Carrying AGV and AGV control method

Abstract

The embodiment of the invention provides a carrying AGV and an AGV control method, and the carrying AGV comprises a pallet fork assembly which comprises a cam bearing support and a cam bearing; the cam sliding block mechanism comprises a sliding block, an electric push rod, a linear guide rail sliding block and a linear guide rail track. The electric push rod is fixedly connected with the sliding block, and the sliding block is arranged on the linear guide rail and used for pushing the sliding block to move along the linear guide rail. The linear guide rail sliding block is installed on the linear guide rail track and provides linear motion guiding for the sliding block. The upper end inclined face of the sliding block is located below the cam bearing on the cam bearing support and makes contact with the cam bearing when the sliding block moves. The pallet fork assembly further comprises a bearing wheel assembly, a bearing wheel support, a push rod and a steel wheel support. The bearing wheel support, the push rod and the steel wheel support form a connecting rod mechanism, and the connecting rod mechanism is connected with the sliding block and the bearing wheel assembly and used for driving the bearing wheel assembly to retract into the pallet fork or stretch out to make contact with the ground in the direction of the pallet fork assembly when the sliding block moves.

Description

Technical Field

[0001] The present invention relates to the field of robot technology, and in particular to a transport AGV and an AGV control method. Background Art

[0002] With the rapid development of mobile robot technology, Automated Guided Vehicle (AGV) has been widely used in various industries. The introduction of AGV equipment has significantly reduced the dependence on manual labor and improved the automation level of logistics and warehousing systems. Different industries and factories have their own unique application scenarios and put forward different requirements for the functions and performance of AGV. This has prompted R&D personnel to continuously develop new products to meet the diverse needs of users.

[0003] Pallets are one of the core carrier forms in warehousing and logistics operations. At present, there are two main types of pallets that are most widely used at home and abroad, namely, Sichuan-shaped pallets and Tian-shaped pallets. Sichuan-shaped pallets can usually be efficiently operated by warehouse trucks or stackers. However, the structure of the Tian-shaped pallet limits its compatibility with conventional warehousing equipment, and the existing technology mainly relies on counterbalanced forklifts or reach forklifts for transportation. Although these two vehicles can complete the operation of the Tian-shaped pallet, they have high requirements for the operating environment, require wider aisle space, and the equipment cost is relatively high. If only used for simple plane transportation, the cost performance of these equipment is very low, and the operating efficiency is also subject to certain limitations.

[0004] Therefore, how to efficiently transport the zigzag pallets in a small space has become an urgent problem to be solved in the industry. To this end, it is particularly important to develop an economical and practical transport AGV that is compatible with zigzag pallets, which will help improve work efficiency, reduce operating costs, and achieve flexibility and efficiency in various application scenarios. Summary of the invention

[0005] In view of the above problems, embodiments of the present invention are proposed to provide a transport AGV and an AGV control method that overcome the above problems or at least partially solve the above problems.

[0006] In order to solve the above problems, an embodiment of the present invention discloses a transport AGV, comprising:

[0007] a fork assembly including a cam bearing bracket and a cam bearing; and

[0008] A cam slider mechanism, comprising a slider, an electric push rod, a linear guide slider and a linear guide track;

[0009] The electric push rod is fixedly connected to the slider, the slider is arranged on the linear guide track, and is used to push the slider to move along the linear guide track; the linear guide slider is installed on the linear guide track to provide a linear motion guide for the slider; the slider has an upper end inclined surface, the upper end inclined surface is located below the cam bearing on the cam bearing bracket, and contacts the cam bearing when the slider moves;

[0010] The fork assembly also includes a load-bearing wheel assembly, a load-bearing wheel bracket, a push rod, and a steel wheel bracket;

[0011] The load-bearing wheel bracket, the push rod and the steel wheel bracket form a connecting rod mechanism, and the connecting rod mechanism is connected to the slider and the load-bearing wheel assembly, and is used to drive the load-bearing wheel assembly to retract into the fork or extend to contact the ground along the direction of the fork assembly when the slider moves.

[0012] Optionally, the slider also has a lower end inclined surface, which is located above the steel wheel on the steel wheel bracket, and is used to contact the steel wheel and push the steel wheel bracket to move downward when the slider moves backward, so that the load-bearing wheel assembly extends and contacts the ground.

[0013] Optionally, it also includes:

[0014] A frame assembly, the fork assembly and the cam slider mechanism are both arranged on the frame assembly; the frame assembly is used to carry and fix various functional components.

[0015] Optionally, it also includes:

[0016] A navigation column assembly is fixed on the frame assembly; the navigation column assembly is provided with a navigation laser assembly used for AGV navigation and positioning.

[0017] Optionally, it also includes:

[0018] a side laser assembly mounted on a side of the frame assembly; and

[0019] A safety touch edge is arranged on the periphery of the frame assembly to detect obstacles and protect the safety of the AGV.

[0020] Optionally, it also includes:

[0021] A battery installed in the frame assembly to provide power to the AGV;

[0022] an electrical component electrically connected to the battery; and

[0023] A charging brush plate is arranged outside the frame assembly and is used for charging the AGV.

[0024] Optionally, it also includes:

[0025] A driving assembly, which is installed at the bottom of the frame assembly and is used to drive the AGV to move;

[0026] A steering assembly connected to the driving assembly and used to control the steering of the AGV; and

[0027] The hydraulic assembly is connected to the fork assembly and is used to control the lifting of the fork.

[0028] Optionally, it also includes:

[0029] A display screen, which is mounted on the frame assembly and is used to display the operating status of the AGV;

[0030] The clearance lights and the three-color lights are arranged outside the frame assembly and are used to indicate the working status of the AGV.

[0031] Optionally, it also includes:

[0032] The shell is arranged on the frame assembly and is used for covering and protecting the components in the frame assembly.

[0033] Optionally, an antenna is also provided on the navigation column assembly, and the antenna is used to realize wireless communication of the AGV.

[0034] An embodiment of the present invention discloses an AGV control method, which is applied to the transport AGV as described above. The AGV control method includes:

[0035] Receive handling task control instructions;

[0036] Control the electric push rod to push the slider to move along the linear guide rail according to the handling task control instruction;

[0037] The movement of the slider drives the connecting rod mechanism to move, so that the load-bearing wheel assembly is retracted into the interior of the fork or extended to contact the ground along the direction of the fork assembly.

[0038] Optionally, it also includes:

[0039] Monitoring the moving direction of the slider;

[0040] When the sliding block moves backward, the load-bearing wheel assembly is controlled to extend and contact the ground.

[0041] Optionally, it also includes:

[0042] Acquiring environmental information through the navigation laser assembly;

[0043] Perform navigation and positioning based on the environmental information to determine the current location;

[0044] A motion path is planned according to the current position and the target position.

[0045] Optionally, it also includes:

[0046] Detecting obstacles by means of the side laser assembly and / or the safety edge;

[0047] When an obstacle is detected, the AGV is controlled to slow down or stop.

[0048] Optionally, it also includes:

[0049] monitoring the charge level of the battery;

[0050] When the power level is lower than a preset threshold, controlling the AGV to move to a charging area;

[0051] The AGV is automatically charged by the charging brush plate.

[0052] Optionally, it also includes:

[0053] Controlling the driving component to drive the AGV to move;

[0054] Controlling the steering assembly to adjust the direction of the AGV;

[0055] The hydraulic assembly is controlled to drive the fork to rise and fall.

[0056] Optionally, it also includes:

[0057] Displaying the AGV operating status on the display screen;

[0058] The working status of the AGV is indicated by the position marker light and the three-color light.

[0059] Optionally, it also includes:

[0060] Wireless communication with a control center is performed via the antenna;

[0061] Receiving the handling task control instruction issued by the control center;

[0062] Upload AGV status information to the control center in real time.

[0063] The embodiments of the present invention include the following advantages:

[0064] The embodiment of the present invention provides a transport AGV and an AGV control method, wherein the AGV control method is applied to the transport AGV. The transport AGV includes: a fork assembly 10, including a cam bearing bracket 10-5 and a cam bearing 10-6; and a cam slider mechanism 170, including a slider 170-1, an electric push rod 170-2, a linear guide slider 170-3 and a linear guide track 170-4. Among them, the electric push rod 170-2 is fixedly connected to the slider 170-1, and the slider 170-1 is set on the linear guide track 170-4 to push the slider 170-1 to move along the linear guide track 170-4; the linear guide slider 170-3 is installed on the linear guide track 170-4 to provide linear motion guidance for the slider 170-1; the slider 170-1 has an upper end inclined surface, and the upper end inclined surface is located below the cam bearing 10-6 on the cam bearing bracket 10-5, and is on the slider 170 -1 contacts with the cam bearing 10-6 when it moves; the fork assembly 10 also includes a load-bearing wheel assembly 10-1, a load-bearing wheel bracket 10-2, a push rod 10-3, and a steel wheel bracket 10-4; the load-bearing wheel bracket 10-2, the push rod 10-3 and the steel wheel bracket 10-4 form a connecting rod mechanism, which is connected to the slider 170-1 and the load-bearing wheel assembly 10-1, and is used to drive the load-bearing wheel assembly 10-1 to retract along the direction of the fork assembly 10 to the inside of the fork or extend it out to contact the ground when the slider 170-1 moves.

[0065] The embodiment of the present invention enables the AGV to be compatible with the fork assembly 10 and the cam slider mechanism 170 for forking and transporting operations. This design breaks through the limitation that the traditional AGV can only transport Sichuan-shaped pallets, and is particularly suitable for application scenarios that require the use of Tian-shaped pallets, greatly expanding the scope of application of the AGV. Traditional counterbalanced forklifts and reach forklifts require a wider lane space to complete the handling of Tian-shaped pallets. The AGV of the embodiment of the present invention adopts a compact design, and the load-bearing wheel assembly 10-1 can automatically retract into the fork when forking the pallet, thereby greatly reducing the requirements for the lane width and improving the space utilization rate, which is particularly suitable for narrow storage environments. The automatic retraction and extension of the load-bearing wheel assembly is realized by the electric push rod 170-2 and the slider 170-1, so that the AGV can fully automatically complete the forking, transporting and unloading process of the pallet. Compared with the counterbalanced forklift or reach forklift that requires manual driving, it not only reduces the dependence on manual labor, but also reduces the overall operating cost, and has a higher economy. Since the load-bearing wheel assembly 10-1 can be retracted into the fork when no load is needed, the AGV can flexibly enter the fork of the field pallet to operate. This feature gives the AGV greater operational flexibility when handling different pallet shapes, and is suitable for different storage and production environments. The slider 170-1 contacts the cam bearing 10-6 through the upper end inclined surface, and combined with the connecting rod mechanism (composed of the load-bearing wheel bracket 10-2, the push rod 10-3 and the steel wheel bracket 10-4), precise control of the load-bearing wheel assembly 10-1 is achieved. When the AGV completes the pallet handling, the load-bearing wheel assembly 10-1 extends out and contacts the ground, providing stable support to ensure the stability and safety of the pallet and goods during the handling process.

[0066] In summary, compared with traditional counterbalanced forklifts and reach forklifts, the embodiments of the present invention have the beneficial effects of significantly improving space utilization, improving economy, and enhancing operational flexibility, while ensuring the stability and safety of the goods during transportation. BRIEF DESCRIPTION OF THE DRAWINGS

[0067] Figure 1 This is a schematic diagram of the external structure of a transport AGV according to an embodiment of the present invention;

[0068] Figure 2 A schematic diagram of the internal details of a transport AGV according to an embodiment of the present invention;

[0069] Figure 3 A schematic diagram of a connecting rod-cam slider mechanism of a transport AGV according to an embodiment of the present invention;

[0070] Figure 4 This is a schematic diagram of a state in which a load-bearing wheel of a transport AGV according to an embodiment of the present invention is in contact with the ground;

[0071] Figure 5 This is a schematic diagram of an intermediate state in which the load-bearing wheels of a transport AGV according to an embodiment of the present invention are retracted;

[0072] Figure 6 This is a schematic diagram of a transport AGV in a fully retracted state with its load-bearing wheels in an embodiment of the present invention;

[0073] Figure 7 This is a schematic diagram of a transport AGV in a state where the load wheels are lowered according to an embodiment of the present invention;

[0074] Figure 8 A schematic diagram of a step flow of an AGV control method according to an embodiment of the present invention;

[0075] Description of Figure Numbers:

[0076] 10. Fork assembly; 20. Charging brush plate; 30. Frame assembly; 40. Side laser assembly; 50. Safety touch edge; 60. Housing; 70. Navigation column assembly; 80. Display screen; 90. Antenna; 100. Clearance light; 110. Tricolor light; 120. Navigation laser assembly; 130. Battery; 140. Electrical assembly; 150. Drive assembly; 160. Steering assembly; 170. Cam slider mechanism; 180. Hydraulic assembly; 10-1. Load-bearing wheel assembly; 10-2. Load-bearing wheel bracket; 10-3. Push rod; 10-4. Steel wheel bracket; 10-5. Cam bearing bracket; 10-6. Cam bearing; 10-7. Steel wheel; 170-1. Slider; 170-2. Electric push rod; 170-3. Linear guide slider; 170-4. Linear guide track. DETAILED DESCRIPTION

[0077] In order to make the above-mentioned objects, features and advantages of the present invention more obvious and easy to understand, the present invention is further described in detail below with reference to the accompanying drawings and specific embodiments.

[0078] like Figure 1 , 2 As shown, the transport AGV provided by the embodiment of the present invention includes a fork assembly 10, a charging brush plate 20, a frame assembly 30, a side laser assembly 40, a safety touch edge 50, a housing 60, a navigation column assembly 70, a display screen 80, an antenna 90, a clearance light 100, a tricolor light 110, a navigation laser assembly 120, a battery 130, an electrical assembly 140, a drive assembly 150, a steering assembly 160, a cam slider mechanism 170 and a hydraulic assembly 180.

[0079] like Figure 2As shown, the fork assembly 10 is used to carry and transport the zigzag pallet, including a load-bearing wheel assembly 10-1, a load-bearing wheel bracket 10-2, a push rod 10-3, a steel wheel bracket 10-4, a cam bearing bracket 10-5, a cam bearing 10-6 and a steel wheel 10-7. These components cooperate with each other through a connecting rod mechanism, and the load-bearing wheel can be retracted or extended when the AGV carries out pallet transportation. The cam slider mechanism 170 includes a slider 170-1, an electric push rod 170-2, a linear guide slider 170-3 and a linear guide track 170-4. The slider 170-1 is set on the linear guide track 170-4. The electric push rod 170-2 is fixedly connected to the slider 170-1, pushing the slider 170-1 to move along the linear guide track 170-4, driving the movement of the load-bearing wheel assembly 10-1, and ensuring that the fork can flexibly enter the fork of the pallet.

[0080] When the AGV performs pallet handling, the electric push rod 170-2 starts, pushing the slider 170-1 to move along the linear guide track 170-4. The upper end inclined surface of the slider 170-1 is located below the cam bearing 10-6 on the cam bearing bracket 10-5, and cooperates with the cam bearing 10-6 on the cam bearing bracket 10-5 when the slider 170-1 moves. It is connected to the slider 170-1 and the load-bearing wheel assembly 10-1 through a connecting rod mechanism (10-2 to 10-4). When the slider 170-1 moves, it drives the load-bearing wheel assembly 10-1 to retract along the direction of the fork assembly 10 to the inside of the fork, so that the fork can enter the fork hole of the field pallet. After the fork is taken, the load-bearing wheel assembly 10-1 extends out and contacts the ground to support the AGV to carry the goods.

[0081] In an exemplary embodiment of the present invention, the lower end inclined surface of the slider 170-1 is located above the steel wheel 10-7 on the steel wheel bracket 10-4. Driven by the slider 170-1 moving backward, the lower end inclined surface contacts the steel wheel 10-7 and pushes the steel wheel bracket 10-4 to move downward, thereby extending the load-bearing wheel assembly 10-1 and contacting the ground, ensuring that the AGV can stably support the pallet after completing the task of picking up goods.

[0082] In an exemplary embodiment of the present invention, the frame assembly 30 is the supporting structure of the AGV, and the fork assembly 10 and the cam slider mechanism 170 are both fixed on the frame assembly 30. The frame assembly 30 not only provides mechanical support, but also fixes other functional components, such as the navigation system, the power supply system, etc., for carrying and fixing various functional components.

[0083] In an exemplary embodiment of the present invention, the navigation column assembly 70 is fixed to the frame assembly 30, is provided with a navigation laser assembly 120 for AGV navigation and positioning, and is used to support the navigation laser assembly 120. The navigation laser assembly 120 helps the AGV complete path planning and positioning by scanning the surrounding environment in real time.

[0084] In an exemplary embodiment of the present invention, a side laser assembly 40 is mounted on the side of the frame assembly 30 to detect side obstacles. A safety edge 50 is arranged on the periphery of the frame assembly 30 to detect obstacles and protect the safety of the AGV. When the AGV contacts an obstacle, an emergency stop mechanism is triggered to ensure safety.

[0085] In an exemplary embodiment of the present invention, the battery 130 is installed inside the frame assembly 30 to provide power for all electronic components of the AGV. The electrical component 140 is electrically connected to the battery 130 to manage and distribute power to ensure the normal operation of each functional module. The charging brush plate 20 is set outside the frame assembly 30 for automatic charging of the AGV, and can be quickly charged when the AGV is low on power.

[0086] In an exemplary embodiment of the present invention, the drive assembly 150 is mounted at the bottom of the frame assembly 30 to provide power to the AGV so that it can travel along the path. The steering assembly 160 is connected to the drive assembly 150 to control the steering of the AGV to ensure flexible movement on complex paths. The hydraulic assembly 180 is connected to the fork assembly 10 to control the lifting and lowering of the fork to facilitate the handling of pallets at different heights.

[0087] In an exemplary embodiment of the present invention, a display screen 80 is mounted on the frame assembly 30 to display the working status of the AGV, which is convenient for operators to monitor in real time. A clearance light 100 and a tricolor light 110 are arranged outside the frame assembly 30 to indicate the operating status of the AGV, such as normal operation, standby or fault status.

[0088] In an exemplary embodiment of the present invention, the housing 60 covers the outside of the frame assembly 30 to protect the key components inside from the external environment and enhance the durability of the AGV.

[0089] In an exemplary embodiment of the present invention, an antenna 90 is provided on the navigation column assembly 70 for wireless communication of the AGV. Through the antenna 90, the AGV can maintain communication with the host computer, receive instructions and send status feedback.

[0090] In the specific work process:

[0091] During normal walking, the slider 170-1 is in Figure 3 Through the support of the connecting rod mechanism (10-2 to 10-4), the load-bearing wheel assembly 10-1 is in contact with the ground (as shown in FIG. Figure 4 As shown, Figure 4 The connecting rod mechanism is not shown in the figure) and bears the weight of the cargo and the vehicle body.

[0092] When the AGV performs the task of picking up goods and arrives at the station, the host computer sends the task of picking up goods to the AGV. At this time, after the AGV receives the information, the electric push rod 170-2 begins to extend and pushes the slider 170-1 to move forward. The upper end inclined surface of the slider 170-1 and the cam bearing 10-6 work to lift the steel wheel bracket 10-4 upward (such as Figure 5 As shown), through the action of the connecting rod mechanism (10-2 to 10-4), the load-bearing wheel assembly 10-1 and the load-bearing wheel bracket 10-2 are received in the fork (as shown Figure 6 As shown, Figure 6 The connecting rod mechanism is not shown in the figure). At this time, the AGV can enter the tray to perform the task of picking up goods.

[0093] When the AGV completes the picking, the electric push rod 170-2 begins to retract, pulling the slider 170-1 to move backward. The steel wheel bracket 10-4 is pushed downward (such as Figure 7 As shown), the AGV returns to Figure 3 In the loading state, the load-bearing wheel assembly 10-1 is in contact with the ground, and the cargo can be lifted and carried at this time. The unloading process is similar to this.

[0094] Based on the above description of an embodiment of a transport AGV, an AGV control method is introduced below. The AGV control method can be applied to a transport AGV to control the transport AGV to perform a transport task.

[0095] Reference Figure 8 , shows a schematic flow chart of the steps of an AGV control method according to an embodiment of the present invention.

[0096] Step 801, receiving a transport task control instruction.

[0097] The transport AGV receives the transport task control instruction from the control center through the antenna 90 on the navigation column assembly. The transport task control instruction includes the target position of the pallet, the current path planning and possible job priorities, etc. The transport task control instruction provides a logical starting point for the entire operation.

[0098] Step 802, according to the handling task control instruction, the electric push rod 170-2 is controlled to push the slider 170-1 to move along the linear guide track 170-4.

[0099] According to the requirements of the handling task control command, the electric push rod 170-2 is activated to push the slider 170-1 to move along the linear guide rail 170-4, creating conditions for subsequent operations. The movement mode of the slider 170-1 is preset by the system to ensure accurate movement.

[0100] Step 803, the movement of the slider 170-1 drives the connecting rod mechanism to move, so that the load-bearing wheel assembly 10-1 is retracted along the direction of the fork assembly 10 to the inside of the fork or extended to contact the ground.

[0101] The movement of the slider 170-1 directly affects the connecting rod mechanism (including the load-bearing wheel bracket 10-2, the push rod 10-3, and the steel wheel bracket 10-4) of the fork assembly 10. The contact between the upper inclined surface of the slider 170-1 and the cam bearing 10-6 drives the connecting rod mechanism to move, and the load-bearing wheel assembly 10-1 shrinks or stretches inside the fork to contact the ground according to demand.

[0102] In an exemplary embodiment of the present invention, the moving direction of the slider 170-1 can also be monitored; when the slider 170-1 moves backward, the load-bearing wheel assembly 10-1 is controlled to extend and contact the ground. When the slider 170-1 moves backward, the load-bearing wheel assembly 10-1 extends and contacts the ground to provide support for the pallet. When the slider 170-1 moves forward, the load-bearing wheel assembly 10-1 retracts into the fork, making it easier for the fork assembly to be inserted into the fork hole of the pallet.

[0103] During the AGV's handling task, the movement direction of the slider 170-1 directly determines the telescopic state of the load-bearing wheel assembly 10-1. The movement of the slider 170-1 is driven by the electric push rod 170-2 and guided by the linear guide slider 170-3. When the slider 170-1 moves backward, its lower end inclined surface contacts the steel wheel 10-7 on the steel wheel bracket 10-4, pushing the steel wheel bracket 10-4 to move downward, thereby driving the load-bearing wheel assembly 10-1 to extend and contact the ground to provide support for the pallet. When the slider 170-1 moves forward, its upper end inclined surface contacts the cam bearing 10-6, driving the connecting rod mechanism to move and retract the load-bearing wheel assembly 10-1 into the fork. This two-way motion design ensures that the AGV can operate efficiently when picking up and supporting pallets, while reducing the spatial interference when the fork assembly 10 enters the pallet fork hole.

[0104] In an exemplary embodiment of the present invention, environmental information is obtained through the navigation laser assembly 120; navigation and positioning are performed based on the environmental information to determine the current position; and a motion path is planned based on the current position and the target position. The handling AGV relies on the navigation laser assembly 120 to obtain information about the surrounding environment in real time for dynamic navigation and positioning and path planning. Before starting a task, the navigation laser assembly 120 scans fixed structures (such as shelves) and dynamic objects (such as other vehicles in motion) in the environment to establish a three-dimensional environmental model. Based on the environmental model, the AGV first determines its current position and performs path planning in combination with the target position in the handling task. The path planning algorithm takes into account the shortest path, driving efficiency, and possible obstacle locations to generate an optimized driving path for the AGV. During the execution of the task, if a new obstacle is detected, the navigation laser assembly 120 will readjust the path to ensure that the AGV can reach the target location in a safe and efficient manner.

[0105] In an exemplary embodiment of the present invention, obstacles are detected by the side laser assembly 40 and / or the safety touch edge 50; when an obstacle is detected, the AGV is controlled to slow down or stop. During the handling process, the AGV may encounter obstacles such as pedestrians, forklifts or other objects. In order to ensure safe operation, the surrounding environment is detected in real time by the side laser assembly 40 and / or the safety touch edge 50. The side laser assembly 40 is installed on both sides of the frame, and by continuously scanning the environment, it identifies the distance and position of obstacles within a certain range around the AGV. If an obstacle is detected, the next operation will be determined according to its position, such as slowing down, stopping or re-planning the path. The safety touch edge 50 serves as the last line of defense. When the AGV comes into direct contact with an obstacle, an emergency stop command is immediately triggered to prevent further collisions.

[0106] In an exemplary embodiment of the present invention, the power level of the battery 130 is monitored; when the power level is lower than a preset threshold, the AGV is controlled to move to the charging area; and the AGV is automatically charged through the charging brush plate 20. The transport AGV relies on the battery 130 as the main power source, so power monitoring and charging management are crucial. The remaining power of the battery is detected in real time, and when the power level is lower than the preset threshold, the automatic charging mode is triggered. The AGV plans a path to the charging area through the navigation system and moves to the designated charging station. In the charging area, the charging brush plate 20 of the AGV contacts the charging interface to complete the charging operation. During the charging process, the charging status of the battery is monitored, including the charging current, voltage, and remaining time. When the battery is fully charged, the AGV will disconnect the charging interface, return to standby mode, or continue to perform the next task.

[0107] In an exemplary embodiment of the present invention, the drive assembly 150 is controlled to drive the AGV to move; the steering assembly 160 is controlled to adjust the direction of the AGV; and the hydraulic assembly 180 is controlled to drive the fork to rise and fall. The motion control of the transport AGV is completed by the drive assembly 150 and the steering assembly 160. The hydraulic assembly 180 is used to adjust the height of the fork assembly to meet the operation requirements of different pallets. During driving, the drive assembly 150 provides stable forward power, and the steering assembly 160 controls the speed difference of the wheel groups on both sides through differential control to achieve precise steering. The lifting control of the hydraulic assembly 180 works in conjunction with the fork assembly to adjust the fork position according to the height requirements of the pallet. For example, when the AGV transports a pallet on a high shelf, the hydraulic assembly 180 will lift the fork to an appropriate height to complete the fork picking operation. In complex paths, the steering assembly 160 is combined with the navigation system for precise adjustment to ensure that the AGV can pass through narrow passages or complex intersections smoothly.

[0108] In an exemplary embodiment of the present invention, the operating status of the AGV is displayed on the display screen 80; the working status of the AGV is indicated by the clearance lights 100 and the tricolor lights 110. The transport AGV communicates the operating status of the equipment to the operator through the display screen 80 and the light indication system. The display screen 80 displays the execution progress of the current task, the power level, the health status of the equipment, and possible fault information in real time, so that the operator can understand the operation status of the AGV at any time. The clearance lights 100 and the tricolor lights 110 use light colors and flashing modes to indicate the working status of the equipment. For example, green indicates normal operation, yellow indicates standby status, and red indicates a fault or emergency stop. These display and indication functions not only improve the convenience of AGV operation, but also enhance the visibility of the equipment in a multi-person collaborative environment to avoid accidental collisions.

[0109] In an exemplary embodiment of the present invention, wireless communication is performed with the control center through antenna 90; the handling task control instructions issued by the control center are received; and the AGV status information is uploaded to the control center in real time. The handling AGV realizes wireless communication with the control center through antenna 90 to ensure smooth information transmission during task execution. At the beginning of the task, the AGV receives the handling task control instructions issued by the control center, including the pallet position, handling path, and end point position, etc. During the task execution, the AGV will upload the operation status information in real time, such as the current position, power level, obstacle detection status, etc. The wireless communication function can also be used for remote diagnosis and maintenance of equipment failures to improve the reliability and efficiency of equipment operation.

[0110] The various embodiments in this specification are described in a progressive manner, and each embodiment focuses on the differences from other embodiments. The same or similar parts between the various embodiments can be referenced to each other.

[0111] It will be appreciated by those skilled in the art that the embodiments of the present invention may be provided as methods, devices, or computer program products. Therefore, the embodiments of the present invention may take the form of a complete hardware embodiment, a complete software embodiment, or an embodiment combining software and hardware. Moreover, the embodiments of the present invention may take the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program codes.

[0112] The embodiments of the present invention are described with reference to the flowcharts and / or block diagrams of the methods, terminal devices (systems), and computer program products according to the embodiments of the present invention. It should be understood that each process and / or block in the flowchart and / or block diagram, as well as the combination of the processes and / or blocks in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing terminal device to generate a machine, so that the instructions executed by the processor of the computer or other programmable data processing terminal device generate instructions for implementing the processes in the flowchart and / or block diagram. Figure 1 A process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

[0113] These computer program instructions may also be stored in a computer-readable memory capable of directing a computer or other programmable data processing terminal device to operate in a specific manner, so that the instructions stored in the computer-readable memory produce a manufactured product including an instruction device, which implements the process Figure 1 A process or multiple processes and / or boxes Figure 1 A function specified in one or more boxes.

[0114] These computer program instructions can also be loaded onto a computer or other programmable data processing terminal device so that a series of operating steps are executed on the computer or other programmable terminal device to produce a computer-implemented process, thereby providing instructions for executing on the computer or other programmable terminal device to implement the process. Figure 1 A process or multiple processes and / or boxes Figure 1 The steps for the functions specified in one or more boxes.

[0115] Although the preferred embodiments of the present invention have been described, those skilled in the art may make additional changes and modifications to these embodiments once they have learned the basic creative concept. Therefore, the appended claims are intended to be interpreted as including the preferred embodiments and all changes and modifications that fall within the scope of the embodiments of the present invention.

[0116] Finally, it should be noted that, in this article, relational terms such as first and second, etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or terminal device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or terminal device. In the absence of further restrictions, the elements defined by the sentence "comprise a ..." do not exclude the existence of other identical elements in the process, method, article or terminal device including the elements.

[0117] The above is a detailed introduction to a transport AGV and an AGV control method provided by the present invention. Specific examples are used in this article to illustrate the principles and implementation methods of the present invention. The description of the above embodiments is only used to help understand the method of the present invention and its core idea; at the same time, for those skilled in the art, according to the idea of ​​the present invention, there will be changes in the specific implementation method and application scope. In summary, the content of this specification should not be understood as a limitation on the present invention.

Claims

1. A transport AGV, characterized in that: include: A fork assembly (10) comprises a cam bearing bracket (10-5) and a cam bearing (10-6); as well as A cam slider mechanism (170) comprises a slider (170-1), an electric push rod (170-2), a linear guide slider (170-3) and a linear guide track (170-4); The electric push rod (170-2) is fixedly connected to the slider (170-1); the slider (170-1) is arranged on the linear guide track (170-4) and is used to push the slider (170-1) to move along the linear guide track (170-4); the linear guide slider (170-3) is installed on the linear guide track (170-4) and provides a linear motion guide for the slider (170-1); the slider (170-1) has an upper end inclined surface, the upper end inclined surface is located below the cam bearing (10-6) on the cam bearing bracket (10-5), and contacts the cam bearing (10-6) when the slider (170-1) moves; The fork assembly (10) further comprises a load-bearing wheel assembly (10-1), a load-bearing wheel bracket (10-2), a push rod (10-3), and a steel wheel bracket (10-4); The load-bearing wheel bracket (10-2), the push rod (10-3) and the steel wheel bracket (10-4) form a connecting rod mechanism, and the connecting rod mechanism is connected to the slider (170-1) and the load-bearing wheel assembly (10-1), and is used to drive the load-bearing wheel assembly (10-1) to retract into the interior of the fork or extend to contact the ground along the direction of the fork assembly (10) when the slider (170-1) moves.

2. The transport AGV according to claim 1, characterized in that: The slider (170-1) also has a lower end inclined surface, which is located above the steel wheel (10-7) on the steel wheel bracket (10-4) and is used to contact the steel wheel (10-7) and push the steel wheel bracket (10-4) to move downward when the slider (170-1) moves backward, so that the load-bearing wheel assembly (10-1) extends out and contacts the ground.

3. The transport AGV according to claim 1, characterized in that: Also includes: A frame assembly (30), the fork assembly (10) and the cam slider mechanism (170) are both arranged on the frame assembly (30); the frame assembly (30) is used to carry and fix various functional components.

4. The transport AGV according to claim 3, characterized in that: Also includes: A navigation column assembly (70) is fixed on the frame assembly (30); the navigation column assembly (70) is provided with a navigation laser assembly (120) used for AGV navigation and positioning.

5. The transport AGV according to claim 4, characterized in that: Also includes: A side laser assembly (40) mounted on a side of the frame assembly (30); as well as A safety touch edge (50) is arranged on the outer periphery of the frame assembly (30) and is used to detect obstacles and protect the safety of the AGV.

6. The transport AGV according to claim 3, characterized in that: Also includes: A battery (130) installed in the frame assembly (30) for providing power to the AGV; an electrical component (140) electrically connected to the battery (130); and A charging brush plate (20) is arranged outside the frame assembly (30) and is used for charging the AGV.

7. The transport AGV according to claim 3, characterized in that: Also includes: A driving assembly (150) mounted on the bottom of the frame assembly (30) and used to drive the AGV to move; A steering assembly (160), connected to the driving assembly (150) and used to control the steering of the AGV; and A hydraulic assembly (180) is connected to the fork assembly (10) and is used to control the lifting and lowering of the fork.

8. The transport AGV according to claim 3, characterized in that: Also includes: A display screen (80), which is mounted on the frame assembly (30) and is used to display the operating status of the AGV; A clearance light (100) and a three-color light (110) are arranged outside the frame assembly (30) and are used to indicate the working status of the AGV.

9. The transport AGV according to claim 3, characterized in that: Also includes: The housing (60) is arranged on the frame assembly (30) and is used to cover and protect various components in the frame assembly (30).

10. An AGV control method, characterized in that: Applied to the transport AGV according to any one of claims 1 to 9, the AGV control method comprises: Receive handling task control instructions; Controlling the electric push rod (170-2) to push the slider (170-1) to move along the linear guide track (170-4) according to the transport task control instruction; The movement of the slider (170-1) drives the connecting rod mechanism to move, so that the load-bearing wheel assembly (10-1) is retracted along the direction of the fork assembly (10) to the inside of the fork or extended to contact the ground.

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