AGV forklift based on hierarchical design and hierarchical design method

Abstract

The invention provides an AGV forklift layering and design method based on hierarchical design, and the method comprises the steps that an AGV forklift is divided into a scheduling system, a navigation control system and an electromechanical-hydraulic drive-by-wire system according to system functions from the top layer to the bottom layer, the scheduling system is used for task scheduling, path planning and traffic control, the navigation control system is used for navigation control, and the electromechanical-hydraulic drive-by-wire system is used for navigation control. The dispatching system and the navigation control system are connected through a communication interface, a communication protocol is determined, the navigation control system is used for butt joint of the dispatching system and the electromechanical-hydraulic drive-by-wire system and detection of the operation state of the AGV forklift, and the electromechanical-hydraulic drive-by-wire system is used for operation action execution.

Description

Technical Field

[0001] The present application relates to the technical field of forklift control, and in particular to an AGV forklift based on hierarchical design and a hierarchical design method. Background Art

[0002] With the rapid development of the logistics and warehousing industry, especially the popularization of the concepts of lighthouse factories and unmanned logistics, as well as the widespread application of electrification technology, the demand for logistics automation equipment has increased dramatically. As an important part of logistics automation, AGV (automatic guided vehicle) forklifts have become important equipment in the field of warehousing and logistics due to their high efficiency, flexibility and intelligence. However, the traditional standard AGV forklift design has a high degree of coupling between the various systems, and the collaborative work between systems depends on complex control logic and tight hardware connections. This design method not only increases the complexity of the product, but also limits the flexibility and scalability of the product, making it difficult to respond and adjust quickly according to different application scenarios and needs. Summary of the invention

[0003] In order to solve the technical problems existing in the prior art, the present application provides an AGV forklift based on hierarchical design and a hierarchical design method, which can reduce the coupling between various systems through hierarchical design, improve the system cohesion and modularity, and thus realize the rapid customization and efficient production of AGV forklifts.

[0004] The first aspect of the present application provides a hierarchical design method for an AGV forklift based on hierarchical design, comprising dividing the AGV forklift according to system functions from top to bottom into: a scheduling system, a navigation control system and an electromechanical-hydraulic wire control system, wherein the scheduling system is used for task scheduling, path planning and traffic control; connecting the scheduling system and the navigation control system through a communication interface, and determining a communication protocol, wherein the navigation control system is used for docking the scheduling system with the electromechanical-hydraulic wire control system and performing operating status detection on the AGV forklift, and the electromechanical-hydraulic wire control system is used for executing operating actions.

[0005] Furthermore, the scheduling system includes a communication module, an intelligent control module and a display module. The intelligent control module determines the work task and formulates the path planning based on the task requirements and the status of the AGV forklift fed back by the navigation control system; the communication module is used to transmit the work task and path planning to the navigation control system.

[0006] Furthermore, the navigation control system receives the information transmitted by the communication module and translates the instructions into specific actions implemented by the electromechanical-hydraulic wire control system.

[0007] The second aspect of the present application provides an AGV forklift based on hierarchical design, which is used to implement the above-mentioned hierarchical design method of AGV forklift based on hierarchical design, including: a scheduling system, a navigation control system and an electromechanical-hydraulic wire control system, the scheduling system and the navigation control system are connected via a communication interface, wherein the scheduling system is used for task scheduling, path planning and traffic control, the navigation control system is used for docking the scheduling system with the electromechanical-hydraulic wire control system and performing operating status detection on the AGV forklift, and the electromechanical-hydraulic wire control system is used for executing operating actions.

[0008] Furthermore, the scheduling system includes a communication module, an intelligent control module and a display module. The intelligent control module determines the work task and formulates the path planning based on the task requirements and the status of the AGV forklift fed back by the navigation control system; the communication module is used to transmit the work task and path planning to the navigation control system.

[0009] Furthermore, the AGV navigation control system includes a navigation sensor, a positioning device, a vehicle-mounted controller, a wireless communication module and a safety protection device; wherein the wireless communication module is used for the work tasks and path planning transmitted by the scheduling system; the navigation sensor and the positioning device are used to perceive the surrounding environment in real time and obtain the vehicle position, posture and obstacle information; the vehicle-mounted controller is used to transmit control instructions to the electromechanical-hydraulic wire control system according to the work tasks and path planning transmitted by the scheduling system and the surrounding environment information obtained by the navigation sensor and the positioning device, thereby controlling the movement and operation of the AGV forklift.

[0010] Furthermore, the electromechanical-hydraulic wire control system includes a mechanical system, a hydraulic system, an electrical control system and a wire control system; the mechanical system includes: a frame system, a gantry system, a transmission system and a braking system, which are used to pick up or put down goods; the hydraulic system is used to provide hydraulic power for the mechanical system; the electrical control system includes: a motor controller, a motor and a battery pack, which are used to drive the AGV forklift to move; the wire control system includes: a wire control unit, which is used to receive signals sent from the navigation system, and send control instructions to the electrical system and the hydraulic system after processing the signals.

[0011] Furthermore, the navigation sensor includes an obstacle avoidance radar, a navigation radar, a weighing sensor, a speed sensor, a height sensor, an inclination sensor, a steering sensor, a position sensor and a 3D camera, and the positioning device includes a magnetic strip or a magnetic nail, a QR code, a laser reflector, and the navigation sensor and the positioning device are used to perceive the surrounding environment in real time and obtain the vehicle position, posture and obstacle information.

[0012] Furthermore, the navigation control system also includes a driving recorder, which is set to a sentinel mode to collect 360-degree video data of the AGV forklift in real time and upload the video data to the cloud or locally as needed.

[0013] Furthermore, the positioning device includes a magnetic strip or a magnetic nail, a QR code and a laser reflective plate.

[0014] Compared with the prior art, the beneficial effects of this application are: The hierarchical design method for AGV forklifts provided in the embodiment of the present application can quickly decouple the design of AGV forklifts into three independent levels: electromechanical hydraulic wire-controlled vehicle body design, navigation control design, and dispatching system design. This hierarchical structure promotes the independent and standardized implementation of design solutions at each level, significantly improving the flexibility and scalability of the design. The mutual independence between each system improves the cohesion and modularity of the system, thereby realizing the rapid customization and efficient production of AGV forklifts. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Figure 1 It is a flow chart of the hierarchical design method of AGV forklift based on hierarchical design of the present application; Figure 2 It is a schematic diagram of the hierarchical design method of the AGV forklift based on hierarchical design of the present application; Figure 3 is a top view of the AGV based on the layered design of the present application; Figure 4 It is a front view of the AGV based on the layered design of the present application; Description of reference numerals: 1. Left obstacle avoidance radar; 2. Anti-edge sensor; 3. Force limiter; 4. Electronic steering mechanism; 5. Front obstacle avoidance radar; 6. Right obstacle avoidance radar; 7. Navigation radar; 8. Navigation control host; 9. On-board controller; 10. Rear axle force limiter; 11. Weighing sensor; 12. Speed ​​sensor; 13. Height sensor; 14. Tilt sensor; 15. Steering sensor; 16. Driving recorder; 17. Position sensor; 18. 3D camera. DETAILED DESCRIPTION

[0016] In order to facilitate the understanding of the present application, the technical solutions in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0017] refer to Figure 1As shown, the present application provides a layered design method for an AGV forklift, comprising dividing the AGV forklift according to system functions from top to bottom into: a scheduling system, a navigation control system and an electromechanical-hydraulic wire control system, wherein the scheduling system is used for task scheduling, path planning and traffic control; the scheduling system and the navigation control system are connected through a communication interface, and a communication protocol is determined, wherein the navigation control system is used for docking the scheduling system with the electromechanical-hydraulic wire control system and performing operating status detection on the AGV forklift, and the electromechanical-hydraulic wire control system is used for executing operating actions.

[0018] The hierarchical design method for AGV forklifts provided in this embodiment can quickly decouple the design of AGV forklifts into three independent levels: electromechanical hydraulic wire-controlled vehicle body design, navigation control design, and dispatching system design. This hierarchical structure promotes the independent and standardized implementation of design solutions at each level, significantly improving the flexibility and scalability of the design. The mutual independence between each system improves the cohesion and modularity of the system, thereby realizing the rapid customization and efficient production of AGV forklifts.

[0019] In some embodiments, the scheduling system includes a communication module, an intelligent control module and a display module. The intelligent control module determines the work task based on the task requirements and the status of the AGV forklift feedback from the navigation control system, and formulates a path plan; the communication module is used to transmit the work task and path plan to the navigation control system.

[0020] In some embodiments, the navigation control system receives information transmitted by the communication module, and translates the instructions into specific actions implemented by the electromechanical hydraulic wire control system, and performs operating status detection on the AGV forklift.

[0021] The present application also provides an AGV forklift based on a layered design, including: a scheduling system, a navigation control system and an electromechanical-hydraulic wire control system, wherein the scheduling system and the navigation control system are connected via a communication interface, wherein the scheduling system is used for task scheduling, path planning and traffic control, the navigation control system is used for docking the scheduling system with the electromechanical-hydraulic wire control system and performing operating status detection on the AGV forklift, and the electromechanical-hydraulic wire control system is used for executing operating actions.

[0022] In some embodiments, the dispatching system includes a communication module, an intelligent control module and a display module. The intelligent control module determines the operation task based on the task requirements and the state of the AGV forklift fed back by the navigation control system, and formulates the path planning; the communication module is used to transmit the operation task and the path planning to the navigation control system. Specifically, the communication module uses a router or a switch, the intelligent control module includes an industrial computer and an intelligent controller; the display module includes a display, and these hardware can ensure the computing power of the dispatching system, and at the same time can ensure the network security of the dispatching system.

[0023] In some embodiments, the navigation control system includes a navigation sensor, a positioning device, a vehicle-mounted controller 9, a wireless communication module and a safety protection device; wherein the wireless communication module is used for the work tasks and path planning transmitted by the scheduling system; the navigation sensor and the positioning device are used to perceive the surrounding environment in real time and obtain the vehicle position, posture and obstacle information; the vehicle-mounted controller 9 is used to transmit control instructions to the electromechanical hydraulic wire control system according to the work tasks and path planning transmitted by the scheduling system and the surrounding environment information obtained by the navigation sensor and the positioning device, thereby controlling the movement and operation of the AGV forklift.

[0024] In some embodiments, the on-board controller 9 includes a PLC, an industrial computer or a single-chip microcomputer; the on-board controller 9 transmits information such as the real-time position, status and task execution status of the AGV forklift to the scheduling system for monitoring and management through a wireless communication module; and at the same time receives task instructions and control parameters sent by the scheduling system.

[0025] There are many options for the specific setting of the positioning device, such as magnetic strips or magnetic nails, QR codes, laser reflective plates, navigation sensors and positioning devices are used to perceive the surrounding environment in real time and obtain vehicle position, posture and obstacle information.

[0026] In some embodiments, the navigation sensor includes an obstacle avoidance radar, a navigation radar 7, a weighing sensor 11, a speed sensor 12, a height sensor 13, an inclination sensor 14, a steering sensor 15, a position sensor 17 and a 3D camera 18. Among them, the navigation radar 7 has its own IMU function, and can use the 3D-SLAM technical route to build a map, provide a three-dimensional coordinate system for the AGV forklift, and cooperate with the active obstacle avoidance algorithm of the scheduling system to perform path learning and planning. The obstacle avoidance radar includes a left obstacle avoidance radar 1, a front obstacle avoidance radar 5, and a right obstacle avoidance radar 6. The main function is to avoid non-contact obstacles. It belongs to early warning obstacle avoidance, which can provide a buffer time for the vehicle during high-speed operation to avoid unexpected risks. In conjunction with the navigation radar, a three-dimensional buffer space can be provided for the AGV forklift. The navigation sensor also includes an anti-touch edge sensor 2, which is the last line of defense for AGV obstacle avoidance. The navigation control system also includes a force limiter 3 and a rear axle force limiter 10. The force limiter 3, the rear axle force limiter 10, the weighing sensor 11, the speed sensor 12, the height sensor 13 and the inclination sensor 14 can provide the AGV forklift with calculation feedback of a stable triangle, which can meet the conditional judgment of the longitudinal and lateral stability of the AGV forklift, and improve the safety and stability of the AGV forklift. The steering sensor 15 is an important component of the AGV forklift. The steering sensor 15 can feedback the steering angle of the forklift and simultaneously provide direct feedback of correction to the on-board controller 9, which plays a key role in the control accuracy of the forklift. The position sensor 17 and the 3D camera 18 are the key components of the pallet of the AGV forklift. The 3D camera 18 obtains the position information of the pallet by shooting, and performs real-time processing and analysis to ensure the detection of the pallet status in the automated logistics system.

[0027] In some embodiments, the navigation control system further includes a driving recorder 16, which is set to a sentinel mode to collect 360-degree video data of the AGV forklift in real time and upload the video data to the cloud or locally as required, so as to facilitate understanding of the on-site working conditions and prevent accidents and disputes.

[0028] In some embodiments, there are multiple options for the specific setting of the safety protection device, such as an emergency stop button, a photoelectric switch, and a speed limiter to ensure the safety of the AGV during operation.

[0029] In some embodiments, the electromechanical hydraulic wire control system includes a mechanical system, a hydraulic system, an electrical control system and a wire control system; the wire control system, the electrical control system and the hydraulic system exchange data and communicate with each other through the CAN bus. The mechanical system includes: a frame system, a gantry system, a transmission system and a brake system for picking up or putting down goods; the hydraulic system is used to provide hydraulic power for the mechanical system; the electrical control system includes: a motor controller, a motor and a battery pack for driving the AGV forklift to move; the wire control system includes: a wire control unit for receiving signals sent from the navigation system, processing the signals and sending control instructions to the electrical system and the hydraulic system.

[0030] Among them, the frame system is used as the supporting structure of the whole vehicle to support all parts of the AGV forklift. The gantry system is used to install forks and hydraulic cylinders to realize the lifting and tilting of goods; the forks can directly carry goods, and the goods can be transported by the drive of the hydraulic cylinder. The hydraulic system includes a hydraulic pump, a hydraulic valve, a driving hydraulic cylinder, an oil tank and an oil pipe. The hydraulic cylinder can realize the lifting and tilting of the forklift through the pressure of the hydraulic oil; the hydraulic valve includes a reversing valve and a pressure valve, which are used to control the flow direction and pressure of the hydraulic oil to achieve precise control of the hydraulic system; the oil tank and the oil pipe are used to store the hydraulic oil and transport the hydraulic oil to each hydraulic component through the oil pipe. The electrical control system includes: a motor controller, a motor and a battery pack. The motor controller is the core component of the electrical control system. The controller is responsible for controlling the battery pack to provide electrical energy to the motor, so that the motor can realize functions such as acceleration, deceleration, and steering; the battery pack is the energy source of the system. The battery pack provides electrical energy to the motor and the motor controller to meet the various power requirements of the forklift.

[0031] When working, the dispatch system receives task requests from the production management system, pager or other sources. Then, based on factors such as the type of task, priority, the current location of the AGV forklift, idle status, and available resources, the dispatch system assigns the task to the most suitable AGV forklift. The dispatch system plans the best path and driving strategy for the AGV forklift based on the task and environmental requirements. This includes considering factors such as map data, environmental perception, obstacle avoidance, and traffic flow. The AGV forklift navigates according to the planned path and maintains real-time communication with the dispatch system during driving. The dispatch system monitors the status, location, and driving conditions of the AGV forklift in real time to ensure that they can reach their destination safely and accurately.

[0032] AGV forklifts perform tasks according to the planned path, such as moving items and transporting goods. The dispatching system monitors the operating status of AGV forklifts in real time, including speed, power, fault information, etc. At the same time, the dispatching system also records key data during the task execution process, such as task time, travel distance, etc.

[0033] After the AGV forklift completes the task, it will send a task completion signal to the dispatch system. After receiving the task completion signal, the dispatch system will update the task status and record relevant data. At the same time, the dispatch system will also send a task completion notification to relevant systems or personnel.

[0034] If an AGV forklift fails or experiences an abnormality during a task, the dispatch system will immediately handle the fault. This may include re-planning the route, dispatching other AGV forklifts to perform the task, or sending a fault report to maintenance personnel. In an emergency, such as when a workshop suddenly needs to make an urgent delivery, the dispatch system will prioritize high-priority tasks and adjust the task allocation and route planning of other AGV forklifts to deal with the emergency.

[0035] The dispatching system will record and store the operation data of AGV forklifts, such as task time, travel distance, energy consumption, etc. By analyzing the operation data, the dispatching system can improve the path planning and task allocation strategy, improve the overall efficiency and operation management level. At the same time, data analysis can also help identify potential problems and bottlenecks, and provide a basis for future optimization and improvement.

[0036] The above shows and describes the basic principles, main features and advantages of the present application. Those skilled in the art should understand that the present application is not limited by the above embodiments. The above embodiments and descriptions are only for explaining the principles of the present application. Without departing from the spirit and scope of the present application, the present application may have various changes and improvements, which fall within the scope of the present application to be protected. The scope of protection claimed in the present application is defined by the attached claims and their equivalents.

Claims

1. A hierarchical design method for AGV forklifts based on hierarchical design, characterized in that: It includes dividing the AGV forklift into a scheduling system, a navigation control system and an electromechanical-hydraulic wire control system according to system functions from top to bottom, wherein the scheduling system is used for task scheduling, path planning and traffic control; connecting the scheduling system and the navigation control system through a communication interface, and determining a communication protocol, wherein the navigation control system is used for docking the scheduling system with the electromechanical-hydraulic wire control system and performing operating status detection on the AGV forklift, and the electromechanical-hydraulic wire control system is used for executing operating actions.

2. The hierarchical design method for AGV forklifts based on hierarchical design according to claim 1 is characterized in that: The scheduling system includes a communication module, an intelligent control module and a display module. The intelligent control module determines the operation task and formulates the path planning based on the task requirements and the status of the AGV forklift fed back by the navigation control system; the communication module is used to transmit the operation task and path planning to the navigation control system.

3. The hierarchical design method for AGV forklifts based on hierarchical design according to claim 2 is characterized in that: The navigation control system receives the information transmitted by the communication module and translates the instructions into specific actions implemented by the electromechanical hydraulic wire control system.

4. An AGV forklift based on hierarchical design, used to implement the AGV forklift hierarchical design method based on hierarchical design as claimed in any one of claims 1 to 3, characterized in that: include: A dispatching system, a navigation control system and an electromechanical-hydraulic wire control system, wherein the dispatching system and the navigation control system are connected via a communication interface, wherein the dispatching system is used for task scheduling, path planning and traffic control, the navigation control system is used for docking the dispatching system with the electromechanical-hydraulic wire control system and performing operating status detection on the AGV forklift, and the electromechanical-hydraulic wire control system is used for executing operating actions.

5. The AGV forklift based on layered design according to claim 4 is characterized in that: The scheduling system includes a communication module, an intelligent control module and a display module. The intelligent control module determines the operation task and formulates the path planning based on the task requirements and the status of the AGV forklift fed back by the navigation control system; the communication module is used to transmit the operation task and path planning to the navigation control system.

6. The AGV forklift based on layered design according to claim 4, characterized in that: The AGV navigation control system includes a navigation sensor, a positioning device, an on-board controller, a wireless communication module and a safety protection device; wherein the wireless communication module is used for the work tasks and path planning transmitted by the scheduling system; the navigation sensor and the positioning device are used to perceive the surrounding environment in real time and obtain the vehicle position, posture and obstacle information; the on-board controller is used to transmit control instructions to the electromechanical hydraulic wire control system according to the work tasks and path planning transmitted by the scheduling system and the surrounding environment information obtained by the navigation sensor and the positioning device, thereby controlling the movement and operation of the AGV forklift.

7. The AGV forklift based on layered design according to claim 4, characterized in that: The electromechanical-hydraulic wire control system includes a mechanical system, a hydraulic system, an electrical control system and a wire control system; the mechanical system includes: a frame system, a gantry system, a transmission system and a braking system, which are used to pick up or put down goods; the hydraulic system is used to provide hydraulic power for the mechanical system; the electrical control system includes: a motor controller, a motor and a battery pack, which are used to drive the AGV forklift to move; the wire control system includes: a wire control unit, which is used to receive signals sent from the navigation system, and send control instructions to the electrical system and the hydraulic system after processing the signals.

8. The AGV forklift based on layered design according to claim 6, characterized in that: The navigation sensor includes an obstacle avoidance radar, a navigation radar, a weighing sensor, a speed sensor, a height sensor, an inclination sensor, a steering sensor, a position sensor and a 3D camera. The positioning device includes a magnetic strip or a magnetic nail, a QR code, and a laser reflector. The navigation sensor and the positioning device are used to perceive the surrounding environment in real time and obtain the vehicle position, posture and obstacle information.

9. The AGV forklift based on layered design according to claim 8, characterized in that: The navigation control system also includes a driving recorder, which is set to a sentinel mode to collect 360-degree video data of the AGV forklift in real time and upload the video data to the cloud or locally as needed.

10. The AGV forklift based on layered design according to claim 8, characterized in that: The positioning device includes a magnetic strip or magnetic nail, a QR code and a laser reflective plate.

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