Intelligent tray type four-way vehicle for unmanned storage yard

Abstract

The invention discloses an intelligent tray type four-way vehicle for an unmanned storage yard, and relates to the technical field of logistics equipment, the intelligent tray type four-way vehicle comprises a vehicle body and a controller, a first wheel set and a second wheel set are arranged below the vehicle body, the first wheel set can drive the vehicle body to move in a first direction, and the second wheel set can drive the vehicle body to move in a second direction; the first direction is perpendicular to the second direction, a pressure sensor set and a side supporting assembly are arranged on the vehicle body, and the pressure sensor set is used for monitoring the gravity center change of goods on the vehicle body; the side supporting assemblies can laterally support goods on the vehicle body according to the change of the gravity center of the goods. The controller is configured to adjust the speed and acceleration of the first wheel set and the second wheel set based on the change of the gravity center of goods, and the whole is flexible and reliable.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of logistics equipment, in particular to an intelligent pallet four-way vehicle for unmanned yards. BACKGROUND

[0002] With the rapid development of logistics automation and unmanned technology, unmanned yards as the core scenario of warehouse logistics put forward higher requirements on the efficiency, safety and adaptability of handling equipment. Pallet four-way vehicles, with their flexible four-way movement capability (freely switching direction along X / Y axes), have become the key equipment for efficient cargo handling in unmanned yards. However, traditional four-way vehicles have some limitations in control strategy and technical architecture.

[0003] Traditional pallet four-way vehicles usually adopt a double-wheel group driving structure (such as X-axis wheel group and Y-axis wheel group), which realizes movement in any direction in the plane through the coordinated movement of the wheel groups, meeting the basic needs of cargo handling in the yard. Its control strategy is mostly based on the "fixed parameter preset + simple overrun alarm" mode: conservative speed and acceleration thresholds are set before the equipment runs, and only extreme abnormalities such as overspeed and overload are monitored during operation to trigger alarms or emergency braking. Although this open-loop control logic can guarantee basic safety, it lacks dynamic perception and active intervention capabilities for the actual state of the goods.

[0004] Therefore, it is necessary to provide an intelligent pallet four-way vehicle for unmanned yards to solve the above problems. SUMMARY

[0005] To solve the above problems, the present application provides the following technical solution: an intelligent pallet four-way vehicle for unmanned yards, comprising a vehicle body and a controller, a first wheel group and a second wheel group are arranged below the vehicle body, the first wheel group can drive the vehicle body to move in a first direction, the second wheel group can drive the vehicle body to move in a second direction, the first direction is perpendicular to the second direction, characterized in that a pressure sensor group and a side support assembly are arranged on the vehicle body, the pressure sensor group is used to monitor the change of the center of gravity of the goods on the vehicle body;

[0006] The side support assembly can side support the goods on the vehicle body according to the change of the center of gravity of the goods.

[0007] The controller is configured to adjust the speed and acceleration of the first wheel group and the second wheel group based on the change of the center of gravity of the goods.

[0008] Further, as a preferred embodiment, the change of the center of gravity of the goods is measured based on the center of gravity offset Euclidean distance R;

[0009] When the center of gravity offset Euclidean distance R is less than or equal to 25mm, the speed and acceleration of the first wheel group and the second wheel group remain at the preset speed and the preset acceleration;

[0010] When 25mm < R≤40mm, the speed of the first wheel group and the second wheel group is reduced to 60% of the preset speed, and the acceleration of the first wheel group and the second wheel group is reduced to 40% of the preset acceleration.

[0011] When the center of gravity offset Euclidean distance R>40mm, the speed of the first wheel group and the second wheel group is reduced to 40% of the preset speed, and the acceleration of the first wheel group and the second wheel group is reduced to 20% of the preset acceleration.

[0012] Further, as a preferred, when the center of gravity offset Euclidean distance R>40mm, the side support assembly intervenes and side supports the goods on the vehicle body.

[0013] Further, as a preferred, the side support assembly comprises:

[0014] A base rotatably arranged on the vehicle body;

[0015] A telescopic arm, the first end of which is hinged to the vehicle body;

[0016] A telescopic rod, which is hinged between the telescopic arm and the base;

[0017] Wherein, the vertical distance between the rotation axis of the base and the hinge point between the base and the telescopic arm is 50mm to 100mm.

[0018] Further, as a preferred, a support head is further fixed on the base for providing support for the telescopic arm.

[0019] Further, as a preferred, a jacking device is further fixed on the base for overcoming the dead point when the telescopic rod is elongated and drives the telescopic arm to deflect.

[0020] Further, as a preferred, a top bin is fixed on the vehicle body, one side of the top bin is provided with a first conveyor belt, and the other side of the top bin is provided with a second conveyor belt, and the first conveyor belt and the second conveyor belt are arranged in parallel.

[0021] Further, as a preferred, two distance meters are arranged on the side away from each other of the first conveyor belt and the second conveyor belt, and the first conveyor belt and the second conveyor belt adjust the position of the tray based on the feedback of the distance meters so that the tray is aligned above the top bin.

[0022] Further, as a preferred, a guide plate is arranged on the side away from each other of the first conveyor belt and the second conveyor belt, and the guide plate is parallel to the first conveyor belt.

[0023] Compared with the prior art, the present application provides an intelligent tray type four-way vehicle for unmanned yards, which has the following beneficial effects:

[0024] In the present application, the center of gravity of the goods is monitored in real time by the pressure sensor group, and a hierarchical control strategy is constructed. This "state-aware-dynamic-response" closed-loop control maximizes transportation efficiency when the goods are stable, actively suppresses inertial disturbance in the early risk stage, and reduces the risk of slipping from the root, solving the pain point of traditional equipment "efficiency and safety are difficult to balance".

[0025] In the present application, when the center of gravity deviates beyond the critical value, the side support assembly actively extends through the linkage mechanism of the base- telescopic arm-telescopic rod, and abuts against the goods from the side to provide physical support force. Its dead point overcoming design ensures that the telescopic arm can reliably deflect. This component serves as the "second line of defense" for motion control, further reducing the probability of accidents on the basis of dynamic speed reduction, especially suitable for scenarios with variable goods shape / weight and complex environment in unmanned yards, significantly improving the fault tolerance of the equipment. BRIEF DESCRIPTION OF DRAWINGS

[0026] Figure 1 It is a front view structural schematic diagram of an intelligent pallet four-way vehicle for unmanned yards;

[0027] Figure 2 It is a side view structural schematic diagram of an intelligent pallet four-way vehicle for unmanned yards;

[0028] Figure 3 It is a top view structural schematic diagram of an intelligent pallet four-way vehicle for unmanned yards;

[0029] Figure 4 It is a three-dimensional structural schematic diagram of an intelligent pallet four-way vehicle for unmanned yards;

[0030] Figure 5 It is a three-dimensional structural schematic diagram of a side support assembly in an intelligent pallet four-way vehicle for unmanned yards;

[0031] In the figure: 1, vehicle body; 2, first wheel set; 3, top warehouse; 4, first conveyor belt; 5, second conveyor belt; 6, range finder; 7, side support assembly; 8, second wheel set; 9, guide plate; 71, base; 72, telescopic arm; 73, telescopic rod; 74, support head; 75, jacking device. DETAILED DESCRIPTION

[0032] The terms "first", "second", and the like in the description and in the claims of the present application and the above summary of the drawings are used for distinguishing between similar objects and not necessarily for describing a specific sequential or chronological order. It is to be understood that the terms so used are interchangeable under appropriate circumstances and are merely employed for descriptive purposes. Furthermore, the terms "comprise", "comprising", "have", "having", "include", "including", "contain", "containing", or any other similar phrase are intended to encompass not excluding any additional element, but the process, method, system, product, or apparatus that can include additional elements not expressly listed or inherent to such process, method, product, or apparatus.

[0033] Embodiments:

[0034] The control logic of the conventional four-way vehicle does not take the stability of the goods into the closed-loop control system. The operating parameters thereof only depend on the motion state of the device itself, and the dynamic change of the gravity center of the goods cannot be perceived in real time. In the unmanned yard, the gravity center of the goods is often offset due to unstable stacking, inertial disturbance or environmental factors (such as slight slope of the road surface, gap), and the conventional device cannot quantitatively evaluate the stability of the goods due to the lack of monitoring means such as pressure sensors.

[0035] For example, when heavy goods are carried, the sliding force generated by the inertia of the goods may exceed the static friction force between the pallet and the goods, causing the gravity center to deviate. If the device still runs at a fixed speed at this time, the sliding will be further intensified, and eventually the goods may be dumped. The conventional device can only respond by over-speed alarm or emergency braking, but at this time it is already in the late stage of risk, and it is difficult to fundamentally avoid accidents. In order to ensure safety, the conventional four-way vehicle usually adopts a conservative low speed and low acceleration preset throughout the journey, sacrificing the transportation efficiency; or relaxes the safety threshold in pursuit of efficiency, resulting in an increase in risk probability. The control strategy thereof lacks a "graded response" mechanism and cannot dynamically adjust the operating parameters according to the actual stability of the goods.

[0036] For example, when carrying light and stably stacked goods, the device still runs at a low speed, resulting in low overall operation efficiency; and when carrying heavy goods, if the speed is not reduced in time, the inertia may cause the goods to slide. This "either-or" control mode makes it difficult for the conventional device to achieve a fine balance between safety and efficiency, limiting its application adaptability in complex working conditions of the unmanned yard.

[0037] In the embodiments of the present application, please refer to Figures 1-5, provide a smart pallet four-way vehicle for unmanned yard, including a vehicle body 1 and a controller, the lower part of the vehicle body 1 is provided with a first wheel set 2 and a second wheel set 8, the first wheel set 2 can drive the vehicle body 1 to move in the first direction (for example, X axis), the second wheel set 8 can drive the vehicle body 1 to move in the second direction (for example, Y axis), the first direction is perpendicular to the second direction; The two sets of wheels work together to enable the vehicle body 1 to move flexibly in four directions (front, rear, left and right) on the plane, which is the basis for unmanned stacking and handling.

[0038] Wherein, unlike the prior art, the vehicle body 1 is provided with a pressure sensor group and a side support assembly 7, the pressure sensor group is used to monitor the change of the center of gravity of the goods on the vehicle body 1;

[0039] The side support assembly 7 can side support the goods on the vehicle body 1 according to the change of the center of gravity of the goods;

[0040] The controller is configured to adjust the speed and acceleration of the first wheel set 2 and the second wheel set 8 based on the change of the center of gravity of the goods.

[0041] Wherein, the pressure sensor group is installed at a specific position of the vehicle body 1, usually four, for continuous or time-sharing monitoring of the pressure distribution of the goods carried by the vehicle body 1 at different positions. The change of the pressure distribution directly reflects the shift of the center of gravity of the goods. The most common and effective way is to install sensors at the four corner points of the vehicle (or the support points corresponding to the four wheels). Each sensor measures the pressure or weight applied to the area where it is located in real time. This is the most direct way to perceive how the weight is distributed to different support points, so as to calculate the position of the center of gravity of the goods relative to the geometric center of the vehicle.

[0042] In addition, the side support assembly 7 can exert a lateral support force on the goods on the vehicle body 1 according to the signal of the change of the center of gravity of the goods. When the center of gravity shifts greatly (meaning the risk of goods tilting increases), the side support assembly 7 actively extends to resist or constrain the side of the goods, preventing the goods from falling during the movement (especially turning, acceleration and deceleration) of the four-way vehicle.

[0043] Unlike the traditional AGV setting a fixed conservative speed or simply monitoring the over-limit alarm, the present scheme actively intervenes in the vehicle running state by real-time monitoring of the change of the center of gravity of the goods, which significantly improves the active safety in the transportation process and prevents accidents from expanding at an early stage when the risk increases. The introduction of the side support assembly 7 as the second protection provides direct physical support when the center of gravity shifts too much, further preventing the goods from falling and improving fault tolerance. When the center of gravity changes little, the vehicle is allowed to run at a higher speed and acceleration preset value; only when potential danger is detected will the speed and acceleration be reduced to respond.

[0044] The number of the side support assemblies 7 is 1-8. When the number of the side support assemblies 7 is configured as 1, it needs to be selectively arranged based on the moving route of the vehicle body 1, for example, arranged on one side of the vehicle body 1 close to the main moving direction of the goods. When the number of the side support assemblies 7 is configured as 8, two side support assemblies 7 are evenly arranged on each side of the vehicle body 1.

[0045] In the embodiment, the change of the gravity center of the goods is measured based on the gravity center offset Euclidean distance R;

[0046] When the gravity center offset Euclidean distance R≤25mm, the speed and acceleration of the first wheel set 2 and the second wheel set 8 remain the preset speed and the preset acceleration;

[0047] When 25mm<R≤40mm, the speed of the first wheel set 2 and the second wheel set 8 is reduced to 60% of the preset speed, and the acceleration of the first wheel set 2 and the second wheel set 8 is reduced to 40% of the preset acceleration;

[0048] When the gravity center offset Euclidean distance R>40mm, the speed of the first wheel set 2 and the second wheel set 8 is reduced to 40% of the preset speed, and the acceleration of the first wheel set 2 and the second wheel set 8 is reduced to 20% of the preset acceleration.

[0049] During the operation of the vehicle, the pressure distribution data is continuously collected by the sensors on the vehicle body 1, the coordinate position of the gravity center of the goods in the horizontal plane is calculated in real time, and the initial stable position is compared. Based on the coordinate deviation (Δx, Δy), the gravity center offset Euclidean distance R is dynamically calculated

[0050]

[0051] When R≤25mm: it is determined that the goods are in a stable state, and the driving wheel set (the first wheel set and the second wheel set) completely maintains the preset running speed and acceleration, ensuring that the transportation efficiency is maximized.

[0052] When R is in the range of 25-40mm: it is determined that there is a risk of goods sliding, and the speed of the driving wheel set is immediately adjusted to 60% of the preset speed, and the acceleration is adjusted to 40% of the preset acceleration, significantly reducing the disturbance of inertial force on the goods.

[0053] When R>40mm: it is determined that the goods are close to the overturning critical point, and the speed is further adjusted to 40% of the preset value, and the acceleration is reduced to 20% of the preset value, which is close to the "peristaltic mode" to maintain the minimum dynamic stability.

[0054] In addition, in the embodiment, the acceleration is preferentially regulated (the reduction range is 40%→80%), because the acceleration directly determines the inertial force (F=ma), and the sliding energy of the goods can be radically inhibited:

[0055] In summary, in this embodiment, if the four-way vehicle does not timely adjust the speed / acceleration when turning or accelerating, it may cause the inertial force to suddenly increase, exacerbating the center of gravity deviation. Therefore, the hierarchical control strategy, by monitoring the R value in real time and dynamically adjusting, is essentially a "predictive-response" mechanism that can suppress the deviation caused by improper control in advance.

[0056] Further, when the Euclidean distance R of the center of gravity deviation is greater than 40 mm, the side support assembly 7 intervenes and side supports the goods on the vehicle body 1. That is, when R>40mm, in addition to significantly reducing speed, the side support assembly 7 intervenes and side supports the pallet goods to provide additional physical support force.

[0057] In this embodiment, the side support assembly 7 comprises:

[0058] a base 71 rotatably arranged on the vehicle body 1;

[0059] a telescopic arm 72 hingedly connected to the vehicle body 1 at a first end thereof;

[0060] a telescopic rod 73 hingedly connected between the telescopic arm 72 and the base 71.

[0061] The vertical distance between the rotation axis of the base 71 and the hinge point between the base 71 and the telescopic arm 72 is 50-100 mm.

[0062] The side support assembly 7 realizes the active side support function for the pallet goods through the linkage design of the base 71-telescopic arm 72-telescopic rod 73. Specifically, the base 71 is rotatably arranged on the vehicle body 1 as the rotation base of the side support assembly 7, and the base 71 is driven by a motor on the vehicle body 1. The first end of the telescopic arm 72 is hingedly connected to the vehicle body 1, and the second end is used to directly contact and support the goods on the pallet. The telescopic rod 73 is hingedly connected between the telescopic arm 72 and the base 71, and drives the telescopic arm 72 to move as a power source.

[0063] When side support is needed, the telescopic rod 73 is extended to push the telescopic arm 72 to deflect upward around the hinge point between the telescopic arm 72 and the base 71, and then the motor drives the base 71 to rotate to adjust the orientation of the telescopic arm 72. Through the linkage of the two, the end of the telescopic arm 72 side supports the goods on the pallet to provide support force.

[0064] The telescopic rod 73 can be a hydraulic telescopic cylinder or an air cylinder.

[0065] Further, the base 71 is also fixed with a support head 74 for providing support for the telescopic arm 72.

[0066] The base 71 is also fixed with a jacking device 75 for overcoming the dead point when the telescopic rod 73 is extended and drives the telescopic arm 72 to deflect.

[0067] In the movement of the side support assembly 7, when the pushing force direction of the telescopic rod 73 is perpendicular to the movement direction of the telescopic arm 72 (i.e. the dead point position), the pushing force of the telescopic rod 73 cannot be decomposed into an effective driving component, resulting in the telescopic arm 72 being stuck or unable to continue to move. The top support 75 intervenes when the telescopic arm 72 approaches the dead point by providing additional auxiliary force, changes the included angle between the pushing force direction and the movement direction, and enables the pushing force of the telescopic rod 73 to drive the telescopic arm 72 to deflect.

[0068] The reason for such arrangement is that when the telescopic arm 72 is stored, it can be kept as horizontal as possible and thus kept in a low posture, preventing it from interfering with the goods.

[0069] In the embodiment, the vehicle body 1 is fixed with a top bin 3, one side of the top bin 3 is provided with a first conveying belt 4, and the other side of the top bin 3 is provided with a second conveying belt 5. The first conveying belt 4 and the second conveying belt 5 are arranged in parallel.

[0070] In the embodiment, the first conveying belt 4 and the second conveying belt 5 are rotatably installed on the two side frames of the top bin 3 through drum assemblies. The driving drum of the first conveying belt 4 is driven by a speed reducer motor, and the speed reducer motor is fixed on the motor mounting seat on the left side of the top bin 3. The driving mode of the second conveying belt 5 is the same as that of the first conveying belt 4, and the speed reducer motor thereof is fixed on the motor mounting seat on the right side of the top bin 3. The belt bodies of the two conveying belts (the first conveying belt 4 and the second conveying belt 5) are made of anti-static rubber material, which meets the conveying requirements of conventional materials.

[0071] Further, the side away from each other of the first conveying belt 4 and the second conveying belt 5 is provided with two distance meters 6. The first conveying belt 4 and the second conveying belt 5 adjust the position of the tray based on the feedback of the distance meters 6, so that the tray is properly positioned above the top bin 3.

[0072] The distance meter 6 can measure the distance from the edge of the tray to the distance meter. Four distance meters 6 continuously measure the distance from the edge of the tray to themselves. By comparing the distance data, it can be judged whether the tray is in the central position. When the tray is offset, the controller adjusts the running parameters of the conveying belt to make the tray as straight as possible without manual intervention, which is suitable for the requirements of unmanned storage yard.

[0073] In the embodiment, the side away from each other of the first conveying belt 4 and the second conveying belt 5 is provided with a guide plate 9, which is parallel to the first conveying belt 4. The guide plate 9 serves as a supplementary structure of the conveying belt, which improves the stability of the tray in the conveying process through physical guidance and limitation.

[0074] The above merely describes preferred specific embodiments of the present application, but the protection scope of the present application is not limited thereto, and any person skilled in the art, according to the technical solution and inventive concept of the present application, makes equivalent replacement or change within the technical range disclosed by the present application, which should be covered within the protection scope of the present application.

Claims

1. An intelligent pallet-type four-way vehicle for use in an unmanned storage yard, comprising a vehicle body (1) and a controller, wherein a first wheel group (2) and a second wheel group (8) are provided below the vehicle body (1), wherein the first wheel group (2) can drive the vehicle body (1) to move in a first direction, and the second wheel group (8) can drive the vehicle body (1) to move in a second direction, wherein the first direction is perpendicular to the second direction, and wherein the vehicle body (1) is provided with a first wheel group (2) and a second wheel group (8). A pressure sensor group and a side support assembly (7) are provided on the vehicle body (1), and the pressure sensor group is used to monitor the change of the center of gravity of the goods on the vehicle body (1); The side support assembly (7) can side support the goods on the vehicle body (1) according to the change of the center of gravity of the goods; The controller is configured to adjust the speeds and accelerations of the first wheel set (2) and the second wheel set (8) based on the change of the center of gravity of the goods.

2. The intelligent pallet-type four-way vehicle for unmanned storage yard according to claim 1 is characterized in that: The change of the center of gravity of the goods is measured based on the center of gravity offset Euclidean distance R; When the center of gravity offset Euclidean distance R ≤ 25 mm, the speeds and accelerations of the first wheel set (2) and the second wheel set (8) remain at the preset speeds and preset accelerations; When 25 mm < R ≤ 40 mm, the speeds of the first wheel set (2) and the second wheel set (8) are reduced to 60% of the preset speed, and the accelerations of the first wheel set (2) and the second wheel set (8) are reduced to 40% of the preset acceleration; When the center of gravity offset Euclidean distance R > 40 mm, the speeds of the first wheel set (2) and the second wheel set (8) are reduced to 40% of the preset speed, and the accelerations of the first wheel set (2) and the second wheel set (8) are reduced to 20% of the preset acceleration.

3. The intelligent pallet-type four-way vehicle for unmanned storage yard according to claim 2 is characterized in that: When the center of gravity offset Euclidean distance R > 40 mm, the side support assembly (7) intervenes and side supports the goods on the vehicle body (1).

4. The intelligent pallet-type four-way vehicle for unmanned storage yard according to claim 1 is characterized in that: The side support assembly (7) includes: A base (71) which is rotatably arranged on the vehicle body (1); A telescopic arm (72) whose first end is hinged to the vehicle body (1); A telescopic rod (73) which is hinged between the telescopic arm (72) and the base (71); Wherein, the vertical distance between the rotation axis of the base (71) and the hinge point between the base (71) and the telescopic arm (72) is 50 mm to 100 mm.

5. The intelligent pallet-type four-way vehicle for unmanned storage yard according to claim 4 is characterized in that: A support head (74) is further fixed on the base (71) for providing support for the telescopic arm (72).

6. The intelligent pallet-type four-way vehicle for unmanned storage yard according to claim 4 is characterized in that: A jacking device (75) is further fixed on the base (71) for overcoming the dead point when the telescopic rod (73) extends and drives the telescopic arm (72) to deflect.

7. The intelligent pallet-type four-way vehicle for unmanned storage yard according to claim 1 is characterized in that: A top bin (3) is fixed on the vehicle body (1), a first conveyor belt (4) is arranged on one side of the top bin (3), a second conveyor belt (5) is arranged on the other side of the top bin (3), and the first conveyor belt (4) and the second conveyor belt (5) are arranged in parallel.

8. The intelligent pallet-type four-way vehicle for unmanned storage yard according to claim 7, characterized in that: Two rangefinders (6) are arranged on the sides of the first conveyor belt (4) and the second conveyor belt (5) that are far away from each other, and the first conveyor belt (4) and the second conveyor belt (5) adjust the position of the tray based on the feedback of the rangefinders (6) so that the tray is摆正 above the top bin (3).

9. The intelligent pallet-type four-way vehicle for unmanned storage yard according to claim 7, characterized in that: Guide plates (9) are arranged on the sides of the first conveyor belt (4) and the second conveyor belt (5) that are far away from each other, and the guide plates (9) are parallel to the first conveyor belt (4).

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