Collision avoidance unmanned carrier vehicle

Abstract

The present invention discloses an anti-collision unmanned carrier vehicle. Its cage controller is installed on the cage and includes a storage battery and a wireless power discharge circuit. The vehicle platform controller is installed on the vehicle platform and includes a wireless charging circuit, a power control circuit, a control drive circuit, and a vehicle-mounted power supply. The first sensing device is installed at the front of the vehicle platform and is powered by the vehicle-mounted power supply. The second sensing device is installed at the rear of the vehicle platform and / or on the side of the vehicle body. When the cage is installed on the vehicle platform, the wireless charging circuit and the wireless power discharge circuit face each other and inductively receive the electric energy emitted by the wireless power discharge circuit. The power control circuit converts the electric energy received by the wireless charging circuit and delivers it to the second sensing device to activate it, and can control the sensing range of the second sensing device. The control drive circuit controls the operation of the power system of the vehicle platform according to the detection signals of the first sensing device and / or the second sensing device. Adjust the detection range according to the size of the anti-collision unmanned carrier vehicle, so as to effectively avoid obstacles and improve the running safety.

Description

Technical Field

[0001] The present invention relates to the technical field of unmanned handling, and particularly to an anti-collision unmanned carrier vehicle capable of adjusting the sensing range according to different cage sizes. Background Art

[0002] Unmanned carrier vehicles are usually paired with cages to carry goods, and most of the connection structures between the vehicle platforms of unmanned carrier vehicles and cages are detachable. Therefore, when loading goods, an empty cage can be directly unloaded from the vehicle platform and a cage loaded with goods can be carried onto the vehicle platform. When the unmanned carrier vehicle moves to the unloading position, the cage loaded with goods can be directly unloaded from the vehicle platform, enabling the unmanned carrier vehicle to be paired with various cages and be more flexible in use.

[0003] Generally, the size of the vehicle platform of an unmanned carrier vehicle is much smaller than that of the cage. During the operation of the unmanned carrier vehicle, whether the vehicle platform carries a cage and the size of the cage have a significant impact on the collision avoidance path of the unmanned carrier vehicle. Currently, to prevent the unmanned carrier vehicle from colliding with other personnel, equipment, or obstacles during operation, a collision sensing device is usually provided on the vehicle platform or / and the cage. When the collision sensing device is collided, the controller will control the unmanned carrier vehicle to stop running to prevent the goods from falling off or the goods and the unmanned carrier vehicle from being damaged. However, the existing method cannot enable the unmanned carrier vehicle to avoid obstacles in advance to prevent collisions, nor can it adjust the sensing range according to different cage sizes.

[0004] Therefore, it is necessary to provide an anti-collision unmanned carrier vehicle capable of adjusting the sensing range according to different cage sizes to prevent collisions, so as to solve the problems existing in the above-mentioned prior art. Summary of the Invention

[0005] The purpose of the present invention is to provide an anti-collision unmanned carrier vehicle capable of adjusting the sensing range according to different cage sizes.

[0006] To achieve the above object, the technical solution of the present invention is: to provide a collision-proof unmanned carrier vehicle, which includes a vehicle platform and a cage detachably mounted on the vehicle platform, and further includes a cage controller, a vehicle platform controller, a first sensing device and a second sensing device; wherein, the cage controller is mounted on the cage and includes a storage battery and a wireless power transmission circuit, and the wireless power transmission circuit is used to transmit the electric energy of the storage battery; the vehicle platform controller is mounted on the vehicle platform and includes a wireless power receiving circuit, a power control circuit, a control driving circuit and a vehicle-mounted power supply, and the power control circuit is used to convert and output the electric energy received by the wireless power receiving circuit; the first sensing device is mounted on the front of the vehicle platform and is electrically connected to the vehicle-mounted power supply and the control driving circuit; the second sensing device is mounted on the rear of the vehicle platform or / and the side of the vehicle body, and the second sensing device is electrically connected to the control driving circuit; when the cage is mounted on the vehicle platform, the wireless power receiving circuit and the wireless power transmission circuit face each other and inductively receive the electric energy transmitted by the wireless power transmission circuit, and the power control circuit converts the electric energy received by the wireless power receiving circuit and transmits it to the second sensing device to activate the second sensing device, and controls the sensing range of the second sensing device according to the converted voltage or current, and the control driving circuit controls the operation of the power system of the vehicle platform according to the detection signal of the first sensing device or / and the second sensing device.

[0007] Preferably, the present invention has a plurality of the second sensing devices, and each of the second sensing devices is respectively mounted on the rear of the vehicle platform and the side of the vehicle body.

[0008] Preferably, the sensing range of the second sensing device is adjustable.

[0009] Preferably, the wireless power transmission circuit is respectively provided with different power transmission powers according to different cage sizes, and the power control circuit converts the electric energy received by the wireless power receiving circuit and controls the sensing range of the second sensing device according to the obtained voltage or current.

[0010] Preferably, when the size of the cage is less than a preset value, the wireless power transmission circuit has a preset first output power, and when the size of the cage is greater than the preset value, the wireless power transmission circuit has a preset second output power, wherein the second output power is greater than the first output power.

[0011] Preferably, when the voltage or current obtained by the power control circuit conversion is less than a preset value, the second sensing device is controlled to detect within a first sensing range, and when the voltage or current obtained by the power control circuit conversion is greater than the preset value, the second sensing device is controlled to detect within a second sensing range, and the second sensing range is greater than the first sensing range.

[0012] Preferably, the power control circuit includes a switch disposed on the power supply loop of the second sensing device. When the power control circuit receives the electric energy transmitted by the wireless charging circuit, it controls the switch to close. When the power control circuit does not receive the electric energy transmitted by the wireless charging circuit, it controls the switch to open.

[0013] Preferably, the first sensing device is a camera with a wide-angle lens.

[0014] Preferably, the second sensing device is an infrared sensor.

[0015] Preferably, when at least one of the first sensing device and the second sensing device detects an obstacle, the control and drive circuit controls the power system to stop operating.

[0016] Compared with the prior art, in the anti-collision unmanned carrier vehicle of the present invention, a first sensing device and a second sensing device are respectively installed on the vehicle platform, and the first sensing device is continuously powered by the vehicle-mounted power supply on the vehicle platform, so that the first sensing device is always in an on state; when the cage is installed on the vehicle platform, the wireless charging circuit on the vehicle platform is charged by the wireless discharge circuit on the cage, and the power control circuit then converts and transmits the electric energy received by the wireless charging circuit to the second sensing device to activate the second sensing device, so that the first sensing device and the second sensing device are simultaneously turned on for detection. Moreover, the power control circuit can control the sensing range of the second sensing device according to the voltage or current obtained by its conversion, that is, adjust the sensing range of the second sensing device according to different cage sizes, so that the detection range can be adjusted according to the different avoidance spaces required by the anti-collision unmanned carrier vehicle, enabling the anti-collision unmanned carrier vehicle to effectively avoid obstacles during operation and improving its operation safety; furthermore, the second sensing device is powered by the storage battery on the cage to activate it, greatly simplifying the structure of the control circuit and reducing the production cost. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 is a schematic structural diagram of the anti-collision unmanned carrier vehicle of the present invention.

[0018] Figure 2 is a structural block diagram of the anti-collision unmanned carrier vehicle of the present invention. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0019] Now, embodiments of the present invention will be described with reference to the accompanying drawings, in which like reference numerals represent like elements.

[0020] First, in combination with Figure 1 - Figure 2As shown in the figure, the anti-collision automated guided vehicle 100 provided by the present invention includes a detachable cage 110 and a vehicle platform 120. Among them, the cage 110 has different sizes, and the vehicle platform 120 can be used in cooperation with cages 110 of different sizes respectively. The anti-collision automated guided vehicle 100 further includes a cage controller 130, a vehicle platform controller 140, a first sensing device 150, and a second sensing device 160. The first sensing device 150 is installed at the front of the vehicle platform 120; the second sensing device 160 is installed at the rear of the vehicle platform 120 and / or on the side of the vehicle body. When the vehicle platform 120 does not carry the cage 110, the volume of the vehicle platform 120 itself is small, so only the first sensing device 150 is turned on. After the cage 110 is installed on the vehicle platform 120, since the cage 110 is large in size, the space occupied by the anti-collision automated guided vehicle 100 is large. Therefore, it is necessary to turn on the second sensing device 160 to jointly detect with the first sensing device 150. In the present invention, when the cage 110 is installed on the vehicle platform 120, the cage 110 powers the second sensing device 160 on the vehicle platform 120 to start it. When the cage 110 is not installed, the second sensing device 160 cannot be started, making the control simpler.

[0021] The following will be combined with Figure 1 - 2 As shown in the figure, the cage controller 130 is installed on the cage 110, and it includes a storage battery 131 and a wireless power discharge circuit 132. The wireless power discharge circuit 132 is used to transmit the electric energy of the storage battery 131. The vehicle platform controller 140 is installed on the vehicle platform 120. The vehicle platform controller 140 includes a vehicle-mounted power supply 141, a wireless charging circuit 142, a power control circuit 143, and a control drive circuit 144. Among them, the power control circuit 143 is used to convert and output the electric energy received by the wireless charging circuit 142 to the second sensing device 160 to start the second sensing device 160, and control the sensing range of the second sensing device 160 according to the converted voltage or current; the vehicle-mounted power supply 141 is used to supply power to the first sensing device 150. In addition, the first sensing device 150 and the second sensing device 160 are also electrically connected to the control drive circuit 144 respectively. In the present invention, when the cage 110 is installed on the vehicle platform 120, the wireless charging circuit 142 faces the wireless power discharge circuit 132 and inductively receives the electric energy transmitted by the wireless power discharge circuit 132. The power control circuit 143 converts and outputs the electric energy received by the wireless charging circuit 142 to the second sensing device 160 to start the second sensing device 160. When the cage 110 is removed from the vehicle platform 120, the second sensing device 160 is powered off and stops working. The control drive circuit 144 controls the operation of the power system 170 of the automated guided vehicle 100 according to the detection signals of the first sensing device 150 and / or the second sensing device 160 to achieve collision avoidance of the automated guided vehicle 100.

[0022] Continue to combine with Figure 1 - 2As shown, in a preferred embodiment of the present invention, the first sensing device 150 is powered by the vehicle-mounted power supply 141 on the vehicle platform 120. Therefore, it is always in the on state. When the cage 110 is not carried on the vehicle platform 120, the size of the vehicle platform 120 itself is small. At this time, only relying on the detection signal of the first sensing device 150 can meet the collision avoidance requirement. When the cage 110 is carried on the vehicle platform 120, since the size of the cage 110 is much larger than that of the vehicle platform 120, the second sensing device 160 needs to be turned on to cooperate with the first sensing device 150 for detection. The second sensing device 160 is used to assist in detecting the blind spot area that the first sensing device 150 cannot detect, ensuring the safe operation of the collision avoidance AGV 100.

[0023] Continue to refer to Figure 1 As shown, in the preferred embodiment of the present invention, there are multiple second sensing devices 160. Each second sensing device 160 is respectively installed at the rear of the vehicle platform 120 and the side of the vehicle body, and the sensing range of each second sensing device 160 is adjustable. Specifically, when the cage 110 is carried on the vehicle platform 120, the second sensing device 160 is controlled to adjust its sensing range according to the size of the cage 110. When the size of the cage 110 is small, the second sensing device 160 is controlled to detect within a relatively small sensing range. When the size of the cage 110 is large, the second sensing device 160 is controlled to detect within a relatively large sensing range.

[0024] Combined with Figure 1 - 2As shown, in this embodiment, the wireless discharge circuit 132 of the cage controller 130 is preset with different output powers corresponding to the size of the cage 110. That is, when the size of the cage 110 is smaller than the preset value, the wireless discharge circuit 132 has a preset first output power; when the size of the cage 110 is larger than the preset value, the wireless discharge circuit 132 has a preset second output power, where the second output power is greater than the first output power. When the cage 110 is installed on the vehicle platform 120, the wireless charging circuit 142 faces the wireless discharge circuit 132 and inductively receives the electric energy emitted by the wireless discharge circuit 132. The power control circuit 143 converts and outputs the electric energy received by the wireless charging circuit 142 to the second induction device 160 to activate the second induction device 160. At the same time, the power control circuit 143 determines whether the converted voltage is less than the preset value. When the voltage converted by the power control circuit 143 is less than the preset value, it indicates that the size of the cage 110 is relatively small, and the avoidance space required by the anti-collision automated guided vehicle 100 is relatively small. The power control circuit 143 controls the second induction device 160 to detect within the first induction range. When the voltage converted by the power control circuit 143 is greater than the preset value, it indicates that the size of the cage 110 is relatively large, and the avoidance space required by the anti-collision automated guided vehicle 100 is relatively large. At this time, the power control circuit 143 controls the second induction device 160 to detect within the second induction range, and the second induction range is greater than the first induction range. Through the wireless charging method, the battery 131 on the cage 110 is used to charge the second induction device 160 to activate it, without the need to set up a dedicated communication circuit between the cage 110 and the vehicle platform 120, which can greatly simplify the circuit structure.

[0025] Of course, the power control circuit 143 can also control the second induction device 160 by judging the converted current value, but it is not limited to the foregoing method. Other methods can also be used to judge the size of the cage 110 to correspondingly control the second induction device 160.

[0026] When at least one of the first induction device 150 and the second induction device 160 detects an obstacle within its induction range, the control drive circuit 144 controls the power system 170 of the anti-collision automated guided vehicle 100 to stop operating to prevent the anti-collision automated guided vehicle 100 from colliding.

[0027] Understandably, the first induction device 150 is not limited to the always-on method. It can also be controlled to turn on when the vehicle platform 120 receives a command to start working.

[0028] Combined again Figure 1 - 2As shown, in a preferred embodiment of the present invention, the power control circuit 143 includes a switch disposed on the power supply loop of the second sensing device 160. When the power control circuit 143 receives the electric energy transmitted by the wireless charging circuit 142, it controls the switch to close. When the power control circuit 143 does not receive the electric energy transmitted by the wireless charging circuit 142, it controls the switch to open. Among them, the switch can be a relay switch circuit or a transistor switch circuit, etc., so as to conveniently control the second sensing device 160, and the circuit structure is simple.

[0029] Alternatively, a mechanical switch can also be disposed on the power supply loop of the second sensing device 160. The mechanical switch is disposed at an appropriate position on the vehicle platform 120. When the cage 110 is installed on the vehicle platform 120, the mechanical switch can be touched to make it conductive, so that the power control circuit 143 can supply power to the second sensing device 160 to start it.

[0030] Continue to refer to Figure 2 As shown, in a preferred embodiment of the present invention, the wireless discharge circuit 132 and the wireless charging circuit 142 respectively include induction coils. And after the cage 110 is installed on the vehicle platform 120, the positions of the wireless discharge circuit 132 and the wireless charging circuit 142 are opposite, and the wireless charging circuit 142 can receive the electric energy emitted by the wireless discharge circuit 132. This solution makes the circuit structure simple.

[0031] Refer to again Figure 1 As shown, the first sensing device 150 in the present invention is preferably a camera with a wide-angle lens, and the second sensing device 160 is preferably an infrared sensor, but it is not limited thereto, and other detection elements can also be used for detection.

[0032] Next, in combination with again Figure 1 - 2 As shown, the working principle and process of the anti-collision unmanned carrier vehicle 100 of the present invention will be described.

[0033] In the present invention, the first sensing device 150 is always powered on by the vehicle-mounted power supply 141 on the vehicle platform 120. Therefore, when the vehicle platform 120 does not carry the cage 110, the control drive circuit 144 of the vehicle platform controller 140 obtains the detection signal of the first sensing device 150 for judgment. When the first sensing device 150 detects an obstacle, the control drive circuit 144 controls the power system 170 to stop operating, thereby preventing the vehicle platform 120 from colliding with the obstacle.

[0034] After the cage 110 is installed on the vehicle platform 120, the wireless power discharge circuit 132 of the cage controller 130 faces the wireless charging circuit 142 of the vehicle platform controller 140. The wireless charging circuit 142 senses and receives the electric energy transmitted by the wireless power discharge circuit 132. The power supply control circuit 143 converts and outputs the electric energy received by the wireless charging circuit 142 to the second sensing device 160 to activate the second sensing device 160. At this time, the first sensing device 150 and the second sensing device 160 are used for detection simultaneously. The second sensing device 160 is used to detect the positions at the rear and on both sides of the vehicle platform 120 to make up for the blind spots that cannot be detected by the first sensing device 150. Meanwhile, the power supply control circuit 143 determines whether the size of the cage 110 is within the preset range according to the converted voltage or current. If it is within the preset range, the power supply control circuit 143 controls the second sensing device 160 to detect within the first sensing range. When the size of the cage 110 exceeds the preset range, it controls the second sensing device 160 to adjust to the second sensing range for detection, where the second sensing range is larger than the first sensing range. The control driving circuit 144 obtains the detection signals of the first sensing device 150 and the second sensing device 160 in real time for judgment. When at least one of the first sensing device 150 and the second sensing device 160 detects an obstacle, the control driving circuit 144 controls the power system 170 to stop operating.

[0035] In summary, for the anti-collision unmanned carrier 100 of the present invention, the first sensing device 150 and the second sensing device 160 are respectively installed on the vehicle platform 120, and the in-vehicle power supply 141 on the vehicle platform 120 continuously supplies power to the first sensing device 150 to keep the first sensing device 150 always in an on state. When the cage 110 is installed on the vehicle platform 120, the wireless charging circuit 142 on the vehicle platform 120 is charged by the wireless power discharge circuit 132 on the cage 110. The power supply control circuit 143 then converts and transmits the electric energy received by the wireless charging circuit 142 to the second sensing device 160 to activate the second sensing device 160, so that the first sensing device 150 and the second sensing device 160 are turned on simultaneously for detection. Moreover, the power supply control circuit 143 can control the sensing range of the second sensing device 160 according to the converted voltage or current, that is, adjust the sensing range of the second sensing device 160 according to different sizes of the cage 110, so that the detection range can be adjusted according to different avoidance spaces required by the anti-collision unmanned carrier 100, enabling the anti-collision unmanned carrier 100 to effectively avoid obstacles during operation and improving its operating safety. Furthermore, the second sensing device 160 is powered by the storage battery 131 on the cage 110 to be activated, greatly simplifying the structure of the control circuit and reducing the production cost.

[0036] The structures of other parts of the anti-collision automatic guided vehicle 100 involved in the present invention and their installation manners are all conventional manners well-known to those of ordinary skill in the art, and no detailed description will be given herein.

[0037] The above-disclosed are only the preferred embodiments of the present invention. Of course, the scope of the present invention cannot be limited thereby. Therefore, equivalent changes made according to the scope of the patent application of the present invention still fall within the scope covered by the present invention.

Claims

1. An anti-collision unmanned carrier vehicle, comprising a vehicle platform and a cage detachably mounted on the vehicle platform, characterized in that, it further comprises: A cage controller, which is mounted on the cage and includes a storage battery and a wireless discharge circuit, and the wireless discharge circuit is used to transmit the electric energy of the storage battery; A vehicle platform controller, which is mounted on the vehicle platform and includes a wireless charging circuit, a power control circuit, a control drive circuit and a vehicle-mounted power supply, and the power control circuit is used to convert and output the electric energy received by the wireless charging circuit; A first sensing device, which is mounted on the front of the vehicle platform and is electrically connected to the vehicle-mounted power supply and the control drive circuit, and the first sensing device is always on, or is turned on when the vehicle platform receives a command to start working; A second sensing device, which is mounted on the rear or / and side of the vehicle body of the vehicle platform, and the second sensing device is electrically connected to the control drive circuit, and the sensing range of the second sensing device is adjustable; When the cage is mounted on the vehicle platform, the wireless charging circuit and the wireless discharge circuit face each other and inductively receive the electric energy transmitted by the wireless discharge circuit. The wireless discharge circuit is respectively provided with different discharge powers according to different cage sizes. The power control circuit converts the electric energy received by the wireless charging circuit and transports it to the second sensing device to activate the second sensing device, and controls the sensing range of the second sensing device according to the obtained voltage or current after converting the electric energy received by the wireless charging circuit. The control drive circuit controls the operation of the power system of the vehicle platform according to the detection signals of the first sensing device or / and the second sensing device.

2. The anti-collision unmanned carrier vehicle according to claim 1, characterized in that, There are multiple second sensing devices, and each second sensing device is respectively mounted on the rear of the vehicle platform and the side of the vehicle body.

3. The anti-collision unmanned carrier vehicle according to claim 1, characterized in that, When the size of the cage is smaller than a preset value, the wireless discharge circuit has a preset first output power. When the size of the cage is larger than the preset value, the wireless discharge circuit has a preset second output power, wherein the second output power is greater than the first output power.

4. The anti-collision unmanned carrier vehicle according to claim 1, characterized in that, When the voltage or current obtained by conversion of the power control circuit is less than a preset value, control the second sensing device to detect within a first sensing range. When the voltage or current obtained by conversion of the power control circuit is greater than the preset value, control the second sensing device to detect within a second sensing range, and the second sensing range is greater than the first sensing range.

5. The anti-collision unmanned carrier vehicle according to claim 1, characterized in that, The power control circuit includes a switch provided on the power supply loop of the second sensing device. When the power control circuit receives the electric energy transmitted by the wireless charging circuit, it controls the switch to close. When the power control circuit does not receive the electric energy transmitted by the wireless charging circuit, it controls the switch to open.

6. The anti-collision unmanned carrier vehicle according to claim 1, characterized in that, The first sensing device is a camera with a wide-angle lens.

7. The anti-collision unmanned carrier vehicle according to claim 1 or 2, characterized in that the second sensing device is an infrared sensor.

8. The anti-collision unmanned carrier vehicle according to claim 1 or 2, characterized in that when at least one of the first sensing device and the second sensing device detects an obstacle, the control and drive circuit controls the power system to stop operating.

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