Load-limiting-adjustable prompting AGV (Automatic Guided Vehicle)

Abstract

The invention discloses a load limit adjustable prompt AGV (automatic guided vehicle) guide vehicle, belongs to the technical field of AGV guide vehicles, and solves the problem that a conventional AGV vehicle cannot load goods exceeding the sectional area of the conventional AGV vehicle due to constant load limit. Comprising a frame, a driving motor fixedly connected into the frame, wheels rotationally connected into the frame and protruding out of the bottom face of the frame, and a panel fixedly connected to the top face of the frame, a plurality of grooves are formed in the panel, side top plates are slidably connected into the grooves in the two sides, and corner top plates are slidably connected into the grooves in the two ends. The image acquisition module identifies the occupied area of stacked goods and automatically judges whether the top area of the AGV needs to be expanded or not, if yes, the control module drives the pump body to extract hydraulic oil, the hydraulic oil is conveyed to the extension pipe through the pipeline system, the hydraulic oil pushes the piston and the extension rod, and the top plate is expanded to adapt to the occupied area of the goods; and the goods are prevented from toppling and being damaged during transportation.

Description

Technical Field

[0001] The invention relates to the technical field of AGV guide vehicles, and in particular to an AGV guide vehicle with adjustable load limit prompt. Background Art

[0002] AGV, or automatic guided vehicle, is a type of intelligent transportation equipment widely used in the field of industrial automation. They are equipped with automatic guidance devices such as electromagnetic or optical, can automatically travel along a preset path, and have safety protection and multiple transfer functions. AGV uses rechargeable batteries as a power source to achieve unmanned transportation operations. Its operating path and destination can be controlled by a management program, showing a high degree of maneuverability and flexibility. These vehicles can be organically combined with various production lines, assembly lines, conveyor lines, etc., to achieve various functions according to different needs, shorten the logistics turnover cycle, reduce material turnover consumption, and achieve high efficiency of the production system. AGV has a wide range of application scenarios, including warehousing industry, production workshops, intelligent logistics parks, medical institutions, and e-commerce logistics. They improve work efficiency, reduce labor intensity, and improve safety through automated handling. With the advancement of technology, the role of AGV in automated and intelligent logistics has become increasingly prominent, and it has become an indispensable part of modern industrial logistics.

[0003] Before the AGV cart moves the goods, the goods are usually packed and stacked in the warehouse. The warehouse staff needs to use the AGV cart to transfer the stacked and packed goods to other places. In this process, the warehouse staff needs to assist in transferring the stacked and packed goods from the ground of the warehouse to the top surface of the AGV cart. However, due to the constant load limit of conventional AGV carts, they cannot load more goods than their cross-sectional area can bear. Therefore, the warehouse staff will choose to stack the goods further upwards. However, if the goods are stacked too high, it is easier for the goods to fall from above during the transportation process of the AGV cart. In addition, when loading the goods at the beginning, the warehouse staff has no way to directly judge whether the cross-sectional area of ​​the AGV cart can bear the area occupied by the stacked and packed goods on the ground. Therefore, this problem is more common.

[0004] Therefore, a load-limited adjustable prompt AGV guide vehicle is proposed to solve or alleviate the above problems. Summary of the invention

[0005] The purpose of the present invention is to solve the shortcomings of the prior art and to propose a load-limited adjustable prompt AGV guide vehicle.

[0006] In order to achieve the above object, the present invention adopts the following technical solutions: A load-limited adjustable prompt AGV guide vehicle comprises a frame, a driving motor fixedly connected to the frame, wheels rotatably connected to the frame and protruding from the bottom surface of the frame, and a panel fixedly connected to the top surface of the frame, wherein the panel is provided with a plurality of grooves, side top plates are slidably connected to the grooves on both sides, and corner top plates are slidably connected to the grooves at both ends, and the side top plates and the corner top plates can be displaced outward in the grooves to control the expansion of the top surface area of ​​the AGV vehicle.

[0007] Preferably, a liquid storage tank is fixedly connected in the frame, the liquid storage tank is connected to a liquid inlet pipe arranged along the width direction of the panel, the liquid inlet pipe is connected to a pump body and a switch solenoid valve located in the frame, the liquid inlet pipe is connected to a lower main pipe arranged along the length direction of the panel, the lower main pipe is connected to an upper main pipe through a plurality of vertical pipes, the upper main pipe is connected to a plurality of side extension pipes located on both sides of the length direction thereof, and two groups of corner extension pipes located at both ends of the length direction thereof, and the end faces of the corner extension pipes and the side extension pipes away from the upper main pipe are provided with movable passages arranged toward the panel The corner extension tube and the side extension tube are fixedly connected with a limiting plate at one end facing the movable through groove, a through hole is provided at the center of the limiting plate, a piston is slidably connected with the corner extension tube and the side extension tube, one end of the piston is fixedly connected with an extension rod which can pass through the through hole and leave, the end of the extension rod away from the piston is fixedly connected with a connecting arc rod which leaves the movable through groove, the end of the connecting arc rod away from the extension rod is fixedly connected with the side top plate or the corner top plate, and the upper main pipe, the lower main pipe, the vertical pipe, the corner extension tube and the side extension tube are all filled with liquid.

[0008] Preferably, an outer connecting ring is embedded in the end of the corner extension tube and the side extension tube facing the upper main tube, the inner ring of the outer connecting ring is provided with an inner rod, a plurality of connecting plates are fixedly connected between the outer ring of the inner rod and the inner ring of the outer connecting ring, a plurality of water grooves are formed between adjacent connecting plates, the end of the inner rod facing the limit plate is fixedly connected to a connecting shaft, the end of the piston away from the extension rod is coaxially fixedly connected to the telescopic rod, and also includes an import sealing bearing and an export sealing bearing, the end of the connecting shaft away from the inner rod is fixedly connected to the inner ring of the import sealing bearing, the end of the telescopic rod away from the piston is fixedly connected to the inner ring of the outlet sealing bearing, a liquid guide column is fixedly connected between the outer ring of the import sealing bearing and the outer ring of the outlet sealing bearing, the outer ring of the liquid guide column is provided with a threaded guide groove running through the end faces of both ends thereof, the pitch of the threaded guide groove is greater than the groove width of the threaded guide groove, and the liquid guide column can rotate in the corner extension tube and the side extension tube.

[0009] Preferably, an air pipe is connected on the top surface of the liquid storage tank, an air pressure regulating solenoid valve is connected on the air pipe, the extension rod is matched with the through hole gap, a plurality of embedded ring grooves are provided on the outer ring of the piston, sealing rings are embedded in the embedded ring grooves, stator windings are provided on the outer rings of the corner extension tubes and the side extension tubes, the stator windings, the air pressure regulating solenoid valve and the switch solenoid valve are all electrically connected through relays, a plurality of permanent magnets are filled in the liquid conducting column, and the plurality of permanent magnets are distributed in a ring array in the liquid conducting column.

[0010] Preferably, it also includes an image acquisition module, a weight acquisition module, a data processing module, and a control module. The output end of the image acquisition module is coupled to the input end of the data processing module, the output end of the data processing module is coupled to the input end of the control module, the output end of the control module is coupled to the input end of the drive motor and the drive pump, the image acquisition module is used to collect images of the goods stacked on the ground and feed them back to the data processing module, the data processing module is used to determine whether the top surface area of ​​the AGV trolley is unfolded according to the image of the goods and feed it back to the control module, and the control module is used to control the unfolding of the top surface of the AGV trolley according to the information fed back by the data processing module.

[0011] Preferably, the image acquisition module comprises a camera, which is used to acquire images of goods stacked on the ground and feed the images back to the data processing module.

[0012] Preferably, the data processing module includes a central processing unit, and the central processing unit is used to determine whether the top surface area of ​​the AGV trolley is unfolded according to the cargo image, and feed back to the control module.

[0013] Preferably, the control module includes a single-chip microcomputer, which is used to control the unfolding of the top surface of the AGV trolley according to the information feedback from the data processing module. The single-chip microcomputer is coupled to the pump body. The single-chip microcomputer controls the on-off setting of the stator winding through a relay. The single-chip microcomputer controls the on-off setting of the air pressure regulating solenoid valve through a relay. The single-chip microcomputer controls the on-off setting of the switch solenoid valve through a relay.

[0014] Preferably, the image acquisition module is used to acquire images of goods stacked on the ground and feed them back to the data processing module, including the following steps: The image acquisition module is adjusted and placed at a non-normal viewing angle; The image acquisition module takes pictures of the goods stacked on the ground to obtain the goods image and feeds it back to the data processing module.

[0015] Preferably, the data processing module is used to determine whether the top surface area of ​​the AGV is unfolded according to the cargo image and to feed back to the control module, including the following steps: Input the cargo image and perform grayscale and Gaussian blur processing on the cargo image; Perform perspective correction on the processed truck image; The processed cargo image is subjected to edge detection through the Sobel operator to extract the coordinates of the three vertices of the cargo on the ground in the cargo image. , ,as well as , and obtain the fourth vertex coordinates based on the three vertex coordinates and the quadrilateral relationship ; Extract the coordinates of the four vertices of the top surface of the cargo in the cargo image , , , ; The area A of the goods stacked on the ground is calculated by importing the coordinates of the four vertices of the goods on the ground in the goods image into the polygon area formula. The polygon area formula is: , where k is the ratio between the pixels of the picture taken by the image acquisition module and the real object; The height H, width C, and length D of the goods stacked on the ground are calculated by importing the side length formula through the coordinates of the four vertices on the top surface of the goods in the goods image. ,width ,length ; According to the comparison between the floor area A of the goods stacked on the ground and the roof area of ​​the AGV, if the floor area A of the goods stacked on the ground is larger than the roof area of ​​the AGV, the output result is that the roof area of ​​the AGV needs to be expanded; otherwise, the output result is that the roof area of ​​the AGV does not need to be expanded.

[0016] The present invention has the following beneficial effects: In actual operation, the present invention uses an image acquisition system to capture images of boxed goods stacked on the ground and analyzes their floor space to determine whether the top platform of the AGV needs to be expanded. If expansion is required, the control module will activate the pump body, extract hydraulic oil from the liquid storage tank, and transport it to the side extension pipe and the corner extension pipe through a series of pipes. After the hydraulic oil flows through the water trough, it is blocked by the end face of the liquid guide column. The liquid guide column can only rotate but not move under the restriction of the outer connecting ring and the inner rod. At this time, the control module will activate the relay connected to the stator winding, causing the stator winding to generate a magnetic field, causing the liquid guide column with a built-in permanent magnet to rotate relative to the stator winding, and evenly transporting the oil through the friction between the threaded guide groove and the hydraulic oil. As the amount of oil between the liquid guide column and the piston increases, the piston is pushed out, driving the extension rod and the top plate to unfold, thereby achieving precise expansion of the top surface of the AGV. The control module can stop the pump at any time and control the power-on status of the solenoid valve and the stator winding through the relay. This process ensures that the top platform of the AGV can adapt to the cargo footprint and prevents cargo from tipping over and being damaged during transportation due to excessive stacking. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings required for use in the embodiments are briefly introduced below. It should be understood that the following drawings only show certain embodiments of the present invention and therefore should not be regarded as limiting the scope. For ordinary technicians in this field, other related drawings can be obtained based on these drawings without creative work.

[0018] Figure 1 It is a structural schematic diagram of the present invention; Figure 2 The structure of the panel in the present invention is shown in FIG. Figure 1 ; Figure 3 The structure of the panel in the present invention is shown in FIG. Figure 2 ; Figure 4 for Figure 3 The enlarged view of point A in the middle; Figure 5 This is a schematic diagram of the structure of the present invention after the panel hides the stator winding; Figure 6 for Figure 5 The enlarged view of point B in the middle; Figure 7 for Figure 6 Enlarged view of point C in the middle; Figure 8 for Figure 6 The enlarged view of point D in the middle; Fig. 9 It is a structural block diagram of the image acquisition module, data processing module, and control module in the present invention.

[0019] 1. Frame; 2. Wheel; 3. Panel; 4. Groove; 5. Side top plate; 6. Corner top plate; 7. Liquid inlet pipe; 8. Lower main pipe; 9. Vertical pipe; 10. Upper main pipe; 11. Side extension pipe; 12. Corner extension pipe; 13. Stator winding; 14. Movable through groove; 15. Connecting arc rod; 16. Limit plate; 17. Through hole; 18. Extension rod; 19. Piston; 20. Sealing ring; 21. Telescopic rod; 22. Export sealed bearing; 23. Liquid guide column; 24. Threaded guide groove; 25. Imported sealed bearing; 26. Connecting shaft; 27. Inner rod; 28. Connecting piece; 29. ​​Outer connecting ring; 30. Image acquisition module; 31. Data processing module; 32. Control module. DETAILED DESCRIPTION

[0020] 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 will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Generally, the components of the embodiments of the present invention described and shown in the drawings here can be arranged and designed in various different configurations.

[0021] Therefore, the following detailed description of the embodiments of the present invention provided in the accompanying drawings is not intended to limit the scope of the invention claimed for protection, but merely represents selected embodiments of the present invention. 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.

[0022] It should be noted that similar reference numerals and letters denote similar items in the following drawings, and therefore, once an item is defined in one drawing, further definition and explanation thereof is not required in subsequent drawings.

[0023] In the description of the present invention, it should be understood that the terms "center", "up", "down", "left", "right", "vertical", "horizontal", "inside", "outside" and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, or are the orientations or positional relationships in which the product of the invention is conventionally placed when in use, or are the orientations or positional relationships conventionally understood by those skilled in the art. They are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as a limitation on the present invention.

[0024] Furthermore, the terms “first”, “second”, “third”, etc. are merely used for distinguishing descriptions and are not to be understood as indicating or implying relative importance.

[0025] In the description of the present invention, it is also necessary to explain that, unless otherwise clearly specified and limited, the terms "set", "install", "connect", and "connect" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, or it can be the internal communication of two elements. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0026] A load-limited adjustable prompt AGV guide vehicle, such as Figure 1 As shown, the vehicle comprises a frame 1, a driving motor fixedly connected to the frame 1, a wheel 2 rotatably connected to the frame 1 and protruding from the bottom surface of the frame 1, and a panel 3 fixedly connected to the top surface of the frame 1. Figure 2 As shown, a plurality of grooves 4 are provided on the panel 3, side top plates 5 are slidably connected in the grooves 4 on both sides, and corner top plates 6 are slidably connected in the grooves 4 at both ends. The side top plates 5 and the corner top plates 6 can be displaced outward in the grooves 4 to control the expansion of the top surface area of ​​the AGV vehicle.

[0027] like Figure 3 and Figure 5 As shown, a liquid storage tank is fixedly connected in the frame 1, and the liquid storage tank is connected to a liquid inlet pipe 7 arranged along the width direction of the panel 3. The liquid inlet pipe 7 is connected to a pump body and a switch solenoid valve located in the frame 1. The liquid inlet pipe 7 is connected to a lower main pipe 8 arranged along the length direction of the panel 3. The lower main pipe 8 is connected to an upper main pipe 10 through a plurality of vertical pipes 9. The upper main pipe 10 is connected to a plurality of side extension pipes 11 located on both sides of the length direction thereof, and two groups of corner extension pipes 12 located at both ends of the length direction thereof. The end surfaces of the corner extension pipes 12 and the side extension pipes 11 away from the upper main pipe 10 are provided with movable through grooves 14 arranged toward the panel 3. The corner extension pipes 12 and the side extension pipes 11 are provided with movable through grooves 14 arranged toward the panel 3. The side extension tube 11 is fixedly connected to a limit plate 16 at one end facing the movable through groove 14, and a through hole 17 is opened at the center of the limit plate 16. A piston 19 is slidably connected in the corner extension tube 12 and the side extension tube 11. One end of the piston 19 is fixedly connected to an extension rod 18 that can pass through the through hole 17 and leave. The end of the extension rod 18 away from the piston 19 is fixedly connected to a connecting arc rod 15 that leaves the movable through groove 14. The end of the connecting arc rod 15 away from the extension rod 18 is fixedly connected to the side top plate 5 or the corner top plate 6. The upper main pipe 10, the lower main pipe 8, the vertical pipe 9, the corner extension tube 12, and the side extension tube 11 are all filled with liquid.

[0028] like Figure 6-Figure 8As shown, an outer connecting ring 29 is embedded in one end of the corner extension tube 12 and the side extension tube 11 facing the upper main tube 10, and an inner rod 27 is provided in the inner ring of the outer connecting ring 29. A plurality of connecting pieces 28 are fixedly connected between the outer ring of the inner rod 27 and the inner ring of the outer connecting ring 29, and a plurality of water grooves are formed between adjacent connecting pieces 28. A connecting shaft 26 is fixedly connected to one end of the inner rod 27 facing the limit plate 16, and a telescopic rod 21 is coaxially fixedly connected to one end of the piston 19 away from the extension rod 18, and an inlet sealing bearing 25 and an outlet sealing bearing 26 are also included. 2. One end of the connecting shaft 26 away from the inner rod 27 is fixedly connected to the inner ring of the imported sealed bearing 25. One end of the telescopic rod 21 away from the piston 19 is fixedly connected to the inner ring of the exported sealed bearing 22. A liquid guide column 23 is fixedly connected between the outer ring of the imported sealed bearing 25 and the outer ring of the exported sealed bearing 22. The outer ring of the liquid guide column 23 is provided with a threaded guide groove 24 penetrating through the end faces of both ends thereof. The pitch of the threaded guide groove 24 is greater than the groove width of the threaded guide groove 24. The liquid guide column 23 can rotate in the corner extension tube 12 and the side extension tube 11.

[0029] The top surface of the liquid storage tank is connected with an air pipe, and the air pipe is connected with an air pressure regulating solenoid valve. The extension rod 18 and the through hole 17 are in clearance fit. Figure 8 As shown, the outer ring of the piston 19 is provided with a plurality of embedded ring grooves, and the sealing rings 20 are embedded in the embedded ring grooves. Figure 4 As shown, the outer ring of the corner extension tube 12 and the side extension tube 11 is provided with a stator winding 13, and the stator winding 13, the air pressure regulating solenoid valve, and the switch solenoid valve are all connected to electricity through relays. The liquid guiding column 23 is filled with a plurality of permanent magnets, and the plurality of permanent magnets are distributed in a circular array in the liquid guiding column 23.

[0030] like Fig. 9 As shown, it also includes an image acquisition module 30, a weight acquisition module, a data processing module 31, and a control module 32. The output end of the image acquisition module 30 is coupled to the input end of the data processing module 31, the output end of the data processing module 31 is coupled to the input end of the control module 32, the output end of the control module 32 is coupled to the input end of the drive motor and the drive pump. The image acquisition module 30 is used to collect images of goods stacked on the ground and feed them back to the data processing module 31. The data processing module 31 is used to determine whether the top surface area of ​​the AGV trolley is unfolded according to the image of the goods and feed it back to the control module 32. The control module 32 is used to control the unfolding of the top surface of the AGV trolley according to the information fed back by the data processing module 31.

[0031] The image acquisition module 30 includes a camera, which is used to collect images of goods stacked on the ground and feed them back to the data processing module 31. The data processing module 31 includes a central processing unit, which is used to determine whether the top surface area of ​​the AGV trolley is unfolded according to the image of the goods and feed it back to the control module 32. The control module 32 includes a single-chip microcomputer, which is used to control the unfolding of the top surface of the AGV trolley according to the information fed back by the data processing module 31. The single-chip microcomputer is coupled to the pump body. The single-chip microcomputer controls the on-off setting of the stator winding 13 through a relay, the single-chip microcomputer controls the on-off setting of the air pressure regulating solenoid valve through a relay, and the single-chip microcomputer controls the on-off setting of the switch solenoid valve through a relay.

[0032] The image acquisition module 30 is used to collect images of goods stacked on the ground and feed them back to the data processing module 31, including the following steps: The image acquisition module 30 is adjusted and placed at a non-normal viewing angle; The image acquisition module 30 takes pictures of the goods stacked on the ground to obtain the goods image and feeds it back to the data processing module 31 .

[0033] The data processing module 31 is used to determine whether the top surface area of ​​the AGV is unfolded according to the cargo image and to feed back to the control module 32, including the following steps: Input the cargo image and perform grayscale and Gaussian blur processing on the cargo image; Perform perspective correction on the processed truck image; The processed cargo image is subjected to edge detection through the Sobel operator to extract the coordinates of the three vertices of the cargo on the ground in the cargo image. , ,as well as , and obtain the fourth vertex coordinates based on the three vertex coordinates and the quadrilateral relationship ; Extract the coordinates of the four vertices of the top surface of the cargo in the cargo image , , , ; The area A of the goods stacked on the ground is calculated by importing the coordinates of the four vertices of the goods on the ground in the goods image into the polygon area formula. The polygon area formula is: , where k is the ratio between the pixels of the picture taken by the image acquisition module and the real object; The height H, width C, and length D of the goods stacked on the ground are calculated by importing the side length formula through the coordinates of the four vertices on the top surface of the goods in the goods image. ,width ,length ; According to the comparison between the floor area A of the goods stacked on the ground and the roof area of ​​the AGV, if the floor area A of the goods stacked on the ground is larger than the roof area of ​​the AGV, the output result is that the roof area of ​​the AGV needs to be expanded; otherwise, the output result is that the roof area of ​​the AGV does not need to be expanded.

[0034] In actual application, the present invention uses the image acquisition module 30 to obtain the cargo image of the box cargo stacked on the ground, and then identifies the floor space occupied by the cargo and autonomously determines whether the top area of ​​the AGV needs to be expanded; If it is necessary to expand the top area of ​​the AGV trolley, the control module 32 can control the pump body so that the pump body can extract the hydraulic oil from the liquid storage tank, and then send it to the side extension pipe 11 and the corner extension pipe 12 through the liquid inlet pipe 7, the lower main pipe 8, the vertical pipe 9, and the upper main pipe 10 in sequence. After passing through the water trough, the hydraulic oil will hit the end face of the liquid guide column 23. Since the liquid guide column 23 is restricted by the outer connecting ring 29 and the inner rod 27, it cannot be displaced and can only rotate. Therefore, at this time, the control module 32 will also control the relay coupled to the stator winding 13 to energize, so that the stator winding 13 is energized to generate a magnetic field, thereby making the liquid guide column 23 with a permanent magnet buried inside It can rotate relative to the stator winding 13. When the liquid-conducting column 23 rotates, the friction between the inner wall of the threaded guide groove 24 and the hydraulic oil with a certain viscosity can drive the hydraulic oil to be transported relatively evenly, so that the hydraulic oil is relatively evenly sent from one end of the liquid-conducting column 23 to the other end. As the amount of hydraulic oil between the liquid-conducting column 23 and the piston 19 increases, the piston 19 is pushed outward, and the piston 19 drives the extension rod 18 to move outward. The telescopic rod 21 between the piston 19 and the liquid-conducting column 23 begins to extend. However, due to the setting of the sealed bearing, the piston 19 can support the liquid-conducting column 23, and the liquid-conducting column 23 is still rotating smoothly. The outward movement of the extension rod 18 is displaced by connecting the arc rod 15. In this way, the corner top plate 6 and the side top plate 5 connected thereto can be displaced out of the groove 4, thereby completing the expansion action for the top surface area of ​​the AGV trolley, and this expansion action has a certain accuracy. The control module 32 can control the pump body to stop working at any time, and can also control the on and off power of the air pressure regulating solenoid valve, the switch solenoid valve, and the stator winding 13 through the relay; By completing the above actions, the top surface area of ​​the AGV is expanded and adapted to the floor space of the goods stacked on the ground, thereby avoiding the problem that the goods on the AGV are forced to be stacked too high and easily tipped over and damaged during transportation.

[0035] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. For those skilled in the art, the present invention may have various modifications and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

Claims

1. A load-limited adjustable prompt AGV guide vehicle, characterized in that: The AGV comprises a frame (1), a driving motor fixedly connected to the frame (1), a wheel (2) rotatably connected to the frame (1) and protruding from the bottom surface of the frame (1), and a panel (3) fixedly connected to the top surface of the frame (1), wherein the panel (3) is provided with a plurality of grooves (4), side top plates (5) are slidably connected to the grooves (4) on both sides, and corner top plates (6) are slidably connected to the grooves (4) at both ends, and the side top plates (5) and the corner top plates (6) can be displaced outwards in the grooves (4) to control the expansion of the top surface area of ​​the AGV; A liquid storage tank is fixedly connected to the frame (1), the liquid storage tank is connected to a liquid inlet pipe (7) arranged along the width direction of the panel (3), the liquid inlet pipe (7) is connected to a pump body and a switch solenoid valve located in the frame (1), the liquid inlet pipe (7) is connected to a lower main pipe (8) arranged along the length direction of the panel (3), the lower main pipe (8) is connected to an upper main pipe (10) through a plurality of vertical pipes (9), the upper main pipe (10) is connected to a plurality of side extension pipes (11) located on both sides of the length direction thereof, and two groups of corner extension pipes (12) located at both ends of the length direction thereof, the end surfaces of the corner extension pipes (12) and the side extension pipes (11) away from the upper main pipe (10) are provided with a movable through groove (14) arranged toward the panel (3), the corner extension pipes (12) and the side extension pipes (11) are provided with a movable through groove (14) arranged toward the panel (3), and the corner extension pipes (12) and the side extension pipes are provided with a movable through groove (14) arranged toward the panel (3). (11) a limiting plate (16) is fixedly connected to one end of the movable through groove (14), a through hole (17) is opened at the center of the limiting plate (16), a piston (19) is slidably connected to the corner extension tube (12) and the side extension tube (11), one end of the piston (19) is fixedly connected to an extension rod (18) that can pass through the through hole (17) and leave, one end of the extension rod (18) away from the piston (19) is fixedly connected to a connecting arc rod (15) that leaves the movable through groove (14), one end of the connecting arc rod (15) away from the extension rod (18) is fixedly connected to the side top plate (5) or the corner top plate (6), and the upper main pipe (10), the lower main pipe (8), the vertical pipe (9), the corner extension pipe (12), and the side extension pipe (11) are all filled with liquid; An outer connecting ring (29) is embedded in one end of the corner extension tube (12) and the side extension tube (11) facing the upper main tube (10); an inner rod (27) is provided in the inner ring of the outer connecting ring (29); a plurality of connecting plates (28) are fixedly connected between the outer ring of the inner rod (27) and the inner ring of the outer connecting ring (29); a plurality of water-passing grooves are formed between adjacent connecting plates (28); a connecting shaft (26) is fixedly connected to one end of the inner rod (27) facing the limit plate (16); an end of the piston (19) away from the extension rod (18) is coaxially fixedly connected to the telescopic rod (21); and an inlet sealing bearing (25) and an outlet sealing bearing (26) are also included. 2), one end of the connecting shaft (26) away from the inner rod (27) is fixedly connected to the inner ring of the inlet sealing bearing (25), and one end of the telescopic rod (21) away from the piston (19) is fixedly connected to the inner ring of the outlet sealing bearing (22), and a liquid guide column (23) is fixedly connected between the outer ring of the inlet sealing bearing (25) and the outer ring of the outlet sealing bearing (22), and the outer ring of the liquid guide column (23) is provided with a thread guide groove (24) penetrating through the end faces of both ends thereof, and the pitch of the thread guide groove (24) is greater than the groove width of the thread guide groove (24), and the liquid guide column (23) can rotate in the corner extension tube (12) and the side extension tube (11); The top surface of the liquid storage tank is connected to an air pipe, and the air pipe is connected to an air pressure regulating solenoid valve. The extension rod (18) is loosely matched with the through hole (17). The outer ring of the piston (19) is provided with a plurality of embedded ring grooves, and a sealing ring (20) is embedded in the embedded ring groove. The outer rings of the corner extension tube (12) and the side extension tube (11) are sleeved with a stator winding (13). The stator winding (13), the air pressure regulating solenoid valve, and the switch solenoid valve are all electrically connected through relays. The liquid guide column (23) is filled with a plurality of permanent magnets, and the plurality of permanent magnets are distributed in a ring array in the liquid guide column (23).

2. The load-limited adjustable prompt AGV guide vehicle according to claim 1, characterized in that: The invention also comprises an image acquisition module (30), a weight acquisition module, a data processing module (31), and a control module (32); the output end of the image acquisition module (30) is coupled to the input end of the data processing module (31); the output end of the data processing module (31) is coupled to the input end of the control module (32); the output end of the control module (32) is coupled to the input end of the drive motor and the drive pump; the image acquisition module (30) is used to acquire an image of goods stacked on the ground and feed it back to the data processing module (31); the data processing module (31) is used to determine whether the top surface area of ​​the AGV trolley is unfolded according to the image of the goods and feed it back to the control module (32); the control module (32) is used to control the unfolding of the top surface of the AGV trolley according to the information fed back by the data processing module (31).

3. The load-limited adjustable prompt AGV guide vehicle according to claim 2, characterized in that: The image acquisition module (30) comprises a camera, which is used to acquire images of goods stacked on the ground and feed the images back to the data processing module (31).

4. The load-limited adjustable prompt AGV guide vehicle according to claim 2, characterized in that: The data processing module (31) comprises a central processing unit, and the central processing unit is used to determine whether the top surface area of ​​the AGV trolley is unfolded according to the cargo image, and to feed back to the control module (32).

5. The load-limited adjustable prompt AGV guide vehicle according to claim 2, characterized in that: The control module (32) comprises a single-chip microcomputer, the single-chip microcomputer is used to control the unfolding of the top surface of the AGV trolley according to information fed back by the data processing module (31), the single-chip microcomputer is coupled to the pump body, the single-chip microcomputer controls the on / off setting of the stator winding (13) through a relay, the single-chip microcomputer controls the on / off setting of the air pressure regulating solenoid valve through a relay, and the single-chip microcomputer controls the on / off setting of the switch solenoid valve through a relay.

6. The load-limited adjustable prompt AGV guide vehicle according to claim 2, characterized in that: The image acquisition module (30) is used to acquire images of goods stacked on the ground and feed them back to the data processing module (31), and comprises the following steps: The image acquisition module (30) is adjusted and placed at a non-normal viewing angle; The image acquisition module (30) photographs the goods stacked on the ground to obtain an image of the goods and feeds the image back to the data processing module (31).

7. The load-limited adjustable prompt AGV guide vehicle according to claim 2, characterized in that: The data processing module (31) is used to determine whether the top surface area of ​​the AGV trolley is unfolded according to the cargo image, and to feed back to the control module (32), comprising the following steps: Input the cargo image and perform grayscale and Gaussian blur processing on the cargo image; Perform perspective correction on the processed truck image; The processed cargo image is subjected to edge detection through the Sobel operator to extract the coordinates of the three vertices of the cargo on the ground in the cargo image. , ,as well as , and obtain the fourth vertex coordinates based on the three vertex coordinates and the quadrilateral relationship ; Extract the coordinates of the four vertices of the top surface of the cargo in the cargo image , , , ; The area A of the goods stacked on the ground is calculated by importing the coordinates of the four vertices of the goods on the ground in the goods image into the polygon area formula. The polygon area formula is: , where k is the ratio between the pixels of the picture taken by the image acquisition module and the real object; The height H, width C, and length D of the goods stacked on the ground are calculated by importing the side length formula through the coordinates of the four vertices on the top surface of the goods in the goods image. ,width ,length ; According to the comparison between the floor area A of the goods stacked on the ground and the roof area of ​​the AGV, if the floor area A of the goods stacked on the ground is larger than the roof area of ​​the AGV, the output result is that the roof area of ​​the AGV needs to be expanded; otherwise, the output result is that the roof area of ​​the AGV does not need to be expanded.

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