AGV forklift capable of automatically adjusting inclination angle and method for automatically adjusting body of AGV forklift

Abstract

The application discloses AGV forklift capable of automatically adjusting inclination angle and a material forking method thereof. The AGV forklift comprises a vehicle body, a cargo fork and a support frame. The vehicle body is a nearly cuboid structure vertically standing. A driving wheel module is arranged on one side of the bottom of the vehicle body. A pair of direction control wheel modules are arranged on both sides of the bottom of the vehicle body. A pair of support frames are arranged on the other side of the bottom of the vehicle body. The support frames and the vehicle body form an L-shaped support structure. A support wheel support wheel module is arranged at the front end of the support frame. A cargo fork capable of sliding up and down on the surface of the vehicle body is arranged on the same side of the vehicle body as the support frame. A laser scanning device is arranged on the cargo fork. An overhead material inventory module is arranged on the top of the vehicle body. Side-view material inventory modules are arranged on both sides of the vehicle body. The AGV forklift can adjust the posture of the vehicle body according to the inclination angle of the goods shelf, so that the cargo fork can accurately aim at the material pallet and take out the material. Meanwhile, the AGV forklift can inventory the material when the material is put in or taken out of the warehouse.

Description

TECHNICAL FIELD

[0001] The present application belongs to the technical field of intelligent warehousing, and particularly relates to an AGV forklift capable of automatically adjusting a tilt angle and a body automatic adjusting method thereof. BACKGROUND

[0002] In some areas with soft geology or frequent slight earthquakes, the shelves for storing materials often sink and tilt locally due to ground movement or long-term storage of heavy materials. For long shelves in a row, the uneven ground causes the trays of some materials to tilt at a large angle, making it difficult for the forks of the intelligent AGV, i.e., Automated Guided Vehicle, to align and insert into the bottom of the tray to lift and take out the materials. Since the ground where the shelves are located sinks locally, while the ground of the AGV lane does not rise and fall, the forklift cannot align the forks with the tilted shelves and trays by leveling itself, so a new method is needed. On the other hand, in emergency or special situations, personnel often temporarily enter the warehouse to take out a certain amount of goods from the shelves individually, or drive the intelligent AGV to transport the entire material tray to a designated location, and then let the intelligent AGV return the material tray to the shelf after the personnel take out some goods. In emergency or special situations, the emergency removal of individual materials cannot be supplemented to the material management system in time, resulting in a mismatch between the actual number of materials and the system recorded number, making it difficult to manage the materials. SUMMARY

[0003] To overcome the shortcomings of the prior art, the present application provides an AGV forklift capable of automatically adjusting a tilt angle and a body automatic adjusting method thereof. The forklift can adjust the body posture according to the tilt angle of the shelf to accurately align the forks with the material tray and take out the materials. At the same time, the forklift can count the materials being transported when the materials are put in or taken out of the warehouse, update the number of materials in time, prevent the situation where individual materials are taken out without timely updating of system data in emergency or special situations, facilitate shortening of the material turnover period and improvement of work efficiency, and improve the overall safety of work.

[0004] The above-mentioned object is achieved by the following technical solutions:

[0005] The AGV forklift provided by the application can automatically adjust the inclination angle, and comprises a vehicle body, a fork, and a support frame. The vehicle body is a nearly cuboid structure vertically standing. A driving wheel module is arranged on one side of the bottom of the vehicle body. A pair of direction control wheel modules are arranged on both sides of the bottom of the vehicle body. A pair of support frames are arranged on the other side of the bottom of the vehicle body. The support frames and the vehicle body form an L-shaped support structure. A support wheel support wheel module is arranged at the front end of the support frame. A fork capable of sliding up and down on the surface of the vehicle body is arranged on the vehicle body on the same side as the support frame. A laser scanning device is arranged on the fork. An overhead material inventory module is arranged on the top of the vehicle body. Side-view material inventory modules are arranged on both sides of the vehicle body.

[0006] Further, the direction control wheel module comprises a hydraulic cylinder, a steering control motor, a driving motor, and a side wheel. The hydraulic cylinder is installed on one side of the vehicle body. The steering control motor is arranged below the hydraulic cylinder. The driving motor is arranged below the steering control motor. The driving motor is connected with the side wheel. The hydraulic cylinder is used to drive the steering control motor, the driving motor, and the side wheel to move up and down. The steering control motor is used to control the rotation of the side wheel, so that the side wheel can rotate by 360° around the axis of the steering control motor. The driving motor is used to drive the side wheel to roll and provide power.

[0007] Further, the driving wheel module comprises a telescopic hydraulic cylinder, a rotation control motor, a power motor, and a main power wheel. The telescopic hydraulic cylinder, the rotation control motor, and the power motor are all installed inside the vehicle body. The main power wheel is arranged to protrude from the bottom of the vehicle body. When the AGV forklift is normally driven, the main power wheel is flush with the bottom of the side wheel and the support wheel and is in the same plane. The lower part of the telescopic hydraulic cylinder is connected with the rotation control motor. The lower part of the rotation control motor is connected with the power motor. The power motor is connected with the main power wheel. The telescopic hydraulic cylinder is used to drive the rotation control motor, the power motor, and the main power wheel to move up and down. The rotation control motor is used to control the rotation of the main power wheel, so that the main power wheel can rotate by 360° around the axis of the rotation control motor. The power motor is used to drive the main power wheel to roll and provide power.

[0008] Further, the support wheel module comprises a horizontal hydraulic cylinder, a long telescopic rod, a connecting rod, and a support wheel. The horizontal hydraulic cylinder is installed inside the support frame and is parallel to the ground, and is used to drive the long telescopic rod to move reciprocally. The long telescopic rod is connected with one end of the connecting rod through a hinge, and is used to drive the connecting rod to move. The lower part of the support frame is provided with a hinge hole, which is used to connect with the middle part of the connecting rod, so that the long telescopic rod and the connecting rod form a rocker mechanism. The other end of the connecting rod is connected with the support wheel, and is used to drive the support wheel to move. The horizontal hydraulic cylinder drives the long telescopic rod to move horizontally. The long telescopic rod transmits the force to the connecting rod to make it rotate around the hinge hole in the middle part, and then drives the support wheel to move up and down to realize lifting.

[0009] Further, the overhead material inventory module comprises a camera and a small pneumatic cylinder; the small pneumatic cylinder is installed on the top inner side of the vehicle body, the free end of which extends out of the vehicle body, and the end of which is provided with the camera.

[0010] Further, the side-view material inventory module comprises a slide rail, a camera rod and a CCD; the slide rail is installed on the side of the vehicle body (100) near the side of the fork, the camera rod is installed on the slide rail, and the end of the camera rod near the fork is provided with the CCD; the camera rod can move up and down along the slide rail and can also move laterally reciprocally.

[0011] Further, the fork is L-shaped, the short arm of which is plate-shaped, connected with the vehicle body and can slide up and down along the vehicle body, and the middle part of the short arm is provided with the laser scanning device.

[0012] The application also provides a material forking method using the AGV forklift capable of automatically adjusting the inclination angle, which comprises the following steps:

[0013] S11. The AGV forklift drives to the target shelf according to the delivery instruction, judges the specific position of the corresponding material on the shelf, and prepares to take out the material;

[0014] S12. The space position of the target shelf area and the tray is scanned and identified by the laser scanning device before the fork is inserted, and the relative angle between the shelf, the tray and the fork is judged;

[0015] S13. According to the relative angle between the shelf, the tray and the fork, the height of the side wheel, the driving wheel and the supporting wheel is adjusted respectively by the hydraulic cylinder, the telescopic hydraulic cylinder and the horizontal hydraulic cylinder, so that the body of the AGV forklift is inclined, and the inclination angle of the fork with the shelf and the tray is kept consistent;

[0016] S14. After ensuring that the fork can be correctly inserted, the AGV forklift moves forward to completely insert the fork into the bottom of the tray;

[0017] S15. After the fork is completely inserted into the bottom of the tray, the fork is first lifted to separate the tray from the shelf, and then the height of the side wheel, the driving wheel and the supporting wheel is adjusted to restore the body of the AGV forklift to be horizontal under the premise that the material does not collide with the shelf;

[0018] S16. After ensuring that the material is forked, the AGV forklift retreats to fork out the material and moves to the designated location.

[0019] Further, the process of forking also includes the step of inventorying the material, which specifically comprises the following steps:

[0020] S21. After the AGV forklift picks up the materials and moves out of the shelf, the overhead material inventory module identifies the materials on the fork before the materials are transported to the target location. The small pneumatic cylinder drives the camera to move back and forth to identify the number of materials inserted on the fork.

[0021] S22. Meanwhile, the side-view material inventory module identifies the materials on the fork from the side. The camera rod moves up and down along the slide rail and moves forward and backward to drive the CCD to scan and identify the materials on the fork from the side.

[0022] S23. The material information obtained by the overhead material inventory module and the side-view material inventory module is combined to obtain the accurate number of forked materials, and is uploaded to the material management system.

[0023] S24. The AGV forklift transports the materials to the destination and returns part of the materials to the shelf. Before the fork puts the materials into the shelf, the overhead material inventory module and the side-view material inventory module identify the material information and upload it to the material management system to ensure the accuracy of the material information.

[0024] The present application has the following advantages:

[0025] 1. The heights of the drive wheel module, the direction control wheel module and the support wheel module can be independently adjusted, and the freedom degree of the vehicle body posture is higher.

[0026] 2. The angle of the fork can be adjusted according to the inclined shelf to facilitate the insertion and extraction of materials, and the situation that the fork cannot be inserted and the materials cannot be taken out is avoided.

[0027] 3. The overhead material inventory module and the side-view material inventory module identify the materials before the materials are discharged and warehoused, which avoids the situation that the number of materials in the material management system does not match the actual number due to the removal of individual materials in emergency or unexpected situations. BRIEF DESCRIPTION OF DRAWINGS

[0028] Fig. 1 is a side view of the present application;

[0029] Fig. 2 is a front view of the present application;

[0030] Fig. 3 is an embodiment illustration of the present application.

[0031] 100-Body, 101-Forks, 102-Support Frame, 103-Support Wheel, 104-Linkage, 105-Long Telescopic Rod, 106-Horizontal Hydraulic Cylinder, 107-Hinge Hole, 110-Laser Scanning Device, 200-Camera Pole, 201-Slide Rail, 203-CCD, 300-Steering Control Wheel Module, 301-Hydraulic Cylinder, 302-Steering Control Motor, 303-Drive Motor, 304-Drive Side Wheel, 400-Drive Wheel Module, 401-Telescopic Hydraulic Cylinder, 402-Rotation Control Motor, 403-Power Motor, 404-Pulse Wheel, 500-Overhead Material Inventory Module, 501-Small Pneumatic Cylinder, 502-Camera, 600-Shelf, 601-Pallet, 602-Materials.

[0032] Example 1: As Figs. 1-3 As shown, this embodiment of the AGV forklift with automatically adjustable tilt angle includes a body 100, forks 101, and support frames 102. The body 100 is a vertically standing near-rectangular structure used to realize the movement of the AGV forklift, intelligent path planning, material information uploading and downloading, and control of various components of the AGV forklift. A drive wheel module 400 is provided on one side of the bottom of the body 100, and a pair of direction control wheel modules 300 are provided on both sides of the body near the bottom, which are used to cooperate with the drive wheel module 400 to realize the rotation and movement of the body 100. A pair of support frames 102 are provided on the bottom side of the body where the direction control wheel module 300 is not installed. The support frames 102 form an L-shape with the body 100 to form a support structure, making it less likely for the AGV forklift to tip over when handling materials 602. The front end of the support frame 102 is provided with support wheels 103, which cooperate with the drive wheel module 300 and the direction control wheel module 400 to facilitate the movement of the AGV forklift. On the vehicle body 100, a fork 101 is provided on the same side as the support frame 102. It can slide up and down along the surface of the vehicle body 100 and is used to pick up materials 602.

[0033] The heights of the drive wheel module 400, the direction control wheel module 300, and the support wheel module can all be adjusted independently.

[0034] The steering control wheel module 300 consists of a hydraulic cylinder 301, a steering control motor 302, a drive motor 303, and a side wheel 304. The hydraulic cylinder 301 is mounted on one side of the vehicle body 100. The steering control motor 302 is located below the hydraulic cylinder 301, and the drive motor 303 is located below the steering control motor 302. The drive motor 303 is connected to the side wheel 304. The hydraulic cylinder 301 drives the steering control motor 302, the drive motor 303, and the side wheel 304 to move up and down. The steering control motor 302 controls the rotation of the side wheel 304, allowing it to rotate 360° around its axis. The drive motor 303 drives the side wheel 304 to roll, providing power.

[0035] The driving wheel module comprises a telescopic hydraulic cylinder 401, a rotation control motor 402, a power motor 403 and a main driving wheel 404. The telescopic hydraulic cylinder 401, the rotation control motor 402 and the power motor 403 are installed inside the vehicle body, and the main driving wheel 404 extends from the bottom of the vehicle body. When the AGV forklift is running normally, the main driving wheel 404, the side wheel 304 and the bottom of the supporting wheel 103 are flush and in the same plane. The lower part of the telescopic hydraulic cylinder 401 is connected with the rotation control motor 402, the lower part of the rotation control motor 402 is connected with the power motor 403, and the power motor 403 is connected with the main driving wheel 404. The telescopic hydraulic cylinder 401 is used to drive the rotation control motor 402, the power motor 403 and the main driving wheel 404 to move up and down, the rotation control motor 402 is used to control the rotation of the main driving wheel 403, so that it can rotate 360° around the rotation control motor axis, and the power motor 403 is used to drive the main driving wheel 404 to roll and provide power.

[0036] The supporting wheel module in this embodiment comprises a horizontal hydraulic cylinder 106, a long telescopic rod 105, a connecting rod 104 and a supporting wheel 103. The horizontal hydraulic cylinder 106 is installed inside the supporting frame 102 parallel to the ground and is used to drive the long telescopic rod 105 to move back and forth. The long telescopic rod 105 is connected with one end of the connecting rod 104 through a hinge and is used to drive the connecting rod 104 to move. The lower part of the supporting frame 102 is provided with a hinge hole 107 for connecting with the middle part of the connecting rod 104, so that the long telescopic rod 105 and the connecting rod 104 form a rocker mechanism, and the other end of the connecting rod 104 is connected with the supporting wheel 103 and is used to drive the supporting wheel 103 to move. The horizontal hydraulic cylinder 106 drives the long telescopic rod 105 to move horizontally, the long telescopic rod 105 transmits the force to the connecting rod 103 to make it rotate around the hinge hole 107 in the middle part, and then drives the supporting wheel 103 to move up and down, so that the supporting frame 102 can be lifted to a certain extent.

[0037] The vehicle body 100 is provided with an overhead material inventory module 500 at the top, which comprises a camera 502 and a small pneumatic cylinder 501. The small pneumatic cylinder 501 is installed on the inside top of the vehicle body 100, and its free end extends out of the vehicle body, and the end is provided with the camera 502, which is used to inventory the materials 602 on the forks 101 from above. The small pneumatic cylinder 501 can drive the camera 502 to move back and forth to cover the entire area of the forks 101 and record the material information completely.

[0038] The vehicle body 100 in the embodiment is provided with a side-view material tray checking module on both sides, which comprises a slide rail 201, a camera rod 200 and a CCD 203. The slide rail 201 is installed on the side of the vehicle body 100, close to one side of the forks 101. The camera rod 200 is installed on the slide rail 201, and the end of the camera rod 200 close to the forks 101 is provided with the CCD 203. The camera rod 200 can move up and down along the slide rail, and can also move laterally reciprocally, driving the CCD 203 to scan and identify the materials 602 from the side, so as to cover the entire area on the side of the forks 101 and record the material information completely.

[0039] In the embodiment, the short arm is plate-shaped, connected with the vehicle body 100 and can slide up and down along the vehicle body 100. The short arm is provided with a laser scanning device 110 in the middle, which is used to judge the relative angle between the forks 101 and the pallet 601, and guide the adjustment of the posture of the AGV vehicle body, so that the forks 101 can be aligned with the inclined pallet 601 and smoothly inserted. Embodiment

[0040] The method for taking materials by the AGV forklift capable of automatically adjusting the inclination angle as described in Embodiment 1 comprises the following steps:

[0041] S11. The AGV forklift drives to the target shelf 600 according to the delivery instruction, judges the specific position of the corresponding material 602 on the shelf 600, and prepares to take out the material 600;

[0042] S12. Before the forks 101 are inserted, the space positions of the target shelf 600 and the pallet 601 are scanned and identified by the laser scanning device 110, and the relative angle between the shelf 600, the pallet 601 and the forks 101 is judged;

[0043] S13. According to the relative angle between the shelf 600, the pallet 601 and the forks 101, the heights of the side wheels 304, the driving wheels 404 and the support wheels 103 are adjusted respectively by the hydraulic cylinders 301, the telescopic hydraulic cylinders 401 and the horizontal hydraulic cylinders 106, so that the AGV forklift body is inclined, and the inclination angle of the forks 101 is consistent with that of the shelf 600 and the pallet 601;

[0044] S14. After it is ensured that the forks 101 can be correctly inserted, the AGV forklift moves forward to completely insert the forks 101 into the bottom of the pallet 601;

[0045] S15. After the forks 101 are completely inserted into the bottom of the pallet 601, the forks 101 are first slightly lifted to separate the pallet 601 from the shelf 600, and then the heights of the side wheels 304, the driving wheels 404 and the support wheels 103 are adjusted to restore the AGV forklift body to be horizontal under the premise that the materials 602 do not collide with the shelf 600;

[0046] S16. After ensuring that the material 602 is forked, the AGV forklift retreats, forks out the material 602, and moves to the designated location. Embodiment

[0047] The difference between this embodiment and embodiment 2 is that the process of forking also includes the step of inventorying the material, which specifically includes the following steps:

[0048] S21. After the AGV forklift forks the material 602 and removes it from the shelf 600, before transporting it to the target location, the overhead material inventorying module 500 inventorys and identifies the material 602 on the fork 101, and the small pneumatic cylinder 501 drives the camera 502 to reciprocate, thereby inventorying and identifying the number of materials inserted on the fork 101;

[0049] S22. At the same time, the side-view material inventorying module inventorys the material 602 on the fork 101 from the side, and the camera rod 200 drives the CCD 203 to comprehensively scan and inventory the material 602 on the fork from the side by moving up and down along the slide rail 201 and moving forward and backward by itself.

[0050] S23. The material information obtained by the overhead material inventorying module 500 and the side-view material inventorying module is combined to obtain the accurate number of forked materials 602, and is uploaded to the material management system;

[0051] S24. The AGV forklift transports the material 602 to the destination and returns part of the material 602 to the shelf, and before the fork 101 puts the material 602 into the shelf 600, the overhead material inventorying module 500 and the side-view material inventorying module inventory the material information, and upload the material information to the material management system to ensure the accuracy of the material information.

[0052] As Fig. 3The illustrated shelf 600, first, AGV forklift according to the instructions to the shelf 600, then, by laser scanning device 110 to determine the inclination angle of the shelf 600 and the tray 601, determine the angle of the body 100 required to tilt. When the shelf 600 is tilted to the right, the left hydraulic cylinder 301, the telescopic hydraulic cylinder 401, the left horizontal hydraulic cylinder 106 is elongated by a certain distance, so that the left side wheel 304, the driving wheel 404 and the right support wheel 103 are elongated by a certain distance, adjust the attitude of the body 100, so that it is tilted to the right, consistent with the inclination angle of the shelf 600 and the tray 601. After that, the AGV forklift moves forward, inserts the fork 101 into the bottom of the tray 601, and after the fork is fully inserted, the fork 101 slightly lifts the tray 601, so that the tray 601 is away from the surface of the shelf 600, and ensures that the material 602 does not collide with the shelf. Then, the left hydraulic cylinder 301, the telescopic hydraulic cylinder 401, and the left horizontal hydraulic cylinder 106 retract the left side wheel 304, the driving wheel 404 and the right support wheel 103, shorten the elongation distance, so that the forklift returns to the horizontal position. In the process of AGV forklift returning to the horizontal position, the height of the fork 101 is adjusted to ensure that the material 602 does not collide with the shelf. After the AGV forklift returns to the horizontal position and the material 602 is stable, the AGV forklift starts to move, taking the tray 601 and the material 602 out of the shelf.

[0053] Before the material is transported, the material 602 is checked by the overhead material checking module 500 and the side-view material checking module, and the material quantity information is uploaded to the material management system, and then the material is transported to the target location. When the AGV forklift returns the material, the above process is repeated.

[0054] The above is only a preferred embodiment of the present application, and is not intended to limit the present application. Unless otherwise stated, the order of the various processes in the text does not necessarily exist in the execution order. Although the present application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that they can modify the technical solutions described in the foregoing embodiments, or make equivalent replacement for part of the technical features; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions of the embodiments of the present application.

Claims

1. An AGV fork truck capable of automatically adjusting a tilt angle, characterized in that, The AGV forklift comprises a vehicle body (100), a fork (101) and a support frame (102), the vehicle body (100) is a nearly cuboid structure vertically standing, one side of the bottom of the vehicle body (100) is provided with a driving wheel module (400), a pair of direction control wheel modules (300) are arranged on both sides of the bottom of the vehicle body (100), the other side of the bottom of the vehicle body (100) is provided with a pair of support frames (102), the support frame (102) and the vehicle body (100) form an L-shaped support structure, the front end of the support frame (102) is provided with a support wheel module, a fork (101) capable of sliding up and down on the surface of the vehicle body (100) is arranged on the same side of the vehicle body (100) as the support frame (102), a laser scanning device (110) is arranged on the fork (101), an overhead material checking module (500) is arranged on the top of the vehicle body (100), and side-view material checking modules are arranged on both sides of the vehicle body (100); The overhead material checking module (500) comprises a camera (502) and a small pneumatic cylinder (501), the small pneumatic cylinder (501) is installed on the inner side of the top of the vehicle body (100), the free end of the small pneumatic cylinder (501) extends out of the vehicle body, and the camera (502) is installed at the end of the small pneumatic cylinder (501); The side-view material checking module comprises a sliding rail (201), a camera rod (200) and a CCD (203), the sliding rail (201) is installed on the side of the vehicle body (100) and close to the side of the fork (101), the camera rod (200) is installed on the sliding rail (201), the end of the camera rod (200) close to the fork (101) is provided with the CCD (203), and the camera rod (200) can move up and down and reciprocate laterally along the sliding rail; The direction control wheel module (300) comprises a hydraulic cylinder (301), a steering control motor (302), a driving motor (303) and a side wheel (304), the hydraulic cylinder (301) is installed on one side of the vehicle body (100), the steering control motor (302) is arranged below the hydraulic cylinder (301), the driving motor (303) is arranged below the steering control motor (302), and the driving motor (303) is connected with the side wheel (304); the hydraulic cylinder (301) is used for driving the steering control motor (302), the driving motor (303) and the side wheel (304) to move up and down; the steering control motor (302) is used for controlling the rotation of the side wheel (304), so that the side wheel (304) can rotate by 360° around the axis of the steering control motor (302); and the driving motor (303) is used for driving the side wheel (304) to roll and provide power. The driving wheel module (400) comprises a telescopic hydraulic cylinder (401), a rotation control motor (402), a power motor (403) and a main power wheel (404); the telescopic hydraulic cylinder (401), the rotation control motor (402) and the power motor (403) are all installed inside the vehicle body (100), and the main power wheel (404) extends from the bottom of the vehicle body (100); when the AGV forklift is normally running, the main power wheel (404) is flush with the bottom of the side wheel (304) and the support wheel (103) and is in the same plane; the lower part of the telescopic hydraulic cylinder (401) is connected with the rotation control motor (402), the lower part of the rotation control motor (402) is connected with the power motor (403), and the power motor (403) is connected with the main power wheel (404); the telescopic hydraulic cylinder (401) is used to drive the rotation control motor (402), the power motor (403) and the main power wheel (404) to move up and down, the rotation control motor (402) is used to control the rotation of the main power wheel, so that the main power wheel can rotate by 360° around the rotation control motor axis, and the power motor (403) is used to drive the main power wheel (404) to roll and provide power; The support wheel module comprises a horizontal hydraulic cylinder (106), a long telescopic rod (105), a connecting rod (104) and a support wheel (103); the horizontal hydraulic cylinder (106) is installed inside the support frame (102) and is parallel to the ground, and is used to drive the long telescopic rod (105) to move back and forth; the long telescopic rod (105) is connected with one end of the connecting rod (104) through a hinge, and is used to drive the connecting rod (104) to move; the lower part of the support frame (102) is provided with a hinge hole (107), which is used to connect with the middle part of the connecting rod (104), so that the long telescopic rod (105) and the connecting rod (104) form a rocker mechanism, and the other end of the connecting rod (104) is connected with the support wheel (103) and is used to drive the support wheel (103) to move; the long telescopic rod (105) is driven by the horizontal hydraulic cylinder (106) to move horizontally, and transmits the force to the connecting rod to make it rotate around the hinge hole (107) in the middle part, and then drives the support wheel (103) to move up and down to realize lifting; The fork is L-shaped, the short arm thereof is plate-shaped, is connected with the vehicle body (100) and can slide up and down along the vehicle body (100), and the middle part of the short arm is provided with the laser scanning device (110).

2. A method for picking up materials by using the AGV fork truck with automatically adjustable tilt angle according to claim 1, characterized in that, The method comprises the following steps: S11. The AGV forklift drives to a target shelf (600) according to a delivery instruction, judges the specific position of the corresponding material (602) on the shelf (600), and prepares to take out the material; S12. The space positions of the target shelf (600) region and the pallet (601) are scanned and identified by the laser scanning device (110) before the fork (101) is inserted, and the relative angle between the shelf (600), the pallet (601) and the fork (101) is judged. S13. According to the relative angle between the shelf (600), the tray (601) and the fork (101), the height of the side wheel (304), the driving wheel (404) and the support wheel (103) is adjusted by the hydraulic cylinder (301), the telescopic hydraulic cylinder (401) and the horizontal hydraulic cylinder (106) respectively, so that the AGV forklift body is inclined, and the inclination angle of the fork (101) and the shelf (600) and the tray (601) is consistent; S14. After ensuring that the fork (101) can be correctly inserted, the AGV forklift moves forward to completely insert the fork (101) into the bottom of the tray (601); S15. After the fork (101) is completely inserted into the bottom of the tray (601), the fork (101) is first lifted to separate the tray (601) from the shelf (600), and then the height of the side wheel (304), the driving wheel (404) and the support wheel (103) is adjusted to restore the AGV forklift body to horizontal under the premise that the material (602) does not collide with the shelf (600); S16. After ensuring that the material (602) is forked, the AGV forklift retreats to fork out the material (602) and moves to the designated location.

3. The method of claim 2, wherein, The process of forking also includes the step of inventorying the material, which specifically includes the following steps: S21. After the AGV forklift forks the material (602) and moves out of the shelf (600), the overhead material inventorying module (500) identifies the material (602) on the fork (101) before it is transported to the target location, and the small pneumatic cylinder (501) drives the camera (502) to move back and forth to inventory and identify the number of materials (602) inserted on the fork (101); S22. At the same time, the side-view material inventorying module inventories the material (602) on the fork (101) from the side, and the camera rod (200) drives the CCD (203) to comprehensively scan and inventory the material (602) on the fork from the side by moving up and down along the slide rail (201) and moving forward and backward by itself; S23. The material information obtained by the overhead material inventorying module (500) and the side-view material inventorying module is combined to obtain the accurate number of forked materials (602), and uploaded to the material management system; S24. The AGV forklift transports the material (602) to the destination and returns part of the material (602) to the shelf, and before the fork (101) puts the material (602) into the shelf (600), the overhead material inventorying module (500) and the side-view material inventorying module inventory the material information and upload it to the material management system to ensure the accuracy of the material information.

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