AGV trolley for spandex production and control method

Abstract

The invention relates to the technical field of spandex production, in particular to an AGV trolley for spandex production and a control method, and solves the problems that in the prior art, an AGV trolley is low in flexibility and safety coefficient, the AGV trolley comprises a trolley body, a visual assembly is arranged on the trolley body, the visual assembly is sleeved with a transparent cover, and a cleaning assembly is arranged on the outer side of the transparent cover; the lower part of the vehicle body is movably connected with a shovel-shaped seat, the vehicle body is connected with a brake switch, and the brake switch corresponds to the tail end of the shovel-shaped seat. The automatic braking device has the beneficial effects that the manufacturing safety and reliability of the AGV trolley are enhanced, when the trolley encounters an accidental obstacle or person in the running process, the shovel-shaped base can trigger the brake switch in time, power supply is cut off, the trolley body is lifted through cooperation of the insertion plate and the inclined face, and reliable mechanical braking is achieved. And through a dual monitoring mechanism of the visual assembly and the brake switch, quick response and accurate control on the surrounding environment are realized.

Description

Technical Field

[0001] The present invention relates to the technical field of spandex production, and particularly to an AGV cart for spandex production and a control method therefor. Background Art

[0002] In the field of spandex production, the efficient and safe transportation of materials is of crucial importance. The traditional material transportation methods mainly rely on manual operation of forklifts or handcarts. This method is not only inefficient and easily affected by human factors, but also has many safety hazards in the specific environment of the spandex workshop. In recent years, with the development of automation technology, AGV carts have gradually been introduced into the spandex production workshop to improve the efficiency and safety of material handling. The AGV cart is fully called an automated guided vehicle, which travels along a preset path through electromagnetic, optical or radio frequency identification and other guiding devices, and has safety protection and various transfer functions. In the spandex industry, multiple carts run between multiple production lines and use AI technology for efficient resource scheduling and coordination.

[0003] For example, the patent with the publication number CN112937728A discloses an automatic loading and unloading handling cart with an anti-overturning function, including a telescopic fork, an AGV cart and a clamping device. The telescopic fork includes a base, a driving device and a fork. The base is installed on the upper part of the AGV cart through bolts. The driving device and the fork are installed on the base, and the driving device drives the fork to perform one-way or two-way telescoping for picking and placing stacks of materials; the clamping device is installed at the bottom of the AGV cart.

[0004] Although the above-mentioned handling cart can achieve automatic transportation, there are still some significant problems with the AGV cart. On the one hand, the design of the AGV cart is relatively bulky and lacks maneuverability. It usually needs to rely on fixed tracks of overhead rails and ground rails for driving, which greatly limits the application freedom of the AGV cart in the complex and changeable layout of the spandex production workshop. On the other hand, the radar detection system of the existing AGV cart is not sensitive enough. In the face of sudden situations such as the sudden appearance of staff, it cannot quickly make accurate judgments and effective braking. Once the staff fails to notice and avoid in time, a collision accident is very likely to occur. In addition, the existing artificial intelligence maturity is relatively low. During actual operation, situations such as misjudgment and delay of the visual analysis system may occur, which may cause the AGV cart to fail to identify obstacles in time and accurately, thereby affecting its normal operation and safety performance. In terms of the safety protection mechanism, the safety guarantee measures of the existing AGV cart are relatively single, mostly relying on traditional braking systems. When the visual system or the radar system fails, there is a lack of effective redundant braking means, and it is difficult to ensure timely braking in various emergencies, resulting in the AGV cart for spandex production being difficult to meet the urgent needs of modern spandex production enterprises for an efficient and reliable material transportation system in terms of flexibility and safety factor. Summary of the Invention

[0005] The present invention provides an AGV cart for spandex production and a control method, which solves the problems of low flexibility and safety factor of AGV carts in the prior art.

[0006] The technical solution of the present invention is realized as follows: An AGV cart for spandex production includes a vehicle body, on which a vision component is provided. A transparent cover is sleeved on the vision component, and a cleaning component is provided outside the transparent cover; a shovel-shaped seat is movably connected to the lower part of the vehicle body, and a braking switch is connected to the vehicle body, and the braking switch corresponds to the tail end of the shovel-shaped seat. The vision component is used to monitor the road conditions ahead in real time during the movement of the AGV cart, providing a basis for the navigation and obstacle avoidance of the cart; the transparent cover plays a role in protecting vision elements such as cameras, preventing dust, fibers and other impurities from adhering and affecting the imaging quality; the cleaning component is used to clean its surface regularly to ensure that the vision component can always obtain clear image information and improve the accuracy of the vision component's judgment of obstacles; when the vision component fails to judge an obstacle, the shovel-shaped seat contacts the obstacle, and the obstacle pushes the shovel-shaped seat to move relative to the vehicle body and contact the braking switch, disconnecting the driving power supply of the AGV cart and simultaneously executing a braking command; the dual protection of the vision component and the shovel-shaped seat improves the safety of the AGV cart.

[0007] The shovel-shaped seat includes an outer frame, and the outer frame is of a C-shaped structure. After the shovel-shaped seat is connected to the vehicle body, one end of the vehicle body is located inside the C-shaped structure; an inclined insertion plate is provided inside the C-shaped structure, and an inclined surface is provided at the lower part of the vehicle body, and the insertion plate cooperates with the inclined surface. When the vision component fails and the AGV cart continues to travel, the obstacle contacts the shovel-shaped seat, and the shovel-shaped seat can, through the cooperation action with the inclined surface at the lower part of the vehicle body, lift the vehicle body and make the front wheels leave the ground, thereby achieving reliable braking.

[0008] A leather sleeve is provided on the outside of the outer frame. The leather sleeve can increase the softness of the outer surface of the outer frame, avoid scratching the staff by the edges and corners of the shovel-shaped seat, and improve safety.

[0009] A fixed block is provided on the vehicle body, and the fixed block is connected to the shovel-shaped seat through a tension spring. In the initial state, the fixed block pulls up the shovel-shaped seat through the tension spring, making the shovel-shaped seat leave the ground and enabling the AGV cart to travel normally.

[0010] A shrapnel is provided on the vehicle body, and the braking switch is arranged on the shrapnel, and the braking switch corresponds to the end of the outer frame. When the outer frame contacts an obstacle, the outer frame will slide backward, and the end of the outer frame will press the braking switch on the shrapnel, triggering the subsequent braking control program.

[0011] The visual component includes a connection base, which is connected to the vehicle body. A camera and a connection flange are provided on the connection base. The transparent cover is rotatably connected to the connection flange, and the camera is located inside the transparent cover. It is responsible for capturing external image information and transmitting it to the control component for analysis and processing to determine whether there are obstacles in front of the AGV cart.

[0012] The cleaning component includes a wiper strip and a motor. The wiper strip is connected to the connection flange through an elastic rod, and the wiper strip is attached to the outer surface of the transparent cover; the motor is arranged on the vehicle body, and the output end of the motor is connected to the transparent cover. The motor drives the transparent cover to rotate relative to the connection flange, so as to clean the dust and stains on the surface of the transparent cover with the help of the wiper strip.

[0013] A water supply component is arranged inside the vehicle body. The water supply component includes a water tank and a water pump. The water tank is connected to the water pump, and the water pump is communicated with a spray nozzle through a water supply pipe. The spray nozzle corresponds to the position of the transparent cover. The water in the water tank is transported to the spray nozzle by the water pump and then sprayed onto the transparent cover. Combined with the rotation of the transparent cover driven by the motor, the comprehensive cleaning function of the transparent cover is realized.

[0014] A mobile power source, a control component and a driving component are arranged on the vehicle body. The driving component is connected to the wheels at the bottom of the vehicle body; the driving component, the braking switch, the motor and the camera are all connected to the control component, and the mobile power source is connected to the control component. The control component centrally controls and coordinates each electrical component; the mobile power source provides stable power support for the control component and other electrical components.

[0015] A control method for an AGV cart used in spandex production as described in claim 9, characterized by including the following processes: S1. During the movement of the AGV cart, the control component determines whether there are obstacles in front of the AGV cart through the visual component; S2. When the visual component determines that there are obstacles in front of the AGV cart, the control component controls the driving component to pause for one hundred milliseconds, and then re-determines whether there are obstacles in front of the AGV cart until the visual component determines that there are no obstacles in front of the AGV cart, and the AGV cart continues to move; S3. The control component determines whether the braking switch is pressed; S4. When the braking switch is not pressed, S1 and S2 are performed again; when the braking switch is pressed, the control component controls the driving component to disconnect from the mobile power source, and at the same time, the shovel-shaped seat lifts the vehicle body through the cooperation of the plug board and the inclined plane, so that the front wheels of the vehicle body leave the ground; S5. A fault alarm is issued to prompt the on-site staff to check and handle it to ensure the safe operation of the cart.

[0016] The beneficial effects of the present invention are as follows: 1. Enhance the specified safety and reliability of the AGV vehicle. When the vehicle encounters unexpected obstacles or personnel during driving, the shovel-shaped seat can trigger the braking switch in time, cut off the power supply, and lift the vehicle body through the cooperation of the insertion plate and the inclined plane to achieve reliable mechanical braking. Through the dual monitoring mechanism of the vision component and the braking switch, rapid response and precise control of the surrounding environment are realized. Whether facing sudden personnel intrusion or other obstacles, the vehicle can quickly make responses such as pausing and braking, adapt to the changing needs of the production site, and improve production efficiency and the smoothness of logistics transportation. In addition, the setting of the leather sleeve also avoids secondary safety accidents caused by scratching the staff by the edges and corners of the shovel-shaped seat.

[0017] 2. Improve the reliability and clarity of the vision component. By setting the transparent cover and the cleaning component, the influence of dust and fibers in the spandex production environment on the imaging quality of the camera is effectively solved. The motor drives the transparent cover to rotate, and cooperates with the scraping strip and the water spray nozzle to regularly clean the transparent cover. Ensure that the camera can always obtain clear image information, thereby improving the path recognition and obstacle detection capabilities of the vehicle, reducing operation errors caused by visual obstruction, and improving production efficiency and transportation accuracy. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] In order to more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the following will briefly introduce the drawings required for use in the description of the embodiments or the prior art. Obviously, the following drawings are only some embodiments of the present invention. For those of ordinary skill in the art, without creative efforts, other drawings can also be obtained based on these drawings.

[0019] Figure 1 It is a schematic structural diagram of an AGV vehicle for spandex production according to the present invention; Figure 2 It is a schematic structural diagram of the vehicle body; Figure 3 It is a schematic structural diagram of the camera; Figure 4 It is a schematic structural diagram of the scraping strip; Figure 5 It is a schematic structural diagram of the transparent cover; Figure 6 It is a schematic structural diagram of the shovel-shaped seat; Figure 7 It is a schematic control flow diagram.

[0020] In the figure: 1. Motor; 2. Vehicle body; 3. Vision component; 4. Cleaning component; 5. Transparent cover; 6. Spade-shaped seat; 7. Fixed block; 8. Tensile spring; 9. Elastic sheet; 10. Brake switch;; 22. Inclined plane; 23. Water spray nozzle; 31. Outer shell; 32. Sealing ring; 33. Camera; 41. Scraping strip; 42. Elastic rod; 51. Turntable; 52. Annular glass; 61. Outer frame; 62. Insertion plate; 63. Leather sheath. Detailed implementation mode

[0021] The following will clearly and completely describe the technical solutions in the embodiments of the present invention with reference to 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.

[0022] Embodiment 1, as Figure 1 shown, an AGV cart for spandex production includes a vehicle body 2, a vision component 3 is provided on the vehicle body 2, a transparent cover 5 is sleeved on the vision component 3, and a cleaning component 4 is provided outside the transparent cover 5; a spade-shaped seat 6 is movably connected to the lower part of the vehicle body 2, a brake switch 10 is connected to the vehicle body 2, and the brake switch 10 corresponds to the tail end position of the spade-shaped seat 6. The vision component 3 is used to monitor the road conditions ahead in real time during the movement of the AGV cart, providing a basis for the navigation and obstacle avoidance of the cart; the transparent cover 5 plays a role in protecting vision elements such as cameras, preventing the attachment of dust, fibers and other impurities from affecting the imaging quality; the cleaning component 4 is used to regularly clean the surface of the transparent cover 5 to ensure that the vision component can always obtain clear image information and improve the accuracy of the vision component 3 in judging obstacles; when the vision component 3 fails to judge an obstacle, the spade-shaped seat 6 contacts the obstacle, and the obstacle pushes the spade-shaped seat 6 to move relative to the vehicle body 2 and contact the brake switch 10, disconnecting the driving power supply of the AGV cart and simultaneously executing a braking command; the dual protection of the vision component 3 and the spade-shaped seat 6 improves the safety of the AGV cart.

[0023] Further, as Figure 2 、 Figure 6As shown in the figure, the shovel-shaped seat 6 includes an outer frame 61. The outer frame 61 is of a C-shaped structure. After the shovel-shaped seat 6 is connected to the vehicle body 2, one end of the vehicle body 2 is located inside the C-shaped structure. An inclined insertion plate 62 is provided inside the C-shaped structure, and an inclined surface 22 is provided at the lower part of the vehicle body 2. The insertion plate 62 cooperates with the inclined surface 22. When the vision component 3 fails, the AGV vehicle continues to move towards the obstacle, causing the front end of the shovel-shaped seat 6 to contact the obstacle, and then causing relative movement between the shovel-shaped seat 6 and the vehicle body 2. When the shovel-shaped seat 6 moves towards the vehicle body 2, the inclined surface 22 is used to guide the shovel-shaped seat 6 to slide downward below the vehicle body 2 until the shovel-shaped seat 6 contacts the ground, causing the shovel-shaped seat 6 to lift the vehicle body 2 and the front wheels to leave the ground, thereby realizing reliable braking of the AGV vehicle and further improving safety.

[0024] Furthermore, a leather sleeve 63 is provided on the outer side of the outer frame 61. The leather sleeve 63 can increase the softness of the outer surface of the outer frame 61, prevent the edges and corners of the shovel-shaped seat 6 from scratching the staff, and improve safety.

[0025] Furthermore, a fixing block 7 is provided on the vehicle body 2. The fixing block 7 is connected to the shovel-shaped seat 6 through a tension spring 8. Specifically, the tension spring 8 is connected to the upper side of the outer frame 61. In the initial state, the fixing block 7 pulls up the shovel-shaped seat 6 through the tension spring 8, causing the shovel-shaped seat 6 to leave the ground and enabling the AGV vehicle to travel normally. In this embodiment, shovel-shaped seats 6 are provided on both the front and rear sides of the vehicle body 2, that is, braking can be achieved when the AGV vehicle encounters an obstacle during forward or backward movement, improving the safety of the vehicle.

[0026] Furthermore, a spring piece 9 is provided on the vehicle body 2, and a braking switch 10 is arranged on the spring piece 9. The braking switch 10 corresponds to the end position of the outer frame 61. When the outer frame 61 contacts an obstacle, the outer frame 61 will slide backward, and the end of the outer frame 61 will press the braking switch 10 on the spring piece 9 to trigger the subsequent braking control program.

[0027] Embodiment 2. On the basis of Embodiment 1, an AGV vehicle for spandex production, as Figure 3 shown, the vision component 3 includes a connection seat 31. The connection seat 31 is connected to the vehicle body 2. A camera 33 and a connection flange are provided on the connection seat 31. The transparent cover 5 is rotatably connected to the connection flange, and the camera 33 is located inside the transparent cover 5. In this embodiment, the vision component 3 is arranged at the four corner positions of the vehicle body 2 to ensure that the vision component can monitor the situation around the vehicle in all directions. The camera 33 is responsible for capturing external image information and transmitting it to the control component for analysis and processing to determine whether there is an obstacle in front of the AGV vehicle.

[0028] Furthermore, as Figure 4As shown, the cleaning assembly 4 includes a wiper strip 41 and a motor 1. The wiper strip 41 is connected to a connecting flange through an elastic rod 42, and the wiper strip 41 is attached to the outer surface of the transparent cover 5. The motor 1 is arranged on the vehicle body 2, and the output end of the motor 1 is connected to the transparent cover 5. Specifically, the transparent cover 5 includes a turntable 51 and an annular glass 52. The turntable 51 is arranged at the upper end of the annular glass 52, and the turntable 51 is connected to the output shaft of the motor 1. The lower end of the annular glass 52 is rotatably connected to the connecting flange, and a sealing ring is provided on the connecting flange. The annular glass 52 cooperates with the sealing ring to ensure the sealing of the inside of the transparent cover 5. At the same time, the camera 33 above the connecting flange can capture external image information through the annular glass 52.

[0029] In this embodiment, the wiper strip 41 is an arc-shaped strip. The wiper strip 41 is arranged obliquely relative to the annular glass. The upper end of the elastic rod 42 is connected to the middle of the wiper strip 41, and the lower end of the elastic rod 42 is connected to the connecting flange. And the elastic rod 42 is inclined towards the center of the connecting flange. After the annular glass 52 is connected to the connecting flange, the elastic rod 42 will exert a pressure on the wiper strip 41, so that the wiper strip 41 presses on the surface of the annular glass 52, ensuring the tightness of the contact between the wiper strip 41 and the transparent cover 5, and facilitating the wiper strip to scrape off the stains outside the transparent cover. When the cleaning assembly 4 is in use, the motor 1 drives the transparent cover 5 to rotate relative to the connecting flange, so as to clean the dust and stains on the surface of the transparent cover 5 by means of the wiper strip 41.

[0030] Further, a water supply assembly is provided inside the vehicle body 1. The water supply assembly includes a water tank and a water pump. The water tank is connected to the water pump. The water pump is communicated with a spray nozzle 23 through a water supply pipe. The spray nozzle 23 corresponds to the position of the transparent cover 5. The water in the water tank is transported to the spray nozzle 23 by the water pump and then sprayed onto the transparent cover 5. Cooperating with the rotation of the transparent cover 5 driven by the motor 1, the comprehensive cleaning function of the transparent cover 5 is realized.

[0031] Further, a mobile power source, a control assembly and a driving assembly are provided on the vehicle body 1. The driving assembly is connected to the wheels at the bottom of the vehicle body 2. The driving assembly, the braking switch 10, the motor 1 and the camera 33 are all connected to the control assembly. The mobile power source is connected to the control assembly. The control assembly centrally controls and coordinates each electrical component. The mobile power source provides stable power support for the control assembly and other electrical components.

[0032] Embodiment 3, on the basis of Embodiment 2, as Figure 7 shown, a control method for an AGV cart for spandex production as claimed in claim 9 includes the following processes: S1, during the movement of the AGV cart, the control assembly determines whether there are obstacles in front of the AGV cart through the vision assembly; S2. When the vision component determines that there is an obstacle in front of the AGV cart, the control component controls the drive component to pause for one hundred milliseconds, and then re-determines whether there is an obstacle in front of the AGV cart until the vision component determines that there is no obstacle in front of the AGV cart, and the AGV cart continues to move; S3. The control component determines whether the brake switch 10 is pressed; S4. When the brake switch 10 is not pressed, S1 and S2 are performed again; when the brake switch 10 is pressed, the control component controls the drive component to disconnect from the mobile power supply, and at the same time, the shovel-shaped seat 6 lifts the vehicle body 2 through the cooperation of the plug board 62 and the inclined surface 22, so that the front wheels of the vehicle body 2 leave the ground; S5. Issue a fault alarm to prompt on-site staff to check and handle to ensure the safe operation of the cart.

[0033] Working principle: Use the transparent cover 5 to cover the outside of the camera 33 to prevent dust from contaminating the camera 33; use the motor 1 to drive the transparent cover 5 to rotate, so that friction is generated between the transparent cover 5 and the scraping strip 4, and the scraping strip 4 scrapes off the dust along the outer wall of the transparent cover 5. By regularly driving the transparent cover 5 to rotate, the cleanliness of the transparent cover 5 is maintained, thereby maintaining the line-of-sight clarity of the camera 33, improving the accuracy of driving judgment. When the vision analysis system unfortunately fails, the AGV cart continues to move, and the shovel-shaped seat 6 acts on the staff's feet, so that the shovel-shaped seat 6 slides inwards and downwards along the inclined surface 22 at the bottom of the vehicle body 2, so that the shovel-shaped seat 6 presses the brake switch 10, disconnecting the driving power supply of the AGV cart, and at the same time executing the braking command until the shovel-shaped seat 6 contacts the ground, using the shovel-shaped seat 6 to lift the AGV cart, so that the AGV cart can still brake the AGV cart through the shovel-shaped seat 6 when the braking fails or is sluggish. Use existing AI technology to control the basic driving work of the AGV cart; as Figure 7 shown, after identifying the approach of a humanoid obstacle by the presence or absence of a humanoid obstacle, enter a one-hundred-millisecond delay and then re-determine until the pedestrian leaves and then continue to work. When the brake switch 10 is pressed, the driving power supply is disconnected through the brake switch 10, and then enter the fault alarm to remind the staff to repair, ensuring the safety factor of the work.

[0034] The above are only the preferred embodiments of the present invention and are not intended to limit the present invention. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principles of the present invention shall be included in the protection scope of the present invention.

Claims

1. An AGV cart for spandex production, comprising a vehicle body (2), and a vision component (3) is provided on the vehicle body (2), characterized in that, A transparent cover (5) is sleeved on the visual component (3), and a cleaning component (4) is arranged outside the transparent cover (5); a shovel-shaped seat (6) is movably connected to the lower part of the vehicle body (2), a braking switch (10) is connected to the vehicle body (2), and the braking switch (10) corresponds to the end position of the shovel-shaped seat (6).

2. The AGV cart for spandex production according to claim 1, characterized in that, The shovel-shaped seat (6) includes an outer frame (61), the outer frame (61) is of a C-shaped structure, after the shovel-shaped seat (6) is connected to the vehicle body (2), one end of the vehicle body (2) is located inside the C-shaped structure; an inclined insertion plate (62) is arranged inside the C-shaped structure, a slope (22) is arranged at the lower part of the vehicle body (2), and the insertion plate (62) cooperates with the slope (22).

3. The AGV cart for spandex production according to claim 2, wherein A leather sleeve (63) is arranged outside the outer frame (61).

4. The AGV cart for spandex production according to any one of claims 1 to 3, characterized in that, A fixed block (7) is arranged on the vehicle body (2), and the fixed block (7) is connected to the shovel-shaped seat (6) through a tension spring (8).

5. The AGV cart for spandex production according to claim 4, wherein, A spring piece (9) is arranged on the vehicle body (2), the braking switch (10) is arranged on the spring piece (9), and the braking switch (10) corresponds to the end position of the outer frame (61).

6. The AGV cart for spandex production according to claim 1 or 5, characterized in that, The visual component (3) includes a connection seat (31), the connection seat (31) is connected to the vehicle body (2), a camera (33) and a connection flange are arranged on the connection seat (31), the transparent cover (5) is rotationally connected to the connection flange, and the camera (33) is located inside the transparent cover (5).

7. The AGV trolley for spandex production according to claim 6, characterized in that, The cleaning component (4) includes a scraping strip (41) and a motor (1), the scraping strip (41) is connected to the connection flange through an elastic rod (42), and the scraping strip (41) is attached to the outer surface of the transparent cover (5); the motor (1) is arranged on the vehicle body (2), and the output end of the motor (1) is connected to the transparent cover (5).

8. The AGV cart for spandex production according to claim 7, characterized in that, A water supply component is arranged inside the vehicle body (1), the water supply component includes a water tank and a water pump, the water tank is connected to the water pump, the water pump is communicated with a water spray nozzle (23) through a water supply pipe, and the water spray nozzle (23) corresponds to the position of the transparent cover (5).

9. The AGV cart for spandex production according to claim 8, characterized in that, A mobile power source, a control component and a driving component are arranged on the vehicle body (1), and the driving component is connected to the wheels at the bottom of the vehicle body (2); the driving component, the braking switch (10), the motor (1) and the camera (33) are all connected to the control component, and the mobile power source is connected to the control component.

10. A control method for an AGV cart used in spandex production as described in claim 9, characterized in that, Including the following processes: S1, during the movement of the AGV cart, the control component judges whether there is an obstacle in front of the AGV cart through the visual component; S2, when the visual component judges that there is an obstacle in front of the AGV cart, the control component controls the driving component to pause for one hundred milliseconds, and then judges again whether there is an obstacle in front of the AGV cart until the visual component judges that there is no obstacle in front of the AGV cart; S3, the control component judges whether the braking switch (10) is pressed; S4, when the braking switch (10) is not pressed, S1 and S2 are carried out again; when the braking switch (10) is pressed, the control component controls the driving component to disconnect from the mobile power source, and at the same time the shovel-shaped seat (6) lifts the vehicle body (2) through the cooperation of the insertion plate (62) and the slope (22), so that the front wheels of the vehicle body (2) leave the ground; S5, a fault alarm is issued.

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