All-electric automatic navigation cloth carrier

Abstract

The invention relates to an all-electric automatic navigation cloth carrier which comprises a carrier body, the carrier body is composed of a carrier frame, a covering part, a driving wheel and a control system, the driving wheel and the control system are both installed in the carrier frame and covered by the covering part to form a whole, the interior of the carrier frame is divided into a plurality of areas through partition blocks, and the partition blocks are connected with the driving wheel and the control system. The area comprises an installation area, a functional area and a working area, wheels are installed in the installation area, an anti-collision early warning device, a battery, a wheel control system and a master controller are installed in the functional area, a cloth carrying frame is installed in the working area, and the master controller controls the wheel control system, the anti-collision early warning device and the carrying frame to achieve automatic navigation of cloth carrying. The device is simple and reasonable in overall structure, practical and convenient.

Description

Technical Field

[0001] This invention belongs to the field of transport vehicle technology and relates to a fully electric automatic navigation fabric transport vehicle. Background Technology

[0002] Traditional fabric handling methods mainly include: (1) Shearing rack: This storage method uses two rows of shafts, each shaft passing through the center of a roll of fabric and clamping it on the rack. When it is necessary to cut the fabric, the staff needs to manually pick it up. This method is not suitable for storing and retrieving whole rolls of fabric, and it is relatively laborious in the scheduling process; (2) Vertical rack: The fabric is stacked vertically in the rack with one end touching the ground and leaning against the rack. When searching for and retrieving the required fabric, especially when the required fabric is located in the inner part of the rack, it is necessary to move the outer fabric first, which is relatively laborious and inconvenient; (3) Shelf rack: The rack is divided into multiple shelves from top to bottom, and the fabric is stacked horizontally on the shelves of the rack. This method is not convenient when searching for or retrieving the required fabric on the higher shelves. If the fabric is heavy, it is more laborious in the process of picking up or scheduling, and there are also certain safety hazards. (4) Manual handling: In some small textile workshops or family handicrafts, workers usually lift the cloth rolls by hand for handling. This usually requires multiple people to assist each other. The cloth roll is placed vertically on the ground, then tilted and rolled to another board, and then pushed into the designated position using fingers and body strength. This consumes a lot of manpower and physical strength, is inefficient, and is prone to safety accidents. In summary, all of the traditional methods mentioned above have the disadvantages of wasting time and manpower when storing, retrieving, or dispatching cloth, and also pose certain safety hazards.

[0003] To address this issue, a fully electric automatic navigation fabric transport vehicle was designed to overcome the aforementioned problems. Summary of the Invention

[0004] The purpose of this invention is to overcome the shortcomings of the existing technology and provide a fully electric automatic navigation fabric transport vehicle that is simple and reasonable in structure, practical and convenient, reduces labor costs and environmental pollution.

[0005] This invention is achieved through the following technical solution: a fully electric automatic navigation fabric transport vehicle, comprising a transport vehicle body, which consists of a frame, a cover, drive wheels, and a control system. The drive wheels and the control system are both installed inside the frame and covered by the cover to form a whole. The frame is divided into multiple areas by partitions, including an installation area, a functional area, and a working area. The installation area is equipped with wheels, the functional area is equipped with an anti-collision warning device, a battery, a wheel control system, and a main controller, and the working area is equipped with a fabric transport frame. The main controller controls the wheel control system, the anti-collision warning device, and the transport frame to achieve automatic navigation and transport of fabric.

[0006] Preferably, the vehicle frame has two transverse partitions at the front and rear, dividing the entire vehicle into three chambers: front, middle, and rear. The middle chamber is larger than the two side chambers. Two vertical partitions are arranged in the middle chamber, dividing it into three chambers: left, middle, and right. The left and right chambers are equipped with drive wheels, while the middle chamber houses the battery, drive wheel controller, and master controller. An instrument display is installed in the center of the front chamber. LiDAR and indicator lights are installed on both sides of the instrument display and in the rear chamber. Balance wheels are also installed in the front and rear chambers. An instrument mounting plate is also installed on the instrument display, with a rotary switch and a key switch on the mounting plate.

[0007] Preferably, the drive wheel is mounted on a suspended drive wheel mechanism, which is a U-shaped mounting bracket with fixed seats on both sides at the bottom. The fixed seats are fixed to the vehicle frame. A mounting column is provided inside the U-shaped mounting bracket, and a guide sleeve is fitted on the mounting column. A compression spring is provided above the mounting column on the guide sleeve, and a drive wheel is mounted on the guide sleeve. The drive wheel is a hub motor and is directly controlled by a drive wheel controller.

[0008] Preferably, the balance wheel is located at both ends of the front chamber and the rear chamber, with its bottom flush with the bottom of the drive wheel. The front balance wheel and the rear balance wheel are installed separately or by means of a suspension balance wheel mechanism.

[0009] Preferably, the suspension balance wheel mechanism consists of a swing seat and a suspension balance frame. The swing seat is installed in the front chamber or the rear chamber, and the suspension balance frame is fixed by a swing pin. Balance wheels are installed on both sides of the suspension balance frame.

[0010] Preferably, the fabric transport frame is controlled by an electric push rod controller, which consists of an electric push rod mounting base, an electric push rod, a horizontal push rod, and a swing fork. The electric push rod mounting base is fixed in the middle of the vehicle body, connecting one end of the electric push rod and the other end to the horizontal push rod. Swing forks are provided on both sides of the horizontal push rod. The swing forks have a Y-shaped structure and a pivot hole at the bottom, which connects to the swing arm pivot seat inside the vehicle frame through the pivot. The surface of the swing fork has an arc-shaped structure, and a support sleeve is also installed on the surface of the arc-shaped structure. When the electric push rod is pushed forward, the horizontal push rod tilts to one side, so that the entire swing fork opening faces outward, which facilitates the placement and removal of the fabric. An inclined surface is also provided on one side of the cover to facilitate the falling of the fabric. When the electric push rod is retracted, the swing fork opening faces upward, the fabric is located on the support sleeve, and the drive wheel is started to begin the transport operation.

[0011] Preferably, the lidar consists of a navigation lidar and a safety lidar, which are respectively installed on the outside of the front chamber or the rear chamber. The indicator lights consist of a turn signal light and a marker light, which are also respectively installed on the front chamber or the rear chamber. A charging brush plate is also installed on the rear chamber, which is directly connected to the battery.

[0012] Preferably, the vehicle body is also equipped with an ultrasonic sensor, an antenna, and a voice player, all of which are connected to the main controller. A radiator is also provided above the battery. Anti-collision edges are arranged around the vehicle body, and anti-collision edge sensors are also provided on the anti-collision edges. Ultrasonic sensors are also provided on the vehicle frame, all of which are connected to the main controller. The anti-collision edge sensors and ultrasonic sensors are used to achieve anti-collision protection for the vehicle.

[0013] Preferably, the main controller includes a communication module, a battery management module, a control module, a display output module, a function output module, and a function input module. The communication module connects to an external handheld remote control box via an antenna to receive commands, outputs working commands through the control module, and displays them on the instrument display through the display output module. The battery management module is connected to a battery for power. The function input module connects to sensors, including a high-position sensor and a low-position sensor on the swing fork, an anti-collision edge sensor, and an ultrasonic sensor. The function output module connects to a voice player, indicator lights, a drive wheel controller, and an electric actuator controller.

[0014] The beneficial effects of this invention are as follows: 1) The vehicle body of the present invention is small and lightweight, adaptable to narrow passages and light load floor operations, and suitable for scenarios such as factories, warehouses, and logistics stations. It has the characteristics of high load capacity, good flexibility, and low swing fork height, which meet the needs of transfer and storage.

[0015] 2) The frame-type body system of the present invention serves as the control center, integrating lithium batteries, electrical systems and safety devices, supporting rapid configuration and switching of the swing arm system, and also has a counterweight function to ensure balance and adaptability to multiple working conditions.

[0016] 3) The assembled swing arm system of the present invention adjusts the spacing through the horizontal push rod to adapt to different fabric lengths; the "Y"-shaped swing fork adopts welded parts, which can be quickly assembled to fit the fabric diameter, and has an arc surface anti-slip design, supporting single / double electric push rod drive.

[0017] 4) The swing suspension balance wheel mechanism of the present invention adopts an arch bridge welded component, which suppresses the body roll through anti-roll resistance, improves driving stability and passability, adapts to turning and complex road conditions, and enhances safety and flexibility.

[0018] 5) The suspended walking drive wheel of the present invention integrates a servo motor and flexible suspension, supports differential control to achieve forward, backward, turning and stationary rotation, and adopts cast steel support base to ensure load capacity, with zero pollution and low noise.

[0019] 6) The swing arm assembly structure of the present invention supports quick switching of specifications and configurations to meet the needs of different customers, facilitates later maintenance and changes in environmental conditions, and improves the versatility of equipment and mass production efficiency.

[0020] 7) The all-electric drive system of the present invention uses a battery (lithium battery) with a range of not less than two hours. It is equipped with a fully automatic charging pile to automatically charge when the power is low, ensuring continuous operation and being environmentally friendly and energy-saving.

[0021] 8) The automated control technology of this invention achieves precise control of direction and speed through the handle button, and is equipped with an automatic deceleration function to improve operational safety and adapt to high-frequency and high-intensity handling needs.

[0022] 9) The equipment of the present invention is suitable for various warehousing environments and industries, meets the requirements of high-intensity load handling and ultra-high stacking, has multi-functionality and environmental adaptability, and improves operational efficiency and safety.

[0023] 10) The safety and comfort design of the equipment of the present invention includes laser scanning obstacle avoidance radar, emergency stop switch, sound and light alarm system, equipped with anti-collision safety button, zero emissions, low noise, environmental protection and energy saving, and reduced operating costs.

[0024] 11) The electrical instrument panel of the present invention integrates common electrical components, supports interchangeability of different customer configurations, does not change the vehicle body structure, realizes batch assembly, quickly completes order production, and improves mass production efficiency.

[0025] 12) The automatic battery charging system of the present invention is connected to a PLC. When the battery is low, it will automatically prompt and plan a route to the charging point for charging. After charging is completed, it will continue to perform subsequent operations, realizing full-process automated management.

[0026] 13) The laser navigation sensor of the present invention enables autonomous navigation in complex environments, the lightweight body and multiple safety protections ensure the safety of people and vehicles and multiple vehicles traveling together, and the touch screen display supports real-time monitoring and debugging.

[0027] 14) The navigation and guidance system of the present invention adopts magnetic navigation, visual / laser navigation and multi-sensor fusion technology to realize indoor and outdoor autonomous navigation and precise positioning, support multi-site path planning, and 270° three-dimensional protection to ensure safety.

[0028] 15) The obstacle avoidance system of the present invention integrates laser sensors, mechanical collision sensors, photoelectric switches, etc., to form an all-round protection network, automatically distinguishes the type of obstacle and makes corresponding responses to ensure safe operation.

[0029] 16) The sound and light warning system of the present invention is equipped with sound and light alarm lights and switches, which provide real-time feedback on task progress and fault information, improve operating efficiency, and can be set on the left and right sides or diagonally to enhance the warning effect.

[0030] 17) The power energy lithium battery system of the present invention is equipped with BMS management, which monitors data such as power, current, voltage, and temperature in real time, and provides intuitive information through power display and voice prompt module to ensure the efficient use of lithium battery.

[0031] 18) The Y-shaped swing fork of the present invention can be adapted to fabrics of different diameters and has a wide range of applications. Attached Figure Description

[0032] Figure 1 This is a schematic diagram of the overall structure of the present invention; Figure 2 This is a schematic diagram of the internal structure of the present invention; Figure 3 This is a schematic diagram of the instrument mounting plate in this invention; Figure 4 This is a schematic diagram of the bottom structure of the present invention; Figure 5 This is a schematic diagram of the suspended drive wheel mechanism in this invention; Figure 6 This is a schematic diagram of the suspended balance wheel mechanism in this invention; Figure 7 This is a schematic diagram of the electric actuator controller in this invention; Figure 8 This is a schematic diagram of the structure of the cover in this invention; Figure 9 This is a side view of the overall structure of the present invention; Figure 10 This is a schematic diagram of the overall controller of the present invention. Detailed Implementation

[0033] To enable those skilled in the art to more clearly understand the purpose, technical solution, and advantages of the present invention, the present invention will be further described below in conjunction with the accompanying drawings and embodiments.

[0034] In the description of this invention, it should be understood that the orientation or positional relationship indicated by terms such as "upper", "lower", "left", "right", "inner", "outer", "lateral", and "vertical" is based on the orientation or positional relationship shown in the accompanying drawings and is only for the convenience of describing this invention, and is not intended to indicate or imply that the device or component referred to must have a specific orientation, and therefore should not be construed as a limitation of this invention.

[0035] The invention will now be described in detail with reference to the accompanying drawings: Figure 1As shown, a fully electric automatic navigation fabric transport vehicle includes a transport vehicle body, which consists of a frame 1, a cover 2, drive wheels 3, and a control system. The drive wheels 3 and the control system are both installed inside the frame 1 and covered by the cover 2 to form a whole. The frame 1 is divided into multiple areas by partitions, including an installation area 4, a functional area 5, and a working area 6. The installation area 4 is equipped with wheels 7. The functional area 5 is equipped with an anti-collision warning device, a battery 8, a wheel control system, and a main controller 12. The working area 6 is equipped with a fabric transport frame 8. The main controller 12 controls the wheel control system, the anti-collision warning device, and the transport frame 8 to achieve automatic navigation and fabric transport.

[0036] like Figure 2 As shown, the vehicle frame 1 has two transverse partitions 9 at the front and rear, dividing the entire vehicle into three chambers: front, middle, and rear. The middle chamber is larger than the two side chambers. Two vertical partitions 10 are arranged in the middle chamber, dividing it into three further chambers: left, middle, and right. The left and right chambers respectively house the drive wheels 3. The middle chamber houses the battery 8, drive wheel controller 11, and main controller 12. An instrument display 13 is installed in the center of the front chamber. LiDAR 14 and indicator lights are installed on both sides of the instrument display 13 and in the rear chamber. Balance wheels 15 are also installed in the front and rear chambers. Figure 3 As shown, an instrument mounting plate 49 is also installed on the instrument display 13, and the instrument mounting plate 49 has a rotary switch 16 and a key switch 50.

[0037] like Figure 4-5 As shown, the drive wheel 3 is mounted on a suspended drive wheel mechanism, which is a U-shaped mounting bracket 17 with fixed seats 18 on both sides at the bottom. The fixed seats 18 are fixed to the frame 1. A mounting post 19 is provided inside the U-shaped mounting bracket 17. A guide sleeve 20 is fitted on the mounting post 19. A compression spring 21 is provided above the guide sleeve 20. The drive wheel 3 is mounted on the guide sleeve 20. The drive wheel 3 is a hub motor and is directly controlled by the drive wheel controller 11.

[0038] The balance wheel 15 is located at both ends of the front chamber and the rear chamber, with its bottom flush with the bottom of the drive wheel. The front balance wheel and the rear balance wheel are installed separately or by means of a suspension balance wheel mechanism.

[0039] like Figure 6 As shown, the suspension balance wheel mechanism consists of a swing seat 22 and a suspension balance frame 23. The swing seat 22 is installed in the front chamber or the rear chamber, and the suspension balance frame 23 is fixed by a swing pin 24. Balance wheels 15 are installed on both sides of the suspension balance frame 23.

[0040] like Figure 7 As shown, the fabric transport frame 8 is controlled by an electric push rod controller, which consists of an electric push rod fixing seat 25, an electric push rod 26, a horizontal push rod 27, and a swing fork 28. The electric push rod fixing seat 25 is fixed in the middle of the vehicle body, connecting one end of the electric push rod 26 and the other end to the horizontal push rod 27. Swing forks 28 are respectively provided on both sides of the horizontal push rod 27. The swing fork 28 has a Y-shaped structure and a pivot hole 29 at the bottom, which connects to the swing arm pivot seat 30 inside the frame 1 via a pivot. The surface of this swing fork has an arc-shaped structure, and a support sleeve 31 is also installed on the surface of this arc-shaped structure. When the electric push rod 26 pushes forward, the horizontal push rod 27 tilts to one side, causing the entire swing fork opening to face outwards, facilitating the loading and unloading of fabric. Figure 8 As shown, an inclined surface 32 is also provided on one side of the cover 2 to facilitate the falling of the fabric. When the electric push rod 26 is retracted, the opening of the swing fork 28 faces upward, the fabric is located on the support sleeve 31, and the drive wheel 3 is started to start the transfer work.

[0041] like Figure 9 As shown, the lidar 14 consists of a navigation lidar 33 and a safety lidar 34, which are respectively installed on the outside of the front chamber or the rear chamber. The indicator light consists of a turn signal light 35 and a marker light 36, which are also respectively installed on the front chamber or the rear chamber. A charging brush plate 37 is also installed on the rear chamber, which is directly connected to the battery 8.

[0042] The vehicle body is also equipped with an ultrasonic sensor 41, an antenna 42, and a voice player 43, all of which are connected to the main controller 12. A radiator 38 is also provided above the battery 8. Anti-collision contact edges 39 are arranged around the vehicle body, and anti-collision contact edges 39 are equipped with anti-collision contact edge sensors 40. An ultrasonic sensor 41 is also provided on the frame 1, all of which are connected to the main controller 12. The anti-collision protection of the vehicle is achieved through the anti-collision contact edge sensors 40 and the ultrasonic sensors 41.

[0043] like Figure 10 As shown, the main controller 12 is equipped with a communication module 44, a battery management module 45, a control module 46, a display output module 47, a function output module 48, and a function input module 49. The communication module 44 is connected to an external handheld remote control box via an antenna 42 to receive commands, outputs working commands through the control module 46, and displays them on the instrument display 13 through the display output module 47. The battery management module 45 is connected to the battery 8 for power supply. The function input module 49 is connected to sensors, including a high-position sensor 51 and a low-position sensor 52 on the swing fork, an anti-collision edge sensor 40, and an ultrasonic sensor 41. The function output module 48 is connected to a voice player 43, an indicator light, a drive wheel controller 11, and an electric actuator controller.

[0044] The design features of this invention are as follows: (1) The vehicle is small and lightweight, and can operate in narrow passages. It can enter elevators fully loaded and can operate on lightly loaded floors. The vehicle is small in size, has a large load capacity, good flexibility, and low swing fork height. It is suitable for factories and workshops with limited space, as well as warehouses, supermarkets, express logistics distribution stations and other places that need to transfer and store raw materials, semi-finished products and finished products.

[0045] (2) The frame-type body system, as an independent assembly component, facilitates quick switching between different configurations of swing arm system with swing fork diameter and different configurations of swing fork length and specifications, meeting the needs of different customers. It also facilitates later maintenance and allows for quick changes to configurations to meet different needs and adapt to different fabric handling environments. At the same time, the body system, as the control and command center of the whole vehicle, is like the brain of a person. It is both the storage warehouse of the lithium battery system for power energy and the "super electrical control box" of the electrical system, or "electric control box". Almost all electrical systems are installed inside the body system, and all related electrical operations are integrated on the body system. It also serves as the counterweight of the whole vehicle to maintain the balance of the whole vehicle. The automatic charging system, visual guidance and detection system, obstacle avoidance system, sound and light warning system and whole machine nameplate are all integrated into one. The body system also houses the electric actuators for the swing arm system's lifting and lowering actuators, as well as their mechanical limits. Therefore, it requires sufficient space to accommodate the electric actuators (or worm gears, racks, etc.) and ensure they are not interfered with during swing lifting or lowering, allowing for free lifting. It is equipped with safety devices such as a minimum position (low-position sensor), a maximum position (high-position sensor), and proximity switches. A mechanical limit at the maximum position provides dual protection. A single electric actuator can be used, or two symmetrically arranged actuators can be used to drive the swing arm system's lifting or lowering. Through the action of the electric actuator controller, it can start and stop at any angle within a certain angle range. In other words, the swing fork surface can be raised or lowered to any angle within a certain angle range, satisfying the needs of picking up and transporting different fabrics. At the low (zero) position, it is in the transport state; at the high position, it is in the fabric picking or tilting state. The swing arm system is connected by pivots on both sides and pivot seats on both sides located at the bottom of the vehicle body. The two swing arms are assembled together by a crossbar, which serves as the fulcrum for the left and right rotation of the swing fork. At the same time, the assembled crossbar can accommodate different swing fork spacing to adapt to different fabric lengths.

[0046] (3) As an independent assembly component, the prefabricated swing arm system is an important actuator in this product, mainly serving as the main component for swing lifting and swing lowering. Although it can be made into an integral welded part, it is not conducive to handling and transfer, nor to the needs of other configurations of swing arm spacing combinations, and does not meet the requirements of product versatility. However, as an assembly component, its versatility is very wide. Different lengths of cross push rods can be quickly combined and switched to meet the handling configuration requirements of different fabric lengths. It is also convenient for mass production and reduces warehousing space. The "Y"-shaped swing fork, as the diameter of the fabric, can be extended to meet the fitting requirements of different arcs. Obviously, making it into a cast steel part or an integral forging part can better show its strength and rigidity. However, it cannot be quickly combined to fit different fabric diameters, and the manufacturing cost is also high. However, making it into a welded part can meet this requirement. Moreover, it is inexpensive, and its strength and rigidity are sufficient. It can be quickly assembled and welded to meet the configuration requirements of different arcs. It is connected to the transverse push rod by trunnion seats (which also serve as the center of the rotation axis) on both sides of the vehicle body system to form a rigid swing arm body, thereby ensuring the synchronicity of the swing forks on both sides. This makes it possible for a single electric push rod to complete the swing arm movement, and the cost is relatively low. If dual electric push rods or gear transmission are used, the transverse push rod can be eliminated, which increases the space in the middle of the vehicle body and the space for electrical wiring. However, it will also reduce the space for installing electric push rods on both sides. With dual electric push rods, a push rod controller is required to ensure the synchronicity of the push rod movement. The selection of dual electric push rods is wider, and both can meet the swing arm swing requirements. The swing direction can be switched as needed. At the same time, the arc surface of the swing fork is increased with anti-slip texture to prevent the fabric from falling off.

[0047] (4) Swing suspension type balance wheel mounting mechanism. The main function of the swing balance wheel mounting is to improve the stability and handling of the car. The balance wheel frame plays a key role in the car's suspension system. Its main function is to prevent the car body from generating excessive torsion or tilt during driving. Especially when the horizontal height of the left and right balance wheels is different, the balance wheel frame will generate anti-roll resistance to suppress the rolling of the car body, thereby improving the driving stability of the car. The balance wheel frame is usually installed at the connection between the front and rear of the car body. By connecting the left and right wheels, it uses its rigidity to limit the relative movement of the wheels, thereby reducing the tilt and sway of the car body and improving the safety and passability of the car. This design helps to maintain the stability of the car body during turning or driving. Especially when cornering at high speed, it can provide additional stability and optimize the contact performance between the tires and the ground. The working principle of the balance wheel frame is to generate anti-roll resistance, apply downward pressure to the outer wheel of the corner and apply upward pressure to the inner wheel of the corner, so that the left and right suspensions are evenly stressed and the body roll is suppressed. This design not only improves the vehicle's agility but also enhances its adaptability to complex road conditions. The oscillating installation of the balance wheel improves the vehicle's stability and passability by limiting the vehicle's tilt and roll, thereby enhancing its safety and maneuverability. This balance wheel mechanism also bears part of the vehicle's weight and load, which is why the balance wheel frame has sufficient strength, rigidity, and local stability. Therefore, the balance wheel frame is constructed using arch-bridge welded components to ensure its adequate strength, rigidity, and stability.

[0048] (5) The suspended drive wheel mechanism integrates a hub motor and servo motor control. Both ends of the drive wheel have good flexible double-spring suspension support, or a single-spring intermediate suspension support. This ensures adaptability, stability, and flexibility when driving on complex roads, and ensures that the drive wheels are in contact with the ground together, avoiding the drive wheels from being suspended or slipping due to uneven ground. The independent suspension system allows each wheel to move independently, reducing body sway and vibration, and improving the handling and driving stability of the vehicle. In addition, the suspension system can lower the center of gravity of the vehicle, improve the stability and safety of the vehicle, reduce body tilt and vibration, withstand a certain load weight, and increase the grip of the drive wheels according to the load. Under the control of the motor driver, the vehicle can move forward, backward, and turn left and right. The speed difference between the left and right drive wheels enables the vehicle to move forward, backward, turn, and rotate in place. When the speed and direction of rotation of the left and right wheels are the same, the vehicle can move forward or backward; when the two wheels rotate at the same speed but in opposite directions, the vehicle will rotate in place; when the two wheels rotate in the same direction but at different speeds, the vehicle's direction of travel will change, veering towards the slower-rotating side. Therefore, differential driving is achieved by controlling the speed difference between the left and right drive wheels. By adjusting the magnitude and direction of the speed difference, the vehicle can move forward, backward, turn, and rotate in place. The application of the PID control algorithm in the differential control system achieves precise control of the vehicle by calculating the desired speed, turning radius, wheelbase, and other parameters. This indicates that differential driving control not only relies on basic speed difference control but also involves more complex algorithms and sensor feedback. The differential driving motion is achieved on both sides, and the servo motor operates without hydraulic pressure, resulting in zero pollution and low noise throughout the entire process. It has an independent self-propelled and load-bearing drive wheel mechanism, and at the same time, it also serves as the main support load wheel component of the whole vehicle, bearing part of the weight and load of the whole vehicle. Therefore, the drive wheel mechanism must have a support seat to bear this weight as the main force support component to bear the weight and load of the whole vehicle. This is to ensure that the support component has sufficient strength, rigidity and local stability. Therefore, the support component is made of cast steel or integral forging to ensure its sufficient strength, rigidity and stability.

[0049] (6) The swing arm assembly structure facilitates quick switching between different specifications and configurations, quickly meets the needs of different customers, facilitates later maintenance, and allows for quick changes to different configurations and environmental conditions at any time.

[0050] (7) All-electric drive system: The all-electric automatic fabric transport vehicle adopts an electric drive system. Its core feature is that it is completely driven by electricity, which has the advantages of high energy efficiency and environmental protection. This ensures the stability and safety of operation. The transport vehicle is all-electric driven and is usually equipped with lithium batteries as the power source, which can provide stable power support and has a long driving time (e.g., not less than two hours). In addition, it is also equipped with a fully automatic charging pile, which can automatically charge when the power is lower than the set value to ensure continuous operation.

[0051] (8) Automated control technology: All-electric automatic fabric transport vehicles are usually equipped with advanced electric control systems. Operators can achieve precise direction and speed control simply by using the control buttons and knobs on the handle, ensuring the smoothness and safety of cargo handling. In addition, an automatic deceleration function can also be added to improve operational safety.

[0052] (9) Multifunctionality and adaptability: The fully electric automatic fabric handling vehicle is suitable for various warehousing environments, including light and heavy-duty applications. It meets the requirements of high-frequency, high-intensity load handling and stacking conditions, and is especially suitable for occasions requiring ultra-high stacking. It is suitable for various industries such as hotels, tailor shops, and building material stores.

[0053] (10) Safety and Comfort: The all-electric automatic fabric transport vehicle prioritizes operator safety and comfort. Furthermore, some units are equipped with a high-safety-coefficient reverse emergency forward button. To ensure safety during transport, the vehicle is equipped with various safety devices, such as a wide-range laser scanning obstacle avoidance radar, an emergency stop switch, and an audible and visual alarm system. These devices can automatically stop when an obstacle is detected, preventing collisions. Environmentally Friendly and Energy-Saving: Compared to traditional fuel-powered equipment, the all-electric automatic fabric transport vehicle offers the advantages of zero emissions and low noise. Due to its all-electric drive, this equipment is more environmentally friendly than traditional fuel-powered transport vehicles, reducing carbon emissions and noise pollution. In addition, its efficient energy management system also reduces operating costs.

[0054] (11) Intelligent and remote control: The fully electric automatic fabric transport vehicle has intelligent functions. The vehicle can travel in both directions or omnidirectionally and has five-star safety protection. It can also be remotely controlled via an application. The equipment is usually equipped with a PLC intelligent control system, which supports remote control and station control console button call functions, and can realize multi-station call and automated transfer. The fully electric automatic fabric transport vehicle is an advanced logistics equipment that integrates electric drive, automatic control, environmental protection and energy saving and intelligent functions. It is suitable for a variety of warehousing and production environments and can significantly improve operating efficiency and safety as well as remote control.

[0055] (12) Electrical dashboard: Different customers' electrical configurations share the same electrical component operations, i.e., they have the same or similar operating buttons. Essentially, all the common electrical component operations inherent to the product are integrated into this electrical dashboard. The only difference lies in the selection of specific components by different customers. These components can be interchanged or added / removed without affecting assembly or altering the vehicle structure. Furthermore, these buttons do not need to be associated with any cover parts. Based on the corresponding configurations of different customers, and then integrated and installed on this electrical dashboard according to the same customer's electrical configuration, an electrical operating component component is formed. This creates the conditions for mass production of integrated assembly of related electrical configurations for the same customer. This electrical component can be assembled in batches as needed. When necessary, this component is then assembled into the vehicle body, thus quickly completing product assembly and fulfilling the order's mass production.

[0056] (13) Automatic battery charging function, the automatic charging device is connected to the PLC central controller; the automatic charging device includes a charging brush plate installed on the frame and connected to an external power supply, and an external automatic charger connected to the charging brush plate. The external automatic charger is connected to the PLC central controller and the lithium battery respectively; when the transport vehicle detects that the lithium battery power is insufficient during operation, the external automatic charging device transmits the information instruction of insufficient lithium battery power to the PLC central controller. The PLC central controller sends information to the power display and voice prompt module according to the information instruction. The power display shows the information of insufficient lithium battery power. The voice prompt module prompts the information of insufficient lithium battery power through voice and the PLC central controller prompts to send an automatic charging signal to the vehicle to automatically drive to the external automatic charger according to the planned route for automatic induction charging. After charging is completed, the charging information is transmitted to the PLC central controller, and the PLC central controller continues to control the vehicle to automatically complete other work requirements.

[0057] (14) Laser navigation sensors are used to help AGVs cope with complex and unknown environments completely autonomously, enabling them to have precise environmental perception capabilities. The lightweight body design and multiple safety protections such as laser vision and sound and light ensure that they can adapt to the operation of people and vehicles, multiple vehicles traveling together and narrow aisle operations without interference and can operate at high speed.

[0058] The touchscreen display is a digital touchscreen, employing a 6-digit LCD display with a built-in rechargeable battery. It features automatic zero-point tracking, zero-point abnormality indication, overload alarm, automatic power-saving mode, and low-voltage automatic shutdown protection. It is also characterized by quick and easy debugging. The electrical system houses various communication systems, including industrial control computers, switches, cameras, laser navigators, manual switching buttons, alarm indicator lights, alarm sounds, sound and light controlled switches, WIFI transmitters and receivers, and touchscreens. An external handheld remote control box connects to the PLC central controller via a wireless communication module. Furthermore, a vehicle-mounted touchscreen is installed on the instrument panel, also connected to the PLC central controller via a wireless communication module. This combination of the vehicle-mounted touchscreen and handheld remote control box provides convenient human-machine interaction, allowing the operator of the transport vehicle to maintain real-time control, such as setting stations and planning routes.

[0059] (15) The navigation guidance system includes a magnetic navigator located at the front of the vehicle body and a visual or laser navigator located at the top of the vehicle body. The visual or laser navigator and the magnetic navigator are respectively connected to the PLC central controller. The visual navigator, laser navigator and magnetic navigator have the characteristics of high guidance accuracy and good controllability, which can ensure the most reasonable path planning and free allocation for multiple stations. The natural trackless navigation technology with multi-sensor fusion can easily realize autonomous navigation and real-time accurate positioning in a large range of indoor and outdoor environments, and autonomously complete the handling and loading and unloading operations. It adopts 270° three-dimensional protection. It scans the surrounding environment on its own, judges whether there are obstacles, and makes effective responses, making walking safer. Human-machine safety and harmonious operation without interference. It is a compact AGV for internal pallet transportation that is unmanned and can safely work with the staff in the warehouse or work area without interference or influence.

[0060] (16) The obstacle avoidance system includes laser sensors, mechanical collision sensors, and photoelectric switches connected to the PLC central controller. Anti-touch edges are fixed around the bottom of the vehicle body, and safety laser sensors are arranged in the middle or diagonally at the bottom. Cameras can be installed at the bottom of the vehicle body system, and mechanical collision sensors, photoelectric switches, or ultrasonic sensors are provided on both sides. The aforementioned laser sensors, mechanical collision sensors, and photoelectric switches form an all-round obstacle avoidance protection network, effectively avoiding various potential dangers during operation. The automatic obstacle avoidance function includes: scanning obstacles, automatically distinguishing the nature of obstacles, classifying them into stationary objects, people, and moving objects, and taking different reaction actions for different types of obstacles, such as: stationary objects (AGV forklift avoids), people (AGV forklift voice prompt); moving objects, AGV forklift waits to pass.

[0061] (17) Audible and visual warning system. The audible and visual warning system includes audible and visual alarm status lights and audible and visual alarm switches that control the audible and visual alarm lights. The audible and visual alarm lights and audible and visual alarm switches are respectively connected to the PLC central controller. There is one audible and visual alarm status light on each of the left and right sides or diagonal sides of the vehicle body. The audible and visual alarm switches are located on the instrument panel. The warning system can automatically diagnose faults and provide on-screen prompts, and provide real-time feedback on task progress and emergencies, which greatly improves the operating efficiency of the transport vehicle.

[0062] (18) Power energy battery system, matched with large-capacity lithium battery, to achieve zero emissions and no pollution, power display (or display screen) and voice prompt module connected to lithium battery respectively, lithium battery management system BMS for managing lithium battery, lithium battery, power display, voice prompt module and lithium battery management system BMS are all connected to PLC central controller, not only can the lithium battery power information be obtained intuitively, but also greatly facilitate the coordination of the use time of single machine, and real-time monitoring of lithium battery power, current, voltage, temperature and other data, effectively protecting lithium battery and greatly improving the use efficiency of lithium battery.

[0063] The specific embodiments described herein are merely illustrative of the principles and effects of the invention and are not intended to limit the invention. Any person skilled in the art can modify or alter the above embodiments without departing from the spirit and scope of the invention. Therefore, all equivalent modifications or alterations made by those skilled in the art without departing from the spirit and technical concept disclosed in this invention should still be covered by the claims of this invention.

Claims

1. A fully electric automatic navigation fabric transport vehicle, comprising a transport vehicle body, which consists of a frame, a cover, drive wheels, and a control system, wherein the drive wheels and the control system are both installed inside the frame and covered by the cover to form a whole, characterized in that: The vehicle frame is divided into multiple areas by partitions, including an installation area, a functional area, and a working area. The installation area is equipped with wheels, the functional area is equipped with a collision warning device, a battery, a wheel control system, and a main controller, and the working area is equipped with a fabric transport rack. The main controller controls the wheel control system, the collision warning device, and the transport rack to achieve automatic navigation and transport of the fabric.

2. The fully electric automatic navigation fabric transport vehicle according to claim 1, characterized in that: The vehicle frame has two transverse partitions at the front and rear, dividing the entire vehicle into three chambers: front, middle, and rear. The middle chamber is larger than the two side chambers. Two vertical partitions are arranged in the middle chamber, dividing it into three chambers: left, middle, and right. The left and right chambers are equipped with drive wheels, while the middle chamber houses the battery, drive wheel controller, and master controller. An instrument display is installed in the center of the front chamber. LiDAR and indicator lights are installed on both sides of the instrument display and in the rear chamber. Balance wheels are also installed in the front and rear chambers. An instrument mounting plate with a rotary switch and a key switch is also mounted on the instrument display.

3. The fully electric automatic navigation fabric transport vehicle according to claim 2, characterized in that: The drive wheel is mounted on a suspended drive wheel mechanism, which is a U-shaped mounting bracket with fixed seats on both sides at the bottom. The fixed seats are fixed to the vehicle frame. A mounting post is provided inside the U-shaped mounting bracket, and a guide sleeve is fitted on the mounting post. A compression spring is provided above the guide sleeve, and the drive wheel is mounted on the guide sleeve. The drive wheel is a hub motor and is directly controlled by the drive wheel controller.

4. The fully electric automatic navigation fabric transport vehicle according to claim 2, characterized in that: The balance wheel is located at both ends of the front chamber and the rear chamber, with its bottom flush with the bottom of the drive wheel. The front balance wheel and the rear balance wheel are installed separately or by means of a suspension balance wheel mechanism.

5. The fully electric automatic navigation fabric transport vehicle according to claim 4, characterized in that: The suspension balance wheel mechanism consists of a swing seat and a suspension balance frame. The swing seat is installed in the front chamber or the rear chamber, and the suspension balance frame is fixed by a swing pin. Balance wheels are installed on both sides of the suspension balance frame.

6. The fully electric automatic navigation fabric transport vehicle according to claim 1, characterized in that: The fabric transport frame is controlled by an electric push rod controller, which consists of an electric push rod mounting base, an electric push rod, a horizontal push rod, and a swing fork. The electric push rod mounting base is fixed in the middle of the vehicle body, connecting one end of the electric push rod and the other end to the horizontal push rod. Swing forks are provided on both sides of the horizontal push rod. The swing forks have a Y-shaped structure and a pivot hole at the bottom, which connects to the swing arm pivot seat inside the frame through the pivot. The surface of the swing fork has an arc-shaped structure, and a support sleeve is also installed on the surface of the arc-shaped structure. When the electric push rod is pushed forward, the horizontal push rod tilts to one side, so that the entire swing fork opening faces outward, which facilitates the placement and unloading of the fabric. An inclined surface is also provided on one side of the cover to facilitate the falling of the fabric. When the electric push rod is retracted, the swing fork opening faces upward, the fabric is located on the support sleeve, and the drive wheel is started to begin the transport operation.

7. The fully electric automatic navigation fabric transport vehicle according to claim 2, characterized in that: The lidar consists of a navigation lidar and a safety lidar, which are respectively installed on the outside of the front chamber or the rear chamber. The indicator lights consist of a turn signal light and a marker light, which are also respectively installed on the front chamber or the rear chamber. A charging brush plate is also installed on the rear chamber, which is directly connected to the battery.

8. The fully electric automatic navigation fabric transport vehicle according to claim 7, characterized in that: The vehicle body is also equipped with ultrasonic sensors, antennas, and a voice player, all of which are connected to the main controller. A radiator is also installed above the battery. Anti-collision edges are arranged around the vehicle body, and anti-collision edge sensors are also installed on the anti-collision edges. Ultrasonic sensors are also installed on the frame, all of which are connected to the main controller. The anti-collision edge sensors and ultrasonic sensors realize the vehicle's anti-collision protection.

9. The fully electric automatic navigation fabric transport vehicle according to claim 7, characterized in that: The main controller includes a communication module, a battery management module, a control module, a display output module, a function output module, and a function input module. The communication module connects to an external handheld remote control box via an antenna to receive commands, outputs operating commands through the control module, and displays them on the instrument display through the display output module. The battery management module is connected to the battery for power. The function input module connects to sensors, including a high-position sensor and a low-position sensor on the swing fork, an anti-collision edge sensor, and an ultrasonic sensor. The function output module connects to a voice player, indicator lights, a drive wheel controller, and an electric actuator controller.

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