Crawler-type intelligent transfer robot capable of self-adapting to damaged environment and control method of crawler-type intelligent transfer robot

Abstract

The invention relates to a crawler-type intelligent transfer robot self-adaptive to a damaged environment and a control method thereof. The crawler-type intelligent transfer robot comprises a vehicle body, walking devices are arranged on the left side and the right side of the bottom of the vehicle body, and a fork arm carrier is arranged at the front end of the vehicle body and comprises a plurality of forks; the bottom plate damage detection device is used for detecting a damage area of the bottom surface of the corresponding container in front of the walking device; the cover plate conveying device is arranged at the bottom of the vehicle body and used for conveying the cover plate to the position below the pallet fork in the advancing or retreating direction of the vehicle body; and the cover plate lateral moving device is arranged at the bottom of the pallet fork and used for receiving the cover plate, conveying the cover plate in the left-right direction of the vehicle body and then lowering the cover plate to enable the cover plate to cover the damaged area.

Description

Technical Field

[0001] The present invention relates to the field of intelligent transportation, and in particular to a crawler-type intelligent transportation robot capable of self-adapting to a damaged environment and a control method thereof. Background Art

[0002] In automated material handling and transportation, materials are loaded into containers from the supply point and unloaded from the containers to the destination, requiring basic handling and loading functions to meet user requirements. Loading and unloading are crucial links in the logistics process, and with the rapid development of modern cargo loading and transportation technology, more and more users require rapid material loading and transfer.

[0003] During the handling process, intelligent handling robots are generally driven by forklifts to achieve this. A wooden floor is generally laid inside the container to support the cargo and disperse the force exerted on the container by the cargo. However, wooden floors are prone to damage due to local overloading or aging. Existing forklifts are heavy and generally use tire-type differential forklifts. After the forklift picks up the cargo, the force is concentrated on the forklift's tires. When passing through a damaged area on the floor inside the container, the forklift is likely to expand the damage to the floor, and the forklift's tires are likely to sink into the damaged area, making it difficult to carry out the handling process continuously.

[0004] In view of the above problems existing in the prior art, the purpose of the present invention is to design a crawler-type intelligent transport robot that can adapt to damaged environments and a control method thereof. Summary of the Invention

[0005] In response to the problems existing in the above-mentioned prior art, the present invention provides a crawler-type intelligent transport robot that is adaptive to damaged environments and a control method thereof, which can effectively solve at least one problem existing in the above-mentioned prior art.

[0006] The technical solution of the present invention is: A crawler-type intelligent handling robot capable of self-adapting to a damaged environment, comprising: The vehicle body has a traveling device on the left and right sides of the bottom of the vehicle body, and a fork frame is provided at the front end of the vehicle body, and the fork frame includes a plurality of forks; A bottom plate damage detection device is used to detect the damaged area on the bottom of the container in front of the traveling device; cover; The cover conveying device is provided at the bottom of the vehicle body and is used to convey the cover to the bottom of the fork along the forward or backward direction of the vehicle body; The cover plate side shifting device is arranged at the bottom of the fork, and is used to receive the cover plate and transport the cover plate under the fork in the left and right direction of the vehicle body, and then lower the cover plate so that the cover plate covers the damaged area.

[0007] Furthermore, the bottom plate damage detection device includes a distance sensor and a control system. The distance sensor is arranged on the bottom surface of the fork. The control system receives distance data from the distance sensor and determines it as a damaged area when the distance data is greater than a preset threshold.

[0008] Furthermore, the walking device is a crawler.

[0009] Furthermore, the cover conveying device is arranged at the middle position of the bottom of the vehicle body; The cover conveying device includes front and rear drive cylinders, and the telescopic ends of the front and rear drive cylinders are provided with clamps, which clamp the cover. After the front and rear drive cylinders drive the cover to extend, the cover extends under the fork near the middle position of the vehicle body.

[0010] Furthermore, a receiving groove is provided on the bottom surface of the fork near the middle position of the vehicle body. After the cover plate is extended under the fork near the middle position of the vehicle body, one end of the cover plate is inserted into the receiving groove. After the clamping jaws are released and retracted, the cover plate is temporarily stored in the receiving groove.

[0011] Furthermore, the cover plate side shifting device includes a rotating motor and a friction block. A mounting groove is provided at the bottom end of the fork near the middle of the vehicle body. The rotating motor is installed in the mounting groove. The rotating motor drives the friction block to rotate. The friction block rotates with the length direction of the corresponding fork as the axis. When the cover plate is temporarily stored in the receiving groove, the rotating motor drives the friction block to rotate, thereby driving the cover plate to separate from the receiving groove and fall to the damaged area.

[0012] Furthermore, the receiving groove is an L-shaped structure, the opening of the receiving groove faces the rear of the vehicle body, and a wear-resistant layer is provided on a side of the receiving groove facing the cover plate.

[0013] Furthermore, it includes a cover plate recovery device, which includes a plurality of suction cups. The cover plate recovery device is arranged on the bottom surface of the fork. After the fork is lowered and close to the cover plate, the suction cups adsorb the cover plate to the bottom surface of the fork.

[0014] A control method for a crawler-type intelligent transport robot capable of self-adapting to a damaged environment is further provided, wherein the control method comprises the following steps: S1: Control the vehicle to enter the container and move to the end of the container. During the movement, the bottom plate damage detection device detects the damaged area on the bottom of the container; S2: If there is a damaged area, control the cover conveying device to convey the cover and temporarily store it at the bottom of the fork near the middle of the vehicle body; S3, controlling the cover plate side shifting device to transport the cover plate along the left and right directions of the vehicle body, so that the cover plate is separated from the bottom of the fork and covers the damaged area.

[0015] Furthermore, a cover plate recovery device is included, comprising the following steps: S4, record the location of the damaged area. After the vehicle body lowers the goods, if the next stack of goods is located at the location of the damaged area, lower the fork, control the vehicle body to drive the cover plate recovery device to reach above the cover plate, and control the cover plate recovery device to collect the cover plate.

[0016] Therefore, the present invention provides the following effects and / or advantages: The vehicle body of the present application is provided with a cover plate conveying device, which can carry cover plates. After the bottom plate damage detection device detects that there is a damaged area on the bottom plate, the cover plates can be output from the middle position of the bottom of the vehicle body, and the cover plates can be moved laterally through the cover plate side shifting device, so that the cover plates pass through the space at the bottom of the fork and reach the damaged area detected by the bottom plate damage detection device, and the cover plates cover the damaged area, thereby protecting the damaged area from further damage caused by the pressure of the vehicle body, and also preventing the vehicle body's walking device from falling into the damaged area.

[0017] The present application realizes the functions of conveying and lateral shifting of covers on a compact vehicle body by arranging the cover conveying device in the middle position of the bottom surface of the vehicle body and arranging the cover lateral shifting device at the bottom of the fork, so that the covers can pass through the space under the fork from the bottom of the vehicle body and be driven by the cover lateral shifting device.

[0018] The present application sets up a receiving groove to receive and temporarily store the cover plate, and through the selection of the height and width of the receiving groove, the cover plate can be driven by the friction block to move sideways after being engaged with the receiving groove, and when the lateral displacement of the cover plate by the friction block is sufficient, the cover plate can be detached from the receiving groove, ultimately realizing the function of lowering the cover plate.

[0019] Other features and advantages of the present invention will be described in the following description, and in part will become apparent from the description, or understood by practicing the present invention. The purpose and other advantages of the present invention are realized and obtained by the structures particularly pointed out in the description and the drawings.

[0020] It is to be understood that both the foregoing general description and the following detailed description of the present invention are exemplary and explanatory and are intended to provide further explanation of the invention as claimed. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] Figure 1 Schematic diagram of the structure of an embodiment of the present invention.

[0022] Figure 2 2 is a bottom schematic diagram of an embodiment of the present invention.

[0023] Figure 3 Schematic diagram of a fork according to an embodiment of the present invention.

[0024] Figure 4 This is a schematic diagram of the cover plate being temporarily stored in the receiving groove.

[0025] Figure 5 Schematic diagram of the cover after side shifting.

[0026] Figure 6 This is a schematic diagram of the cover plate covering the damaged area after it is separated from the receiving groove.

[0027] Description of reference numerals: Vehicle body 1, walking device 11, fork 12, bottom plate damage detection device 2, cover conveying device 3, front and rear drive cylinders 31, clamping claws 32, cover side shifting device 4, rotating motor 41, friction block 42, cover recovery device 5, receiving groove 6. DETAILED DESCRIPTION

[0028] In order to facilitate understanding by those skilled in the art, the structure of the present invention is further described in detail with reference to the embodiments and the accompanying drawings: refer to Figure 1-3 , a crawler-type intelligent handling robot that adapts to damaged environments, comprising: A vehicle body 1, wherein a walking device 11 is provided on the left and right sides of the bottom of the vehicle body 1, and a fork frame is provided at the front end of the vehicle body 1, and the fork frame includes a plurality of forks 12; In this embodiment, a mast with a lifting function can be installed at the front end of the vehicle body 1. This mast is connected to a fork frame, enabling the fork frame to be raised and lowered. Forks 12 are used to extend into holes in the bottom of the pallet to lift and lower cargo. The structure of the vehicle body 1 is conventional and will not be described in detail here.

[0029] A bottom plate damage detection device 2, used to detect a damaged area on the bottom surface of the container corresponding to the front of the traveling device 11; In this embodiment, damage to the container bottom can be determined by detecting whether the container bottom has dents, cracks, or defects. Furthermore, since the force on the vehicle body 1 is concentrated on the running device 11 when the vehicle body 1 picks up cargo, this embodiment only detects whether the area in front of the running device 11 is damaged.

[0030] Cover plate; the cover plate of this embodiment is a flat plate structure, preferably a square structure.

[0031] a cover conveying device 3, provided at the bottom of the vehicle body 1, for conveying the cover plates to below the fork 12 along the forward or backward direction of the vehicle body 1; In this embodiment, the cover plate conveying device 3 can clamp or store cover plates in the retracted state. The cover plates follow the cover plate conveying device 3 and travel together with the vehicle body 1. When a damaged area is detected in front of the running device 11 of the vehicle body 1, the cover plate conveying device 3 can output the cover plates along the forward direction of the vehicle body 1. At the same time, because the left and right sides of the bottom of the vehicle body 1 are occupied by the running device 11, the cover plate conveying device 3 can only be set in the middle position of the bottom of the vehicle body 1. In this embodiment, the number of forks 12 is 4, and the two forks 12 on the left or the two forks 12 on the right each fork a stack of goods. Based on the above structure, after the cover plates are output, they are transported to the bottom of the two middle forks 12.

[0032] The cover plate side shifting device 4 is provided at the bottom of the fork 12, and is used for receiving the cover plate and transporting the cover plate under the fork 12 in the left and right direction of the vehicle body 1, and then lowering the cover plate so that the cover plate covers the damaged area.

[0033] If there is a damaged area in front of the running device 11 of the vehicle body 1, it is necessary to cover this area with a cover. However, the cover conveying device 3 can only convey the cover to the bottom of the two middle forks 12. Therefore, the cover side shifting device 4 is required to convey the cover along the left and right direction of the vehicle body 1 until it reaches above the damaged area, and then lower the cover to cover the damaged area.

[0034] Furthermore, the bottom plate damage detection device 2 includes a distance sensor and a control system. The distance sensor is arranged on the bottom surface of the fork 12. The control system receives distance data from the distance sensor and determines it as the damaged area when the distance data is greater than a preset threshold.

[0035] In this embodiment, the distance sensor is an ultrasonic distance sensor, a laser distance sensor, or the like, which is not limited here. The distance sensor is positioned on the underside of the fork 12 and faces the container bottom to acquire distance data. Since the fork 12 is located in front of the traveling device 11 and is always in front of the traveling device 11 when the vehicle body 1 is moving forward, positioning the distance sensor on the underside of the fork 12 and facing the container bottom allows for direct acquisition of the container bottom's shape. By detecting whether the distance between the fork 12 and the container bottom is greater than a preset threshold, it is possible to determine whether there is a damaged area on the container bottom.

[0036] Furthermore, the walking device 11 is a crawler.

[0037] In this embodiment, the crawler tracks increase the ground contact area, dispersing the forces exerted by the vehicle body 1 and the cargo on the container floor, thereby protecting the container floor. Furthermore, the crawler tracks provide a more stable travel experience for the vehicle body 1, preventing shaking or trembling during travel that could cause jumps in the distance sensor data and misidentify damaged areas.

[0038] Furthermore, the cover conveying device 3 is arranged at the middle position of the bottom of the vehicle body 1; The cover plate conveying device 3 includes a front and rear driving cylinder 31, and the telescopic end of the front and rear driving cylinder 31 is provided with a clamping claw 32, and the clamping claw 32 clamps the cover plate. After the front and rear driving cylinder 31 drives the cover plate to extend, the cover plate extends under the fork 12 near the middle position of the vehicle body 1.

[0039] There are two front and rear drive cylinders 31, which can be clamped together on the left and right sides of the cover plate. The two front and rear drive cylinders 31 are driven simultaneously to push the cover plate forward. In this embodiment, there are four forks 12, two of which are close to the middle position of the vehicle body 1. There is a certain gap between the forks 12 and the bottom plate of the container, and this gap is used to allow the cover plate to extend into.

[0040] Furthermore, a receiving groove 6 is provided on the bottom surface of the fork 12 near the middle position of the vehicle body 1. After the cover plate is extended under the fork 12 near the middle position of the vehicle body 1, one end of the cover plate is inserted into the receiving groove 6. After the clamping jaws 32 are released and retracted, the cover plate is temporarily stored in the receiving groove 6.

[0041] In this embodiment, since the distance between the fork 12 and the bottom plate of the container is small and the front end of the fork 12 is a straight structure, only the front and rear drive cylinders 31 are allowed to move forward and backward. Therefore, a receiving groove 6 is provided in this embodiment, so that when the front and rear drive cylinders 31 move forward and drive one end of the cover plate to extend into the receiving groove 6, the receiving groove 6 can receive the cover plate and store it in the receiving groove 6. Figure 4 At the same time, the height of the receiving groove 6 is set to be between 1.05 times and 1.1 times the thickness of the cover plate, so that after the cover plate is stored in the receiving groove 6, the top surface of the cover plate can be attached to the bottom surface of the fork 12.

[0042] Furthermore, the cover plate side shifting device 4 includes a rotating motor 41 and a friction block 42. A mounting groove is provided at the bottom end of the fork 12 near the middle of the vehicle body 1. The rotating motor 41 is installed in the mounting groove. The rotating motor 41 drives the friction block 42 to rotate. The friction block 42 rotates with the length direction of the corresponding fork 12 as the axis. When the cover plate is temporarily stored in the receiving groove 6 , the rotating motor 41 drives the friction block 42 to rotate, thereby driving the cover plate to separate from the receiving groove 6 and fall to the damaged area.

[0043] In this embodiment, the rotating motor 41 drives the friction block 42 to rotate forward or reverse, thereby frictionally driving the cover plate to move left or right, so that the cover plate falls off the installation slot to the front of the left walking device 11 or the right walking device 11. By setting the width of the receiving slot 6 to be equal to the width of the fork 12, after the cover plate is driven by the friction block 42, the friction block 42 drives the cover plate to move horizontally, such as Figure 5 Afterwards, the friction block 42 continues to drive the cover plate to move laterally and then separate from the receiving groove 6, thereby falling into the damaged area, as shown in FIG. Figure 6 The friction block 42 is a cylindrical structure, and the friction block 42 protrudes below the bottom surface of the fork 12.

[0044] Furthermore, the rotating motor 41 is a forward and reverse rotating motor 41 .

[0045] Furthermore, the receiving groove 6 is an L-shaped structure, the opening of the receiving groove 6 faces the rear of the vehicle body 1, and a wear-resistant layer is provided on a side of the receiving groove 6 facing the cover plate.

[0046] In this embodiment, the L-shaped structure installation groove can adapt to the cover plate entering from the vehicle body 1 toward the fork 12. At the same time, the wear-resistant layer can provide a low-friction surface connection, so that the cover plate is temporarily stored in the receiving groove 6 and the top surface of the cover plate is attached to the friction block 42. The wear-resistant layer can enable the cover plate to slide left and right on the receiving groove 6 in a low-friction sliding manner.

[0047] Furthermore, it includes a cover plate recovery device 5, which includes several suction cups. The cover plate recovery device 5 is arranged on the bottom surface of the fork 12. After the fork 12 is lowered and close to the cover plate, the suction cups adsorb the cover plate to the bottom surface of the fork 12.

[0048] In this embodiment, after the cover plate covers the damaged area and provides protection for the floor when the vehicle body 1 passes through, when cargo needs to be placed in the damaged area, since the cargo is generally placed on a pallet, the pallet itself can distribute the force exerted by the cargo on the floor. In this case, the cover plate is no longer needed to block the damaged area, and it needs to be retracted. Therefore, by providing a suction cup on the bottom surface of the fork 12, when the fork 12 reaches the corresponding damaged area, the fork 12 is lowered and the cover plate is adsorbed to the fork 12 by the suction cup, and then it is pulled out of the container along with the vehicle body 1.

[0049] Preferably, the cover plate recovery device 5 is arranged in the middle position of the bottom surface of the fork 12. Under this structure, after the fork 12 withdraws the pallet in front, the cover plate recovery device 5 is directly opposite to the upper area of the cover plate, and the cover plate recovery device 5 can directly retract the cover plate.

[0050] A control method for a crawler-type intelligent transport robot capable of self-adapting to a damaged environment is further provided. The control method is based on the crawler-type intelligent transport robot capable of self-adapting to a damaged environment, and includes the following steps: S1, controlling the vehicle body 1 to enter the container and move to the end of the container. During the movement, the bottom plate damage detection device 2 detects the damaged area on the bottom of the container; S2, if the damaged area exists, controlling the cover conveying device 3 to convey the cover and temporarily store it at the bottom of the fork 12 near the middle position of the vehicle body 1; S3, controlling the cover plate side shifting device 4 to transport the cover plate along the left-right direction of the vehicle body 1, so that the cover plate is separated from the bottom of the fork 12 and covers the damaged area.

[0051] Furthermore, the cover plate recovery device 5 includes the following steps: S4, record the position of the damaged area. After the vehicle body 1 puts down the goods, if the next stack of goods is located at the position of the damaged area, lower the fork 12, control the vehicle body 1 to drive the cover plate recovery device 5 to reach above the cover plate, and control the cover plate recovery device 5 to collect the cover plate.

[0052] In this embodiment, if the next stack of goods is located at the damaged area, the cover plate will be shipped along with the goods if it is not recovered. Therefore, the cover plate needs to be recovered. The cover plate recovery is achieved by the cover plate recovery device 5. By lowering the fork 12, the cover plate recovery device 5 is brought close to the cover plate, so that the cover plate can be sucked and removed from the container.

[0053] It should be noted that in the claims, any reference signs placed between parentheses shall not be construed as limiting the claims. The word "comprising" does not exclude the presence of components or steps not listed in the claim. The word "a" or "an" preceding a component does not exclude the presence of a plurality of such components. The invention can be implemented by means of hardware comprising several different components and by means of a suitably programmed computer. In a unit claim enumerating several means, several of these means may be embodied by one and the same item of hardware. The use of the words first, second, third etc. does not indicate any order. These words may be interpreted as names.

[0054] Although the preferred embodiments of the present invention have been described, those skilled in the art may make additional changes and modifications to these embodiments once they have learned the basic creative concept. Therefore, the appended claims are intended to be interpreted as including the preferred embodiments and all changes and modifications that fall within the scope of the present invention.

[0055] In the present invention, unless otherwise expressly specified or limited, the terms "mounted," "connected," "connect," "fixed," etc. should be understood broadly. For example, they may refer to fixed connection, detachable connection, or integration; mechanical connection or electrical connection; direct connection or indirect connection through an intermediate medium; internal communication between two components or interaction between two components. Those skilled in the art will understand the specific meanings of the above terms in the present invention based on specific circumstances.

[0056] In the description of this specification, the reference terms "one embodiment", "some embodiments", "example", "specific example", or "some examples" mean that the specific features, structures, materials, or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic expressions of the above terms should not be understood as necessarily referring to the same embodiment or example. Moreover, the specific features, structures, materials, or characteristics described can be combined in any one or more embodiments or examples in a suitable manner. In addition, those skilled in the art can combine and combine different embodiments or examples described in this specification and features of different embodiments or examples without contradiction.

Claims

1. A crawler-type intelligent transport robot that is adaptive to damaged environments, characterized by: include: A vehicle body (1), wherein walking devices (11) are provided on the left and right sides of the bottom of the vehicle body (1), and a fork frame is provided at the front end of the vehicle body (1), wherein the fork frame includes a plurality of forks (12); A bottom plate damage detection device (2) for detecting a damaged area on the bottom surface of the container corresponding to the front of the walking device (11); cover; A cover plate conveying device (3) is provided at the bottom of the vehicle body (1) and is used to convey the cover plates to below the fork (12) along the forward or backward direction of the vehicle body (1); A cover plate side shifting device (4) is provided at the bottom of the fork (12), and is used to receive the cover plate and transport the cover plate below the fork (12) in the left and right directions of the vehicle body (1), and then lower the cover plate so that the cover plate covers the damaged area.

2. The crawler-type intelligent transport robot capable of self-adapting to damaged environments according to claim 1, characterized in that: The bottom plate damage detection device (2) comprises a distance sensor and a control system, wherein the distance sensor is arranged on the bottom surface of the fork (12), and the control system receives distance data from the distance sensor and determines the area as the damaged area when the distance data is greater than a preset threshold.

3. The crawler-type intelligent transport robot capable of adapting to damaged environments according to claim 1, characterized in that: The walking device (11) is a crawler.

4. The crawler-type intelligent transport robot capable of self-adapting to damaged environments according to claim 1, characterized in that: The cover conveying device (3) is arranged at the middle position of the bottom of the vehicle body (1); The cover plate conveying device (3) includes a front and rear driving cylinder (31), and a clamping claw (32) is provided at the telescopic end of the front and rear driving cylinder (31). The clamping claw (32) clamps the cover plate. After the front and rear driving cylinder (31) drives the cover plate to extend, the cover plate extends under the fork (12) near the middle position of the vehicle body (1).

5. The crawler-type intelligent transport robot capable of self-adapting to damaged environments according to claim 4, characterized in that: A receiving groove (6) is provided on the bottom surface of the fork (12) near the middle position of the vehicle body (1). After the cover plate is extended under the fork (12) near the middle position of the vehicle body (1), one end of the cover plate is inserted into the receiving groove (6). After the clamping claw (32) is released and retracted, the cover plate is temporarily stored in the receiving groove (6).

6. The crawler-type intelligent transport robot capable of self-adapting to damaged environments according to claim 5, characterized in that: The cover plate side shifting device (4) includes a rotating motor (41) and a friction block (42). A mounting groove is provided at the bottom end of the fork (12) near the middle of the vehicle body (1). The rotating motor (41) is mounted in the mounting groove. The rotating motor (41) drives the friction block (42) to rotate. The friction block (42) rotates with the length direction of the corresponding fork (12) as the axis. When the cover plate is temporarily stored in the receiving groove (6), the rotating motor (41) drives the friction block (42) to rotate, thereby driving the cover plate to separate from the receiving groove (6) and fall to the damaged area.

7. The crawler-type intelligent transport robot capable of self-adapting to damaged environments according to claim 6, characterized in that: The receiving groove (6) is an L-shaped structure, the opening of the receiving groove (6) faces the rear of the vehicle body (1), and a wear-resistant layer is provided on one side of the receiving groove (6) facing the cover plate.

8. The crawler-type intelligent transport robot capable of self-adapting to damaged environments according to claim 1, characterized in that: It comprises a cover plate recovery device (5) comprising a plurality of suction cups. The cover plate recovery device (5) is arranged on the bottom surface of the fork (12). After the fork (12) is lowered and approaches the cover plate, the suction cups adsorb the cover plate onto the bottom surface of the fork (12).

9. A control method for a crawler-type intelligent transport robot that is adaptive to damaged environments, characterized by: The crawler-type intelligent transport robot adapted to a damaged environment according to claim 1 comprises the following steps: S1, controlling the vehicle body (1) to enter the container and move to the end of the container, and during the movement, detecting the damaged area on the bottom surface of the container by the bottom plate damage detection device (2); S2, if the damaged area exists, controlling the cover conveying device (3) to convey the cover and temporarily store it at the bottom of the fork (12) near the middle position of the vehicle body (1); S3, controlling the cover plate side shifting device (4) to transport the cover plate along the left and right directions of the vehicle body (1), so that the cover plate is separated from the bottom of the fork (12) and covers the damaged area.

10. The control method of the crawler-type intelligent transport robot capable of self-adapting to damaged environments according to claim 9, characterized in that: The invention comprises a cover plate recovery device (5), comprising the following steps: S4, recording the position of the damaged area, after the vehicle body (1) lowers the goods, if the next stack of goods is located at the position of the damaged area, lowering the fork (12), controlling the vehicle body (1) to drive the cover plate recovery device (5) to reach above the cover plate, and controlling the cover plate recovery device (5) to collect the cover plate.

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