Material intelligent identification type intelligent carrying trolley and system

Abstract

The invention discloses a material intelligent identification type intelligent carrying trolley and system, and relates to the technical field of transfer equipment, the material intelligent identification type intelligent carrying trolley comprises a carrying machine body, and a plurality of groups of visual detection sensors and laser radars are arranged on the side of the carrying machine body in a surrounding mode at equal intervals. The carrying machine body bypasses the obstacles in the minimum space occupation and safest mode, the obstacle avoidance efficiency and safety in the carrying process are greatly improved, the influence on operation of the trolley due to sudden appearance of other vehicles or personnel, temporary change of the material stacking position and the like in the dynamically changing environment is reduced, the risk can be pre-judged in advance, and the safety of the carrying machine body is improved. When the obstacle is avoided, response is made in time, collision accidents are avoided, continuity of carrying operation is guaranteed, and logistics efficiency loss caused by obstacle avoidance delay is reduced.

Description

Technical Field

[0001] The present invention relates to the technical field of transfer equipment, and in particular to a material intelligent identification type intelligent transport trolley and system. Background Art

[0002] Existing enterprises have an increasing demand for logistics automation. In logistics scenarios such as factories and warehouses, the traditional manual material handling method is inefficient, prone to errors, and labor costs continue to rise. Smart transport carts, as key equipment in automated logistics systems, can realize automatic transportation of materials and improve logistics efficiency and accuracy.

[0003] At present, traditional path planning algorithms are unable to adjust the path in time when facing dynamically changing environments, such as the sudden appearance of other vehicles or personnel, temporary changes in the material stacking location, etc. When facing multiple continuous obstacles or obstacles in narrow passages, a simple obstacle avoidance algorithm may cause the vehicle to change direction frequently, resulting in a tortuous driving path, causing traffic congestion and high collision risks when multiple transport vehicles are operating at the same time, and increasing transportation time. Therefore, it is necessary to propose a material intelligent recognition type intelligent transport vehicle and system. Summary of the invention

[0004] The purpose of the present invention is to provide a material intelligent identification type intelligent transport vehicle and system to solve the problem proposed in the above background technology that the traditional path planning algorithm cannot adjust the path in time when facing a dynamically changing environment, such as the sudden appearance of other vehicles or personnel, temporary changes in the material stacking location, etc. When facing multiple continuous obstacles or obstacles in narrow passages, a simple obstacle avoidance algorithm may cause the vehicle to change direction frequently, resulting in a tortuous driving path, causing traffic congestion and high collision risk when multiple transport vehicles are operating at the same time, and increasing transportation time.

[0005] To achieve the above-mentioned purpose, the present invention provides the following technical solutions: a material intelligent identification type intelligent transport vehicle, comprising a transport body, a plurality of groups of visual detection sensors and laser radars are equally divided and surrounded on the sides of the transport body, a rectangular guide rail is installed on the outer periphery of the transport body, an obstacle avoidance contact assembly is slidably connected inside the rectangular guide rail, a drive frequency conversion assembly is installed inside the transport body, an active lifting frame support adjustment assembly is installed at the front end of the transport body, a platform is installed on the top of the transport body, and a material identification and transport assembly is installed on the top of the platform;

[0006] The cam is connected with the guide rail by the spring, and the cam is connected with the guide rail by the spring, and the cam is connected with the guide rail by the spring, and the cam is connected with the guide rail by the spring.

[0007] Preferably, the drive frequency conversion component comprises a variable frequency drive motor, the output end of the variable frequency drive motor is connected to a speed gear, and the output end of the speed gear is connected to a wheel.

[0008] Preferably, the active lifting frame support adjustment assembly includes an electric push rod, which is arranged in two groups. The two groups of electric push rods are symmetrically installed in the internal installation groove at the side end of the transport body. The side ends of the two groups of electric push rods are fastened with rotating arm sections, and the side ends of the rotating arm sections are rotatably connected to the supporting force frame.

[0009] Preferably, the material identification and handling assembly includes a rotating motor box, the output end of the rotating motor box is connected to an adapter, the adapter is configured as a semicircular slotted frame structure, the top of the adapter is connected to a first azimuth rotating structure, the output end of the first azimuth rotating structure is connected to a swivel rod, and the top side end of the swivel rod is installed with a second azimuth rotating structure.

[0010] Preferably, the output end of the second azimuth rotation structure is connected to a transport robot mounting piece, a manipulator is installed on the side end of the transport robot mounting piece, a visual sensor and a high-definition camera are respectively installed on the side ends of the manipulator, an annular guide rail groove is installed on the top surface of the transport body, and the first azimuth rotation structure drives the swivel rod to form a rotation adjustment inside the annular guide rail groove through the adapter.

[0011] Preferably, a supporting slide column is slidably connected inside the annular guide groove, and a top of the supporting slide column is tightly connected to a bottom of the first azimuth rotating structure.

[0012] Preferably, a platform is installed on the top of the transport body, an anti-fall frame is fastened to the top side end of the platform, and balance drive guide rods are symmetrically installed on the left and right ends of the platform.

[0013] A material intelligent identification type intelligent transport vehicle system includes an infrared thermal imaging sensor and a millimeter wave radar. The infrared thermal imaging sensor and the millimeter wave radar are respectively connected to a distributed collaborative obstacle avoidance processing unit through signals. The distributed collaborative obstacle avoidance processing unit combines a dynamic window method and a potential field method to evaluate the potential field value of the speed and steering combination appearing in each stage in the dynamic window, select the optimal motion combination, and construct a behavior decision tree to form decision nodes at multiple levels, so that the overall distributed negotiation algorithm and the swarm algorithm are adopted, which is convenient for each vehicle to predict potential collision risks in advance.

[0014] Preferably, a multi-vehicle communication coordination unit is arranged at the side end of the distributed collaborative obstacle avoidance processing unit, and a wireless communication unit is connected to the side end signal of the multi-vehicle communication coordination unit. The multi-vehicle communication coordination unit is responsible for collecting real-time data on the position, speed, movement direction and task priority from adjacent vehicles, and accurately and quickly transmitting this information to the distributed collaborative obstacle avoidance processing unit, so as to provide a comprehensive data basis for the distributed collaborative obstacle avoidance processing unit to make collaborative decisions using the swarm algorithm and the distributed negotiation algorithm.

[0015] Preferably, the multi-vehicle communication coordination unit is used to receive decision instructions generated by the distributed collaborative obstacle avoidance processing unit, and pass these instructions to the drive control processing logic unit to ensure that each vehicle can perform obstacle avoidance and path optimization actions in a timely and accurate manner.

[0016] Compared with the prior art, the present invention has the following beneficial effects:

[0017] 1. In the present invention, with the cooperation of the material identification and handling component and the obstacle avoidance and contact component, the obstacle avoidance and contact component continues to play a role during the overall forward process, so that when encountering an obstacle, the laser radar and the visual detection sensor will immediately feed back the obstacle information to the drive control processing logic unit, and the drive control processing logic unit quickly starts the obstacle avoidance strategy, so that when encountering irregular obstacles in narrow passages, the synchronous telescopic column can be flexibly extended or retracted, and the angle adjustment can be coordinated to enable the handling body to bypass the obstacle with the smallest space occupation and the safest way, which greatly improves the obstacle avoidance efficiency and safety during the handling process, reduces the impact on the operation of the trolley in the face of dynamically changing environments, such as the sudden appearance of other vehicles or personnel, temporary changes in the material stacking position, etc., can predict risks in advance, respond in time, avoid collision accidents, ensure the continuity of the handling operation, and reduce the loss of logistics efficiency caused by obstacle avoidance delays.

[0018] 2. In the present invention, the obstacle avoidance strategy is quickly started through the distributed collaborative obstacle avoidance processing unit, that is, first, the dynamic window method and the potential field method are combined to evaluate the potential field value of each possible speed and steering combination in the dynamic window, and the optimal motion combination is selected, so that when encountering a close-range static obstacle, the repulsive force generated by the potential field method prompts the car to avoid it, or actively adjusts the operation through the obstacle avoidance contact component 9. At the same time, the dynamic window method selects the safest and most efficient action within the feasible speed and steering range. Then, through the constructed behavior decision tree, based on the obstacle type (static, dynamic, slow or fast movement, etc.), the car's own state (speed, load, remaining power, etc.) and the global task priority and other decision nodes at multiple levels, a decision is made quickly, so that when encountering other approaching cars, the decision tree determines whether to slow down and wait or adjust the path to avoid according to the speed, direction and urgency of the task of both parties, and then the overall distributed decision tree is adopted. The distributed negotiation algorithm and the swarm algorithm realize multi-vehicle collaboration, so that the multi-vehicle communication coordination unit is responsible for collecting real-time data such as the position, speed, movement direction and task priority from adjacent vehicles, and accurately and quickly transmits this information to the distributed collaborative obstacle avoidance processing unit, providing a comprehensive data basis for its use of the swarm algorithm and the distributed negotiation algorithm for collaborative decision-making. The swarm algorithm simulates the pheromone exchange mechanism of ant colonies during foraging. Each vehicle leaves "virtual pheromones" during the transportation process like ants, representing the quality of the path. Subsequent vehicles choose a better path based on these pheromones to avoid congestion. The distributed negotiation algorithm allows each vehicle to negotiate and adjust its own driving path and speed in real time when encountering potential collision risks, ensuring the smooth operation of the overall system, and further enabling multiple vehicles to quickly reach a passage order through the distributed negotiation algorithm at the intersection of narrow passages, and pass through in an orderly manner to avoid collisions and congestion. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 This is a schematic diagram of the main structure of a material intelligent identification type intelligent transport vehicle of the present invention;

[0020] Figure 2 This is a schematic structural diagram of a material intelligent identification type intelligent transport vehicle from a side view of the present invention;

[0021] Figure 3 It is a structural schematic diagram of a driving frequency conversion component and an obstacle avoidance contact component in a material intelligent identification type intelligent transport vehicle of the present invention;

[0022] Figure 4 The present invention is a material intelligent identification type intelligent transport vehicle Figure 3 A schematic diagram of the enlarged structure at point A;

[0023] Figure 5 The present invention is a material intelligent identification type intelligent transport vehicle Figure 3A schematic diagram of the enlarged structure at B;

[0024] Figure 6 It is a structural schematic diagram of an active lifting frame support adjustment component and a material identification and handling component in a material intelligent identification type intelligent handling trolley of the present invention;

[0025] Figure 7 This is a structural schematic diagram of a material identification and handling component in a material intelligent identification type intelligent handling vehicle of the present invention;

[0026] Figure 8 It is a schematic diagram of the operation process in a material intelligent identification type intelligent transport vehicle system of the present invention.

[0027] In the figure: 1. transport body; 2. anti-drop frame; 3. platform; 4. balance drive guide rod; 5. active lifting frame support adjustment component; 51. electric push rod; 52. rotating arm section; 53. support force frame; 6. visual detection sensor; 7. rectangular guide rail; 8. drive frequency conversion component; 81. frequency conversion drive motor; 82. speed change gear; 83. wheel; 9. obstacle avoidance contact component; 91. sliding positioning block; 92. angle connection rotating column; 93. special-shaped slide; 94. adjustment slide Dynamic driving saddle; 95, synchronous telescopic column; 96, solid block; 97, synchronous rotating rod; 98, buffer damping member; 99, abutment block; 990, angle adjustment motor; 991, pulley structure; 10, laser radar; 11, material identification and handling assembly; 110, rotating motor box; 111, annular guide groove; 112, first position rotating structure; 113, swivel rod; 114, second position rotating structure; 115, handling robot mounting member; 116, adapter. DETAILED DESCRIPTION

[0028] 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 implementation regulations described 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.

[0029] Embodiment 1: In the present invention, referring to Figure 1 - Figure 8As shown: a material intelligent identification type intelligent transport vehicle comprises a transport body 1, a plurality of groups of visual detection sensors 6 and laser radars 10 are equally divided and surrounded on the sides of the transport body 1, a rectangular guide rail 7 is installed on the outer peripheral side of the transport body 1, an obstacle avoidance contact component 9 is slidably connected inside the rectangular guide rail 7, a driving frequency conversion component 8 is installed inside the transport body 1, an active lifting frame support adjustment component 5 is installed at the front end of the transport body 1, a platform 3 is installed on the top of the transport body 1, and a material identification and transport component 11 is installed on the top of the platform 3;

[0030] The obstacle avoidance contact assembly 9 includes a sliding positioning block 91, which is formed into two groups and is respectively located inside the rectangular guide rail 7 to form a sliding connection. The side end of the sliding positioning block 91 is installed with an angle adjustment motor 990, and the output end of the angle adjustment motor 990 is connected to a pulley structure 991. The output end of the pulley structure 991 is rotatably connected to an angle connection rotating column 92, and the side end of the angle connection rotating column 92 is fastened with a special-shaped slide 93, and the side end of the special-shaped slide 93 is slidably connected with an adjustable sliding drive The movable saddle 94 is provided with a synchronous telescopic column 95 on the side end of the adjustable sliding drive saddle 94, the side end surface of the special-shaped slide 93 is fastened with a solid block 96, the side end of the angle connecting rotating column 92 is rotatably connected with a synchronous rotating rod 97, the side end of the synchronous rotating rod 97 is fastened with a connecting edge block and the back surface of the special-shaped slide 93, the side end of the solid block 96 is rotatably connected with a buffer damping member 98, and the side end of the synchronous telescopic column 95 and the side end of the buffer damping member 98 are both fastened with abutment blocks 99 through connecting blocks.

[0031] A platform 3 is installed on the top of the transport body 1 , and an anti-fall frame 2 is fastened to the top side of the platform 3 . Balance driving guide rods 4 are symmetrically installed on the left and right ends of the platform 3 .

[0032] In a specific solution, after receiving a material handling task instruction, while identifying the material, the drive control processing logic unit combines the environmental information collected by the visual detection sensor 6 and the laser radar 10, and uses advanced path planning algorithms to plan an optimal path from the current position to the target material and then to the designated storage point in a complex work scene. This path planning takes into account static obstacles (such as shelves, fixed equipment, etc.) and dynamic obstacles (such as other moving transport carts, staff, etc.) in the environment to ensure that the handling process is efficient and safe. During the overall forward process, the obstacle avoidance contact component 9 continues to play a role, so that when encountering an obstacle, the laser radar 10 and the visual detection sensor 6 will immediately feedback the obstacle information to the drive control processing logic unit, and the drive control processing logic unit quickly starts the obstacle avoidance strategy so that the angle adjustment electric The machine 990 receives the command to operate, drives the angle connection rotating column 92 to rotate through the pulley structure 991, and then adjusts the angle of the special-shaped slide 93, and then adjusts the sliding drive saddle 94 according to the distance and shape of the obstacle to drive the synchronous telescopic column 95 to extend or contract. At the same time, the buffer damping member 98 at the side end of the solid block 96 works together to make the abutment block 99 contact the obstacle in the best posture, buffer the impact of the collision, and ensure that the transport body 1 safely bypasses the obstacle and continues to move towards the target material. During the entire transport process, the anti-drop frame 2 on the platform 3 effectively prevents the material from falling due to shaking and bumping, and the balance drive guide rod 4 continuously and dynamically adjusts the balance of the platform 3 to ensure the stability of material transportation. When the whole is in operation, when encountering irregular obstacles in narrow passages, it can flexibly extend or contract the synchronous telescopic column 95, and cooperate with the angle adjustment to make the transport body 1 Bypassing obstacles with the smallest space occupancy and the safest way, it greatly improves the obstacle avoidance efficiency and safety during the transportation process, reduces the impact on the operation of the vehicle when facing a dynamically changing environment, such as the sudden appearance of other vehicles or personnel, temporary changes in the material stacking location, etc., can predict risks in advance, respond in time, avoid collision accidents, ensure the continuity of transportation operations, and reduce logistics efficiency losses caused by obstacle avoidance delays.

[0033] Embodiment 2: In the present invention, according to Figure 1 - Figure 3 and Figure 6 As shown, the drive frequency conversion component 8 includes a frequency conversion drive motor 81 , an output end of the frequency conversion drive motor 81 is connected to a speed change gear 82 , and an output end of the speed change gear 82 is connected to a wheel 83 .

[0034] The active lifting frame support adjustment component 5 includes an electric push rod 51, which is arranged in two groups. The two groups of electric push rods 51 are symmetrically installed in the internal installation groove at the side end of the transport body 1. The side ends of the two groups of electric push rods 51 are fastened with a rotating arm section 52, and the side ends of the rotating arm section 52 are rotatably connected to a supporting force frame 53.

[0035] In a specific scheme, after the above-mentioned path planning is completed, the drive frequency conversion component 8 is started according to the planned path, and the frequency conversion drive motor 81 accurately adjusts the transmission ratio of the speed gear 82 according to the instruction, and drives the wheel 83 to accelerate smoothly, so that the transport body 1 moves forward along the predetermined path. When transporting some large or heavy materials, the active lifting frame support adjustment component 5 is started, so that the two groups of electric push rods 51 are extended synchronously according to the instructions of the drive control processing logic unit, driving the rotating arm section 52 to rotate, and the rotating arm section 52 rotates flexibly with the pin shaft as the axis, adjusting the support force frame 53 to a suitable height and angle, assisting the transport robot to stably hold up the material, share the load pressure of the robot, and ensure the safety and reliability of the transport process.

[0036] Embodiment 3, in the present invention, according to Figure 1 , Figure 2 , Figure 6 and Figure 7 As shown, the material identification and handling component 11 includes a rotating motor box 110, the output end of the rotating motor box 110 is connected to an adapter 116, the adapter 116 is configured as a semicircular slotted frame structure, the top of the adapter 116 is connected to a first orientation rotating structure 112, the output end of the first orientation rotating structure 112 is connected to a swivel rod 113, and the top side end of the swivel rod 113 is installed with a second orientation rotating structure 114.

[0037] The output end of the second azimuth rotating structure 114 is connected to a transporting robot mounting component 115, and a robot is mounted on the side end of the transporting robot mounting component 115. A visual sensor and a high-definition camera are respectively mounted on the side ends of the robot. An annular guide groove 111 is mounted on the top surface of the transport body 1. The first azimuth rotating structure 112 drives the swivel rod 113 to form a rotation adjustment inside the annular guide groove 111 through the adapter 116.

[0038] A supporting slide column is slidably connected inside the annular guide groove 111 , and the top of the supporting slide column and the bottom of the first azimuth rotating structure 112 are tightly connected.

[0039] In a specific scheme, when the above operation is performed, the material identification and handling component 11 located on the top of the handling body 1 starts to operate, and the rotating motor box 110 drives the adapter 116, so that the adapter 116 drives the first orientation rotating structure 112 to form an operation, so that it drives the swivel rod 113 to rotate flexibly with the assistance of the annular guide groove 111, and adjusts to a suitable orientation so that the manipulator can better approach the target material. The second orientation rotating structure 114 further accurately controls the manipulator posture on the handling manipulator mounting part 115, and combines the visual sensor and high-definition camera on the side of the manipulator to accurately identify the material, and uses the visual sensor and high-definition camera to capture the visual features of the material such as appearance shape, color, texture and barcode, and compares it with the preset material database , quickly determine the type, size and grabbing point of the material. When the transport body 1 reaches the target material position, the manipulator of the material identification and transport component 11 accurately grabs the material under the fine control of the first azimuth rotating structure 112 and the second azimuth rotating structure 114. During the grabbing process, the manipulator automatically adjusts the grabbing force and the degree of finger opening and closing according to the weight and shape of the material to ensure that the material is firmly grasped. Then, the transport body 1 transports the material to the designated storage point according to the planned path to complete a material handling task. After the material is successfully delivered to the designated storage point, the manipulator places the material steadily and then releases the grip. After that, the drive frequency conversion component 8 of the transport body 1 controls the transport body 1 to return to the initial standby position, or directly goes to the next material handling point according to the new task instructions.

[0040] Embodiment 4: In the present invention, referring to Figure 1 - Figure 7 As shown: A material intelligent identification type intelligent transport vehicle system includes an infrared thermal imaging sensor and a millimeter wave radar. The infrared thermal imaging sensor and the millimeter wave radar are respectively connected to a distributed collaborative obstacle avoidance processing unit through signals. The distributed collaborative obstacle avoidance processing unit combines the dynamic window method DWA and the potential field method to evaluate the potential field value of the speed and steering combination that appears in each stage within the dynamic window, select the optimal motion combination, and construct a behavior decision tree to form decision nodes at multiple levels, so that the overall distributed negotiation algorithm and the swarm algorithm are adopted, which is convenient for each vehicle to predict the potential collision risk in advance.

[0041] The side connection of the distributed collaborative obstacle avoidance processing unit is connected with a multi-vehicle communication coordination unit, and the side signal of the multi-vehicle communication coordination unit is connected with a wireless communication unit. The multi-vehicle communication coordination unit is responsible for collecting real-time data on the position, speed, movement direction and task priority from adjacent vehicles, and transmitting this information accurately and quickly to the distributed collaborative obstacle avoidance processing unit, providing a comprehensive data basis for it to make collaborative decisions using the swarm algorithm and distributed negotiation algorithm.

[0042] The multi-vehicle communication coordination unit is used to receive the decision instructions generated by the distributed collaborative obstacle avoidance processing unit and pass these instructions to the drive control processing logic unit to ensure that each vehicle can perform obstacle avoidance and path optimization actions in a timely and accurate manner.

[0043] In a specific solution, when the above-mentioned car is operating, the distributed collaborative obstacle avoidance processing unit quickly starts the obstacle avoidance strategy, that is, first, the dynamic window method and the potential field method are combined to evaluate the potential field value of each possible speed and steering combination in the dynamic window, and the optimal motion combination is selected, so that when encountering a close-range static obstacle, the repulsive force generated by the potential field method prompts the car to avoid it, or actively adjusts the operation through the obstacle avoidance contact component 9. At the same time, the dynamic window method selects the safest and most efficient action within the feasible speed and steering range. Then, through the constructed behavior decision tree, according to the obstacle type (static, dynamic, slow or fast movement, etc.), the car's own state (speed, load, remaining power, etc.) and the global task priority and other decision nodes at multiple levels, a decision is made quickly, so that when encountering other approaching cars, the decision tree determines whether to slow down and wait or adjust the path to avoid according to the speed, direction and task urgency of both parties. Then, the distributed negotiation algorithm and the swarm algorithm are used as a whole to realize multi-vehicle collaboration, so that the multi-vehicle communication coordination unit is responsible for collecting real-time data such as the position, speed, movement direction and task priority from adjacent vehicles, and accurately and quickly transmits this information to the distributed collaborative obstacle avoidance processing unit, providing a comprehensive data basis for its collaborative decision-making using the swarm algorithm and the distributed negotiation algorithm. The swarm algorithm simulates the pheromone exchange mechanism of ant colonies during foraging. Each vehicle leaves "virtual pheromones" during the transportation process like ants, representing the quality of the path. Subsequent vehicles choose a better path based on these pheromones to avoid congestion. The distributed negotiation algorithm allows each vehicle to negotiate and adjust its own driving path and speed in real time when encountering potential collision risks, ensuring the smooth operation of the overall system, and further enabling multiple vehicles to quickly reach a passage order through the distributed negotiation algorithm at the intersection of narrow passages, and pass through in an orderly manner to avoid collisions and congestion.

[0044] The wiring diagram of the visual detection sensor 6, variable frequency drive motor 81, angle adjustment motor 990, laser radar 10, rotating motor box 110, visual sensor and high-definition camera in the present invention is common knowledge in the field, and its working principle is a well-known technology. The model is selected according to the actual use, so the control method and wiring layout of the visual detection sensor 6, variable frequency drive motor 81, angle adjustment motor 990, laser radar 10, rotating motor box 110, visual sensor and high-definition camera will no longer be explained in detail.

[0045] Although the present invention has been described in detail with reference to the aforementioned embodiments, it is still possible for those skilled in the art to modify the technical solutions described in the aforementioned embodiments, or to make equivalent substitutions for some of the technical features therein. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention should be included in the protection scope of the present invention.

Claims

1. A material intelligent identification type intelligent transport vehicle, characterized in that: The invention comprises a transport body (1), wherein a plurality of groups of visual detection sensors (6) and laser radars (10) are equally divided and arranged around the sides of the transport body (1), a rectangular guide rail (7) is installed on the outer peripheral side of the transport body (1), an obstacle avoidance contact assembly (9) is slidably connected inside the rectangular guide rail (7), a drive frequency conversion assembly (8) is installed inside the transport body (1), an active lifting frame support adjustment assembly (5) is installed at the front end of the transport body (1), a platform (3) is installed on the top of the transport body (1), and a material identification and transport assembly (11) is installed on the top of the platform (3); The obstacle avoidance contact assembly (9) comprises a sliding positioning block (91), wherein the sliding positioning block (91) forms two groups of sliding positioning blocks respectively located inside the rectangular guide rail (7) to form a sliding connection, an angle adjustment motor (990) is installed at the side end of the sliding positioning block (91), an output end of the angle adjustment motor (990) is connected to a pulley structure (991), the output end of the pulley structure (991) is rotatably connected to an angle connection rotating column (92), a side end of the angle connection rotating column (92) is fastened to a special-shaped slide (93), and a side end of the special-shaped slide (93) is slidably connected to an adjustable sliding drive A movable saddle (94), the side end of the adjustable sliding drive saddle (94) is installed with a synchronous telescopic column (95), the side end surface of the special-shaped slide (93) is fastened with a fixed block (96), the side end of the angle connecting rotating column (92) is rotatably connected to a synchronous rotating rod (97), the side end of the synchronous rotating rod (97) is fastened to the back surface of the special-shaped slide (93) through a connecting edge block, the side end of the solid block (96) is rotatably connected to a buffer damping member (98), and the side end of the synchronous telescopic column (95) and the side end of the buffer damping member (98) are both fastened to an abutment block (99) through a connecting block.

2. The material intelligent identification type intelligent transport vehicle according to claim 1 is characterized in that: The drive frequency conversion component (8) comprises a frequency conversion drive motor (81), the output end of the frequency conversion drive motor (81) is connected to a speed change gear (82), and the output end of the speed change gear (82) is connected to a wheel (83).

3. The material intelligent identification type intelligent transport vehicle according to claim 1 is characterized in that: The active lifting frame support adjustment component (5) includes an electric push rod (51), and the electric push rod (51) is arranged in two groups. The two groups of electric push rods (51) are symmetrically installed in the internal installation grooves at the side ends of the transport body (1). The side ends of the two groups of electric push rods (51) are both fastened to a rotating arm section (52), and the side ends of the rotating arm section (52) are rotatably connected to a supporting force frame (53).

4. The material intelligent identification type intelligent transport vehicle according to claim 1 is characterized in that: The material identification and handling assembly (11) comprises a rotating motor box (110), the output end of the rotating motor box (110) is connected to an adapter (116), the adapter (116) is configured as a semicircular slotted frame structure, the top of the adapter (116) is connected to a first azimuth rotating structure (112), the output end of the first azimuth rotating structure (112) is connected to a swivel rod (113), and the top side end of the swivel rod (113) is mounted with a second azimuth rotating structure (114).

5. The material intelligent identification type intelligent transport vehicle according to claim 4 is characterized in that: The output end of the second azimuth rotation structure (114) is connected to a transport robot mounting member (115), a robot is mounted on the side end of the transport robot mounting member (115), a visual sensor and a high-definition camera are mounted on the side ends of the robot, and an annular guide groove (111) is mounted on the top surface of the transport body (1), and the first azimuth rotation structure (112) drives the swivel rod (113) to form a rotation adjustment inside the annular guide groove (111) through the adapter (116).

6. The material intelligent identification type intelligent transport vehicle according to claim 5 is characterized by: A support slide column is slidably connected inside the annular guide rail groove (111), and a top of the support slide column is tightly connected to a bottom of the first azimuth rotation structure (112).

7. The material intelligent identification type intelligent transport vehicle according to claim 1 is characterized by: The top side end of the platform (3) is fastened with an anti-fall frame (2), and the left and right ends of the platform (3) are symmetrically mounted with balancing drive guide rods (4).

8. A material intelligent identification type intelligent transport vehicle system, characterized in that: A material intelligent identification type intelligent transport vehicle used to cooperate with any one of claims 1 to 7, comprising an infrared thermal imaging sensor and a millimeter wave radar, wherein the infrared thermal imaging sensor and the millimeter wave radar are respectively connected to a distributed collaborative obstacle avoidance processing unit through signals, and the distributed collaborative obstacle avoidance processing unit combines a dynamic window method and a potential field method to evaluate the potential field value of the speed and steering combination appearing in each stage within the dynamic window, select the optimal motion combination, and construct a behavior decision tree to form decision nodes at multiple levels, so that the overall distributed negotiation algorithm and the swarm algorithm are adopted, so that each vehicle can predict potential collision risks in advance.

9. The material intelligent identification type intelligent transport vehicle system according to claim 8 is characterized in that: The side end of the distributed collaborative obstacle avoidance processing unit is connected to a multi-vehicle communication coordination unit, and the side end signal of the multi-vehicle communication coordination unit is connected to a wireless communication unit. The multi-vehicle communication coordination unit is responsible for collecting real-time data on the position, speed, movement direction and task priority from adjacent vehicles, and accurately and quickly transmits this information to the distributed collaborative obstacle avoidance processing unit, providing a comprehensive data basis for it to use the swarm algorithm and distributed negotiation algorithm for collaborative decision-making.

10. The material intelligent identification type intelligent transport vehicle system according to claim 9 is characterized in that: The multi-vehicle communication coordination unit is used to receive decision instructions generated by the distributed collaborative obstacle avoidance processing unit, and pass these instructions to the drive control processing logic unit to ensure that each vehicle can perform obstacle avoidance and path optimization actions in a timely and accurate manner.

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