Unmanned AGV forklift for photovoltaic module transportation and control method

Abstract

The invention provides an unmanned AGV forklift for photovoltaic module transportation and a control method.The unmanned AGV forklift comprises a vehicle body, an unmanned system, an AGV intelligent dispatching system, a power system, a safety protection system and an emergency braking system, the vehicle body is provided with a main body frame, and the main body frame is provided with a portal, a lifting plate, a pallet fork support, a pallet fork and a tray; the unmanned driving system comprises a positioning navigation module, a sensor module and a control module; the AGV intelligent scheduling system comprises a communication module and a scheduling module. The system has remarkable technical advantages in the aspects of automation, intellectualization, safety, adaptability, expandability, flexibility and the like, the transportation efficiency and safety of photovoltaic modules in a photovoltaic construction project can be effectively improved, and the labor intensity and cost are reduced.

Description

Technical Field

[0001] This invention belongs to the field of photovoltaic construction engineering technology, specifically an unmanned AGV forklift and control method for transporting photovoltaic modules, which is used to realize unmanned and automated transportation of photovoltaic modules in photovoltaic construction projects. Background Technology

[0002] In recent years, clean energy, especially the photovoltaic industry, has developed rapidly, and the installed capacity of photovoltaics has continued to grow, which has also led to an increasing demand for the transportation of photovoltaic modules.

[0003] Traditional transportation methods rely on manual handling, which is not only labor-intensive and costly, but also poses safety hazards. Therefore, developing automated and intelligent transportation equipment has become an urgent need in the photovoltaic construction field. Summary of the Invention

[0004] The first objective of this invention is to provide an unmanned AGV forklift for transporting photovoltaic modules, which is expected to efficiently and accurately complete the handling, transportation and stacking of photovoltaic modules, realize unmanned automated transportation throughout the site, reduce the intensity and cost of manual labor, and improve the efficiency and safety of transportation operations.

[0005] Therefore, the above-mentioned objective of the present invention is achieved through the following technical solution:

[0006] An unmanned AGV forklift for transporting photovoltaic modules includes a vehicle body, an unmanned driving system, an AGV intelligent scheduling system, a power system, a safety protection system, and an emergency braking system. The vehicle body has a main frame, on which a mast, a lifting platform, a fork bracket, forks, and a pallet are mounted. Its distinguishing feature is that:

[0007] The autonomous driving system includes a positioning and navigation module, a sensor module, and a control module;

[0008] The AGV intelligent scheduling system includes a communication module and a scheduling module. The communication module is connected to the central control system and the communication modules of other forklifts. The scheduling module is used to obtain task instructions and plan the optimal handling, transportation and stacking paths for the forklifts based on the current environment and working status.

[0009] The power system is used to provide power support for the forklift;

[0010] The safety protection system includes an upper baffle, a cargo stabilizing frame, and an anti-collision safety device. The anti-collision safety device is installed on the periphery of the forklift and is used to automatically activate the obstacle avoidance function when an obstacle is detected.

[0011] The emergency braking system is used to bring the vehicle to a stop quickly in an emergency.

[0012] While achieving the above objectives, the present invention may also employ or combine the following technical solutions:

[0013] As a preferred embodiment of the present invention, the dimensions of the forks and pallets have an automatic adjustment function to accommodate photovoltaic modules of different sizes and weights.

[0014] As a preferred embodiment of the present invention: the positioning and navigation module is located on the top of the vehicle body, and the positioning and navigation module includes a GPS receiver, an inertial measurement unit and a lidar to achieve accurate positioning and navigation.

[0015] As a preferred embodiment of the present invention, the sensor module includes a 3D camera, a laser scanner, and a safety proximity switch for environmental perception and obstacle avoidance.

[0016] As a preferred embodiment of the present invention: the control module is located inside the vehicle body, and the control module is used to receive data information sensed by the sensor module and process it to control the movement of the forklift.

[0017] As a preferred embodiment of the present invention, the power system includes a battery pack and a charging module. The battery pack is used to provide power support for the forklift, and the charging module is used to achieve automatic charging to ensure the forklift's range and working efficiency.

[0018] As a preferred technical solution of the present invention: the unmanned AGV forklift is also equipped with an intelligent diagnostic and predictive maintenance system. The intelligent diagnostic and predictive maintenance system is used to monitor the status of key components of the forklift in real time, predict potential failures, and automatically arrange maintenance plans to reduce downtime and ensure safety during transportation.

[0019] Another objective of this invention is to provide a control method for the aforementioned unmanned AGV forklift used for transporting photovoltaic modules.

[0020] Therefore, the above-mentioned objective of the present invention is achieved through the following technical solution:

[0021] A control method for an unmanned AGV forklift used for transporting photovoltaic modules includes the following steps:

[0022] S1: After the AGV forklift starts, it performs an initialization operation, which includes checking the power status, communication connection and sensor calibration.

[0023] S2: Receives instructions from the central control system through the AGV intelligent scheduling system to determine the handling, transportation, and stacking tasks of photovoltaic modules;

[0024] S3: The unmanned driving system of the AGV forklift performs path planning and navigation based on task instructions, current position, target position and pre-set map information;

[0025] During the planning process, the shortest path, obstacles, and the location of other AGV forklifts will be taken into account to ensure the safe and efficient transportation of photovoltaic modules;

[0026] S4: The AGV forklift uses sensor modules to perceive the surrounding environment in real time and detect obstacles and other potential risks;

[0027] Once an obstacle is detected, the AGV forklift will immediately activate the obstacle avoidance program, automatically adjusting its direction and speed to avoid collision;

[0028] S5: After the AGV forklift arrives at the loading position of the photovoltaic modules, it accurately moves the photovoltaic modules onto the forklift using the forks or pallets;

[0029] During the handling process, positioning navigation and sensor data will be used to ensure the stability and safety of the photovoltaic modules;

[0030] S6: The AGV forklift automatically travels along the planned path to the target location;

[0031] During transportation, location and speed information will be updated in real time, and driving strategies will be dynamically adjusted based on environmental perception data.

[0032] S7: After the AGV forklift arrives at the target location, it will accurately stack or install the photovoltaic modules in the designated location according to the task instructions.

[0033] During stacking or installation, positioning navigation and sensor data are used to ensure the accurate placement of photovoltaic modules;

[0034] S8: After the AGV forklift completes the handling, transportation and stacking tasks, it sends a task completion report and real-time status information to the central control system through the wireless communication module.

[0035] The central control system updates the task list and the working status of the AGV forklifts based on feedback information;

[0036] S9: After completing the current task, the AGV forklift enters standby mode, waiting to receive new task instructions;

[0037] If no new task instructions are given, the AGV forklift will perform self-checks, maintenance, and charging to maintain optimal working condition.

[0038] This invention provides an unmanned AGV forklift and its control method for transporting photovoltaic modules, which has the following beneficial effects:

[0039] (1) High degree of automation and intelligence: This AGV forklift adopts advanced unmanned driving technology, enabling it to navigate autonomously, avoid obstacles, and plan routes, completing the handling, transportation, and stacking of photovoltaic modules without human intervention. This not only reduces manual involvement and lowers labor costs, but also improves work efficiency.

[0040] (2) Precise positioning and navigation: Integrates multiple navigation technologies, such as GPS, visual recognition, and LiDAR, to improve the navigation accuracy and reliability of forklifts in complex environments.

[0041] (3) Highly efficient collaborative operation: The AGV intelligent scheduling system can be seamlessly connected to the central control system, receiving task instructions and providing feedback on work status in real time, enabling collaborative operation with other construction equipment. This highly efficient collaborative capability can optimize the entire construction process and improve overall efficiency.

[0042] (4) High safety: This AGV forklift is equipped with a variety of safety devices, such as an anti-collision system and an emergency braking system, which can react quickly when encountering obstacles or abnormal situations to ensure the safety of the transportation process. In addition, the reduced human intervention also reduces the safety risks caused by human factors.

[0043] (5) High adaptability: The unmanned photovoltaic module transport AGV forklift has strong adaptability and can adapt to different construction environments and needs. Whether indoors or outdoors, on flat ground or slopes, it can operate stably and complete the transportation task.

[0044] (6) Load adaptability: The forklift is designed to accommodate photovoltaic modules of different sizes and weights. By automatically adjusting the size of the forks and pallets, the flexibility and adaptability of the forklift are improved.

[0045] (7) Scalability and Flexibility: The system architecture and software platform of AGV forklifts are typically scalable and flexible, and can be customized and upgraded according to actual needs. This means that it can be flexibly adjusted as photovoltaic construction projects expand or change, meeting ever-changing requirements.

[0046] (8) 24-hour uninterrupted operation: Compared with traditional manual handling, AGV forklifts can work continuously for 24 hours without rest or meal breaks. This can greatly improve work efficiency and shorten project cycles.

[0047] In summary, this invention provides an unmanned photovoltaic module transport AGV forklift and its control method, which has significant technical advantages in terms of automation, intelligence, safety, adaptability, scalability and flexibility. It can effectively improve the transportation efficiency and safety of photovoltaic modules in photovoltaic construction projects, and reduce the intensity and cost of manual labor. Attached Figure Description

[0048] Figure 1 This is a connection block diagram of the unmanned AGV forklift for transporting photovoltaic modules provided by the present invention.

[0049] Figure 2 The flowchart illustrates the control method for an unmanned AGV forklift used for transporting photovoltaic modules provided by this invention.

[0050] In the diagram: 1-Vehicle body; 2-Unmanned driving system; 3-AGV intelligent scheduling system; 4-Power system; 5-Safety protection system; 11-Main frame; 12-Gantry; 13-Lifting plate; 14-Fork support; 15-Forks; 21-Positioning and navigation module; 22-Sensor module; 23-Control module; 31-Communication module; 32-Scheduling module; 51-Upper baffle; 52-Cargo stabilizing frame. Detailed Implementation

[0051] The present invention will be described in further detail with reference to the accompanying drawings and specific embodiments.

[0052] like Figure 1 As shown, an unmanned AGV forklift for transporting photovoltaic modules includes a vehicle body 1, an unmanned driving system 2, an AGV intelligent scheduling system 3, a power system 4, a safety protection system 5, and an emergency braking system. The vehicle body 1 has a main frame 11, on which a mast 12, a lifting platform 13, a fork bracket 14, forks 15, and a pallet are mounted.

[0053] The autonomous driving system 2 includes a positioning and navigation module 21, a sensor module 22, and a control module 23;

[0054] The AGV intelligent scheduling system 3 includes a communication module 31 and a scheduling module 32. The communication module 31 is connected to the central control system and the communication modules 31 of other forklifts. The scheduling module 32 is used to obtain task instructions and plan the optimal handling, transportation and stacking path for the forklifts according to the current environment and working status.

[0055] Power system 4 is used to provide power support for the forklift;

[0056] The safety protection system 5 includes an upper baffle 51, a cargo stabilizing frame 52, and an anti-collision safety device. The anti-collision safety device is installed on the periphery of the forklift and is used to automatically activate the obstacle avoidance function when an obstacle is detected.

[0057] Emergency braking systems are used to bring a vehicle to a stop quickly in emergency situations.

[0058] The forks 15 and pallet dimensions have an automatic adjustment function to accommodate photovoltaic modules of different sizes and weights.

[0059] The positioning and navigation module 21 is located on the top of the vehicle body. The positioning and navigation module 21 includes a GPS receiver, an inertial measurement unit and a lidar to achieve accurate positioning and navigation.

[0060] Sensor module 22 includes a 3D camera, a laser scanner, and a safety proximity switch for environmental perception and obstacle avoidance.

[0061] The control module 23 is located inside the vehicle body. The control module 23 is used to receive and process the data information sensed by the sensor module 22 to control the movement of the forklift.

[0062] The power system 4 includes a battery pack and a charging module. The battery pack provides power to the forklift, and the charging module enables automatic charging to ensure the forklift's range and working efficiency.

[0063] The driverless AGV forklift is also equipped with an intelligent diagnostic and predictive maintenance system. This system monitors the status of key components of the forklift in real time, predicts potential failures, and automatically schedules maintenance to reduce downtime and ensure safety during transportation.

[0064] like Figure 2 As shown, the unmanned AGV forklift used for transporting photovoltaic modules is controlled by the following method:

[0065] S1: After the AGV forklift starts, it performs an initialization operation, which includes checking the power status, communication connection and sensor calibration.

[0066] S2: Receives instructions from the central control system through the AGV intelligent scheduling system to determine the handling, transportation, and stacking tasks of photovoltaic modules;

[0067] S3: The unmanned driving system of the AGV forklift performs path planning and navigation based on task instructions, current position, target position and pre-set map information;

[0068] During the planning process, the shortest path, obstacles, and the location of other AGV forklifts will be taken into account to ensure the safe and efficient transportation of photovoltaic modules;

[0069] S4: The AGV forklift uses sensor modules to perceive the surrounding environment in real time and detect obstacles and other potential risks;

[0070] Once an obstacle is detected, the AGV forklift will immediately activate the obstacle avoidance program, automatically adjusting its direction and speed to avoid collision;

[0071] S5: After the AGV forklift arrives at the loading position of the photovoltaic modules, it accurately moves the photovoltaic modules onto the forklift using the forks or pallets;

[0072] During the handling process, positioning navigation and sensor data will be used to ensure the stability and safety of the photovoltaic modules;

[0073] S6: The AGV forklift automatically travels along the planned path to the target location;

[0074] During transportation, location and speed information will be updated in real time, and driving strategies will be dynamically adjusted based on environmental perception data.

[0075] S7: After the AGV forklift arrives at the target location, it will accurately stack or install the photovoltaic modules in the designated location according to the task instructions.

[0076] During stacking or installation, positioning navigation and sensor data are used to ensure the accurate placement of photovoltaic modules;

[0077] S8: After the AGV forklift completes the handling, transportation and stacking tasks, it sends a task completion report and real-time status information to the central control system through the wireless communication module.

[0078] The central control system updates the task list and the working status of the AGV forklifts based on feedback information.

[0079] S9: After completing the current task, the AGV forklift enters standby mode, waiting to receive new task instructions;

[0080] If no new task instructions are given, the AGV forklift will perform self-checks, maintenance, and charging to maintain optimal working condition.

[0081] The above specific embodiments are used to explain and illustrate the present invention, and are only preferred embodiments of the present invention, not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc., made to the present invention within the spirit and scope of the claims shall fall within the protection scope of the present invention.

Claims

1. An unmanned AGV forklift for transporting photovoltaic modules, comprising a vehicle body, an unmanned driving system, an AGV intelligent scheduling system, a power system, a safety protection system, and an emergency braking system, wherein the vehicle body has a main frame, and the main frame is provided with a mast, a lifting plate, a fork bracket, forks, and a pallet, characterized in that: The autonomous driving system includes a positioning and navigation module, a sensor module, and a control module; The AGV intelligent scheduling system includes a communication module and a scheduling module. The communication module is connected to the central control system and the communication modules of other forklifts. The scheduling module is used to obtain task instructions and plan the optimal handling, transportation and stacking paths for the forklifts based on the current environment and working status. The power system is used to provide power support for the forklift; The safety protection system includes an upper baffle, a cargo stabilizing frame, and an anti-collision safety device. The anti-collision safety device is installed on the periphery of the forklift and is used to automatically activate the obstacle avoidance function when an obstacle is detected. The emergency braking system is used to bring the vehicle to a stop quickly in an emergency.

2. The unmanned AGV forklift for transporting photovoltaic modules according to claim 1, characterized in that: The forks and pallet are automatically adjustable to accommodate photovoltaic modules of different sizes and weights.

3. The unmanned AGV forklift for transporting photovoltaic modules according to claim 1, characterized in that: The positioning and navigation module is located on the top of the vehicle body. The positioning and navigation module includes a GPS receiver, an inertial measurement unit, and a lidar to achieve accurate positioning and navigation.

4. The unmanned AGV forklift for transporting photovoltaic modules according to claim 1, characterized in that: The sensor module includes a 3D camera, a laser scanner, and a safety proximity switch for environmental perception and obstacle avoidance.

5. The unmanned AGV forklift for transporting photovoltaic modules according to claim 1, characterized in that: The control module is located inside the vehicle body. The control module is used to receive data information sensed by the sensor module and process it to control the movement of the forklift.

6. The unmanned AGV forklift for transporting photovoltaic modules according to claim 1, characterized in that: The power system includes a battery pack and a charging module. The battery pack provides power to the forklift, and the charging module enables automatic charging to ensure the forklift's range and working efficiency.

7. The unmanned AGV forklift for transporting photovoltaic modules according to claim 1, characterized in that: The unmanned AGV forklift is also equipped with an intelligent diagnostic and predictive maintenance system. This system is used to monitor the status of key components of the forklift in real time, predict potential failures, and automatically arrange maintenance plans to reduce downtime and ensure safety during transportation.

8. A control method for an unmanned AGV forklift used for transporting photovoltaic modules according to any one of claims 1-7, characterized in that: The control method includes the following steps: S1: After the AGV forklift starts, it performs an initialization operation, which includes checking the power status, communication connection and sensor calibration. S2: Receives instructions from the central control system through the AGV intelligent scheduling system to determine the handling, transportation, and stacking tasks of photovoltaic modules; S3: The unmanned driving system of the AGV forklift performs path planning and navigation based on task instructions, current position, target position and pre-set map information; During the planning process, the shortest path, obstacles, and the location of other AGV forklifts will be taken into account to ensure the safe and efficient transportation of photovoltaic modules; S4: The AGV forklift uses sensor modules to perceive the surrounding environment in real time and detect obstacles and other potential risks; Once an obstacle is detected, the AGV forklift will immediately activate the obstacle avoidance program, automatically adjusting its direction and speed to avoid collision; S5: After the AGV forklift arrives at the loading position of the photovoltaic modules, it accurately moves the photovoltaic modules onto the forklift using the forks or pallets; During the handling process, positioning navigation and sensor data will be used to ensure the stability and safety of the photovoltaic modules; S6: The AGV forklift automatically travels along the planned path to the target location; During transportation, location and speed information will be updated in real time, and driving strategies will be dynamically adjusted based on environmental perception data. S7: After the AGV forklift arrives at the target location, it will accurately stack or install the photovoltaic modules in the designated location according to the task instructions. During stacking or installation, positioning navigation and sensor data are used to ensure the accurate placement of photovoltaic modules; S8: After the AGV forklift completes the handling, transportation and stacking tasks, it sends a task completion report and real-time status information to the central control system through the wireless communication module. The central control system updates the task list and the working status of the AGV forklifts based on feedback information; S9: After completing the current task, the AGV forklift enters standby mode, waiting to receive new task instructions; If no new task instructions are given, the AGV forklift will perform self-checks, maintenance, and charging to maintain optimal working condition.

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