AGV platform ultrasonic fault self-checking device and self-checking system

Abstract

The invention discloses an AGV platform ultrasonic fault self-checking device and self-checking system, the device is composed of an electric control box body, a lower self-checking plate and an upper self-checking plate, the lower self-checking plate is connected to one side of an opening in the upper end of the electric control box body through a rotating shaft, the upper self-checking plate is installed on the lower self-checking plate through a rotating joint, a connecting rod is assembled in parallel with the lower self-checking plate, and the connecting rod is connected with the upper self-checking plate. One end of the connecting rod is rotationally connected with the electric control box body, the other end of the connecting rod is connected to the rotating joint, and when the AGV does not run to a designated operation position, the lower self-checking plate is arranged in a closed state, the upper self-checking plate is folded on the inner side of the lower self-checking plate, and the ultrasonic fault self-checking device is protected against bending damage; when self-inspection is carried out, the overturning motor drives the rotating shaft, the rotating shaft drives the lower self-inspection plate to open, the connecting rod drives the rotating joint, the rotating joint drives the upper self-inspection plate to open relative to the lower self-inspection plate, when the upper self-inspection plate and the lower self-inspection plate are opened, the ultrasonic device is started to carry out fault detection, and ultrasonic fault self-inspection of the AGV platform is achieved.

Description

Technical Field

[0001] The invention belongs to the technical field of automatic guided vehicle fault detection, and in particular relates to an AGV platform ultrasonic fault self-detection device and a self-detection system. Background Art

[0002] AGV (Automated Guided Vehicle) is a key equipment for horizontal container transportation between automated terminal bridge cranes and rail cranes. During the operation of AGV, there are many operating conditions, such as straight driving, turning, jacking interaction, etc. The complex operating conditions make the safety device of AGV more important.

[0003] Ultrasonic detection devices are currently widely used in AGV safety systems due to their advantages such as high efficiency and non-contact measurement. They are an important guarantee for the safe operation of AGVs. However, due to the interactive lifting conditions of AGVs in automated terminals, the reciprocating lifting of the AGV platform will cause the spring wire connecting the ultrasonic detection device and the single-machine electronic control system to fail and age. At the same time, complex production conditions will also increase the failure rate of the ultrasonic detection device itself. Once an ultrasonic detection device fails, it will cause a major safety accident at the terminal.

[0004] In order to solve the problem of AGV ultrasonic detection device failure, existing ports and docks mostly use manual detection methods to eliminate the possibility of ultrasonic detection device failure. However, this method not only requires a large amount of manpower to check the AGV equipment one by one, but also the equipment must be shut down during the inspection process, which affects the operation efficiency of the port. A few ports and docks install simple ultrasonic detection boards to detect ultrasonic detection devices, but this simple ultrasonic detection board is easily affected by shear force and bends and is damaged during the operation of the AGV, resulting in unsatisfactory fault detection results. Summary of the invention

[0005] The purpose of the present invention is to provide an AGV platform ultrasonic fault self-inspection device and self-inspection system, which are connected to the existing AGV single-machine electronic control system, and the control detection board is opened when self-inspection is required, and closed when self-inspection is not required, thereby realizing the AGV platform ultrasonic fault self-inspection and ensuring the safety performance of the self-inspection device itself.

[0006] The present invention is implemented by the following technical solutions: An AGV platform ultrasonic fault self-detection device is proposed, comprising: An electric control box body (1) with an open upper end; A lower self-test plate (2) is mounted on one side of the upper open end of the electric control box body (1) via a rotating shaft (4); An upper self-test plate (3) is connected to the lower self-test plate (2) via a rotating joint (5); A connecting rod (6) having one end rotatably connected to the electric control box body (1) and one end connected to the rotating joint (5) and installed in parallel with the lower self-inspection plate (2) so as to rotate along with the lower self-inspection plate (2) when the lower self-inspection plate (2) rotates, thereby driving the rotating joint (5) to rotate, so that the upper self-inspection plate (3) opens or closes relative to the lower self-inspection plate (2); The turning motor (7) is installed in the electric control box (1) and is used to drive the rotating shaft (4) to rotate.

[0007] In some embodiments of the present invention, the device further comprises: A lock hook (8) is installed on the side of the upper opening of the electric control box body (1) opposite to the lower self-checking plate (2), and is used to hook and lock the lower self-checking plate (2) when the lower self-checking plate (2) is closed at the opening of the electric control box body (1); The push rod motor (9) is installed in the electric control box body (1) and is used to push the lock hook (8) to release the lower self-test plate (2).

[0008] In some embodiments of the present invention, the device further comprises: A stop block (10) is mounted on the outside of the electric control box body (1) and is used to limit the turning range of the lower self-test plate (2).

[0009] In some embodiments of the present invention, the stop block (10) is in a right-angle shape, limiting the maximum flip angle of the lower self-test plate (2) to 90 degrees.

[0010] In some embodiments of the present invention, the device further comprises: The opening limiter (11) is installed in the electric control box body (1) and is used to detect whether the lower self-inspection plate (2) is fully opened, and output an opening limiter signal when the lower self-inspection plate (2) is fully opened.

[0011] In some embodiments of the present invention, the device further comprises: The closing limiter (12) is installed in the electric control box body (1) and is used to detect whether the lower self-testing plate (2) is closed in place, and output a closing limiter signal when the lower self-testing plate (2) is closed in place.

[0012] An ultrasonic fault self-detection system for AGV platform used in automated container terminals is proposed, including: The AGV platform ultrasonic fault self-detection device as described above; The AGV single-machine electronic control system is used to control the ultrasonic fault self-detection device of the AGV platform to carry out ultrasonic fault self-detection at a designated working position and generate a fault alarm when a fault is detected; An AGV navigation system, used to provide the AGV stand-alone electronic control system with AGV location information; The remote operating system is used to receive the fault alarm reported by the AGV single-machine electronic control system.

[0013] In some embodiments of the present invention, the AGV stand-alone electronic control system is also used to control the AGV platform ultrasonic fault self-detection device to perform ultrasonic fault self-detection according to a set period, including: Monitor the status of the AGV when the current detection cycle arrives; When the AGV is in a driving state, a special working condition self-check instruction is issued to the ultrasonic fault self-check device of the AGV platform; The AGV platform ultrasonic fault self-inspection device controls its flip motor to drive the rotating shaft to rotate according to the set stroke, and the rotating shaft drives the lower self-inspection plate to open relative to the electric control box body. During the opening process of the lower self-inspection plate, the connecting rod follows its movement based on the parallel structure, thereby driving the rotating joint to rotate, and the rotating joint drives the upper self-inspection plate to open relative to the lower self-inspection plate. When the flip motor drives the rotating shaft to rotate to the set stroke, the upper self-inspection plate is at an acute angle relative to the lower self-inspection plate, so that the two self-inspection plates form a triangular structure relative to the plane of the control box body 1.

[0014] Compared with the prior art, the advantages and positive effects of the present invention are as follows: the AGV platform ultrasonic fault self-checking device and self-checking system proposed by the present invention are composed of an electric control box body (1), a lower self-checking plate (2), and an upper self-checking plate (3); the lower self-checking plate (2) is connected to the open side of the upper end of the electric control box body (1) through a rotating shaft (4); the upper self-checking plate (3) is installed on the lower self-checking plate (2) through a rotating joint (5); a connecting rod (6) is assembled parallel to the lower self-checking plate (2); one end of the connecting rod (6) is rotatably connected to the electric control box body (1), and the other end is connected to the rotating joint (5); when self-checking is not required, the lower self-checking plate (2) is set in a closed state, the upper self-checking plate (3) is folded inside the lower self-checking plate (2), and the lower self-checking plate (2) integrates the ultrasonic fault self-checking device The body is sealed to protect the ultrasonic fault self-checking device from bending and damage during driving or operation; when self-checking is required, the flip motor (7) is controlled to drive the rotating shaft (4) to rotate, and the rotating shaft (4) drives the lower self-checking plate (2) to open relative to the electric control box body (1), and during the opening process of the lower self-checking plate (2), the connecting rod (6) follows its movement based on the parallel structure, thereby driving the rotating joint (5) to rotate, and the rotating joint (5) drives the upper self-checking plate (3) to open relative to the lower self-checking plate (2). When the upper self-checking plate (3) and the lower self-checking plate (2) are opened, the ultrasonic device can be started to perform fault detection. If the ultrasonic detection data is abnormal, the AGV single-machine electronic control system sends an ultrasonic fault failure alarm to the remote operation system, thereby realizing the ultrasonic fault self-checking of the AGV platform.

[0015] Other features and advantages of the present invention will become more apparent after reading the detailed description of the embodiments of the present invention in conjunction with the accompanying drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] The accompanying drawings are part of the present invention and are used to provide a further understanding of the present invention. The exemplary embodiments and descriptions of the present invention are used to explain the present invention, but do not constitute an improper limitation of the present invention. Obviously, the accompanying drawings described below are only some embodiments. For those skilled in the art, other accompanying drawings can be obtained based on these accompanying drawings without creative work.

[0017] Figure 1 This is a schematic diagram of the three-dimensional structure of the AGV platform ultrasonic fault self-detection device proposed by the present invention in an open state; Figure 2 This is a schematic diagram of the side view structure of the AGV platform ultrasonic fault self-detection device proposed by the present invention in an open state; Figure 3 This is a schematic diagram of the top view of the AGV platform ultrasonic fault self-detection device in the open state proposed by the present invention; Figure 4 This is a schematic diagram of the closed state three-dimensional structure of the AGV platform ultrasonic fault self-detection device proposed by the present invention; Figure 5 This is a schematic diagram of the side view structure of the closed state of the AGV platform ultrasonic fault self-detection device proposed by the present invention; Figure 6 This is a second schematic diagram of the closed state side view structure of the AGV platform ultrasonic fault self-detection device proposed by the present invention; Figure 7 This is a schematic diagram of the application system of the AGV platform ultrasonic fault self-detection device proposed by the present invention; Figure 8 This is a schematic diagram of the side view structure of the AGV platform ultrasonic fault self-detection device proposed by the present invention in a semi-open state; Figure markings: 1-electric control box body, 2-lower self-inspection plate, 3-upper self-inspection plate, 4-rotating shaft, 5-rotating joint, 6-connecting rod, 7-flip motor, 8-lock hook, 9-push rod motor, 10-stop block, 11-open limit, 12-close limit.

[0018] It should be noted that these drawings and textual descriptions are not intended to limit the conceptual scope of the present invention in any way, but are intended to illustrate the concept of the present invention for those skilled in the art by referring to specific embodiments. DETAILED DESCRIPTION

[0019] In order to make the purpose, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. The following embodiments are used to illustrate the present invention but are not used to limit the scope of the present invention.

[0020] In the description of the present invention, it should be noted that the directions or positional relationships indicated by terms such as “upper”, “lower”, “front”, “back”, “left”, “right”, “vertical”, “inside” and “outside” are based on the directions or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific direction, be constructed and operated in a specific direction, and therefore cannot be understood as a limitation on the present invention.

[0021] In the description of the present invention, it should be noted that, unless otherwise clearly specified and limited, the terms "installed", "connected" and "connected" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be directly connected or connected through an intermediate medium. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0022] The present invention aims to solve the problem that the ultrasonic detection device of the AGV platform fails due to failures such as bending and damage caused by operating conditions, and proposes an AGV platform ultrasonic fault self-detection device, such as Figures 1 to 6 As shown, it is composed of an electric control box body 1 with an open upper end, a lower self-inspection plate 2 and an upper self-inspection plate 3; wherein, the lower self-inspection plate 2 is connected to one side of the upper open end of the electric control box body 1 through a rotating shaft 4; the upper self-inspection plate 3 is installed on the lower self-inspection plate 2 through a rotating joint 5; a connecting rod 6 is assembled parallel to the lower self-inspection plate 2, one end of the connecting rod 6 is rotatably connected to the electric control box body 1, and the other end is connected to the rotating joint 5. When the lower self-inspection plate 2 rotates, based on the action of the connecting rod 6, the rotating joint 5 rotates, thereby driving the upper self-inspection plate 3 to rotate, so that the upper self-inspection plate 3 is opened or closed relative to the lower self-inspection plate 2.

[0023] Based on the above structure, when self-inspection is not needed, the lower self-inspection plate 2 is set in a closed state, and the upper self-inspection plate 3 is folded inside the lower self-inspection plate 2. The lower self-inspection plate 2 seals the ultrasonic fault self-inspection device as a whole to protect the ultrasonic fault self-inspection device from bending and damage; when self-inspection is needed, the flip motor 7 is controlled to drive the rotating shaft 4 to rotate, and the rotating shaft 4 drives the lower self-inspection plate 2 to open relative to the electric control box body 1, and during the opening process of the lower self-inspection plate 2, the connecting rod 6 follows its movement based on the parallel structure, thereby driving the rotating joint 5 to rotate, and the rotating joint 5 drives the upper self-inspection plate 3 to open relative to the lower self-inspection plate 2. When the upper self-inspection plate 3 and the lower self-inspection plate 2 are opened, the ultrasonic device can be started to implement fault detection. If the ultrasonic detection data is abnormal, the AGV stand-alone electronic control system will send an ultrasonic fault failure alarm to the remote operating system, thereby realizing the ultrasonic fault self-inspection of the AGV platform.

[0024] In the implementation of the present invention, the AGV operating area is divided into an operating area and an instruction connection area according to the AGV operating conditions. The system accurately locates the position of the AGV based on the AGV's own antenna, speed encoder, angle encoder and other positioning devices, and determines the AGV's operating area in real time. When the AGV is in the instruction connection area, the AGV is relatively safe in a static state. At this time, it can be controlled to perform self-inspection; when the AGV's operating area is in the operating area, self-inspection is not performed to ensure that the AGV is in a driving condition.

[0025] In some embodiments of the present invention, self-inspection may also be performed in the operating area of ​​the AGV, and specific self-inspection methods are specifically given in the following embodiments.

[0026] In some embodiments of the present invention, the AGV platform ultrasonic fault self-detection device further includes: The lock hook 8 is installed on the side of the upper opening of the electric control box body 1 opposite to the lower self-inspection plate 2, and is used to hook and lock the lower self-inspection plate 2 when the lower self-inspection plate 2 is closed at the opening of the electric control box body 1.

[0027] The push rod motor 9 is installed in the electric control box body 1 and is used to push the lock hook 8 to release the lower self-test plate 2.

[0028] When implementing self-inspection, the AGV single-machine electronic control system sends an electrical signal to the electronic control part of the ultrasonic fault self-inspection device of the AGV platform, and the push rod motor 9 pushes the lock hook 8 to disengage the lock hook 8 from the lower self-inspection plate 2, and then the flip motor 7 drives the rotating shaft 4 to rotate, and the rotating shaft 4 drives the lower self-inspection plate 2 to open relative to the electronic control box body 1, and during the opening process of the lower self-inspection plate 2, the connecting rod 6 follows its movement based on the parallel structure, thereby driving the rotating joint 5 to rotate, and the rotating joint 5 drives the upper self-inspection plate 3 to open relative to the lower self-inspection plate 2. When the upper self-inspection plate 3 and the lower self-inspection plate 2 are opened, the ultrasonic device can be started to implement fault detection. If the ultrasonic detection data is abnormal, the AGV single-machine electronic control system will send an ultrasonic fault failure alarm to the remote operating system, thereby realizing the ultrasonic fault self-inspection of the AGV platform.

[0029] In some embodiments of the present invention, the AGV platform ultrasonic fault self-detection device further includes: The stopper 10 is installed outside the electric control box body 1 to limit the flipping range of the lower self-testing plate 2. Preferably, the stopper is in a right angle shape to limit the maximum flipping angle of the lower self-testing plate 2 to 90 degrees.

[0030] The opening limit 11 is installed in the electric control box body 1 and is used to detect whether the lower self-inspection plate 2 is fully opened, and output an opening limit signal when the lower self-inspection plate 2 is fully opened.

[0031] The closing limit 12 is installed in the electric control box body 1, and is used to detect whether the lower self-test plate 2 is closed in place, and output a closing limit signal when the lower self-test plate 2 is closed in place.

[0032] When self-checking is performed, the AGV single-machine electric control system sends an electric signal to the electric control part of the ultrasonic fault self-checking device of the AGV platform, and the push rod motor 9 pushes the lock hook 8 to disengage the lock hook 8 from the lower self-checking plate 2, and then the flip motor 7 drives the shaft 4 to rotate, and the shaft 4 drives the lower self-checking plate 2 to open relative to the electric control box body 1, and the connecting rod 6 follows the movement of the lower self-checking plate 2 based on the parallel structure during the opening process, thereby driving the rotating joint 5 to rotate, and the rotating joint 5 drives the upper self-checking plate 3 to open relative to the lower self-checking plate 2. When the upper self-checking plate 3 and the lower self-checking plate 2 are opened, when the opening limit 11 outputs the opening limit signal, the flip motor 7 stops driving the shaft 4. The stop block 10 stops and protects the opened lower self-checking plate 2, preventing the lower self-checking plate 2 from opening excessively and causing mechanical damage to the rotating joint 5 and the connecting rod 6.

[0033] When the self-inspection is completed, the flip motor 7 drives the lower self-inspection plate 2 to close. The closing movement of the lower self-inspection plate 2 causes the connecting rod 6 to drive the rotating joint 5 to rotate in the opposite direction, thereby driving the upper self-inspection plate 3 to fold back to the inner side of the lower self-inspection plate 2. At the same time, the lower self-inspection plate 2 is closed at the opening of the electric control box body 1. After the closing limit 12 outputs a closing limit signal, the flip motor 7 stops driving, and the push rod motor 9 is retracted so that the locking hook 8 hooks and locks the lower self-inspection plate 2, thereby locking the ultrasonic fault self-inspection device to prevent the self-inspection plate from opening during the AGV operation and causing bending damage, etc.

[0034] In an embodiment of the present invention, the opening limit 11 and the closing limit 12 also have an alarm function. When the self-inspection board of the ultrasonic fault self-inspection device fails and cannot be opened or closed normally, the opening limit 11 or the closing limit 12 cannot generate an opening limit signal or a closing limit signal. The AGV stand-alone electronic control system can send a fault alarm of the ultrasonic fault self-inspection device to the remote operating system by judging that the opening limit signal or the closing limit signal is not received within the set time.

[0035] like Figure 7 As shown, the ultrasonic fault self-checking device of the AGV platform is connected to the existing AGV stand-alone electronic control system, which controls the ultrasonic fault self-checking device to automatically deploy at the designated operation position, receives ultrasonic signals reflected from the upper and lower self-checking plates, and analyzes ultrasonic measurement data to realize ultrasonic fault self-checking. The AGV navigation system provides accurate location information for the AGV stand-alone electronic control system, and the AGV stand-alone electronic control system controls the ultrasonic fault self-checking device to automatically deploy according to the location information of the AGV navigation system; the remote operation system provides the remote operator with the ultrasonic operation status of the equipment and gives real-time alarms for equipment failures.

[0036] In actual applications, the AGV operation area can be divided into designated operation location areas and other operation areas. The AGV navigation system accurately locates the position of the AGV equipment based on its own antenna, wheel speed encoder, angle encoder and other positioning devices, and determines the AGV's operation position in real time. When the AGV runs to the designated operation location area, the AGV is in a stationary state or unobstructed state. At this time, the AGV single-machine electronic control system controls the self-inspection board of the ultrasonic fault self-inspection device to automatically unfold, and the ultrasonic detection data is fed back to the AGV single-machine electronic control system. The AGV single-machine electronic control system determines the ultrasonic operation status of the AGV platform, and automatically alarms and feeds back to the remote operating system when a fault is determined, reminding the equipment management personnel to repair the equipment fault in time.

[0037] In some embodiments of the present invention, a designated working position for implementing self-inspection is not set, a self-inspection working cycle is set, and the status of the AGV is first detected when the current detection cycle arrives. If the AGV is in a driving state, the AGV stand-alone electronic control system sends a special working condition self-inspection instruction to the electronic control part of the ultrasonic fault self-inspection device of the AGV platform. If it is not in a driving state, self-inspection can be implemented in the above manner.

[0038] Under the special working condition self-check instruction, the control flip motor 7 drives the rotating shaft 4 to rotate according to the set stroke, and the rotating shaft 4 drives the lower self-checking plate 2 to open relative to the electric control box body 1. During the opening process of the lower self-checking plate 2, the connecting rod 6 follows its movement based on the parallel structure, thereby driving the rotating joint 5 to rotate, and the rotating joint 5 drives the upper self-checking plate 3 to open relative to the lower self-checking plate 2. When the flip motor 7 drives the rotating shaft 4 to rotate to the set stroke, the upper self-checking plate 3 is relative to the lower self-checking plate 2. Figure 8 In the acute angle state shown in the figure, the two self-inspection plates form a triangular structure relative to the plane of the control box body 1, and the outer side of the upper self-inspection plate 3 is limited by the locking hook 8 to ensure the stability of the triangular structure. Even if airflow occurs from the outer side of the lower self-inspection plate 2 or the outer side of the upper self-inspection plate 3 during vehicle driving, the stability of the self-inspection device can be maintained due to the triangular structure.

[0039] Compared with the existing ultrasonic detection device, the AGV platform ultrasonic fault self-detection device proposed by the present invention has the following technical advantages: 1) It can improve the operating efficiency of automated terminals. The device can realize remote automatic inspection of the platform ultrasonic device without stopping the AGV equipment, avoiding operators from entering the automated operation area for inspection, reducing the occurrence of personnel safety accidents, and at the same time not affecting the normal production operations of the terminal.

[0040] 2) Improved production safety of automated terminals. The device can inspect the platform ultrasonic device in real time and has a high accuracy in inspecting failed equipment. In addition, the device can remain closed during AGV operation, without blocking the normal use of the ultrasonic device, thus ensuring the safe operation of the AGV operation.

[0041] 3) Higher durability. The device remains in a closed state during AGV operation, and the hook locks the folded self-inspection plate of the device, which avoids the longitudinal shear force caused by the movement of the equipment during AGV operation and increases the service life of the self-inspection plate device.

[0042] It should be pointed out that the above description is not a limitation of the present invention, and the present invention is not limited to the above examples. Changes, modifications, additions or substitutions made by ordinary technicians in this technical field within the essential scope of the present invention should also fall within the protection scope of the present invention.

Claims

1. An AGV platform ultrasonic fault self-detection device, characterized in that: include: An electric control box body (1) with an open upper end; A lower self-test plate (2) is mounted on one side of the upper open end of the electric control box body (1) via a rotating shaft (4); An upper self-test plate (3) is connected to the lower self-test plate (2) via a rotating joint (5); A connecting rod (6) having one end rotatably connected to the electric control box body (1) and one end connected to the rotating joint (5) and installed in parallel with the lower self-inspection plate (2) so as to rotate along with the lower self-inspection plate (2) when the lower self-inspection plate (2) rotates, thereby driving the rotating joint (5) to rotate, so that the upper self-inspection plate (3) opens or closes relative to the lower self-inspection plate (2); The turning motor (7) is installed in the electric control box (1) and is used to drive the rotating shaft (4) to rotate.

2. The AGV platform ultrasonic fault self-detection device according to claim 1, characterized in that: The device also includes: A lock hook (8) is installed on the side of the upper opening of the electric control box body (1) opposite to the lower self-checking plate (2), and is used to hook and lock the lower self-checking plate (2) when the lower self-checking plate (2) is closed at the opening of the electric control box body (1); The push rod motor (9) is installed in the electric control box body (1) and is used to push the lock hook (8) to release the lower self-test plate (2).

3. The AGV platform ultrasonic fault self-detection device according to claim 1, characterized in that: The device also includes: A stop block (10) is mounted on the outside of the electric control box body (1) and is used to limit the turning range of the lower self-test plate (2).

4. The AGV platform ultrasonic fault self-detection device according to claim 1, characterized in that: The stop block (10) is in a right-angle shape, limiting the maximum flip angle of the lower self-test plate (2) to 90 degrees.

5. The AGV platform ultrasonic fault self-detection device according to claim 1, characterized in that: The device also includes: The opening limiter (11) is installed in the electric control box body (1) and is used to detect whether the lower self-inspection plate (2) is fully opened, and output an opening limiter signal when the lower self-inspection plate (2) is fully opened.

6. The AGV platform ultrasonic fault self-detection device according to claim 1, characterized in that: The device also includes: The closing limiter (12) is installed in the electric control box body (1) and is used to detect whether the lower self-testing plate (2) is closed in place, and output a closing limiter signal when the lower self-testing plate (2) is closed in place.

7. An ultrasonic fault self-detection system for AGV platform used in automated container terminals, characterized in that ,include: The AGV platform ultrasonic fault self-detection device according to any one of claims 1 to 6; The AGV single-machine electronic control system is used to control the ultrasonic fault self-detection device of the AGV platform to carry out ultrasonic fault self-detection at a designated working position and generate a fault alarm when a fault is detected; An AGV navigation system, used to provide the AGV stand-alone electronic control system with AGV location information; The remote operating system is used to receive the fault alarm reported by the AGV single-machine electronic control system.

8. The AGV platform ultrasonic fault self-detection system for an automated container terminal according to claim 7, characterized in that: The AGV stand-alone electronic control system is also used to control the AGV platform ultrasonic fault self-detection device to perform ultrasonic fault self-detection according to a set period, including: Monitor the status of the AGV when the current detection cycle arrives; When the AGV is in a driving state, a special working condition self-check instruction is issued to the ultrasonic fault self-check device of the AGV platform; The AGV platform ultrasonic fault self-inspection device controls its flip motor to drive the rotating shaft to rotate according to the set stroke, and the rotating shaft drives the lower self-inspection plate to open relative to the electric control box body. During the opening process of the lower self-inspection plate, the connecting rod follows its movement based on the parallel structure, thereby driving the rotating joint to rotate, and the rotating joint drives the upper self-inspection plate to open relative to the lower self-inspection plate. When the flip motor drives the rotating shaft to rotate to the set stroke, the upper self-inspection plate is at an acute angle relative to the lower self-inspection plate, so that the two self-inspection plates form a triangular structure relative to the plane of the control box body 1.

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