Autonomous navigation anti-explosion material box transfer robot

Abstract

The invention discloses an anti-explosion workbin transfer robot with an autonomous navigation function, relates to the technical field of logistics transportation equipment, meets the transfer requirements of two anti-explosion workbins between workshops, and realizes high-precision positioning and path planning. According to the optical communication system, an optical communication module is carried by a double-shaft holder, and real-time continuous communication with a ground station in the moving process is achieved. The problems of communication interruption, insufficient navigation precision, poor environmental adaptability and the like in the prior art are solved. The system is suitable for transferring the explosion-proof material box in explosive gas and dust environments, has high safety, high flexibility and high communication reliability, and can be used for automatically transferring the explosion-proof material box between workshops.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of logistics transportation equipment, in particular to a self-navigation anti-explosion material box transfer robot. BACKGROUND

[0002] With the rapid development of artificial intelligence technology, automation technology and information technology, the intelligent degree of terminal logistics will continue to improve. In the existing intelligent warehouse system, a transfer robot is generally used to transfer goods between different places. Specifically, the transfer robot includes a mobile vehicle body frame, a fork arranged on the mobile vehicle body frame, and a plurality of temporary storage boxes. The plurality of temporary storage boxes can be arranged at intervals in the height direction. The fork can move and transport goods on the goods shelf to each backpack. After the mobile vehicle body frame moves the goods on the temporary storage boxes to the target place, the fork takes out the goods on each temporary storage box and transports them one by one to the target place.

[0003] However, the transfer robots on the market are generally used to transfer non-flammable and non-explosive goods. Therefore, when designing and manufacturing the fork and other components, the possibility of friction between the fork and the goods is not considered, and the transportation safety is not good.

[0004] Therefore, it is an urgent technical problem for those skilled in the art to provide a transfer robot that can quickly and efficiently transfer goods and ensure that sparks generated by friction are reduced during the transfer of flammable and explosive goods. SUMMARY

[0005] In view of the above problems, the present application provides a self-navigation anti-explosion material box transfer robot for overcoming the above problems or at least partially solving the above problems.

[0006] The present application provides the following solutions: A self-navigation anti-explosion material box transfer robot, comprising: a vehicle body frame configured to carry various components; a drive unit connected to the vehicle body frame; the drive unit is used to drive the vehicle body frame to run in a target direction; a single-finger single-extension-position fork access platform connected to the vehicle body frame, the single-finger single-extension-position fork access platform comprising a lifting platform, a rotary table mechanism, and a fork mechanism; the lifting platform is connected to the vehicle body frame, and the fork mechanism is connected to the lifting platform through the rotary table mechanism; the lifting platform is used to drive the rotary table mechanism and the fork mechanism to lift; the rotary table mechanism is used to drive the fork mechanism to deflect by a servo motor; A storage rack unit is connected with the vehicle body frame, and the storage rack unit comprises two rows of racks symmetrically arranged on both sides of the single-finger single-extension position fork access platform, and each row of the racks comprises a plurality of storage locations arranged in a vertical direction; A control unit is connected with the vehicle body frame, and the control unit is communicatively connected with the driving unit and the single-finger single-extension position fork access platform; The control unit is configured to perform the following operations: Receive the explosion-proof material box transfer instruction, and the explosion-proof material box transfer instruction comprises the types of at least two explosion-proof material boxes required to be transferred, the positions of the supply shelves where the explosion-proof material boxes are located, and the position of the receiving shelf; According to the explosion-proof material box transfer instruction, a transfer path is planned and generated; The driving unit is controlled to drive the vehicle body frame to run to the position of the supply shelf along the transfer path; The single-finger single-extension position fork access platform is controlled to perform a forking operation to fork the explosion-proof material box from the supply shelf and transfer the explosion-proof material box to the storage location of the storage rack unit. A part of the bottom of the explosion-proof material box on the supply shelf is in a suspended state, so that when the single-finger single-extension position fork access platform performs the forking operation, the fork of the single-finger single-extension position fork access platform is inserted into the bottom of the explosion-proof material box from the position of the suspended bottom of the explosion-proof material box, and the explosion-proof material box is separated from the supply shelf during the lifting of the lifting platform; After determining that all the explosion-proof material boxes are transferred to the storage rack unit, the driving unit is controlled to drive the vehicle body frame to run to the position of the receiving shelf along the transfer path, and the single-finger single-extension position fork access platform is controlled to perform a forking operation to move the explosion-proof material box on the storage rack unit from the storage rack unit to the receiving shelf.

[0007] Preferably, the fork mechanism comprises an upper fork, a middle fork and a lower fork, and the upper fork, the middle fork and the lower fork transmit servo power through a gear set and a chain to realize large load movement in the front-back direction.

[0008] Preferably, the driving unit comprises at least two diagonal vertical rudders and two universal wheels, two vertical rudders are used to drive the whole machine to realize rotation, linear movement or transverse movement, and realize fine adjustment of position and angle when performing two-dimensional code accurate positioning at the explosion-proof material box access position.

[0009] Preferably, the vertical rudder comprises a driving wheel, a gear transmission system, a power servo motor, a steering servo motor, an intrinsic safety type origin detection switch and an intrinsic safety type angle detection encoder.

[0010] Preferably, the lifting platform uses a synchronous belt and a linear guide rail to achieve position control of the entire platform. During the loading and unloading of the explosion-proof material box, the lifting platform is used to move the explosion-proof material box between the explosion-proof material box transfer robot and the material location.

[0011] Preferably, the system also includes a communication unit, which comprises an optical communication module mounted on a two-axis gimbal, a camera, and a distributed electronic control system, to achieve alignment of the optical communication module over long distances and to maintain at least one set of optical communication modules aligned in real time during robot operation, thereby achieving continuous real-time optical communication.

[0012] Preferably, the optical communication module has a communication distance of 150m, a scattering angle of ±0.5°, and a communication bandwidth of 100Mbit / s.

[0013] Preferably, the camera continuously detects the deviation of the feature point / target position relative to the center of the field of view. When the detected deviation value reaches or exceeds the set value, the gimbal initiates angle adjustment. Based on the calculated angle and the current position of the gimbal, the PID control algorithm generates a corresponding control signal. This control signal drives the gimbal motor, causing the gimbal to rotate in the correct direction until the detected feature point / target returns to the center of the field of view.

[0014] Preferably, the control unit is also used to integrate guidance using multiple navigation methods.

[0015] Preferably, the navigation method includes IMU inertial navigation, laser SLAM navigation, and PGV QR code precision positioning navigation.

[0016] According to specific embodiments provided by the present invention, the present invention discloses the following technical effects: This application provides an autonomous navigation explosion-proof container transport robot that is compatible with two different explosion-proof container transport needs between workshops, achieving high-precision positioning and path planning. Its optical communication system, via a dual-axis gimbal equipped with an optical communication module, enables real-time continuous communication with ground stations during movement. This solves problems such as communication interruption, insufficient navigation accuracy, and poor environmental adaptability in existing technologies. It is suitable for transporting explosion-proof containers in explosive gas and dust environments, possessing high safety, high flexibility, and high communication reliability, and can be used for automated transport of explosion-proof containers between workshops. Of course, any product implementing this invention does not necessarily need to achieve all of the advantages described above at the same time. Attached Figure Description

[0017] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the embodiments will be briefly described below. Obviously, the drawings described below are merely some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without any creative effort.

[0018] Figure 1 This is a schematic diagram of the structure of an autonomous navigation explosion-proof material box transfer robot provided in an embodiment of the present invention; Figure 2 This is a schematic diagram of the robot provided in an embodiment of the present invention, excluding the storage rack unit; Figure 3 This is a schematic diagram of the vertical steering wheel provided in an embodiment of the present invention; Figure 4 This is a schematic diagram of the single-finger single-extension fork storage and retrieval platform provided in this embodiment of the invention, showing the goods being retrieved from the shelf.

[0019] In the diagram: 1. Vehicle frame; 2. Drive unit; 21. Vertical steering wheel; 211. Drive wheel; 212. Gear transmission system; 213. Power servo motor; 214. Steering servo motor; 215. Intrinsically safe origin detection switch; 216. Intrinsically safe angle detection encoder; 22. Universal wheel; 3. Single-finger single-extension fork storage platform; 31. Lifting platform; 32. Turntable mechanism; 33. Fork mechanism; 4. Storage rack unit; 5. Explosion-proof material box. Detailed Implementation

[0020] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of the present invention, and not all of them. All other embodiments obtained by those skilled in the art based on the embodiments of the present invention are within the scope of protection of the present invention.

[0021] See Figure 1 , Figure 2 , Figure 3 , Figure 4 This invention provides an autonomous navigation explosion-proof container transfer robot, such as... Figure 1 , Figure 2 , Figure 3 , Figure 4 As shown, the robot may include: Vehicle frame 1, configured to support various components; Drive unit 2, which is connected to the vehicle frame 1; drive unit 2 is used to drive the vehicle frame 1 to run along the target direction; A single-finger, single-extension fork storage platform 3 is connected to the vehicle frame 1. The single-finger, single-extension fork storage platform 3 includes a lifting platform 31, a turntable mechanism 32, and a fork mechanism 33. The lifting platform 31 is connected to the vehicle frame 1, and the fork mechanism 33 is connected to the lifting platform 31 via the turntable mechanism 32. The lifting platform 31 drives the turntable mechanism 32 and the fork mechanism 33 to rise and fall. The turntable mechanism 32 drives the fork mechanism 33 to deflect direction via a servo motor. The storage rack unit 4 is connected to the vehicle frame 1. The storage rack unit 4 includes two rows of racks symmetrically arranged on both sides of the single-finger single-extension fork access platform 3. Each row of racks includes multiple storage locations arranged in the vertical direction. The control unit is connected to the vehicle frame 1 and can communicate with the drive unit 2 and the single-finger single-extension fork access platform 3. The control unit is used to perform the following operations: Receive explosion-proof material box transfer instructions, which include the types of at least two materials to be transferred, the location of the supply racks for each explosion-proof material box, and the location of the receiving racks. A transfer path is planned and generated based on the explosion-proof container transfer instructions. The drive unit 2 is controlled to drive the vehicle frame 1 to run along the transfer path to the location of the material supply rack; The single-finger, single-extension forklift platform 3 is controlled to perform a forklift operation to remove the explosion-proof material box 5 from the feeding rack and transfer the explosion-proof material box 5 to the storage location of the storage rack unit 4. A portion of the bottom of the explosion-proof material box on the feeding rack is suspended in the air, so that when the single-finger, single-extension forklift platform 3 performs the forklift operation, the forks of the single-finger, single-extension forklift platform 3 extend into the bottom of the explosion-proof material box from the suspended position, and the explosion-proof material box is separated from the feeding rack during the lifting process of the lifting platform 31. After confirming that all the explosion-proof bins 5 have been transferred to the storage rack unit 4, the drive unit 2 is controlled to move along the transfer path to the location of the receiving rack; and the single-finger single-extension fork access platform 3 is controlled to perform a fork operation to move the explosion-proof bins 5 on the storage rack unit 4 from the storage rack unit 4 to the receiving rack.

[0022] The autonomous navigation explosion-proof bin transfer robot provided in this application embodiment is compatible with two types of explosion-proof bin transfer needs between workshops. The CTU system consists of a dual-steering wheel frame 1, a single-finger, single-extension fork storage platform 3, a multi-storage body, and an electronic control system. The frame 1 can carry other functional components, and the wheels on the body serve to conduct static electricity. Each storage rack unit 4 can be arranged in a 3-layer, 4-column single-row layout, with 12 storage locations in each rack unit. A total of 10 rack units are placed in the YQ9 warehouse, for a total of 120 storage locations. Two sets of optical communication modules are installed in each storage location to enable real-time communication between the CTU and the host system during the storage and retrieval of explosion-proof bins.

[0023] The drive unit 2 is responsible for driving the vehicle frame 1 and the functional components on its upper part to move. In a specific implementation, the drive unit 2 may include at least two diagonally arranged vertical steering wheels 21 and two omnidirectional wheels 22. The two vertical steering wheels 21 are used to drive the whole machine to rotate in place, move linearly or laterally, and to make fine adjustments to the position and angle when performing QR code precision positioning at the explosion-proof material box storage and retrieval position.

[0024] Furthermore, the vertical steering wheel 21 includes a drive wheel 211, a gear transmission system 212, a power servo motor 213, a steering servo motor 214, an intrinsically safe origin detection switch 215, and an intrinsically safe angle detection encoder 216.

[0025] The vertical steering wheel 21 drives the chassis movement. The dual-steering wheel chassis enables the entire machine to rotate in place, move linearly, and move laterally. When performing precise positioning using QR codes at the explosion-proof material bin storage and retrieval position, the two sets of diagonally arranged steering wheels allow for fine-tuning of position and angle. The vertical steering wheel 21 consists of a drive wheel 211, a gear transmission system 212, a power servo motor 213, a steering servo motor 214, an intrinsically safe origin detection switch 215, and an intrinsically safe angle detection encoder 216. The single wheel load is 350 kg, and the chassis system composed of the two sets of steering wheels can withstand a total machine load of over 650 kg.

[0026] In a specific implementation, the embodiments of this application can provide that the lifting platform 31 cooperates with the linear guide rail through a synchronous belt to realize the position control of the whole machine platform. During the process of picking up and placing the explosion-proof material box, the lifting platform 31 realizes the transportation of the explosion-proof material box between the explosion-proof material box transfer robot and the material position.

[0027] The lifting platform 31, through the cooperation of a synchronous belt and linear guide rail, achieves precise position control of the entire platform. During the loading and unloading of the explosion-proof material box, the lifting system facilitates the movement of the explosion-proof material box between the CTU and the material position. The lifting platform 31 integrates a turntable system and a fork system, wherein the turntable system can achieve the directional deflection of the forks through a servo motor drive. The fork mechanism 33 includes an upper fork, a middle fork, and a lower fork. The upper fork, the middle fork, and the lower fork transmit servo power to each other through gear sets and chains, enabling the upper fork to move under heavy load in the forward and backward direction.

[0028] The fork mechanism 33 mounted on the lifting platform 31 consists of three forks: upper, middle, and lower. Servo power is transmitted between them via gear sets and chains, enabling the upper fork to move with a large load in both the forward and backward directions. This fork mechanism 33 can handle heavy loads, and because there is no direct friction between the forks and the goods during the lifting process, no electrical sparks are generated, thus effectively improving the safety of handling explosives and other materials.

[0029] To enable the robot to communicate with the outside world, this application embodiment can provide a communication unit, which includes an optical communication module mounted on a two-axis gimbal, a camera, and a distributed electronic control system, to achieve alignment of the optical communication module over a long distance, and to maintain at least one set of optical communication modules aligned in real time during robot operation, thereby achieving continuous real-time optical communication.

[0030] Furthermore, the optical communication module has a communication distance of 150m, a scattering angle of ±0.5°, and a communication bandwidth of 100Mbit / s.

[0031] The camera continuously detects the deviation of the feature point / target position relative to the center of the field of view. When the detected deviation value reaches or exceeds the set value, the gimbal starts to adjust the angle. Based on the calculated angle and the current position of the gimbal, the PID control algorithm generates a corresponding control signal. This control signal drives the gimbal motor, causing the gimbal to rotate in the correct direction until the detected feature point / target returns to the center of the field of view.

[0032] In the explosion-proof CTU, a two-axis gimbal mounts an optical communication module, a camera, and a corresponding distributed electronic control system to achieve alignment of the optical communication module over a relatively long distance. During vehicle operation, since at least one set of optical communication modules remains aligned in real time, continuous real-time optical communication is possible. After explosion-proof modification, it meets the Ex IIB T4 Gb explosion-proof requirements. It is understandable that in practical applications, the explosion-proof rating can be adjusted according to actual needs.

[0033] In this scheme, the optical communication module has a communication distance of 150m, a scattering angle of ±0.5°, and a communication bandwidth of 100Mbit / s.

[0034] Because traditional point-to-point communication modules have a communication establishment delay, fixed point-to-point communication is not applicable in this case. A two-axis gimbal installed in the CTU and a two-axis gimbal optical communication module on the ground are aligned in real-time via visual positioning, enabling continuous optical communication over long distances.

[0035] The main connection process is as follows: Step 1. Image Acquisition Camera / Sensor Input: The camera or sensor equipped on the device begins to capture images of the environment. These images may contain multiple feature points, including the location of the target communication module.

[0036] Step 2. Preprocessing Noise reduction and enhancement: Preprocess the acquired images, such as denoising and contrast enhancement, to improve the accuracy of subsequent processing.

[0037] Grayscale conversion: Converting a color image to a grayscale image simplifies the subsequent feature extraction process.

[0038] Step 3. Feature Detection and Recognition Feature point detection: Detecting feature points in an image using computer vision algorithms such as Harris corner detection, SIFT, SURF, etc.

[0039] Target recognition: After specific targets or feature recognition points are set, the system will identify these points. This can be achieved through template matching, deep learning models, or other pattern recognition techniques.

[0040] Step 4. Data Extraction The device uses a spherical coordinate system as the basis for calculation. As shown in the figure below: During the visual inspection process, the deviation angles in the real-time horizontal and vertical directions are estimated by the positional deviation between the center of the camera's main field of view and the feature points.

[0041] Position calculation: Based on the detected feature points, calculate the angle between the target communication module (target position) and the visual axis.

[0042] Angle measurement: Determine the angle between the device's communication module and the target communication module.

[0043] Step 5. Data transmission Information transmission: The calculated position and angle information is transmitted to the control system. This is typically achieved through wired or wireless communication protocols.

[0044] Step 6. Control command generation Multi-axis pan-tilt control: The control system generates corresponding control commands based on the received position and angle information.

[0045] Path planning: Path planning may be required to ensure the smoothness and accuracy of gimbal movement.

[0046] Step 7. Perform the adjustment. Gimbal adjustment: The multi-axis gimbal automatically adjusts its angle according to control commands until the communication module on the device side is precisely aligned with the communication module at a fixed position.

[0047] Feedback loop: The system may continuously monitor the alignment status of the communication module and make fine adjustments as needed.

[0048] Step 8. Verification and Calibration Alignment verification: Once the adjustment is complete, the system will verify whether the communication modules are correctly aligned.

[0049] Error compensation: If there is a deviation, the system will make compensation adjustments based on the error.

[0050] Step 9. Establishing Communication Connection Confirmation: Once the two communication modules are correctly aligned, a stable optical communication connection is established.

[0051] The entire process relies on precise image processing, efficient feature recognition algorithms, and flexible control strategies to ensure that the optical communication module on the device side can quickly and accurately align with the communication module at a fixed position.

[0052] Meanwhile, the externally fixed communication module is aligned with the device's communication module in the same way. During device movement, visual signals correct the pan-tilt angle in real time, ensuring that the two communication modules remain aligned, thus achieving continuous optical communication.

[0053] During AGV movement, the camera in the vision gimbal continuously detects the deviation of the feature point / target position relative to the center of the field of view. When the detected deviation reaches or exceeds a set value, the gimbal initiates angle adjustment. Based on the calculated angle and the current position of the gimbal, the PID control algorithm generates corresponding control signals. These signals drive the gimbal motor, causing the gimbal to rotate in the correct direction until the detected feature point / target returns to the center of the field of view.

[0054] Due to site limitations (obstructions from walls or other equipment) and communication distance limitations, it may be necessary to switch signal sources at fixed locations during equipment movement. For example, during AGV movement, the signal source switching location and coverage area are marked during AGV mapping, and the visual feature recognition points of the fixed-location communication modules are encoded or numbered. When switching signals, the pan-tilt unit can be aligned with the other fixed communication module.

[0055] Two sets of gimbals are installed on the mobile device (AGV body). During movement, the two sets of gimbals alternately track the communication stations set on both sides of the movement route. During signal switching, both sets of signals are kept connected simultaneously. After passing through the virtual area established by the AGV's backend map, the signal source switches.

[0056] There are a total of 11 optical communication stations in the system, located as shown by the red dots in the image below. The interactive signals mainly include vehicle status information, host computer commands, emergency stop signals, alarms, and error reports.

[0057] To achieve motion control, navigation control, and other auxiliary control for the vehicle, embodiments of this application may provide that the control unit is also used for fusion guidance using multiple navigation methods. These navigation methods include IMU inertial navigation, laser SLAM navigation, and PGV QR code precise positioning navigation.

[0058] The autonomous navigation explosion-proof container transfer robot provided in this application mainly adopts a fusion guidance of three navigation methods: IMU inertial navigation, laser SLAM navigation, and PGV QR code precise positioning navigation.

[0059] The IMU (Inertial Measurement Unit) is integrated into the controller. The IMU is the "brain" of autonomous navigation, its core function being to achieve high-precision, high-reliability navigation for AGVs in complex environments through attitude perception, autonomous positioning, and multi-sensor fusion. It is particularly suitable for scenarios with signal obstruction or dynamic changes (such as outdoor traction and dense warehouse storage). Although IMUs have drift issues, their shortcomings can be effectively compensated for by fusing with other sensors, making it an essential component of AGV systems.

[0060] Laser SLAM (Simultaneous Localization and Mapping) navigation is a reflectorless laser vision navigation method characterized by autonomous map creation and autonomous navigation. Autonomous map creation means that the autonomous laser industrial mobile robot can automatically create a map in any unfamiliar scene after just one lap; autonomous navigation means that it can navigate freely, automatically plan paths, and drive autonomously without any auxiliary positioning facilities, ensuring safety, reliability, and high efficiency.

[0061] Warehouse handling robots, guided by lasers, can move goods between designated locations; in various e-commerce sorting warehouses, they can also follow designated personnel to improve efficiency. Through a backend system, multiple robots can be clustered and scheduled to rationally allocate handling tasks. The robots are highly flexible and versatile: their hardware structure can be customized for backpack, concealed, or towed configurations; the software system can be customized with access interfaces to deeply integrate with the customer's WMS system.

[0062] PGV is a sensor that scans QR codes using a vision system and provides feedback on the relative position and angle between the camera and the QR code. In this application, it is mainly used for secondary positioning of precise locations.

[0063] The PGV is positioned at the geometric center of the chassis and uses a QR code system on the ground to precisely locate the explosion-proof container for loading and unloading.

[0064] AGV vehicles and their control systems can meet the needs of warehouse area and explosion-proof material box management, can interface with automated warehouses for palletized goods, and can be used in the overall structure of the warehouse area and related supporting facilities. 1. The AGV is equipped with an industrial computer to control the overall operation of the vehicle. 2. Equipped with a touch-screen color LCD display, which shows the trolley's operating status. The operation interface is entirely in Chinese, and the following functions can be achieved through the panel: 1. Manually execute standby mode.

[0065] 2. Check the equipment status.

[0066] 3. System parameter settings.

[0067] 4. Monitor the working status.

[0068] 5. The trolley has two working modes.

[0069] 6. Fully automated (AGV operates according to the instructions of the scheduling system).

[0070] 7. Manual (Manually select the handling task and complete the handling work without going through the AGV scheduling system).

[0071] 8. The AGV should have audible and visual cues during its movement.

[0072] 9. Monitor the remaining battery power on the display screen. 10. An emergency stop button is installed on the vehicle body. 11. The display screen shows all fault alarm information of the car and provides directions for troubleshooting. 12. Changes to critical parameters must be protected by access permissions. 13. System Interface: Based on customer needs, this user interface can display task information, battery level, route, and the vehicle's safe zone range. It can also monitor relevant vehicle parameters in real time based on the vehicle's trajectory. The PAD version of the operating interface features a user-friendly and intuitive design.

[0073] In summary, the autonomous navigation explosion-proof container transfer robot provided in this application is compatible with two types of explosion-proof container transfer needs between workshops, achieving high-precision positioning and path planning. Its optical communication system, via a dual-axis gimbal equipped with an optical communication module, enables real-time continuous communication with the ground station during movement. This solves the problems of communication interruption, insufficient navigation accuracy, and poor environmental adaptability in existing technologies. It is suitable for explosion-proof container transfer in explosive gas and dust environments, possessing high safety, high flexibility, and high communication reliability, and can be used for automated explosion-proof container transfer between workshops.

[0074] 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.

[0075] As can be seen from the above description of the embodiments, those skilled in the art can clearly understand that this application can be implemented by means of software plus necessary general-purpose hardware platforms. Based on this understanding, the technical solution of this application, in essence, or the part that contributes to the prior art, can be embodied in the form of a software product. This computer software product can be stored in a storage medium, such as ROM / RAM, magnetic disk, optical disk, etc., and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute the methods described in various embodiments or some parts of the embodiments of this application.

[0076] The various embodiments in this specification are described in a progressive manner. Similar or identical parts between embodiments can be referred to mutually. Each embodiment focuses on describing the differences from other embodiments. In particular, for system or system embodiments, since they are basically similar to method embodiments, the description is relatively simple, and relevant parts can be referred to the descriptions in the method embodiments. The systems and system embodiments described above are merely illustrative. The units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the modules can be selected to achieve the purpose of this embodiment according to actual needs. Those skilled in the art can understand and implement this without creative effort.

[0077] The above description is merely a preferred embodiment of the present invention and is not intended to limit the scope of protection of the present invention. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention are included within the scope of protection of the present invention.

Claims

1. An autonomous navigation explosion-proof container transfer robot, characterized in that, include: The vehicle frame is configured to support the various components; A drive unit is connected to the vehicle frame; the drive unit is used to drive the vehicle frame to run along a target direction. A single-finger, single-extension fork access platform is provided, connected to the vehicle frame. The platform includes a lifting platform, a turntable mechanism, and a fork mechanism. The lifting platform is connected to the vehicle frame, and the fork mechanism is connected to the lifting platform via the turntable mechanism. The lifting platform drives the turntable mechanism and the fork mechanism to move up and down. The turntable mechanism drives the fork mechanism to deflect direction via a servo motor. The storage rack unit is connected to the vehicle frame. The storage rack unit includes two rows of racks symmetrically arranged on both sides of the single-finger single-extension fork access platform. Each row of racks includes multiple storage locations arranged in the vertical direction. The control unit is connected to the vehicle frame and can communicate with the drive unit and the single-finger single-extension fork access platform. The control unit is used to perform the following operations: Receive explosion-proof material box transfer instructions, which include at least two types of explosion-proof material boxes to be transferred, the location of the supply rack for each type of explosion-proof material box, and the location of the receiving rack. A transfer path is planned and generated based on the explosion-proof container transfer instructions. The drive unit is controlled to move the vehicle frame along the transfer path to the location of the material supply rack. The single-finger, single-extension forklift platform is controlled to perform a forklift operation to remove the explosion-proof bin from the feeding rack and transfer it to the storage location of the storage rack unit. A portion of the bottom of the explosion-proof bin on the feeding rack is suspended in the air, so that when the single-finger, single-extension forklift platform performs the forklift operation, the forks of the platform extend from the suspended position of the bottom of the explosion-proof bin into the bottom of the bin, and the explosion-proof bin is separated from the feeding rack during the lifting process of the lifting platform. After confirming that all the explosion-proof bins have been transferred to the storage rack unit, the drive unit is controlled to move along the transfer path to the location of the receiving rack; and the single-finger single-extension fork storage platform is controlled to perform a forklift operation to move the explosion-proof bins on the storage rack unit from the storage rack unit to the receiving rack.

2. The autonomous navigation explosion-proof container transfer robot according to claim 1, characterized in that, The fork mechanism includes an upper fork, a middle fork, and a lower fork. The upper fork, the middle fork, and the lower fork transmit servo power to each other through gear sets and chains, enabling the upper fork to move under heavy load in the forward and backward directions.

3. The autonomous navigation explosion-proof container transfer robot according to claim 1, characterized in that, The drive unit includes at least two vertical steering wheels arranged diagonally and two omnidirectional wheels. The two vertical steering wheels are used to drive the whole machine to rotate in place, move in a straight line, or move laterally, and to make fine adjustments to the position and angle when performing QR code precision positioning at the explosion-proof material box storage and retrieval position.

4. The autonomous navigation explosion-proof container transfer robot according to claim 3, characterized in that, The vertical steering wheel includes a drive wheel, a gear transmission system, a power servo motor, a steering servo motor, an intrinsically safe origin detection switch, and an intrinsically safe angle detection encoder.

5. The autonomous navigation explosion-proof container transfer robot according to claim 1, characterized in that, The lifting platform, in conjunction with a synchronous belt and a linear guide rail, enables position control of the entire platform. During the loading and unloading of the explosion-proof material box, the lifting platform facilitates the transfer of the explosion-proof material box between the explosion-proof material box transfer robot and the material location.

6. The autonomous navigation explosion-proof container transfer robot according to claim 1, characterized in that, It also includes a communication unit, which includes an optical communication module mounted on a two-axis gimbal, a camera, and a distributed electronic control system, to achieve alignment of the optical communication module over a long distance and to maintain at least one set of optical communication modules aligned in real time during robot operation, so as to achieve continuous real-time optical communication.

7. The autonomous navigation explosion-proof container transfer robot according to claim 6, characterized in that, The optical communication module has a communication distance of 150m, a scattering angle of ±0.5°, and a communication bandwidth of 100Mbit / s.

8. The autonomous navigation explosion-proof container transfer robot according to claim 6, characterized in that, The camera continuously detects the deviation of the feature point / target position relative to the center of the field of view. When the detected deviation value reaches or exceeds the set value, the gimbal starts to adjust the angle. Based on the calculated angle and the current position of the gimbal, the PID control algorithm generates a corresponding control signal. This control signal drives the gimbal motor, causing the gimbal to rotate in the correct direction until the detected feature point / target returns to the center of the field of view.

9. The autonomous navigation explosion-proof container transfer robot according to claim 1, characterized in that, The control unit is also used to integrate guidance using multiple navigation methods.

10. The autonomous navigation explosion-proof container transfer robot according to claim 9, characterized in that, The navigation methods include IMU inertial navigation, laser SLAM navigation, and PGV QR code precision positioning navigation.

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