CN218141329U

CN218141329U - Navigation mechanism and automated guided vehicle

Info

Publication number: CN218141329U
Application number: CN202222183848.5U
Authority: CN
Inventors: 钟学龙; 于振平; 倪菲
Original assignee: Shanghai Quicktron Intelligent Technology Co Ltd
Current assignee: Shanghai Quicktron Intelligent Technology Co Ltd
Priority date: 2022-08-18
Filing date: 2022-08-18
Publication date: 2022-12-27
Anticipated expiration: 2032-08-18

Abstract

The application discloses navigation mechanism and automated guided vehicle. The navigation mechanism is used for being connected with the main body of the transport vehicle and comprises a support, a navigation laser installation assembly, an obstacle avoidance laser installation assembly and an auxiliary function assembly. The support comprises a plurality of supporting pieces, a first mounting seat and a second mounting seat, wherein the supporting pieces are arranged at intervals and are used for being connected with the main body of the transport vehicle along a first direction; the navigation laser installation assembly is arranged on the first installation seat; the obstacle avoidance laser mounting assembly is mounted on the first mounting seat; the auxiliary function assembly is arranged on the second mounting seat. According to the embodiment of the application, all parts of the navigation mechanism can be effectively integrated, so that the AGV is more compact and attractive.

Description

Navigation mechanism and automated guided vehicle

Technical Field

The application belongs to the automated guided transporting vehicle field, especially relates to a navigation mechanism and automated guided transporting vehicle.

Background

With the vigorous development of the fields of factory logistics automation, automatic assembly lines and the like in China, the demand for an Automatic Guided Vehicle (AGV) is also increased. In particular, in recent years, the demand for AGVs has increased significantly due to labor reduction and cost increase. AGVs are transport vehicles equipped with an electromagnetic or photoelectric automatic guide device, and capable of automatically traveling along a predetermined guide path. Laser navigation is used as a common navigation mode of the existing AGV, the installation modes of the laser navigation are various and are uneven, all parts of a navigation mechanism are installed dispersedly, and the structure is not compact and attractive.

Therefore, a navigation mechanism and an AGV are urgently needed, and each component of the navigation mechanism is effectively integrated, so that the AGV is more compact and attractive.

SUMMERY OF THE UTILITY MODEL

The embodiment of the application provides a navigation mechanism and an automatic guided transporting vehicle, which can effectively integrate all parts of the navigation mechanism, so that the AGV is more compact and attractive.

The embodiment of the first aspect of the application provides a navigation mechanism for be connected with the main body of a transport vehicle, the navigation mechanism comprises a support, a navigation laser installation assembly, an obstacle avoidance laser installation assembly and an auxiliary function assembly. The support comprises a plurality of supporting pieces, a first mounting seat and a second mounting seat, wherein the supporting pieces are arranged at intervals and are used for being connected with the main body of the transport vehicle along a first direction; the navigation laser mounting assembly is mounted on the first mounting seat; the obstacle avoidance laser mounting assembly is mounted on the first mounting seat; the auxiliary function assembly is arranged on the second mounting seat.

According to an embodiment of the first aspect of the present application, a navigation laser mount assembly includes a laser mount and a laser scanner. The laser support mounting seat comprises a first mounting plate, a second mounting plate and a third mounting plate which are oppositely arranged, the first mounting plate is connected with the second mounting plate and the third mounting plate, the first mounting plate is arranged at one end of the first mounting seat far away from the second mounting seat, and the second mounting plate and the third mounting plate are respectively connected with the first mounting seat; the laser scanner is connected with the first mounting plate.

According to any one of the preceding embodiments of the first aspect of the present application, a laser scanner includes a scanner body, a laser mount, and a shock absorbing member, the laser mount being coupled to a first mounting plate; the shock absorption component is connected with the laser mounting seat and the laser support mounting seat.

According to any one of the foregoing embodiments of the first aspect of the present application, the obstacle avoidance laser mounting assembly includes a depth camera and a first connecting member, one end of the first connecting member is connected to the first mounting base, and the other end is connected to the depth camera.

According to the aforesaid any one of the embodiments of the first aspect of this application, laser support mount pad still includes the decorative board, and decorative board, first mounting panel, second mounting panel and third mounting panel enclose to close and form and accept the chamber, and the decorative board has and accepts the through-hole of chamber intercommunication, and the degree of depth camera is acceptd in acceping the intracavity, and the mouth of finding a view of the degree of depth camera exposes through the through-hole.

According to the aforesaid arbitrary embodiment of this application first aspect, navigation mechanism still includes the warning light, and the warning light is connected with first mounting panel, and warning light and laser scanner are located the both sides of first mounting panel respectively.

According to any one of the preceding embodiments of the first aspect of the present application, the navigation mechanism further comprises a signal transceiver module, and the signal transceiver module comprises a plurality of antennas, and the plurality of antennas are respectively connected to the second mounting plate and the third mounting plate.

In accordance with any one of the preceding embodiments of the first aspect of the present application, the auxiliary function assembly includes a sound emitting device, the second mounting block includes a groove extending in the second direction, and the sound emitting device is at least partially mounted in the groove.

According to the aforesaid any embodiment of first aspect of this application, sound generating mechanism includes mounting bracket and speaker, and the second mount pad includes the phonate hole that communicates with the recess, and the phonate hole runs through the second mount pad along the second direction, and the mounting bracket is connected with the second mount pad and places in the recess, and the speaker is connected with the mounting bracket and sets up in the recess, and the vibrating diaphragm and the phonate hole of speaker set up relatively.

According to any one of the foregoing embodiments of the first aspect of the present application, the sound generating apparatus further includes an end cap and a cover plate, the end cap is disposed on the sound outlet, and the cover plate is disposed on a side of the speaker away from the sound outlet and seals the groove.

According to any one of the foregoing embodiments of the first aspect of the present application, the navigation mechanism further includes a driving recording assembly, the driving recording assembly is mounted on the first mounting seat or the second mounting seat, the driving recording assembly includes a driving recorder and a second connecting member, one end of the second connecting member is connected to the first mounting seat or the second mounting seat, and the other end of the second connecting member is connected to the driving recorder.

An embodiment of a second aspect of the present application provides an automated guided vehicle, which includes a vehicle body and any one of the navigation mechanisms of the first aspect, wherein a plurality of support members of the navigation mechanism are connected with the vehicle body along a first direction.

The navigation mechanism and the automated guided vehicle provided by the embodiment of the application comprise a support, a navigation laser installation assembly, an obstacle avoidance laser installation assembly and an auxiliary function assembly, wherein the support comprises a first installation seat, a second installation seat and a plurality of supporting pieces. The navigation laser installation assembly and the obstacle avoidance laser installation assembly are installed on the first installation seat, the auxiliary function assembly is installed on the second installation seat, and the navigation mechanism is connected with the main body of the transport vehicle through the supporting piece on the support. Each part of effectual integrated navigation mechanism for the AGV is compacter pleasing to the eye.

Drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings required to be used in the embodiments of the present application will be briefly described below, and for those skilled in the art, other drawings may be obtained according to the drawings without creative efforts.

Fig. 1 is a schematic structural view of an automated guided vehicle according to an embodiment of the present disclosure;

FIG. 2 is a schematic structural diagram of a navigation mechanism according to an embodiment of the present application;

FIG. 3 is a schematic structural diagram of a navigation laser mount assembly according to an embodiment of the present application;

fig. 4 is a schematic structural diagram of an obstacle avoidance laser mounting assembly according to an embodiment of the present application;

FIG. 5 is a schematic diagram of a portion of a navigation mechanism according to an embodiment of the present application;

FIG. 6 is a schematic diagram of a portion of a navigation mechanism according to an embodiment of the present application;

FIG. 7 is a schematic diagram of a portion of a navigation mechanism according to an embodiment of the present application;

FIG. 8 is a schematic diagram of a portion of a navigation mechanism according to an embodiment of the present application;

fig. 9 is a schematic structural diagram of an automated guided vehicle according to an embodiment of the present application.

Reference numerals:

10. a navigation mechanism; 20. a transporter main body; 100. an automated guided vehicle;

1. a support; 11. a support member; 12. a first mounting seat; 13. a second mounting seat; 131. a groove; 132. a sound outlet; 2. a navigation laser mounting assembly; 21. a laser scanner; 211. a scanner main body; 212. a laser mounting base; 213. a shock absorbing member; 22. a laser bracket mounting base; 221. a first mounting plate; 222. a second mounting plate; 223. a third mounting plate; 224. decorative plates 2241 and through holes; 225. an accommodating cavity; 3. an obstacle avoidance laser mounting assembly; 31. a depth camera; 32. a first connecting member; 321. a first connecting plate; 322. a first support; 4. an auxiliary function assembly; 41. a sound producing device; 411. a speaker; 412. a mounting frame; 413. an end cap; 4131. a hole; 414. a cover plate; 5. an antenna; 6. a driving record assembly; 61. a vehicle event data recorder; 62. a second connecting member; 621. a second connecting plate; 622. a second support; 7. a warning light.

Detailed Description

Features of various aspects and exemplary embodiments of the present application will be described in detail below, and in order to make objects, technical solutions and advantages of the present application more apparent, the present application will be further described in detail below with reference to the accompanying drawings and specific embodiments. It should be understood that the specific embodiments described herein are intended to be illustrative only and are not intended to be limiting. It will be apparent to one skilled in the art that the present application may be practiced without some of these specific details. The following description of the embodiments is merely intended to provide a better understanding of the present application by illustrating examples thereof.

It is noted that, herein, relational terms such as first and second, and the like may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrases "comprising 8230; \8230;" 8230; "does not exclude the presence of additional like elements in a process, method, article, or apparatus that comprises the element.

In the prior art, the AGV has various installation modes of the navigation mechanism, the installation modes are different, all parts of the navigation mechanism are dispersedly installed, and the structure is not compact and attractive enough. In order to solve the problem of the prior art, the embodiment of the application provides a navigation mechanism and an automatic guided vehicle. The following describes a navigation mechanism and an automated guided vehicle provided in an embodiment of the present application with reference to the drawings.

Referring to fig. 1 and fig. 2 in combination, in a first aspect of the present application, a navigation mechanism 10 is provided for connecting with a main body 20 of a transportation vehicle, where the navigation mechanism 10 includes a support 1, a navigation laser mounting assembly 2, an obstacle avoidance laser mounting assembly 3, and an auxiliary function assembly 4. The support 1 comprises a plurality of supporting pieces 11, a first mounting seat 12 and a second mounting seat 13, wherein the supporting pieces 11 are arranged at intervals, the supporting pieces 11 are used for being connected with the transport vehicle main body 20 along a first direction X, the first mounting seat 12 and the second mounting seat 13 are respectively supported on the supporting pieces 11, and the first mounting seat 12 and the second mounting seat 13 are arranged at intervals along the first direction X; the navigation laser installation assembly 2 is installed on the first installation base 12; the obstacle avoidance laser mounting assembly 3 is mounted on the first mounting base 12; the auxiliary function assembly 4 is mounted on the second mounting base 13.

The navigation structure 10 may be connected with a transporter body 20, and the transporter body 20 may include a frame, a power storage and charging device, a driving device, an on-board controller, a transfer device, and the like. The AGV comprises a frame, a driving device, a shifting device, a speed controller and a speed controller, wherein the frame can be used as an installation foundation of other parts, the driving device comprises wheels, a speed reducer, a brake, a driving motor, the speed controller and the like, the driving device is a device for controlling the AGV to normally run, and the shifting device is a device which is in direct contact with the transported goods and realizes goods transfer.

The navigation laser installation assembly 2 can emit laser beams, laser reflecting plates with accurate positions are installed around the running path of the transport vehicle, the navigation laser installation assembly 2 can also collect the laser beams reflected by the reflecting plates, and the current position information of the navigation laser installation assembly 2 is determined through the reflected laser beams. Therefore, the transport vehicle provided with the navigation mechanism can be guided according to the preset running path and the position information.

Keep away barrier laser installation assembly 3 and can outwards launch infrared light beam, infrared light beam reflects after meetting the object, keeps away barrier laser installation assembly 3 and can receive the reverberation to calculate the distance of keeping away between barrier laser installation assembly 3 and the object according to the reverberation. Therefore, the running of the transport vehicle can be controlled according to the distance between the obstacle avoidance laser installation assembly 3 and the object, and the collision between the transport vehicle provided with the navigation structure and the object is avoided or reduced.

The auxiliary function assembly 4 may include auxiliary assemblies such as a sound generating device, a lighting device, and an alarm device.

The navigation laser installation assembly 2, the obstacle avoidance laser installation assembly 3 and the auxiliary function assembly 4 of the navigation mechanism 10 of the embodiment of the application are integrally installed on the support 1. The navigation laser installation assembly 2 and the obstacle avoidance laser installation assembly 3 are installed on a first installation seat 12, the auxiliary function assembly 4 is installed on a second installation seat 13, and the navigation mechanism 10 is connected with the transport vehicle main body 20 through a support part 11 on the support 1. The various components of the navigation mechanism 10 are effectively integrated to make the AGV more compact and aesthetically pleasing. The navigation structure can be directly connected with the main body of the transport vehicle, and the scattered installation of a plurality of parts in the navigation structure at different positions of the main body of the transport vehicle is avoided.

Referring to fig. 3 in combination, in some embodiments, the navigation laser mount assembly 2 includes a laser mount 22 and a laser scanner 21. The laser bracket mounting seat 22 comprises a first mounting plate 221, and a second mounting plate 222 and a third mounting plate 223 which are oppositely arranged, wherein the first mounting plate 221 is connected with the second mounting plate 222 and the third mounting plate 223, the first mounting plate 221 is arranged at one end of the first mounting seat 12 far away from the second mounting seat 13, and the second mounting plate 222 and the third mounting plate 223 are respectively connected with the first mounting seat 12; the laser scanner 21 is connected to the first mounting plate 221.

Laser scanner 21 is installed on laser support mount 22, and laser support mount 22 is realized being connected with first mount 12 through the relative second mounting panel 222 and the third mounting panel 223 that set up for laser support mount 22 is connected more firmly with first mount 12. Simultaneously, set up laser support mount pad 22, can avoid other parts of transport vechicle to shelter from the laser beam that laser scanner 21 sent, influence its navigation accuracy with the high improvement at laser scanner 21 place.

In some embodiments, the laser scanner 21 includes a scanner body 211, a laser mount 212, and a suspension member 213, the laser mount 212 being coupled to the first mounting plate 221; the shock absorbing member 213 connects the laser mount 212 and the laser mount 22.

The shock absorbing member 213 is provided to absorb shock to the scanner body 211, and optionally, the shock absorbing member 213 may be a rectangular spring. For convenient connection, a laser mounting seat 212 is provided, the laser mounting seat 212 is connected with the laser bracket mounting seat 22 through a shock absorption part 213, and the scanner main body 211 is mounted on the laser mounting seat 212.

Referring to fig. 4, in some embodiments, the obstacle avoidance laser mounting assembly 3 includes a depth camera 31 and a first connector 32, one end of the first connector 32 is connected to the first mounting base 12, and the other end is connected to the depth camera 31.

Obstacle avoidance laser mounting assembly 3 includes depth camera 31, compares traditional camera, and depth camera 31 has added a depth measurement in the function to more convenient accurate perception surrounding environment and change. Alternatively, the depth camera 31 is a TOF (Time of flight) camera that obtains the target object distance by detecting the round trip Time of an infrared beam by continuously transmitting the infrared beam to the target and then receiving the infrared beam returned from the object with a sensor. The depth camera 31 is connected to the first mounting base 12 through a first connecting member 32, and optionally, the first connecting member 32 includes a first connecting plate 321 and a first support 322, one end of the first connecting plate 321 is connected to the depth camera 31, the other end of the first connecting plate is rotatably connected to the first support 322, and the first support 322 is connected to the first mounting base 12. Wherein the first connection plate 321 may be partially bent to change the relative angle of the depth camera 31 and the first mount 12. The first connecting plate 321 is rotatably connected to the first support 322, so that the relative angle between the depth camera 31 and the first mounting base 12 can also be adjusted by rotation.

Referring to fig. 5, in some embodiments, the laser holder mounting base 22 further includes a decorative plate 224, the first mounting plate 221, the second mounting plate 222, and the third mounting plate 223 enclose a housing cavity 225, the decorative plate 224 has a through hole 2241 communicating with the housing cavity 225, the depth camera 31 is housed in the housing cavity 225, and a viewing opening of the depth camera 31 is exposed through the through hole 2241.

The depth camera 31 and the first connector 32 are both disposed in the accommodating cavity 225 of the laser holder mounting seat 22, and the viewing port of the depth camera 31 is exposed through the through hole 2241 disposed on the decorative plate 224, so that the depth camera 31 can be protected to a certain extent. Meanwhile, the depth camera 31 is disposed in the accommodating cavity 225 of the laser holder mounting seat 22, so that the navigation mechanism 10 is more compact and beautiful.

In some embodiments, the navigation mechanism 10 further includes a warning light 7, the warning light 7 is connected to the first mounting plate 221, and the warning light 7 and the laser scanner 21 are disposed on two sides of the first mounting plate 221.

The warning lamp 7 is connected to a side of the first mounting plate 221 away from the laser scanner 21, and optionally, the warning lamp 7 is partially disposed in the receiving cavity 225 of the laser holder mounting base 22. The warning light 7 is used for playing a warning role, and optionally, the warning light 7 is a blue light.

In some embodiments, the navigation mechanism 10 further comprises a signal transceiver module (not shown) comprising a plurality of antennas 5, the plurality of antennas 5 being connected to the second mounting plate 222 and the third mounting plate 223, respectively.

The signal transceiver module is used for receiving a control signal to control the operation of the transport vehicle, and the signal transceiver module includes a plurality of antennas 5, and optionally, the number of the antennas 5 is 2, and the antennas are respectively connected to the second mounting plate 222 and the third mounting plate 223. Optionally, the signal transceiver module is a WIFI module.

Referring to fig. 6, in some embodiments, the navigation mechanism 10 further includes a driving recording assembly 6, the driving recording assembly 6 is mounted on the first mounting seat 12 or the second mounting seat 13, the driving recording assembly 6 includes a driving recorder 61 and a second connecting member 62, one end of the second connecting member 62 is connected to the first mounting seat 12 or the second mounting seat 13, and the other end is connected to the driving recorder 61.

The automobile data recorder 61 can record images and sounds of the whole operation process of the transport vehicle, the transport vehicle can record videos while walking during operation, and meanwhile, time, speed and positions are recorded in the videos. The driving recorder 61 is connected to the first mount 12 or the second mount 13 via a second connector 62. Optionally, the second connecting part 62 includes a second connecting plate 621 and a second support 622, the driving recorder 61 is connected to the second support 622, the second support 622 is connected to the second connecting plate 621, and the second connecting plate 621 is connected to the first mounting seat 12 or the second mounting seat 13.

Referring to fig. 7, in some embodiments, the auxiliary functional assembly 4 includes a sound generating device 41, the second mounting seat 13 includes a groove 131 extending along the second direction, and the sound generating device 41 is at least partially mounted in the groove 131.

The sound generating device 41 is disposed in the groove 131 to protect the sound generating device 41. The shape and depth of the groove 131 are set according to the shape and size of the sounding device 41, and optionally, the cross-sectional shape of the groove 131 along the second direction Y is rectangular. Optionally, the sound emitting device 41 is used to broadcast the action being taken or about to be taken by the transporter, such as backing up, turning, advancing, etc.

Referring to fig. 8, in some embodiments, the sound generating device 41 includes a mounting frame 412 and a speaker 411, the second mounting base 13 includes a sound outlet 132 communicating with the groove 131, the sound outlet 132 penetrates through the second mounting base 13 along the second direction Y, the mounting frame 412 is connected to the second mounting base 13 and is disposed in the groove 131, the speaker 411 is connected to the mounting frame 412 and is disposed in the groove 131, and a diaphragm of the speaker 411 is disposed opposite to the sound outlet 132.

The speaker 411 is mounted in the recess 131 through a mounting bracket 412, and the speaker 411, the mounting bracket 412 and the second mounting base 13 may be connected by screws. In order to make the sound emitted from the speaker 411 normally spread, a sound outlet 132 communicating with the groove 131 is further provided, and the diaphragm of the speaker 411 corresponds to the sound outlet 132, and the sound emitted from the speaker 411 can be spread from the sound outlet 132.

In some embodiments, the sound generating device 41 further includes an end cap 413 and a cover plate 414, the end cap 413 covers the sound outlet 132, and the cover plate 414 covers a side of the speaker 411 far away from the sound outlet 132 and closes the groove 131. The end cap 413 and the cover 414 are used to seal the sound outlet 132 and the groove 131, so as to prevent dust from entering the sound generating device 41 and damaging the sound generating device 41, and meanwhile, the sealing of the sound generating device 41 in the groove 131 and the sound outlet 132 can also prevent external force from damaging the sound generating device 41. The end cap 413 is configured to close the sound outlet 132, and the end cap 413 includes a plurality of holes 4131 penetrating through the end cap 413 along the second direction Y, so that the sound generated by the sound generating device 41 can be emitted normally.

Referring to fig. 9, in a second embodiment of the present application, an automated guided vehicle 100 is provided, where the automated guided vehicle 100 includes a vehicle body 20 and any one of the navigation mechanisms 10 of the first aspect, and a plurality of supporting members 11 of the navigation mechanism 10 are connected to the vehicle body 20 along a first direction X.

The automated guided vehicle 100 provided in this embodiment has the related structure of the navigation mechanism 10, which can be referred to the navigation mechanism 10 provided in the above embodiments, and has all the beneficial effects of the navigation mechanism 10, which are not described herein again.

As described above, only the specific embodiments of the present application are provided, and it can be clearly understood by those skilled in the art that, for convenience and simplicity of description, the specific working processes of the system, the module and the unit described above may refer to the corresponding processes in the foregoing method embodiments, and are not described herein again. It should be understood that the scope of the present application is not limited thereto, and any person skilled in the art can easily conceive various equivalent modifications or substitutions within the technical scope of the present application, and these modifications or substitutions should be covered within the scope of the present application.

Claims

1. A navigation mechanism for connection with a vehicle body, comprising:

the support comprises a plurality of supporting pieces, a first mounting seat and a second mounting seat, the supporting pieces are arranged at intervals and used for being connected with the main body of the transport vehicle along a first direction, the first mounting seat and the second mounting seat are respectively supported on the supporting pieces, and the first mounting seat and the second mounting seat are arranged at intervals along the first direction;

the navigation laser mounting assembly is mounted on the first mounting seat;

the obstacle avoidance laser mounting assembly is mounted on the first mounting seat;

and the auxiliary function assembly is arranged on the second mounting seat.

2. The navigation mechanism of claim 1, wherein the navigation laser mount assembly comprises:

the laser bracket mounting seat comprises a first mounting plate, and a second mounting plate and a third mounting plate which are oppositely arranged, wherein the first mounting plate is connected with the second mounting plate and the third mounting plate, the first mounting plate is arranged at one end of the first mounting seat far away from the second mounting plate, and the second mounting plate and the third mounting plate are respectively connected with the first mounting seat;

a laser scanner connected with the first mounting plate.

3. The navigation mechanism of claim 2, wherein the laser scanner comprises:

the scanner main body is provided with a scanner main body,

the laser mounting base is connected with the first mounting plate;

and the shock-absorbing part is connected with the laser mounting seat and the laser bracket mounting seat.

4. The navigation mechanism of claim 2, wherein the obstacle avoidance laser mount assembly includes a depth camera and a first connector, one end of the first connector is connected to the first mount, and the other end is connected to the depth camera.

5. The navigation mechanism of claim 4, wherein the laser holder mounting base further comprises a decorative plate, the first mounting plate, the second mounting plate and the third mounting plate enclose and form an accommodating cavity, the decorative plate is provided with a through hole communicated with the accommodating cavity, the depth camera is accommodated in the accommodating cavity, and a viewing opening of the depth camera is exposed through the through hole.

6. The navigation mechanism of claim 2, further comprising a warning light coupled to the first mounting plate, the warning light and the laser scanner being disposed on opposite sides of the first mounting plate.

7. The navigation mechanism of claim 2, further comprising a signal transceiver module including a plurality of antennas, the plurality of antennas being coupled to the second mounting plate and the third mounting plate, respectively.

8. The navigation mechanism of claim 1, wherein the auxiliary function assembly includes a sound emitting device, wherein the second mount includes a recess extending in the second direction, and wherein the sound emitting device is at least partially mounted within the recess.

9. The navigation mechanism of claim 1, further comprising a vehicle event data recorder assembly, wherein the vehicle event data recorder assembly is mounted on the first mounting seat or the second mounting seat, the vehicle event data recorder assembly comprises a vehicle event data recorder and a second connecting member, one end of the second connecting member is connected with the first mounting seat or the second mounting seat, and the other end of the second connecting member is connected with the vehicle event data recorder.

10. An automated guided transport vehicle, comprising:

a transporter main body;

the navigation mechanism of any one of claims 1-9, wherein a plurality of the support members of the navigation mechanism are coupled to the carriage body in a first orientation.