Black light warehouse logistics sorting trolley and optimal path planning method thereof

Abstract

The invention belongs to the technical field of logistics transportation and storage devices, and particularly relates to a black light warehouse logistics sorting trolley and an optimal path planning method thereof.The black light warehouse logistics sorting trolley comprises a chassis, a goods shelf, a sorting module and a path recognition module; a path guide line is laid on the ground of the black light warehouse, and the path identification module runs in the black light warehouse according to the guidance of the path guide line; the lifting plate is arranged on one side of the goods shelf; goods are stood on the weighing assembly, the sorting trolley weighs the goods through the weighing assembly, the sorting trolley temporarily stores the goods in the corresponding goods shelf according to the weight of the goods, for example, heavy goods are temporarily stored at the bottom of the goods shelf, light goods are temporarily stored at the top of the goods shelf, and through the temporary storage mode, the gravity center of the sorting trolley in the moving process is lowered; and the situation that in the moving process of the sorting trolley, due to the fact that the gravity center is high, the sorting trolley passes through impurities, slight jolting is generated, and overturning is caused is avoided, and therefore the stability of the sorting trolley in the moving process is improved.

Description

Technical Field

[0001] The present invention belongs to the technical field of logistics transportation storage devices, and in particular to a dark-light warehouse logistics sorting trolley and an optimal path planning method thereof. Background Art

[0002] A dark warehouse is a smart warehouse that can operate normally even when the lights are off or on at low levels. It mainly relies on intelligent robots or automated equipment to complete all production, storage, handling, and testing links according to the instructions of the software system, realizing full-process digital operations. In a dark warehouse, automated handling and sorting vehicles play a vital role. They can autonomously complete tasks such as handling, storage, and sorting of goods.

[0003] The operation of the sorting vehicle in a dark warehouse mainly relies on navigation technology and control systems. The sorting vehicle receives instructions from the control system and autonomously completes the task of handling goods according to the preset driving path. When the goods arrive at the warehouse, the car aligns its rear end to the unloading point and matches the driving path of the car. At this time, the nearby car will receive instructions from the control system, drive to the unloading point, and then deliver the goods to the designated storage area according to the preset driving path. Usually, the warehouse will pre-bury signal devices on the ground to cooperate with multiple sensors on the car to complete the navigation work.

[0004] During the sorting and handling process of the trolley, impurities and dust will have an impact on the trolley: 1. Reduce wheel friction: dust, fine sand, small particles and other impurities will cover the contact surface between the ground and the wheels, reducing the friction between the wheels and the ground, causing the truck to slip, idle, difficult to start or accelerate, or even lose control; 2. Hindering the wheels from rolling: Large debris, such as paper scraps, plastic fragments, ropes, etc., may get entangled in the wheels, hindering the normal rolling of the wheels, increasing driving resistance and reducing handling efficiency; 3. Damage to wheels and bearings: Sharp objects may pierce into wheels or bearings, causing damage, shortening the service life of the wheels and increasing maintenance costs; 4. Impact on navigation system training: For transport vehicles that use ground visual navigation (such as sorting carts), dust and impurities may cover the ground markings, causing the navigation system to be unable to recognize them, affecting the positioning and driving of the cart; 5. Sensor failure: Dust may enter the truck's sensors (such as lidar, visual sensors), affecting their accuracy and reliability, and even causing failures. Summary of the invention

[0005] In order to make up for the deficiencies of the prior art and solve the above-mentioned technical problems, the present invention proposes a dark-light warehouse logistics sorting trolley and an optimal path planning method thereof.

[0006] The technical solution adopted by the present invention to solve the technical problem is as follows: the present invention proposes a dark light warehouse logistics sorting trolley and an optimal path planning method thereof, comprising a chassis, a shelf, a sorting module and a path recognition module; a path guide line is laid on the ground of the dark light warehouse, and the path recognition module travels in the dark light warehouse according to the guidance of the path guide line; and further comprising: A lifting plate, wherein the lifting plate is arranged on one side of the shelf, the shelf is installed on the top of the chassis, and the bottom of the lifting plate is connected to the lifting device installed on the top of the chassis; two moving plates are slidably connected to the top of the lifting plate, and each moving plate is connected to the electric telescopic rod installed on the top of the lifting plate, a conveying plate is provided on the side where the moving plates are close to each other, a clamping block is provided at the bottom of the middle part of the conveying plate, the top of the conveying plate is connected to a No. 1 driving member installed on the moving plate, and the No. 1 driving member and the conveying plate are engaged to drive the conveying plate to move on one side of the moving plate, and the conveying plate is located in one layer of the shelf where the goods are placed; a weighing assembly is installed on the top of the lifting plate, and the weighing assembly is used to weigh the goods being conveyed and sorted; A rotating tube, the rotating tube is rotatably connected to the bottom of the chassis, and the bottom of the rotating tube is rotatably connected to a turntable with a hollow structure, and the rotating tube is connected to a No. 2 driving member installed in the chassis; an air pump is installed in the chassis, and one end of the air pump is connected to the rotating tube, and the other end is connected to the outside world; a tubular cleaning brush is installed at the bottom of the turntable, the cleaning brush is connected to the inside of the turntable, and the cleaning brush contacts the path guide line on the ground; the path recognition module is installed at the bottom of the chassis, and the path recognition module is close to the turntable.

[0007] Preferably, the bottom of the chassis is rotatably connected to a transmission wheel through a torsion spring, and the transmission wheel is meshed with the outer ring of the turntable, and the outer ring of the turntable is an incomplete gear; a cleaning disk is provided at the bottom of the transmission wheel, and a swing plate is hingedly connected to the top of the cleaning disk away from the axis, and one side of the swing plate is rotatably connected to a rotating shaft, and a wiping sponge is provided on the surface of the rotating shaft; an absorbent sponge is provided on the other side of the swing plate, and the inside of the hollow structure of the swing plate discharges static eliminator to the absorbent sponge through a leakage hole; the bottom of the chassis is slidably connected to a toggle plate through a spring, and the toggle plates are distributed on both sides of the transmission wheel, and the bottom of the toggle plate contacts the swing plate.

[0008] Preferably, a transmission plate is provided at the bottom of the chassis, and the transmission plate is in close contact with the rotating shaft.

[0009] Preferably, a protrusion is provided on the surface of the rotating shaft, and the top of the protrusion is arc-shaped; an airbag is provided at the position of the swing plate close to the rotating shaft, and the air outlet nozzle in the airbag is connected to the inside of the swing plate, and the air suction nozzle in the airbag faces the outside; a cleaning sheet is provided at the position of the swing plate close to the rotating shaft, and the end of the cleaning sheet contacts the wiping sponge, and the cleaning sheet is located above the airbag.

[0010] Preferably, the cleaning brush is in the shape of a square tube, the top of the cleaning brush is connected to the inside of the turntable, one side of the cleaning brush has an opening, and the turntable sucks toward the ground through the opening on the side of the cleaning brush; an elastic sheet is provided on the inner wall of the cleaning brush away from the opening, and scrapers are evenly provided in the opening of the cleaning brush, and the scrapers contact the wiping sponge.

[0011] Preferably, a cleaning plate is provided at one end of the chassis, and one end of the cleaning plate is inclined to contact the ground; the end of the cleaning plate close to the ground is rotatably connected to a No. 1 tube, and a No. 3 driving member is provided on one side of the cleaning plate, and the No. 3 driving member is connected to one end of the No. 1 tube, and the No. 3 driving member drives the No. 1 tube to rotate; a cleaning rod is connected to the outer surface of the No. 1 tube through a spring sliding connection, and the cleaning rod is evenly distributed and extends into the No. 1 tube; cleaning grooves are evenly opened on the top surface of the cleaning plate, and the cross-section of the cleaning grooves is serrated.

[0012] Preferably, a rotating belt is sleeved on the cleaning plate, and the rotating belt is rotatably connected to the cleaning plate, and the outer ring of the rotating belt is in close contact with the outer ring of the turntable; a scraper rod is provided on the rotating belt, and the scraper rod is engaged with the cleaning groove, and an alcohol cotton is provided on the side of the scraper rod away from the cleaning plate, and the alcohol cotton contacts the ground; a suction port is provided on one side of the top of the cleaning plate, and the suction port is connected to the air pump through a pipe.

[0013] Preferably, a combing plate is provided at the top of the cleaning plate near the No. 1 pipe, and combing grooves are evenly opened on the combing plate, and each cleaning rod corresponds to a combing groove.

[0014] Preferably, a ball bearing is provided at the end of the cleaning rod, and the cleaning rod is in indirect contact with the ground through the ball bearing; and barbs are evenly provided on the outer circumference of the cleaning rod.

[0015] An optimal path planning method for a logistics sorting vehicle in a dark warehouse, the path planning method comprising the following steps: S1: In the early stage of path planning, the chassis performance requirements of the sorting cart are clarified, such as maximum load, maximum speed, and sensor requirements, and the rules and safety requirements that the sorting cart needs to follow are determined according to different application scenarios. By using lidar and camera sensors, map information of the warehouse or work area is obtained. Then, the map information is used to build the map model required for path planning and obstacle avoidance algorithms. S2: In the middle stage of path planning, path guide lines are laid on the ground of the dark warehouse, and the path recognition module drives in the dark warehouse according to the guidance of the path guide lines, such as pre-burying signal generators or signal lines in the warehouse ground; in the process of path planning, an obstacle avoidance algorithm is added, which detects obstacles in real time by using sensors and selects a path to bypass the obstacles; S3: In the later stage of path planning, the No. 2 driving member, rotating tube, turntable and cleaning brush are installed in the sorting trolley; when the sorting trolley moves, the No. 2 driving member drives the rotating tube and the turntable to rotate, and the turntable drives the cleaning brush to rotate and clean the ground, so as to clean the impurities on the path ahead for the sorting trolley.

[0016] The beneficial effects of the present invention are as follows: 1. A dark warehouse logistics sorting trolley and an optimal path planning method thereof described in the present invention, goods are placed statically on a weighing component, the sorting trolley weighs the goods through the weighing component, and the sorting trolley temporarily stores the goods in corresponding shelves according to the weight of the goods, such as heavier goods are temporarily stored at the bottom of the shelf, and lighter goods are temporarily stored at the top of the shelf. Through such a temporary storage method, the center of gravity of the sorting trolley is lowered during movement, and the sorting trolley is prevented from passing through impurities due to the high center of gravity during movement, resulting in slight bumps and tipping over, thereby improving the stability of the sorting trolley during movement.

[0017] 2. The present invention describes a dark warehouse logistics sorting cart and its optimal path planning method. When the sorting cart moves, the No. 2 driving member drives the rotating tube and the turntable to rotate, and the turntable drives the cleaning brush to rotate and clean the ground, so as to clean the impurities on the path ahead for the sorting cart, so as to avoid excessive deposition of impurities on the ground and affect the coordination between the path guide line and the path recognition module, resulting in a change in the moving trajectory of the sorting cart, thereby improving the accuracy of the moving trajectory of the sorting cart, reducing the risk of errors in the movement of the sorting cart, improving the accuracy of cargo transportation and storage, and thus improving practicality. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] The present invention will be further described below in conjunction with the accompanying drawings.

[0019] Figure 1 It is a three-dimensional diagram of the sorting trolley in the present invention; Figure 2 It is a state diagram of the mobile plate carrying goods through the carrying plate and the clamping block; Figure 3 It is a partial cross-sectional view of the interior of the sorting trolley chassis; Figure 4 yes Figure 3 Sectional view at AA in the middle; Figure 5 This is the state diagram when the rotating shaft is in close contact with the transmission plate; Figure 6 This is the state diagram when the rotating shaft and the transmission plate are far away; Figure 7 It is the state diagram of the wiping sponge contact path identification module; Figure 8 It is a state diagram of the wiping sponge contacting the cleaning brush; Fig. 9It is the state diagram of the water-absorbing sponge contact path identification module; Fig.10 It is a three-dimensional picture of the sweeping board; Fig.11 This is a state diagram of the cleaning rod pushing the cleaning groove into the suction port; Fig.12 It is a schematic diagram of the inside of the sweeping brush; Fig.13 This is a diagram of the path planning method for the sorting trolley in the present invention.

[0020] In the figure: chassis 1, shelf 11, sorting module 12, path identification module 13, path guide line 14, lifting plate 2, lifting device 21, moving plate 22, electric telescopic rod 23, transport plate 24, clamping block 25, No. 1 driving member 26, weighing assembly 27, rotating tube 3, turntable 31, No. 2 driving member 32, air pump 33, cleaning brush 34, transmission wheel 35, cleaning disk 4, swing plate 41, rotating shaft 42, wiping sponge 43, water-absorbing sponge 44, leakage hole 45, toggle plate 46, transmission plate 47, protrusion 48, air bag 49, cleaning sheet 5, spring piece 51, scraper 52, cleaning plate 6, No. 1 tube 61, No. 3 driving member 62, cleaning rod 63, cleaning groove 64, rotating belt 65, scraper rod 66, alcohol cotton 67, suction port 68, combing plate 7, combing groove 71, ball 72, barb 73. DETAILED DESCRIPTION

[0021] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0022] Embodiment 1:

[0023] In order to effectively solve the above problems, as shown in the accompanying drawings of the specification Figure 1-Figure 12As shown, it includes a chassis 1, a shelf 11, a sorting module 12 and a path recognition module 13; a path guide line 14 is laid on the floor of the dark warehouse, and the path recognition module 13 travels in the dark warehouse according to the guidance of the path guide line 14. The path guide line 14 is a guide signal device of a conventional matching automatic moving trolley, such as a signal generator or a signal line pre-buried in the floor of the warehouse, and the path recognition module 13 is installed at the bottom of the sorting trolley. The path recognition module 13 and the guide signal device send position signals and data to each other, so that the sorting trolley travels along the path guide line 14 to the container position required for storage, and performs sorting, storage and transportation; the shelf 11, the sorting module The block 12 and the path identification module 13 are both installed on the chassis 1. The chassis 1 is a conventional mobile trolley. The shelf 11 is used to place the sorted goods. The sorting module 12 is used to identify the goods and paste the sorting labels on the goods. The sorting module 12 is a conventional electrical appliance used to paste labels on the goods, which facilitates the sorting trolley to identify and take out the goods from the container later. The path identification module 13 is conventionally used for the sorting trolley to identify the path. It is composed of sensors such as laser radar installed in a glass cover. The glass cover isolates the sensor from the outside world. The sensor identifies the path guide line 14 on the ground through the glass cover to complete the movement of the sorting trolley in the dark warehouse. Also includes: A lifting plate 2, wherein the lifting plate 2 is arranged on one side of the shelf 11, the shelf 11 is installed on the top of the chassis 1, and the bottom of the lifting plate 2 is connected to the lifting device 21 installed on the top of the chassis 1; two moving plates 22 are slidably connected to the top of the lifting plate 2, and each moving plate 22 is connected to the electric telescopic rod 23 installed on the top of the lifting plate 2, and a conveying plate 24 is provided on the side where the moving plates 22 are close to each other, and a clamping block 25 is provided at the bottom of the middle part of the conveying plate 24, and the top of the conveying plate 24 is connected to a No. 1 driving member 26 installed on the moving plate 22, and the No. 1 driving member 26 and the conveying plate 24 are engaged to drive the conveying plate 24 to move on one side of the moving plate 22, and the conveying plate 24 is located in one of the layers of the shelf 11 where the goods are placed; a weighing component 27 is installed on the top of the lifting plate 2, and the weighing component 27 is used to weigh the goods being conveyed and sorted; A rotating tube 3, wherein the rotating tube 3 is rotatably connected to the bottom of the chassis 1, and a rotating disk 31 with a hollow structure is rotatably connected to the bottom of the rotating tube 3, and the rotating tube 3 is connected to a second driving member 32 installed in the chassis 1; an air pump 33 is installed in the chassis 1, and one end of the air pump 33 is connected to the rotating tube 3, and the other end is connected to the outside; a tubular cleaning brush 34 is installed at the bottom of the rotating disk 31, and the cleaning brush 34 is connected to the inside of the rotating disk 31, and the cleaning brush 34 contacts the path guide line 14 on the ground; the path identification module 13 is installed at the bottom of the chassis 1, and the path identification module 13 is close to the rotating disk 31; The chassis 1 is the main structure of a conventional mobile trolley, which is used to drive the sorting trolley to move on the ground; the lifting device 21 is a conventional electrical appliance for lifting, the electric telescopic rod 23 is a conventional electrically driven telescopic device, and the No. 1 driving member 26, the No. 2 driving member 32 and the No. 3 driving member 62 are all conventional rotating electrical appliances, such as motors; the output end of the No. 1 driving member 26 is meshed with the top of the conveying plate 24 through a conventional transmission gear, so that when the No. 1 driving member 26 rotates, it can drive the conveying plate 24 to move; the rotating tube 3 and the No. 2 driving member 32 are driven by a conventional belt drive to complete the rotation of the rotating tube 3 by the No. 2 driving member 32; the No. 3 driving member 62 and the No. 1 tube 61 are connected by a conventional transmission to realize that the No. 3 driving member 62 drives the No. 1 tube 61 to rotate; the air pump 33 is a conventional vacuum cleaner, and the air pump 33 sucks dust on the ground through the rotating tube 3, the turntable 31 and the cleaning brush 34.

[0024] Specific work flow: when sorting goods, the sorting trolley moves to the rear of the truck or the goods stacking area through the chassis 1; the lifting device 21 drives the lifting plate 2 to descend, and the lifting plate 2 drives the transport plate 24 and the clamping block 25 to descend through the moving plate 22, and then the No. 1 driving member 26 on the moving plate 22 drives the transport plate 24 to move away from the shelf 11, and the transport plate 24 drives the clamping block 25 to approach the bottom of the goods; then the electric telescopic rod 23 contracts and drives the two moving plates 22 to approach each other, and the moving plate 22 drives the clamping block 25 to approach each other through the transport plate 24, until the clamping block 25 extends to the bottom of the goods to lift the goods; the No. 1 driving member 26 drives the transport plate 24 to move close to the shelf 11, until the clamping block 25 drives the goods to move to the weighing assembly 27 on the top of the lifting plate 2, the clamping blocks 25 move away from each other to release the goods, and the goods are placed on the weighing assembly 27. The sorting trolley weighs the goods through the weighing assembly 27, and the sorting trolley temporarily stores the goods in the corresponding shelf 11 according to the weight of the goods, such as heavier goods temporarily stored at the bottom of the shelf 11, and lighter goods temporarily stored at the top of the shelf 11. Through such a temporary storage method, the center of gravity of the sorting trolley is lowered during movement, and the sorting trolley is prevented from passing through impurities due to the high center of gravity during movement, resulting in slight bumps and tipping, thereby improving the stability of the sorting trolley during movement; Moreover, during sorting, the sorting trolley affixes information labels to the goods through the sorting module 12, and adds the weight information of the goods, and adds the information of the sorting trolley on the sorting of the goods, so as to facilitate the sorting trolley to place them in the corresponding position of the container. For example, the top of the shelf 11 is lighter goods, and the container also has high lightness and low weight due to storage requirements. The sorting trolley takes out the goods temporarily stored in the shelf 11 from top to bottom in sequence through the lifting plate 2, and also places the goods in the storage container from top to bottom according to weight. On the one hand, uniform and sequential placement can effectively shorten the time spent on placement and storage, improve the working efficiency of the sorting trolley, and thus improve the sorting efficiency of the sorting trolley; on the other hand, it is safer to lift and place lighter goods than to lift and place heavier goods, avoid danger in the process of lifting heavier goods, increase protective measures in the process of storing goods, improve the safety in the sorting process, and thus improve practicality; Furthermore, when the sorting trolley moves, the second driving member 32 drives the rotating tube 3 and the rotating disk 31 to rotate, and the rotating disk 31 drives the cleaning brush 34 to rotate and clean the ground, so as to clean the impurities on the path ahead for the sorting trolley, and avoid excessive accumulation of impurities on the ground to affect the cooperation between the path guide line 14 and the path identification module 13, resulting in the change of the moving trajectory of the sorting trolley, thereby improving the accuracy of the moving trajectory of the sorting trolley, reducing the risk of errors in the movement of the sorting trolley, and improving the accuracy of cargo transportation and storage, thereby improving practicality; Moreover, when the cleaning brush 34 is sweeping the ground, the air pump 33 sucks the dust on the ground through the rotating tube 3, the turntable 31 and the cleaning brush 34, and the dust is sucked and stored in the air pump 33, thereby reducing the dust in the warehouse and avoiding the sweeping of the cleaning brush 34, which causes the dust to be lifted and floated, resulting in a decrease in the cleanliness of the environment around the sorting cart, affecting the path recognition work of the sorting cart, thereby improving the accuracy of the moving trajectory of the sorting cart, reducing the risk of errors in the movement of the sorting cart, and improving the accuracy of cargo transportation and storage, thereby improving practicality; moreover, reducing dust and impurities on the ground can avoid bumps caused by the sorting cart moving over impurities, and improve the stability of the sorting cart during the process of sorting and transporting goods.

[0025] Embodiment 2:

[0026] On the basis of the first embodiment, the bottom of the chassis 1 is rotatably connected to a transmission wheel 35 through a torsion spring, and the transmission wheel 35 is meshed with the outer ring of the turntable 31, and the outer ring of the turntable 31 is an incomplete gear; a cleaning disc 4 is provided at the bottom of the transmission wheel 35, and a swing plate 41 is hingedly connected to the top of the cleaning disc 4 away from the axis, the number of the swing plate 41 is at least one, and a rotating shaft 42 is rotatably connected to one side of the swing plate 41, and a wiping sponge 43 is provided on the surface of the rotating shaft 42; a water-absorbing sponge 44 is provided on the other side of the swing plate 41, and the inside of the hollow structure of the swing plate 41 discharges static electricity eliminator to the water-absorbing sponge 44 through a leakage hole 45; a toggle plate 46 is slidably connected to the bottom of the chassis 1 through a spring, and the toggle plates 46 are distributed on both sides of the rotating wheel 35, and the bottom of the toggle plates 46 contacts the swing plate 41; the wiping sponge 43 and the water-absorbing sponge 44 are both conventional cleaning sponges, and the static electricity eliminator is a conventional agent used to eliminate static electricity on the panel; A transmission plate 47 is provided at the bottom of the chassis 1, and the transmission plate 47 is in close contact with the rotating shaft 42; A protrusion 48 is provided on the surface of the rotating shaft 42, and the top of the protrusion 48 is arc-shaped; an air bag 49 is provided at the position of the swing plate 41 close to the rotating shaft 42, and the air outlet nozzle in the air bag 49 is connected to the inside of the swing plate 41, and the air suction nozzle in the air bag 49 faces the outside; a cleaning sheet 5 is provided at the position of the swing plate 41 close to the rotating shaft 42, and the end of the cleaning sheet 5 contacts the wiping sponge 43, and the cleaning sheet 5 is located above the air bag 49; the air bag 49 is a conventional bag with elastic recovery.

[0027] Specific working process: the transmission wheel 35 meshes with the outer ring of the rotating disk 31, just like an incomplete gear mechanism, the number of teeth on the edge of the rotating disk 31 is incomplete; when the complete part of the rotating disk 31 contacts the transmission wheel 35, the rotating disk 31 drives the cleaning disk 4 to rotate forward through the transmission wheel 35; when the rotating disk 31 drives the transmission wheel 35 to rotate to the incomplete part, the rotating disk 31 and the transmission wheel 35 are in a non-contact state, and the transmission wheel 35 is reset under the influence of the torsion spring in the stored state, and the cleaning disk 4 reverses, achieving an intermittent forward and reverse cycle of the cleaning disk 4; The swing plate 41 is tilted, the wiping sponge 43 is located above the water-absorbing sponge 44, and the wiping sponge 43 contacts the glass cover at the bottom of the path identification module 13. The tilted state of the swing plate 41 at this time is called right tilt; conversely, when the wiping sponge 43 is located below the water-absorbing sponge 44, the tilted state of the swing plate 41 is called left tilt; when the cleaning disc 4 rotates forward, the cleaning disc 4 drives the swing plate 41 to contact the bottom of the first toggle plate 46, and the swing plate 41 is blocked by the toggle plate 46 and tilts to the right, so that the rotating shaft 42 is located above the water-absorbing sponge 44. At this time, the static eliminator in the swing plate 41 flows into the water-absorbing sponge 44 through the leakage hole 45, and the water-absorbing sponge 44 is wetted in advance, so that the water-absorbing sponge 44 can fully absorb water and become soft, thereby improving the wiping effect; as the cleaning disc 4 continues to rotate, the toggle plate 46 is guided by the inclined surface of the swing plate 41 to cross the rotating shaft 42 and the swing plate 41, completing the rightward swing of the swing plate 41; due to the working requirements of the path identification module 13 and the path guide line 14, the two need to be close to each other, resulting in the path identification module 13 being located at the bottom of the chassis 1 close to the ground, and there is a lot of impurities and dust accumulated on the ground, and the glass cover at the bottom of the path identification module 13 is easily contaminated with dust, affecting the cooperation between the two; therefore, the rotating shaft 42 contacts the glass cover at the bottom of the path identification module 13 through the wiping sponge 43 to achieve the purpose of wiping dust, improve the cleanliness of the surface of the path identification module 13, improve the accuracy of the moving trajectory of the sorting trolley, and reduce the risk of errors in the movement of the sorting trolley; when the cleaning disk 4 drives the right-leaning swing plate 41 to contact the second toggle plate 46, the second toggle plate 46 is guided by the inclined surface of the swing plate 41 to pass over the rotating shaft 42 and the swing plate 41; When the cleaning disc 4 is reversed, the swing plate 41 swings in the opposite manner to the above-mentioned swinging manner, and the cleaning disc 4 drives the swing plate 41 to contact the bottom of the second toggle plate 46. The swing plate 41 is blocked by the toggle plate 46 and tilts to the left, so that the rotating shaft 42 is located below the absorbent sponge 44; the cleaning disc 4 drives the left-leaning swing plate 41 to move at the bottom of the path identification module 13, and the swing plate 41 wipes the bottom of the path identification module 13 with the absorbent sponge 44 containing static eliminator, thereby reducing and eliminating the static electricity on the surface of the path identification module 13, and avoiding the static electricity generated by friction during the wiping and dust removal process, which causes the path identification module 13 to re-absorb dust and cause secondary pollution, thereby improving the cleanliness of the path identification module 13, and then improving the accuracy of path identification, ensuring the accuracy of the goods transported by the sorting trolley; By setting the transmission plate 47, after the swing plate 41 passes the toggle plate 46, the swing plate 41 is in a right-tilted state, and the surface of the rotating shaft 42 is in close contact with the transmission plate 47. Affected by the friction resistance of the transmission plate 47, the rotating shaft 42 rotates while moving, and the rotating shaft 42 drives the wiping sponge 43 to rotate, and the dust at the bottom of the path identification module 13 is pushed forward for wiping, so as to prevent the dust from entering between the bottom of the path identification module 13 and the wiping sponge 43, causing the wiping sponge 43 to press the dust on the bottom of the path identification module 13 to slide, causing the bottom of the path identification module 13 to be scratched and damaged, thereby maintaining the clarity of the path identification module 13, improving the accuracy of path identification, and ensuring the accuracy of the goods transported by the sorting trolley; When the swing plate 41 passes through the path identification module 13, the rotating shaft 42 is away from the transmission plate 47, and the swing plate 41 is close to the second toggle plate 46; when the cleaning disc 4 is reversed, the swing plate 41 is in a left-leaning state, and the rotating shaft 42 is located below the transmission plate 47 and away from the transmission plate 47; and, when the transmission plate 47 contacts the rotating shaft 42 so that the rotating shaft 42 drives the wiping sponge 43 to rotate, while the wiping sponge 43 rotates to wipe the bottom of the path identification module 13, the cleaning sheet 5 passes through the surface of the swing plate 41, and the cleaning sheet 5 scratches the wiping sponge 43, scrapes off the dust on the surface of the wiping sponge 43, keeps the wiping sponge 43 clean, and avoids scratching the path identification module 13; the rotating shaft 42 drives the protrusion 48 to rotate, and the protrusion 48 squeezes the airbag 49 when it rotates and passes through the swing plate 41, and the airbag 49 inflates into the swing plate 41, so that the static eliminator inside the swing plate 41 can be discharged faster, and the water-absorbing sponge 44 is wetted faster, thereby improving the wiping effect.

[0028] Embodiment three:

[0029] On the basis of the second embodiment, the cleaning brush 34 is in the shape of a square tube, the top of the cleaning brush 34 is connected to the inside of the turntable 31, one side of the cleaning brush 34 has an opening, and the turntable 31 sucks toward the ground through the opening on the side of the cleaning brush 34; the inner wall of the cleaning brush 34 away from the opening is provided with a spring 51, and the opening of the cleaning brush 34 is evenly provided with scrapers 52, and the scrapers 52 contact the wiping sponge 43; as shown in the drawings of the specification Fig.12 As shown, this figure shows the state of the cleaning brush 34 after cross-section; A cleaning plate 6 is provided at one end of the chassis 1, and one end of the cleaning plate 6 is inclined to contact the ground; the end of the cleaning plate 6 close to the ground is rotatably connected to a No. 1 tube 61, and a No. 3 driving member 62 is provided on one side of the cleaning plate 6, and the No. 3 driving member 62 is connected to one end of the No. 1 tube 61, and the No. 3 driving member 62 drives the No. 1 tube 61 to rotate; a cleaning rod 63 is connected to the outer surface of the No. 1 tube 61 through a spring sliding connection, and the cleaning rod 63 is evenly distributed and extends into the No. 1 tube 61; cleaning grooves 64 are evenly opened on the top surface of the cleaning plate 6, and the cross-section of the cleaning grooves 64 is serrated.

[0030] Specific working process: when the cleaning brush 34 sweeps the ground, the spring sheet 51 is arranged on the inner wall of the cleaning brush 34, so that the cleaning brush 34 has support when it contacts the ground, so that the cleaning brush 34 is squeezed into an arc shape after contacting the ground, and the opening of the cleaning brush 34 sucks dust toward the ground, while the scraper 52 arranged on the side of the opening of the cleaning brush 34 scrapes the ground to remove impurities that are difficult to sweep away, so that the suction and scraping effects are combined to improve the cleanliness of the moving road surface of the sorting trolley, and ensure the stable movement and path recognition of the sorting trolley; The cleaning brush 34 is moved by the swiping plate 41 and the cleaning brush 34 is moved by the swiping plate 41 to move the cleaning brush 34 to the bottom of the rotary disc 31. The cleaning brush 34 is moved by the swiping plate 41 and the cleaning brush 34 is moved to the bottom of the rotary disc 31. The cleaning brush 34 is moved by the swiping plate 41 and the cleaning brush 34 is moved to the bottom of the rotary disc 31 to move the cleaning brush 34 to the bottom of the rotary disc 31. The cleaning brush 34 is moved by the swiping plate 41 and the cleaning brush 34 is moved to the bottom of the rotary disc 31 to move the cleaning brush 34 to the bottom of the rotary disc 31. The cleaning brush 34 is moved to the bottom of the rotary disc 31 and the cleaning brush 34 is moved ... Furthermore, the chassis 1 drives the cleaning plate 6 to move, so that the sorting trolley can contact the ground in front in advance, and the third driving member 62 drives the first pipe 61 to rotate, and the cleaning plate 6 scoops up the sundries or large impurities on the ground, and the first pipe 61 drives the cleaning rod 63 to rotate. When the cleaning rod 63 contacts the ground, it retracts into the first pipe 61, and the squeezing force of the cleaning rod 63 on the ground or the cleaning plate 6 is maintained, ensuring that the end of the cleaning rod 63 can effectively move large impurities into the cleaning groove 64 in the cleaning plate 6, and cooperate with the cleaning action of the cleaning brush 34. The cleaning plate 6 cleans large impurities, and the cleaning brush 34 cleans small dust, so that the sorting trolley can remove impurities on the ground according to the size of the impurities, improve the cleanliness of the ground, thereby improving the accuracy of path recognition, and ensuring the accuracy of the sorting trolley's transportation; By providing a cleaning groove 64 whose cross-section is serrated, and whose serrated tip is inclined toward the chassis 1, after impurities are moved into the cleaning groove 64, the impurities are blocked by the serrated cleaning groove 64, thereby improving the storage capacity of the cleaning plate 6 and preventing impurities entering the cleaning plate 6 from falling back to the ground due to the tilt angle and the movement of the sorting trolley, thereby improving the cleanliness of the ground, improving the accuracy of path identification, and ensuring the accuracy of the sorting trolley's transportation.

[0031] Embodiment 4:

[0032] On the basis of the third embodiment, the cleaning plate 6 is provided with a rotating belt 65, and the rotating belt 65 is rotatably connected to the cleaning plate 6, and the outer ring of the rotating belt 65 is in close contact with the outer ring of the rotating disk 31; the rotating belt 65 is provided with a scraper rod 66, and the scraper rod 66 is engaged with the cleaning groove 64, and the side of the scraper rod 66 away from the cleaning plate 6 is provided with an alcohol cotton 67, and the alcohol cotton 67 contacts the ground; a suction port 68 is provided on one side of the top of the cleaning plate 6, and the suction port 68 is connected to the air pump 33 through a pipeline; A combing plate 7 is provided at the top of the cleaning plate 6 near the No. 1 pipe 61, and combing grooves 71 are evenly opened on the combing plate 7, and each cleaning rod 63 corresponds to a combing groove 71; A ball 72 is disposed at the end of the cleaning rod 63 , and the cleaning rod 63 is in indirect contact with the ground through the ball 72 ; barbs 73 are evenly disposed on the outer circumference of the cleaning rod 63 .

[0033] Specific working process: the turntable 31 drives the rotating belt 65 to rotate. Since the outer ring part of the rotating belt 65 is made of rubber elastic material, the turntable 31 drives the rotating belt 65 to rotate without being affected by the incomplete number of teeth, and can rotate around the cleaning plate 6; the rotating belt 65 drives the scraper rod 66 to rotate around the cleaning plate 6. When the scraper rod 66 rotates to the top of the cleaning plate 6, it moves along the cleaning groove 64. The scraper rod 66 pushes the impurities in the cleaning groove 64 to fall into the suction port 68, and the impurities in the suction port 68 are sucked away by the air pump 33 to avoid the accumulation of impurities on the cleaning plate 6. The impurities fall again, thereby improving the cleanliness of the ground, and further improving the accuracy of path recognition; and, by setting the scraper rod 66, when the impurities are collected on the cleaning plate 6, they are blocked by the scraper rod 66 and will not fall from both sides of the cleaning plate 6; when the scraper rod 66 rotates to the bottom of the cleaning plate 6, the scraper rod 66 drives the alcohol cotton 67 to wipe the ground, wet and wipe the dirt on the ground, which is convenient for the subsequent cleaning brush 34 to better sweep and dry the ground, further improving the cleanliness of the ground, and further improving the accuracy of path recognition; When the first pipe 61 drives the cleaning rod 63 to rotate, the cleaning rod 63 passes through the cleaning plate 6 and then inserts into the combing groove 71. The combing plate 7 scrapes off the impurities on the cleaning rod 63 to clean the cleaning rod 63. After being combed, the cleaning rod 63 passes through the combing groove 71 and moves away from the combing plate 7 as it rotates. The impurities on the cleaning rod 63 are scraped off by the combing plate 7 and fall into the cleaning groove 64. Since the ball bearing 72 is provided at the bottom of the cleaning rod 63, the sliding friction between the end of the cleaning rod 63 and the ground is changed to rolling friction, thereby reducing the friction damage to the ground and preventing damage to the path guide line 14 laid on the ground; and, when the cleaning rod 63 contacts the ground, it drives the hook 73 to approach large-volume impurities on the ground, so that the cleaning rod 63 can hook the impurities through the hook 73, and more effectively hook the impurities and drag them into the cleaning plate 6, thereby improving the cleaning efficiency of the cleaning rod 63, thereby improving the cleanliness of the ground and improving the accuracy of path recognition.

[0034] Embodiment five:

[0035] A method for optimal path planning for a logistics sorting vehicle in a dark warehouse, as shown in the attached figure of the specification Fig.13 As shown, the path planning method includes the following steps: S1: In the early stage of path planning, the performance requirements of the chassis 1 of the sorting cart are clarified, such as maximum load, maximum speed, and sensor requirements, and the rules and safety requirements that the sorting cart needs to follow are determined according to different application scenarios. By using lidar and camera sensors, map information of the warehouse or work area is obtained. Then, the map information is used to build the map model required for path planning and obstacle avoidance algorithms. S2: In the middle stage of path planning, a path guide line 14 is laid on the floor of the dark warehouse, and the path recognition module 13 drives in the dark warehouse according to the guidance of the path guide line 14, such as pre-burying a signal generator or a signal line in the warehouse floor; in the process of path planning, an obstacle avoidance algorithm is added, and obstacles are detected in real time by using sensors, and a path to bypass the obstacles is selected; S3: In the later stage of path planning, the No. 2 driving member 32, the rotating tube 3, the turntable 31 and the cleaning brush 34 are installed in the sorting cart; when the sorting cart moves, the No. 2 driving member 32 drives the rotating tube 3 and the turntable 31 to rotate, and the turntable 31 drives the cleaning brush 34 to rotate and clean the ground, so as to clean the impurities on the path ahead for the sorting cart.

Claims

1. A logistics sorting vehicle for a dark warehouse, comprising a chassis (1), a shelf (11), a sorting module (12) and a path identification module (13); a path guide line (14) is laid on the floor of the dark warehouse, and the path identification module (13) travels in the dark warehouse according to the guidance of the path guide line (14); the characteristics are: Also includes: A lifting plate (2), the lifting plate (2) being arranged on one side of a shelf (11), the shelf (11) being mounted on the top of a chassis (1), the bottom of the lifting plate (2) being connected to a lifting device (21) mounted on the top of the chassis (1); two moving plates (22) being slidably connected to the top of the lifting plate (2), and each moving plate (22) being connected to an electric telescopic rod (23) mounted on the top of the lifting plate (2), a transport plate (24) being arranged on one side of the moving plates (22) close to each other, and a plurality of moving plates (24) being provided on the transport plate (24) A clamping block (25) is provided at the bottom of the intermediate part; the top of the transport plate (24) is connected to a No. 1 driving member (26) installed on the movable plate (22); the No. 1 driving member (26) and the transport plate (24) are meshed to drive the transport plate (24) to move on one side of the movable plate (22); the transport plate (24) is located in one layer of the shelf (11) where goods are placed; a weighing assembly (27) is installed on the top of the lifting plate (2), and the weighing assembly (27) is used to weigh the goods being transported and sorted; A rotating tube (3), the rotating tube (3) being rotatably connected to the bottom of the chassis (1), and the bottom of the rotating tube (3) being rotatably connected to a rotating disk (31) having a hollow structure, the rotating tube (3) being connected to a second driving member (32) installed in the chassis (1); an air pump (33) being installed in the chassis (1), and one end of the air pump (33) being connected to the rotating tube (3), and the other end being connected to the outside; a tubular cleaning brush (34) being installed at the bottom of the rotating disk (31), the cleaning brush (34) being connected to the inside of the rotating disk (31), and the cleaning brush (34) being in contact with a path guide line (14) on the ground; and the path identification module (13) being installed at the bottom of the chassis (1), and the path identification module (13) being close to the rotating disk (31).

2. A dark light warehouse logistics sorting trolley according to claim 1, characterized in that: The bottom of the chassis (1) is rotatably connected to a transmission wheel (35) via a torsion spring, and the transmission wheel (35) meshes with the outer ring of the turntable (31), and the outer ring of the turntable (31) is an incomplete gear; a cleaning disc (4) is provided at the bottom of the transmission wheel (35), and a swing plate (41) is hingedly connected to the top of the cleaning disc (4) away from the axis, and one side of the swing plate (41) is rotatably connected to a rotating shaft (42), and a wiping sponge (43) is provided on the surface of the rotating shaft (42); a water-absorbing sponge (44) is provided on the other side of the swing plate (41), and the inside of the hollow swing plate (41) discharges static eliminator to the water-absorbing sponge (44) through a leakage hole (45); the bottom of the chassis (1) is slidably connected to a toggle plate (46) via a spring, and the toggle plates (46) are distributed on both sides of the transmission wheel (35), and the bottom of the toggle plate (46) contacts the swing plate (41).

3. A dark light warehouse logistics sorting trolley according to claim 2, characterized in that: A transmission plate (47) is provided at the bottom of the chassis (1), and the transmission plate (47) is in close contact with the rotating shaft (42).

4. A dark light warehouse logistics sorting trolley according to claim 3, characterized in that: The surface of the rotating shaft (42) is provided with a protrusion (48), and the top of the protrusion (48) is arc-shaped; the position of the swing plate (41) close to the rotating shaft (42) is provided with an air bag (49), and the air outlet nozzle in the air bag (49) is connected with the inside of the swing plate (41), and the air suction nozzle in the air bag (49) faces the outside; the position of the swing plate (41) close to the rotating shaft (42) is provided with a cleaning sheet (5), and the end of the cleaning sheet (5) contacts the wiping sponge (43), and the cleaning sheet (5) is located above the air bag (49).

5. The dark light warehouse logistics sorting trolley according to claim 2, characterized in that: The cleaning brush (34) is in the shape of a square tube. The top of the cleaning brush (34) is connected to the inside of the turntable (31). One side of the cleaning brush (34) has an opening. The turntable (31) sucks toward the ground through the opening on the side of the cleaning brush (34). An elastic sheet (51) is provided on the inner wall of the cleaning brush (34) away from the opening. Scraping blades (52) are evenly arranged in the opening of the cleaning brush (34), and the scraping blades (52) contact the wiping sponge (43).

6. The dark light warehouse logistics sorting trolley according to claim 1, characterized in that: A cleaning plate (6) is provided at one end of the chassis (1), and one end of the cleaning plate (6) is inclined to contact the ground; one end of the cleaning plate (6) close to the ground is rotatably connected to a No. 1 pipe (61); a No. 3 driving member (62) is provided on one side of the cleaning plate (6); the No. 3 driving member (62) is connected to one end of the No. 1 pipe (61), and the No. 3 driving member (62) drives the No. 1 pipe (61) to rotate; a cleaning rod (63) is slidably connected to the outer surface of the No. 1 pipe (61) through a spring; the cleaning rod (63) is evenly distributed and extends toward the inside of the No. 1 pipe (61); cleaning grooves (64) are evenly opened on the top surface of the cleaning plate (6), and the cross section of the cleaning groove (64) is serrated.

7. A dark light warehouse logistics sorting vehicle according to claim 6, characterized in that: The cleaning plate (6) is sleeved with a rotating belt (65), and the rotating belt (65) is rotatably connected to the cleaning plate (6), and the outer ring of the rotating belt (65) is in close contact with the outer ring of the turntable (31); the rotating belt (65) is provided with a scraper rod (66), and the scraper rod (66) is engaged with the cleaning groove (64), and an alcohol cotton (67) is provided on the side of the scraper rod (66) away from the cleaning plate (6), and the alcohol cotton (67) contacts the ground; a suction port (68) is provided on one side of the top of the cleaning plate (6), and the suction port (68) is connected to the air pump (33) through a pipeline.

8. The dark light warehouse logistics sorting vehicle according to claim 7, characterized in that: A combing plate (7) is provided at the top of the cleaning plate (6) near the No. 1 pipe (61), and combing grooves (71) are evenly arranged on the combing plate (7), and each cleaning rod (63) corresponds to a combing groove (71) individually.

9. A dark light warehouse logistics sorting vehicle according to claim 8, characterized in that: A ball bearing (72) is provided at the end of the cleaning rod (63), and the cleaning rod (63) is in indirect contact with the ground through the ball bearing (72); barbs (73) are evenly provided on the outer circumference of the cleaning rod (63).

10. An optimal path planning method for a dark warehouse logistics sorting vehicle, the path planning method being applicable to the dark warehouse logistics sorting vehicle according to any one of claims 1 to 9, characterized in that: The path planning method comprises the following steps: S1: In the early stage of path planning, the performance requirements of the sorting vehicle chassis (1) are clearly defined, such as maximum load, maximum speed, and sensor requirements, and the rules and safety requirements that the sorting vehicle needs to follow are determined according to different application scenarios. By using lidar and camera sensors, map information of the warehouse or work area is obtained. Then, this map information is used to build the map model required for path planning and obstacle avoidance algorithms. S2: In the middle stage of path planning, a path guide line (14) is laid on the floor of the dark warehouse, and the path recognition module (13) drives in the dark warehouse according to the guidance of the path guide line (14), such as pre-burying a signal generator or a signal line in the warehouse floor; in the process of path planning, an obstacle avoidance algorithm is added, and obstacles are detected in real time by using sensors, and a path to bypass the obstacles is selected; S3: In the later stage of path planning, a second driving member (32), a rotating tube (3), a rotating disk (31) and a cleaning brush (34) are installed in the sorting trolley; when the sorting trolley moves, the second driving member (32) drives the rotating tube (3) and the rotating disk (31) to rotate, and the rotating disk (31) drives the cleaning brush (34) to rotate and clean the ground, so as to clean impurities on the path ahead of the sorting trolley.

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