An archive-level handling robot and ultra-flat warehouse application system

Abstract

The present invention relates to an archival-level handling robot and an ultra-flat warehouse application system. The handling robot comprises an AGV body, a battery compartment, a battery, and a battery safety protection device. The battery safety protection device includes multiple sensors and aerosols to ensure battery safety. The ultra-flat warehouse application system comprises shelves, an archival-level handling robot, a wireless power supply, an ultrasonic ranging system, a video surveillance system, and a warehouse control system (WCS). Through comprehensive battery safety protection devices and wireless power supply technology, the present invention significantly improves the automation level and operational safety of archival handling, making it particularly suitable for archival handling scenarios requiring extremely high precision and safety.

Description

Technical Field

[0001] The present 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 with strict requirements for precise control and safety protection, existing technical solutions still have the following shortcomings:

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

[0004] (2) Safety issues in rack transportation: Since racks and AGVs are two independent operating vehicles, AGVs lack the ability to monitor the racks’ shaking and swinging in real time during transport. This results in the possibility of racks colliding with adjacent racks or even overturning during transport, which poses a serious threat to the safe transportation of archives.

[0005] To overcome these challenges and improve the efficiency and safety of file handling, there is an urgent need to develop new technical solutions to ensure the stability and safety of files during transportation, while also guaranteeing the safe operation of batteries under various conditions. This invention was born in response to this backdrop, aiming to address the pain points of existing technologies through technological innovation, bringing 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 the 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 power 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. The circuit board has input and output signal channels, which can collect sensor signals, analyze them, and then output corresponding action signals to the outside.

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

[0020] If the gas sensor detects that the battery releases special gases, 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] The battery safety control center then reports the battery fault condition to the warehouse control system WCS via TCP wireless communication, and the warehouse control system WCS notifies personnel to take appropriate emergency measures;

[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 interruption.

[0023] The present invention also provides an ultra-flat warehouse application system, including shelves, archive-level handling robots, wireless power supply devices, ultrasonic ranging systems, video monitoring visual systems and warehouse control systems 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 shelves. The ultrasonic distance measurement system is used to transmit 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, with 2 distance measuring sensors on each side.

[0031] A shelf chassis is provided at the bottom of the shelf, and a circular foam is stuck at 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 includes a coil transmitting end and a coil receiving end;

[0033] The coil transmitter is a circle with an outer diameter of 200mm and an inner diameter of 190mm. The inductance is 9.4UH and is installed in the center of the top plate. The center of the coil transmitter 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 archival-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 and start working, and the ultrasonic sensor on the shelf is powered 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 d1 and d2 between the right side of the shelf carried by the archive-level handling robot and the adjacent shelf surface 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 d3 and d4 between the left side of the shelf carried by the archive-level handling robot and the adjacent shelf surface 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 for analysis:

[0040] When |d1-d2|>L0 or |d3-d4|>L0, the warehouse control system WCS sends an angle adjustment instruction to the file-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 moves 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, the shelf is put down, the warehouse control system WCS issues an early warning, and notifies the staff;

[0044] L0 is the first safety value (typically 10), used to determine when angle adjustment is required; d0 is the second safety value (typically 20), used to determine when an emergency stop is required. These values ​​are typically set by the system designer based on the safety requirements of the actual application scenario.

[0045] The archival-level handling robot carries the load racks and walks in the aisle. The surveillance camera captures the surrounding environment of the aisle in real time and transmits it to the archival-level handling robot. The archival-level handling robot then forwards the video to the warehouse control system WCS, and the video is displayed in real time on the warehouse control system WCS interface.

[0046] When the archival-level handling robot turns with the loaded shelf to enter another aisle, the servo rotates the camera according to the direction of the archival-level handling robot's movement to ensure that the image captured by the camera is the environment in front of the archival-level handling robot's operation, 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 archival-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 measuring 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 solve the problem of mobile shelves having 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 via Ethernet. The warehouse control system WCS analyzes the shelf in real time based on 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, and during the operation of the shelf, the video monitoring visual system can visualize the surrounding environment and know in real time whether there are any unsafe factors around the shelf, so that the operator can 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 fault 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 status 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 event of an emergency 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 status 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 below in conjunction with the accompanying drawings and specific embodiments, and the above and other advantages of the present invention will become more apparent.

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

[0066] Figure 10 This 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, 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 schematic top view of the 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 shelves, 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 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 power 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] When working, the archival-level handling robot 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;

[0080] If the gas sensor 2 detects that the battery 12 releases special gas, or the pressure sensor 3 detects a change in the internal 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 output circuit of 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 preventing combustion inside the battery or extinguishing any 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 treatment;

[0082] At the moment when the battery 12 stops discharging, the backup battery 7 starts 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 The figure shows the system composition diagram of this embodiment, including shelves, file-level handling robots, wireless power supply devices, ultrasonic ranging systems, video surveillance 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 shelves. The ultrasonic distance measurement system is used to transmit 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 This is a schematic diagram of ultrasonic ranging sensors on shelf columns. The shelf is a rectangular shelf with eight ranging sensors integrated on the four sides of each shelf, with two ranging sensors on each side.

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

[0092] The wireless power supply device includes 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 (as shown in FIG. 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, 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.

[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 on the top and bottom, with a spacing of 4 cm. Even if surrounded by iron materials, the two coils can still work stably, with a conversion efficiency of more than 95% and no coil burning problem will occur.

[0096] The circular foam 13 is adhered to the center of the shelf chassis 10 using double-sided tape. The dimensions of the circular foam 13 are 200mm in diameter and 40mm thick. This dimension is to facilitate maintaining a 40mm gap between the wireless power receiving coil 9 and the shelf chassis 10, and also to facilitate the rapid installation and positioning of the wireless power receiving coil 9 to a position 180mm offset from the center of the shelf. The archival-level handling robot begins to move after receiving the instruction to transport the shelf. After the robot stops at the bottom center of the target shelf, it begins to lift the shelf chassis 10, thereby lifting the shelf. When the top plate 20 contacts the shelf chassis 10, the servo 19 and surveillance camera 18 on the shelf are powered and begin to operate, and the ultrasonic sensor 15 on the shelf is powered and begins to measure distance. Extensive testing has proven that the above data can enable the wireless power supply system to be used stably in an environment surrounded by iron, providing 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 d1 and d2 between the right side of the shelf carried by the archive-level handling robot and the adjacent shelf surface 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 d3 and d4 between the left side of the shelf carried by the archive-level handling robot and the adjacent shelf surface 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 for analysis:

[0100] When |d1-d2|>L0 or |d3-d4|>L0, the warehouse control system WCS sends an angle adjustment instruction to the file-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 moves in a straight line;

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

[0104] Here, L0 is the first safety value (typically 10), used to determine when angle adjustment is necessary; and d0 is the second safety value (typically 20), used to determine when an emergency stop is required. These values ​​are typically set by the system designer based on the safety requirements of the actual application scenario.

[0105] The archival handling robot carries the load racks and walks in the lane. The monitoring camera 18 captures the surrounding environment of the lane in real time and transmits it to the archival handling robot. The archival handling robot then forwards the video to the warehouse control system WCS, and the video is displayed in real time on the interface of the warehouse control system WCS.

[0106] When the archival-level handling robot turns to enter another aisle with the loaded shelf, the servo 19 rotates the camera according to the direction of the archival-level handling robot's movement to ensure that the image captured by the camera is the environment in front of the archival-level handling robot's operation, 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.

[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 move from position 1 to position 2.

[0108] The ultrasonic sensors 14 and 15 measure the distances between the archival handling robot and surface A to be d1 and d2 respectively;

[0109] Ultrasonic sensor 16 and ultrasonic sensor 17 measure the distances between the transport robot AGV and surface B to be 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. The warehouse control system WCS performs calculations and analysis:

[0111] Define L0 as the first safety value (here it is 10, and 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 file-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 extensive testing, it was determined that when any of the values ​​of d1, d2, d3, and d4 falls below 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 staff.

[0117] Figure 9 This is a schematic diagram of a video surveillance module on a 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. Figure 10This is a schematic diagram of the working principle of the video surveillance system on the ultra-flat warehouse shelves 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-level handling robot receives the instruction to handle the shelf and starts to move. After the archival-level handling robot runs to the center of the bottom of the target shelf 22 and stops, the archival-level 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 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 direction of the AGV's travel, as shown in the figure. Figure 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 Figure 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. Figure 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 picture to the archive-level handling robot, which then forwards it to the warehouse control system WCS, and the video picture is displayed 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 is capable of storing a computer program that, when executed by the data processing unit, can execute the content of the present invention's archival-level handling robot ultra-flat library application and part or all of the content of each embodiment. The storage medium can be a magnetic disk, an optical disk, a read-only memory (ROM), or a random access memory (RAM).

[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 this understanding, the technical solutions in the embodiments of the present invention, in essence or in other words, the part that contributes to the prior art, can be embodied in the form of a computer program, i.e., a software product. The computer program software product 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, server, single-chip microcomputer, MUU, or 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 archival-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 embodiment of the present invention. It should be pointed out that for ordinary technicians in this technical field, without departing from the principles of the present invention, several improvements and modifications can be made. 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 ultra-flat warehouse application system using an archive-level handling robot, characterized in that: Including shelves, file-level handling robots, wireless power supply devices, ultrasonic ranging systems, video surveillance systems and warehouse control systems WCS; The archival handling robot comprises an AGV body, a battery compartment (1), a battery (12) and a battery safety protection device; 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; The battery compartment (1) provides 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); 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 ranging system includes a ranging sensor installed on the shelf for measuring the distance between shelves; the ultrasonic ranging system is used to transmit shelf distance data; The shelves are rectangular shelves, 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; 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 servo (19) and the monitoring camera (18) on the shelf are powered and start working, and the ultrasonic sensor (15) on the shelf is powered and starts ranging; 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 d1 and d2 between the right side of the shelf carried by the archive-level handling robot and the adjacent shelf surface 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 d3 and d4 between the left side of the shelf carried by the archive-level handling robot and the adjacent shelf surface respectively; The distance sensor sends the distance data to the archive-level handling robot, which then sends it to the warehouse control system WCS for analysis: When |d1-d2|>L0 or |d3-d4|>L0, the warehouse control system WCS sends an angle adjustment instruction to the file-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 moves 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, the shelf is put down, the warehouse control system WCS issues an early warning, and notifies the staff; L0 is the first safety value, which is 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.

2. The system according to claim 1, wherein: 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 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 system according to claim 2, characterized in that The archival-level handling robot is capable of responding to instructions from the battery safety control center (5) when operating to deal with abnormal conditions detected by sensors in the battery safety protection device; If the gas sensor (2) detects that the battery (12) releases a special gas, or the pressure sensor (3) detects a change in the internal 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 further. At the same time, the aerosol (6) will release an inert gas to isolate the 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 perform 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) to ensure that the robot does not lose control due to power interruption.

4. The system according to claim 3, characterized in that The video monitoring visual system includes 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.

5. The system according to claim 4, characterized in that A circular foam (13) is glued to the center of the shelf chassis (10), and the circular foam (13) has a diameter of 200 mm and a thickness of 40 mm.

6. The system according to claim 5, 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).

7. The system according to claim 6, characterized in that The archival-level transport robot carries the load shelf and walks in the lane. The monitoring camera (18) takes a real-time picture of the surrounding environment of the lane and transmits it to the archival-level transport robot. The archival-level transport robot then forwards the picture to the warehouse control system WCS, and the video picture is displayed in real time on the interface of the warehouse control system WCS. When the archival-level handling robot turns to enter another lane with the loaded shelf, the servo (19) rotates the camera according to the direction in which the archival-level handling robot moves, ensuring that the image captured by the camera is the environment in front of the archival-level handling robot. The image is then transmitted to the archival-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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