An intelligent material identification type intelligent handling trolley and system

Abstract

The present invention discloses an intelligent material recognition type intelligent handling trolley and system, which relates to the technical field of transfer equipment. It includes a handling body, and multiple groups of visual detection sensors and lidar are equally divided and arranged around the side of the handling body. With the cooperation of the material recognition and handling component and the obstacle avoidance and contact component, the handling body can bypass obstacles in the smallest space occupancy and the safest way, greatly improving the obstacle avoidance efficiency and safety during the handling process, reducing the impact on the operation of the trolley when facing a dynamically changing environment, such as the sudden appearance of other vehicles or personnel, the temporary change of the material stacking position, etc., being able to predict risks in advance, make timely responses, avoid collision accidents, ensure the continuity of the handling operation, and reduce the loss of logistics efficiency caused by obstacle avoidance delays.

Description

Technical Field

[0001] The present invention relates to the technical field of transfer equipment, and particularly to an intelligent material recognition type intelligent handling trolley and system. Background Art

[0002] The current demand of existing enterprises for logistics automation is increasing day by day. In logistics scenarios such as factories and warehouses, the traditional manual material handling method is inefficient, error-prone, and the labor cost is constantly rising. As a key equipment of the automated logistics system, the intelligent handling trolley can realize the automatic transportation of materials, improve the logistics efficiency and accuracy.

[0003] Currently, when the traditional path planning algorithm faces a dynamically changing environment, such as the sudden appearance of other vehicles or personnel, the temporary change of the material stacking position, etc., it cannot adjust the path in time. When facing multiple consecutive obstacles or obstacles in a narrow passage, the simple obstacle avoidance algorithm may cause the trolley to frequently change its direction, resulting in a tortuous driving path, causing traffic congestion and high collision risks when multiple handling trolleys operate simultaneously, and increasing the transportation time. Therefore, it is necessary to propose an intelligent material recognition type intelligent handling trolley and system. Summary of the Invention

[0004] The purpose of the present invention is to provide an intelligent material recognition type intelligent handling trolley and system to solve the problems proposed in the above background art that when the traditional path planning algorithm faces a dynamically changing environment, such as the sudden appearance of other vehicles or personnel, the temporary change of the material stacking position, etc., it cannot adjust the path in time. When facing multiple consecutive obstacles or obstacles in a narrow passage, the simple obstacle avoidance algorithm may cause the trolley to frequently change its direction, resulting in a tortuous driving path, causing traffic congestion and high collision risks when multiple handling trolleys operate simultaneously, and increasing the transportation time.

[0005] To achieve the above purpose, the present invention provides the following technical solution: An intelligent material recognition type intelligent handling trolley, including a handling body, a plurality of vision detection sensors and lidars are equally divided and arranged around the side of the handling body, a rectangular guide rail is installed on the outer periphery of the handling body, an obstacle avoidance contact component is slidably connected inside the rectangular guide rail, a drive frequency conversion component is installed inside the handling body, an active lifting support adjustment component is installed at the front end of the handling body, a platform is installed on the top of the handling body, and a material recognition and handling component is installed on the top of the platform;

[0006] The cam is fixedly mounted on the support frame, and the cam is connected to the support frame by a toothed connection, and the toothed connection is fixedly mounted on the support frame.

[0007] Preferably, the drive frequency conversion component includes 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 mounting grooves at the side ends of the transporting body. The side ends of the two groups of electric push rods are fastened to 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 set 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 robot 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 robot, 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 support slide column is slidably connected inside the annular guide groove, and the top of the support slide column is tightly connected to the bottom of the first azimuth rotation structure.

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

[0013] An intelligent material recognition type intelligent handling trolley system, including 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 and the potential field method to evaluate the potential field values of the speed and steering combinations that appear in each stage within the dynamic window, selects the optimal motion combination, and constructs a behavior decision tree to form decision nodes at multiple levels, enabling the overall use of a distributed negotiation algorithm and a swarm algorithm to facilitate each trolley to anticipate potential collision risks in advance.

[0014] Preferably, a multi-vehicle communication coordination unit is connected to the side end of the distributed collaborative obstacle avoidance processing unit, and a wireless communication unit is signal-connected to the side end of the multi-vehicle communication coordination unit. The multi-vehicle communication coordination unit is responsible for collecting real-time data on the position, speed, motion direction, and task priority of adjacent trolleys, and accurately and quickly transmitting 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.

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

[0016] Compared with the prior art, the beneficial effects of the present invention are:

[0017] 1. In the present invention, through the cooperation of the material recognition and handling component and the obstacle avoidance and contact component, during the overall forward movement, the obstacle avoidance and contact component continuously plays a role. When encountering an obstacle, the lidar and the vision detection sensor will immediately feedback the obstacle information to the drive control processing logic unit, and the drive control processing logic unit quickly activates the obstacle avoidance strategy. When encountering irregular obstacles in a narrow passage, it can flexibly extend or contract the synchronous telescopic column, cooperate with the angle adjustment, and enable the handling body to bypass the obstacle in the smallest space occupation and the safest way, greatly improving the obstacle avoidance efficiency and safety during the handling process, reducing the impact on the operation of the trolley when facing a dynamically changing environment, such as the sudden appearance of other vehicles or personnel, the temporary change of the material stacking position, etc., being able to anticipate risks in advance, make timely responses, 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 distributed cooperative obstacle avoidance processing unit quickly activates the obstacle avoidance strategy. First, by combining the dynamic window method and the potential field method, the potential field values of each possible speed and steering combination are evaluated within the dynamic window, and the optimal motion combination is selected. When encountering a nearby static obstacle, the repulsive force generated by the potential field method prompts the trolley to avoid it, or the active adjustment operation is carried out through the obstacle avoidance contact component 9. At the same time, the dynamic window method screens out the safest and most efficient actions within the feasible speed and steering range. Then, through the constructed behavior decision tree, based on multiple levels of decision-making nodes such as the type of obstacle (static, dynamic, slow or fast moving, etc.), the state of the trolley itself (speed, load, remaining power, etc.), and the global task priority, a quick decision is made. When encountering other trolleys approaching, the decision tree determines whether to decelerate and wait or adjust the path to avoid according to the speeds, directions, and task urgency of both sides. Then, the distributed negotiation algorithm and the ant colony algorithm are used overall to achieve multi-vehicle cooperation. The multi-vehicle communication coordination unit is responsible for collecting real-time data such as the positions, speeds, moving directions, and task priorities of adjacent trolleys, and accurately and quickly transmitting this information to the distributed cooperative obstacle avoidance processing unit, providing a comprehensive data basis for its cooperative decision-making using the ant colony algorithm and the distributed negotiation algorithm. The ant colony algorithm simulates the pheromone communication mechanism in the foraging process of an ant colony. Each trolley leaves "virtual pheromones" like ants during the transportation process, representing the quality of the path. Subsequent trolleys select a better path based on these pheromones to avoid congestion. The distributed negotiation algorithm allows each trolley to negotiate and adjust its driving path and speed in real time when encountering potential collision risks, ensuring the smooth operation of the overall system. Further, at the intersection of narrow channels, multiple trolleys quickly reach the passing order through the distributed negotiation algorithm and pass through in sequence to avoid collisions and congestion. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 is a front view structural schematic diagram of an intelligent material identification type intelligent handling trolley of the present invention;

[0020] Figure 2 is a side view structural schematic diagram of an intelligent material identification type intelligent handling trolley of the present invention;

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

[0022] Figure 4 is in an intelligent material identification type intelligent handling trolley of the present invention Figure 3 is an enlarged structural schematic diagram at A;

[0023] Figure 5 is in an intelligent material identification type intelligent handling trolley of the present invention Figure 3Schematic diagram of the enlarged structure at position B;

[0024] Figure 6 Schematic diagram of the structure of the active lifting frame support adjustment component and the material identification and handling component in an intelligent material identification type intelligent handling cart of the present invention;

[0025] Figure 7 Schematic diagram of the structure of the material identification and handling component in an intelligent material identification type intelligent handling cart of the present invention;

[0026] Figure 8 Schematic diagram of the operation process in an intelligent material identification type intelligent handling cart system of the present invention.

[0027] In the figure: 1, handling body; 2, anti-falling 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 stress 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 sliding frame; 94, adjusting sliding drive saddle; 95, synchronous telescopic column; 96, fixing block; 97, synchronous rotating rod; 98, buffer damping component; 99, abutting block; 990, angle adjustment motor; 991, pulley structure; 10, lidar; 11, material identification and handling component; 110, rotating motor box; 111, annular guide rail groove; 112, first azimuth rotation structure; 113, rotating joint rod; 114, second azimuth rotation structure; 115, handling manipulator mounting part; 116, adapter. Detailed implementation manners

[0028] Next, the technical solutions in the embodiments of the present invention will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present invention.

[0029] Embodiment 1: In the present invention, refer to Figure 1 - Figure 8Shown: An intelligent material recognition type intelligent handling trolley, including a handling body 1, a plurality of vision detection sensors 6 and lidar 10 are equally divided and surrounded on the side of the handling body 1, a rectangular guide rail 7 is installed on the outer peripheral side of the handling 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 handling body 1, a driving lifting support adjustment component 5 is installed at the front end of the handling body 1, a platform 3 is installed on the top of the handling body 1, and a material recognition and handling component 11 is installed on the top of the platform 3;

[0030] The obstacle avoidance contact component 9 includes sliding positioning blocks 91, two sliding positioning blocks 91 are formed and are respectively slidably connected inside the rectangular guide rail 7, an angle adjustment motor 990 is installed at the side end of the sliding positioning block 91, the output end of the angle adjustment motor 990 is connected with a pulley structure 991, the output end of the pulley structure 991 is rotatably connected with an angle connecting rotating column 92, a special-shaped sliding frame 93 is fixedly connected to the side end of the angle connecting rotating column 92, an adjustment sliding driving saddle 94 is slidably connected to the side end of the special-shaped sliding frame 93, a synchronous telescopic column 95 is installed at the side end of the adjustment sliding driving saddle 94, a fixing block 96 is fixedly connected to the side surface of the special-shaped sliding frame 93, a synchronous rotating rod 97 is rotatably connected to the side end of the angle connecting rotating column 92, the side end of the synchronous rotating rod 97 is fixedly connected to the back surface of the special-shaped sliding frame 93 through a connecting side block, a buffer damping member 98 is rotatably connected to the side end of the fixing block 96, and abutting blocks 99 are fixedly connected to the side ends of the synchronous telescopic column 95 and the buffer damping member 98 through connecting blocks.

[0031] A platform 3 is installed on the top of the handling body 1, a falling prevention frame 2 is fixedly connected to the side end of the top of the platform 3, and balance driving guide rods 4 are symmetrically installed at 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 circuit The machine 990 receives the instruction 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 retract. 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, buffering the impact of the collision, ensuring 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. During operation, the whole can flexibly extend or retract the synchronous telescopic column 95 when encountering irregular obstacles in narrow passages, and cooperate with the angle adjustment to make the transport body 1 By bypassing obstacles with the smallest space occupation and the safest way, the obstacle avoidance efficiency and safety during the transportation process are greatly improved, and the impact on the operation of the vehicle in the face of dynamically changing environments, such as the sudden appearance of other vehicles or personnel, temporary changes in the material stacking location, etc., is reduced. Risks can be predicted in advance, and responses can be made in time to avoid collision accidents, thereby ensuring the continuity of transportation operations and reducing 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 mounting groove at the side end of the transport body 1. The side ends of the two groups of electric push rods 51 are fastened to the rotating arm section 52, and the side ends of the rotating arm section 52 are rotatably connected to the support force frame 53.

[0035] In a specific solution, after the above path planning is completed, the driving frequency conversion component 8 is started according to the planned path. The variable frequency drive motor 81 precisely adjusts the transmission ratio of the variable speed gear 82 according to the instruction, drives the driving wheel 83 to accelerate smoothly, and enables the handling body 1 to move forward along the predetermined path. When handling some large or heavy materials, the active lifting frame support adjustment component 5 is started, so that the two electric push rods 51 extend synchronously according to the instruction of the drive control processing logic unit, drive the rotating arm section 52 to rotate. The rotating arm section 52 rotates flexibly around the pin shaft, adjusts the support stress frame 53 to a suitable height and angle, assists the handling manipulator to stably lift the material, shares the load pressure of the manipulator, and ensures the safety and reliability of the handling process.

[0036] Embodiment 3. In the present invention, according to Figure 1 , Figure 2 , Figure 6 and Figure 7 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 with a transfer member 116. The transfer member 116 is set as a semi-circular grooved frame structure. The top of the transfer member 116 is connected with a first azimuth rotation structure 112. The output end of the first azimuth rotation structure 112 is connected with a joint rod 113. The top side end of the joint rod 113 is installed with a second azimuth rotation structure 114.

[0037] The output end of the second azimuth rotation structure 114 is connected with a handling manipulator mounting member 115. The side end of the handling manipulator mounting member 115 is installed with a manipulator. The side ends of the manipulator are respectively installed with a visual sensor and a high-definition camera. The top surface of the handling body 1 is installed with an annular guide rail groove 111. The first azimuth rotation structure 112 drives the joint rod 113 to form a rotation adjustment inside the annular guide rail groove 111 through the transfer member 116.

[0038] A support sliding column is slidably connected inside the annular guide rail groove 111. The top of the support sliding column is firmly connected with the bottom of the first azimuth rotation structure 112.

[0039] In a specific solution, when performing the above operations, the material identification and handling component 11 located at the top of the handling body 1 starts to operate. The rotating motor box 110 drives the adapter 116, causing the adapter 116 to drive the first azimuth rotation structure 112 to form an operation, enabling it to drive the turntable rod 113 to rotate flexibly with the assistance of the annular guide groove 111 and adjust to a suitable azimuth so that the manipulator can better approach the target material. The second azimuth rotation structure 114 further precisely controls the posture of the manipulator on the handling manipulator mounting 115. Combining the visual sensor and the high-definition camera on the side of the manipulator, the material is accurately identified. The visual features such as the appearance shape, color, texture, and barcode of the material are captured by the visual sensor and the high-definition camera, and by comparing with the preset material database, the material type, size, and grasping points are quickly determined. When the handling body 1 reaches the target material position, the manipulator of the material identification and handling component 11 precisely grasps the material under the fine control of the first azimuth rotation structure 112 and the second azimuth rotation structure 114. During the grasping process, the manipulator automatically adjusts the grasping force and the opening and closing degree of the fingers according to the weight and shape of the material to ensure that the material is firmly grasped. Then, the handling body 1 transports the material to the designated storage point according to the planned path, completing a material handling task. After the material is successfully delivered to the designated storage point, the manipulator steadily places the material and then releases the grasping. After that, the drive frequency conversion component 8 of the handling body 1 controls the handling 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 in the figure: A material intelligent identification type intelligent handling trolley 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 cooperative obstacle avoidance processing unit through signals. The distributed cooperative obstacle avoidance processing unit combines the Dynamic Window Approach (DWA) and the potential field method to evaluate the potential field values of the speed and steering combinations that appear in each stage within the dynamic window, selects the optimal motion combination, and constructs a behavior decision tree to form multiple levels of decision nodes, enabling the overall adoption of a distributed negotiation algorithm and a swarm algorithm to facilitate each trolley to anticipate potential collision risks in advance.

[0041] A multi-vehicle communication coordination unit is connected to the side of the distributed cooperative obstacle avoidance processing unit. The side of the multi-vehicle communication coordination unit is signal-connected to a wireless communication unit. The multi-vehicle communication coordination unit is responsible for collecting real-time data on the position, speed, motion direction, and task priority of adjacent trolleys, and accurately and quickly transmitting this information to the distributed cooperative obstacle avoidance processing unit, providing a comprehensive data basis for its collaborative decision-making using the swarm algorithm and the distributed negotiation algorithm.

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

[0043] In a specific solution, when the above small vehicle performs operations, the distributed cooperative obstacle avoidance processing unit quickly activates the obstacle avoidance strategy. That is, first, combining the dynamic window method and the potential field method, the potential field values of each possible speed and steering combination are evaluated within the dynamic window, and the optimal motion combination is selected. When encountering a static obstacle at a close distance, the repulsive force generated by the potential field method prompts the small vehicle to avoid it, or the active adjustment operation is carried out through the obstacle avoidance contact component 9. At the same time, the dynamic window method screens out the safest and most efficient actions within the feasible speed and steering range. Then, through the constructed behavior decision tree, based on multiple levels of decision nodes such as obstacle type (static, dynamic, slow-moving or fast-moving, etc.), the state of the small vehicle itself (speed, load, remaining power, etc.), and the global task priority, a quick decision is made. When encountering other approaching small vehicles, the decision tree judges whether to decelerate and wait or adjust the path to avoid according to the speeds, directions, and task urgencies of both sides. Then, the distributed negotiation algorithm and the ant colony algorithm are adopted as a whole to achieve multi-vehicle cooperation. The multi-vehicle communication coordination unit is responsible for collecting real-time data such as the positions, speeds, movement directions, and task priorities of adjacent small vehicles, and transmitting this information accurately and quickly to the distributed cooperative obstacle avoidance processing unit, providing a comprehensive data basis for its cooperative decision-making using the ant colony algorithm and the distributed negotiation algorithm. The ant colony algorithm simulates the pheromone communication mechanism in the foraging process of an ant colony. Each small vehicle leaves "virtual pheromones" like ants during the transportation process, representing the quality of the path. Subsequent small vehicles select a better path based on these pheromones to avoid congestion. The distributed negotiation algorithm allows each small vehicle to negotiate and adjust its own driving path and speed in real time when encountering a potential collision risk to ensure the smooth operation of the overall system. Further, at the intersection of narrow channels, multiple small vehicles quickly reach the passing order through the distributed negotiation algorithm and pass through in turn in an orderly manner to avoid collisions and congestion.

[0044] The wiring diagrams of the visual detection sensor 6, the variable frequency drive motor 81, the angle adjustment motor 990, the lidar 10, the rotation motor box 110, the visual inspection sensor, and the high-definition camera in the present invention belong to the well-known common sense in the art. Their working principles are already well-known technologies, and their models are selected according to actual use. Therefore, the control methods and wiring arrangements of the visual detection sensor 6, the variable frequency drive motor 81, the angle adjustment motor 990, the lidar 10, the rotation motor box 110, the visual inspection sensor, and the high-definition camera will not be explained in detail.

[0045] Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art can still modify the technical solutions described in the foregoing embodiments, or perform equivalent replacements on some of the technical features. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principle of the present invention shall be included within the protection scope of the present invention.

Claims

1. An intelligent material identification type intelligent handling trolley, characterized in that: It includes a handling body (1), on the side of which multiple groups of visual detection sensors (6) and lidar (10) are arranged equidistantly around. A rectangular guide rail (7) is installed on the outer circumference of the handling 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 handling body (1). An active lifting frame support adjustment component (5) is installed at the front end of the handling body (1). A platform (3) is installed on the top of the handling body (1). A material identification and handling component (11) is installed on the top of the platform (3). The obstacle avoidance contact component (9) includes a sliding positioning block (91). Two sliding positioning blocks (91) are formed and are respectively slidably connected inside the rectangular guide rail (7). An angle adjustment motor (990) is installed at the side end of the sliding positioning block (91). The output end of the angle adjustment motor (990) is connected with a pulley structure (991). The output end of the pulley structure (991) is rotatably connected with an angle connection rotating column (92). An irregular sliding frame (93) is tightly connected to the side end of the angle connection rotating column (92). An adjustment sliding driving saddle (94) is slidably connected to the side end of the irregular sliding frame (93). A synchronous telescopic column (95) is installed at the side end of the adjustment sliding driving saddle (94). A fixing block (96) is tightly connected to the side surface of the irregular sliding frame (93). A synchronous rotating rod (97) is rotatably connected to the side end of the angle connection rotating column (92). The side end of the synchronous rotating rod (97) is tightly connected to the back surface of the irregular sliding frame (93) through a connecting side block. A buffer damping member (98) is rotatably connected to the side end of the fixing block (96). The side ends of the synchronous telescopic column (95) and the buffer damping member (98) are both tightly connected with an abutting block (99) through a connecting block.

2. The intelligent material handling trolley with intelligent material recognition according to claim 1, wherein: The driving frequency conversion component (8) includes a frequency conversion driving motor (81). The output end of the frequency conversion driving motor (81) is connected with a speed change gear (82). The output end of the speed change gear (82) is connected with a wheel (83).

3. The intelligent material handling trolley with intelligent material recognition according to claim 1, characterized in that: The active lifting frame support adjustment component (5) includes electric push rods (51). There are two electric push rods (51), and the two electric push rods (51) are symmetrically installed in the installation grooves inside the side ends of the handling body (1). The side ends of the two electric push rods (51) are both tightly connected with rotating arm joints (52). The side ends of the rotating arm joints (52) are rotatably connected with a support stress frame (53).

4. The intelligent material handling trolley with intelligent material identification according to claim 1, wherein: The material identification and handling assembly (11) includes a rotating motor box (110), an 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 rotating joint rod (113), and the top side end of the rotating joint rod (113) is mounted with a second azimuth rotating structure (114).

5. The intelligent material handling trolley with intelligent material recognition according to claim 4, 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), and a visual sensor and a high-definition camera are mounted on the side ends of the robot, respectively. 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 intelligent material handling trolley with intelligent material identification according to claim 5, characterized in that: A supporting slide column is slidably connected inside the annular guide rail groove (111), and a top of the supporting slide column and a bottom of the first azimuth rotation structure (112) are tightly connected.

7. The intelligent material handling trolley with intelligent material identification according to claim 1, wherein: 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. An intelligent material recognition type intelligent handling trolley system, characterized in that: A material intelligent identification intelligent transport vehicle used to cooperate with any one of claims 1 to 7 above, 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 the dynamic window method and the 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 to facilitate each vehicle to predict potential collision risks in advance.

9. The intelligent material identification type intelligent handling trolley system according to claim 8, characterized in that: The side end connection of the distributed collaborative obstacle avoidance processing unit is set with a multi-vehicle communication coordination unit, and the side end 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 use the swarm algorithm and distributed negotiation algorithm for collaborative decision-making.

10. The intelligent material handling trolley system with intelligent material identification according to claim 9, 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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