CN206057969U - A kind of AGV with collision prevention function - Google Patents
A kind of AGV with collision prevention function Download PDFInfo
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- CN206057969U CN206057969U CN201620998803.5U CN201620998803U CN206057969U CN 206057969 U CN206057969 U CN 206057969U CN 201620998803 U CN201620998803 U CN 201620998803U CN 206057969 U CN206057969 U CN 206057969U
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- car body
- obstacle detecting
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Abstract
This utility model discloses a kind of AGV with collision prevention function, including car body, obstacle detecting device and control device, and obstacle detecting device is provided with two, respectively the first obstacle detecting device and the second obstacle detecting device；First obstacle detecting device is arranged on right-hand member on front side of car body, and the second obstacle detecting device is arranged on left end on rear side of car body；First obstacle detecting device detects that to the running environment on front side of car body and right side the second obstacle detecting device is detected to the running environment on rear side of car body and left side；Protection zone is provided with the detection zone of obstacle detecting device, when protection zone detects barrier, control device control car body is out of service.Compared with prior art; barrier can be detected with 360 degrees omnidirection in control device, obstacle detecting device and its detection protection zone that this utility model is designed; and rapid AGV out of service, anti-collision effect and periphery worker safety are increased substantially, Product Safety and reliability is improved.
Description
Technical field
This utility model belongs to AGV technical fields, and in particular to a kind of AGV with collision prevention function.
Background technology
AGV is the abbreviation of Automated Guided Vehicle, also referred to as AGV dollies, refers to and is equipped with electricity magnetically or optically etc.
Homing guidance device, can be along the guide path of regulation traveling, the transport vehicle with safeguard protection and various transfer functions, work
The mover of driver is not needed in industry application；As AGV has fast, save space of intelligence degree, travelling speed etc. a little,
Its range of application is more and more extensive.
With science and technology development, constantly increase using the work area of AGV delivery systems, road conditions of walk and
AGV needs the task complexity for performing also constantly to improve；Because AGV need not manually be operated in the application and be transported automatically
OK, so the operating safety guarantee functions of AGV are particularly important.Therefore the safe design for AGV becomes in its exploitation design
One of most important link, the effect of safety device, the function of safety device also exist in addition to protecting AGV inherently safes
The safety of surrounding enviroment facility in staff and operation is protected in the range of maximum possible.
The many AGV dollies for producing on the market at present carry out security protection using CAS；Existing AGV dollies
CAS is usually mechanical contact or laser, infrared detection anticollision device, collision-prevention device.It is either mechanical contact, or laser, red
Outer detection anticollision device, collision-prevention device, all there is a problem that it is universal, such as：Anticollision motility is poor, anti-collision detection device scope is comprehensive,
Single function, or adapt to the flexible poor of various scenes.AGV dollies are so resulted in actual moving process, is run into narrow
Stopping and can not continuing the situation of task, occur in passage or bend；AGV dollies also are unable to avoidance, often result in serious
Ground collision, threatens the safety of equipment and personnel, user is brought inconvenience.
Utility model content
The purpose of this utility model is to overcome the deficiencies in the prior art, there is provided a kind of security performance reliably has anticollision
The AGV of function.
In order to solve above-mentioned technical problem, this utility model is employed the following technical solutions：
A kind of AGV with collision prevention function, including car body, obstacle detecting device and control device, the obstacle detection dress
Two are installed, respectively the first obstacle detecting device and the second obstacle detecting device；First obstacle detecting device is arranged
The right-hand member on front side of the car body, second obstacle detecting device are arranged on left end on rear side of car body；First obstacle detecting device pair
Detected with the running environment on right side on front side of car body, operation ring of second obstacle detecting device on rear side of car body and left side
Detected in border；Protection zone is provided with the detection zone of the obstacle detecting device, it is when protection zone detects barrier, described
Control device control car body is out of service.
Compared with prior art, the control device of this utility model design, obstacle detecting device and its detection protection zone can
Barrier, and rapid AGV out of service are detected with 360 degrees omnidirection, anti-collision effect and periphery staff is increased substantially
Safety, improves Product Safety and reliability.
This utility model provides second set-up mode of the AGV with collision prevention function, a kind of with collision prevention function
AGV, including car body, obstacle detecting device and control device, it is characterised in that：The obstacle detecting device is provided with two, respectively
For the first obstacle detecting device and the second obstacle detecting device；First obstacle detecting device is arranged on left end on front side of car body,
Second obstacle detecting device is arranged on right-hand member on rear side of car body；First obstacle detecting device is on front side of car body and left side
Running environment is detected that second obstacle detecting device is detected to the running environment on rear side of car body and right side, described
Scope on the outside of the detection zone covering body of two obstacle detecting devices.
Preferably, the first warning area, first warning area are provided with the detection zone periphery of the obstacle detecting device
When detecting barrier, the control device control car body reduces the speed of service；First warning area is big with the distance of car body
In the protection zone and the distance of car body, by arranging the first warning area, when detection zone detects barrier, can reduce in advance
Body speed of vehicle, reduces braking distance of the car body at protection zone, effectively improves car body security performance.
Preferably, the first warning area periphery of the obstacle detecting device detection is provided with the second warning area, second police
The distance that area is accused with car body is more than first warning area and the distance of car body；When second warning area detects barrier,
The speed of service of the control device according to car body, adjusts the region area of the second warning area by the direct ratio of the car body speed of service.
Preferably, when second warning area detects barrier, the control device control car body reduces the speed of service；
By so setting, the security performance of car body is further improved.
Preferably, the region area of the protection zone, the first warning area and the second warning area increases successively, by so setting
Put, it is ensured that slowing effect is effectively realized in first warning area, the second warning area, close the obstacle detecting device whole installation
Reason.
Preferably, the protection zone, the first warning area and the second warning area and car body fore-and-aft direction distance more than its with
Car body is in left and right directions distance；By so setting, make AGV dollies in actual moving process, run into slype or curved
Road also flexibly can work, and improve degree of flexibility of the AGV at various scenes.
Preferably, the car body is formed around protecting thick stick, by so setting, even if event occurs in the obstacle detecting device
Barrier, can also ensure the collision prevention function of AGV dollies, further improve AGV security performances, realize multifunction protection AGV dollies and week
The safety of side personnel.
Preferably, the car body is provided with siren, and when the obstacle detecting device detects barrier, the siren is sent out
Go out alarm signal, by so setting, the cue that periphery personnel are sent by siren can make defence in advance.
Preferably, the obstacle detecting device is connected with the control device by data/address bus.
Description of the drawings
Fig. 1 has the schematic diagram of the AGV and its detection range of collision prevention function for this utility model；
Fig. 2 has the schematic diagram of the AGV of collision prevention function for this utility model.
Specific embodiment
Below in conjunction with description of the drawings the technical solution of the utility model：
Referring to Fig. 1 and Fig. 2, a kind of AGV with collision prevention function, including car body 1, obstacle detecting device 2 and control device,
The control device is arranged in car body 1, and the obstacle detecting device 2 is provided with two, respectively the first obstacle detecting device 21
With the second obstacle detecting device 22；First obstacle detecting device 21 is arranged on 1 front side right-hand member of car body, the second obstacle inspection
Survey device 22 and be arranged on 1 rear side left end of car body；Running environment of first obstacle detecting device 21 on front side of car body 1 and right side
Detected, second obstacle detecting device 22 is detected to the running environment on rear side of car body 1 and left side；The obstacle inspection
Protection zone 201 is provided with the detection zone for surveying device 2, when protection zone 201 detects barrier, the control device controls car
Body 1 is out of service.
Compared with prior art, the control device of this utility model design, obstacle detecting device 2 and its detection protection zone
201 can detect barrier, and rapid AGV out of service with 360 degrees omnidirection, increase substantially anti-collision effect and periphery work
Personal security, improves Product Safety and reliability.
Referring to Fig. 1 and Fig. 2, preferably, in the detection zone periphery of the obstacle detecting device 2, the first police is provided with
Area 202 is accused, when first warning area 202 detects barrier, the control device control car body reduces the speed of service；It is described
The distance of the first warning area 202 and car body 1 is more than 1 distance of the protection zone 201 and car body, by arranging the first warning area
202, when detection zone detects barrier, 1 speed of car body can be reduced in advance, reduce system of the car body 1 at protection zone 201
Dynamic distance, effectively improves car body security performance.
Referring to Fig. 1 and Fig. 2, as further preferred scheme, the first warning area periphery of the detection of the obstacle detecting device 2
The second warning area 203 is provided with, second warning area 203 is more than first warning area 201 and car body 1 with the distance of car body 1
Distance；When second warning area 203 detects barrier, the speed of service of the control device according to car body, by car body 1
The direct ratio of the speed of service adjusts the region area of the second warning area 203.
It is referring to Fig. 1 and Fig. 2, as further preferred scheme, when second warning area 203 detects barrier, described
Control device controls the car body 1 and reduces the speed of service；By so setting, the security performance of car body 1 is further improved.
Referring to Fig. 1 and Fig. 2, preferably, the protection zone 201, the first warning area 202 and the second warning area 203
Institute's overlay area area is rectangular shape, and the region area centered on the car body 1 increases successively, by so setting, guarantor
Demonstrate,prove first warning area 202, the second warning area 202 and effectively realize slowing effect, make 2 whole installation of the obstacle detecting device
Rationally.
Referring to Fig. 1 and Fig. 2, preferably, the protection zone 201, the first warning area 202 and the second warning area 203
It is more than which with the car body 1 in left and right directions distance in fore-and-aft direction distance with car body 1；By so setting, AGV dollies are made to exist
In actual moving process, run into slype or bend also flexibly can work, improve degree of flexibility of the AGV at various scenes.
Referring to Fig. 1 and Fig. 2, preferably, the car body 1 is formed around protecting thick stick 4, the protection thick stick 4 to touch
During barrier, by certain pressure after, run the car body 1 and stop, by so setting, even if the obstacle detecting device
2 break down, and can also ensure the collision prevention function of AGV dollies, further improve AGV security performances, realize that multifunction protection AGV is little
Car and the safety of periphery personnel.
Referring to Fig. 1 and Fig. 2, preferably, the car body 1 is provided with siren 5, and the obstacle detecting device 2 is detected
During to barrier, 5 signal an alert of the siren, by so setting, periphery personnel send prompting letter by siren 5
Number, defence can be made in advance.
Preferably (do not show in this kind of conceptual scheme), the obstacle detecting device 2 passes through data/address bus and the control
Device connection processed.
Preferably (do not show in this kind of conceptual scheme), the car body is additionally provided with emergency stop switch, emergency stop switch is located at institute
Car body periphery is stated, it is out of service that emergency stop switch can control the car body 1.
The announcement and teaching of book according to the above description, this utility model those skilled in the art can also be to above-mentioned reality
The mode of applying is changed and is changed.Therefore, this utility model is not limited to specific embodiment disclosed and described above, right
Some modifications and changes of the present utility model should also be as falling in scope of the claims of the present utility model.Additionally, to the greatest extent
Some specific terms used in pipe this specification, but these terms are merely for convenience of description, not to this utility model
Constitute any restriction.
Claims (10)
1. a kind of AGV with collision prevention function, including car body, obstacle detecting device and control device, it is characterised in that：The barrier
Detection means is hindered to be provided with two, respectively the first obstacle detecting device and the second obstacle detecting device；First obstacle detection
Device is arranged on right-hand member on front side of car body, and second obstacle detecting device is arranged on left end on rear side of car body；The first obstacle inspection
Survey device and detect that to the running environment on front side of car body and right side second obstacle detecting device is on rear side of car body and left side
Running environment detected, the scope on the outside of the detection zone covering body of described two obstacle detecting devices.
2. a kind of AGV with collision prevention function, including car body, obstacle detecting device and control device, it is characterised in that：The barrier
Detection means is hindered to be provided with two, respectively the first obstacle detecting device and the second obstacle detecting device；First obstacle detection
Device is arranged on left end on front side of car body, and second obstacle detecting device is arranged on right-hand member on rear side of car body；The first obstacle inspection
Survey device and detect that to the running environment on front side of car body and left side second obstacle detecting device is on rear side of car body and right side
Running environment detected, the scope on the outside of the detection zone covering body of described two obstacle detecting devices.
3. the AGV with collision prevention function according to claim 1 and 2, it is characterised in that：The detection zone is provided with protection
Area, when protection zone detects barrier, the control device control car body is out of service.
4. the AGV with collision prevention function according to claim 3, it is characterised in that：The detection zone periphery is provided with
One warning area, when first warning area detects barrier, the control device control car body reduces the speed of service.
5. the AGV with collision prevention function according to claim 4, it is characterised in that：First warning area periphery is provided with
Second warning area, when second warning area detects barrier, the speed of service of the control device according to car body, by car body
The direct ratio of the speed of service adjusts the region area of the second warning area.
6. the AGV with collision prevention function according to claim 5, it is characterised in that：Second warning area detects barrier
When hindering thing, the control device control car body reduces the speed of service.
7. the AGV with collision prevention function according to claim 5, it is characterised in that：The protection zone, the first warning area and
The region area of the second warning area increases successively.
8. the AGV with collision prevention function according to claim 5, it is characterised in that：The protection zone, the first warning area and
Second warning area is more than which with car body in left and right directions distance in fore-and-aft direction distance with car body.
9. the AGV with collision prevention function according to claim 1 and 2, it is characterised in that：The car body is formed around protection
Thick stick.
10. the AGV with collision prevention function according to claim 1 and 2, it is characterised in that：The car body is provided with siren,
When the obstacle detecting device detects barrier, the siren signal an alert.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620998803.5U CN206057969U (en) | 2016-08-30 | 2016-08-30 | A kind of AGV with collision prevention function |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620998803.5U CN206057969U (en) | 2016-08-30 | 2016-08-30 | A kind of AGV with collision prevention function |
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| Publication Number | Publication Date |
|---|---|
| CN206057969U true CN206057969U (en) | 2017-03-29 |
Family
ID=58378773
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201620998803.5U Active CN206057969U (en) | 2016-08-30 | 2016-08-30 | A kind of AGV with collision prevention function |
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| CN (1) | CN206057969U (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108454622A (en) * | 2018-06-20 | 2018-08-28 | 广东嘉腾机器人自动化有限公司 | AGV safety control systems and safety-type AGV |
| CN109753070A (en) * | 2019-01-16 | 2019-05-14 | 深圳市海柔创新科技有限公司 | A kind of barrier-avoiding method, device and storage robot |
| CN112486150A (en) * | 2019-08-21 | 2021-03-12 | 北醒（北京）光子科技有限公司 | AGV car |
| US12093047B2 (en) | 2019-01-16 | 2024-09-17 | Hai Robotics Co., Ltd. | Obstacle avoidance method and apparatus, and warehousing robot |
-
2016
- 2016-08-30 CN CN201620998803.5U patent/CN206057969U/en active Active
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108454622A (en) * | 2018-06-20 | 2018-08-28 | 广东嘉腾机器人自动化有限公司 | AGV safety control systems and safety-type AGV |
| CN109753070A (en) * | 2019-01-16 | 2019-05-14 | 深圳市海柔创新科技有限公司 | A kind of barrier-avoiding method, device and storage robot |
| US12093047B2 (en) | 2019-01-16 | 2024-09-17 | Hai Robotics Co., Ltd. | Obstacle avoidance method and apparatus, and warehousing robot |
| CN112486150A (en) * | 2019-08-21 | 2021-03-12 | 北醒（北京）光子科技有限公司 | AGV car |
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