AGV (Automatic Guided Vehicle) material taking and placing positioning and deviation rectifying method based on obstacle interference prevention and AGV

Abstract

The invention discloses an AGV transport vehicle material taking and placing positioning and deviation rectifying method based on obstacle interference prevention and an AGV transport vehicle, the AGV transport vehicle comprises a grabbing mechanism and a deviation rectifying part connected with the grabbing mechanism, the positioning and deviation rectifying method comprises the following steps that goods height information is detected and confirmed, and the grabbing mechanism is adjusted to be higher than goods; detecting and confirming that no obstacle exists on the telescopic path, and adjusting and enabling the grabbing mechanism to be located above the goods; and the controller is used for detecting and confirming the direction information of the goods and controlling and adjusting the deviation rectifying component so as to align the grabbing mechanism with the goods.

Description

Technical Field

[0001] This invention relates to the field of transportation equipment technology, and in particular to an AGV (Automated Guided Vehicle) material handling and positioning correction method based on obstacle prevention and interference prevention, and an AGV transport vehicle. Background Technology

[0002] Accurate positioning and correction are crucial when AGVs are performing material handling tasks. Currently, existing AGVs rely primarily on a single sensor for positioning during material handling, resulting in a relatively simple and inaccurate method. For example, some AGVs use only vision sensors for approximate positioning of goods. However, in complex working environments with varying lighting conditions and irregularly placed goods, vision sensors are easily interfered with, leading to inaccurate positioning. Furthermore, when positioning deviations occur, there is a lack of effective correction mechanisms, often requiring manual intervention. This not only reduces work efficiency but also increases labor costs and the likelihood of errors. Moreover, existing AGVs lack effective detection of obstructions during the extension mechanism's entry into the rack, increasing the risk of collisions that can damage the AGV and rack, affecting the normal operation and lifespan of the equipment. Summary of the Invention

[0003] This invention aims to solve at least one of the technical problems existing in the prior art. To this end, this invention proposes an AGV transport vehicle material handling and positioning correction method based on obstacle prevention and interference prevention. By setting multiple detection components and correction parts, it achieves accurate positioning and rapid correction of goods, while detecting obstacles on the telescopic path, thereby improving the safety and stability of the transport vehicle operation.

[0004] The present invention also proposes an AGV transport vehicle for applying the above-mentioned obstacle-avoidance interference-based AGV transport vehicle material handling and positioning correction method.

[0005] According to a first aspect of the present invention, an AGV transport vehicle positioning and correction method for picking up and placing materials based on obstacle prevention and interference is provided. The AGV transport vehicle includes a gripping mechanism and a correction component connected to the gripping mechanism. The positioning and correction method includes the following steps: Detect and confirm the cargo height information, and adjust and align the gripping mechanism above the cargo; Detect and confirm that there are no obstacles on the telescopic path, and adjust and position the gripping mechanism above the cargo; The system detects and confirms the cargo's orientation information, and controls and adjusts the correction components to align the gripping mechanism with the cargo.

[0006] The AGV transport vehicle material handling and positioning correction method based on obstacle prevention interference according to embodiments of the present invention has at least the following beneficial effects: The present invention achieves multi-dimensional positioning of goods by acquiring the height information and precise position of the goods from different angles and positions, and by detecting obstacles on the telescopic path in real time. When a positioning deviation occurs, a correction command can be generated based on the acquired precise position information of the goods, driving the correction component to adjust the lateral, longitudinal, or angular position of the gripping mechanism, enabling the gripping mechanism to quickly align with the goods without manual intervention, thus improving work efficiency and automation. When an obstacle is detected, the movement of the telescopic mechanism is stopped in time, avoiding collision accidents, protecting the safety of the transport vehicle and the rack, and extending the service life of the equipment.

[0007] According to some embodiments of the present invention, the gripping mechanism grips or releases goods by means of grippers, and the AGV transport vehicle is provided with a first detection element, a second detection element and a third detection element. The first detection element is provided at the front end of the gripping mechanism, the second detection element is provided at the bottom of the gripping mechanism, and the third detection element is provided at the side of the gripping mechanism. The first detection component is used to perform the detection and confirmation of cargo height information, the second detection component is used to perform the detection and confirmation of cargo orientation information, and the third detection component is used to perform the detection and confirmation that there are no obstacles on the telescopic path.

[0008] According to some embodiments of the present invention, the gripping mechanism grips or releases goods via grippers, and the correction component includes a longitudinal correction component and a lateral correction component; Controlling and adjusting the correction component to align the gripping mechanism with the cargo includes the following steps: Based on the acquired cargo orientation information, the lateral correction component is controlled to drive the gripper to make lateral displacement so that the lateral position of the gripper is aligned with the cargo. The longitudinal correction component is controlled to drive the gripping mechanism to make longitudinal displacement so that the longitudinal position and deflection angle of the gripper are aligned with the goods.

[0009] According to some embodiments of the present invention, controlling the longitudinal correction component to drive the gripping mechanism to make longitudinal displacement so that the longitudinal position and deflection angle of the gripper are aligned with the goods further includes the following steps: By controlling the differential speed operation on both sides of the gripping mechanism, the deflection angle of the grippers is aligned with the goods.

[0010] According to a second aspect of the present invention, an AGV transport vehicle is used to apply the obstacle-avoidance interference-based AGV transport vehicle material handling and positioning correction method as described in any of the preceding claims. The vehicle includes a vehicle body, a lifting mechanism, a telescopic mechanism, and a gripping mechanism. The lifting mechanism is disposed on the vehicle body. The lifting mechanism is connected to and drives the telescopic mechanism to move up and down in the vertical direction. The telescopic mechanism is connected to and drives the gripping mechanism to move in the horizontal direction to approach or move away from the goods. The gripping mechanism is used to grip or release the goods. The vehicle body is also equipped with a positioning mechanism, including an identification component and a correction component. The identification component includes a first detection component, a second detection component, and a third detection component. The first detection component is located at the front end of the gripping mechanism, the second detection component is located on the side of the telescopic mechanism or the gripping mechanism, and the third detection component is located at the bottom of the gripping mechanism. It is used to identify, locate, grip, or release goods. After the correction component obtains the position information of the goods through the identification component, it aligns the gripping mechanism with the position of the goods or the goods to be placed.

[0011] The AGV transport vehicle according to embodiments of the present invention has at least the following beneficial effects: Through its automatic correction and positioning function, it can quickly and accurately identify the position of goods and adjust the gripping mechanism, reducing manual intervention and adjustment time, and greatly improving the efficiency of goods handling, especially suitable for large-scale, high-frequency goods handling scenarios. The positioning mechanism uses identification components to achieve accurate identification and positioning of goods. These identification components include a first detection component, a second detection component, and a third detection component, which are respectively disposed at the front end of the gripping mechanism, the telescopic mechanism or the side of the gripping mechanism, and the bottom of the gripping mechanism. This multi-position, multi-angle detection layout can comprehensively acquire the positional information of the goods. For example, the first detection component at the front end of the gripping mechanism can initially perceive the presence and approximate location of the goods when approaching them; the second detection component on the side can assist in determining the horizontal offset of the goods relative to the AGV transport vehicle; and the third detection component at the bottom identifies the features of the bottom of the goods or ground reference points. Combining the information from the first two, accurate positioning of the goods in three-dimensional space is achieved.

[0012] According to some embodiments of the present invention, the correction mechanism includes a lateral correction component, which is disposed on the gripping mechanism and is used to connect to and drive the gripping mechanism to perform lateral displacement correction.

[0013] According to some embodiments of the present invention, the gripping mechanism includes two grippers for gripping or releasing goods, the lateral correction assembly includes two first drive motors, the grippers include two first driven racks, a push rod connected to the first driven racks, and a support rod connected to the bottom of the push rod, the output end of the drive motor is connected to a first drive gear, and the first drive gear meshes with the first driven rack.

[0014] According to some embodiments of the present invention, the correction mechanism includes a longitudinal correction component, which is disposed on either the telescopic mechanism or the gripping mechanism. The longitudinal correction component is used to connect to and drive the gripping mechanism to perform longitudinal displacement correction.

[0015] According to some embodiments of the present invention, the longitudinal correction component is connected to the gripping mechanism and includes two second drive motors. The output end of the second drive motor is connected to a second drive gear. The movable end of the telescopic mechanism is provided with a second driven rack along the telescopic direction. The second drive gear meshes with the second driven rack. Two second drive motors are respectively disposed on both sides of the gripping mechanism, for connecting and driving the gripping mechanism to move longitudinally on one side to adjust the angle of the gripping mechanism, or for connecting and driving the gripping mechanism to move synchronously on both sides to adjust the longitudinal position.

[0016] According to some embodiments of the present invention, there is a clearance gap between the gripping mechanism and the telescopic mechanism. When the second drive motor drives the gripping mechanism to move on one side, the clearance gap allows the gripping mechanism to make local displacements to adjust the angle.

[0017] According to some embodiments of the present invention, the telescopic mechanism includes a fixed section, a first telescopic section slidably connected to the fixed section, and a second telescopic section slidably connected to the first telescopic section. The gripping mechanism is connected to the second telescopic section, the second driven rack is connected to the side of the second telescopic section, and the second drive motor can drive the second telescopic section to extend and retract, and can drive the gripping mechanism to perform longitudinal correction.

[0018] According to some embodiments of the present invention, the bottom of the vehicle body is provided with two drive wheels and two driven wheels, the two drive wheels and the two driven wheels are distributed at four corners, and the two drive wheels are arranged diagonally. The drive wheel is a differential steering wheel.

[0019] Additional aspects and advantages of the invention will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention. Attached Figure Description

[0020] The present invention will be further described below with reference to the accompanying drawings and embodiments, wherein: Figure 1 This is a flowchart of an AGV transport vehicle material handling and positioning correction method based on obstacle prevention interference according to an embodiment of the present invention.

[0021] Figure 2 This is a schematic diagram of an AGV transport vehicle according to an embodiment of the present invention; Figure 3 This is a schematic diagram of the telescopic mechanism of the AGV transport vehicle according to an embodiment of the present invention; Figure 4 This is a schematic diagram of the gripping mechanism of the AGV transport vehicle according to an embodiment of the present invention; Figure 5 This is a front view schematic diagram of the gripping mechanism of the AGV transport vehicle according to an embodiment of the present invention; Figure 6 This is a bottom view schematic diagram of the AGV transport vehicle according to an embodiment of the present invention.

[0022] Reference numerals: Vehicle body 100; Drive wheel 110; Driven wheel 120; Lifting mechanism 200; Telescopic mechanism 300; Fixed section 310; First telescopic section 320; Second telescopic section 330; Gripping mechanism 400; Gripper 410; First driven rack 411; Push rod 412; Support rod 413; Lateral correction assembly 500; First drive motor 510; First drive gear 520; Longitudinal correction assembly 600; Second drive motor 610; Second drive gear 620; Second driven rack 630; First detection element 700; Second detection element 800; Third detection element 900. Detailed Implementation

[0023] Embodiments of the present invention are described in detail below. Examples of these embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain the present invention, and should not be construed as limiting the present invention.

[0024] In the description of this invention, it should be understood that the orientation descriptions, such as up, down, front, back, left, right, etc., are based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limiting this invention.

[0025] In the description of this invention, "several" means one or more, "more than" means two or more, "greater than," "less than," and "exceeding" are understood to exclude the stated number, while "above," "below," and "within" are understood to include the stated number. The use of "first" and "second" in the description is merely for distinguishing technical features and should not be construed as indicating or implying relative importance, or implicitly indicating the number of indicated technical features, or implicitly indicating the order of the indicated technical features.

[0026] In the description of this invention, unless otherwise explicitly defined, terms such as "setting," "installation," and "connection" should be interpreted broadly. Those skilled in the art can reasonably determine the specific meaning of these terms in this invention in conjunction with the specific content of the technical solution. In the description of this invention, the terms "one embodiment," "some embodiments," "illustrative embodiment," "example," "specific example," or "some examples," etc., refer to specific features, structures, materials, or characteristics described in connection with that embodiment or example, which are included in at least one embodiment or example of this invention. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials, or characteristics described can be combined in any suitable manner in one or more embodiments or examples.

[0027] Reference Figure 1 , Figure 2 and Figure 3 This invention proposes a method for positioning and correcting the AGV (Automated Guided Vehicle) for picking up and placing materials based on obstacle prevention and interference prevention. The AGV includes a telescopic mechanism 300, a gripping mechanism 400, and a correction component. The gripping mechanism 400 is connected to the movable end of the telescopic mechanism 300 and can achieve horizontal telescopic movement under the drive of the telescopic mechanism 300. A first detection element 700 is provided at the front end of the gripping mechanism 400, which is mainly used to identify the height information of the goods to be gripped. A second detection element 800 is provided on the side of the telescopic mechanism 300 or the gripping mechanism 400, used to detect obstacles in the telescopic path. A third detection element 900 is provided at the bottom of the gripping mechanism 400, which, in this method, mainly cooperates with other components on the gripping mechanism 400 to obtain the precise position of the goods when the gripping mechanism 400 reaches above the goods. The correction component is used to drive the gripping mechanism 400 and align it with the goods.

[0028] The AGV transport vehicle material handling and positioning correction method based on obstacle prevention and interference prevention of the present invention includes the following steps: Detect and confirm cargo height information, and adjust and align the gripping mechanism above the cargo; Check and confirm that there are no obstacles in the telescopic path, and adjust and position the gripping mechanism above the cargo; The system detects and confirms the cargo's orientation information, and controls and adjusts the alignment components to ensure that the gripping mechanism is aligned with the cargo.

[0029] Specifically, the height information of the goods to be grasped is identified by a first detection element 700 located at the front end of the grasping mechanism 400, and the height data is sent to the controller. The first detection element 700 can be a laser rangefinder or similar device, which can accurately measure the distance between the top of the goods and the first detection element 700, thereby obtaining the height information of the goods. After receiving the height data, the controller can process and analyze the data according to a preset program to provide a reference for subsequent grasping operations.

[0030] Then, a second detection element 800 located on the side of the telescopic mechanism 300 detects obstructions in the telescopic path. The second detection element 800 can be an infrared sensor, ultrasonic sensor, etc., capable of monitoring objects within a certain range in front of the telescopic mechanism 300 in real time. If there are no obstructions, the controller controls the telescopic mechanism 300 to drive the gripping mechanism 400 to extend horizontally above the shelf; if an obstruction is detected, the controller controls the telescopic mechanism 300 to stop moving and issues an alarm signal to remind the operator to handle the situation and avoid collision accidents.

[0031] Finally, when the gripping mechanism 400 reaches above the goods, the third detection element 900 on the gripping mechanism 400 is activated to obtain the precise position of the goods. For example, the third detection element 900 can be a vision sensor, which, combined with the height information already obtained by the first detection element 700 at the front end of the gripping mechanism 400, determines the precise position of the goods from multiple dimensions. The controller generates a correction command based on this information, driving the correction component to adjust the lateral position, longitudinal position, or angle of the gripping mechanism 400, aligning the gripping mechanism 400 with the goods. The correction component can employ a motor-driven screw and nut mechanism, a rack and pinion mechanism, etc., capable of precisely controlling the direction and amount of displacement of the gripping mechanism 400.

[0032] It is understood that this invention achieves multi-dimensional positioning of goods by setting multiple detection elements to acquire information about the goods from different angles and positions. The first detection element 700 at the front end of the gripping mechanism 400 can acquire the height information of the goods, and the third detection element 900 at the bottom of the gripping mechanism 400 can acquire the precise position of the goods, greatly improving the accuracy of positioning and reducing positioning errors. When a positioning deviation occurs, the controller can generate a correction command based on the acquired precise position information of the goods, driving the correction component to adjust the lateral position, longitudinal position, or angle of the gripping mechanism 400, enabling the gripping mechanism 400 to quickly align with the goods without manual intervention, thus improving work efficiency and automation. Furthermore, a second detection element 800 is set on the side of the telescopic mechanism 300, which can detect obstacles on the telescopic path in real time. When an obstacle is detected, the movement of the telescopic mechanism 300 is stopped in time, avoiding collision accidents, protecting the safety of the transport vehicle and the shelf, and extending the service life of the equipment.

[0033] In some embodiments, the gripping mechanism 400 grips or releases goods via the gripper 410, and the correction component includes a longitudinal correction component 600 and a lateral correction component 500. Controlling and adjusting the alignment components to align the gripping mechanism with the cargo includes the following steps: Based on the acquired cargo orientation information, the lateral correction component 500 is controlled to drive the gripper 410 to make lateral displacement so that the lateral position of the gripper 410 is aligned with the cargo. The longitudinal alignment component 600 drives the gripping mechanism to make longitudinal displacement so that the longitudinal position and deflection angle of the gripper 410 are aligned with the goods.

[0034] Furthermore, controlling the longitudinal correction component 600 to drive the gripping mechanism to make longitudinal displacement so that the longitudinal position and deflection angle of the gripper 410 are aligned with the goods also includes the following steps: By controlling the differential speed operation of both sides of the gripping mechanism 400, the deflection angle of the gripper 410 is aligned with the goods.

[0035] In some embodiments, the telescopic mechanism 300 of the AGV transport vehicle adopts an electric push rod 412, the gripping mechanism 400 is a mechanical claw, and the correction component is a motor-driven screw and nut mechanism. The first detection element 700 is a laser rangefinder sensor, installed at the front end of the gripping mechanism 400; the second detection element 800 is an infrared sensor, installed on the side of the telescopic mechanism 300; and the third detection element 900 is a vision sensor, installed at the bottom of the gripping mechanism 400. The specific operating steps are as follows: First, height information is identified: When the AGV transport vehicle approaches the vicinity of the goods to be grabbed, the laser rangefinder at the front end of the grabbing mechanism 400 is activated to measure the distance between the top of the goods and the sensor, obtaining the height information of the goods, and sending the height data to the controller. The controller judges the data according to the preset goods height range. If the height data is within the reasonable range, the subsequent operation continues; if the height data is abnormal, an alarm signal is issued to prompt the operator to check.

[0036] Then, obstruction detection and extension control are performed: the infrared sensor on the side of the extension mechanism 300 is activated to detect whether there are any obstructions in the extension path. If the infrared sensor does not detect any obstruction, the controller controls the electric push rod 412 to drive the gripping mechanism 400 to extend horizontally above the shelf; if the infrared sensor detects an obstruction, the controller immediately controls the electric push rod 412 to stop moving and issues an alarm signal through the audible and visual alarm device to remind the operator to remove the obstruction.

[0037] Finally, precise cargo positioning and correction are performed: When the gripping mechanism 400 reaches the cargo, the vision sensor at the bottom of the gripping mechanism 400 is activated to photograph and process the cargo, obtaining its precise position information, including its center coordinates and angle. The controller compares the information obtained by the vision sensor with the preset target position, calculates the deviation of the gripping mechanism 400, and generates a correction command. The correction command is sent to the motor-driven lead screw and nut mechanism. The motor rotates according to the command, driving the gripping mechanism 400 to adjust its lateral and longitudinal position or rotate its angle through the lead screw and nut, ensuring that the gripping mechanism 400 is accurately aligned with the cargo. Then, the controller controls the mechanical gripper to grasp the cargo and transport it to the designated location for placement according to the preset path.

[0038] In other embodiments, the telescopic mechanism 300 of the AGV transport vehicle uses a hydraulic cylinder, the gripping mechanism 400 is a vacuum suction cup, and the correction component is a gear and rack mechanism. The first detection element 700 is an ultrasonic ranging sensor, installed at the front end of the gripping mechanism 400; the second detection element 800 is an ultrasonic sensor, installed on the side of the gripping mechanism 400; and the third detection element 900 is a binocular vision sensor, installed at the bottom of the gripping mechanism 400.

[0039] First, height information is identified: After the AGV transport vehicle arrives at the location of the goods to be grasped, the ultrasonic ranging sensor at the front end of the grasping mechanism 400 is activated. It emits ultrasonic waves and receives the reflected waves. Based on the propagation time of the ultrasonic waves, the distance between the top of the goods and the sensor is calculated, i.e., the height information of the goods, and the height data is transmitted to the controller. The controller analyzes and processes the height data to determine whether the goods meet the grasping requirements.

[0040] Next, obstruction detection and extension control are performed: the ultrasonic sensor on the side of the gripping mechanism 400 is activated to detect objects in the extension path. If the ultrasonic sensor reports no obstruction signal, the controller controls the hydraulic cylinder to drive the gripping mechanism 400 to extend horizontally above the shelf; if an obstruction is detected, the controller controls the hydraulic cylinder to stop moving and displays the obstruction information on the operation interface, waiting for the operator to handle it.

[0041] Finally, precise positioning and correction of the goods are performed: When the gripping mechanism 400 reaches the goods, the binocular vision sensor at the bottom of the gripping mechanism 400 is activated. Using the parallax principle of two cameras, the three-dimensional position information of the goods, including their spatial coordinates and orientation, is acquired. The controller compares the information provided by the binocular vision sensor with the preset gripping position to determine the direction and magnitude of the deviation of the gripping mechanism 400 and generates corresponding correction commands. These correction commands are transmitted to the gear and rack mechanism, which drives the gears to rotate. The gears then move the rack, thereby adjusting the lateral and longitudinal position or rotating the angle of the gripping mechanism 400 to ensure accurate alignment between the gripping mechanism 400 and the goods. Finally, the controller controls a vacuum suction cup to pick up the goods and transport them to the designated location.

[0042] Reference Figure 3 , Figure 4 and Figure 5 In this embodiment, the AGV transport vehicle adopts a gripper 410 for grabbing or releasing goods. The correction component consists of a longitudinal correction assembly and a lateral correction assembly, which work together to achieve precise correction of the gripping mechanism 400.

[0043] When the controller determines that the gripper 410 has a lateral deviation based on the precise position information of the goods obtained by the third detection element 900, the controller sends a control command to the lateral drive motor. The lateral drive motor rotates according to the command, driving the lateral slider to move on the lateral guide rail via a rack and pinion transmission, thereby driving the gripper 410 to perform lateral displacement correction, aligning the gripper 410 with the goods in the lateral direction. If the controller detects a longitudinal deviation between the gripping mechanism 400 and the goods, the controller controls the longitudinal drive motor to rotate. The longitudinal drive motor drives the longitudinal slider to move on the longitudinal guide rail via a lead screw and nut transmission, thereby causing the gripping mechanism 400 to perform longitudinal displacement, bringing the gripper 410 closer to the goods in the longitudinal direction.

[0044] It should be noted that when the goods are tilted or the gripping mechanism 400 deviates in angle due to other reasons, the controller analyzes the posture information of the goods to calculate the angle that needs to be adjusted and the displacement difference between the longitudinal moving units on both sides. Then, the controller sends different control commands to the stepper motors on both sides of the gripping mechanism 400 to control the differential speed operation of the motors on both sides. For example, if the gripping mechanism 400 needs to tilt to the right, the controller controls the speed of the right motor to increase and the speed of the left motor to decrease, so that the displacement of the right longitudinal moving unit is greater than that of the left, thereby realizing the angle correction of the gripping mechanism 400 and enabling the gripper 410 to accurately align with the gripping surface of the goods.

[0045] In practical applications, AGV transport vehicles in automated warehousing systems need to pick up goods from shelves. Before the AGV reaches the shelf, it completes goods height recognition, obstruction detection, and initial positioning. Then, the gripping mechanism 400 moves above the goods. At this point, the third detection component 900 detects deviations in the gripper 410 in the lateral, longitudinal, and angular directions. The controller immediately initiates a correction mechanism. First, the lateral correction component adjusts the lateral position of the gripper 410 to align it with the center of the goods. Next, the longitudinal correction component adjusts the longitudinal position of the gripping mechanism 400, bringing the gripper 410 closer to the goods. Finally, based on the tilt of the goods, the differential speed of the longitudinal moving units on both sides of the gripping mechanism 400 is controlled to achieve angular correction, ensuring that the gripper 410 can accurately and stably pick up the goods.

[0046] Precise alignment ensures that the gripping mechanism 400 is always in optimal working condition, reducing equipment malfunctions and damage caused by positional deviations. Furthermore, through automated alignment, the AGV transport vehicle can automatically adjust the position and angle of the gripping mechanism 400 during material handling, eliminating the need for manual adjustments and significantly reducing the time and workload of human intervention. This not only improves work efficiency but also reduces the incidence of errors and accidents caused by human error.

[0047] Reference Figure 2 , Figure 3 , Figure 4 , Figure 5 and Figure 6 This invention proposes an AGV transport vehicle, mainly composed of a vehicle body 100, a lifting mechanism 200, a telescopic mechanism 300, a gripping mechanism 400, and a positioning mechanism. Specifically, the vehicle body 100, serving as the support and moving foundation for the entire device, can be made of sturdy and durable metal materials, possessing good load-bearing capacity and stability. Drive wheels 110 and driven wheels 120 are installed at the bottom of the vehicle body 100, enabling autonomous movement of the device via a motor drive.

[0048] The lifting mechanism 200 is mounted on the vehicle body 100 and can employ an electric lead screw lifting structure. The electric lead screw is driven to rotate by a motor, and through the cooperation of the lead screw and nut, the rotational motion is converted into linear motion, thereby driving the telescopic mechanism 300 to move vertically up and down. Optionally, the lifting mechanism 200 is equipped with upper and lower limit sensors. When the telescopic mechanism 300 moves to the upper or lower limit, the sensors will send a signal to control the motor to stop rotating, ensuring safe operation of the equipment.

[0049] The telescopic mechanism 300 is connected to the lifting mechanism 200 and can adopt an electric push rod 412 structure. The electric push rod 412 is driven by a motor and uses a gear and rack transmission to realize the horizontal telescopic movement of the telescopic mechanism 300. The front end of the telescopic mechanism 300 is connected to the gripping mechanism 400. By extending and retracting the electric push rod 412, the gripping mechanism 400 is driven to move closer to or away from the goods to complete the gripping or releasing action.

[0050] The gripping mechanism 400 is designed according to the shape and size of the goods. In some embodiments, taking the gripping of square goods as an example, a mechanical gripper 410 structure is adopted. The mechanical gripper 410 consists of two symmetrical grippers 410, which are driven by a cylinder to open and close. When it is necessary to grip the goods, the cylinder pushes the grippers 410 to close and clamp the goods; when it is necessary to release the goods, the cylinder pulls the grippers 410 to open and release the goods. Optionally, the gripping mechanism 400 is also equipped with a pressure sensor to detect the clamping force between the grippers 410 and the goods, so as to avoid damage to the goods due to excessive clamping force.

[0051] It should be noted that the positioning mechanism includes an identification component and a correction component. The identification component is installed at the front end of the vehicle body 100, the front end of the gripping mechanism 400, or the side of the telescopic mechanism 300, and can quickly scan the surrounding environment to obtain preliminary position information of the goods. In some embodiments, an optional visual sensor or barcode reader (in conjunction with the QR code on the goods or shelf) is installed on the gripping mechanism 400, which can capture images of the goods at close range and accurately identify and locate the goods through image processing algorithms to determine the accurate position and orientation of the goods. In other embodiments, an optional laser scanner or infrared sensor is installed on the side of the telescopic mechanism 300, which can detect whether there are any objects obstructing the extension direction of the gripping mechanism 400.

[0052] The alignment correction system includes at least a controller and a servo drive system. The controller receives the cargo position information from the identification unit, compares and analyzes it with the preset target position, and calculates the displacement and angle that the gripping mechanism 400 needs to adjust. Then, the controller sends control signals to the servo drive system, which controls the motor of the lifting mechanism 200, the electric push rod 412 of the telescopic mechanism 300, and the rotary motor of the gripping mechanism 400, respectively, to adjust the position and attitude of the gripping mechanism 400 so that it is accurately aligned with the cargo or the position to be placed.

[0053] In some embodiments, when the AGV receives a cargo handling task, the drive wheel 110 and driven wheel 120 work together to move the device to the area where the cargo is located. Upon reaching the target area, the lifting mechanism 200 raises the telescopic mechanism 300 and the gripping mechanism 400 to a suitable height. Then, the telescopic mechanism 300 drives the gripping mechanism 400 to extend forward, and simultaneously, the identification component begins to work, quickly scanning the surrounding environment to initially determine the cargo's location range. Then, the initially determined area is precisely photographed and identified to obtain the accurate position and orientation information of the cargo, and this information is transmitted to the controller. Based on the received position information, the controller calculates the required displacement and angle of the gripping mechanism 400 through the correction component, and controls the servo drive system to adjust the position and orientation of the gripping mechanism 400 to accurately align it with the cargo. After adjustment, the cylinders of the gripping mechanism 400 drive the grippers 410 to close, clamping the cargo. Subsequently, the lifting mechanism 200 raises the telescopic mechanism 300 and the gripping mechanism 400, which are holding the goods, to the transport height. The telescopic mechanism 300 drives the gripping mechanism 400 to retract, and the equipment begins to transport the goods.

[0054] Once the equipment reaches the cargo placement location, the lifting mechanism 200 and the telescopic mechanism 300 work together to move the gripping mechanism 400 above the location where the cargo will be placed. The identification component re-identifies and positions the placement location, and the correction component adjusts the position and orientation of the gripping mechanism 400 based on the identification results to ensure accurate alignment with the placement location. Finally, the gripping mechanism 400 drives the grippers 410 to open, releasing the cargo and completing the cargo handling task.

[0055] Understandably, the automatic correction and positioning function can quickly and accurately identify the position of goods and adjust the gripping mechanism 400, reducing manual intervention and adjustment time, and greatly improving the efficiency of goods handling, especially suitable for large-scale, high-frequency goods handling scenarios. The positioning mechanism uses identification components to achieve accurate identification and positioning of goods, while the correction components can accurately adjust the position and posture of the gripping mechanism 400 based on the position information, ensuring the accuracy of goods gripping and placement. This effectively avoids gripping failures or goods damage caused by positional deviations, and automates and intelligentizes the goods handling process, reducing reliance on manual operation, lowering labor intensity and labor costs, while improving the operational stability and reliability of the logistics system.

[0056] It should be noted that the gripping mechanism 400 can be designed and replaced according to the shape and size of different goods, and the positioning mechanism can adapt to the needs of goods identification and positioning in different environments. It has strong versatility and adaptability and can be widely used in goods handling operations in various places such as factories, warehouses, and logistics centers.

[0057] Reference Figure 2 The identification components include a first detection element 700, which is a sensor integrated module with multiple data acquisition and recording functions. This first detection element 700 is installed at the front end of the gripping mechanism 400. When the AGV transport vehicle approaches the goods, the first detection element 700 begins to operate. Through a built-in ranging sensor, such as a laser ranging sensor, it can accurately acquire and record the gripping distance information of the goods to be picked up or placed; using an image recognition sensor, combined with a pre-stored goods model database, it analyzes and compares the appearance characteristics of the goods to identify and record the goods model; through positioning sensors, such as a global positioning system or an indoor positioning system, such as a UWB positioning system, it determines the storage location of the goods; simultaneously, using environmental perception sensors, it scans and analyzes the entire warehouse environment, and combined with the goods storage information, records the storage status of the warehouse, such as which storage locations are full and which are vacant.

[0058] The identification component includes a second detection element 800, which is installed on the side of the telescopic mechanism 300 or the gripping mechanism 400. As the equipment moves, it approaches the goods to easily detect whether there are any objects obstructing the telescopic front end of the telescopic mechanism 300, thus avoiding collisions with the goods or gripping failures due to improper distance. Recording the goods model can provide a basis for subsequent logistics management and classification. Understanding the storage location of the goods and the storage status of the warehouse is beneficial for optimizing the handling path of the goods and the space utilization of the warehouse, thereby improving the operating efficiency of the entire logistics system.

[0059] Reference Figure 2 and Figure 3In some embodiments, the identification component includes a third detection element 900, which employs a high-precision vision sensor and is mounted on the gripping mechanism 400. When the gripping mechanism 400 moves above the goods to be picked up or placed under the drive of the telescopic mechanism 300, the vision sensor begins to operate. It captures an image of the goods and analyzes the image using image processing algorithms. First, it identifies key feature points of the goods through feature extraction algorithms, and then calculates the specific location information of the goods to be picked up or placed, such as the coordinate position of the goods on the horizontal plane, based on these feature points. Simultaneously, by measuring and analyzing the outline of the goods in the image, it obtains the size of the goods, including parameters such as length, width, and height, and records this information for later use. The third detection element 900, mounted on the gripping mechanism 400, performs detection when the gripping mechanism 400 reaches above the goods, enabling it to obtain the most accurate information on the position and size of the goods. Specific location information ensures that the gripping mechanism 400 accurately aligns with the goods, improving the success rate of gripping; accurate size information helps in selecting the appropriate gripping method and force, avoiding damage or slippage of goods due to improper gripping, and also helps in the rational arrangement of goods storage space.

[0060] The identification components include a first detection element 700, a second detection element 800, and a third detection element 900, which are respectively located at the front end of the gripping mechanism 400, the side of the telescopic mechanism 300 or the gripping mechanism 400, and the bottom of the gripping mechanism 400. This multi-position, multi-angle detection layout can comprehensively acquire the position information of the goods. For example, the first detection element 700, located at the front end of the gripping mechanism 400, can initially perceive the presence and approximate location of the goods when approaching them; the second detection element 800, located on the side, can help determine the horizontal deviation of the goods relative to the AGV transport vehicle; and the third detection element 900, located at the bottom, identifies the features of the bottom of the goods or ground reference points. Combining the information from the first two, precise positioning of the goods in three-dimensional space is achieved.

[0061] The correction mechanism includes a lateral correction component 500, which is mounted on the gripping mechanism 400. Specifically, the lateral correction component 500 can be a motor-driven screw and nut mechanism. The screw is horizontally mounted on the frame of the gripping mechanism 400, and the nut is connected to the gripping part of the gripping mechanism 400. When lateral displacement correction is required, the motor starts, driving the screw to rotate. Due to the threaded engagement between the nut and the screw, the nut moves horizontally along the screw, thereby causing the gripping mechanism 400 to perform lateral displacement correction, ensuring that the gripping mechanism 400 accurately aligns with the lateral position of the goods. The lateral correction component 500, mounted on the gripping mechanism 400, directly corrects the lateral displacement of the gripping mechanism 400, offering fast response and high correction accuracy. It can promptly adjust the horizontal positional deviation of the gripping mechanism 400, ensuring that the gripping mechanism 400 accurately reaches directly above the goods, improving the accuracy and reliability of goods gripping, and reducing gripping failures caused by lateral positional deviations.

[0062] In some embodiments, the gripping mechanism 400 includes two grippers 410 for gripping or releasing goods, and the lateral correction assembly 500 includes a first drive motor 510 and a linkage connecting the first drive motor 510. The linkage is a linkage structure. The two grippers 410 are respectively mounted on the base of the gripping mechanism 400 via a rotating shaft, and the two ends of the linkage are respectively hinged to the middle of the two grippers 410. When lateral correction is required, the first drive motor 510 is started, and its output end drives the linkage to move linearly. During the movement, the linkage pulls the two grippers 410 to rotate around the rotating shaft. Due to the connection effect of the linkage, the two grippers 410 move laterally synchronously, thereby realizing the position adjustment of the gripping mechanism 400 in the lateral direction. The structure using a first drive motor 510 and a linkage to drive the two grippers 410 to move laterally synchronously is simple and low in cost. The linkage mechanism ensures the synchronous movement of the two grippers 410, enabling the gripping mechanism 400 to maintain a stable posture during lateral correction, thereby improving the accuracy and reliability of correction. At the same time, it reduces the number of motors, thereby reducing the complexity and energy consumption of the equipment.

[0063] Reference Figure 4In other embodiments, the gripping mechanism 400 includes two grippers 410 for gripping or releasing goods. Each gripper 410 includes two first driven racks 411, a push rod 412 connected to the first driven racks 411, and a support rod 413 connected to the bottom of the push rod 412. The lateral correction assembly 500 includes two first drive motors 510, which are respectively mounted on both sides of the gripping mechanism 400. The output end of each first drive motor 510 is connected to a first drive gear 520. The two first driven racks 411 are respectively mounted parallel to each other on the frame of the gripping mechanism 400 and mesh with the corresponding first drive gear 520. The push rod 412 is perpendicularly connected to the first driven rack 411, and the support rod 413 is used to support the goods. When lateral correction is required, the two first drive motors 510 start simultaneously, each driving its own first drive gear 520 to rotate. The first drive gear 520, through meshing with the first driven rack 411, causes the first driven rack 411 to move linearly, thereby driving the push rod 412 and the gripper 410 to move laterally, achieving lateral correction of the gripping mechanism 400. The structure of two first drive motors 510 driving the gripper separately provides greater driving force, suitable for gripping larger and heavier goods. The gear and rack transmission method provides high transmission precision, allowing for more accurate control of the lateral movement distance of the gripper 410 and improving the accuracy of correction. Simultaneously, the independent control of the two motors increases the system's flexibility and reliability to a certain extent; if one motor fails, the other motor can still perform lateral correction to a certain degree. It should be noted that the two second drive motors 610 can directly provide power for the gripper 410 to grip or release materials.

[0064] Reference Figure 3 The correction mechanism includes a longitudinal correction component 600, which is mounted on the gripping mechanism 400 (or the telescopic mechanism 300). The longitudinal correction component 600 can be an electric push rod 412, with one end fixed to the telescopic mechanism 300 (or a fixed part such as the vehicle body 100), and the other end connected to the gripping mechanism 400. When longitudinal displacement correction is required, the motor of the electric push rod 412 is activated, driving the push rod 412 to extend and retract, thereby causing the gripping mechanism 400 to perform longitudinal displacement correction, ensuring that the gripping mechanism 400 accurately reaches the correct vertical position of the goods. The longitudinal correction component 600, mounted on the gripping mechanism 400 or the telescopic mechanism 300, can perform longitudinal displacement correction on the gripping mechanism 400, ensuring that the gripping mechanism 400 accurately corresponds to the position of the goods in the vertical direction. When there are deviations in the storage height of goods or vertical position errors occur during equipment operation, timely adjustments can be made to improve the accuracy of goods grabbing and placement, and avoid collision damage caused by the inability to grab or place goods properly due to vertical position deviations.

[0065] Reference Figure 3 In some embodiments, the longitudinal correction component 600 is connected to the gripping mechanism 400 and includes two second drive motors 610, the output end of each second drive motor 610 being connected to a second drive gear 620. A second driven rack 630 is provided at the movable end of the telescopic mechanism 300 along the telescopic direction, and the second driven rack 630 is fixedly installed on the side of the movable end of the telescopic mechanism 300. Two second drive motors 610 are respectively installed on both sides of the gripping mechanism 400. When the angle of the gripping mechanism 400 needs to be adjusted, one of the second drive motors 610 is started. The second drive gear 620 of this motor meshes with the second driven rack 630, driving the gripping mechanism 400 to move longitudinally on one side. Because the two sides move asynchronously, the angle of the gripping mechanism 400 is adjusted. When the longitudinal position of the gripping mechanism 400 needs to be adjusted, both second drive motors 610 are started simultaneously. The two second drive gears 620 mesh with the second driven rack 630 respectively, driving the gripping mechanism 400 to move synchronously on both sides, thus adjusting the longitudinal position. By installing two second drive motors 610 on both sides of the gripping mechanism 400 and using a gear and rack transmission, the angle and longitudinal position of the gripping mechanism 400 can be flexibly adjusted. The angle adjustment function allows the gripping mechanism 400 to better adapt to goods at different tilt angles, improving gripping adaptability; the longitudinal position adjustment function can precisely control the position of the gripping mechanism 400 in the vertical direction, ensuring the accuracy of goods gripping and placement, and meeting the usage needs under different working conditions.

[0066] It should be noted that there is a clearance for adjustment between the gripping mechanism 400 and the telescopic mechanism 300. The size of this clearance is determined according to actual design requirements, generally ensuring sufficient space for angle adjustment when the gripping mechanism 400 moves to one side. When the second drive motor 610 drives the gripping mechanism 400 to move to one side, due to the clearance, the gripping mechanism 400 can make local displacements within this clearance range, thereby achieving angle adjustment. For example, when the second drive motor 610 on one side drives the gripping mechanism 400 to move upward, the gripping mechanism 400 can tilt at a certain angle within the clearance to adapt to the tilted state of the goods. The clearance provides space for the unilateral movement and angle adjustment of the gripping mechanism 400, avoiding interference between the gripping mechanism 400 and the telescopic mechanism 300 during adjustment. This design allows the gripping mechanism 400 to adjust its angle more flexibly, better adapting to goods of different shapes and placements, improving the versatility of the equipment and the accuracy of gripping, and reducing gripping failures caused by the inability to adjust the angle. It should be noted that the angle adjusted here is the angle of horizontal tilt in the horizontal direction.

[0067] The telescopic mechanism 300 includes a fixed section 310, a first telescopic section 320 slidably connected to the fixed section 310, and a second telescopic section 330 slidably connected to the first telescopic section 320. A gripping mechanism 400 is connected to the second telescopic section 330. A second driven rack 630 is connected to the side of the second telescopic section 330. A second drive motor 610 is mounted at a suitable position on the gripping mechanism 400 or the telescopic mechanism 300, and its output end is connected to a second drive gear 620, which meshes with the second driven rack 630. When longitudinal correction is required, the second drive motor 610 starts, driving the second drive gear 620 to rotate. Through meshing with the second driven rack 630, the second telescopic section 330 extends or retracts relative to the first telescopic section 320. Simultaneously, since the gripping mechanism 400 is connected to the second telescopic section 330, longitudinal correction is achieved by driving the gripping mechanism 400. Furthermore, by controlling the forward and reverse rotation of the second drive motor 610, the bidirectional extension and retraction of the second telescopic section 330 can be achieved to meet different correction requirements.

[0068] The system employs a multi-segment telescopic structure combined with rack and pinion transmission to achieve longitudinal alignment correction. Its compact structure allows for a large telescopic and alignment correction range within a limited space. The second telescopic segment 330 connects to the gripping mechanism 400. Driving the second telescopic segment 330 to extend or retract moves the gripping mechanism 400 longitudinally, enabling more precise control of its longitudinal position and improving the accuracy and flexibility of alignment correction. Furthermore, the multi-segment telescopic structure allows for adjustment of the telescopic length to accommodate gripping and placing tasks at different heights.

[0069] Reference Figure 5The bottom of the vehicle body 100 is equipped with two drive wheels 110 and two driven wheels 120, which are installed at four corners of the bottom of the vehicle body 100, with the two drive wheels 110 arranged diagonally. The drive wheels 110 are differential steering wheels, which integrate functional modules such as drive motors, steering motors, and reducers. During the operation of the AGV transport vehicle, by controlling the speed and direction of the two differential steering wheels, the equipment can achieve forward, backward, and turning movements. For example, when the two differential steering wheels rotate in the same direction and at the same speed, the equipment moves forward or backward in a straight line; when the two differential steering wheels rotate at different speeds, the equipment turns; when the two differential steering wheels turn in opposite directions, the equipment rotates in place. The structure of the two drive wheels 110 and two driven wheels 120 arranged at four corners, with the drive wheels 110 arranged diagonally, provides stable support for the vehicle body 100, ensuring the balance of the equipment during operation. The use of differential steering wheels as drive wheels 110 offers advantages such as flexible steering and high control precision. The differential steering wheels can independently control the speed and direction of each wheel, enabling the equipment to flexibly turn and move within confined spaces. This improves the equipment's maneuverability and adaptability, better meeting the transportation needs of complex logistics environments.

[0070] The embodiments of the present invention have been described in detail above with reference to the accompanying drawings. However, the present invention is not limited to the above embodiments. Within the scope of knowledge possessed by those skilled in the art, various changes can be made without departing from the spirit of the present invention.

Claims

1. A method for positioning and correcting the AGV (Automated Guided Vehicle) for picking up and placing materials based on preventing obstacle interference, characterized in that, The AGV transport vehicle includes a gripping mechanism and a correction component connected to the gripping mechanism. The positioning and correction method includes the following steps: Detect and confirm the cargo height information, and adjust and align the gripping mechanism above the cargo; Detect and confirm that there are no obstacles on the telescopic path, and adjust and position the gripping mechanism above the cargo; The system detects and confirms the cargo's orientation information, and controls and adjusts the correction components to align the gripping mechanism with the cargo.

2. The AGV transport vehicle material handling and positioning correction method based on obstacle prevention and interference prevention as described in claim 1, characterized in that, The AGV transport vehicle is equipped with a first detection component, a second detection component, and a third detection component. The first detection component is located at the front end of the gripping mechanism, the second detection component is located at the bottom of the gripping mechanism, and the third detection component is located at the side of the gripping mechanism. The first detection component is used to perform the detection and confirmation of cargo height information, the second detection component is used to perform the detection and confirmation of cargo orientation information, and the third detection component is used to perform the detection and confirmation that there are no obstacles on the telescopic path.

3. The AGV transport vehicle material handling and positioning correction method based on obstacle prevention and interference prevention as described in claim 1, characterized in that, The gripping mechanism grips or releases goods using grippers, and the correction component includes a longitudinal correction component and a lateral correction component. Controlling and adjusting the correction component to align the gripping mechanism with the cargo includes the following steps: Based on the acquired cargo orientation information, the lateral correction component is controlled to drive the gripper to make a lateral displacement so that the lateral position of the gripper is aligned with the cargo. The longitudinal correction component is controlled to drive the gripping mechanism to make longitudinal displacement so that the longitudinal position and deflection angle of the gripper are aligned with the goods.

4. The AGV transport vehicle material handling and positioning correction method based on obstacle prevention interference as described in claim 3, characterized in that, The method of controlling the longitudinal correction component to drive the gripping mechanism to make longitudinal displacement so that the longitudinal position and deflection angle of the gripper are aligned with the goods also includes the following steps: The deflection angle of the grippers is aligned with the goods by controlling the differential speed operation on both sides of the gripping mechanism.

5. An AGV transport vehicle, characterized in that, The method for positioning and correcting the AGV transport vehicle based on obstacle prevention and interference as described in claims 1 to 4 is characterized by comprising: The vehicle body, lifting mechanism, telescopic mechanism, and gripping mechanism are provided. The lifting mechanism is disposed on the vehicle body. The lifting mechanism is connected to and drives the telescopic mechanism to move up and down in the vertical direction. The telescopic mechanism is connected to and drives the gripping mechanism to move in the horizontal direction to approach or move away from the goods. The gripping mechanism is used to grip or release the goods. The vehicle body is also equipped with a positioning mechanism, including an identification component and a correction component. The identification component includes a first detection component, a second detection component, and a third detection component. The first detection component is located at the front end of the gripping mechanism, the second detection component is located on the side of the telescopic mechanism or the gripping mechanism, and the third detection component is located at the bottom of the gripping mechanism. It is used to identify, locate, grip, or release goods. After the correction component obtains the position information of the goods through the identification component, it aligns the gripping mechanism with the position of the goods or the goods to be placed.

6. The AGV transport vehicle according to claim 5, characterized in that, The correction mechanism includes a lateral correction component, which is disposed on the gripping mechanism and is used to connect to and drive the gripping mechanism to perform lateral displacement correction.

7. The AGV transport vehicle according to claim 6, characterized in that, The gripping mechanism includes two grippers for gripping or releasing goods. The lateral correction assembly includes two first drive motors. The grippers include two first driven racks, a push rod connected to the first driven racks, and a support rod connected to the bottom of the push rod. The output end of the drive motor is connected to a first drive gear, which meshes with the first driven rack.

8. The AGV transport vehicle according to claim 5, characterized in that, The correction mechanism includes a longitudinal correction component, which is disposed on either the telescopic mechanism or the gripping mechanism. The longitudinal correction component is used to connect to and drive the gripping mechanism to perform longitudinal displacement correction.

9. The AGV transport vehicle according to claim 8, characterized in that, The longitudinal correction component is connected to the gripping mechanism and includes two second drive motors. The output end of the second drive motor is connected to a second drive gear. The movable end of the telescopic mechanism is provided with a second driven rack along the telescopic direction. The second drive gear meshes with the second driven rack. Two second drive motors are respectively disposed on both sides of the gripping mechanism, for connecting and driving the gripping mechanism to move longitudinally on one side to adjust the angle of the gripping mechanism, or for connecting and driving the gripping mechanism to move synchronously on both sides to adjust the longitudinal position.

10. The AGV transport vehicle according to claim 9, characterized in that, There is a clearance gap between the gripping mechanism and the telescopic mechanism. When the second drive motor drives the gripping mechanism to move on one side, the clearance gap allows the gripping mechanism to make local displacements to adjust the angle.

11. The AGV transport vehicle according to claim 10, characterized in that, The telescopic mechanism includes a fixed section, a first telescopic section slidably connected to the fixed section, and a second telescopic section slidably connected to the first telescopic section. The gripping mechanism is connected to the second telescopic section, the second driven rack is connected to the side of the second telescopic section, and the second drive motor can drive the second telescopic section to extend and retract, and can drive the gripping mechanism to perform longitudinal correction.

12. The AGV transport vehicle according to claim 5, characterized in that, The bottom of the vehicle body is provided with two drive wheels and two driven wheels, which are distributed at four corners, and the two drive wheels are arranged diagonally. The drive wheel is a differential steering wheel.

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