Unmanned transportation forklift based on radar, camera and infrared rays

Abstract

The invention discloses an unmanned transportation forklift based on radar, a camera and infrared rays, and particularly relates to the field of unmanned transportation forklifts.The unmanned transportation forklift comprises a main body bin, a control motor is fixedly installed at the top end of the main body bin, and a rotating holder and a camera protection device installed on the outer surface of the top end of the rotating holder are installed at the top end of the control motor; and a miniature high-definition camera is fixedly mounted on the outer surface of the front end of the camera protection device. According to the automatic forklift, under different external influence factors, the center position of the tray hole can be predicted more accurately, rapidly and efficiently, corresponding cooperation is carried out, and rapid cargo transportation is achieved. Meanwhile, an automatic driving system is arranged in the system in a matched mode, and after an external instruction of goods transportation is received, a route can be automatically planned to reach a designated position to work. The labor cost is greatly reduced, and meanwhile the working efficiency of unmanned warehouse logistics is improved.

Description

Technical Field

[0001] The present invention relates to the field of unmanned transport forklifts, and more specifically, to an unmanned transport forklift based on radar, camera and infrared. Background Art

[0002] Traditional forklifts are usually equipped with forklift pallets. When transporting a whole piece of cargo, the whole piece of cargo is directly placed on the forklift pallet. The forklift transports the whole piece of cargo to the designated location and then retracts the forklift pallet. In recent years, artificial intelligence technology has developed rapidly and has been applied to various industrial fields. Especially in the field of construction machinery, unmanned forklifts are equipment that can transport necessary goods or parts without a driver. Since no driver is required, it can save labor costs, speed up logistics circulation, and effectively utilize space. The items and equipment to be transported are placed on pallets, and the pallets are picked up and moved by the forks at the front of the unmanned forklift. The existing ones cannot detect the position and direction of the pallet holes for loading goods in time, and cannot quickly insert the forks for cargo handling. Summary of the invention

[0003] In order to overcome the above-mentioned defects of the prior art, the embodiments of the present invention provide an unmanned transport forklift based on radar, camera and infrared. The automated forklift can more accurately, quickly and efficiently predict the center position of the pallet hole under different external influencing factors, and make corresponding coordination to achieve rapid transportation of goods. At the same time, the system is also equipped with an automated driving system. After receiving external instructions for transporting the required goods, it can plan the route by itself and arrive at the designated location to work. It greatly reduces labor costs and speeds up the work efficiency of unmanned warehousing and logistics.

[0004] To achieve the above object, the present invention provides the following technical solution: an unmanned transport forklift based on radar, camera and infrared, comprising: The main body warehouse is fixedly installed with a control motor at the top of the main body warehouse, a rotating pan head and a camera protection device installed on the outer surface of the top of the rotating pan head are installed on the top of the control motor, and a micro high-definition camera is fixedly installed on the outer surface of the front end of the camera protection device, and the micro high-definition camera at the front end of the camera protection device is driven by the control motor and the rotating pan head to achieve 360° shooting; Laser radar, which is fixedly installed on the front outer surface of the main warehouse, and precise positioning is performed through the cooperation between the micro high-definition camera and the laser radar.

[0005] Furthermore, an automatic control device for controlling the entire vehicle body is fixedly installed inside the main body compartment, and a battery compartment is fixedly installed inside the main body compartment.

[0006] Furthermore, a suspension ladder is fixedly installed at the bottom end of the main warehouse, a gravity chassis is fixedly installed at the bottom end of the suspension ladder, and two-axle crawler tires are installed on both sides of the gravity chassis.

[0007] Furthermore, the two-axle crawler tire is assembled from a plurality of two-axle crawler tire monomer structures.

[0008] Furthermore, a special fork mounting hole is opened on the front end outer surface of the main warehouse, a special fork 1 is arranged at the front end of the main warehouse, and one end of the special fork 1 is installed in the special fork mounting hole.

[0009] Furthermore, a special fork mounting hole is provided on the front outer surface of the camera protection device, a special fork 2 is provided at the front end of the main warehouse, and one end of the special fork 2 is installed in the special fork mounting hole.

[0010] Furthermore, an infrared emitter is fixedly mounted on the outer surface of the other end of the special fork 1 and the special fork 2.

[0011] Furthermore, it also includes a special pallet 1, a special pallet 2, a common bottom single-hole pallet and a common bottom non-hole pallet, the front end of the special fork 1 matches the pallet hole opened on the outer surface of one end of the special pallet 1, and the front end of the special fork 2 matches the pallet holes opened on the outer sides of the special pallet 2 and the common bottom single-hole pallet, Furthermore, one end of the special tray 1, the special tray 2, the common bottom single-hole tray and the common bottom non-hole tray are all fixedly installed with an infrared receiver, and the infrared receiver receives the infrared signal emitted by the infrared transmitter.

[0012] Technical effects and advantages of the present invention: 1. In logistics and warehousing, automatic forklifts are more adaptable than traditional forklifts. It is equipped with a micro camera and a laser radar, which can capture images in real time and accurately measure the center of the tray hole. When the pallet hole enters the detection range of the camera, the camera will give the X, Y distance value from the hole internally, and then when the laser radar performs radar ranging, it will give a corresponding Z value. When the Z value is equal to the X value or the error does not exceed 1㎜ and the error between the Y value and the vertical distance between the micro camera and the laser radar is not greater than 1mm, the forklift can lock the position of the pallet hole and perform the corresponding fork pick-up. Figure 8 .

[0013] 2. An infrared transmitter is installed on the special fork, which transmits infrared rays to quickly calibrate with the infrared receiver on the special pallet, so as to quickly and accurately find the position of the pallet hole. Figure 3 .

[0014] 3. When it is necessary to transport an ordinary pallet (with a single transport hole at one end of the bottom), the front end of the special fork can be rotated according to the position and size of the pallet hole to turn the fork at the front end so that one end is inserted into the hole and the other end clamps the other side of the pallet. Finally, after it is clamped firmly, the fork frame at the front end of the fork begins to shrink its horizontal distance to the maximum extent, reaching a self-locking state. When an ordinary pallet does not have a transport hole, its front end fork will rotate into an up and down form, tightly fitting with the upper and lower surfaces of the pallet, ensuring that the pallet is stable and does not shake during transportation. Figure 4 , Figure 5 .

[0015] 4. Crawler lifting spiral staircase telescopic forklift adopts two-axle crawler with gravity chassis to adapt to complex terrain, and the spiral staircase telescopic increases loading and unloading flexibility. When the road surface is rugged and high-altitude pallets need to be transported, the automatic control device will operate the suspension ladder to rise to the corresponding height. At this time, in order to ensure its overall stability, the gravity chassis will absorb the surrounding air to increase its gravity, and at the same time, with its crawler to increase the friction area and pressure with the ground, so that the stability of the vehicle body during high-altitude operations is greatly improved. When the forklift needs to move, the gravity chassis will release the air in the cabin to reduce the forklift's own gravity, thereby speeding up the travel speed.

[0016] 5. The two-axle crawler is assembled by multiple chain shafts. When a single chain is damaged, it can be quickly disassembled and replaced. This not only reduces the cost, but also improves the fault tolerance of the forklift on various complex roads. Figure 6 . BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 It is a schematic structural diagram of the unmanned transport forklift of the present invention.

[0018] Figure 2 It is a structural schematic diagram of a special tray 1 of the present invention.

[0019] Figure 3 It is a structural schematic diagram of the cooperation between the unmanned forklift and the special pallet 2 of the present invention.

[0020] Figure 4 It is a schematic diagram of the structure of the unmanned forklift of the present invention cooperating with a common pallet with holes at the bottom.

[0021] Figure 5 It is a schematic diagram of the structure of the unmanned forklift of the present invention cooperating with a common pallet without holes on the bottom.

[0022] Figure 6 It is a schematic structural diagram of the two-axle crawler unit of the present invention.

[0023] Figure 7 It is a schematic diagram of the operation process of the unmanned forklift of the present invention.

[0024] Figure 8 It is a schematic diagram of the working principle of the high-definition camera and laser radar of the present invention.

[0025] The accompanying drawings are marked as follows: 1. Camera protection device; 2. Micro high-definition camera; 3. Rotating pan / tilt; 4. Laser radar; 5. Main body; 6. Special fork 1; 7. Infrared transmitter; 8. Suspension ladder; 9. Two-axle crawler tire; 10. Gravity chassis; 11. Control motor; 12. Battery compartment; 13. Special pallet 1; 14. Infrared receiver; 15. Special fork 2; 16. Special pallet 2; 17. Ordinary bottom single-hole pallet; 18. Ordinary bottom tray without holes; 19. Two-axle crawler tire single structure. DETAILED DESCRIPTION

[0026] The following will be combined with the drawings in the embodiments of the present invention 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.

[0027] according to Figure 1-8 The unmanned transport forklift based on radar, camera and infrared ray shown in the figure comprises: A main body warehouse 5, a control motor 11 is fixedly installed on the top of the main body warehouse 5, a rotating platform 3 and a camera protection device 1 installed on the outer surface of the top of the rotating platform 3 are installed on the top of the control motor 11, and a micro HD camera 2 is fixedly installed on the outer surface of the front end of the camera protection device 1, and the micro HD camera 2 at the front end of the camera protection device 1 is driven by the control motor 11 and the rotating platform 3 to achieve 360° shooting; The laser radar 4 is fixedly mounted on the front outer surface of the main body compartment 5, and accurate positioning is performed through the cooperation between the micro high-definition camera 2 and the laser radar 4.

[0028] In a preferred embodiment, Figure 1 As shown, the main body compartment 5 is fixedly installed with an automatic control device for controlling the entire body, and the main body compartment 5 is fixedly installed with a battery compartment 12. The automatic control device can receive external command signals, thereby giving corresponding commands to various parts of the forklift, so as to achieve unmanned control.

[0029] In a preferred embodiment, Figure 1 , 6As shown, the bottom end of the main warehouse 5 is fixedly installed with a suspension ladder 8, and the bottom end of the suspension ladder 8 is fixedly installed with a gravity chassis 10. Two-axle crawler tires 9 are installed on both sides of the gravity chassis 10. The two-axle crawler tires 9 are assembled from a number of two-axle crawler tire monomer structures 19. The two-axle crawler tracks are used in combination with the gravity chassis to adapt to complex terrains, and the spiral ladder is retractable to increase the flexibility of loading and unloading. When the road surface is rugged and it is necessary to transport high-altitude pallets, the automatic control device will operate the suspension ladder to rise to the corresponding height. At this moment, in order to ensure its overall stability, the gravity chassis 10 will absorb the surrounding air to increase its gravity, and at the same time, its crawler tracks will increase the friction area and pressure with the ground, so that the stability of the vehicle body during high-altitude operations is greatly improved. When the forklift needs to move, the gravity chassis will release the air in the cabin to reduce the forklift's own gravity, thereby speeding up the travel speed. The two-axle crawler tracks are assembled by multiple chain shafts that cooperate with each other. When a single chain is damaged, it can be quickly disassembled and replaced. It not only reduces costs, but also improves the fault tolerance of forklifts on various complex road surfaces.

[0030] In a preferred embodiment, Figure 2-5 , 7-8, a special fork mounting hole is provided on the front outer surface of the main warehouse 5, a special fork 1 6 is provided on the front end of the main warehouse 5, and one end of the special fork 1 6 is installed in the special fork mounting hole, a special fork mounting hole is provided on the front outer surface of the camera protection device 1, a special fork 2 15 is provided on the front end of the main warehouse 5, and one end of the special fork 2 15 is installed in the special fork mounting hole, an infrared transmitter 7 is fixedly installed on the outer surface of the other end of the special fork 1 6 and the special fork 2 15, and also includes a special pallet 1 13, a special pallet 2 16, an ordinary bottom single-hole pallet 17 and an ordinary bottom non-hole pallet 18, the front end of the special fork 1 6 matches the pallet hole provided on the outer surface of one end of the special pallet 13, the front end of the special fork 2 15 matches the outer edges of the special pallet 2 16 and the ordinary bottom single-hole pallet 17 A pallet hole is provided to match the special pallet 13, the special pallet 2 16, the ordinary bottom single-hole pallet 17 and the ordinary bottom non-hole pallet 18. An infrared receiver 14 is fixedly installed at one end, and the infrared signal emitted by the infrared transmitter 7 is received by the infrared receiver 14. When the pallet hole enters the detection range of the camera, the camera will give the X, Y distance value from the hole internally, and then give a corresponding Z value after the laser radar performs radar ranging. When the Z value is equal to the X value or the error does not exceed 1㎜ and the error between the Y value and the vertical distance between the micro camera and the laser radar is not greater than 1mm, the forklift can lock the position of the pallet hole and perform corresponding forking. The infrared transmitter 7 is installed on the special fork, and by emitting infrared rays, it is quickly calibrated with the infrared receiver 14 on the special pallet, so as to quickly and accurately find the position of the pallet hole.

[0031] Working principle of the present invention: Refer to the instruction manual Figure 1-8 , through which the automatic control device is used to control the entire body of the vehicle, so that the forklift can be controlled to move by itself through the background, the micro high-definition camera 2 is placed in the camera protection device 1, and then placed together on the rotating pan-tilt 3, the rotating pan-tilt 3 is connected to the control motor 11 at the center of the upper part of the main warehouse 5, so that the camera can rotate 360° to detect the pallet hole, and the battery placed at the lower part of the main warehouse 1 can provide power for the entire body of the vehicle. A special connection hole is set at the front end of the main warehouse 1 for connecting a special fork to enable it to accurately capture the pallet, and a laser radar 4 is installed at the front end of the upper part of the main warehouse 5 to cooperate with the micro high-definition camera 2 to achieve accurate capture of the pallet hole. The bottom of the main warehouse 5 is connected to the suspension ladder 8 to realize the up and down telescopic extension of the forklift to increase the flexibility of loading and unloading, the suspension ladder 8 is installed on the gravity chassis 10, and the two-axle crawler tire 9 is installed next to the gravity chassis 10. The three cooperate with each other to improve the overall balance and stability, and the automatic control device is installed in the main warehouse 5 to control the direction of the forklift and plan the route.

[0032] Finally, a few points should be explained: First, in the description of this application, it should be noted that, unless otherwise specified and limited, the terms "installed", "connected", and "connected" should be understood in a broad sense, which may refer to mechanical connection or electrical connection, or internal communication between two components, or direct connection. "upper", "lower", "left", "right", etc. are only used to indicate relative positional relationships. When the absolute position of the object being described changes, the relative positional relationship may change; Secondly: In the drawings of the embodiments disclosed in the present invention, only the structures related to the embodiments disclosed in the present invention are involved, and other structures can refer to the general design. In the absence of conflict, the same embodiment and different embodiments of the present invention can be combined with each other; Finally: The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention should be included in the protection scope of the present invention.

Claims

1. An unmanned transport forklift based on radar, camera and infrared, characterized in that: include: A main body warehouse (5), wherein a control motor (11) is fixedly mounted on the top of the main body warehouse (5), a rotating pan head (3) and a camera protection device (1) mounted on the outer surface of the top of the rotating pan head (3) are mounted on the top of the control motor (11), and a micro high-definition camera (2) is fixedly mounted on the outer surface of the front end of the camera protection device (1), and the micro high-definition camera (2) at the front end of the camera protection device (1) is driven by the control motor (11) and the rotating pan head (3) to achieve 360-degree shooting; A laser radar (4) is fixedly mounted on the front outer surface of the main body compartment (5), and accurate positioning is performed through the cooperation between the micro high-definition camera (2) and the laser radar (4).

2. The unmanned transport forklift based on radar, camera and infrared according to claim 1, characterized in that: An automatic control device for controlling the entire vehicle body is fixedly installed inside the main body compartment (5), and a battery compartment (12) is fixedly installed inside the main body compartment (5).

3. The unmanned transport forklift based on radar, camera and infrared according to claim 1, characterized in that: A suspension ladder (8) is fixedly mounted on the bottom end of the main warehouse (5), a gravity chassis (10) is fixedly mounted on the bottom end of the suspension ladder (8), and two-axle crawler tires (9) are mounted on both sides of the gravity chassis (10).

4. The unmanned transport forklift based on radar, camera and infrared according to claim 3, characterized in that: The two-axle crawler tire (9) is assembled from a plurality of two-axle crawler tire monomer structures (19).

5. The unmanned transport forklift based on radar, camera and infrared according to claim 1, characterized in that: A special fork mounting hole is provided on the front outer surface of the main warehouse (5), and a special fork 1 (6) is provided at the front end of the main warehouse (5), with one end of the special fork 1 (6) being mounted in the special fork mounting hole.

6. The unmanned transport forklift based on radar, camera and infrared according to claim 5, characterized in that: A special fork mounting hole is provided on the front outer surface of the camera protection device (1), and a special fork 2 (15) is provided on the front end of the main body warehouse (5), with one end of the special fork 2 (15) being mounted in the special fork mounting hole.

7. The unmanned transport forklift based on radar, camera and infrared according to claim 6, characterized in that: An infrared emitter (7) is fixedly mounted on the outer surface of the other end of the special fork 1 (6) and the special fork 2 (15).

8. The unmanned transport forklift based on radar, camera and infrared according to claim 6, further comprising a special pallet 1 (13), a special pallet 2 (16), a common bottom single-hole pallet (17) and a common bottom non-hole pallet (18), characterized in that: The front end of the special fork 1 (6) matches with a pallet hole opened on the outer surface of one end of the special pallet 1 (13), and the front end of the special fork 2 (15) matches with a pallet hole opened on the outer side of the special pallet 2 (16) and the ordinary bottom single-hole pallet (17).

9. The unmanned transport forklift based on radar, camera and infrared according to claim 8, characterized in that: An infrared receiver (14) is fixedly mounted on one end of the special tray 1 (13), the special tray 2 (16), the common bottom single-hole tray (17) and the common bottom non-hole tray (18), and the infrared receiver (14) receives the infrared signal emitted by the infrared transmitter (7).

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