Forklift AGV, tray pose detection mechanism and tray pose detection method

Abstract

The embodiment of the invention provides a forklift AGV, a tray pose detection mechanism and a tray pose detection method. The forklift AGV comprises a forklift body, a pallet fork, a controller and the tray pose detection mechanism. A plurality of detection assemblies of the tray pose detection mechanism are mounted on a mounting plate and are arranged side by side at intervals in the horizontal direction; each detection assembly comprises a trigger piece and an induction piece which are connected with each other. The trigger piece is used for being in contact with the tray when the fork arm forks the tray and generating rotation relative to the mounting plate after being extruded by the tray; the sensing piece is used for sensing the rotation angle of the triggering piece. The controller is used for obtaining the rotating angles, sensed by the sensing pieces, of the triggering pieces, and the tray pose is determined based on the rotating angles of the triggering pieces; and under the condition that the posture of the tray is not correct, the goods placing posture of the vehicle body is adjusted according to the posture of the tray, so that the tray is aligned with the target goods placing position. Deviation generated in the goods placing process is avoided, and therefore the working efficiency is improved.

Description

Technical Field

[0001] This application relates to the field of logistics and warehousing technology, and in particular to a forklift AGV, a pallet position detection mechanism, and a pallet position detection method. Background Technology

[0002] AGV (Automated Guided Vehicle) is a transport vehicle equipped with electromagnetic or optical automatic guidance devices, capable of traveling along a prescribed guidance path, and possessing safety protection and various transfer functions.

[0003] Forklift AGVs refer to AGVs that use forks to move pallets and their contents. In related technologies, photoelectric switches are usually used to detect whether the pallet and its contents have been moved onto the forks during the process of the forks picking up the pallet. However, photoelectric switches have high requirements for the position and type of the detected goods and the environment, and the detection error is large and the accuracy is not high enough.

[0004] Furthermore, this method of using photoelectric switches to detect whether a pallet and its contents have been moved onto the forks can only detect whether the pallet and its contents have been moved onto the forks; it cannot know the pallet's specific position on the forks (such as the slight deflection angle). If the pallet's specific position on the forks is incorrect, deviations will inevitably occur during the loading process, causing the pallet to misalign with the storage location and making it impossible to place the pallet smoothly. In this case, the forklift AGV needs to repeatedly try to correct its position, extending the single task time and reducing work efficiency. Summary of the Invention

[0005] The purpose of this application is to provide a forklift AGV, a pallet pose detection mechanism, and a pallet pose detection method to detect the specific pose of the pallet on the forklift AGV and avoid deviations during the loading and unloading process. The specific technical solution is as follows:

[0006] This application provides a forklift AGV, including: a vehicle body, forks, a controller, and a pallet position detection mechanism; the forks and the controller are both mounted on the vehicle body; the forks include: a mounting plate and fork arms; a first side of the mounting plate is connected to the vehicle body, and a second side is connected to the fork arms; the fork arms extend in a direction away from the mounting plate; the pallet position detection mechanism includes: multiple detection components; the multiple detection components are mounted on the second side of the mounting plate and are arranged side by side at intervals in a horizontal direction; each detection component includes: a trigger and a sensor connected to each other; wherein, the trigger is used to contact the pallet when the fork arms pick up the pallet, and rotates relative to the mounting plate after being squeezed by the pallet; the sensor is used to sense the rotation angle of the trigger; the controller is electrically connected to each sensor and is used to obtain the rotation angle of each trigger sensed by each sensor, determine the pallet position based on the rotation angle of each trigger, and adjust the pallet placement position of the vehicle body according to the pallet position if the pallet position is incorrect, so that the pallet is aligned with the target placement position.

[0007] In some embodiments of this application, the plurality of detection components are respectively mounted on the second side of the mounting plate via a fixed base; the trigger of each detection component is fixed on a rotating shaft; the sensing element of each detection component is an angle sensor; the rotating shaft is mounted on the fixed base such that the rotating shaft is parallel to the mounting plate in the horizontal direction; when the trigger is squeezed by the tray, it can drive the rotating shaft to rotate relative to the angle sensor; the angle sensor is fixed on the fixed base and electrically connected to the controller, and is used to sense the rotation angle generated by the rotating shaft under the action of the trigger, and feed it back to the controller.

[0008] In some embodiments of this application, the fixing base includes: a connecting plate and two side plates; the connecting plate is parallel to the mounting plate and fixedly connected to the mounting plate; the two side plates are perpendicular to the connecting plate and horizontally spaced on the connecting plate; a trigger is installed between the two side plates, with a first end of the trigger fixedly sleeved on the rotating shaft and a second end extending out of the fixing base for contacting the tray; an angle sensor is installed on the outer side of one of the side plates; the rotating shaft passes through the side plate and is rotatably connected to the angle sensor.

[0009] In some embodiments of this application, a torsion spring is sleeved on the rotating shaft, the torsion spring being located between the two side plates and adjacent to the trigger member; the trigger member is a trigger rod, with its first end fixedly sleeved on the rotating shaft and its second end extending obliquely downward, and a limiting block extending toward the torsion spring being provided on the trigger rod; the two torsion arms of the torsion spring extending downward; wherein, the first torsion arm abuts against the connecting plate; the second torsion arm abuts against the limiting block on the trigger rod, for supporting the trigger rod, so that the trigger rod and the connecting plate are arranged at an angle; the second end of the trigger rod is squeezed by the tray, and can rotate downward, compressing the torsion spring, and driving the rotating shaft to rotate relative to the angle sensor.

[0010] In some embodiments of this application, the first end of the trigger rod is provided with a limiting slope; the limiting slope contacts the connecting plate when the pallet is not picked up, so as to limit the initial included angle between the trigger rod and the connecting plate.

[0011] In some embodiments of this application, the detection assembly further includes: a bushing and a bushing; the bushing and bushing are sleeved on the rotating shaft; the number of bushings is 2, and the two bushings are respectively fixed on two side plates; the bushing, torsion spring and trigger rod are arranged axially between the two bushings.

[0012] This application provides a pallet position detection mechanism installed on the forks of a forklift AGV. The pallet position detection mechanism includes multiple detection components. The multiple detection components are arranged side by side at intervals in the horizontal direction on the mounting plate of the forks, and are located on the same side of the mounting plate as the fork arms. Each detection component includes a trigger and a sensor connected to each other. The trigger is used to contact the pallet when the fork arms pick up the pallet, and rotates relative to the mounting plate after being squeezed by the pallet. The sensor is used to sense the rotation angle of the trigger. Each sensor is electrically connected to the controller of the forklift AGV and can feed back the sensed rotation angle of each trigger to the controller. This allows the controller to determine the pallet position based on the rotation angle of each trigger, and adjust the pallet placement position of the forklift AGV body according to the pallet position if the pallet position is incorrect, so that the pallet is aligned with the target placement position.

[0013] This application provides a pallet pose detection method, applied to the controller of a forklift AGV in any of the above embodiments; the method includes: receiving the rotation angle of each trigger when it is squeezed by the pallet, fed back by each sensor; determining the pallet pose based on the rotation angle of each trigger when it is squeezed by the pallet; and adjusting the loading pose of the vehicle body according to the pallet pose when the pallet pose is incorrect, so that the pallet is aligned with the target loading position.

[0014] In some embodiments of this application, the pallet pose detection mechanism includes two detection components; the sensing element is an angle sensor; receiving the rotation angle of each trigger element when it is squeezed by the pallet, fed back by each sensing element, includes: receiving the initial angles A1 and A2 of the two trigger elements fed back by the two angle sensors before picking up the pallet; receiving the current angles B1 and B2 of the two trigger elements fed back by the two angle sensors after picking up the pallet; determining the pallet pose based on the rotation angle of each trigger element when it is squeezed by the pallet includes: if A1-B1=0 and / or A2-B2=0, determining that the pallet is not in position; if |(A1-B1)-(A2-B2)|≤X, determining that the pallet is in position; where X is a preset maximum allowable error angle; if |(A1-B1)-(A2-B2)|>X, determining that the pallet pose on the forks is incorrect and tilted relative to the mounting plate. In some embodiments of this application, adjusting the loading posture of the vehicle body according to the pallet posture to align the pallet with the target loading position when the pallet posture is incorrect includes: calculating the included angle θ between the pallet and the mounting plate when it is determined that the pallet posture on the forks is incorrect. Where d is the length from the contact point between the trigger and the pallet to the rotation center of the trigger, and L is the distance between the two triggers; based on the angle θ between the pallet and the mounting plate, the vehicle body is controlled to rotate so that the pallet is aligned with the target loading position.

[0015] Beneficial effects of the embodiments in this application:

[0016] The forklift AGV, pallet position detection mechanism, and pallet position detection method provided in this application embodiment have multiple detection components arranged side-by-side at intervals along the horizontal direction on the forks. Each detection component includes an interconnected trigger and a sensor. The controller acquires the rotation angle of each trigger after being pressed by the pallet, as sensed by each sensor, thus determining the specific position of the pallet on the forklift AGV. The controller can adjust the pallet placement position of the vehicle body according to the pallet position to align the pallet with the target placement location, avoiding deviations during placement. The forklift AGV does not need to repeatedly try to correct its position, thereby improving work efficiency.

[0017] Of course, implementing any product or method of this application does not necessarily require achieving all of the advantages described above at the same time. Attached Figure Description

[0018] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other embodiments can be obtained based on these drawings.

[0019] Figure 1 This is a three-dimensional structural diagram of the forklift AGV according to an embodiment of this application;

[0020] Figure 2 for Figure 1 A magnified view of a portion of the image;

[0021] Figure 3 for Figure 1 The diagram shows the connection between the fork and the pallet position detection mechanism.

[0022] Figure 4 for Figure 3 The diagram shows an exploded view of the fork and pallet position detection mechanism.

[0023] Figure 5 for Figure 3 The diagram shows a top view of the forks picking up a pallet.

[0024] Figure 6 for Figure 2 A three-dimensional structural diagram of the detection component shown;

[0025] Figure 7 for Figure 6 An exploded view of the detection component shown.

[0026] Figure 8a for Figure 6 A schematic cross-sectional view of the detection component shown;

[0027] Figure 8b This is another cross-sectional schematic diagram of the detection component;

[0028] Figure 9a This is a schematic diagram of the pallet's position when it is not in place.

[0029] Figure 9b for Figure 9a Top view;

[0030] Figure 10a This is a schematic diagram of the pallet's position when it is in place.

[0031] Figure 10b for Figure 10a Top view;

[0032] Figure 11a This is a schematic diagram illustrating a situation where the pallet is not properly positioned on the forks.

[0033] Figure 11b for Figure 11a Top view;

[0034] Figure 12 This is a flowchart illustrating the pallet pose detection method according to an embodiment of this application.

[0035] Figure label:

[0036] 10. Vehicle body; 11. Mobile chassis; 12. Gantry; 13. Lifting mechanism;

[0037] Forks 20; Mounting plate 21; First mounting plate 211; Second mounting plate 212; Elongated through hole 213; Mounting through hole 214; Fork arm 22; Roller 23;

[0038] Pallet position detection mechanism 30;

[0039] Detection component 31; trigger element 311; trigger rod 311a; first trigger rod 311-1; second trigger rod 311-2; limit block 3111; limit inclined surface 3112; sensing element 312; angle sensor 312a; rotating shaft 313; torsion spring 314; first torsion arm 3141; second torsion arm 3142; bushing 315; bushing 316; first bushing 3161; second bushing 3162; screw 317;

[0040] Fixed base 32; connecting plate 321; side plate 322; first side plate 3221; second side plate 3222; through hole 323; second fixed base 33;

[0041] Tray 40; First edge 41. Detailed Implementation

[0042] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art based on this application are within the scope of protection of this application.

[0043] As mentioned in the background art, in related technologies, photoelectric switches are usually used to detect whether the pallet and the goods on it have been moved onto the forks during the process of picking up the pallet with the forks. However, photoelectric switches have high requirements for the position, type and environment of the goods being detected, and the detection error is large and the accuracy is not high enough.

[0044] Furthermore, this method of using photoelectric switches to detect whether a pallet and its contents have been moved onto the forks can only detect whether the pallet and its contents have been moved onto the forks; it cannot know the pallet's specific position on the forks (such as the slight deflection angle). If the pallet's specific position on the forks is incorrect, deviations will inevitably occur during the loading process, causing the pallet to misalign with the storage location and making it impossible to place the pallet smoothly. In this case, the forklift AGV needs to repeatedly try to correct its position, extending the single task time and reducing work efficiency.

[0045] Deviations during the loading and unloading process can also lead to the following consequences: Significantly increased safety risks: Pallet offset can cause the center of gravity of the goods to become unstable, which may result in the goods tipping over and falling; When the AGV is moving, the tilted pallet may go beyond the preset path range and collide with the shelves, walls or other equipment; Increased maintenance costs: Frequent collisions and mechanical wear and tear drive up the cost of spare parts maintenance.

[0046] To avoid deviations during the loading and unloading process, this application provides a forklift AGV, a pallet position detection mechanism, and a pallet position detection method to detect the specific position of the pallet on the forklift AGV. This allows the forklift AGV controller to adjust the loading and unloading position of the forklift AGV based on the pallet position, thereby preventing deviations during the loading and unloading process.

[0047] The forklift AGV provided in the embodiments of this application will be described in detail below.

[0048] See Figures 1 to 5 , Figure 1 This is a three-dimensional structural diagram of the forklift AGV according to an embodiment of this application; Figure 2 for Figure 1 A magnified view of a portion of the image; Figure 3 for Figure 1 The diagram shows the connection between the fork and the pallet position detection mechanism. Figure 4 for Figure 3 The diagram shows an exploded view of the fork and pallet position detection mechanism. Figure 5 for Figure 3 The diagram shows a top view of the forks lifting a pallet. Figures 1 to 5 As shown, the forklift AGV includes: a vehicle body 10, forks 20, a controller, and a pallet position detection mechanism 30.

[0049] Both the forks 20 and the controller are mounted on the vehicle body 10. The forks 20 include a mounting plate 21 and fork arms 22. A first side of the mounting plate 21 is connected to the vehicle body 10, and a second side is connected to the fork arms 22. The fork arms 22 extend in a direction away from the mounting plate 21.

[0050] The pallet position detection mechanism 30 includes multiple detection components 31. The multiple detection components 31 are mounted on the second side of the mounting plate 21 and are arranged side by side at intervals along the horizontal direction.

[0051] Each detection component 31 includes a trigger 311 and a sensor 312 connected to each other. The trigger 311 is used to contact the pallet 40 when the fork arm 22 picks up the pallet 40, and rotates relative to the mounting plate 21 after being squeezed by the pallet 40. The sensor 312 is used to sense the rotation angle of the trigger 311.

[0052] The controller is electrically connected to each sensor 312 to obtain the rotation angle of each trigger 311 sensed by each sensor 312, and determines the pallet position based on the rotation angle of each trigger 311; and if the pallet position is not correct, adjust the loading position of the vehicle body 10 according to the pallet position so that the pallet 40 is aligned with the target loading position.

[0053] Existing solutions for detecting pallet position only involve scanning the pallet with a LiDAR (or vision camera) on the forklift AGV before it picks up the pallet. The data is then processed to determine the pallet's position, and the AGV's picking posture is adjusted accordingly to ensure accurate pallet pickup. However, this solution only detects the position of pallets that haven't yet been picked up; it cannot detect the position of pallets already on the forks, and deviations can occur during the loading / unloading process.

[0054] The forklift AGV provided in this application embodiment has multiple detection components 31 arranged horizontally and at intervals on the forks 20. Each detection component 31 includes a trigger 311 and a sensor 312 connected to each other. By acquiring the rotation angle of each trigger 311 after being squeezed by the pallet 40, as sensed by each sensor 312, the controller determines the specific position of the pallet 40 on the forklift AGV. The controller can adjust the loading position of the vehicle body 10 according to the pallet position to align the pallet 40 with the target loading position, avoiding deviations during loading. The forklift AGV does not need to repeatedly try to correct its position, thereby improving work efficiency.

[0055] like Figure 1 and Figure 3 As shown, the forklift AGV's body 10 includes: a mobile chassis 11, a mast 12, and a lifting mechanism 13. Both the mast 12 and the lifting mechanism 13 are fixed to the mobile chassis 11. To improve space utilization and make the forklift AGV structure more compact, it can be... Figure 1 As shown, the lifting mechanism 13 and the forks 20 are both installed between the two columns of the mast 12.

[0056] At least one roller 23 is provided on both sides of the mounting plate 21 of the forks 20. The rollers 23 are rotatably connected to the two uprights of the mast 12, allowing them to roll up and down along the uprights. The mounting plate 21 of the forks 20 is driven by the lifting mechanism 13, enabling it to move up and down along the uprights under the drive of the lifting mechanism 13 to pick up and place pallets 40 of different heights. This embodiment does not limit the specific form of the lifting mechanism 13; it can be as follows... Figure 1 The forks 20 are raised using a belt drive, or they can be raised and lowered using a hydraulic cylinder.

[0057] The embodiments of this application do not limit the specific number of detection components 31. Figure 5 In the illustrated embodiment, the number of detection components 31 is two. In other embodiments of this application, there may be three or more, and the specific number of detection components 31 can be set according to the size of the mounting plate 21. This application will now describe the case with two detection components 31 as an example.

[0058] like Figure 3 and Figure 5 As shown, multiple detection components 31 are arranged at intervals along the first direction x on the second side of the mounting plate 21 and aligned in the height direction.

[0059] Multiple detection components 31 have triggers 311 that contact the first edge 41 of the tray 40. The first edge 41 is parallel to the mounting plate 21. The aforementioned tray misalignment is... Figure 5 As shown, the pallet 40 is tilted on the fork arm 22, with a horizontal angle between its first edge 41 and the mounting plate 21.

[0060] When the tray is misaligned, the first edge 41 of the tray 40 exerts varying degrees of pressure on the triggers 311 of each detection component 31. For example, in... Figure 5 In the illustrated embodiment, the first trigger lever 311-1 is subjected to a greater degree of compression than the second trigger lever 311-2. Due to the different degrees of compression, the rotation angles of each trigger element 311 are different. The controller calculates the horizontal angle θ between the first edge 41 of the tray 40 and the mounting plate 21 based on the rotation angles of each trigger element 311, thereby determining the specific pose.

[0061] like Figure 5 As shown, the first edge 41 of the pallet 40 is deflected clockwise by an angle θ relative to the mounting plate 21. During loading, the controller controls the vehicle body 10 to rotate counterclockwise by an angle θ, thus aligning the pallet 40 with the target loading position. It should be noted that the clockwise and counterclockwise rotations mentioned above refer to... Figure 5The top-down view shown is determined with the mounting plate 21 as a reference. In practice, as long as the vehicle body 10 rotates in the opposite direction to the deflection direction of the pallet 40, the pallet 40 can be aligned with the target loading position.

[0062] Specifically, the detection component 31 can be as follows: Figure 2 and Figure 3 As shown, it is embedded in the mounting plate 21, with only the trigger element 311 protruding from the mounting plate 21. The mounting plate 21 includes a first mounting plate 211 and a second mounting plate 212. The first mounting plate 211 is connected to the vehicle body 10, and a fork arm 22 is fixed to its bottom.

[0063] The first mounting plate 211 has an elongated through hole 213 in the middle, and the second mounting plate 212 covers the elongated through hole 213 and is fixedly connected to the first mounting plate 211. Multiple detection components 31 are horizontally spaced and fixed on the second mounting plate 212. The second mounting plate 212 has mounting through holes 214 at positions corresponding to each detection component 31, allowing the detection components 31 to pass through the mounting through holes 214 and the elongated through holes 213, achieving an embedded installation. This embedded installation makes the structural layout of the forks 20 aesthetically pleasing and reasonable, and also avoids the detection components 31 protruding from the mounting plate 21, which could cause the sensing element 312 to be easily damaged by impact.

[0064] In some embodiments of this application, see Figure 6 and Figure 7 , Figure 6 for Figure 2 A three-dimensional structural diagram of the detection component shown; Figure 7 for Figure 6 The diagram shows an exploded view of the detection component. Figure 2 , Figure 6 and Figure 7 As shown, multiple detection components 31 are respectively mounted on the second side of the mounting plate 21 via a fixing base 32.

[0065] The trigger element 311 of each detection component 31 is fixed on a rotating shaft 313. The sensing element 312 of each detection component 31 is an angle sensor 312a.

[0066] The rotating shaft 313 is mounted on the fixed base 32, making the rotating shaft 313 parallel to the mounting plate 21 in the horizontal direction. When the trigger 311 is pressed by the tray 40, it can drive the rotating shaft 313 to rotate relative to the angle sensor 312a.

[0067] Angle sensor 312a is fixed on the mounting base 32 and electrically connected to the controller. It is used to sense the rotation angle generated by the rotating shaft 313 under the drive of the trigger 311 and to feed it back to the controller.

[0068] Specifically, such as Figure 2 and Figure 5 As shown, the pallet position detection mechanism 30 also includes a second fixing seat 33. The second fixing seat 33 is inserted into the mounting through hole 214 of the second mounting plate 212 and is fixedly connected to the second mounting plate 212. The fixing seat 32 is fixed in the mounting groove of the second fixing seat 33, making the installation of the detection component 31 more stable.

[0069] Compared to related technologies that use photoelectric switches to detect whether the pallet and the goods on it have been moved onto the forks (whether they are in place), this application embodiment uses an angle sensor 312a, which can not only detect whether the pallet 40 and the goods on it are in place, but also detect the rotation angle of the trigger 311, so that the controller can calculate the specific position and posture of the pallet 40, thereby making the detection of the pallet position and posture detection mechanism 30 more accurate and avoiding deviations during loading.

[0070] Furthermore, the photoelectric switch detection technology uses traditional I / O signals with only two states: "0" and "1". For example, the photoelectric switch outputs 1 when it is blocked and 0 when it is not blocked. The detection threshold of the photoelectric switch is determined by the relative installation position between the photoelectric switch and the triggering component used to block it. The installation positions of the photoelectric switch and the triggering component cannot be flexibly adjusted. If the detection threshold needs to be adjusted according to requirements, the components need to be redesigned to change the position of the photoelectric switch or the triggering component. This hardware adjustment is cumbersome and cannot achieve flexible switching of the detection threshold automatically.

[0071] For example, in related technologies, three photoelectric switches are used to detect different positions of the pallet when it arrives in place. Each photoelectric switch has a different relative position to its trigger plate, resulting in different detection thresholds for each switch: 2 degrees, 5 degrees, and 8 degrees. This setup can only detect these three angles. If the detection threshold needs to be changed to 7 degrees or 6 degrees, the components must be redesigned to alter the positions of the photoelectric switches or trigger components, making automatic switching impossible.

[0072] This application embodiment uses an angle sensor 312a, which can provide real-time angle feedback. When the detection threshold needs to be adjusted, only the judgment condition value needs to be modified in the program; that is, only software modifications are required to adjust the detection threshold, making it more flexible and convenient. This application embodiment uses an angle sensor 312a to replace the traditional IO signal, and the threshold for position detection can be flexibly set according to the actual situation of each project.

[0073] The detection component 31 connects the trigger 311 and the sensing element 312 by setting the rotating shaft 313, and triggers the sensing element 312. The structure is simple. Compared with the photoelectric triggering used in related technologies, the embodiment of this application uses the angle sensor 312a for contact measurement to sense the change in rotation angle. It can convert the physical angle into an electrical signal output with high precision, and can achieve accurate measurement of small angles with high reliability.

[0074] The angle sensor 312a only detects the angle change when the trigger 311 is pressed by the tray 40. When the first trigger rod 311-1 is not pressed, and the second trigger rod 311-2 is pressed to its maximum extent, the angle sensor 312a can detect that the angle change of the first trigger rod 311-1 is 0, and the angle change of the second trigger rod 311-2 is at its maximum value. This situation is the limit pose of the tray that the tray pose detection mechanism 30 can detect. At this time, the tray 40 has a maximum limit deflection angle, θmax = 10°. For details on the conversion between the rotation angle of the trigger 311 and the deflection angle of the tray 40, please refer to the subsequent method description.

[0075] In some embodiments of this application, such as Figure 6 and Figure 7 As shown, the mounting base 32 includes a connecting plate 321 and two side plates 322.

[0076] The connecting plate 321 is parallel to the mounting plate 21 and is fixedly connected to the mounting plate 21. The two side plates 322 are perpendicular to the connecting plate 321 and are horizontally spaced on the connecting plate 321.

[0077] A trigger 311 is installed between two side plates 322. The first end of the trigger 311 is fixedly sleeved on the rotating shaft 313, and the second end extends out of the fixing seat 32 for contacting the tray 40. An angle sensor 312a is installed on the outside of one of the side plates 322; the rotating shaft 313 passes through the side plate 322 and is rotatably connected to the angle sensor 312a.

[0078] exist Figure 6 and Figure 7 In the specific embodiment shown, the angle sensor 312a is mounted on the second side plate 3222, and the rotating shaft 313 passes through the second side plate 3222 and is rotatably connected to the angle sensor 312a.

[0079] The angle sensor 312a and the rotating shaft 313 are connected in the following way: the angle sensor 312a is provided with a socket, and the rotating shaft 313 is inserted into the socket and can rotate freely in the socket.

[0080] Specifically, trigger 311 can be as follows: Figure 6As shown, a through hole is opened at the first end, exposing part of the rotating shaft 313. The trigger 311 and the rotating shaft 313 are locked together by screws 317 to avoid relative rotation between the trigger 311 and the rotating shaft 313, thereby preventing the angle sensor 312a from failing to accurately detect the rotation angle of the trigger 311 and improving the accuracy of detection.

[0081] The connecting plate 321 and the two side plates 322 of the fixing base 32 can be manufactured separately and fixedly connected by fasteners, or as follows: Figure 7 The integrated design reduces the number of assembly parts and improves assembly efficiency. The trigger 311, sensor 312, and rotating shaft 313 are all mounted on the fixed base 32, making the structure of the pallet position detection mechanism 30 simple and stable.

[0082] In some embodiments of this application, the trigger 311 is arranged in two ways. The first way is that the first end of the trigger 311 is fixedly sleeved on the rotating shaft 313, and the second end extends obliquely downward. The second way is that the first end of the trigger 311 is fixedly sleeved on the rotating shaft 313, and the second end extends obliquely upward. Regardless of which arrangement is adopted, the detection process of the detection component 31 is the same. The first arrangement will be described below.

[0083] See Figure 8a , Figure 8a for Figure 6 A schematic cross-sectional view of the detection component is shown. Figures 6 to 8a As shown, a torsion spring 314 is sleeved on the rotating shaft 313. The torsion spring 314 is located between the two side plates 322 and is adjacent to the trigger 311.

[0084] The triggering element 311 is a triggering rod 311a, with its first end fixedly sleeved on the rotating shaft 313 and its second end extending obliquely downward. A limiting block 3111 extending toward the torsion spring 314 is provided on the triggering rod 311a.

[0085] The two torsion arms of the torsion spring 314 extend downward; the first torsion arm 3141 abuts against the connecting plate 321; the second torsion arm 3142 abuts against the limiting block 3111 on the trigger rod 311a, which is used to support the trigger rod 311a, so that the trigger rod 311a and the connecting plate 321 are set at an angle.

[0086] The second end of the trigger rod 311a is pressed by the tray 40, which allows it to rotate downwards, compressing the torsion spring 314 and causing the rotating shaft 313 to rotate relative to the angle sensor 312a.

[0087] In other embodiments of this application, the trigger 311 may also take other shapes, such as a trigger plate. The embodiment of this application uses a trigger rod 311a, which makes the detection assembly 31 compact and easy to install.

[0088] Specifically, the torsion spring 314 is movably sleeved on the rotating shaft 313 so that relative rotation can occur between the torsion spring 314 and the rotating shaft 313. When the trigger rod 311a drives the rotating shaft 313 to rotate, the torsion spring 314 will not rotate with the rotating shaft 313. In the embodiment of this application, the torsion spring 314 is set so that there is an initial included angle between the trigger rod 311a and the connecting plate 321, and the trigger rod 311a can be tilted so that it can rotate when squeezed by the tray 40; the torsion spring 314 can also play a supporting and buffering role when the trigger rod 311a is squeezed by the tray 40.

[0089] The second arrangement method will be explained below. (See below) Figure 8b , Figure 8b This is another cross-sectional schematic diagram of the detection component. (For example...) Figure 8b As shown, a torsion spring 314 is sleeved on the rotating shaft 313. The torsion spring 314 is located between the two side plates 322 and is adjacent to the trigger member 311. The trigger member 311 is a trigger rod 311a, with its first end fixedly sleeved on the rotating shaft 313 and its second end angled upward. The trigger rod 311a is set at an angle with the connecting plate 321.

[0090] The two torsion arms of the torsion spring 314 extend upward; the first torsion arm 3141 abuts against the connecting plate 321; the second torsion arm 3142 is fixed to the trigger rod 311a, and the fixing method is not limited, it can be as follows: Figure 8b As shown, the device is limited to the left and right by two limiting blocks 3111, which facilitates disassembly and assembly. The second end of the trigger rod 311a is pressed by the tray 40, which allows it to rotate upward, compressing the torsion spring 314 and driving the rotating shaft 313 to rotate relative to the angle sensor 312a.

[0091] Aside from the fact that the extension directions of the trigger rod 311a and the torsion arm are opposite, the second arrangement differs from the first in that: in the first arrangement, the initial angle between the trigger rod 311a and the connecting plate 321 requires support from the second torsion arm 3142 of the torsion spring 314, as well as pressure in the opposite direction from the limiting structure of the trigger rod 311a itself. In the second arrangement, however, the initial angle between the trigger rod 311a and the connecting plate 321 can be achieved solely through the limiting structure of the trigger rod 311a itself.

[0092] The limiting structure will be explained below.

[0093] In some embodiments of this application, such as Figure 8a and Figure 8b As shown, the first end of the trigger rod 311a is provided with a limiting inclined surface 3112.

[0094] The limiting ramp 3112 contacts the connecting plate 321 when the pallet 40 is not picked up, so as to limit the initial angle between the trigger rod 311a and the connecting plate 321.

[0095] exist Figure 8a In the illustrated embodiment, the trigger rod 311a is arranged in the first manner, extending obliquely downwards. The torsion spring 314 is in a compressed state, providing upward rotational support for the second end of the trigger rod 311a. The limiting inclined surface 3112 at the first end of the trigger rod 311a is in contact with the connecting plate 321, which can restrict the upward rotation of the trigger rod 311a, thereby forming an initial included angle between the trigger rod 311a and the connecting plate 321.

[0096] exist Figure 8b In the illustrated embodiment, the trigger rod 311a is arranged in a second manner, extending obliquely upwards. The torsion spring 314 can be pre-compressed to apply a downward rotational force to the trigger rod 311a; alternatively, it can remain in its natural state, which is not limited in this application. The limiting inclined surface 3112 at the first end of the trigger rod 311a is in contact with the connecting plate 321, which can limit the downward rotation of the trigger rod 311a due to gravity and the force of the torsion spring 314, thereby forming an initial included angle between the trigger rod 311a and the connecting plate 321.

[0097] The inclination of the limiting slope 3112 can be freely set according to the requirements, thereby setting the initial included angle between the trigger rod 311a and the connecting plate 321.

[0098] By applying the embodiments of this application, there is no need to set up an additional limiting structure. It is only necessary to open a bevel on the trigger rod 311a to make the trigger rod 311a and the connecting plate 321 have an initial included angle, which reduces the number of parts and makes the detection component 31 simple and compact in structure, and easy to assemble.

[0099] In some embodiments of this application, such as Figure 6 and Figure 7 As shown, the detection assembly 31 also includes a bushing 315 and a bushing 316. The bushing 315 and the bushing 316 are fitted onto the rotating shaft 313.

[0100] There are two bushings 316, which are fixed to the two side plates 322 respectively. The bushing 315, the torsion spring 314 and the trigger rod 311a are arranged axially between the two bushings 316.

[0101] The specific installation positions of bushing 315, torsion spring 314, and trigger rod 311a can be as follows: Figure 6 and Figure 7 As shown, bushing 315 is located on the side closer to the first side plate 3221, and trigger rod 311a is located on the side closer to the second side plate 3222. Bushing 315 and trigger rod 311a can also be interchanged, as long as the torsion spring 314 is located between bushing 315 and trigger rod 311a.

[0102] like Figure 6 and Figure 7As shown, the first side plate 3221, the first bushing 3161, the bushing 315, the torsion spring 314, the trigger rod 311a, the second bushing 3162, and the second side plate 3222 abut against each other in sequence, making the detection assembly 31 structurally compact. The bushing 315 presses the torsion spring 314 onto the trigger rod 311a, which can prevent the torsion spring 314 from moving axially and prevent the second torsion arm 3142 from disengaging from the limiting block 3111 on the trigger rod 311a.

[0103] The method of fixing bushing 316 is not limited in this application; it can be fixed by thread or as follows: Figure 6 and Figure 7 As shown, through holes 323 are provided on both side plates 322. The end of the bushing 316 is inserted into the through hole 323 and tightly fitted with the side plate 322 to achieve a fixed connection.

[0104] In the embodiments of this application, a bushing 315 is provided, and the rotating shaft 313 rotates within the bushing 315, which can reduce friction and prevent wear on the rotating shaft 313. Bushings 316 are fixedly provided on the two side plates 322, which can reduce damage to the end face of the part caused by friction with the side plates 322.

[0105] The pallet position detection mechanism 30 provided in the embodiments of this application will now be described.

[0106] like Figures 1 to 5 As shown, the pallet position detection mechanism 30 is installed on the forks 20 of the forklift AGV. The pallet position detection mechanism 30 includes multiple detection components 31.

[0107] Multiple detection components 31 are arranged side by side at intervals along the horizontal direction on the mounting plate 21 of the fork 20, and are located on the same side of the mounting plate 21 as the fork arm 22 of the fork 20.

[0108] Each detection component 31 includes a trigger 311 and a sensor 312 connected to each other. The trigger 311 is used to contact the pallet 40 when the fork arm 22 picks up the pallet 40, and rotates relative to the mounting plate 21 after being squeezed by the pallet 40. The sensor 312 is used to sense the rotation angle of the trigger 311.

[0109] Each sensor 312 is electrically connected to the controller of the forklift AGV and can feed back the rotation angle of each trigger 311 to the controller so that the controller can determine the pallet position based on the rotation angle of each trigger 311, and adjust the pallet placement position of the forklift AGV body 10 according to the pallet position if the pallet position is not correct, so that the pallet 40 is aligned with the target placement position.

[0110] The pallet pose detection mechanism 30 of this application embodiment can have the same structure as the pallet pose detection mechanism 30 in any of the forklift AGV embodiments provided above, and will not be described again here.

[0111] The pallet position detection mechanism 30 provided in this application embodiment includes multiple detection components 31 arranged side-by-side at intervals along the horizontal direction on the forks 20. Each detection component 31 includes a trigger element 311 and a sensor element 312 connected to each other. By acquiring the rotation angle of each trigger element 311 after being squeezed by the pallet 40 by each sensor element 312, the controller can determine the specific position of the pallet 40 on the forklift AGV. This allows the controller to adjust the loading position of the vehicle body 10 according to the pallet position, so that the pallet 40 is aligned with the target loading position, avoiding deviations during loading. The forklift AGV does not need to repeatedly try to correct the position, thereby improving work efficiency.

[0112] The pallet pose detection method provided in the embodiments of this application will be described below.

[0113] The pallet pose detection method provided in this application is applied to the controller of the forklift AGV in any of the above embodiments. See also Figure 12 , Figure 12 This is a schematic flowchart of the pallet pose detection method according to an embodiment of this application. Figure 12 As shown, the method includes:

[0114] Step S1210: Receive the rotation angle of each trigger element when it is squeezed by the tray, as fed back by each sensor.

[0115] Step S1220: Determine the tray pose based on the rotation angle of each trigger when it is squeezed by the tray;

[0116] Step S1230: If the pallet is not in the correct position, adjust the loading position of the vehicle body according to the pallet position so that the pallet is aligned with the target loading position.

[0117] By applying the pallet pose detection method provided in this application, the controller can determine the specific pose of the pallet on the forklift AGV based on the rotation angle of each trigger after being squeezed by the pallet, and adjust the loading pose of the vehicle body according to the pallet pose so that the pallet is aligned with the target loading position, avoiding deviations during loading. The forklift AGV does not need to repeatedly try to correct the position, thereby improving work efficiency.

[0118] In some embodiments of this application, the pallet pose detection mechanism includes two detection components; the sensing element is an angle sensor. Step S1210 includes:

[0119] Step S1211: Before picking up the pallet with a fork, receive the initial angles A1 and A2 of the two triggers fed back by the two angle sensors;

[0120] Step S1212: After picking up the pallet with a fork, receive the current angles B1 and B2 of the two triggers fed back by the two angle sensors;

[0121] Step S1220 includes:

[0122] Step S1221, as follows Figure 9a and Figure 9b As shown, if A1-B1 = 0 and / or A2-B2 = 0, it is determined that the pallet is not in place;

[0123] Step S1222, as follows Figure 10a and Figure 10b As shown, if |(A1-B1)-(A2-B2)|≤X, the pallet is confirmed to be in place; where X is the preset maximum allowable error angle.

[0124] Step S1223, as follows Figure 11a and Figure 11b As shown, if |(A1-B1)-(A2-B2)|>X, it is determined that the pallet is not in the correct position on the forks and is tilted relative to the mounting plate.

[0125] Specifically, the maximum permissible error angle is preset to 0.5°.

[0126] By applying the embodiments of this application, compared with the laser or vision solutions used in the prior art, the method of calculating the pallet posture by the angle difference of the pallet on the forks, that is, by comparing A1-B1 and A2-B2, can obtain the specific posture of the pallet, which can reduce costs and does not require complex algorithm programs.

[0127] In some embodiments of this application, step S1230 includes:

[0128] Step S1231: If it is determined that the pallet is not properly positioned on the forks, calculate the angle between the pallet and the mounting plate.

[0129]

[0130] Where d is the length from the contact point between the trigger and the tray to the center of rotation of the trigger, and L is the distance between the two triggers;

[0131] Step S1232: Based on the angle between the pallet and the mounting plate, control the vehicle body to rotate so that the pallet is aligned with the target loading position.

[0132] Specifically, in Figure 9a and Figure 9b In the embodiment shown, the included angle between the tray and the mounting plate is the limit of the tray pose detection mechanism, where θ = 10°.

[0133] By applying the embodiments of this application, the vehicle body is rotated according to the calculated angle between the pallet and the mounting plate to adjust the loading position. The control is simple, which can improve the handling efficiency and avoid loading deviation.

[0134] It should be noted that, in this document, relational terms such as "first" and "second" are used only to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitations, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes said element.

[0135] The above description is merely a preferred embodiment of this application and is not intended to limit the scope of protection of this application. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this application are included within the scope of protection of this application.

Claims

1. A forklift AGV, characterized in that, include: Vehicle body (10), forks (20), controller and pallet position detection mechanism (30); The forks (20) and controller are both mounted on the vehicle body (10); the forks (20) include: a mounting plate (21) and fork arms (22); a first side of the mounting plate (21) is connected to the vehicle body (10), and a second side is connected to the fork arms (22); the fork arms (22) extend in a direction away from the mounting plate (21); The pallet position detection mechanism (30) includes: a plurality of detection components (31); the plurality of detection components (31) are mounted on the second side of the mounting plate (21) and are arranged side by side at intervals in the horizontal direction; each detection component (31) includes: a trigger (311) and a sensor (312) connected to each other; wherein, the trigger (311) is used to contact the pallet (40) when the fork arm (22) picks up the pallet (40), and after being squeezed by the pallet (40), it generates a rotation relative to the mounting plate (21); the sensor (312) is used to sense the rotation angle of the trigger (311); The controller is electrically connected to each sensor (312) to obtain the rotation angle of each trigger (311) sensed by each sensor (312), and to determine the pallet position based on the rotation angle of each trigger (311); and to adjust the loading position of the vehicle body (10) according to the pallet position if the pallet position is not correct, so that the pallet (40) is aligned with the target loading position.

2. The forklift AGV according to claim 1, characterized in that, The plurality of detection components (31) are respectively mounted on the second side of the mounting plate (21) via a fixing base (32); The trigger (311) of each detection component (31) is fixed on a rotating shaft (313); the sensing element (312) of each detection component (31) is an angle sensor (312a); The rotating shaft (313) is mounted on the fixed base (32) so that the rotating shaft (313) is parallel to the mounting plate (21) in the horizontal direction; when the trigger (311) is squeezed by the tray (40), it can drive the rotating shaft (313) to rotate relative to the angle sensor (312a); The angle sensor (312a) is fixed on the mounting base (32) and electrically connected to the controller. It is used to sense the rotation angle generated by the rotating shaft (313) under the drive of the trigger (311) and feed it back to the controller.

3. The forklift AGV according to claim 2, characterized in that, The fixing base (32) includes: a connecting plate (321) and two side plates (322); The connecting plate (321) is parallel to the mounting plate (21) and is fixedly connected to the mounting plate (21); the two side plates (322) are perpendicular to the connecting plate (321) and are horizontally spaced on the connecting plate (321); The trigger (311) is installed between the two side plates (322). The first end of the trigger (311) is fixedly sleeved on the rotating shaft (313), and the second end extends out of the fixed seat (32) for contacting the tray (40). The angle sensor (312a) is installed on the outside of one of the side plates (322). The rotating shaft (313) passes through the side plate (322) and is rotatably connected to the angle sensor (312a).

4. The forklift AGV according to claim 3, characterized in that, A torsion spring (314) is sleeved on the rotating shaft (313). The torsion spring (314) is located between the two side plates (322) and is arranged adjacent to the trigger (311). The trigger (311) is a trigger rod (311a), with the first end fixedly sleeved on the rotating shaft (313) and the second end extending obliquely downward. A limiting block (3111) extending toward the torsion spring (314) is provided on the trigger rod (311a). The two torsion arms of the torsion spring (314) extend downward; wherein, the first torsion arm (3141) abuts against the connecting plate (321); the second torsion arm (3142) abuts against the limiting block (3111) on the trigger rod (311a) and is used to support the trigger rod (311a) so that the trigger rod (311a) and the connecting plate (321) are set at an angle. The second end of the trigger rod (311a) is pressed by the tray (40), which allows it to rotate downwards, compress the torsion spring (314), and drive the rotating shaft (313) to rotate relative to the angle sensor (312a).

5. The forklift AGV according to claim 4, characterized in that, The first end of the trigger rod (311a) is provided with a limiting inclined surface (3112); The limiting inclined surface (3112) contacts the connecting plate (321) when the pallet (40) is not picked up, so as to limit the initial angle between the trigger rod (311a) and the connecting plate (321).

6. The forklift AGV according to claim 4, characterized in that, The detection component (31) further includes: a bushing (315) and a bushing (316); the bushing (315) and the bushing (316) are sleeved on the rotating shaft (313); The number of bushings (316) is 2, and the two bushings (316) are fixed on the two side plates (322) respectively; The bushing (315), torsion spring (314) and trigger rod (311a) are arranged sequentially along the axial direction between the two bushings (316).

7. A pallet position detection mechanism, characterized in that, The pallet position detection mechanism includes: multiple detection components (31); the pallet position detection mechanism is installed on the forks (20) of the forklift AGV; The plurality of detection components (31) are arranged side by side at intervals in the horizontal direction on the mounting plate (21) of the fork (20), and are located on the same side of the mounting plate (21) as the fork arm (22) of the fork (20); Each of the detection components (31) includes: a trigger (311) and a sensor (312) connected to each other; The trigger (311) is used to contact the pallet (40) when the fork arm (22) picks up the pallet (40), and to rotate relative to the mounting plate (21) after being squeezed by the pallet (40); the sensor (312) is used to sense the rotation angle of the trigger (311). Each of the sensors (312) is electrically connected to the controller of the forklift AGV and can feed back the rotation angle of each trigger (311) to the controller so that the controller can determine the pallet position based on the rotation angle of each trigger (311) and adjust the loading position of the forklift AGV body (10) according to the pallet position if the pallet position is not correct, so that the pallet (40) is aligned with the target loading position.

8. A method for detecting the pose of a tray, characterized in that, A controller applied to the forklift AGV according to any one of claims 1 to 6; the method includes: The rotation angle of each trigger element when it is squeezed by the tray is received from feedback from each sensor; The tray position is determined based on the rotation angle of each trigger when it is squeezed by the tray. If the pallet is not in the correct position, adjust the loading position of the vehicle body according to the pallet position so that the pallet is aligned with the target loading position.

9. The pallet pose detection method according to claim 8, characterized in that, The tray posture detection mechanism includes two detection components; the sensing element is an angle sensor; the rotation angle of each trigger element when subjected to tray compression, which is fed back by each sensing element, includes: Before picking up the pallet with a forklift, the initial angles A1 and A2 of the two triggers are received from the feedback of the two angle sensors; After the pallet is picked up by the forklift, the current angles B1 and B2 of the two triggers fed back by the two angle sensors are received; The process of determining the tray pose based on the rotation angle of each trigger element when it is compressed by the tray includes: If A1-B1 = 0 and / or A2-B2 = 0, the pallet is not in place; If |(A1-B1)-(A2-B2)|≤X, the pallet is confirmed to be in place; where X is the preset maximum allowable error angle. If |(A1-B1)-(A2-B2)|>X, it is determined that the pallet is not in the correct position on the forks and is tilted relative to the mounting plate.

10. The pallet pose detection method according to claim 9, characterized in that, The step of adjusting the loading position of the vehicle body according to the pallet's position when the pallet is not properly positioned, so as to align the pallet with the target loading position, includes: If the pallet is determined to be misaligned on the forks, calculate the angle θ between the pallet and the mounting plate: Where d is the length from the contact point between the trigger and the tray to the center of rotation of the trigger, and L is the distance between the two triggers; Based on the angle θ between the pallet and the mounting plate, the vehicle body is controlled to rotate so that the pallet is aligned with the target loading position.

Images