Intelligent logistics transfer trolley based on multi-sensor information fusion

Abstract

The intelligent logistics transfer trolley based on multi-sensor information fusion comprises a transfer frame, an electric trolley is inserted into the transfer frame, a distance measuring sensor is arranged on one side of the electric trolley, rollers are connected to the side wall of the bottom of the transfer frame, and an access sensor is arranged on the side, close to the distance measuring sensor, of the transfer frame; the access sensor is arranged at the top of the distance measuring sensor, and two sets of anti-collision assemblies are inserted into the side, close to the access sensor, of the transfer frame and are arranged in a mirroring mode relative to the vertical center line of the transfer frame. The lifting driving assembly drives the bottom support assembly to ascend and descend, the lower locking assembly is driven to be inserted into the side wall of the electric trolley, the electric trolley is combined with the transfer frame, then the electric trolley is driven by power of the electric trolley to transfer objects placed on the outward extending assembly, and the trolley avoids obstacles through a distance measuring sensor. And in addition, the abduction assembly can be driven to be stored through the bottom support assembly so as to pass through the space between two obstacles with the small width, and therefore the safety and stability of article transferring are guaranteed.

Description

Technical Field

[0001] The present invention relates to the technical field of logistics transfer vehicles, and in particular to an intelligent logistics transfer vehicle based on multi-sensor information fusion. Background Art

[0002] Intelligent logistics transfer vehicles, also known as automatic guided transport vehicles or autonomous mobile robots, are a key technology in the modern warehousing and logistics industry. They use advanced navigation technologies such as laser scanning, visual recognition, magnetic stripe following, GPS positioning, etc. to automatically complete material handling tasks in warehouses or factories without manual driving. Intelligent logistics transfer vehicles can carry out cargo handling according to preset paths or real-time instructions, greatly improving logistics efficiency. Through various sensors and algorithms, vehicles can achieve precise positioning and navigation in complex environments.

[0003] The top of the current intelligent logistics transfer vehicle adopts a placement table or a placement basket structure, and then the transferred items are placed inside the placement table or the placement basket. Although this type of storage and logistics transfer vehicle can adopt two structures for placing items according to different transferred items, this type of storage and logistics transfer vehicle has the following problems: 1. The items on the top of the logistics transfer vehicle with a placement table structure are easy to shift to both sides or even fall down, while the items on the top of the logistics transfer vehicle with a placement basket structure are not easy to take out, resulting in inconvenience in the transfer of items; 2. Since the placement table and the placement basket have fixed structures, when encountering obstacles on both sides and being unable to pass through, it is necessary to bypass the obstacles on both sides at the same time to reach the transfer location, which reduces the transfer efficiency.

[0004] In summary, there is a need for a logistics transfer vehicle that is efficient and stable in transfer. Summary of the invention

[0005] In view of the deficiencies in the prior art, the present invention provides an intelligent logistics transfer vehicle based on multi-sensor information fusion, which solves the problems mentioned in the background technology.

[0006] To achieve the above objectives, the present invention is implemented through the following technical solutions: An intelligent logistics transfer vehicle based on multi-sensor information fusion comprises a transfer frame, an electric trolley is plugged into the transfer frame, a distance measuring sensor is arranged on one side of the electric trolley, a roller is connected to the bottom side wall of the transfer frame, an entry and exit sensor is arranged on the side of the transfer frame close to the distance measuring sensor, the entry and exit sensor is arranged on the top of the distance measuring sensor, an anti-collision component is plugged into the side of the transfer frame close to the entry and exit sensor, two groups of anti-collision components are arranged in a mirror image about the vertical center line of the transfer frame, an exhibition support mechanism is arranged on the top surface of the transfer frame, and a lifting drive component is arranged on the side wall of the transfer frame, and two groups of lifting drive components are arranged in a mirror image about the vertical center line of the transfer frame, and the lifting drive component is used to drive the exhibition support mechanism to rise and fall, one side of the exhibition support mechanism is plugged into the side wall of the electric trolley, and one side of the exhibition support mechanism is driven down by the lifting drive component to be plugged into one side of the electric trolley; The support mechanism includes a bottom support assembly, an outward extension assembly, a side stop assembly and a lower lock assembly. The bottom support assembly is arranged on the top surface of the transfer rack. Both sides of the bottom of the bottom support assembly are plugged into the side walls of the transfer rack. One side of the bottom of the bottom support assembly is meshed and connected with one side of the lifting drive assembly. The top surface of the bottom support assembly is provided with an outward extension assembly. The outward extension assembly is driven by the bottom support assembly to expand and store toward both sides of the transfer rack. A side stop assembly is plugged into the expansion structure of the outward extension assembly. One side of the side stop assembly is connected to the side wall of the transfer rack. The side of the bottom support assembly away from the entry and exit sensor is connected to the lower lock assembly. The bottom of the lower lock assembly is plugged into the side wall of the electric trolley.

[0007] Furthermore, the lifting drive assembly includes a first fixed block, a first gear plate, a first motor and a second gear. A second slot is opened on the side wall of the transfer frame, the first fixed block is fixed inside the second slot, a second gear is arranged inside the first fixed block, the first motor is arranged on the side wall of the first fixed block, the rotating end of the first motor passes through the first fixed block, the rotating end of the first motor is fixedly connected to one side of the second gear, a first gear is arranged inside the transfer frame, one side of the bottom support assembly is inserted into the second slot, and one side of the bottom support assembly is meshed and connected between the first gear and the second gear.

[0008] Furthermore, the lifting drive assembly also includes a first tooth plate, one side of which is meshed with the second gear, the first tooth plate is inserted into the transfer frame, and the bottom end of the first tooth plate is inserted into the anti-collision assembly to lock and stop the anti-collision assembly.

[0009] Furthermore, the anti-collision assembly includes an anti-collision block, a plug plate, a plug rod and a first spring. The plug plate and the plug rod are fixed on one side of the anti-collision block. The plug plate and the plug plate are both plugged into the inside of the transfer frame. The end of the plug rod away from the anti-collision block is connected to the first spring, and the other end of the first spring is connected to the inside of the transfer frame. A lock groove is opened on one side of the plug plate, and the bottom end of the first tooth plate is plugged into the lock groove.

[0010] Furthermore, the bottom support assembly includes a support plate, a support plate, a second tooth plate, a second motor and a third gear. The support plate is fixed to the bottom surface of the support plate, the second tooth plate is sleeved on the bottom of the support plate, the second tooth plate is inserted into the second slot, the second tooth plate is meshingly connected between the first gear and the second gear, an extension assembly is provided on the top surface of the support plate, a slide groove and an installation groove are provided on the top surface of the support plate, there are two slide grooves, a second motor is provided inside the installation groove, the third gear is connected to the rotating top of the second motor, the third gear is meshingly connected to the inside of the extension assembly, and the bottom of the extension assembly is slidably inserted into the inside of the slide groove.

[0011] Furthermore, the base support assembly also includes an anti-sliding block, which is fixed to the bottom surface of the second tooth plate.

[0012] Furthermore, the outward expansion component includes an outward expansion plate, a width measuring sensor, a middle support plate, a gravity sensor and a third tooth plate. The gravity sensor is fixed to the top surface of the support plate, the top surface of the gravity sensor is provided with a middle support plate, the bottom surface of the middle support plate is plugged with the outward expansion plate, the bottom surface of the outward expansion plate is fixed with the third tooth plate, two outward expansion plates are provided that rotate 180° around the center of the third gear, the third tooth plate is slidably connected to the inside of the slide groove, the third gear is meshed and connected between the two third tooth plates, a side stop assembly is plugged into the inside of the outward expansion plate away from the middle support plate, the outward expansion plate is a concave structure, and a width measuring sensor is provided on the side wall of the outward expansion plate away from the middle support plate.

[0013] Furthermore, a protective plate is fixed on the top surface of the transfer rack, and two protective plates are mirror-imaged about the vertical center line of the transfer rack. Two storage grooves are provided on the side wall of the transfer rack, and the side wall of the expansion plate is slidably inserted into the storage groove.

[0014] Furthermore, the side baffle assembly includes a second baffle plate, a first guide rod and a second spring. The second baffle plate is inserted into the inside of the external expansion plate. A positioning block is fixed to the top side wall of the second baffle plate. A positioning groove is provided on the bottom surface of the internal part of the external expansion plate. The positioning groove is used for inserting and positioning the positioning block. The first guide rod is inserted into the inside of the second baffle plate. One end of the first guide rod is connected to the side wall of the transfer frame. The second spring is sleeved on the outer wall of the first guide rod.

[0015] Furthermore, the lower locking assembly includes a fourth tooth plate, a limit plate, a second guide rod, a third spring, a plug column, a fourth fixed block, a third guide rod, a fifth fixed block and a fourth gear, the fifth fixed block is fixed to the side wall of the support plate, the top surface of the fifth fixed block is connected to the second guide rod, the top of the second guide rod is fixed to the fourth fixed block, one side of the fourth fixed block is connected to the fourth tooth plate, both sides of the fourth tooth plate are meshed with fourth gears, the fourth gear is rotatably connected to the side wall of the protective plate, the outer wall of the fourth tooth plate is sleeved with the limit plate, and the side wall of the fourth tooth plate is fixed with the second A fixed block, a third fixed block is fixed on the side wall of the limit plate, a second guide rod is inserted into the inside of the second fixed block, the bottom end of the second guide rod is connected to the top surface of the third fixed block, a third spring is sleeved on the outer wall of the second guide rod, a plug column is fixed on the bottom surface of the limit plate, a first baffle is fixed on the top surface of the transfer frame, a first slot is opened inside the first baffle, the plug column is slidably inserted into the slot, a locking block is fixed on the side wall of the electric trolley, a locking hole is opened on the top surface of the locking block, the bottom end of the plug column is inserted into the lock hole, and a block is fixed on the side wall of the first baffle, and the block is used to stop the plug column from descending.

[0016] The present invention provides an intelligent logistics transfer vehicle based on multi-sensor information fusion. Compared with the prior art, it has the following beneficial effects: 1. The lifting drive assembly drives the bottom support assembly to rise and fall, drives the lower lock assembly to be plugged into the side wall of the electric trolley, combines the electric trolley with the transfer frame, and then uses the electric trolley's power to drive the objects placed on the outreach assembly to be transferred. The trolley uses the distance measuring sensor to avoid obstacles, and can drive the outreach assembly to be stored through the bottom support assembly so as to pass between two obstacles of smaller width, thereby ensuring the safety and stability of object transfer; 2. After placing the items on the outward extension component, the bottom support component is lowered so that the side block components are inserted and lifted outward to the top of both sides of the outward extension component, thereby effectively preventing the items from falling and ensuring the safety of item transfer. When unloading, the bottom support component is raised so that the outward extension component is lifted to the top of the side block component, and then the stowage component is driven to reduce the placement area, thereby facilitating the removal of the placed items and improving the convenience of taking out the items. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0018] Figure 1 The schematic diagram of the structure of the intelligent logistics transfer vehicle based on multi-sensor information fusion of the present invention is shown; Figure 2The overall bottom structure schematic diagram of the present invention is shown; Figure 3 The schematic diagram of the structure of the electric vehicle of the present invention is shown; Figure 4 A schematic diagram of the connection structure between the display support mechanism and the transfer frame of the present invention is shown; Figure 5 A schematic diagram of the connection structure between the lift drive assembly and the anti-collision assembly of the present invention is shown; Figure 6 A schematic diagram of the structure of the anti-collision assembly of the present invention is shown; Figure 7 A schematic diagram of the connection structure of the bottom support assembly, the outward extension assembly and the side stop assembly of the present invention is shown; Figure 8 A schematic diagram of the top surface structure of the support plate of the present invention is shown; Fig. 9 A schematic diagram of the connection structure between the outward extension assembly and the side stop assembly of the present invention is shown; Fig.10 A cross-sectional view of the connection structure between the lower locking assembly and the transfer rack of the present invention is shown; As shown in the figure: 1. Electric trolley; 11. Lock block; 111. Lock hole; 2. Distance sensor; 3. Transfer rack; 31. First baffle plate; 311. First slot; 32. Baffle plate; 33. Protective plate; 331. Storage slot; 34. Second slot; 35. First gear; 4. In / out sensor; 5. Roller; 6. Anti-collision assembly; 61. Anti-collision block; 62. Insert plate; 621. Lock slot; 63. Insert rod; 64. First spring; 7. Lifting drive assembly; 71. First fixing block; 72. First tooth plate; 73. First motor; 74. Second gear; 8. Support mechanism; 81. Bottom support assembly; 811. Support plate; 8111. Slide slot; 8112. Mounting slot; 812. Support plate; 813. Second tooth plate ;814, anti-sliding block;815, second motor;816, third gear;82, outward extension assembly;821, outward extension plate;8211, positioning groove;822, width measuring sensor;823, middle support plate;824, gravity sensor;825, third tooth plate;83, side block assembly;831, second baffle plate;8311, positioning block;832, first guide rod;833, second spring;84, lower locking assembly;841, fourth tooth plate;8411, second fixed block;842, limit plate;8421, third fixed block;843, second guide rod;844, third spring;845, plug column;846, fourth fixed block;847, third guide rod;848, fifth fixed block;849, fourth gear. DETAILED DESCRIPTION

[0019] In order to make the purpose, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention are clearly and completely described. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention. Embodiment 1

[0020] In order to solve the technical problems in the background technology, the following intelligent logistics transfer vehicle based on multi-sensor information fusion is given: Combination Figure 1-Figure 10 As shown, the intelligent logistics transfer vehicle based on multi-sensor information fusion provided by the present invention includes a transfer frame 3, an electric trolley 1 is plugged into the transfer frame 3, a distance sensor 2 is arranged on one side of the electric trolley 1, a roller 5 is connected to the bottom side wall of the transfer frame 3, an entry / exit sensor 4 is arranged on the side of the transfer frame 3 close to the distance sensor 2, and the entry / exit sensor 4 is arranged on the top of the distance sensor 2, and an anti-collision component 6 is plugged into the side of the transfer frame 3 close to the entry / exit sensor 4, and two groups of anti-collision components 6 are arranged in a mirror image with respect to the vertical center line of the transfer frame 3, a display support mechanism 8 is arranged on the top surface of the transfer frame 3, and a lifting drive component 7 is arranged on the side wall of the transfer frame 3, and two groups of lifting drive components 7 are arranged in a mirror image with respect to the vertical center line of the transfer frame 3, and the lifting drive component 7 is used to drive the display support mechanism 8 to rise and fall, and one side of the display support mechanism 8 is plugged into the side wall of the electric trolley 1, and one side of the display support mechanism 8 is driven down by the lifting drive component 7 to be plugged into one side of the electric trolley 1; The support mechanism 8 includes a bottom support component 81, an outward extension component 82, a side stop component 83 and a lower locking component 84. The bottom support component 81 is arranged on the top surface of the transfer frame 3. The two sides of the bottom of the bottom support component 81 are plugged into the side walls of the transfer frame 3. One side of the bottom of the bottom support component 81 is meshed and connected with one side of the lifting drive component 7. The top surface of the bottom support component 81 is provided with an outward extension component 82. The outward extension component 82 is driven by the bottom support component 81 to expand and store to the two sides of the transfer frame 3. The side stop component 83 is plugged into the expansion structure of the outward extension component 82. One side of the side stop component 83 is connected to the side wall of the transfer frame 3. The side of the bottom support component 81 away from the entry and exit sensor 4 is connected to the lower locking component 84. The bottom of the lower locking component 84 is plugged into the side wall of the electric trolley 1.

[0021] According to the above structure, the following effects can be achieved: 1. The lifting drive assembly 7 drives the bottom support assembly 81 to rise and fall, driving the lower lock assembly 84 to be plugged into the side wall of the electric trolley 1, combining the electric trolley 1 with the transfer frame 3, and then the electric trolley 1 is driven to transfer the items placed on the outward extension assembly 82. The trolley uses the distance sensor 2 to avoid obstacles, and the bottom support assembly 81 can drive the outward extension assembly 82 to be stored, so as to pass between two obstacles of smaller width, thereby ensuring the safety and stability of the item transfer; 2. After placing the items on the outward extension component 82, the bottom support component 81 is lowered so that the side stop components 83 are inserted and lifted outward to the top of both sides of the outward extension component 82, thereby effectively preventing the items from falling and ensuring the safety of the item transfer. When unloading, the bottom support component 81 is lifted so that the outward extension component 82 is lifted to the top of the side stop component 83, and then the folding and unfolding component is driven to fold and reduce the placement area, thereby facilitating the removal of the placed items and improving the convenience of taking out the items.

[0022] In this embodiment, the lifting drive assembly 7 includes a first fixed block 71, a first tooth plate 72, a first motor 73 and a second gear 74. A second slot 34 is opened on the side wall of the transfer frame 3. The first fixed block 71 is fixed inside the second slot 34. The second gear 74 is arranged inside the first fixed block 71. The first motor 73 is arranged on the side wall of the first fixed block 71. The rotating end of the first motor 73 runs through the inside of the first fixed block 71. The rotating end of the first motor 73 is fixedly connected to one side of the second gear 74. A first gear 35 is arranged inside the transfer frame 3. One side of the bottom bracket assembly 81 is inserted into the inside of the second slot 34. One side of the bottom bracket assembly 81 is meshed and connected between the first gear 35 and the second gear 74. The first motor 73 drives the bottom support assembly 81 to mesh and transmit between the first gear 35 and the second gear 74 to move up and down, thereby ensuring the stability of the bottom support assembly 81 in moving up and down.

[0023] In this embodiment, the lifting drive assembly 7 further includes a first tooth plate 72, one side of the first tooth plate 72 is meshedly connected with the second gear 74, the first tooth plate 72 is inserted into the transfer frame 3, and the bottom end of the first tooth plate 72 is inserted into the anti-collision assembly 6 to lock and stop the anti-collision assembly 6; When the driving base support assembly 81 rises, the first tooth plate 72 is inserted into the anti-collision assembly 6 and locked. When the driving base support assembly 81 descends, the first tooth plate 72 is pulled out from the anti-collision assembly 6 and unlocked, so that the anti-collision assembly 6 can further perform anti-collision operations, thereby improving the convenience of anti-collision operations.

[0024] In this embodiment, the anti-collision assembly 6 includes an anti-collision block 61, an insert plate 62, an insert rod 63 and a first spring 64. The insert plate 62 and the insert rod 63 are fixed to one side of the anti-collision block 61. The insert plate 62 and the insert plate 63 are both inserted into the transfer frame 3. The end of the insert rod 63 away from the anti-collision block 61 is connected to the first spring 64. The other end of the first spring 64 is connected to the transfer frame 3. A locking groove 621 is opened on one side of the insert plate 62, and the bottom end of the first tooth plate 72 is inserted into the locking groove 621. The first tooth plate 72 rises and separates from the lock groove 621, and then the insertion rod 63 is pushed outward under the elastic force of the first spring 64, so that the anti-collision block 61 is away from the transfer rack 3, and the transfer rack 3 is anti-collision and buffered in advance, thereby further improving the safety of logistics transportation. Embodiment 2

[0025] like Figure 3-Figure 10 As shown, based on the above embodiment, this embodiment further provides the following contents: In order to achieve the above effect, the following structure is adopted; The bottom support assembly 81 includes a support plate 811, a support plate 812, a second tooth plate 813, a second motor 815 and a third gear 816. The support plate 812 is fixed to the bottom surface of the support plate 811, and the second tooth plate 813 is sleeved on the bottom of the support plate 812. The second tooth plate 813 is inserted into the second slot 34, and the second tooth plate 813 is meshed and connected between the first gear 35 and the second gear 74. The top surface of the support plate 811 is provided with an extension assembly 82. The top surface of the support plate 811 is provided with a slide groove 8111 and a mounting groove 8112. There are two slide grooves 8111. The mounting groove 8112 is provided with a second motor 815. The rotating top of the second motor 815 is connected to the third gear 816. The third gear 816 is meshed and connected to the inside of the extension assembly 82, and the bottom of the extension assembly 82 is slidably inserted into the inside of the slide groove 8111.

[0026] In this embodiment, the bottom bracket assembly 81 further includes an anti-sliding block 814, and the anti-sliding block 814 is fixed to the bottom surface of the second tooth plate 813; When the second tooth plate 813 is driven to descend, the first tooth plate 72 rises to pop out the anti-collision component 6 to play a protective role. At the same time, the second tooth plate 813 drives the anti-sliding block 814 to descend and rub against the bottom surface, thereby effectively assisting the overall deceleration of the device and further improving the safety of logistics transportation.

[0027] In the present embodiment, the outward expansion assembly 82 comprises an outward expansion plate 821, a width measuring sensor 822, a middle support plate 823, a gravity sensor 824 and a third tooth plate 825. The gravity sensor 824 is fixed to the top surface of the support plate 811. The top surface of the gravity sensor 824 is provided with a middle support plate 823. The bottom surface of the middle support plate 823 is plugged with the outward expansion plate 821. The bottom surface of the outward expansion plate 821 is fixed with a third tooth plate 825. Two outward expansion plates 821 are provided to rotate 180° around the center of the third gear 816. The third tooth plate 825 is slidably connected to the inside of the slide groove 8111. The third gear 816 is meshedly connected between the two third tooth plates 825. The side stop assembly 83 is plugged into the inside of the outward expansion plate 821 away from the middle support plate 823. The outward expansion plate 821 is a concave structure. The side wall of the outward expansion plate 821 away from the middle support plate 823 is provided with a width measuring sensor 822. The passable width on the travel route is monitored by the width measuring sensor 822, and then the third gear 816 is used to simultaneously drive the two third tooth plates 825 to retract the two extension plates 821 into the bottom surface of the middle support plate 823, while driving the side block assembly 83 to move and gather objects for logistics to pass.

[0028] In this embodiment, a protective plate 33 is fixed on the top surface of the transfer rack 3, and two protective plates 33 are mirrored about the vertical center line of the transfer rack 3. Two storage grooves 331 are provided on the side wall of the transfer rack 3, and the side wall of the extension plate 821 is slidably inserted into the storage groove 331.

[0029] In this embodiment, the side baffle assembly 83 includes a second baffle plate 831, a first guide rod 832 and a second spring 833. The second baffle plate 831 is plugged into the outside of the expansion plate 821. A positioning block 8311 is fixed to the top side wall of the second baffle plate 831. A positioning groove 8211 is provided on the bottom surface of the outside of the expansion plate 821. The positioning groove 8211 is used for the positioning block 8311 to be plugged and positioned. The first guide rod 832 is plugged into the inside of the second baffle plate 831. One end of the first guide rod 832 is connected to the side wall of the transfer frame 3. The outer wall of the first guide rod 832 is sleeved with the second spring 833. The second baffle plate 831 is extended outside the extension plate 821 to protect the transferred items. When the extension plate 821 is stored, the second baffle plate 831 is used to gather the items so that the transferred logistics can pass through. Then, the extension plate 821 is driven to rise, so that the second baffle plate 831 moves relatively to the bottom of the extension plate 821, and the positioning block 8311 is inserted into the positioning groove 8211, so that the items can be removed from the extension plate 821.

[0030] In the present embodiment, the lower locking assembly 84 comprises a fourth tooth plate 841, a limiting plate 842, a second guide rod 843, a third spring 844, a plug column 845, a fourth fixed block 846, a third guide rod 847, a fifth fixed block 848 and a fourth gear 849. The fifth fixed block 848 is fixed to the side wall of the support plate 811. The top surface of the fifth fixed block 848 is connected to the second guide rod 843. The top of the second guide rod 843 is fixed to the fourth fixed block 846. One side of the fourth fixed block 846 is connected to the fourth tooth plate 841. Both sides of the fourth tooth plate 841 are meshedly connected to the fourth gear 849. The fourth gear 849 is rotatably connected to the side wall of the protective plate 33. The outer wall of the fourth tooth plate 841 is sleeved with the limiting plate 842. The side wall of the fourth tooth plate 841 is fixed with A second fixed block 8411 and a third fixed block 8421 are fixed to the side wall of the limit plate 842, a second guide rod 843 is inserted into the second fixed block 8411, the bottom end of the second guide rod 843 is connected to the top surface of the third fixed block 8421, a third spring 844 is sleeved on the outer wall of the second guide rod 843, a plug column 845 is fixed to the bottom surface of the limit plate 842, a first baffle plate 31 is fixed to the top surface of the transfer frame 3, a first slot 311 is provided inside the first baffle plate 31, and the plug column 845 is slidably inserted into the slot, a locking block 11 is fixed to the side wall of the electric trolley 1, a locking hole 111 is provided on the top surface of the locking block 11, and the bottom end of the plug column 845 is inserted into the locking hole 111, a stopper 32 is fixed to the side wall of the first baffle plate 31, and the stopper 32 is used to stop the plug column 845 from descending; After the pallet 811 is raised to receive the items, the pallet 811 drives the fourth tooth plate 841 to descend, so that the pin 845 is inserted into the lock hole 111 to position the electric trolley 1. Then, when the transferred items encounter obstacles, the transfer vehicle is slowed down by further lowering the pallet 811, and the fourth tooth plate 841 continues to move downward relative to the limit plate 842 to ensure the stability of the connection between the transfer frame 3 and the electric trolley 1.

[0031] The working principle and use process of the present invention: Press first Figure 1-Figure 10 The main items to be transferred are placed on the middle support plate 823, and some items are placed on the outer extension plate 821. The gravity sensor 824 measures the weight of the items, and then the electric trolley 1 is driven to be inserted into the interior of the transfer rack 3. The in-out sensor 4 senses that the electric trolley enters the interior of the transfer rack. The in-out sensor 4 is an LDS-50C-C30E radar sensor. Then the first motor 73 is started to drive the second gear 74 to rotate. The second gear 74 and the first gear 35 cooperate to drive the second tooth plate 813 to descend. The second tooth plate 813 drives the support plate 811 to descend. The support plate 811 pulls the fourth tooth plate 841 to descend through the third guide rod 847. The limit plate 842 pushes the plug post 845 downward. The plug post 845 slides inside the first slot 311 inside the first baffle plate 31. The plug post 845 is inserted downward into the lock hole 111 of the lock block 11, so that the electric trolley 1 and the transfer rack 3 are locked together. The electric trolley 1 is started, and the electric trolley 1 drives the transfer rack 3 and the placed items to move. The electric trolley 1 senses obstacles through the distance sensor 2 and avoids the obstacles. When the distance sensor 2 does not identify the obstacles, the width sensor 822 is used to detect that there are two obstacles. The width sensor 822 model is RLK198CCD. The second motor 815 is started, and the third gear 816 synchronously drives the two third gear plates 825 to slide inside the slide groove 8111. The two extension plates 821 move toward the bottom of the middle support plate 823. The second baffle plate 831 moves on the first guide rod 832 and compresses the second spring 833. The second baffle plate 831 pushes the items to move toward the middle support plate 823, and gathers the items on the extension plates 821 so that the width of the two extension plates 821 can pass between the two obstacles. When the electric trolley 1 encounters an obstacle during rapid transfer and needs to slow down, the first motor 73 is started to drive the second gear 74 to rotate, and the second gear 74 continues to drive the second tooth plate 813 to move downward, so that the anti-sliding block 814 rubs against the ground to slow down the movement of the electric trolley 1. At the same time, the second gear 74 drives the first tooth plate 72 to rise, and the first tooth plate 72 is pulled out from the lock slot 621. The first spring 64 pushes the rod 63 out, so that the anti-collision block 61 contacts the obstacle first, effectively buffering the safety of the transferred items.

[0032] It should be noted that, in this article, relational terms such as first and second, etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, the elements defined by the sentence "comprise a ..." do not exclude the existence of other identical elements in the process, method, article or device including the elements.

[0033] The above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit the same. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that the technical solutions described in the aforementioned embodiments may still be modified, or some of the technical features may be replaced by equivalents. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. Intelligent logistics transfer vehicle based on multi-sensor information fusion, characterized by: It includes a transfer frame, an electric trolley is plugged into the interior of the transfer frame, a distance measuring sensor is arranged on one side of the electric trolley, a roller is connected to the side wall of the bottom of the transfer frame, an entry and exit sensor is arranged on the side of the transfer frame close to the distance measuring sensor, the entry and exit sensor is arranged on the top of the distance measuring sensor, an anti-collision component is plugged into the side of the transfer frame close to the entry and exit sensor, two groups of anti-collision components are arranged in a mirror image with respect to the vertical center line of the transfer frame, an exhibition support mechanism is arranged on the top surface of the transfer frame, a lifting drive component is arranged on the side wall of the transfer frame, two groups of lifting drive components are arranged in a mirror image with respect to the vertical center line of the transfer frame, the lifting drive component is used to drive the exhibition support mechanism to rise and fall, one side of the exhibition support mechanism is plugged into the side wall of the electric trolley, and one side of the exhibition support mechanism is driven to descend by the lifting drive component to be plugged into one side of the electric trolley; The support mechanism includes a bottom support assembly, an outward extension assembly, a side stop assembly and a lower lock assembly. The bottom support assembly is arranged on the top surface of the transfer rack. Both sides of the bottom of the bottom support assembly are plugged into the side walls of the transfer rack. One side of the bottom of the bottom support assembly is meshed and connected with one side of the lifting drive assembly. The top surface of the bottom support assembly is provided with an outward extension assembly. The outward extension assembly is driven by the bottom support assembly to expand and store toward both sides of the transfer rack. A side stop assembly is plugged into the expansion structure of the outward extension assembly. One side of the side stop assembly is connected to the side wall of the transfer rack. The side of the bottom support assembly away from the entry and exit sensor is connected to the lower lock assembly. The bottom of the lower lock assembly is plugged into the side wall of the electric trolley.

2. The intelligent logistics transfer vehicle based on multi-sensor information fusion according to claim 1 is characterized by: The lifting drive assembly includes a first fixed block, a first gear plate, a first motor and a second gear. A second slot is opened on the side wall of the transfer frame. The first fixed block is fixed inside the second slot. The second gear is arranged inside the first fixed block. The first motor is arranged on the side wall of the first fixed block. The rotating end of the first motor passes through the first fixed block. The rotating end of the first motor is fixedly connected to one side of the second gear. The first gear is arranged inside the transfer frame. One side of the base support assembly is inserted into the second slot. One side of the base support assembly is meshed and connected between the first gear and the second gear.

3. The intelligent logistics transfer vehicle based on multi-sensor information fusion according to claim 2 is characterized by: The lifting drive assembly also includes a first tooth plate, one side of which is meshed with the second gear, the first tooth plate is inserted into the transfer frame, and the bottom end of the first tooth plate is inserted into the anti-collision assembly to lock and stop the anti-collision assembly.

4. The intelligent logistics transfer vehicle based on multi-sensor information fusion according to claim 3 is characterized by: The anti-collision assembly includes an anti-collision block, a plug plate, a plug rod and a first spring. The plug plate and the plug rod are fixed on one side of the anti-collision block. The plug plate and the plug plate are both plugged into the inside of the transfer frame. The end of the plug rod away from the anti-collision block is connected to the first spring, and the other end of the first spring is connected to the inside of the transfer frame. A lock groove is opened on one side of the plug plate, and the bottom end of the first tooth plate is plugged into the lock groove.

5. The intelligent logistics transfer vehicle based on multi-sensor information fusion according to claim 2 is characterized by: The bottom support assembly includes a support plate, a support plate, a second tooth plate, a second motor and a third gear. The support plate is fixed to the bottom surface of the support plate, the second tooth plate is sleeved on the bottom of the support plate, the second tooth plate is inserted into the second slot, the second tooth plate is meshed and connected between the first gear and the second gear, an extension assembly is provided on the top surface of the support plate, a slide groove and an installation groove are provided on the top surface of the support plate, there are two slide grooves, a second motor is provided inside the installation groove, the third gear is connected to the rotating top of the second motor, the third gear is meshed and connected to the inside of the extension assembly, and the bottom of the extension assembly is slidably inserted into the inside of the slide groove.

6. The intelligent logistics transfer vehicle based on multi-sensor information fusion according to claim 5 is characterized by: The bottom bracket assembly also includes an anti-sliding block, which is fixed to the bottom surface of the second tooth plate.

7. The intelligent logistics transfer vehicle based on multi-sensor information fusion according to claim 5 is characterized by: The outward expansion component includes an outward expansion plate, a width measuring sensor, a middle support plate, a gravity sensor and a third tooth plate. The gravity sensor is fixed on the top surface of the support plate, the top surface of the gravity sensor is provided with a middle support plate, the bottom surface of the middle support plate is plugged with the outward expansion plate, the bottom surface of the outward expansion plate is fixed with the third tooth plate, two outward expansion plates are provided that rotate 180° around the center of the third gear, the third tooth plate is slidably connected to the inside of the slide groove, the third gear is meshed and connected between the two third tooth plates, a side stop assembly is plugged into the inside of the outward expansion plate away from the middle support plate, the outward expansion plate is a concave structure, and a width measuring sensor is provided on the side wall of the outward expansion plate away from the middle support plate.

8. The intelligent logistics transfer vehicle based on multi-sensor information fusion according to claim 7 is characterized by: A protective plate is fixed on the top surface of the transfer rack, and two protective plates are arranged in a mirror image with respect to the vertical center line of the transfer rack. Two storage grooves are arranged on the side wall of the transfer rack, and the side wall of the expansion plate is slidably inserted into the storage groove.

9. The intelligent logistics transfer vehicle based on multi-sensor information fusion according to claim 7 is characterized by: The side baffle assembly includes a second baffle plate, a first guide rod and a second spring. The second baffle plate is inserted into the inside of the expansion plate. A positioning block is fixed to the top side wall of the second baffle plate. A positioning groove is opened on the bottom surface of the expansion plate. The positioning groove is used for inserting and positioning the positioning block. The first guide rod is inserted into the inside of the second baffle plate. One end of the first guide rod is connected to the side wall of the transfer frame. The second spring is sleeved on the outer wall of the first guide rod.

10. The intelligent logistics transfer vehicle based on multi-sensor information fusion according to claim 7 is characterized in that: The lower locking assembly includes a fourth tooth plate, a limit plate, a second guide rod, a third spring, a plug column, a fourth fixed block, a third guide rod, a fifth fixed block and a fourth gear, the fifth fixed block is fixed to the side wall of the support plate, the top surface of the fifth fixed block is connected to the second guide rod, the top of the second guide rod is fixed to the fourth fixed block, one side of the fourth fixed block is connected to the fourth tooth plate, both sides of the fourth tooth plate are meshed and connected to the fourth gear, the fourth gear is rotatably connected to the side wall of the protective plate, the outer wall of the fourth tooth plate is sleeved with the limit plate, and the side wall of the fourth tooth plate is fixed with the second fixed A third fixed block is fixed to the side wall of the limit plate, a second guide rod is inserted into the inside of the second fixed block, the bottom end of the second guide rod is connected to the top surface of the third fixed block, a third spring is sleeved on the outer wall of the second guide rod, a plug column is fixed to the bottom surface of the limit plate, a first baffle is fixed to the top surface of the transfer frame, a first slot is opened inside the first baffle, the plug column is slidably inserted into the slot, a locking block is fixed to the side wall of the electric trolley, a locking hole is opened on the top surface of the locking block, the bottom end of the plug column is inserted into the lock hole, and a block is fixed to the side wall of the first baffle, and the block is used to stop the plug column from descending.

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