CN219295565U - Automatic guiding vehicle - Google Patents
Automatic guiding vehicle Download PDFInfo
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- CN219295565U CN219295565U CN202223532884.4U CN202223532884U CN219295565U CN 219295565 U CN219295565 U CN 219295565U CN 202223532884 U CN202223532884 U CN 202223532884U CN 219295565 U CN219295565 U CN 219295565U
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Abstract
The utility model provides an automatic guided vehicle, and relates to the field of automatic guided vehicle sensors. The automatic guided vehicle includes: the vehicle body is used for carrying articles; a radar assembly connected to the vehicle body and capable of sensing an obstacle in the vicinity of the vehicle body; the radar component comprises a plurality of groups of sub-radar groups distributed at two ends of the vehicle body in the traveling direction, and the sub-radar groups positioned at the same end of the vehicle body in the traveling direction are distributed at two sides of the vehicle body in the traveling direction; and the sensor assembly comprises at least two groups of sub-sensor groups distributed at two ends of the advancing direction of the vehicle body, and each group of sub-sensor groups is connected with the vehicle body and can identify lane lines and detect lifting appliances.
Description
Technical Field
The present application relates to the field of automatic guided vehicle sensors, and in particular to an automatic guided vehicle.
Background
In the automated modification of port scenes, the unmanned planar transport system is one of the most important links. The carrier in the unmanned plane transportation system generally adopts an unmanned collection card or an automatic guide vehicle, and has the related functions of sensing, positioning, automatic running and the like.
Traditional automatic guided vehicles mainly rely on magnetic nails to position and schedule through the cloud, and therefore requirements on the infrastructure construction of ports are high, namely the magnetic nails are required to be deployed on a large scale, and the construction cost of the ports is high. Therefore, how to realize the unmanned planar transportation system without modifying the port infrastructure on a large scale is a problem which needs to be solved at present.
Disclosure of Invention
In view of this, the present application aims to provide an automatic guided vehicle to solve the problem that the operation of the existing automatic guided vehicle needs to rely on magnetic nails for positioning, and thus needs to perform large-scale reconstruction on the port foundation.
According to the above object, the present utility model provides an automatic guided vehicle for use in a harbor site, wherein the automatic guided vehicle comprises:
the vehicle body is used for carrying articles;
a radar assembly connected to the vehicle body and capable of sensing an obstacle in the vicinity of the vehicle body; the radar component comprises a plurality of groups of sub-radar groups distributed at two ends of the vehicle body in the traveling direction, and the sub-radar groups positioned at the same end of the vehicle body in the traveling direction are distributed at two sides of the vehicle body in the traveling direction; and
the sensor assembly comprises at least two groups of sub-sensor groups distributed at two ends of the advancing direction of the vehicle body, and each group of sub-sensor groups is connected with the vehicle body and can identify lane lines and detect lifting appliances.
Preferably, the sub-radar group includes a first radar and a second radar, the first radar having a vertical resolution that is less than a vertical resolution of the second radar.
Preferably, in the sub-radar groups located at the first end of the vehicle body traveling direction, the sub-radars distributed on both sides of the vehicle body traveling direction are respectively formed into a first sub-radar group and a second sub-radar group, the first radar in the first sub-radar group is located above the second radar, and the detection end of the second radar in the first sub-radar group is disposed downward; the first radars in the second sub-radar group are located below the second radars, and the detection ends of the second radars in the second sub-radar group are arranged upwards.
Preferably, in the sub-radar group located at the second end of the vehicle body traveling direction, the sub-radars distributed on both sides of the vehicle body traveling direction are respectively formed into a third sub-radar group and a fourth sub-radar group, the first radar in the third sub-radar group is located below the second radar, and the detection end of the second radar in the third sub-radar group is disposed upward; the first radar in the fourth sub-radar group is positioned above the second radar, and the detection end of the second radar in the fourth sub-radar group is arranged downwards;
the third sub-radar group and the first sub-radar group are positioned on the same side of the vehicle body in the traveling direction, and the fourth sub-radar group and the second sub-radar group are positioned on the same side of the vehicle body in the traveling direction.
Preferably, the two groups of sub-sensor groups are symmetrically distributed at two ends of the vehicle body in the travelling direction.
Preferably, the sub-sensor group includes a first sensor capable of recognizing a lane line, the first sensor is located at an end center line of the vehicle body, and a detection end of the first sensor faces the ground.
Preferably, the sub sensor group includes a second sensor capable of detecting a position of the spreader, the second sensor being located at a position above an end of the vehicle body, and a detection end of the second sensor being directed toward an upper center of the vehicle body.
Preferably, the sub-sensor group includes a third sensor for detecting an obstacle, the third sensor includes a first sub-third sensor provided at an end center line of the vehicle body, and detection ends of the first sub-third sensor face the ground along both ends of a traveling direction of the vehicle body.
Preferably, the third sensor further comprises second sub-third sensors arranged at two sides of the vehicle body travelling direction, and detection ends of the second sub-third sensors face to the ground at two sides of the vehicle body travelling direction respectively.
Preferably, the vehicle body is also connected with a vehicle body pose sensor and a vehicle body position sensor.
According to the automatic guided vehicle, the radar component and the sensor component are arranged on the vehicle body, so that obstacles near the vehicle body can be sensed, the lane line can be identified, the hanger can be detected, and a large number of magnetic nails are not required to be arranged in a port, namely, the port foundation is not required to be modified in a large scale. The radar component comprises a plurality of groups of sub-radar groups distributed at two ends of the vehicle body in the traveling direction, and a plurality of groups of sub-radar groups positioned at the same end of the vehicle body in the traveling direction are distributed at two sides of the vehicle body in the traveling direction, so that the accuracy of the vehicle body in sensing the obstacle can be further ensured by the layout; in addition, the sensor assembly comprises at least two groups of sub-sensor groups distributed at two ends of the vehicle body in the advancing direction, each group of sub-sensor groups can identify lane lines and detect lifting appliances, and the accuracy of vehicle body identification and detection is ensured through the layout.
In order to make the above objects, features and advantages of the present application more comprehensible, preferred embodiments accompanied with figures are described in detail below.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings that are needed in the embodiments will be briefly described below, it being understood that the following drawings only illustrate some embodiments of the present application and therefore should not be considered limiting the scope, and that other related drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
FIG. 1 is a schematic view of a vehicle body according to an embodiment of the utility model;
FIG. 2 is a top plan view of a layout of a radar assembly according to an embodiment of the present utility model;
FIG. 3 is a front view of a layout of a radar assembly according to an embodiment of the present utility model;
FIG. 4 is a layout side view of a radar assembly according to an embodiment of the present utility model;
FIG. 5 is a top plan view of a layout of a sensor assembly according to an embodiment of the utility model;
FIG. 6 is a front view of a layout of a sensor assembly according to an embodiment of the utility model;
fig. 7 is a layout side view of a sensor assembly according to an embodiment of the utility model.
Icon: 1-a vehicle body; 10-a receiving groove; 21-a first set of sub-radars; 22-a second set of sub-radars; 23-a third sub-radar set; 24-a fourth sub-radar set; 201-a first radar; 202-a second radar; 31-a first sensor; 32-a second sensor; 331-first sub third sensor; 332-second sub third sensors.
Detailed Description
The following detailed description is provided to assist the reader in obtaining a thorough understanding of the methods, apparatus, and/or systems described herein. However, various changes, modifications, and equivalents of the methods, apparatuses, and/or systems described herein will be apparent after an understanding of the present disclosure. For example, the order of operations described herein is merely an example, and is not limited to the order set forth herein, but rather, obvious variations may be made upon an understanding of the present disclosure, other than operations that must occur in a specific order. In addition, descriptions of features known in the art may be omitted for the sake of clarity and conciseness.
The features described herein may be embodied in different forms and should not be construed as limited to the examples described herein. Rather, the examples described herein have been provided solely to illustrate some of the many possible ways of implementing the methods, devices, and/or systems described herein that will be apparent after a review of the disclosure of the present application.
In the entire specification, when an element (such as a layer, region or substrate) is described as being "on", "connected to", "bonded to", "over" or "covering" another element, it may be directly "on", "connected to", "bonded to", "over" or "covering" another element or there may be one or more other elements interposed therebetween. In contrast, when an element is referred to as being "directly on," directly connected to, "or" directly coupled to, "another element, directly on," or "directly covering" the other element, there may be no other element intervening therebetween.
As used herein, the term "and/or" includes any one of the listed items of interest and any combination of any two or more.
Although terms such as "first," "second," and "third" may be used herein to describe various elements, components, regions, layers or sections, these elements, components, regions, layers or sections should not be limited by these terms. Rather, these terms are only used to distinguish one element, component, region, layer or section from another element, component, region, layer or section. Thus, a first member, component, region, layer or section discussed in examples described herein could also be termed a second member, component, region, layer or section without departing from the teachings of the examples.
For ease of description, spatially relative terms such as "above … …," "upper," "below … …," and "lower" may be used herein to describe one element's relationship to another element as illustrated in the figures. Such spatially relative terms are intended to encompass different orientations of the device in use or operation in addition to the orientation depicted in the figures. For example, if the device in the figures is turned over, elements described as "above" or "upper" relative to another element would then be oriented "below" or "lower" relative to the other element. Thus, the term "above … …" includes both orientations "above … …" and "below … …" depending on the spatial orientation of the device. The device may also be otherwise positioned (e.g., rotated 90 degrees or at other orientations) and the spatially relative descriptors used herein interpreted accordingly.
The terminology used herein is for the purpose of describing various examples only and is not intended to be limiting of the disclosure. Singular forms also are intended to include plural forms unless the context clearly indicates otherwise. The terms "comprises," "comprising," and "having" are intended to specify the presence of stated features, integers, operations, elements, and/or groups thereof, but do not preclude the presence or addition of one or more other features, integers, operations, elements, and/or groups thereof.
Variations from the shapes of the illustrations as a result, of manufacturing techniques and/or tolerances, are to be expected. Accordingly, the examples described herein are not limited to the particular shapes shown in the drawings, but include changes in shapes that occur during manufacture.
The features of the examples described herein may be combined in various ways that will be apparent after an understanding of the disclosure of the present application. Further, while the examples described herein have a variety of configurations, other configurations are possible as will be apparent after an understanding of the present disclosure.
As shown in fig. 1 to 7, the automatic guided vehicle in the present embodiment forms a vehicle body 1, and a radar assembly and a sensor assembly are connected to the vehicle body 1, so that the vehicle body 1 can recognize a lane line for traveling, an obstacle near the running time thereof, and a hanger can be detected so as to receive an article, namely, an unmanned plane transportation function of the automatic guided vehicle can be realized without modifying a harbor scene. Hereinafter, the specific configuration of the above-described portions of the automatic guided vehicle according to the present utility model will be described in detail.
As shown in fig. 1, in the present embodiment, a vehicle body 1 is formed in a rectangular parallelepiped structure, a receiving groove 10 is formed at the top thereof for placing an article carried by a spreader in a port, and then the vehicle body 1 is capable of transporting the article carried thereby to a designated position. The vehicle body 1 of the automatic guiding vehicle is arranged in a cuboid shape, so that two ends of the vehicle body in the length direction can be used as the vehicle head of the vehicle body 1, and the flexibility of the vehicle body in transporting objects is improved. The specific size of the vehicle body 1 and the accommodating groove 10 is not fixed, and is to be determined in accordance with the actual situation such as the size of the port traffic. In order to accurately describe the positional relationship of the respective components described below, the longitudinal direction of the vehicle body 1 is set as the traveling direction thereof.
In the present embodiment, as shown in fig. 2 to 4, a radar assembly for sensing an obstacle in the vicinity thereof is attached to the vehicle body 1. Specifically, the radar component includes multiple groups of sub-radar groups distributed at two ends of the vehicle body 1 in the length direction, and the sub-radar groups located at the same end of the vehicle body 1 in the length direction are distributed at two sides of the vehicle body 1 in the length direction (i.e. two ends of the vehicle body 1 in the width direction), that is, the sub-radar components in the embodiment are distributed at four edges of the cuboid vehicle body 1, so that 360-degree non-blind area sensing coverage of the vehicle body 1 is realized, accuracy of identifying obstacles by the radar component is improved, and safety of the vehicle body 1 in running is further guaranteed.
Further, each sub-radar group includes a first radar 201 and a second radar 202, and the vertical resolution of the first radar 201 is smaller than that of the second radar 202, which cooperate with each other to enable the above-described technical effects to be achieved well. In the present embodiment, the vertical resolution of the first radar 201 is 0.5 °, and the vertical field angle thereof is 26 °; the second radar 202 has a vertical resolution of 2.81 ° and a vertical field angle of 90 °; in addition, the horizontal view angles of the two are 360 degrees, the horizontal resolution of the two is 0.2 degrees, and the parameter is the choice which is most favorable for realizing the technical effect after multiple tests.
More specifically, among the sub-radar groups located at the first end in the longitudinal direction of the vehicle body 1, the sub-radars distributed on both sides in the longitudinal direction of the vehicle body 1 are respectively formed into a first sub-radar group 21 and a second sub-radar group 22, a first radar 201 in the first sub-radar group 21 is located above a second radar 202, and the detection end of the second radar 202 in the first sub-radar group 21 is disposed downward; the first radar 201 in the second sub-radar set 22 is located below the second radar 202, and the detection end of the second radar 202 in the second sub-radar set 22 is disposed upward.
In addition, among the sub-radar groups located at the second end in the longitudinal direction of the vehicle body 1, sub-radar groups distributed on both sides in the longitudinal direction of the vehicle body 1 are respectively formed into a third sub-radar group 23 and a fourth sub-radar group 24, a first radar 201 in the third sub-radar group 23 is located below a second radar 202, and a detection end of the second radar 202 in the third sub-radar group 23 is disposed upward; the first radar 201 in the fourth sub-radar set 24 is located above the second radar 202, and the detection end of the second radar 202 in the fourth sub-radar set 24 is disposed downward.
Further, the third sub-radar group 23 is located on the same side in the longitudinal direction of the vehicle body 1 as the first sub-radar group 21, that is, both are located at the first end in the width direction of the vehicle body 1; the fourth sub-radar group 24 and the second sub-radar group 22 are located on the same side in the longitudinal direction of the vehicle body 1, that is, both are located at the second end in the width direction of the vehicle body 1. So arranged, the first radar 201 may be used to initially sense obstacles around the vehicle body 1; while the second radar 202 in the second sub-radar group 22 and the second radar 202 in the third sub-radar group 23 can cooperate with the first radar 201, i.e. both can further sense obstacles around the vehicle body 1 to ensure the smoothness of the operation of the vehicle body 1; in addition, the second radar 202 in the second sub-radar group 22 and the second radar 202 in the third sub-radar group 23 are disposed upward so that both of them can also sense the spreader of the port, i.e., the gantry crane, so that the vehicle body 1 can complete the process of placing an article in the accommodation tank 10, for example, in cooperation with the spreader. While the second radar 202 in the first sub-radar group 21 and the second radar 202 in the fourth sub-radar group 24 can be used for blind compensation to avoid the blind view when the vehicle body 1 travels, in addition to being able to sense an obstacle in cooperation with the first radar 201.
In addition, in the present embodiment, as shown in fig. 5 to 7, the vehicle body 1 is further connected with a sensor assembly, the sensor assembly includes two groups of sub-sensor groups distributed at two ends of the vehicle body 1 in the length direction, and the two groups of sub-sensor groups are symmetrically distributed at two ends of the vehicle body 1 in the traveling direction, and the multiple groups of sub-radar assemblies are also symmetrically distributed at two ends of the vehicle body 1 in the length direction, so that the flexibility of the vehicle body 1 in transportation can be increased, that is, the two ends of the vehicle body 1 in the length direction can be used as a vehicle head.
Specifically, the sub-sensor group includes a first sensor 31 capable of recognizing a lane line, the first sensor 31 being located at an end center line of the vehicle body 1, and a detection end of the first sensor 31 being directed toward the ground to facilitate recognition of the lane line. In addition, the sub sensor group includes a second sensor 32 capable of detecting the position of the hanger, the second sensor 32 is located at a position above the end of the vehicle body 1, and the detection end of the second sensor 32 is directed to the upper center of the vehicle body 1, so that it can detect the position of the hanger and the like, thereby facilitating the vehicle body 1 to complete processes such as placing an article in the accommodation groove 10 in cooperation with the hanger.
Further, the sub-sensor group includes a third sensor for detecting an obstacle, which can further avoid the existence of a viewing angle blind area of the vehicle body 1. The third sensor includes a first sub third sensor 331 provided at a center line of an end portion of the vehicle body 1, and both ends of a detection end of the first sub third sensor 331 in a traveling direction of the vehicle body 1 face the ground. The third sensor further comprises second sub-third sensors 332 disposed on both sides of the longitudinal direction of the vehicle body 1, and the detection ends of the second sub-third sensors 332 are respectively directed to the ground on both sides of the traveling direction of the vehicle body 1.
In addition, although not shown in the drawings, the vehicle body 1 is also connected with a vehicle body pose sensor (may be a GNSS antenna) and a vehicle body position sensor (may be an IMU), the number and position of which are not particularly limited, as long as monitoring of the pose and position of the vehicle body 1 can be achieved.
The specific form and the like of each sensor in the sensor assembly are not limited as long as the above technical effects can be achieved. For example, the first sensor 31 may be a cursor sensor to be able to detect a lane line correspondingly; in addition, the second sensor 32 may be a distance sensor, so as to detect the distance between the lifting appliance and the vehicle body 1 and further determine the specific height and position of the lifting appliance; and the third sensor may be an obstacle detecting sensor.
In addition, it is further described that, based on the above technical effects, any one of the radar component and the sensor component can normally work to realize the automatic guiding function of the vehicle body 1, and the two cooperate together to more ensure the accuracy and stability of the vehicle body 1 during operation.
According to the automatic guided vehicle, the radar component and the sensor component are arranged on the vehicle body 1, so that obstacles near the vehicle body 1 can be sensed, the lane line can be identified, the hanger can be detected, and the large number of magnetic nails in a port are not needed, namely, the port foundation is not needed to be modified in a large scale.
Finally, it should be noted that: the foregoing examples are merely specific embodiments of the present application, and are not intended to limit the scope of the present application, but the present application is not limited thereto, and those skilled in the art will appreciate that while the foregoing examples are described in detail, the present application is not limited thereto. Any person skilled in the art may modify or easily conceive of the technical solution described in the foregoing embodiments, or make equivalent substitutions for some of the technical features within the technical scope of the disclosure of the present application; such modifications, changes or substitutions do not depart from the spirit and scope of the technical solutions of the embodiments of the present application, and are intended to be included in the scope of the present application. Therefore, the protection scope of the present application shall be subject to the protection scope of the claims.
Claims (10)
1. An automated guided vehicle for use in a port yard, the automated guided vehicle comprising:
the vehicle body is used for carrying articles;
a radar assembly connected to the vehicle body and capable of sensing an obstacle in the vicinity of the vehicle body; the radar component comprises a plurality of groups of sub-radar groups distributed at two ends of the vehicle body in the traveling direction, and the sub-radar groups positioned at the same end of the vehicle body in the traveling direction are distributed at two sides of the vehicle body in the traveling direction; and
the sensor assembly comprises at least two groups of sub-sensor groups distributed at two ends of the advancing direction of the vehicle body, and each group of sub-sensor groups is connected with the vehicle body and can identify lane lines and detect lifting appliances.
2. The automated guided vehicle of claim 1, wherein the set of sub-radars comprises a first radar and a second radar, the first radar having a vertical resolution that is less than a vertical resolution of the second radar.
3. The automatic guided vehicle according to claim 2, wherein among the sub-radar groups located at a first end of the vehicle body traveling direction, the sub-radars distributed on both sides of the vehicle body traveling direction are respectively formed into a first sub-radar group and a second sub-radar group, the first radar in the first sub-radar group is located above the second radar, and a detection end of the second radar in the first sub-radar group is disposed downward; the first radars in the second sub-radar group are located below the second radars, and the detection ends of the second radars in the second sub-radar group are arranged upwards.
4. The automatic guided vehicle according to claim 3, wherein among the sub-radar groups located at the second end of the vehicle body traveling direction, the sub-radars distributed on both sides of the vehicle body traveling direction are respectively formed into a third sub-radar group and a fourth sub-radar group, the first radar in the third sub-radar group is located below the second radar, and the detection end of the second radar in the third sub-radar group is disposed upward; the first radar in the fourth sub-radar group is positioned above the second radar, and the detection end of the second radar in the fourth sub-radar group is arranged downwards;
the third sub-radar group and the first sub-radar group are positioned on the same side of the vehicle body in the traveling direction, and the fourth sub-radar group and the second sub-radar group are positioned on the same side of the vehicle body in the traveling direction.
5. The automatic guided vehicle of claim 1, wherein two sets of the sub-sensor groups are symmetrically distributed at both ends of the vehicle body traveling direction.
6. The automated guided vehicle of claim 5, wherein the sub-sensor group comprises a first sensor capable of identifying a lane line, the first sensor being located at an end centerline of the vehicle body, and a detection end of the first sensor facing the ground.
7. The automated guided vehicle of claim 5, wherein the sub-sensor group includes a second sensor capable of detecting a spreader position, the second sensor being located at a position above an end of the vehicle body, and a detection end of the second sensor being directed toward an upper center of the vehicle body.
8. The automatic guided vehicle of claim 5, wherein the sub-sensor group includes a third sensor for detecting an obstacle, the third sensor includes a first sub-third sensor provided at an end center line of the vehicle body, and detection ends of the first sub-third sensor face the ground along both ends of the vehicle body traveling direction.
9. The automatic guided vehicle of claim 8, wherein the third sensor further comprises second sub-third sensors disposed on both sides of the vehicle body traveling direction, and detection ends of the second sub-third sensors are directed to the ground on both sides of the vehicle body traveling direction, respectively.
10. The automatic guided vehicle of claim 1, wherein the vehicle body is further connected with a vehicle body pose sensor and a vehicle body position sensor.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202223532884.4U CN219295565U (en) | 2022-12-28 | 2022-12-28 | Automatic guiding vehicle |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202223532884.4U CN219295565U (en) | 2022-12-28 | 2022-12-28 | Automatic guiding vehicle |
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| CN219295565U true CN219295565U (en) | 2023-07-04 |
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| CN202223532884.4U Active CN219295565U (en) | 2022-12-28 | 2022-12-28 | Automatic guiding vehicle |
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