A kind of unmanned electric forklift with legs inserted based on visual intelligent navigation

Abstract

The present invention relates to a plug-leg type unmanned electric forklift based on visual intelligent navigation, including a base, a vertical bracket, a lifting mechanism, a front slide plate, a fork shovel, a monitoring module, a control module, a fork-scissor mechanism and a plurality of differential steering wheels, wherein the vertical bracket is arranged on the base, the front slide plate is vertically slidably arranged on the vertical bracket and is transmission-connected with the lifting mechanism, the fork-scissor mechanism is arranged between the fork shovel and the base and is transmission-connected with the front slide plate, the monitoring module is arranged on the vertical bracket, the plurality of differential steering wheels are arranged at the bottom of the base, and the control module is electrically connected with the monitoring module and the differential steering wheels. Compared with the prior art, the present invention has the advantages of high degree of automation, strong carrying capacity, high positioning accuracy, translational walking, small rotation radius, etc.

Description

Technical Field

[0001] The invention relates to a forklift, in particular to a leg-insertion type unmanned electric forklift based on visual intelligent navigation. Background Art

[0002] Forklifts are industrial handling vehicles, which refer to various wheeled handling vehicles that load, unload, stack and short-distance transport of palletized goods. They are widely used in various national economic sectors such as stations, ports, airports, factories, warehouses, etc. They are efficient equipment for mechanized loading, unloading, stacking and short-distance transportation. With the development of society, the use environment of forklifts is becoming increasingly complex. In order to adapt to the diverse needs of forklift functions, higher requirements have been placed on forklift design and manufacturing.

[0003] Existing forklifts are generally manually driven or semi-automatically driven, including a forklift body, a cockpit and a lifting bracket are provided on the forklift body, and the fork is arranged on the lifting bracket, which is bulky. At the same time, due to the requirement for the field of vision of the cockpit, that is, it is necessary to ensure that the lifting bracket does not block the driver's field of vision, the height of the lifting bracket is limited, and the lifting height of the fork is also limited, and the scope of application is greatly limited. At the same time, the lifting of the fork is basically realized by the guide rail and the lifting drive mechanism. The fork is vertically slidably installed on the lifting gantry, and then the lifting drive mechanism, such as the lifting cylinder, drives the fork to rise and fall. This method has the following disadvantages:

[0004] The driving mechanism is not directly under the fork, and there is no supporting mechanism under the fork. If the fork is too long, the fork's carrying capacity will be smaller. When the fork carries heavy objects, it is easy to deform or even be damaged, which can easily cause safety accidents. Summary of the invention

[0005] The purpose of the present invention is to overcome the defects of the above-mentioned prior art and to provide a leg-type unmanned electric forklift based on visual intelligent navigation, which has a high degree of automation, strong carrying capacity and high positioning accuracy.

[0006] The purpose of the present invention can be achieved by the following technical solutions:

[0007] A plug-leg type unmanned electric forklift based on visual intelligent navigation, comprising a base, a vertical bracket, a lifting mechanism, a front slide plate, a fork shovel, a monitoring module, a control module, a fork-scissor mechanism and a plurality of differential steering wheels, wherein the vertical bracket is arranged on the base, the front slide plate is vertically slidably arranged on the vertical bracket and is transmission-connected with the lifting mechanism, the fork-scissor mechanism is arranged between the fork shovel and the base and is transmission-connected with the front slide plate, the monitoring module is arranged on the vertical bracket, the differential steering wheel is arranged at the bottom of the base, and the control module is electrically connected with the monitoring module and the differential steering wheel;

[0008] The monitoring module is used to obtain environmental information and forklift parameter information, and the control module is used to receive control instructions, and according to the environmental information and forklift parameter information, control the rotation speed and acceleration of each stepper motor of the differential steering wheel to realize the steering and advancement of a single differential steering wheel. Several differential steering wheels work together to realize the steering, speed regulation and positioning of the unmanned forklift. After the unmanned forklift completes the positioning, the control module controls the front slide plate to rise or fall through the lifting mechanism, thereby driving the fork shovel to rise or fall to complete loading and unloading. The lifting mechanism drives the fork shovel to rise and fall through the fork scissor mechanism, so that the lifting process of the fork shovel is smooth and the carrying capacity is strong. The unmanned forklift proposed by the present invention can automatically complete navigation, positioning and cargo loading and unloading, and has a high degree of automation.

[0009] Furthermore, the control module includes a single-chip microcomputer, a motion control card, a coulomb meter, a drive board, a battery, an industrial control computer and a stepper motor driver. The single-chip microcomputer, the motion control card, the stepper motor driver and the differential steering wheel are electrically connected in sequence, the battery is connected to the coulomb meter, the single-chip microcomputer and the industrial control computer, and the drive board is electrically connected to the single-chip microcomputer.

[0010] The battery is used to power an unmanned forklift, and the coulomb meter can monitor the voltage, current, capacity, power and temperature of the battery in real time, making it convenient to manage the battery.

[0011] Furthermore, the monitoring module includes a proximity switch, which is arranged on the front slide and electrically connected to the single-chip computer, and is used to sense whether the pallet is in place after the fork shovel is inserted into the pallet. When the proximity switch senses the pallet, the unmanned forklift stops moving forward.

[0012] Furthermore, the monitoring module includes a gyroscope and an angle sensor, the gyroscope and the angle sensor are connected to an industrial control computer, the gyroscope is arranged on the top of the vertical bracket, and the angle sensor is connected to the differential steering wheel;

[0013] The gyroscope can detect the horizontal azimuth angle, angular velocity and forward axial body acceleration of the unmanned forklift, and is used to judge the direction and angle of the unmanned forklift during driving. The angle sensor is used to detect the steering angle of the differential steering wheel.

[0014] Furthermore, the monitoring module includes a first camera and a second camera, the first camera and the second camera are connected to the industrial computer, the first camera is arranged on the top of the vertical bracket, and the second camera is close to the base;

[0015] The first camera and the second camera are called through the industrial computer to obtain the driving environment around the unmanned forklift, define the target objects, walls, roads, obstacles and pedestrians, etc., to facilitate the visual navigation and positioning of the unmanned forklift and prevent collisions.

[0016] Furthermore, the lifting mechanism includes a push cylinder, a sprocket, a chain and a sprocket shaft, the push cylinder is electrically connected to the driving plate, a crossbeam is horizontally arranged on the vertical bracket, the output shaft of the push cylinder is vertically arranged, the sprocket shaft is fixed to the end of the output shaft, the sprocket is arranged on the sprocket shaft, one end of the chain is fixed to the crossbeam, and the other end passes around the sprocket and is fixedly connected to the front slide plate;

[0017] The sprocket is equivalent to a laborious moving pulley, which achieves the effect of saving distance, reduces the height of the output shaft of the push cylinder required to raise the fork shovel to a specific height, and makes the lifting process faster and smoother.

[0018] Furthermore, a fixing ring is provided on the crossbeam, and the fixing ring is sleeved on the push cylinder to ensure that the position of the push cylinder is fixed, which has high safety.

[0019] Furthermore, a limit bearing is provided on the front slide plate, a slide rail matching the limit bearing is vertically provided on the vertical bracket, the limit bearing is slidably arranged on the slide rail, and the front slide plate can slide smoothly along the slide rail to ensure that the fork shovel can be lifted and lowered smoothly in the vertical direction.

[0020] Furthermore, the base comprises a main body base and front legs, the vertical bracket is arranged on the main body base, the front legs are located directly below the fork shovel, and the fork-scissor mechanism is arranged on the front legs;

[0021] When the fork spade is at the lowest position, the front legs support the fork spade, and the fork-scissor mechanism is accommodated between the front legs and the fork spade, so the structure is compact and protective.

[0022] Furthermore, an electric control installation board is provided on the vertical support, and the control module is arranged on the electric control installation board for the convenience of centralized management.

[0023] Compared with the prior art, the present invention has the following beneficial effects:

[0024] (1) The monitoring module of the present invention is used to obtain environmental information and forklift parameter information. The control module receives control instructions and controls the rotation speed and acceleration of each stepper motor of the differential steering wheel according to the environmental information and forklift parameter information to realize the steering and forward movement of a single differential steering wheel. Several differential steering wheels work together to realize the steering, speed regulation and positioning of the unmanned forklift. After the unmanned forklift completes the positioning, the control module controls the front slide plate to rise or fall through the lifting mechanism, thereby driving the fork shovel to rise or fall to complete loading and unloading. The lifting mechanism drives the fork shovel to rise and fall through the fork scissor mechanism, so that the lifting process of the fork shovel is smooth and has a strong carrying capacity. The unmanned forklift proposed by the present invention can automatically complete navigation, positioning and cargo loading and unloading, and has a high degree of automation;

[0025] (2) The industrial control computer of the present invention receives the control command and sends it to the single-chip microcomputer. The single-chip microcomputer controls the movement and steering of each differential steering wheel through the operation control card and the stepper motor driver to realize the forward movement and steering of the unmanned forklift. The single-chip microcomputer drives the lifting mechanism through the drive plate, further drives the fork shovel to lift and lower, and completes the loading and unloading of goods, with a high degree of automation;

[0026] (3) The coulomb meter of the present invention is connected to the battery, and the coulomb meter can monitor the voltage, current, capacity, power and temperature of the battery in real time, so as to facilitate the management of the battery;

[0027] (4) The proximity switch of the present invention is arranged on the front slide plate and is electrically connected to the single chip microcomputer. It can sense whether the pallet is in place after the fork shovel is inserted into the pallet. When the proximity switch senses the pallet, the unmanned forklift stops moving forward, achieving precise positioning and ensuring smooth pallet loading and unloading.

[0028] (5) The gyroscope of the present invention is arranged on the top of the vertical support and connected to the industrial control computer. The gyroscope can detect the horizontal azimuth angle, angular velocity and forward axial body acceleration of the unmanned forklift, which is used to judge the direction and angle of the unmanned forklift during driving, and realize the precise control of the steering of the unmanned forklift;

[0029] (6) In the present invention, each differential steering wheel is provided with an angle sensor for detecting the steering angle of the differential steering wheel, thereby ensuring that each differential steering wheel operates in coordination and jointly realizes autonomous navigation of the unmanned forklift;

[0030] (7) The first camera and the second camera of the present invention are connected to the industrial control computer, wherein the first camera is arranged on the top of the vertical support and the second camera is close to the base; the first camera and the second camera are called by the industrial control computer to obtain the driving environment around the unmanned forklift and the image information of the pallet directly in front of the unmanned forklift, so as to facilitate the visual navigation and positioning of the unmanned forklift and prevent collision;

[0031] (8) The sprocket in the lifting mechanism of the present invention is equivalent to a laborious moving pulley, which achieves the effect of saving distance, reduces the required height of the push cylinder output shaft required to lift the fork shovel to a specific height, and makes the lifting process faster and smoother;

[0032] (9) The crossbeam of the present invention is provided with a fixing ring, which is sleeved on the push cylinder to ensure that the position of the push cylinder is fixed, and the safety is high;

[0033] (10) A limit bearing is provided on the front slide of the present invention, and a slide rail matching the limit bearing is vertically provided on the vertical bracket. The limit bearing is slidably arranged on the slide rail, and the front slide rail can slide smoothly along the slide rail to ensure that the fork shovel can be lifted and lowered smoothly in the vertical direction;

[0034] (11) The base of the present invention includes a main body base and front legs, the vertical bracket is arranged on the main body base, the front legs are located directly below the fork spade, the fork scissors mechanism is arranged on the front legs, when the fork spade is at the lowest position, the front legs support the fork spade, and the fork scissors mechanism is accommodated between the front legs and the fork spade, the structure is compact, and at the same time, it plays a protective role;

[0035] (12) An electric control installation board is provided on the vertical support of the present invention, and the control module is arranged on the electric control installation board, which is convenient for centralized management. BRIEF DESCRIPTION OF THE DRAWINGS

[0036] Figure 1 This is a schematic diagram of the front structure of a forklift;

[0037] Figure 2 This is a schematic diagram of the back structure of a forklift;

[0038] Figure 3 This is a cross-sectional view of a forklift;

[0039] Figure 4 It is the side view of forklift;

[0040] Figure 5 Schematic diagram of the top structure of the forklift;

[0041] Figure 6 This is a schematic diagram of the bottom structure of a forklift;

[0042] Figure 7 The structure diagram of the lifting mechanism is shown in FIG.

[0043] Figure 8 The structure of the front skateboard is shown in FIG.

[0044] Fig. 9 The structure of the base is shown in FIG.

[0045] Fig.10 It is a schematic diagram of the assembly of the front slide plate, the mounting block and the fork-scissor mechanism;

[0046] Description of the numbers in the figure:

[0047] 1. Base, 2. Vertical bracket, 3. Lifting mechanism, 4. Front slide plate, 5. Fork shovel, 6. Monitoring module, 7. Control module, 8. Fork scissors mechanism, 9. Mounting block, 10. Differential steering wheel, 11. Main base, 12. Front leg, 21. Slide rail, 22. Electric control mounting plate, 23. Fixed ring, 24. Crossbeam, 31. Push cylinder, 32. Sprocket, 33. Chain, 34. Sprocket shaft, 41. Limit bearing, 61. First camera, 62. Gyroscope, 63. Second camera, 64. Proximity switch, 65. Angle sensor, 71. Single chip microcomputer, 72. Operation and control card, 73. Coulomb meter, 74. Drive board, 75. Battery, 76. Industrial computer, 77. Stepper motor driver. DETAILED DESCRIPTION

[0048] The present invention is described in detail below in conjunction with the accompanying drawings and specific embodiments. This embodiment is implemented based on the technical solution of the present invention, and provides a detailed implementation method and specific operation process, but the protection scope of the present invention is not limited to the following embodiments.

[0049] Example 1

[0050] A plug-in type unmanned electric forklift based on visual intelligent navigation, such as Figure 1 , Figure 4 , Figure 6 and Fig.10 , including a base 1, a vertical bracket 2, a lifting mechanism 3, a front slide 4, a fork shovel 5, a monitoring module 6, a control module 7, a fork scissors mechanism 8, a mounting block 9 and a walking module, wherein the walking module includes four differential steering wheels 10, the base 1 includes a main body base 11 and two front legs 12 connected to the main body base 11, the two front legs 12 are symmetrically arranged, the vertical bracket 2 is arranged on the main body base 11, the front slide 4 is vertically slidably arranged on the vertical bracket 2, and is transmission-connected to the lifting mechanism 3, the monitoring module 6 is arranged on the vertical bracket 2, the control module 7 is electrically connected to the monitoring module 6 and the four differential steering wheels 10, the number of the fork shovel 5 is two, and the two fork shovels 5 are respectively located directly above the two front legs 12, such as Fig. 9 The fork-scissor mechanism 8 is arranged between the fork shovel 5 and the front leg 12, and is transmission-connected to the front slide plate 4 through the mounting block 9, wherein two differential steering wheels 10 are symmetrically arranged at the bottom of the main body base 11, and the other two differential steering wheels 10 are respectively arranged at the bottom of the two front legs 12.

[0051] like Figure 2 The vertical support 2 is provided with an electric control mounting plate 22, and the control module 7 is arranged on the electric control mounting plate 22. The control module 7 includes a single chip microcomputer 71, a motion control card 72, a coulomb counter 73, a drive board 74, a battery 75, an industrial control computer 76 and a stepper motor driver 77. The single chip microcomputer 71, the motion control card 72, the stepper motor driver 77 and the stepper motor of the differential steering wheel 10 are electrically connected in sequence, the battery 75 is connected to the coulomb counter 73, the single chip microcomputer 71 and the industrial control computer 76, and the push cylinder 31, the drive board 74 and the single chip microcomputer 71 are electrically connected in sequence.

[0052] Microcontroller 71 uses an Arduino board, model Arduino Mega2560. Arduino Mega2560 is a core circuit board with a USB interface and 54 digital input and output channels. It is suitable for designs that require a large number of IO interfaces. It also has 54 digital input / output ports (15 of which can be used as PWM outputs), 15 analog inputs, 4 UART interfaces, a 16MHz crystal oscillator, a USB port, a power socket, an ICSP header, and a reset button.

[0053] The differential steering wheel 10 is based on the differential steering principle and adopts a stepper motor drive mode, which is an existing technology. Each differential steering wheel 10 includes two stepper motors and is provided with 8 stepper motor drivers 77. The stepper motor driver 77 is an actuator that converts electrical pulses into angular displacements. When the stepper motor driver 77 receives a pulse signal, it drives the stepper motor to rotate a fixed angle (i.e., step angle) in the set direction. The rotation of the stepper motor runs step by step at a fixed angle. The angular displacement can be controlled by controlling the number of pulses, thereby achieving the purpose of accurate positioning. At the same time, the speed and acceleration of the stepper motor can be controlled by controlling the pulse frequency, thereby achieving the purpose of speed regulation and positioning.

[0054] The operation control card 72 uses the WJ-S8 controller. The WJ-S8 controller is a cost-effective eight-axis linkage controller chip. It realizes the multi-axis motion control function of the traditional motion control card and provides developers with a simple calling interface. Users only need to use a USB cable or a USB to serial port cable to control the eight stepper motors. Through the protocol of the WJ-S8 controller, the operation control card 72 is connected to the microcontroller 71 through TX and RX (serial port line);

[0055] The drive board 74 uses a PWM DC motor drive module, which can realize the forward and reverse rotation and speed regulation of the DC motor, thereby realizing the rising and falling functions of the push cylinder 31. The industrial control computer 76 has its own WIFI, and the industrial control computer 76 receives instructions from the management computer through WIFI. The instructions include path files, work order files, stop time, and start time. The industrial control computer 76 then sends instructions to the single-chip microcomputer 71, and the single-chip microcomputer 71 sends instructions to the drive board 74. The drive board 74 drives the push cylinder 31, and the chain 33 drives the fork shovel 5 to rise or fall;

[0056] The coulomb meter 73 is connected to the industrial control computer 76 via RS485. The battery 75 is a lithium battery. The battery 75 is used to power the unmanned forklift. The coulomb meter 73 can monitor the voltage, current, capacity, power and temperature of the battery 75 in real time, so as to facilitate the management of the battery 75.

[0057] The industrial control computer 76 displays the route, battery power and working time in real time. The industrial control computer 76 is the data processing center.

[0058] The monitoring module 6 includes a first camera 61, a gyroscope 62, a second camera 63 and an angle sensor 65;

[0059] like Figure 5 The first camera 61 and the second camera 63 are connected to the industrial control computer 76. The first camera 61 and the gyroscope 62 are arranged on the top of the vertical bracket 2. There are four first cameras 61. The four first cameras 61 face the front, back, left and right sides of the unmanned forklift respectively. The second camera 63 is close to the base 1, located between the two front legs 12, and faces the front of the unmanned forklift. The first camera 61 and the second camera 63 are called by the industrial control computer 76 to obtain the driving environment around the unmanned forklift, define the target objects, walls, roads, obstacles and pedestrians, etc., to facilitate the visual navigation of the unmanned forklift.

[0060] The gyroscope 62 is connected to the industrial control computer 76 and can detect the horizontal azimuth angle, angular velocity and forward axial body acceleration of the unmanned forklift, which is used to determine the direction and angle of the unmanned forklift during driving.

[0061] An angle sensor 65 is provided on each differential steering wheel 10 . The angle sensor 65 is a magnetic angle sensor for detecting the steering angle of the differential steering wheel 10 . The angle sensor 65 is connected to the industrial control computer 76 .

[0062] Example 2

[0063] In this embodiment, Figure 3 and Figure 7 The lifting mechanism 3 includes a push cylinder 31, a sprocket 32, a chain 33 and a sprocket shaft 34. A crossbeam 24 is horizontally arranged on the vertical bracket 2. The output shaft of the push cylinder 31 is vertically arranged. The sprocket shaft 34 is fixed to the end of the output shaft. The sprocket 32 ​​is arranged on the sprocket shaft 34. One end of the chain 33 is fixed to the crossbeam 24, and the other end passes around the sprocket 32 ​​and is fixedly connected to the front slide 4. Figure 8 The front slide plate 4 is provided with a limit bearing 41, and the vertical bracket 2 is vertically provided with a slide rail 21 matching the limit bearing 41. The limit bearing 41 is slidably arranged on the slide rail 21, and the lifting mechanism 3 can drive the front slide plate 4 to slide up and down along the slide rail 21. A fixing ring 23 is provided on the crossbeam 24, and the fixing ring 23 is sleeved on the push cylinder 31, so that the position of the push cylinder 31 remains stable. The sprocket 32 ​​is equivalent to a laborious pulley, achieving the effect of saving distance, and the height of the output shaft of the push cylinder 31 required to lift the fork shovel 5 to a specific height is reduced, and the lifting process is faster and smoother. Others are the same as in Example 1.

[0064] Example 3

[0065] In this embodiment, Figure 1 and Figure 2 The monitoring module includes a proximity switch 64. There are two proximity switches 64. The two proximity switches 64 are symmetrically arranged on the front slide 4 and are electrically connected to the single-chip computer 71. They are used to sense whether the pallet is in place after the fork shovel 5 is inserted into the pallet. When the proximity switch senses the pallet, the forklift stops moving forward.

[0066] Embodiment 1, embodiment 2 and embodiment 3 propose a kind of plug-leg type unmanned electric forklift based on visual intelligent navigation. The walking module is based on the differential steering principle. The environmental information is collected by the monitoring module 6. The control module 7 controls the walking module according to the environmental information to realize the walking and positioning of the unmanned forklift. The automation degree is high and the positioning accuracy is high. The lifting mechanism 3 drives the fork scissor mechanism 8, which further drives the fork shovel 5 to rise and fall, and the carrying capacity is strong.

[0067] The preferred specific embodiments of the present invention are described in detail above. It should be understood that a person skilled in the art can make many modifications and changes based on the concept of the present invention without creative work. Therefore, any technical solution that can be obtained by a person skilled in the art through logical analysis, reasoning or limited experiments based on the concept of the present invention on the basis of the prior art should be within the scope of protection determined by the claims.

Claims

1. A plug-in type unmanned electric forklift based on visual intelligent navigation, characterized in that: The invention comprises a base (1), a vertical support (2), a lifting mechanism (3), a front slide plate (4), a fork shovel (5), a monitoring module (6), a control module (7), a fork-scissor mechanism (8) and a plurality of differential steering wheels (10), wherein the vertical support (2) is arranged on the base (1), the front slide plate (4) is vertically slidably arranged on the vertical support (2) and is in driving connection with the lifting mechanism (3), the fork-scissor mechanism (8) is arranged between the fork shovel (5) and the base (1) and is in driving connection with the front slide plate (4), the monitoring module (6) is arranged on the vertical support (2), the plurality of differential steering wheels (10) are arranged at the bottom of the base (1), and the control module (7) is electrically connected with the monitoring module (6) and the differential steering wheels (10); The control module (7) comprises a single-chip microcomputer (71), a transport control card (72), a coulomb counter (73), a drive board (74), a battery (75), an industrial control computer (76) and a stepper motor driver (77); the single-chip microcomputer (71), the transport control card (72), the stepper motor driver (77) and the differential steering wheel (10) are electrically connected in sequence; the battery (75) is connected to the coulomb counter (73), the single-chip microcomputer (71) and the industrial control computer (76); and the drive board (74) is electrically connected to the single-chip microcomputer (71); The monitoring module (6) comprises a gyroscope (62) and an angle sensor (65), the gyroscope (62) is connected to an industrial control computer (76), the angle sensor (65), the single chip microcomputer (71) and the industrial control computer (76) are connected in sequence, the gyroscope (62) is arranged on the top of the vertical support (2), and the angle sensor (65) is connected to the differential steering wheel (10); The base (1) comprises a main body base (11) and front legs (12), the vertical bracket (2) is arranged on the main body base (11), the front legs (12) are located directly below the fork shovel (5), and the fork shear mechanism (8) is arranged on the front legs (12).

2. According to claim 1, a plug-leg type unmanned electric forklift based on visual intelligent navigation is characterized in that: The monitoring module (6) comprises a proximity switch (64), wherein the proximity switch (64) is arranged on the front slide plate (4) and is electrically connected to the single chip computer (71).

3. The unmanned electric forklift with legs inserted based on visual intelligent navigation according to claim 1 is characterized in that: The monitoring module (6) comprises a first camera (61) and a second camera (63), wherein the first camera (61) and the second camera (63) are connected to an industrial control computer (76), wherein the first camera (61) is arranged on the top of the vertical support (2), and the second camera (63) is close to the base (1).

4. The unmanned electric forklift with legs inserted based on visual intelligent navigation according to claim 1 is characterized in that: The lifting mechanism (3) comprises a push cylinder (31), a sprocket (32), a chain (33) and a sprocket shaft (34); the push cylinder (31) and the driving plate (74) are electrically connected; a crossbeam (24) is horizontally provided on the vertical bracket (2); the output shaft of the push cylinder (31) is vertically arranged; the sprocket shaft (34) is fixed to the end of the output shaft; the sprocket (32) is arranged on the sprocket shaft (34); one end of the chain (33) is fixed to the crossbeam (24); the other end passes around the sprocket (32) and is fixedly connected to the front slide plate (4).

5. The unmanned electric forklift with legs inserted based on visual intelligent navigation according to claim 4 is characterized in that: A fixing ring (23) is provided on the crossbeam (24), and the fixing ring (23) is sleeved on the push cylinder (31).

6. The unmanned electric forklift with legs inserted based on visual intelligent navigation according to claim 1 is characterized in that: The front slide plate (4) is provided with a limit bearing (41), the vertical support (2) is vertically provided with a slide rail (21) matching the limit bearing (41), and the limit bearing (41) is slidably arranged on the slide rail (21).

7. The unmanned electric forklift with legs inserted based on visual intelligent navigation according to claim 1 is characterized in that: An electric control mounting plate (22) is provided on the vertical support (2), and the control module (7) is arranged on the electric control mounting plate (22).

Images