An automated tray device

Abstract

The application relates to an automated tray device, comprising a tray body; an autonomous mobile system arranged on the tray body and used for driving the tray device to autonomously walk on a working surface; a navigation and control system arranged on the tray body and used for acquiring external instructions and planning a travel path to guide the autonomous mobile system; an energy storage system arranged on the tray body and used for providing electric energy for the autonomous mobile system and the navigation and control system; and a charging interface arranged on the tray body; wherein the charging interface is configured to be capable of being correspondingly engaged with each other when a plurality of the automated tray devices are stacked in a preset direction, so that the plurality of the automated tray devices in the stacked state can be collectively charged.

Description

Technical Field

[0001] This invention belongs to the field of logistics automation technology, specifically relating to an automated pallet device that integrates autonomous driving, intelligent navigation and centralized charging functions, and is suitable for intelligent manufacturing, warehousing and logistics scenarios. Background Technology

[0002] In the fields of intelligent manufacturing and warehousing logistics, pallets are the basic unit for carrying and transporting goods. In traditional logistics operations, pallets themselves are not powered; their handling relies entirely on external equipment such as conveyors, forklifts, or automated guided vehicles (AGVs). This operational mode has the following significant problems: First, there is a high dependence on equipment and high costs. Enterprises need to purchase a large number of conveyors, forklifts or AGVs to complete the pallet handling. Not only is the initial equipment investment huge, but the subsequent scheduling system is also complex and the maintenance cost is high.

[0003] Secondly, energy management is inefficient. For electrically driven logistics equipment, existing AGVs and similar devices require separate planning of charging times, making it impossible to achieve centralized and automated charging of pallets when they are not in operation (such as when they are stacked empty). This not only increases the difficulty of deploying charging facilities but also affects the effective utilization rate of the equipment.

[0004] Finally, there is poor compatibility. Traditional pallets are mostly of fixed size, making it difficult to adapt to different specifications of shelves and goods of various sizes, resulting in limited warehouse space utilization or the need to invest additional costs in modifying the shelves. Summary of the Invention

[0005] To address the aforementioned technical problems, the present invention provides an automated pallet device, comprising: Tray body; An autonomous movement system, installed on the pallet body, is used to drive the pallet device to move autonomously on the working surface; A navigation and control system, located on the tray body, is used to acquire external commands and plan a travel path to guide the autonomous movement system; An energy storage system, disposed on the tray body, is used to provide electrical energy for the autonomous mobility system and the navigation and control system; and A charging port is located on the tray body; The charging interface is configured such that when multiple automated pallet devices are stacked in a preset direction, the charging interfaces of each automated pallet device can engage with each other to achieve centralized charging of the multiple automated pallet devices in the stacked state.

[0006] Furthermore, the autonomous movement system includes multiple sets of dual-mode wheel sets embedded in the support leg cavities at the bottom of the pallet body, the dual-mode wheel sets including drive wheels and omnidirectional wheels.

[0007] Furthermore, the dual-mode wheel set consists of nine sets, which are respectively installed around the perimeter and at the center of the bottom of the tray body.

[0008] Furthermore, the navigation and control system includes a UWB positioning module, an infrared obstacle avoidance sensor, and a QR code recognition camera.

[0009] Furthermore, the UWB positioning module supports Wi-Fi 6 / 5G dual-mode communication for real-time interaction with the central control system to exchange path instructions.

[0010] Furthermore, the infrared obstacle avoidance sensor is used to detect obstacles during the movement of the tray device and trigger the navigation and control system to perform path replanning.

[0011] Furthermore, the energy storage system includes an 18650 lithium battery cell disposed within the cavity of the support leg, the lithium battery cell supporting fast charging.

[0012] Furthermore, it also includes a telescopic extension plate disposed on the side of the pallet body, the extension plate being driven by an electric push rod to adjust the bearing area of ​​the pallet body.

[0013] Furthermore, the adjustable range of the bearing area is from 1200mm×800mm to 1500mm×1200mm.

[0014] Furthermore, the autonomous mobile system includes a motor with a power of 5 to 20W, the pallet device has a maximum load of 1 ton, and a walking speed of 0.3 to 1.2 m / s that is programmable and adjustable.

[0015] Compared with the prior art, the beneficial effects of the present invention are: 1. The pallet device of the present invention eliminates the dependence on external handling equipment and can independently complete tasks such as storage and retrieval from shelves to the ground and horizontal movement within the warehouse, simplifying the logistics system architecture and reducing equipment procurement and maintenance costs.

[0016] 2. This invention, through its stacked charging design, enables multiple empty pallets to automatically complete circuit series connection and batch charging when stacked, coinciding with equipment idle time, thereby improving energy management efficiency and equipment utilization, and ensuring continuous operation capability.

[0017] 3. This invention, through its retractable expansion plate structure, allows the pallet to dynamically adjust its size according to the specifications of the goods and shelves, thereby improving the space utilization and operational flexibility of the warehouse and reducing the investment in warehousing facility renovation. Attached Figure Description

[0018] The accompanying drawings, which illustrate different embodiments of the present invention, are described below. It should be understood that the drawings are not necessarily drawn to scale, and in all the drawings, the same reference numerals denote the same or similar parts or structures.

[0019] Figure 1 A perspective view of the automated pallet device according to the invention, viewed from below, is shown in particular, showing a plurality of leg cavities and a dual-mode wheel assembly embedded within the leg cavities; Figure 2 A perspective view of the automated tray device according to the present invention, viewed from below, is shown, with a QR code recognition camera particularly shown. Figure 3 A perspective view of the automated pallet device according to the present invention, viewed from the side, is shown, with an infrared obstacle avoidance sensor particularly shown; Figure 4 A perspective view of the automated tray device according to the present invention, viewed from above, is shown, with the charging port particularly shown; Figure 5 A perspective view of the automated pallet device according to the present invention, viewed from above, is shown in particular, with a telescopic extension plate provided on the side of the pallet. Figure 6 An internal perspective view of the automated pallet device according to the present invention is shown, illustrating the positional relationship of the various components within the automated pallet device; Figure 7 This diagram illustrates a state diagram where a charging device connects to multiple automated tray devices stacked vertically to implement centralized charging. Detailed Implementation

[0020] The embodiments of this application will be further described in detail below with reference to the accompanying drawings and examples. The detailed description of the following embodiments and the accompanying drawings are used to illustrate the principles of this application by way of example, but should not be used to limit the scope of this application. This application can be implemented in many different forms and is not limited to the specific embodiments disclosed herein, but includes all technical solutions falling within the scope of the claims.

[0021] These embodiments are provided to make the application thorough and complete, and to fully express the scope of the application to those skilled in the art. It should be noted that, unless otherwise specifically stated, the relative arrangement of components and steps, material composition, numerical expressions, and values ​​illustrated in these embodiments should be interpreted as merely exemplary and not as limiting.

[0022] All terms used in this application have the same meaning as understood by one of ordinary skill in the art to which this application pertains, unless otherwise specifically defined. It should also be understood that terms defined in general dictionaries should be interpreted as having meanings consistent with their meanings in the context of the relevant art, and not as idealized or highly formalized, unless expressly defined herein.

[0023] Techniques, methods, and equipment known to those skilled in the art may not be discussed in detail, but where appropriate, they should be considered part of the specification.

[0024] The various embodiments of the present invention will now be described in detail with reference to the accompanying drawings.

[0025] The present invention provides an automated tray device 1 with autonomous movement and intelligent charging functions.

[0026] refer to Figure 1 The core of the automated pallet device 1 lies in its highly integrated modular design. It mainly includes: pallet body 101, autonomous movement system, navigation and control system, energy storage system, and charging interface 401.

[0027] The autonomous mobility system, navigation and control system, and energy storage system are all integrated inside or at the bottom of the pallet body 101, so that the overall appearance of the device still maintains the shape of a standard pallet, but the internal components integrate a complete power and intelligent unit.

[0028] like Figure 1 As shown, the autonomous movement system is specifically implemented as multiple sets of dual-mode wheel sets 103 embedded in the support leg cavities 102 at the bottom of the tray body 101. Each dual-mode wheel set 103 includes one drive wheel and one omnidirectional wheel. The drive wheel is connected to the drive motor 602 and receives power; the omnidirectional wheel can rotate freely to assist steering and ensure the flexibility of the device's movement.

[0029] In a preferred embodiment, there are nine outrigger cavities 102, eight of which are distributed around the perimeter of the pallet body 101 and one is located in the center. Correspondingly, nine sets of dual-mode wheel assemblies 103 are installed in these cavities. This nine-square layout effectively distributes the load, enabling the device to have a maximum load capacity of 1 ton, while providing multiple drive points to enhance the smoothness and flexibility of movement.

[0030] The drive motor 602 is preferably a micro servo motor with a power of 5-20W, and is connected to the dual-mode wheel set 103 through a gearbox. The walking speed of the device can be programmed and adjusted by the controller 601 within the range of 0.3-1.2m / s to adapt to the speed requirements under different working conditions.

[0031] like Figure 2 and Figure 3 As shown, the navigation and control system is the key to the device's autonomous operation, and it includes a UWB positioning module 202, an infrared obstacle avoidance sensor 301, a QR code recognition camera 201, and a controller 601.

[0032] The UWB positioning module 202 is integrated into the pallet body 101 to achieve centimeter-level high-precision positioning. In a warehouse environment, the UWB positioning module 202 helps the device accurately locate the target storage location. Simultaneously, this module supports Wi-Fi 6 / 5G dual-mode wireless communication, enabling real-time, high-speed data interaction with the warehouse's central control system, receiving handling instructions and reporting its own status.

[0033] A QR code recognition camera 201 is installed at the bottom of the tray body 101. It is used to scan the pre-set QR code labels on the ground to perform position calibration or obtain path node information. As a supplement to UWB positioning, it further improves the accuracy of navigation.

[0034] Infrared obstacle avoidance sensors 301 are disposed on the sides of the tray device 1, preferably on the front, back, left, and right sides. During operation, the sensor 301 continuously emits infrared light and receives reflected signals to detect surrounding obstacles in real time. When an obstacle is detected, the sensor 301 sends a signal to the controller 601, which then triggers a path replanning algorithm to control the device to avoid the obstacle, ensuring safe operation.

[0035] As attached Figure 6 As shown, the energy storage system includes a battery 604 and a charging connector 605. Figure 6 As shown, battery 604 is preferably a fast-charging 18650 lithium-ion cell with a specification of 48V / 20Ah, and it is located near the support leg cavity inside the tray body 101. This battery 604 not only supplies power to the drive motor 602, but also provides power to all on-board electronic devices such as navigation and control systems and sensors.

[0036] like Figure 6 As shown, the charging interface 401 is disposed on the tray device 1; for example, at a corner of the tray body 101. The charging interface 401 is a conductive path that passes through the tray body 101.

[0037] refer to Figure 7 One of the core innovations of this invention lies in its centralized charging mode. After multiple automated pallet devices 1 complete their handling tasks, they can be stacked vertically by an automatic pallet stacking and unstacking machine. During the stacking process, the charging interfaces 401 on each pallet device 1 are designed to align with each other in the stacked state.

[0038] In one embodiment, the stacked tray devices 1 are secured to the charging station 7 by retaining clamps 701. When stacked, the charging interface of the bottommost tray device and the charging interface of the tray device above it are physically contacted and electrically connected through conductor rods 702 or other conductive structures, thereby achieving series connection.

[0039] Finally, the charging pile 703 of charging station 7 extends downwards and connects with the charging interface 401 of the top tray device. The charging current can then pass through the charging pile 703, through the charging interface 401 of each tray device, and through the internal charging connector 605, ultimately charging the battery 604 of each tray device 1. This design eliminates the need for manual plugging and unplugging, achieving full automation of the charging process and greatly improving charging efficiency in large-scale logistics scenarios.

[0040] like Figure 5 As shown, in order to improve the pallet's adaptability to goods of different sizes, a telescopic extension plate 501 is provided on the side of the pallet body 101. The extension plate 501 is preferably made of lightweight, high-strength aluminum alloy honeycomb panel material.

[0041] The extension plate 501 is connected to the pallet body 101 via a built-in electric push rod. Under the command of the controller 601, the electric push rod can drive the extension plate 501 to extend outward or retract inward, thereby realizing dynamic adjustment of the pallet's load-bearing area. Preferably, its dimensions can be adjusted steplessly or in steps within the range of 1200mm×800mm to 1500mm×1200mm. This allows the same pallet to be flexibly switched to carry goods of different specifications or to adapt to racks of different sizes.

[0042] The workflow of this invention mainly includes the following modes: Planar movement mode: The central control system issues transport commands via Wi-Fi / 5G network. After receiving the command, the controller 601 plans the optimal path by combining information from the UWB positioning module 202 and the QR code recognition camera 201, and controls the drive motor 602 to start the dual-mode wheel assembly 103. During the movement, the infrared obstacle avoidance sensor 301 continues to work, and automatically triggers a detour strategy if an obstacle is detected.

[0043] Shelf storage and retrieval mode: When goods need to be stored on the shelf, external equipment such as a stacker crane can fork the pallet device 1 of the present invention together with the goods and place it on the shelf. Conversely, when it needs to be retrieved, the stacker crane forks the pallet from the shelf to the ground, and then the pallet device 1 can automatically release the mechanical lock with the stacker crane or shelf and start its autonomous movement system to drive to the designated exit.

[0044] Centralized charging mode: When the pallet device 1 is idle and needs charging, the automatic pallet stacking and unstacking machine will stack it with other idle pallets. During the stacking process, the charging interface 401 automatically aligns and engages. Subsequently, the stacked pallets are sent to the charging station 7, where the charging pile 703 docks with the top pallet, enabling simultaneous charging of the entire stack of pallets.

[0045] The embodiments of this application have now been described in detail. To avoid obscuring the concept of this application, some details known in the art have not been described. Those skilled in the art can fully understand how to implement the technical solutions disclosed herein based on the above description.

[0046] While specific embodiments of this application have been described in detail by way of examples, those skilled in the art should understand that the above examples are for illustrative purposes only and are not intended to limit the scope of this application. Those skilled in the art should understand that modifications can be made to the above embodiments or equivalent substitutions can be made to some technical features without departing from the scope and spirit of this application. In particular, as long as there is no structural conflict, the various technical features mentioned in the embodiments can be combined in any manner.

Claims

1. An automated pallet device, characterized in that, include: Tray body; An autonomous movement system, installed on the pallet body, is used to drive the pallet device to move autonomously on the working surface; A navigation and control system, located on the tray body, is used to acquire external commands and plan a travel path to guide the autonomous movement system; An energy storage system, located on the tray body, is used to provide electrical energy for the autonomous mobility system and the navigation and control system; as well as A charging port is located on the tray body; The charging interface is configured such that when multiple automated pallet devices are stacked in a preset direction, the charging interfaces of each automated pallet device can engage with each other to achieve centralized charging of the multiple automated pallet devices in the stacked state.

2. The automated pallet device as described in claim 1, characterized in that, The autonomous movement system includes multiple sets of dual-mode wheel sets embedded in the bottom support leg cavities of the pallet body, the dual-mode wheel sets including drive wheels and omnidirectional wheels.

3. The automated pallet device as described in claim 2, characterized in that, The dual-mode wheel set consists of nine sets, which are respectively installed around the perimeter and center of the bottom of the tray body.

4. The automated pallet device as described in claim 1, characterized in that, The navigation and control system includes a UWB positioning module, an infrared obstacle avoidance sensor, and a QR code recognition camera.

5. The automated pallet device as described in claim 4, characterized in that, The UWB positioning module supports Wi-Fi 6 / 5G dual-mode communication and is used to exchange path commands with the central control system in real time.

6. The automated pallet device as described in claim 4, characterized in that, The infrared obstacle avoidance sensor is used to detect obstacles during the movement of the tray device and trigger the navigation and control system to perform path replanning.

7. The automated pallet device as described in claim 1, characterized in that, The energy storage system includes an 18650 lithium battery cell disposed within the cavity of the support leg, and the lithium battery cell supports fast charging.

8. The automated pallet device as described in claim 1, characterized in that, It also includes a telescopic extension plate disposed on the side of the pallet body, the extension plate being driven by an electric push rod to adjust the bearing area of ​​the pallet body.

9. The automated pallet device as described in claim 8, characterized in that, The adjustable range of the bearing area is from 1200mm×800mm to 1500mm×1200mm.

10. The automated pallet device as claimed in claim 1, characterized in that, The autonomous mobile system includes a motor with a power of 5 to 20W, the pallet device has a maximum load of 1 ton, and a walking speed of 0.3 to 1.2 m / s that can be programmably adjusted.

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