AGV with safety detection structure and use method

Abstract

The application discloses an AGV trolley with a safety detection structure, which comprises an AGV trolley body, wherein the AGV trolley body is internally provided with a control module, the top of the AGV trolley body is provided with a supporting plate, the top of the supporting plate is provided with a first roller, the surface of the first roller is provided with a plurality of groups of convex points, the number of the first rollers is four groups, and two groups of the first rollers are vertically installed. The graphene coating, the conductive metal sheet and the blue warning lamp are installed, the graphene coating is in the shape of an open ring, is arranged on the side of the first roller, can be selectively connected with the conductive metal sheet by rotating with the first roller, the rubber sleeve is wrapped around the surface of the first roller, the friction is increased, the driving force of the goods shelf on the rotation of the first roller is increased, the goods shelf is ensured to be offset and slid, the first roller can be accurately rotated, the graphene coating can be timely connected with the conductive metal sheet, a closed circuit is formed to supply power to the blue warning lamp, and the control module can timely receive the goods shelf offset information.

Description

Technical Field

[0001] This invention relates to the field of AGV transport vehicle technology, specifically to an AGV trolley with a safety detection structure and its usage method. Background Technology

[0002] AGVs (Automated Guided Vehicles) are transport vehicles equipped with electromagnetic or optical automatic guidance devices, capable of traveling along a prescribed guide path, and possessing safety protection and various transfer functions. In warehousing centers, AGVs are mainly used for intelligent picking and displacement of goods, and for inbound and outbound operations in automated warehouses. They are considered the most flexible link in warehousing and logistics. In the intelligent picking process, the AGV system assigns AGVs based on order information to lift the shelves containing the ordered goods and automatically transport them to the operating table. Workers then remove the goods from the designated locations according to the order information. After picking is completed, the AGVs return the shelves to their original positions. During the transportation of warehouse shelves, AGVs primarily focus on their own driving safety and route planning, making it difficult to monitor the positional deviation of the shelves during transportation. If the shelf's position shifts off the top of the AGV, it can easily cause instability and tipping, posing a certain safety hazard.

[0003] The existing AGV carts have the following shortcomings:

[0004] 1. Patent document CN108275620B discloses a lifting mechanism for an AGV (Automated Guided Vehicle) trolley and the AGV trolley itself. The AGV trolley includes a base, on which a drive unit and multiple screw drive mechanisms are mounted. Each screw drive mechanism includes a fixed seat fixed to the base and a screw-nut mechanism mounted on the fixed seat. The screw-nut mechanism includes a screw arranged vertically and a nut threadedly engaged with the screw. The nut is confined to the fixed seat and cannot move vertically relative to it. A follower pulley is sleeved on the screw, and the follower pulley is fixedly connected to the nut. The upper ends of the multiple lead screws are fixed with a tray. The drive unit includes a drive pulley and a motor assembly for driving the drive pulley to rotate. The drive pulley and the multiple follower pulleys are connected by a synchronous belt. However, the AGV trolley in the above-mentioned literature mainly considers how to achieve the linear lifting motion of the tray, which is not convenient for timely monitoring of the shelf offset. If the offset warehouse shelf is transported by the AGV trolley, the shelf may tip over if the AGV trolley brakes suddenly or shakes. This poses a certain safety hazard to the staff in the site and the operation of other AGV trolleys.

[0005] 2. Patent document CN102874193B discloses an omnidirectional anti-collision device for AGVs and an AGV trolley. The omnidirectional anti-collision device for AGVs includes an anti-collision barrier, a buffer spring, a swing guide rod, a linear bearing, and a swing support. One end of the buffer spring is fixed to the anti-collision barrier, and the other end abuts against and is fixed to the chassis. One end of the swing guide rod is movably connected to the anti-collision barrier through the swing support. The linear bearing is fixed to the chassis and is sleeved on the swing guide rod. When the buffer spring is compressed by the impact force, the swing guide rod moves along the axial direction of the linear bearing. The omnidirectional anti-collision device of the present invention can prevent collisions when subjected to external forces from any direction, including front, rear, left, and right. When the AGV is subjected to impact force, the anti-collision barrier, buffer spring, swing guide rod, linear bearing, and swing support work together to make it have good stability and anti-collision effect. However, the AGVs in the above-mentioned published documents mainly focus on how to improve the stability and anti-collision effect of the AGVs, which is not convenient for slow deceleration and braking. When the existing AGVs change direction or turn at nodes, their braking time is short, the speed suddenly drops to zero, and the vehicle body is prone to shaking.

[0006] 3. Patent document CN106043496B discloses an omnidirectional mobile transport AGV trolley with lifting comb teeth, including a follower frame with at least three universal wheels at the bottom, multiple lifting support frames on the upper surface of the follower frame, and comb tooth bearing plates bolted to the upper ends of the lifting support frames. A central universal drive disk is located at the geometric center of the follower frame. This invention cleverly employs a central universal drive disk structure, with two drive motors and two drive wheels mounted on the central universal drive disk for steering around the center of the machine body, achieving omnidirectional steering and movement of the trolley. Furthermore, the lifting mechanism enables the lifting and lowering of the bearing plate, improving movement flexibility and work efficiency. This invention has the advantages of scientific design, ingenious and reasonable structure, convenient manufacturing, and low cost. However, the AGV trolleys in the aforementioned disclosed documents mainly focus on improving the movement flexibility and work efficiency of the AGV trolley, and do not adequately enhance the fixing effect on the transported goods. During transport, the transported goods lack an effective fixing structure on the top of the AGV trolley, making them prone to sliding.

[0007] 4. Patent document CN108891502B discloses an energy-saving AGV (Automated Guided Vehicle) trolley, including a trolley body. Multiple first connecting plates are symmetrically and fixedly connected to the lower side of the trolley body. First rotating rods are rotatably connected to the front and rear first connecting plates. Rollers are fixedly connected to the two ends of the first rotating rods. First insert rods are symmetrically inserted and slidably connected to the left side of the trolley body. A second connecting plate is fixedly connected to the left end of the first insert rod. A limiting device is provided on the front side of the trolley body. A rotating groove is provided on the left side of the second connecting plate, in which a second connecting rod is rotatably inserted. The advantage of this invention is the addition of a blowing device to the AGV trolley. This device blows solid particles on the trolley's path to both sides, allowing the AGV trolley to move smoothly on the road, thereby reducing power consumption. However, the AGV trolley in the aforementioned publication mainly focuses on reducing power consumption and is not convenient for clearing debris from the travel route. During AGV operation, the wheels crush stones and other impurities on the ground, easily affecting the vehicle's balance. Summary of the Invention

[0008] The purpose of this invention is to provide an AGV (Automated Guided Vehicle) with a safety detection structure and its usage method, so as to solve the technical problems mentioned in the background art.

[0009] To achieve the above objectives, the present invention provides the following technical solution: an AGV trolley with a safety detection structure, comprising an AGV trolley body, wherein the AGV trolley body has a built-in control module, a tray is installed on the top of the AGV trolley body, a first roller is installed on the top of the tray, and the surface of the first roller is provided with several sets of protrusions, wherein the number of the first rollers is 4 sets, and they are installed vertically in pairs.

[0010] The surface of the first roller is covered with a rubber sleeve, and the side of the first roller away from the rubber sleeve is coated with a graphene coating, and the graphene coating is in the shape of an open ring.

[0011] A conductive metal sheet is fixedly installed at the bottom of the pallet. One end of the conductive metal sheet is connected to the opening of the graphene coating. Any two sets of parallel graphene coatings are connected by a wire. Blue warning lights are installed through the four vertical surfaces of the AGV body and are electrically connected to the control module. The end of the conductive metal sheet away from the graphene coating is electrically connected to the blue warning light.

[0012] Preferably, the top of the tray is provided with four sets of grooves, and the inner wall of the grooves is symmetrically connected with roller shafts that match the inside of the first roller. The first roller can drive the graphene coating to rotate through the roller shafts. The bottom of the tray is connected with a screw post, and the fixing screw passes through the conductive metal sheet and can be threaded to the inner wall of the screw post.

[0013] Preferably, the four vertical surfaces inside the AGV body are symmetrically connected to a first fixing frame, and a blue warning light is installed through the four vertical surfaces outside the AGV body. One end of the blue warning light is fixed inside the first fixing frame by a bolt. The top of the AGV body's top cover is connected to a second fixing frame by screws. A color sensor is built into the second fixing frame, and the input end of the color sensor is consistent with the forward direction of the AGV body.

[0014] Preferably, a speed reducer is fixedly installed at one end of the drive shaft of the AGV body. A first fixing block is symmetrically installed on the inner bottom wall of the AGV. A first servo motor is fitted onto the top of the first fixing block. The output shaft bearing of the first servo motor is connected to a first connecting block. A U-shaped speed reducer is connected to the first servo motor through the first connecting block. Part of the surface of the speed reducer is located inside the U-shaped speed reducer. The U-shaped speed reducer can rotate on the surface of the speed reducer under the drive of the first servo motor. A rubber block is installed opposite to the inner wall of the U-shaped speed reducer, and the inclined surface of the rubber block can connect with the surface of the speed reducer as the U-shaped speed reducer rotates. A speed sensor is installed on one side of the speed reducer, and the speed sensor is electrically connected to the control module through a circuit board.

[0015] Preferably, the pallet has an inverted "concave" shaped structure, with four sets of grooves arranged in pairs parallel on the top of the pallet, and the surface of the rubber sleeve always maintaining the same height as the top of the pallet;

[0016] The second fixed frame has a hollow "convex" structure. The surface of the speed reducer near the outer ring is provided with an annular frosted plane. The color sensor and the first servo motor are both electrically connected to the control module.

[0017] Preferably, the inner bottom wall of the AGV trolley body is symmetrically fitted with limit plates by screws, the vacuum generator is fixedly installed between the two sets of limit plates by screws, the outlet end of the vacuum generator is connected to a hose, a third fixing frame is provided at the bottom of the tray, the vacuum suction cup is fixedly connected to the third fixing frame by screws and is installed through the top of the tray, the top of the vacuum suction cup is at the same height as the top of the tray, and the end of the hose away from the vacuum generator is connected through the input end of the vacuum suction cup.

[0018] Preferably, a second fixing block is symmetrically installed on the inner bottom wall of the AGV body, and a second servo motor is fitted inside the second fixing block.

[0019] Preferably, the output end of the second servo motor is fixedly connected to a rotating shaft, and the cleaning disc is installed on the output end of the second servo motor through the rotating shaft. The surface of the cleaning disc near the outer ring is covered with a mop, and the mop can contact the ground as the cleaning disc rotates.

[0020] Preferably, the working steps of this AGV are as follows:

[0021] S1. When using the AGV to transport the workshop shelf, the bottom of the shelf is in close contact with the surface of the rubber sleeve. The shelf slides to one side at the top of the AGV. The friction at the bottom of the shelf causes the rubber sleeve to move, and the first roller rotates accordingly. The parallel graphene coating rotates and contacts the conductive metal sheet. The blue warning light, the circuit between the conductive metal sheet and the graphene coating closes to form a circuit. The blue warning light lights up and sends an electrical signal to the control module. The control module sends an electrical signal to the external control system to detect the positional deviation of the shelf during transportation.

[0022] S2. When braking the AGV, the control module sends an electrical signal to the first servo motor and the built-in drive device of the AGV body. The built-in drive device stops driving the AGV body to move. The first servo motor drives the U-shaped speed reducer to rotate on the surface of the speed reducer. The rubber block rotates with the U-shaped speed reducer and connects to the surface of the speed reducer. The rubber block rubs against the speed reducer to slow down its rotation, causing the speed reducer to gradually decrease. The speed sensor monitors the speed of the speed reducer. When the speed reaches the limit, the speed sensor sends an electrical signal to the control module. The control module causes the AGV body to stop moving forward through the built-in control device, so that the AGV body slows down and brakes slowly, avoiding the AGV body from shaking and tipping over due to emergency braking.

[0023] S3. When correcting the position of the shelf, pause the power supply of the AGV trolley, move the shelf to the center position, and restart the power supply of the AGV trolley. The vacuum generator transmits negative pressure to the vacuum suction cup through the hose. The vacuum suction cup firmly adheres to the shelf, increasing the force for fixing the shelf position, thereby enhancing the fixing effect of the AGV trolley on the transported goods.

[0024] S4. During the secondary transport of the shelf, the second servo motor drives the two sets of cleaning discs to rotate in opposite directions through the rotating shaft. The mop rotates accordingly and rubs against the ground to clean up the debris on the ground.

[0025] Preferably, step S1 further includes the following steps:

[0026] S11. During this process, the color sensors on the top of the main body of the other AGVs in the site detect the blue light source. The color sensors send an electrical signal to the control module. The control module is electrically connected to the external control system. The other AGVs bypass the AGVs with the blue warning light constantly on according to the instructions of the external control system.

[0027] Step S2 further includes the following steps:

[0028] S21. When the control module stops the AGV trolley body through the built-in braking device, the control module synchronously sends an electrical signal to the first servo motor. The output shaft of the first servo motor drives the U-shaped speed reducer to rotate back to the original angle, and the rubber block separates from the surface of the speed reducer.

[0029] Step S3 further includes the following steps:

[0030] S31. During this process, the shelf slides on top of the pallet, causing the rubber sleeve to rotate. The graphene rotates with the rubber sleeve and separates from the conductive metal sheet, interrupting the blue warning light circuit.

[0031] Step S4 further includes the following steps:

[0032] S41. When the AGV body starts secondary transportation, the built-in drive device and the second servo motor of the AGV body start synchronously to ensure timely cleaning of the AGV body's travel route.

[0033] Compared with the prior art, the beneficial effects of the present invention are:

[0034] 1. This invention incorporates a graphene coating, a conductive metal sheet, and a blue warning light. The graphene coating is designed as an open ring and positioned on the side of the first roller. It selectively connects with the conductive metal sheet as the first roller rotates. A rubber sleeve is installed on the surface of the first roller, increasing friction and thus increasing the force that drives the first roller to rotate. This ensures that the first roller rotates precisely when the shelf shifts or slides. The graphene coating connects with the conductive metal sheet in a timely manner, forming a closed circuit to power the blue warning light. This allows the control module to receive shelf shift information promptly and transmit it to an external control system, facilitating timely handling of shifts by staff. Furthermore, other AGVs can identify and avoid dangerous light sources using color sensors, improving transportation safety.

[0035] 2. This invention is equipped with a speed reducer, a U-shaped speed reducer plate, and a speed sensor. The speed reducer is fixedly installed on the drive shaft of the AGV trolley. The first servo motor drives a rubber block to slowly contact the friction surface of the speed reducer plate through the U-shaped speed reducer plate. The rubber block is designed with an inclined surface, so that the friction force of the rubber block on the speed reducer plate gradually increases. By slowing down the speed reducer plate, the inertial travel speed of the AGV trolley can be indirectly reduced, which can effectively prevent the shelves from tipping over due to inertia caused by the AGV trolley's deviation during emergency braking.

[0036] 3. This invention is equipped with a vacuum generator, a hose, and a vacuum suction cup. The vacuum suction cup is installed through the top of the pallet. The vacuum generator provides negative pressure to the vacuum suction cup through the hose. The negative pressure generates suction force to firmly hold the bottom of the shelf, effectively enhancing the fixing effect of the top of the pallet to the shelf.

[0037] 4. This invention is equipped with two servo motors, a cleaning disc, and a mop. The cleaning disc is installed on both sides of the AGV trolley. The second servo motor drives the mop on the cleaning disc to rotate, cleaning up debris on the path of the wheels on both sides, reducing the impact on the balance of the AGV trolley and ensuring that the AGV trolley travels smoothly to transport the shelves. Attached Figure Description

[0038] Figure 1 This is a schematic diagram of the overall structure of the present invention;

[0039] Figure 2 This is a schematic diagram of the first roller mounting structure of the present invention;

[0040] Figure 3 This is a schematic diagram of the graphene coating structure of the present invention;

[0041] Figure 4 This is a schematic diagram of the speed reducer mounting structure of the present invention;

[0042] Figure 5 This is a schematic diagram of the vacuum generator mounting structure of the present invention;

[0043] Figure 6 This is a schematic diagram of the vacuum suction cup mounting structure of the present invention;

[0044] Figure 7 This is a schematic diagram of the blue warning light mounting structure of the present invention;

[0045] Figure 8 This is a schematic diagram of the color sensor mounting structure of the present invention;

[0046] Figure 9 This is a schematic diagram of the rubber block structure of the present invention;

[0047] Figure 10 This is a flowchart of the process of the present invention.

[0048] In the diagram: 1. AGV main body; 2. Control module; 3. Pallet; 4. First roller; 5. Rubber sleeve; 6. Graphene coating; 7. Conductive metal sheet; 8. Wire; 9. Blue warning light; 10. Tank; 11. Roller shaft; 12. Screw post; 13. Fixing screw; 14. First fixing frame; 15. Second fixing frame; 16. Color sensor; 17. Gearbox; 18. First fixing block; 19. First servo motor; 20. First connecting block; 21. U-shaped gearbox; 22. Rubber block; 23. Speed ​​sensor; 24. Limit plate; 25. Vacuum generator; 26. Hoses; 27. Third fixing frame; 28. Vacuum suction cup; 29. ​​Second fixing block; 30. Second servo motor; 31. Rotary shaft; 32. Cleaning tray; 33. Mop. Detailed Implementation

[0049] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0050] In the description of this invention, it should be noted that the terms "upper," "lower," "inner," "outer," "front end," "rear end," "both ends," "one end," and "the other end," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are used only for the convenience of describing this invention and for simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this invention. Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance.

[0051] In the description of this invention, it should be noted that, unless otherwise explicitly specified and limited, the terms "installed," "equipped with," "connected," etc., should be interpreted broadly. For example, "connection" 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 an indirect connection through an intermediate medium; it can be a connection within two components. Those skilled in the art can understand the specific meaning of the above terms in this invention based on the specific circumstances.

[0052] Please see Figure 1 , Figure 2 , Figure 3 , Figure 5 , Figure 6 , Figure 7 and Figure 8This invention provides an embodiment of an AGV (Automated Guided Vehicle) with a safety detection structure, comprising an AGV body 1, a control module 2 built into the AGV body 1, a support plate 3 mounted on the top of the AGV body 1, and a first roller 4 mounted on the top of the support plate 3. The surface of the first roller 4 has several sets of protrusions, and four sets of the first roller 4 are installed, arranged perpendicularly in pairs. The surface of the first roller 4 is covered with a rubber sleeve 5. The side of the first roller 4 away from the rubber sleeve 5 is coated with a graphene coating 6, which is in the shape of an open ring. A conductive metal sheet 7 is fixedly mounted at the bottom of the support plate 3, with one end of the conductive metal sheet 7 connected to the opening of the graphene coating 6. An electric wire 8 connects any two parallel sets of graphene coatings 6. Blue warning lights 9 are installed through all four vertical surfaces of the AGV body 1 and are electrically connected to the control module 2. The end of the conductive metal sheet 7 away from the graphene coating 6 is electrically connected to the blue warning light 9. The top of the tray 3 is provided with four sets of grooves 10. The inner wall of the grooves 10 is symmetrically connected with roller shafts 11 that match the inside of the first roller 4. The first roller 4 can drive the graphene coating 6 to rotate through the roller shafts 11. The bottom of the tray 3 is connected with a screw post 12. The fixing screw 13 passes through the conductive metal sheet 7 and can be threaded to the inner wall of the screw post 12. The four vertical surfaces inside the AGV body 1 are symmetrically connected with a first fixing frame 14. The blue warning light 9 is installed through the four vertical surfaces outside the AGV body 1. One end of the blue warning light 9 is fixed inside the first fixing frame 14 by bolts. The top of the AGV body 1 is connected to a second fixing frame 15 by screws. The second fixing frame 15 has a built-in color sensor 16. The input end of the color sensor 16 is consistent with the forward direction of the AGV body 1.

[0053] Furthermore, when the AGV body 1 is transporting the shelf, the bottom of the shelf is in contact with the top of the pallet 3 and the surface of the rubber sleeve 5. If the shelf shifts, the friction between the bottom of the shelf and the rubber sleeve 5 can drive the first roller 4 to rotate. The rotation of the first roller 4 causes the relative position between the graphene coating 6 and the conductive metal sheet 7 to change. When the sliding displacement of the top of the shelf is large, the first roller 4 rotates at a large angle, and the graphene coating 6 rotates accordingly and makes electrical contact with the conductive metal sheet 7, so that the circuit between the conductive metal sheet 7, the graphene coating 6 and the warning light is connected. The blue warning light 9 lights up and sends an electrical signal to the control module 2. The control module 2 detects the shelf shift, and the external control system of the other AGV bodies 1 in the site recognizes the blue light source through the color sensor 16 and avoids it.

[0054] Please see Figure 4 , Figure 5 and Figure 9A speed reducer 17 is fixedly mounted on one end of the drive shaft of the AGV body 1. A first fixing block 18 is symmetrically mounted on the inner bottom wall of the AGV. A first servo motor 19 is fitted onto the top of the first fixing block 18. The output shaft bearing of the first servo motor 19 is connected to a first connecting block 20. A U-shaped speed reducer 21 is connected to the first servo motor 19 via the first connecting block 20. Part of the surface of the speed reducer 17 is located inside the U-shaped speed reducer 21. The U-shaped speed reducer 21 can rotate on the surface of the speed reducer 17 under the drive of the first servo motor 19. A rubber block 22 is installed opposite to the inner wall of the U-shaped speed reducer 21. The inclined surface of the rubber block 22 can connect with the surface of the speed reducer 17 as the U-shaped speed reducer 21 rotates. A speed sensor 23 is installed on one side of the speed reducer 17, and the speed sensor 23 is electrically connected to the control module 2 via a circuit board. The support plate 3 has an inverted "concave" structure, and four sets of grooves 10 are arranged in pairs parallel on the top of the support plate 3. The surface of the rubber sleeve 5 is always at the same height as the top of the support plate 3. The second fixing frame 15 has a hollow "convex" structure. The surface of the speed reducer 17 near the outer ring has an annular frosted surface. The color sensor 16 and the first servo motor 19 are both electrically connected to the control module 2.

[0055] Furthermore, the control module 2 detects the shelf offset, sends an electrical signal to the first servo motor 19, and pauses the power source for the AGV body 1 through the built-in drive device. The output shaft of the first servo motor 19 drives the U-shaped speed reducer 21 to rotate. The rubber block 22 rotates with the U-shaped speed reducer and connects to the friction surface of the outer ring of the speed reducer 17. By increasing the resistance of the speed reducer 17 rotation, the speed of the AGV body 1 inertial movement is reduced. The speed sensor 23 monitors the speed of the speed reducer 17. When the speed of the speed reducer 17 drops to a limit value, the speed sensor 23 sends an electrical signal to the control module 2. The control module 2 brakes the AGV body 1 through the built-in braking device.

[0056] Please see Figure 1 , Figure 5 , Figure 6 and Figure 8 The inner bottom wall of the AGV trolley body 1 is symmetrically fitted with limit plates 24 by screws. The vacuum generator 25 is fixedly installed between the two sets of limit plates 24 by screws. The outlet end of the vacuum generator 25 is connected to a hose 26. A third fixing frame 27 is provided at the bottom of the tray 3. The vacuum suction cup 28 is fixedly connected to the third fixing frame 27 by screws and is installed through the top of the tray 3. The top of the vacuum suction cup 28 is at the same height as the top of the tray 3, and the end of the hose 26 away from the vacuum generator 25 is connected through the input end of the vacuum suction cup 28.

[0057] Furthermore, during the repositioning of the shelf, the staff turns off the power to the AGV trolley body 1, moves the shelf horizontally so that it is repositioned in the center on top of the pallet 3, and the shelf drives the first roller 4 to rotate in the opposite direction through the rubber sleeve 5. The first roller 4 drives the graphene coating 6 to rotate and separate from the conductive metal sheet 7, interrupting the circuit of the blue warning light 9 and turning off the blue warning light 9. The staff then turns on the power to the AGV trolley body 1, and the vacuum generator 25 delivers negative pressure to the vacuum suction cup 28 through the hose 26. The vacuum suction cup 28 firmly adheres to the bottom of the shelf, increasing the fixing force of the pallet 3 on the bottom of the shelf.

[0058] Please see Figure 1 and Figure 5 The AGV trolley body 1 has a second fixing block 29 symmetrically installed on the inner bottom wall. The second servo motor 30 is fitted into the second fixing block 29. The output end of the second servo motor 30 is fixedly connected to a rotating shaft 31. The cleaning disc 32 is installed on the output end of the second servo motor 30 through the rotating shaft 31. The surface of the cleaning disc 32 near the outer ring is covered with a mop 33. The mop 33 can contact the ground as the cleaning disc 32 rotates.

[0059] Furthermore, after the shelf position is fixed again, the AGV main body 1 is reconnected to the external control system and travels along the planned route. The surface of the mop 33 contacts the ground, and the second servo motor 30 drives the mop 33 on the surface of the cleaning disc 32 to rotate through the rotating shaft 31, so that the mop 33 rotates to clean the debris on the ground and clean the travel path of the wheels on both sides of the AGV main body 1, reducing obstacles to the movement of the AGV main body 1.

[0060] Furthermore, the working steps of this AGV are as follows:

[0061] S1. When using the AGV main body 1 to transport the workshop shelf, the bottom of the shelf is in close contact with the surface of the rubber sleeve 5. The shelf slides to one side at the top of the AGV main body 1. The friction at the bottom of the shelf causes the rubber sleeve 5 to move, and the first roller 4 rotates accordingly. The parallel graphene coating 6 rotates and contacts the conductive metal sheet 7. The circuit between the conductive metal sheet 7 and the graphene coating 6 is closed to form a circuit. The blue warning light 9 lights up and sends an electrical signal to the control module 2. The control module 2 sends an electrical signal to the external control system to detect the positional deviation of the shelf during transportation.

[0062] S2. When braking the AGV, the control module 2 sends an electrical signal to the first servo motor 19 and the built-in drive device of the AGV body 1. The built-in drive device stops driving the AGV body 1 to move. The first servo motor 19 drives the U-shaped speed reducer 21 to rotate on the surface of the speed reducer 17. The rubber block 22 rotates with the U-shaped speed reducer 21 and connects to the surface of the speed reducer 17. The rubber block 22 rubs against the speed reducer 17 to slow down its rotation, causing the speed of the speed reducer 17 to gradually decrease. The speed sensor 23 monitors the speed of the speed reducer 17. When the speed reaches the limit, the speed sensor 23 sends an electrical signal to the control module 2. The control module 2 causes the AGV body 1 to stop moving forward through the built-in control device, so that the AGV slowly decelerates and brakes, avoiding the AGV body 1 from shaking and tipping over due to emergency braking.

[0063] S3. When correcting the position of the shelf, pause the power supply of the AGV main body 1, move the shelf to the center position, and restart the power supply of the AGV main body 1. The vacuum generator 25 transmits negative air pressure to the vacuum suction cup 28 through the hose 26. The vacuum suction cup 28 firmly adheres to the shelf, increasing the force for fixing the shelf position, thereby enhancing the fixing effect of the AGV main body 1 on the transported goods.

[0064] S4. During the secondary transport of the shelf, the second servo motor 30 drives the two sets of cleaning discs 32 to rotate in opposite directions through the rotating shaft 31. The mop 33 rotates accordingly, rubbing against the ground to clean up debris.

[0065] Step S1 further includes the following steps:

[0066] S11. During this process, the color sensor 16 on the top of the main body 1 of the other AGVs in the site recognizes the blue light source. The color sensor 16 sends an electrical signal to the control module 2. The control module 2 is electrically connected to the external control system. The other AGVs bypass the AGVs with the blue warning light 9 constantly lit according to the instructions of the external control system.

[0067] Step S2 further includes the following steps:

[0068] S21. When the control module 2 stops the AGV trolley body 1 through the built-in braking device, the control module 2 synchronously sends an electrical signal to the first servo motor 19. The output shaft of the first servo motor 19 drives the U-shaped speed reducer 21 to rotate back to the original angle, and the rubber block 22 separates from the surface of the speed reducer 17.

[0069] Step S3 further includes the following steps:

[0070] S31. During this process, the shelf slides on the top of the pallet 3, causing the rubber sleeve 5 to rotate. The graphene rotates with the rubber sleeve 5 and separates from the conductive metal sheet 7, interrupting the circuit of the blue warning light 9.

[0071] Step S4 further includes the following steps:

[0072] S41. When the AGV main body 1 starts secondary transport, the built-in drive device and the second servo motor 30 of the AGV main body 1 start synchronously to ensure timely cleaning of the AGV main body 1's travel route.

[0073] Working principle: When the AGV body 1 is transporting the rack, the bottom of the rack is in contact with the top of the pallet 3 and the surface of the rubber sleeve 5. If the rack shifts, the friction between the bottom of the rack and the rubber sleeve 5 can drive the first roller 4 to rotate. The rotation of the first roller 4 causes a change in the relative position between the graphene coating 6 and the conductive metal sheet 7. When the sliding displacement of the top of the rack is large, the first roller 4 rotates at a large angle, and the graphene coating 6 rotates accordingly and makes electrical contact with the conductive metal sheet 7. This connects the circuit between the conductive metal sheet 7, the graphene coating 6, and the warning light, illuminating the blue warning light 9 and sending an electrical signal to the control unit. Module 2, the control module 2, detects the shelf offset. The external control system of the other AGV main bodies 1 inside the site identifies the blue light source through the color sensor 16 and avoids it. The control module 2 detects the shelf offset, sends an electrical signal to the first servo motor 19, and stops the power source of the AGV main body 1 through the built-in drive device. The output shaft of the first servo motor 19 drives the U-shaped speed reducer 21 to rotate. The rubber block 22 rotates with the U-shaped speed reducer and connects with the friction surface of the outer ring of the speed reducer 17. By increasing the resistance of the speed reducer 17 rotation, the speed of the AGV main body 1 inertial movement is reduced. Speed ​​sensor 23 monitors the rotational speed of the reduction gear 17. When the monitored rotational speed of the reduction gear 17 drops to a limit value, speed sensor 23 sends an electrical signal to control module 2. Control module 2 brakes the AGV body 1 through its built-in braking device. When correcting the shelf position, the operator turns off the power to the AGV body 1 and moves the shelf so that it is repositioned on top of the pallet 3. The shelf drives the first roller 4 to rotate in the opposite direction through the rubber sleeve 5. The first roller 4 causes the graphene coating 6 to rotate and separate from the conductive metal sheet 7, interrupting the circuit of the blue warning light 9 and turning off the blue warning light 9. The operator then starts the AGV body. The power supply of body 1 and vacuum generator 25 deliver negative pressure to vacuum suction cup 28 through hose 26. Vacuum suction cup 28 firmly adheres to the bottom of the shelf, increasing the fixing force of pallet 3 on the bottom of the shelf. After the shelf position is fixed for the second time, the AGV body 1 is reconnected to the external control system and travels according to the planned route. The surface of mop 33 contacts the ground, and the second servo motor 30 drives the mop 33 on the surface of cleaning disc 32 to rotate through shaft 31, so that the mop 33 rotates to clean the debris on the ground and clean the travel path of the wheels on both sides of the AGV body 1, reducing obstacles in the travel of the AGV body 1.

[0074] It will be apparent to those skilled in the art that the present invention is not limited to the details of the exemplary embodiments described above, and that the invention can be implemented in other specific forms without departing from its spirit or essential characteristics. Therefore, the embodiments should be considered in all respects as exemplary and non-limiting, and the scope of the invention is defined by the appended claims rather than the foregoing description. Thus, all variations falling within the meaning and scope of equivalents of the claims are intended to be included within the present invention. No reference numerals in the claims should be construed as limiting the scope of the claims.

Claims

1. An AGV (Automated Guided Vehicle) with a safety detection structure, comprising an AGV body (1), wherein the AGV body (1) has a built-in control module (2), and a tray (3) is mounted on the top of the AGV body (1), characterized in that: The top of the tray (3) is equipped with a first roller (4), and the surface of the first roller (4) is provided with several sets of protrusions. The number of the first roller (4) is 4 sets, and they are installed vertically in pairs. The surface of the first roller (4) is covered with a rubber sleeve (5), and the side of the first roller (4) away from the rubber sleeve (5) is coated with a graphene coating (6), and the graphene coating (6) is in the shape of an open ring. A conductive metal sheet (7) is fixedly installed at the bottom of the tray (3). One end of the conductive metal sheet (7) is connected to the opening of the graphene coating (6). Any two sets of parallel graphene coatings (6) are connected by wires (8). Blue warning lights (9) are installed through the four vertical surfaces of the AGV car body (1). The blue warning lights (9) are electrically connected to the control module (2). The end of the conductive metal sheet (7) away from the graphene coating (6) is electrically connected to the blue warning lights (9). The top of the tray (3) is provided with four sets of grooves (10). The inner wall of the groove (10) is symmetrically connected with roller shafts (11) that match the inside of the first roller (4). The first roller (4) can drive the graphene coating (6) to rotate through the roller shafts (11). The bottom of the tray (3) is connected with a screw post (12). The fixing screw (13) passes through the conductive metal sheet (7) and can be threaded to the inner wall of the screw post (12). When the AGV trolley body (1) is used to transport the workshop shelf, the bottom of the shelf is in close contact with the surface of the rubber sleeve (5). The shelf slides to one side at the top of the AGV trolley body (1). The friction at the bottom of the shelf causes the rubber sleeve (5) to move, and the first roller (4) rotates accordingly. The parallel graphene coating (6) rotates and contacts the conductive metal sheet (7). The circuit between the conductive metal sheet (7) and the graphene coating (6) is closed to form a circuit. The blue warning light (9) lights up and sends an electrical signal to the control module (2). The control module (2) sends an electrical signal to the external control system to detect the positional deviation of the shelf during transportation.

2. The AGV trolley with a safety detection structure according to claim 1, characterized in that: The four vertical surfaces inside the AGV body (1) are symmetrically connected to a first fixed frame (14). A blue warning light (9) is installed through the four vertical surfaces outside the AGV body (1). One end of the blue warning light (9) is fixed inside the first fixed frame (14) by bolts. The top of the AGV body (1) is connected to a second fixed frame (15) by screws. A color sensor (16) is built into the inside of the second fixed frame (15). The input end of the color sensor (16) is consistent with the forward direction of the AGV body (1).

3. An AGV trolley with a safety detection structure according to claim 2, characterized in that: The drive shaft of the AGV vehicle body (1) is fixedly mounted with a speed reducer (17). The first fixed block (18) is symmetrically mounted on the inner bottom wall of the AGV vehicle. The first servo motor (19) is fitted on the top of the first fixed block (18). The output end bearing of the first servo motor (19) is connected to the first connecting block (20). The U-shaped speed reducer (21) is connected to the first servo motor (19) through the first connecting block (20). Part of the surface of the speed reducer (17) is located inside the U-shaped speed reducer (21). The U-shaped speed reducer (21) can rotate on the surface of the speed reducer (17) under the drive of the first servo motor (19). The rubber block (22) is installed on the inner wall of the U-shaped speed reducer (21). The inclined surface of the rubber block (22) can be connected to the surface of the speed reducer (17) as the U-shaped speed reducer (21) rotates. A speed sensor (23) is installed on one side of the speed reducer (17). The speed sensor (23) is electrically connected to the control module (2) through the circuit board.

4. An AGV with a safety detection structure according to any one of claims 1-3, characterized in that: The pallet (3) has an inverted "concave" structure, and four sets of grooves (10) are arranged in pairs parallel on the top of the pallet (3). The surface of the rubber sleeve (5) is always at the same height as the top of the pallet (3). The second fixed frame (15) has a hollow "convex" structure. The surface of the speed reducer (17) near the outer ring is provided with an annular frosted surface. The color sensor (16) and the first servo motor (19) are both electrically connected to the control module (2).

5. An AGV trolley with a safety detection structure according to claim 1, characterized in that: The inner bottom wall of the AGV trolley body (1) is symmetrically fitted with limit plates (24) by screws. The vacuum generator (25) is fixedly installed between the two sets of limit plates (24) by screws. The outlet end of the vacuum generator (25) is connected to a hose (26). The bottom of the tray (3) is provided with a third fixing frame (27). The vacuum suction cup (28) is fixedly connected to the third fixing frame (27) by screws and is installed through the top of the tray (3). The top of the vacuum suction cup (28) is at the same height as the top of the tray (3), and the end of the hose (26) away from the vacuum generator (25) is connected through the input end of the vacuum suction cup (28).

6. An AGV trolley with a safety detection structure according to claim 5, characterized in that: The inner bottom wall of the AGV trolley body (1) is symmetrically equipped with a second fixing block (29), and the second servo motor (30) is fitted inside the second fixing block (29).

7. An AGV trolley with a safety detection structure according to claim 6, characterized in that: The output end of the second servo motor (30) is fixedly connected to a rotating shaft (31). The cleaning disc (32) is installed on the output end of the second servo motor (30) through the rotating shaft (31). The surface of the cleaning disc (32) near the outer ring is covered with a mop (33). The mop (33) can contact the ground as the cleaning disc (32) rotates.

8. A method of using an AGV (Automated Guided Vehicle) with a safety detection structure, applicable to the AGV with a safety detection structure as described in any one of claims 1-7, characterized in that, The working steps of this AGV are as follows: S1. When using the AGV main body (1) to transport the workshop shelf, the bottom of the shelf is in close contact with the surface of the rubber sleeve (5). The shelf slides to one side at the top of the AGV main body (1). The friction at the bottom of the shelf causes the rubber sleeve (5) to move, and the first roller (4) rotates accordingly. The parallel graphene coating (6) rotates and contacts the conductive metal sheet (7). The circuit between the conductive metal sheet (7) and the graphene coating (6) is closed to form a circuit. The blue warning light (9) lights up and sends an electrical signal to the control module (2). The control module (2) sends an electrical signal to the external control system to detect the positional deviation of the shelf during transportation. S2. When braking the AGV, the control module (2) sends an electrical signal to the first servo motor (19) and the built-in drive device of the AGV body (1). The built-in drive device stops driving the AGV body (1) to move. The first servo motor (19) drives the U-shaped speed reducer (21) to rotate on the surface of the speed reducer (17). The rubber block (22) rotates with the U-shaped speed reducer (21) and connects with the surface of the speed reducer (17). The rubber block (22) rubs against the speed reducer (17) to slow down its rotation, causing the speed of the speed reducer (17) to gradually decrease. The speed sensor (23) monitors the speed of the speed reducer (17). When the speed reaches the limit, the speed sensor (23) sends an electrical signal to the control module (2). The control module (2) causes the AGV body (1) to stop moving forward through the built-in control device, so that the AGV slows down and brakes, avoiding the AGV body (1) from shaking and tipping over due to emergency braking. S3. When correcting the position of the shelf, pause the power supply of the AGV main body (1), move the shelf to the center position, and restart the power supply of the AGV main body (1). The vacuum generator (25) transmits negative air pressure to the vacuum suction cup (28) through the hose (26). The vacuum suction cup (28) firmly adheres to the shelf, increasing the force for fixing the shelf position, thereby enhancing the fixing effect of the AGV main body (1) on the transported items. S4. During the secondary transport of the shelf, the second servo motor (30) drives the two sets of cleaning discs (32) to rotate in opposite directions through the rotating shaft (31), and the mop (33) rotates accordingly, rubbing against the ground to clean up the debris on the ground.

9. The method of using an AGV trolley with a safety detection structure according to claim 8, characterized in that, Step S1 further includes the following steps: S11. During this process, the color sensor (16) on the top of the main body (1) of the other AGVs in the site recognizes the blue light source. The color sensor (16) sends an electrical signal to the control module (2). The control module (2) is electrically connected to the external control system. The other AGVs bypass the AGVs with the blue warning light (9) always on according to the instructions of the external control system. Step S2 further includes the following steps: S21. When the control module (2) stops the AGV car body (1) through the built-in braking device, the control module (2) synchronously sends an electrical signal to the first servo motor (19). The output shaft of the first servo motor (19) drives the U-shaped speed reducer (21) to rotate back to the original angle, and the rubber block (22) separates from the surface of the speed reducer (17). Step S3 further includes the following steps: S31. During this process, the shelf slides on the top of the pallet (3) and drives the rubber sleeve (5) to rotate. The graphene rotates with the rubber sleeve (5) and separates from the conductive metal sheet (7). The blue warning light (9) circuit is interrupted. Step S4 further includes the following steps: S41. When the AGV vehicle body (1) starts secondary transportation, the built-in drive device and the second servo motor (30) of the AGV vehicle body (1) start synchronously to ensure timely cleaning of the AGV vehicle body (1)'s travel route.

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