File-level transfer robot and super-flat warehouse application system

Abstract

The invention relates to an archive-level transfer robot and a super-flat warehouse application system. The carrying robot comprises an AGV body, a battery bin, a battery and a battery safety protection device. The battery safety protection device comprises various sensors and aerosol, so that the safety of the battery is ensured. The super-flat warehouse application system comprises a goods shelf, a file-level transfer robot, a wireless power supply device, an ultrasonic ranging system, a video monitoring visual system and a warehouse control system WCS. Through the comprehensive battery safety protection device and the wireless power supply technology, the automation level and the operation safety of file carrying are remarkably improved, and the file carrying system is particularly suitable for file carrying scenes with extremely high requirements for accuracy and safety.

Description

Technical Field

[0001] The invention relates to the field of automated logistics, in particular to an archive-level handling robot and an ultra-flat warehouse application system. Background Art

[0002] With the continuous advancement of automation technology, Automated Guided Vehicles (AGVs) have been widely used in the field of material handling. However, in the specific field of file handling, especially in situations where precise control and safety protection are strictly required, the existing technical solutions still have the following shortcomings:

[0003] (1) Battery safety issues: AGVs usually use lithium iron phosphate batteries as their power source. Although they are equipped with a battery management system (BMS), the effectiveness of this management system is based on the premise that the battery has not failed. Once the battery fails or runs out of power, the BMS will not function, and the battery may catch fire or other dangerous situations, thus endangering the safety of paper files.

[0004] (2) Shelf transportation safety issues: Since the shelves and AGVs are two independent operating carriers, the AGVs lack the ability to monitor the shaking and swing of the shelves in real time during the transportation process. This results in the possibility of the shelves colliding with adjacent shelves during the movement process, and even the risk of overturning, which poses a serious threat to the safe transportation of archives.

[0005] In order to overcome these challenges and improve the efficiency and safety of file handling, it is urgent to develop new technical solutions to ensure the stability and safety of files during handling, while ensuring the safe operation of batteries under various conditions. This invention was born in this context, aiming to solve the pain points in the existing technology through technological innovation and bring revolutionary progress to the field of file handling. Summary of the invention

[0006] In order to solve the above problems, the present invention provides an archive-level handling robot and an ultra-flat warehouse application system, which realizes safe and efficient handling of archives by improving the battery safety of AGV and the operation safety of shelves, and has a high degree of automation and intelligence.

[0007] The archival handling robot includes an AGV body, a battery compartment, a battery and a battery safety protection device;

[0008] The AGV body includes a top plate and wheels, wherein the top plate is installed on the upper surface of the AGV body for lifting and lowering the shelf, and the wheels are installed at the bottom of the AGV body for moving forward, backward, left and right;

[0009] The battery compartment provides physical storage space for batteries and battery safety protection devices;

[0010] The battery is installed inside the battery compartment and is used to supply power to the AGV body;

[0011] The battery safety protection device is installed inside the battery compartment to ensure the safety and order of the batteries.

[0012] The battery safety protection device includes a battery safety control center, a gas sensor, a pressure sensor, a flame sensor, an aerosol and a backup battery;

[0013] The battery safety control center is used to monitor the battery status in real time and ensure battery safety. The battery safety control center is a circuit control board with program control. There are input and output signal channels on the circuit board, which can collect sensor signals and output corresponding action signals to the outside after analysis.

[0014] The gas sensor is used to detect special gases released by the battery;

[0015] The pressure sensor is used to detect changes in air pressure inside the battery compartment;

[0016] The flame sensor is used to monitor open flames;

[0017] The aerosol is used to release inert gas to isolate oxygen;

[0018] The backup battery is used to provide power to the battery safety control center in an emergency.

[0019] When the archival-level handling robot is working, it can respond to the instructions of the battery safety control center to deal with abnormal conditions detected by the sensors in the battery safety protection device;

[0020] If the gas sensor detects that the battery releases special gas, or the pressure sensor detects changes in the air pressure inside the battery compartment, or the flame sensor detects an open flame, the battery safety control center will immediately cut off the battery's external output circuit to prevent the battery from discharging. At the same time, the aerosol will release inert gas to isolate oxygen.

[0021] Then the battery safety control center reports the battery fault condition to the warehouse control system WCS through TCP wireless communication, and the warehouse control system WCS notifies personnel to carry out corresponding emergency treatment;

[0022] The moment the battery stops discharging, the backup battery starts up and continues to supply power to the battery safety control center, ensuring that the robot does not lose control due to power outages.

[0023] The present invention also provides an ultra-flat warehouse application system, including a shelf, an archive-level handling robot, a wireless power supply device, an ultrasonic ranging system, a video monitoring visual system and a warehouse control system WCS;

[0024] The shelf is a movable shelf for storing goods;

[0025] The archival-level handling robot is used to carry shelves;

[0026] The wireless power supply device is used to realize the wireless power supply function;

[0027] The ultrasonic distance measurement system includes a distance measurement sensor, which is installed on the shelf and is used to measure the distance between the shelves; the ultrasonic distance measurement system is used to transmit the shelf distance data.

[0028] The video surveillance visual system includes a steering gear, which is arranged on the shelf and can rotate horizontally 360 degrees. A monitoring camera is arranged above the steering gear for visualizing the picture; the video surveillance visual system is used to transmit video data;

[0029] The warehouse control system WCS controls the operation of the entire system.

[0030] The shelf is a rectangular shelf, and 8 distance measuring sensors are integrated on the four sides of each shelf, and each side has 2 distance measuring sensors.

[0031] A shelf chassis is provided at the bottom of the shelf, and a circular foam is adhered to the center of the shelf chassis. The circular foam has a diameter of 200 mm and a thickness of 40 mm.

[0032] The wireless power supply device comprises a coil transmitting end and a coil receiving end;

[0033] The coil transmitting end is a circle with an outer diameter of 200mm and an inner diameter of 190mm, and an inductance of 9.4UH. It is installed at the center of the top plate, and the center of the coil transmitting end coincides with the center of the top plate.

[0034] The receiving end of the coil is a circle with an outer diameter of 40mm and an inner diameter of 20mm, and an inductance of 13UH. It is installed at a position 180mm away from the center of the shelf chassis and maintains a gap of 40mm with the shelf chassis.

[0035] The archive-level transport robot starts to move after receiving the instruction to transport the shelf. After the robot stops at the bottom center of the target shelf, it starts to lift the shelf chassis, thereby lifting the shelf.

[0036] When the top plate contacts the bottom plate of the shelf, the servo and surveillance camera on the shelf are powered on and start working, and the ultrasonic sensor on the shelf is powered on and starts measuring distance.

[0037] The two distance measuring sensors above the right side of the shelf carried by the archive-level handling robot in the forward direction measure the distances between the right side of the shelf carried by the archive-level handling robot and the adjacent shelf surface as d1 and d2 respectively;

[0038] The two distance measuring sensors above the left side of the shelf carried by the archive-level handling robot in the forward direction measure the distances between the left side of the shelf carried by the archive-level handling robot and the adjacent shelf surface as d3 and d4 respectively;

[0039] The distance sensor sends the distance data to the archive-level handling robot, which then sends it to the warehouse control system WCS through the archive-level handling robot, and the warehouse control system WCS performs analysis:

[0040] When |d1-d2|>L0 or |d3-d4|>L0, the warehouse control system WCS sends an angle adjustment instruction to the archive-level handling robot;

[0041] After the archival handling robot is adjusted, the warehouse control system WCS recalculates whether the received |d1-d2| or |d3-d4| is greater than L0;

[0042] If |d1-d2|>L0 or |d3-d4|>L0, the archival handling robot continues to issue angle adjustment instructions until |d1-d2|≤L0 and |d3-d4|≤L0, which means that the angle adjustment is successful and the archival handling robot runs in a straight line;

[0043] When d1<d0 or d2<d0 or d3<d0 or d4<d0, the emergency stop command of the archive-level handling robot is executed to put down the shelf, and the warehouse control system WCS issues an early warning and notifies the staff;

[0044] Among them, L0 is the first safety value (usually 10), which is used to determine when the angle needs to be adjusted; d0 is the second safety value (usually 20), which is used to determine when an emergency stop command needs to be executed. These values ​​are usually set by system designers according to the safety requirements of actual application scenarios.

[0045] The archive-level handling robot walks in the lane with the load rack, and the monitoring camera takes real-time pictures of the surrounding environment of the lane, transmits them to the archive-level handling robot, and then forwards them to the warehouse control system WCS by the archive-level handling robot, and displays the video pictures in real time on the interface of the warehouse control system WCS;

[0046] When the archival-level handling robot turns with the loaded shelf to enter another lane for operation, the servo rotates the camera according to the direction in which the archival-level handling robot is moving to ensure that the image captured by the camera is the environment in front of the operation of the archival-level handling robot, and then transmits the image to the archival-level handling robot, which then forwards it to the warehouse control system WCS, and displays the video image in real time on the warehouse control system WCS interface.

[0047] The main features of the present invention include:

[0048] (1) Accurately capture the battery status before failure;

[0049] (2) AGV circuit protection;

[0050] (3) Real-time distance measurement of shelves;

[0051] (4) Real-time forwarding of ranging data;

[0052] (5) AGV wirelessly powers sensors on shelves;

[0053] (6) Seamless switching of backup power supply.

[0054] The present invention provides an invention of an archive-level handling robot, an intelligent mobile shelf, and a safer high-density ultra-flat warehouse system. According to the structure of the shelf, the available space of the shelf is fully utilized, and an ultrasonic distance measurement sensor is installed on the shelf. The wireless power supply coil transmitter on the AGV and the receiving coil at the bottom of the shelf can wirelessly provide a stable power supply for the ultrasonic sensor, and at the same time, it also solves the problem that the mobile shelf can have electricity without laying power lines; the ultrasonic sensor performs ultrasonic distance measurement on adjacent shelves in real time, and the measured data is transmitted to the AGV via Bluetooth, and then transmitted to the warehouse control system WCS by the AGV via Ethernet. The warehouse control system WCS analyzes the shelf in real time according to these distance data The stability of operation is achieved by controlling the speed, angle, acceleration and deceleration of the AGV through analysis of the results obtained. A monitoring module is integrated above the shelf. When the shelf is in operation, the video monitoring visual system can visualize the surrounding environment and understand in real time whether there are any unsafe factors around the shelf, making it convenient for operators to observe the internal status of the warehouse. The battery safety protection device can monitor the temperature, air pressure, gas, flame and other conditions inside the battery, and maximize the protection of the battery through the circuit safety loop to prevent battery explosion, fire and other situations. The backup battery is used for continuous power supply, and the battery failure status can be continuously fed back to the host computer, so that even if the AGV battery fails, the host computer can still control the safety status of the AGV in real time.

[0055] The present invention has the following beneficial effects: The system of the present invention can monitor the internal state of the battery in real time, cut off the AGV battery circuit in time, and effectively prevent serious safety accidents such as battery explosion and fire. In the emergency situation where the AGV battery output is powered off, the backup battery can take over seamlessly and continue to power the battery safety protection device, ensuring that the warehouse control system WCS can obtain the abnormal state of the battery in real time and respond in time. The wireless power supply device not only ensures the stable operation of the shelf-side sensors and video surveillance, but also cleverly solves the power supply problem of mobile shelves. The present invention significantly improves the automation level and operational safety of file handling through comprehensive battery safety protection devices and wireless power supply technology, and is particularly suitable for file handling scenarios with extremely high requirements for accuracy and safety. BRIEF DESCRIPTION OF THE DRAWINGS

[0056] The present invention will be further described in detail below in conjunction with the accompanying drawings and specific embodiments, and the above and other advantages of the present invention will become more clear.

[0057] Figure 1 It is a system composition diagram of the present invention.

[0058] Figure 2 This is a schematic diagram of the main internal structure of the handling robot AGV.

[0059] Figure 3 It is a top view schematic diagram of the handling robot AGV.

[0060] Figure 4 This is a schematic diagram of the bottom of the super flat warehouse shelf looking up.

[0061] Figure 5 This is a partial enlarged schematic diagram of the bottom center of the super flat warehouse shelf.

[0062] Figure 6 This is a schematic diagram of the handling robot AGV at the center of the bottom of the ultra-flat warehouse shelf.

[0063] Figure 7 This is a schematic diagram of the distance measuring sensor on the shelf column.

[0064] Figure 8 This is a schematic diagram of the working principle of the sensors on the ultra-flat warehouse shelves operating in the aisle.

[0065] Fig. 9 This is a schematic diagram of the video surveillance module on the shelf.

[0066] Fig.10 It is a schematic diagram of the working principle of the video surveillance system on the ultra-flat warehouse shelves operating in the aisle. DETAILED DESCRIPTION

[0067] The embodiment of the present invention provides an archive-level handling robot and an ultra-flat warehouse application system. Figure 2As shown in FIG. 1 , it is a schematic diagram of the main internal structure of the archive-level handling robot, which includes an AGV body, a battery compartment 1, a battery 12 and a battery safety protection device; Figure 3 Shown is a top view schematic diagram of a handling robot;

[0068] The AGV body includes a top plate 20 and wheels, wherein the top plate 20 is mounted on the upper surface of the AGV body for lifting and lowering the shelf, and the wheels are mounted on the bottom of the AGV body for moving forward, backward, left and right;

[0069] The battery compartment 1 provides a physical storage space for the battery 12 and the battery safety protection device;

[0070] The battery 12 is installed inside the battery compartment 1 and is used to supply power to the AGV body;

[0071] The battery safety protection device is installed inside the battery compartment 1 to ensure the safety and order of the batteries.

[0072] The battery safety protection device includes a battery safety control center 5, a gas sensor 2, a pressure sensor 3, a flame sensor 4, an aerosol 6 and a backup battery 7; the model of the gas sensor 2 is MQ2, the model of the pressure sensor 3 is XGZP6847, and the model of the flame sensor 4 is HY01;

[0073] The battery safety control center 5 is used to monitor the status of the battery 12 in real time to ensure the safety of the battery 12;

[0074] The gas sensor 2 is used to detect special gases released by the battery 12, such as hydrogen (H2), carbon dioxide (CO2), carbon monoxide (CO), electrolyte (DMC) and other gases;

[0075] The pressure sensor 3 is used to detect changes in the air pressure inside the battery compartment 1;

[0076] The flame sensor 4 is used to monitor open flames;

[0077] The aerosol 6 is used to release inert gas to isolate oxygen;

[0078] The backup battery 7 is used to provide power to the battery safety control center 5 in an emergency.

[0079] The archival handling robot can respond to the instructions of the battery safety control center 5 when working to deal with abnormal conditions detected by the sensors in the battery safety protection device;

[0080] If the gas sensor 2 detects that the battery 12 releases special gas, or the pressure sensor 3 detects changes in the internal air pressure of the battery compartment 1, or the flame sensor 4 detects an open flame, the battery safety control center 5 will immediately cut off the circuit output by the battery 12 to prevent the battery 12 from discharging. At the same time, the aerosol 6 will release inert gas to isolate oxygen, thereby ensuring that the battery cannot burn or extinguish an existing open flame.

[0081] Then the battery safety control center 5 reports the fault condition of the battery 12 to the warehouse control system WCS via TCP wireless communication, and the warehouse control system WCS notifies personnel to perform corresponding emergency processing;

[0082] At the moment when the battery 12 stops discharging, the backup battery 7 starts up and continues to supply power to the battery safety control center 5 to ensure that the robot does not lose control due to power interruption.

[0083] like Figure 1 As shown, it is a system composition diagram of this embodiment, including shelves, archive-level handling robots, wireless power supply devices, ultrasonic ranging systems, video monitoring visual systems and warehouse control systems WCS;

[0084] The shelf is a movable shelf for storing goods;

[0085] The archival-level handling robot is used to carry shelves;

[0086] The wireless power supply device is used to realize the wireless power supply function;

[0087] The ultrasonic distance measurement system includes a distance measurement sensor, which is installed on the shelf and is used to measure the distance between the shelves; the ultrasonic distance measurement system is used to transmit the shelf distance data.

[0088] The video surveillance visual system includes a steering engine 19, which is arranged on the shelf and can rotate horizontally 360 degrees. A monitoring camera 18 is arranged above the steering engine 19 for visualizing the picture. The video surveillance visual system is used to transmit video data;

[0089] The warehouse control system WCS controls the operation of the entire system.

[0090] Figure 7 Schematic diagram of ultrasonic distance measuring sensors on shelf columns. The shelf is a rectangular shelf. Eight distance measuring sensors are integrated on the four sides of each shelf, with two distance measuring sensors on each side.

[0091] like Figure 4The figure shows a bottom view of the ultra-flat warehouse shelf, wherein a shelf chassis 10 is provided at the bottom of the shelf, and a circular foam 13 is adhered at the center of the shelf chassis 10, wherein the circular foam 13 has a diameter of 200 mm and a thickness of 40 mm.

[0092] The wireless power supply device comprises a coil transmitting end 8 and a coil receiving end 9;

[0093] The coil transmitting end 8 is a circle with an outer diameter of 200 mm and an inner diameter of 190 mm, and an inductance of 9.4 UH. It is installed at the center of the top plate 20, and the center of the coil transmitting end 8 coincides with the center of the top plate 20 (such as Figure 6 shown);

[0094] like Figure 5 As shown, the coil receiving end 9 is a circle with an outer diameter of 40 mm and an inner diameter of 20 mm, an inductance of 13 UH, and is installed at a position 180 mm away from the center of the shelf chassis 10 and maintains a gap of 40 mm with the shelf chassis 10.

[0095] A large number of test surfaces show that the coil transmitting end 8 and the coil receiving end 9 are adjacent to each other on the left and right and adjacent to each other up and down with a spacing of 4 cm. Even if surrounded by iron materials, the two coils can work stably, with a conversion efficiency of more than 95% and the coil burning problem will not occur.

[0096] The circular foam 13 is adhered to the center of the shelf chassis 10 with double-sided adhesive. The size of the circular foam 13 is 200mm in diameter and 40mm in thickness. This size is to facilitate the wireless power receiving end coil 9 and the shelf chassis 10 to maintain a gap of 40mm, and also to facilitate the wireless power receiving end coil 9 to be quickly installed and positioned to a position 180mm away from the center of the shelf; the archive-level handling robot starts to move after receiving the instruction to carry the shelf. After the robot stops at the bottom center of the target shelf, it starts to lift the shelf chassis 10, thereby lifting the shelf; when the top plate 20 contacts the shelf chassis 10, the servo 19 and the surveillance camera 18 on the shelf are powered on and start working, and the ultrasonic sensor 15 on the shelf is powered on and starts ranging. A large number of tests have proved that the above data can enable the wireless power supply system to be used stably in an environment surrounded by iron, and provide a stable voltage for the normal operation of the ultrasonic sensor 15 on the shelf.

[0097] The two distance measuring sensors above the right side of the shelf carried by the archive-level handling robot in the forward direction measure the distances between the right side of the shelf carried by the archive-level handling robot and the adjacent shelf surface as d1 and d2 respectively;

[0098] The two distance measuring sensors above the left side of the shelf carried by the archive-level handling robot in the forward direction measure the distances between the left side of the shelf carried by the archive-level handling robot and the adjacent shelf surface as d3 and d4 respectively;

[0099] The distance sensor sends the distance data to the archive-level handling robot, which then sends it to the warehouse control system WCS through the archive-level handling robot, and the warehouse control system WCS performs analysis:

[0100] When |d1-d2|>L0 or |d3-d4|>L0, the warehouse control system WCS sends an angle adjustment instruction to the archive-level handling robot;

[0101] After the archival handling robot is adjusted, the warehouse control system WCS recalculates whether the received |d1-d2| or |d3-d4| is greater than L0;

[0102] If |d1-d2|>L0 or |d3-d4|>L0, the archival handling robot continues to issue angle adjustment instructions until |d1-d2|≤L0 and |d3-d4|≤L0, which means that the angle adjustment is successful and the archival handling robot runs in a straight line;

[0103] When d1<d0 or d2<d0 or d3<d0 or d4<d0, the emergency stop command of the archive-level handling robot is executed to put down the shelf, the warehouse control system WCS issues an early warning and notifies the staff.

[0104] Here, L0 is the first safety value (usually 10), which is used to determine when the angle needs to be adjusted; and d0 is the second safety value (usually 20), which is used to determine when an emergency stop command needs to be executed. These values ​​are usually set by the system designer according to the safety requirements of the actual application scenario.

[0105] The archive-level handling robot walks in the lane with the load rack, and the monitoring camera 18 takes real-time pictures of the surrounding environment of the lane, transmits them to the archive-level handling robot, and then forwards them to the warehouse control system WCS by the archive-level handling robot, and displays the video pictures in real time on the interface of the warehouse control system WCS;

[0106] When the archival-level handling robot turns with the loaded shelf to enter another lane for operation, the servo 19 rotates the camera according to the direction in which the archival-level handling robot is moving, to ensure that the image captured by the camera is the environment in front of the operation of the archival-level handling robot, and then transmits the image to the archival-level handling robot, which then forwards it to the warehouse control system WCS, and displays the video image in real time on the WCS interface of the warehouse control system.

[0107] In another embodiment of the present invention, Figure 8The figure shows the working principle of the sensors on the ultra-flat warehouse shelves in the aisle (all shelves can be arranged in the same direction, not necessarily in the direction shown in the figure). The ultra-flat warehouse shelves run from position 1 to position 2;

[0108] The ultrasonic sensor 14 and the ultrasonic sensor 15 measure the distances between the archive-level handling robot and the surface A to be d1 and d2 respectively;

[0109] The distances between the transfer robot AGV and the surface B measured by the ultrasonic sensor 16 and the ultrasonic sensor 17 are d3 and d4 respectively;

[0110] These distance data are sent to the archive-level handling robot via Bluetooth, and then forwarded to the warehouse control system WCS by the archive-level handling robot, which calculates and analyzes them:

[0111] Define L0 as the first safety value (here it is 10, the system designer can set it according to the safety requirements of the actual application scenario), which is used to determine when the angle needs to be adjusted;

[0112] Define d0 as the second safety value (here it is 20, the system designer can set it according to the safety requirements of the actual application scenario), which is used to determine when the emergency stop command needs to be executed;

[0113] When the difference between d1 and d2 is greater than 10 or the difference between d3 and d4 is greater than 10, the warehouse control system WCS sends an angle adjustment instruction to the archive-level handling robot;

[0114] After the archival handling robot is adjusted, the warehouse control system WCS recalculates whether the difference between d1 and d2 or the difference between d3 and d4 received is greater than 10;

[0115] If the difference between d1 and d2 is greater than 10 or the difference between d3 and d4 is greater than 10, the archival handling robot continues to issue angle adjustment instructions and repeatedly executes the above procedures until the difference between d1 and d2 is less than or equal to 10 and the difference between d3 and d4 is less than or equal to 10, indicating that the angle adjustment is successful;

[0116] Through a large number of tests, it was found that when any of the values ​​of d1, d2, d3, and d4 is lower than the safety value of 20mm, an emergency stop command is executed to lower the shelf, and the warehouse control system WCS issues an early warning to notify the staff.

[0117] Fig. 9 Schematic diagram of the video monitoring module on the shelf. In this embodiment, a steering gear 19 is used. The steering gear 19 can rotate 360 ​​degrees horizontally. The monitoring camera 18 is installed above the steering gear 19. Fig.10It is a schematic diagram of the working principle of the video surveillance system on the shelves of the super flat warehouse running in the aisle (all shelves only need to be arranged in the same direction, not necessarily in the direction shown in the figure). The archival handling robot receives the instruction to carry the shelf and starts to move. After the archival handling robot runs to the center of the bottom of the target shelf 22 and stops, the archival handling robot starts to lift the shelf chassis 10, thereby lifting the shelf 22. When the top plate 20 contacts the shelf chassis 10, the servo 19 and the monitoring camera 18 on the shelf are powered and start working. The servo 19 will automatically rotate according to the task path issued by the warehouse control system WCS to ensure that the direction illuminated by the monitoring camera 18 is the straight line direction of the AGV. Fig.10 As shown, that is, in the direction of arrow a, the monitoring camera 18 captures the environment in the direction of arrow a in real time; when the archive-level handling robot turns to enter the lane with the loaded shelf, as shown Fig.10 As shown, the shelf 22 moves from position 1 to position 2 and position 3, and the steering gear 19 rotates the camera according to the direction in which the archive-level handling robot moves. Fig.10 As shown, that is, in the direction of arrow b, the monitoring camera 18 captures the environment in the direction of arrow b in real time, and then transmits the image to the archive-level handling robot, which then forwards it to the warehouse control system WCS, and displays the video image in real time on the warehouse control system WCS interface.

[0118] In a specific implementation, the present application provides a computer storage medium and a corresponding data processing unit, wherein the computer storage medium can store a computer program, and when the computer program is executed by the data processing unit, it can run the content of the ultra-flat warehouse application of an archive-level handling robot provided by the present invention and part or all of the content of each embodiment. The storage medium can be a disk, an optical disk, a read-only memory (ROM) or a random access memory (RAM), etc.

[0119] Those skilled in the art can clearly understand that the technical solutions in the embodiments of the present invention can be implemented by means of computer programs and their corresponding hardware. Based on such an understanding, the technical solutions in the embodiments of the present invention are essentially or the part that contributes to the prior art can be embodied in the form of a computer program, i.e., a software product, which can be stored in a storage medium and includes several instructions for enabling a device including a data processing unit (which can be a personal computer, a server, a single-chip microcomputer, a MUU or a network device, etc.) to execute the methods described in various embodiments of the present invention or certain parts of the embodiments.

[0120] The present invention provides an archive-level handling robot and an ultra-flat warehouse application system. There are many methods and ways to implement the technical solution. The above is only a preferred implementation of the present invention. It should be pointed out that for ordinary technicians in this technical field, several improvements and modifications can be made without departing from the principle of the present invention. These improvements and modifications should also be regarded as the scope of protection of the present invention. All components not specified in this embodiment can be implemented using existing technologies.

Claims

1. An archive-level handling robot, characterized in that: It comprises an AGV body, a battery compartment (1), a battery (12) and a battery safety protection device; The AGV body comprises a top plate (20) and wheels, wherein the top plate (20) is mounted on the upper surface of the AGV body and is used to lift and lower the shelf, and the wheels are mounted on the bottom of the AGV body and are used to move forward, backward, left and right; The battery compartment (1) provides a physical storage space for the battery (12) and the battery safety protection device; The battery (12) is installed inside the battery compartment (1) and is used to supply power to the AGV body; The battery safety protection device is installed inside the battery compartment (1).

2. The archival handling robot according to claim 1, characterized in that: The battery safety protection device comprises a battery safety control center (5), a gas sensor (2), a pressure sensor (3), a flame sensor (4), an aerosol (6) and a backup battery (7); The battery safety control center (5) is used to monitor the status of the battery (12) in real time; The gas sensor (2) is used to detect special gases released by the battery (12); The pressure sensor (3) is used to detect changes in the internal air pressure of the battery compartment (1); The flame sensor (4) is used to monitor open flames; The aerosol (6) is used to release the inert gas to isolate oxygen; The backup battery (7) is used to provide power to the battery safety control center (5) in an emergency.

3. The archival handling robot according to claim 2, characterized in that: When the archival-level handling robot is working, it can respond to the instructions of the battery safety control center (5) to deal with abnormal conditions detected by the sensors in the battery safety protection device; If the gas sensor (2) detects that the battery (12) releases special gas, or the pressure sensor (3) detects changes in the internal air pressure of the battery compartment (1), or the flame sensor (4) detects an open flame, the battery safety control center (5) will immediately cut off the circuit output from the battery (12) to the outside, preventing the battery (12) from discharging again, and the aerosol (6) will release inert gas to isolate oxygen; Then the battery safety control center (5) reports the fault condition of the battery (12) to the warehouse control system WCS via TCP wireless communication, and the warehouse control system WCS notifies personnel to carry out corresponding emergency treatment; At the moment when the battery (12) stops discharging, the backup battery (7) starts to continuously supply power to the battery safety control center (5), thereby ensuring that the robot does not lose control due to power interruption.

4. An ultra-flat warehouse application system using the archive-level handling robot according to any one of claims 1 to 3, characterized in that: Including shelves, archive-level handling robots, wireless power supply devices, ultrasonic ranging systems, video surveillance visual systems and warehouse control systems WCS; The shelf is a movable shelf for storing goods; The archival-level handling robot is used to carry shelves; The wireless power supply device is used to realize the wireless power supply function; The ultrasonic distance measurement system includes a distance measurement sensor, which is installed on the shelf and is used to measure the distance between the shelves; the ultrasonic distance measurement system is used to transmit the shelf distance data.

5. The system according to claim 4, characterized in that The video monitoring visual system comprises a steering engine (19), the steering engine (19) is arranged on the shelf, the steering engine (19) can rotate horizontally 360 degrees, and a monitoring camera (18) is arranged above the steering engine (19) for visualizing the picture; the video monitoring visual system is used to transmit video data; The warehouse control system WCS controls the operation of the entire system.

6. The system according to claim 5, characterized in that The shelf is a rectangular shelf, and 8 distance measuring sensors are integrated on the four sides of each shelf, with 2 distance measuring sensors on each side; A shelf chassis (10) is provided at the bottom of the shelf, and a circular foam (13) is adhered to the center of the shelf chassis (10), wherein the circular foam (13) has a diameter of 200 mm and a thickness of 40 mm.

7. The system according to claim 6, characterized in that The wireless power supply device comprises a coil transmitting end (8) and a coil receiving end (9); The coil transmitting end (8) is circular with an outer diameter of 200 mm and an inner diameter of 190 mm, and has an inductance of 9.4 UH. It is installed at the center of the top plate (20), and the center of the coil transmitting end (8) coincides with the center of the top plate (20); The coil receiving end (9) is a circle with an outer diameter of 40 mm and an inner diameter of 20 mm, and an inductance of 13 UH. It is installed at a position 180 mm away from the center of the shelf chassis (10) and maintains a gap of 40 mm with the shelf chassis (10).

8. The system according to claim 7, characterized in that The archive-level transport robot starts to move after receiving the instruction to transport the shelf. After the robot moves to the bottom center of the target shelf and stops, it starts to lift the shelf chassis (10), thereby lifting the shelf. When the top plate (20) contacts the shelf bottom plate (10), the steering engine (19) and the monitoring camera (18) on the shelf are powered on and start working, and the ultrasonic sensor (15) on the shelf is powered on and starts distance measurement.

9. The system according to claim 8, characterized in that The two distance measuring sensors above the right side of the shelf carried by the archive-level handling robot in the forward direction measure the distances between the right side of the shelf carried by the archive-level handling robot and the adjacent shelf surface as d1 and d2 respectively; The two distance measuring sensors above the left side of the shelf carried by the archive-level handling robot in the forward direction measure the distances between the left side of the shelf carried by the archive-level handling robot and the adjacent shelf surface as d3 and d4 respectively; The distance sensor sends the distance data to the archive-level handling robot, which then sends it to the warehouse control system WCS through the archive-level handling robot, and the warehouse control system WCS performs analysis: When |d1-d2|>L0 or |d3-d4|>L0, the warehouse control system WCS sends an angle adjustment instruction to the archive-level handling robot; After the archival handling robot is adjusted, the warehouse control system WCS recalculates whether the received |d1-d2| or |d3-d4| is greater than L0; If |d1-d2|>L0 or |d3-d4|>L0, the archival handling robot continues to issue angle adjustment instructions until |d1-d2|≤L0 and |d3-d4|≤L0, which means that the angle adjustment is successful and the archival handling robot runs in a straight line; When d1<d0 or d2<d0 or d3<d0 or d4<d0, the emergency stop command of the archive-level handling robot is executed to put down the shelf, and the warehouse control system WCS issues an early warning and notifies the staff; Where L0 is the first safety value, used to determine when the angle needs to be adjusted; d0 is the second safety value, which is used to determine when an emergency stop command needs to be executed.

10. The system according to claim 9, characterized in that The archive-level handling robot carries the load shelf and walks in the lane, and the monitoring camera (18) takes real-time pictures of the surrounding environment of the lane, transmits the pictures to the archive-level handling robot, and then forwards the pictures to the warehouse control system WCS by the archive-level handling robot, and displays the video pictures in real time on the interface of the warehouse control system WCS; When the archive-level handling robot turns to enter another lane with the loaded shelf, the steering gear (19) rotates the camera according to the walking direction of the archive-level handling robot to ensure that the image captured by the camera is the environment in front of the archive-level handling robot. The image is then transmitted to the archive-level handling robot, which then forwards it to the warehouse control system WCS, and the video image is displayed in real time on the interface of the warehouse control system WCS.

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