Flexible self-adaptive split type AGV vehicle storing and taking method

Abstract

The invention relates to a flexible self-adaptive split AGV (Automatic Guided Vehicle) parking and taking method, which belongs to the field of intelligent three-dimensional parking equipment and comprises the following steps: S1, taking a vehicle; and S1-1, the self-adaptive split type AGV recovers the default state, the server upper computer system interacts with the self-adaptive split type AGV and issues a moving instruction, and the self-adaptive split type AGV runs to the front of the vehicle. According to the flexible self-adaptive split type AGV vehicle storing and taking method, the comb teeth in the flexible split device are used for supporting the limiting wheels, the supporting legs are used for lifting or lowering the flexible split device, the vehicle storing and taking function is achieved through the flexible split device, the flexible inserting and lifting type vehicle storing and taking action is achieved, and the purposes that the storing and taking action is faster, more convenient and faster are achieved. The mechanical action of searching the position of a tire is not needed, the overall parking and picking-up exchange time is short, action instructions of transverse movement, longitudinal movement, rotation and the like are issued to the self-adaptive split type AGV through the server upper computer system, a parking space parking frame and a guide rail are not needed, and the overall construction cost is reduced.

Description

Technical Field

[0001] The invention relates to the technical field of intelligent three-dimensional parking equipment, and in particular to a flexible self-adaptive split AGV vehicle storage and retrieval method. Background Art

[0002] Among the multi-story parking equipment available on the market, most of the fully intelligent unmanned multi-story garages use intelligent handling equipment. The types of intelligent handling equipment are mainly rail-type carriers, such as fixed comb-tooth carriers, telescopic comb-tooth carriers, clamp-type carriers, etc. In addition, the existing AGVs are mainly a deformation design of the above-mentioned clamp-type carriers, which are characterized by directly penetrating under the vehicle and transporting the vehicle to the designated location to realize the function of storing and retrieving the vehicle. Although it can solve the disadvantage of the complex structural body of the multi-story garage parking floor, due to the limitation of the low height of the vehicle chassis, these carriers cannot be made very thick and the diameter of the running wheels is very small.

[0003] In the current existing technology, the three-dimensional garage relying on the carrier in the intelligent three-dimensional parking equipment needs to be equipped with fixed lateral and longitudinal guide rails, vehicle carriers, etc., which makes the parking floor of the three-dimensional garage have a complex structure. The existing AGV is limited by the vehicle chassis and the carrier has low obstacle crossing ability. Therefore, the flatness and surface treatment of the parking floor are required to be high. The diameter of the running wheel is small. Even if the vehicle drops small gravel, if the walking speed is too fast, it is easy to lose control and fall off. Therefore, a flexible adaptive split AGV vehicle storage and retrieval method is proposed to solve the above problems. Summary of the invention

[0004] In view of the shortcomings of the prior art, the present invention provides a flexible and adaptive split AGV vehicle storage and retrieval method, which has the advantages of high obstacle surmounting ability and fast vehicle storage and retrieval action, and solves the problem that the three-dimensional garage relying on the carrier in the intelligent three-dimensional parking equipment needs to be equipped with fixed lateral and longitudinal guide rails, vehicle carriers, etc., which makes the parking floor of the three-dimensional garage have a complex structural body. The existing AGV is limited by the vehicle chassis and the carrier has low obstacle surmounting ability. Therefore, it has high requirements on the flatness and surface treatment of the parking floor. The running wheel diameter is small. Even if small gravel falls from the vehicle, the vehicle may easily lose control and fall off if the walking speed is too fast.

[0005] To achieve the above object, the present invention provides the following technical solution: a flexible and adaptive split AGV storage and retrieval method, comprising the following steps:

[0006] S1 pick up the car;

[0007] S1-1 The self-adaptive split AGV returns to the default state. The server host system interacts with the self-adaptive split AGV and issues a movement command. The self-adaptive split AGV moves to the front of the vehicle. The default state of the flexible splitter is that the comb teeth and support feet are retracted into the road, and the walking wheels fall on the storage and retrieval vehicle AGV base station.

[0008] The S1-2 flexible splitter detaches from the AGV base station for storing and retrieving vehicles, and the flexible splitter moves forward to the bottom of the vehicle;

[0009] The comb teeth of the S1-3 flexible splitter approach the tire, and the comb teeth and the support legs extend sideways. Part of the comb teeth touch the tire, and the comb teeth stop extending outward. Meanwhile, the comb teeth that do not touch the tire continue to extend from the front and back of the tire until they are in place.

[0010] S1-4 The flexible splitter lifts the wheel, the support leg descends and extends, the entire body of the flexible splitter is lifted by the support leg, and the running wheel leaves the ground. At this time, the comb teeth extending from the front and rear of the tire lift the wheel, thereby making the vehicle leave the ground;

[0011] S1-5 The storage and retrieval vehicle AGV base station and the flexible splitter are combined, and the storage and retrieval vehicle AGV base station moves to the bottom of the flexible splitter in the lifted state, the supporting feet of the flexible splitter are shortened, and the entire flexible splitter body and the lifted vehicle fall on the storage and retrieval vehicle AGV base station;

[0012] S1-6 picks up the vehicle and transports it to the designated location. The AGV base station for storing and retrieving the vehicle picks up the vehicle and transports it to the designated location according to the instructions of the server host system to complete the vehicle retrieval action;

[0013] S2 parking;

[0014] The S2-1 server host system interacts with the adaptive split AGV and issues movement instructions, and the adaptive split AGV transports the vehicle to the designated location;

[0015] S2-2 The storage and retrieval vehicle AGV base station and the flexible splitter are separated, the supporting legs of the flexible splitter are extended, the entire flexible splitter body and the lifted vehicle are separated from the storage and retrieval vehicle AGV base station up and down, and then the storage and retrieval vehicle AGV base station leaves the flexible splitter from the front and back directions;

[0016] The S2-3 flexible splitter lowers the wheels, and the supporting feet of the flexible splitter are shortened, so that the running wheels and wheels fall to the ground;

[0017] The comb teeth of the S2-4 flexible splitter leave the wheel, and the comb teeth and the supporting feet retract laterally until they are retracted into place, and the flexible splitter is separated from the wheel;

[0018] S2-5 The flexible splitter enters the AGV base station for the storage and retrieval vehicle. The flexible splitter leaves the bottom of the vehicle and moves into the AGV base station for the storage and retrieval vehicle.

[0019] S2-6 Adaptive Split AGV returns to the default state and waits for the next instruction from the server host system.

[0020] Preferably, a pressure sensor for detecting the contact with the tire is installed on the comb teeth of the flexible splitter, and the preset pressure value of the pressure sensor is F.

[0021] Preferably, the adaptive split AGV is composed of a storage and retrieval vehicle AGV base station and a flexible splitter, the storage and retrieval vehicle AGV base station is a concave structure, and the storage and retrieval vehicle AGV base station contains a power supply, a driving wheel, a steering gear and a detection sensor.

[0022] Preferably, a plurality of retractable supporting feet are fixedly mounted on the bottom of the flexible splitter, and the supporting feet can realize lateral and vertical retraction. A plurality of walking wheels are fixedly mounted on the bottom of the flexible splitter.

[0023] Preferably, the adaptive split AGV interacts with the server host system, and the storage and retrieval vehicle AGV base station can supply power to the flexible split device and serve as a carrier of the flexible split device.

[0024] Compared with the prior art, the present invention provides a flexible and adaptive split AGV storage and retrieval method, which has the following beneficial effects:

[0025] 1. The flexible adaptive split AGV vehicle storage and retrieval method uses the comb teeth in the flexible splitter to support the limited wheels, and uses the supporting feet to lift or raise the flexible splitter, so as to realize the vehicle storage and retrieval function using the flexible splitter, realize the flexible plug-in storage and retrieval action, achieve faster storage and retrieval action, do not need to search for the mechanical action of the tire position, and realize the overall storage and retrieval vehicle exchange time is short.

[0026] 2. The flexible adaptive split AGV vehicle storage and retrieval method interacts with the server host system through the adaptive split AGV, and the server host system issues lateral movement, longitudinal movement, rotation and other action instructions to the adaptive split AGV and determines the safe position of the adaptive split AGV, thereby eliminating the need for parking spaces, parking racks and guide rails, thereby reducing the overall construction cost, and eliminating the need for high-cost process treatments such as leveling and surface treatment of the parking ground, thereby saving the main construction cost. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] Figure 1 A flow chart of the method for obtaining a vehicle according to the present invention;

[0028] Figure 2 This is a flow chart of the car storage process of the present invention;

[0029] Figure 3 This is a schematic diagram of data interaction between multiple self-adaptive split AGVs and a server host computer of the present invention;

[0030] Figure 4 This is a schematic diagram of the default state before picking up the vehicle of the present invention;

[0031] Figure 5 This is a schematic diagram of the flexible splitter of the present invention being separated from the AGB base station for storing and accessing vehicles;

[0032] Figure 6 The comb teeth of the flexible splitter of the present invention are schematically shown in the front view and top view approaching the tire;

[0033] Figure 7 This is a schematic diagram of the flexible splitter lifting a wheel of the present invention;

[0034] Figure 8 It is a schematic diagram of the flexible splitter of the present invention and the AGB base station for storing and retrieving vehicles being combined to enter the bottom of the vehicle and a schematic diagram of lowering the vehicle;

[0035] Fig. 9 A schematic front view and axonometric view of the rear of the vehicle are obtained for the present invention. DETAILED DESCRIPTION

[0036] The following will be combined with the embodiments of the present invention and the accompanying drawings to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only 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.

[0037] Embodiment 1:

[0038] See also Figures 1 to 9 In this embodiment, a flexible and adaptive split AGV storage and retrieval method includes the following steps:

[0039] S1 pick up the car;

[0040] S1-1 The self-adaptive split AGV returns to the default state. The server host system interacts with the self-adaptive split AGV and issues a movement command. The self-adaptive split AGV moves to the front of the vehicle. The default state of the flexible splitter is that the comb teeth and support feet are retracted into the road, and the walking wheels fall on the storage and retrieval vehicle AGV base station.

[0041] The S1-2 flexible splitter detaches from the AGV base station for storing and retrieving vehicles, and the flexible splitter moves forward to the bottom of the vehicle;

[0042] The comb teeth of the S1-3 flexible splitter approach the tire, and the comb teeth and the support legs extend sideways. Part of the comb teeth touch the tire, and the comb teeth stop extending outward. Meanwhile, the comb teeth that do not touch the tire continue to extend from the front and back of the tire until they are in place.

[0043] It should be noted that the comb teeth of the flexible splitter are equipped with pressure sensors for detecting contact with the tire. The preset pressure value of the pressure sensor is F. When the contact force of the lateral extension of the comb teeth reaches the preset pressure F value of the pressure sensor, this part of the comb teeth will stop extending outward to avoid damaging the wheel.

[0044] S1-4 The flexible splitter lifts the wheel, the support leg descends and extends, the entire body of the flexible splitter is lifted by the support leg, and the running wheel leaves the ground. At this time, the comb teeth extending from the front and rear of the tire lift the wheel, thereby making the vehicle leave the ground;

[0045] S1-5 The storage and retrieval vehicle AGV base station and the flexible splitter are combined, and the storage and retrieval vehicle AGV base station moves to the bottom of the flexible splitter in the lifted state, the supporting feet of the flexible splitter are shortened, and the entire flexible splitter body and the lifted vehicle fall on the storage and retrieval vehicle AGV base station;

[0046] S1-6 picks up the vehicle and transports it to the designated location. The storage and retrieval AGV base station picks up the vehicle and transports it to the designated location according to the instructions of the server host system to complete the vehicle retrieval action.

[0047] S2 parking;

[0048] The S2-1 server host system interacts with the adaptive split AGV and issues movement instructions, and the adaptive split AGV transports the vehicle to the designated location;

[0049] S2-2 The storage and retrieval vehicle AGV base station and the flexible splitter are separated, the supporting legs of the flexible splitter are extended, the entire flexible splitter body and the lifted vehicle are separated from the storage and retrieval vehicle AGV base station up and down, and then the storage and retrieval vehicle AGV base station leaves the flexible splitter from the front and back directions;

[0050] The S2-3 flexible splitter lowers the wheels, and the supporting feet of the flexible splitter are shortened, so that the running wheels and wheels fall to the ground;

[0051] The comb teeth of the S2-4 flexible splitter leave the wheel, and the comb teeth and the supporting feet retract laterally until they are retracted into place, and the flexible splitter is separated from the wheel;

[0052] S2-5 The flexible splitter enters the AGV base station for the storage and retrieval vehicle. The flexible splitter leaves the bottom of the vehicle and moves into the AGV base station for the storage and retrieval vehicle.

[0053] S2-6 Adaptive Split AGV returns to the default state and waits for the next instruction from the server host system.

[0054] Among them, the adaptive split AGV is composed of a storage and retrieval vehicle AGV base station and a flexible splitter. The storage and retrieval vehicle AGV base station is a concave structure. The storage and retrieval vehicle AGV base station contains a power supply, drive wheels, a steering gear and a detection sensor to provide the storage and retrieval vehicle AGV base station to realize lateral movement, longitudinal movement, rotation and other actions to run the vehicle at the designated position.

[0055] In addition, the bottom of the flexible splitter is fixedly installed with multiple retractable support feet, which can realize lateral and vertical extension and extension. The bottom of the flexible splitter is fixedly installed with multiple walking wheels, which is convenient for supporting the vehicle and facilitating the storage and retrieval of the vehicle. The combination of the AGV base station and the flexible splitter,

[0056] It should be noted that the adaptive split AGV interacts with the server host system. The storage and retrieval vehicle AGV base station can power the flexible split device and serve as a carrier of the flexible split device, making it convenient for the server host system to issue instructions to the adaptive split AGV and determine the accurate position of the storage and retrieval vehicle AGV base station and the flexible split device in the adaptive split AGV.

[0057] By adopting the above technical scheme, the adaptive split AGV can interact with the server host system and issue corresponding storage and retrieval and movement instructions, so that the storage and retrieval AGV can automatically guide to achieve lateral movement, longitudinal movement, rotation and other actions, and run the vehicle at a specified position. The flexible splitter is used to realize the storage and retrieval function of the vehicle, and the separation and combination of the vehicle and the entire transporter are realized. The flexible plug-in storage and retrieval action is faster, and there is no need for mechanical action to search for the tire position, so the overall storage and retrieval exchange time is short, and there is no need for high-cost process treatment such as leveling the parking ground and surface treatment, which saves the main construction cost, and does not require parking spaces, parking racks and guide rails, thereby making the overall construction cost lower.

[0058] Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. A flexible and adaptive split AGV storage and retrieval method, characterized in that: The following steps are involved: S1 pick up the car; S1-1 The self-adaptive split AGV returns to the default state. The server host system interacts with the self-adaptive split AGV and issues a movement command. The self-adaptive split AGV moves to the front of the vehicle. The default state of the flexible splitter is that the comb teeth and support feet are retracted into the road, and the walking wheels fall on the storage and retrieval vehicle AGV base station. The S1-2 flexible splitter detaches from the AGV base station for storing and retrieving vehicles, and the flexible splitter moves forward to the bottom of the vehicle; The comb teeth of the S1-3 flexible splitter approach the tire, and the comb teeth and the support legs extend sideways. Part of the comb teeth touch the tire, and the comb teeth stop extending outward. Meanwhile, the comb teeth that do not touch the tire continue to extend from the front and back of the tire until they are in place. S1-4 The flexible splitter lifts the wheel, the support leg descends and extends, the entire body of the flexible splitter is lifted by the support leg, and the running wheel leaves the ground. At this time, the comb teeth extending from the front and rear of the tire lift the wheel, thereby making the vehicle leave the ground; S1-5 The storage and retrieval vehicle AGV base station and the flexible splitter are combined, and the storage and retrieval vehicle AGV base station moves to the bottom of the flexible splitter in the lifted state, the supporting feet of the flexible splitter are shortened, and the entire flexible splitter body and the lifted vehicle fall on the storage and retrieval vehicle AGV base station; S1-6 picks up the vehicle and transports it to the designated location. The AGV base station for storing and retrieving the vehicle picks up the vehicle and transports it to the designated location according to the instructions of the server host system to complete the vehicle retrieval action; S2 parking; The S2-1 server host system interacts with the adaptive split AGV and issues movement instructions, and the adaptive split AGV transports the vehicle to the designated location; S2-2 The storage and retrieval vehicle AGV base station and the flexible splitter are separated, the supporting legs of the flexible splitter are extended, the entire flexible splitter body and the lifted vehicle are separated from the storage and retrieval vehicle AGV base station up and down, and then the storage and retrieval vehicle AGV base station leaves the flexible splitter from the front and back directions; The S2-3 flexible splitter lowers the wheels, and the supporting feet of the flexible splitter are shortened, so that the running wheels and wheels fall to the ground; The comb teeth of the S2-4 flexible splitter leave the wheel, and the comb teeth and the supporting feet retract laterally until they are retracted into place, and the flexible splitter is separated from the wheel; S2-5 The flexible splitter enters the storage and retrieval vehicle AGV base station, and the flexible splitter leaves the bottom of the vehicle and moves into the storage and retrieval vehicle AGV base station; S2-6 Adaptive Split AGV returns to the default state and waits for the next instruction from the server host system.

2. A flexible and adaptive split AGV vehicle storage and retrieval method according to claim 1, characterized in that; A pressure sensor for detecting the contact tire is installed on the comb teeth of the flexible splitter, and the preset pressure value of the pressure sensor is F.

3. A flexible and adaptive split AGV vehicle storage and retrieval method according to claim 1, characterized in that; The self-adaptive split AGV is composed of a storage and retrieval vehicle AGV base station and a flexible splitter. The storage and retrieval vehicle AGV base station is a concave structure and contains a power supply, a driving wheel, a steering gear and a detection sensor.

4. A flexible and adaptive split AGV vehicle storage and retrieval method according to claim 1, characterized in that; A plurality of retractable support legs are fixedly mounted on the bottom of the flexible splitter, and the support legs can be retracted laterally and vertically. A plurality of walking wheels are fixedly mounted on the bottom of the flexible splitter.

5. A flexible and adaptive split AGV vehicle storage and retrieval method according to claim 1, characterized in that; The self-adaptive split AGV interacts with the server host system, and the storage and retrieval vehicle AGV base station can supply power to the flexible split device and serve as a carrier of the flexible split device.

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