function of the scanner 5 can be expanded into 3D stereo detection by combining an algorithm, and therefore only one scanner 5 is needed, the cost is low, the production and the manufacture are convenient, suspended and excessively low obstacles can be detected, and the detection blind area is greatly reduced.

Variations and modifications to the above-described embodiments may occur to those skilled in the art, which fall within the scope and spirit of the above description. Therefore, the present invention is not limited to the specific embodiments disclosed and described above, and some modifications and variations of the present invention should fall within the scope of the claims of the present invention. Furthermore, although specific terms are employed herein, they are used in a generic and descriptive sense only and not for purposes of limitation.

Claims

1. The obstacle detection device for the AGV is characterized by comprising a lifting device, an installation platform and a scanner, wherein the rear end of the installation platform is hinged with a body of the AGV, so that the installation platform can swing up and down relative to the body of the AGV;

the scanner is arranged on the swinging end of the mounting platform;

the lifting device is used for enabling the swinging end of the mounting platform to swing up and down.

2. The obstruction detection device for an AGV of claim 1, wherein the lifting device includes a drive device and a guide mechanism;

the guiding mechanism comprises a guiding piece and a sliding block, the guiding piece is arranged on the AGV body in a vertical horizontal plane mode, the sliding block is connected with the guiding piece in a sliding mode, and the driving device is used for driving the sliding block to move up and down along the length direction of the guiding piece;

the sliding block is connected with the swinging end of the mounting platform.

3. The obstruction detection device for an AGV of claim 2, wherein said drive means includes a drive motor, an eccentric wheel and a connecting rod, said eccentric wheel being disposed on an output end of said drive motor;

one end of the connecting rod is connected with the eccentric position of the eccentric wheel, and the other end of the connecting rod is hinged with the sliding block.

4. The obstacle detecting apparatus for an AGV according to claim 3, wherein the driving motor is provided on a vehicle body of the AGV through a mounting.

5. The obstruction detection device for an AGV of claim 2, wherein a swing link is provided between the slide and the swing end of the mounting platform, one end of the swing link being hinged to the slide and the other end being hinged to the swing end of the mounting platform.

6. Obstacle detecting arrangement for AGV according to claim 5, characterised in that the slide sides are provided with attachment elements, to which the pendulum bar is hinged towards one side of the slide.

7. The obstruction detection device for an AGV of claim 1, wherein a bracket is provided on the mounting platform, the scanner being disposed within the bracket.