Flexible carrying type AGV based on multi-sensor fusion

Abstract

The application provides a flexible carrying type AGV based on multi-sensor fusion, which comprises a vehicle body, a portal hingedly arranged at the end of the vehicle body, a push rod frame connected at the portal, and push rod assemblies symmetrically arranged at the two ends of the push rod frame; each push rod assembly comprises a push rod arranged on the push rod frame and a collision plate hingedly connected to the end of the push rod; the surface of the collision plate is covered with a flexible pad, and a plurality of flexible rollers are arranged at intervals on the outer periphery of the collision plate, so that the outer ring of the flexible roller is tangent to the surface of the flexible pad; the application can adapt to the inclined surface of goods such as glass, improve the stability during the carrying process of the goods, and prevent the glass surface from being scratched.

Description

Technical Field

[0001] This invention relates to the field of forklifts, and in particular to a flexible handling AGV based on multi-sensor fusion. Background Technology

[0002] AGV forklifts, also known as automated guided forklifts or unmanned forklifts, combine the forking and lifting structure of traditional forklifts with the autonomous navigation and control system of robots. They do not require manual driving and are automatically completed by pallet handling, stacking, warehousing, and line-side feeding, all of which are tasks issued by the WMS / AGV scheduling system. They are core logistics equipment for lights-out factories and smart warehouses.

[0003] When handling fragile or surface-sensitive goods such as glass, current AGV forklifts struggle to maintain the initial tilt stability of the goods, which can easily cause the glass or other goods to slip or tip over due to an unstable center of gravity. Furthermore, when the center of gravity of the goods shifts towards the forklift, there is a lack of effective buffering and adaptive structures between the forklift and the goods, which can easily cause scratches or collision damage to the surface of the goods. Summary of the Invention

[0004] The purpose of this invention is to provide a flexible handling AGV based on multi-sensor fusion that can adapt to the inclined surface of goods such as glass, improve stability during the handling process, and prevent scratches on the glass surface.

[0005] To address the aforementioned technical problems, this invention provides a flexible transport AGV based on multi-sensor fusion, comprising a vehicle body and a gantry hinged to the end of the vehicle body. A push rod frame is connected to the gantry, and push rod assemblies are symmetrically arranged at both ends of the push rod frame. Each push rod assembly includes a push rod mounted on the push rod frame and a collision plate hinged to the end of the push rod. The surface of the collision plate is covered with a flexible pad, and a plurality of flexible rollers are spaced apart on the outer periphery of the collision plate so that the outer ring of the flexible rollers is tangent to the surface of the flexible pad.

[0006] Furthermore, the push rod assembly also includes a mounting plate for connecting the push rod and a guide rail located at the push rod frame. Several sliders are movably mounted on the guide rail, and the sliders are connected to the mounting plate so that after the flexible pad comes into contact with the goods, it can generate a reaction force on the push rod, and the sliders drive one end of the push rod to slide along the guide rail.

[0007] Furthermore, the push rod assembly also includes a bracket at one end of the guide rail, an elastic element suspended between the bracket and one of the sliders, a micro switch contact plate connected to the mounting plate, and a micro switch located on the side of the guide rail and corresponding to the position of the micro switch contact plate, so that the mounting plate slides along the guide rail under the reaction force, and the micro switch contact plate triggers the micro switch.

[0008] Furthermore, the push rod bracket has a buffer frame that matches the moving direction of the mounting plate, the buffer frame is provided with a buffer pad, and a gap is left between the buffer pad and the end of the mounting plate.

[0009] Furthermore, the end of the push rod away from the collision plate is hinged to the mounting plate via a first hinge seat, and a clamp is provided on the side of the mounting plate near the collision plate so that the push rod is fastened in the clamp.

[0010] Furthermore, the bracket is provided with several adjustment holes spaced apart along the sliding direction of the slider, and the end of the elastic element is hung at one of the adjustment holes.

[0011] Furthermore, the push rod end and the collision plate are hinged together by a second hinge seat. A travel limit plate is provided at the bracket, and the travel limit plate has a travel switch corresponding to the second hinge seat. When the second hinge seat moves to the travel limit plate with the push rod as it resets, the travel switch is triggered to limit the travel of the push rod.

[0012] Furthermore, forks are symmetrically connected to both sides of the mast, and the fork ends have a first collision detection element. A second collision detection element is provided on the side of the mast between two adjacent forks, and a camera for identifying goods is provided on the side of the mast facing the forks.

[0013] Furthermore, a tilting drive is connected between the mast and the vehicle body, with both ends of the tilting drive hinged to the mast and the vehicle body respectively, and a sensor for detecting the tilt angle of the mast is also provided between the mast and the vehicle body.

[0014] Furthermore, a plurality of first lidars are arranged around the vehicle body, the detection range of which covers the area around the vehicle body, and a column is provided extending along the height direction at the vehicle body, on which a second lidar is arranged at an angle so that the detection direction of the second lidar is directed toward the ground area in front of the vehicle body.

[0015] The beneficial effects of this invention are as follows: when the vehicle body control mast inserts and transfers the cargo support carrying glass, the push rod in the push rod assembly extends, causing the collision plate to move closer to the surface of the fragile item, and the flexible roller to contact the surface of the fragile item. Under the pushing force applied by the push rod, the collision plate deflects relative to the push rod, causing the flexible pad to adhere to the surface of the fragile item. It can also adapt to the tilting angle of the fragile item to ensure that the surface of the flexible pad and the small roller have full contact with the glass surface, with a large contact area, while preventing scratches on the glass. Attached Figure Description

[0016] Figure 1 This is a schematic diagram of the structure of the present invention.

[0017] Figure 2 This is a schematic diagram of the installation structure of the push rod frame and push rod assembly in this invention.

[0018] Figure 3 This is a schematic diagram of the push rod assembly in this invention.

[0019] Figure 4 This is a schematic diagram of the structure of the vehicle body and the gantry in this invention.

[0020] Figure 5 This is a schematic diagram of the placement of the glass and the bracket in this invention. Detailed Implementation

[0021] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. All other embodiments obtained by those skilled in the art based on the embodiments of the present invention are within the scope of protection of the present invention.

[0022] Those skilled in the art should understand that, in the disclosure of this invention, the terms "longitudinal," "lateral," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," and "outer," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, the above terms should not be construed as limiting this invention.

[0023] It is understood that the term "a" should be understood as "at least one" or "one or more", that is, in one embodiment, the number of an element can be one, while in another embodiment, the number of the element can be multiple, and the term "a" should not be understood as a limitation on the number.

[0024] like Figures 1-5 The present invention provides a flexible transport AGV based on multi-sensor fusion, including a vehicle body 1 and a mast 2 hinged to the end of the vehicle body 1. A push rod frame 3 is connected to the mast 2. Push rod assemblies 4 are symmetrically arranged at both ends of the push rod frame 3. The push rod assembly 4 includes a push rod 41 on the push rod frame 3 and a collision plate 42 hinged to the end of the push rod 41. The surface of the collision plate 42 is covered with a flexible pad 43, and a plurality of flexible rollers 44 are spaced apart on the outer periphery of the collision plate 42 so that the outer ring of the flexible rollers 44 is tangent to the surface of the flexible pad 43.

[0025] When the vehicle body control mast inserts and transfers cargo supports carrying glass, the push rod in the push rod assembly extends, causing the collision plate to move closer to the surface of the fragile item. This allows the flexible roller to contact the surface of the fragile item. Under the pushing force applied by the push rod, the collision plate deflects relative to the push rod, causing the flexible pad to adhere to the surface of the fragile item. This can adapt to the tilt angle of the fragile item to ensure full contact between the surface of the flexible pad and the small roller and the glass surface, resulting in a large contact area while preventing scratches on the glass.

[0026] Both the outer ring of the flexible roller and the flexible pad can be made of EVA sponge material; the push rod can be an electric push rod.

[0027] It is worth mentioning that after the glass exits the production line, it is placed on a glass support at a certain angle. Different glass thicknesses and angles are different, and the glass is usually not tied together. This situation makes the glass easy to tip over and fragile. Therefore, the adaptive angle collision plate in this solution can ensure stable bonding for glass of different thicknesses and angles.

[0028] Preferably, the push rod assembly 4 further includes a mounting plate 45 for connecting the push rod 41 and a guide rail 46 provided at the push rod frame 3. A plurality of sliders 47 are movably mounted at the guide rail 46, and the sliders 47 are connected to the mounting plate 45 so that after the flexible pad 43 abuts against the goods 5, it can generate a reaction force on the push rod 41, and the sliders 47 drive one end of the push rod 41 to slide along the guide rail 46.

[0029] Specifically, after the push rod pushes the collision plate to make the flexible pad adhere to the surface of the goods, the push rod continues to apply a pushing force. At this time, the reaction force of the goods on the flexible pad will be transmitted to the push rod through the collision plate, causing the push rod to displace along the guide rail direction, thereby driving the slider to slide along the guide rail. This ensures that the pushing pressure of the push rod on the collision plate is sufficient to maintain the tight adhesion between the flexible pad and the surface of the goods, while avoiding damage to the goods or the push rod itself due to excessive pushing by the push rod.

[0030] Preferably, the push rod assembly 4 further includes a bracket 48 disposed at one end of the guide rail 46, an elastic element 49 suspended between the bracket 48 and one of the sliders 47, a micro switch contact plate 410 connected to the mounting plate 45, and a micro switch 411 disposed on the side of the guide rail 46 and corresponding to the position of the micro switch contact plate 410, so that the mounting plate 45 slides along the guide rail 46 under the reaction force, and the micro switch contact plate 410 triggers the micro switch 411.

[0031] Specifically, the initial positions of the slider and mounting plate are limited by the elastic element. When the push rod is not subjected to a reaction force, the micro switch contact plate is in contact with the micro switch and is in an untriggered state. When the push rod pushes against the collision plate to make the flexible pad adhere to the surface of the goods, the push rod continues to apply a pushing force. The reaction force of the goods on the flexible pad causes the mounting plate to slide along the guide rail. The micro switch contact plate moves accordingly, disengages and triggers the micro switch, sending a positioning signal and transmitting it to the electric push rod control box. Based on this, it is determined that the flexible pad has fully adhered to the goods, thereby controlling the push rod to stop extending further and avoiding excessive pressure.

[0032] Meanwhile, the elastic element adjusts and controls the adhesion pressure between the flexible pad and the cargo surface through the tension of the elastic element. When the push rod is reset, the elastic element resets the slider and mounting plate. The elastic element can be a tension spring structure. The electric push rod control box can be installed at the push rod frame and connected to the VCU of the vehicle body so that the VCU can issue commands to the electric push rod control box, and then control the forward or reverse rotation of the push rod through the electric push rod control box.

[0033] Preferably, the push rod frame 3 has a buffer frame 31 that matches the moving direction of the mounting plate 45, and the buffer frame 31 is provided with a buffer pad 32, with a gap between the buffer pad 32 and the end of the mounting plate 45.

[0034] Specifically, when the mounting plate slides along the guide rail to its limit position, the buffer pad can flexibly limit the end of the mounting plate to avoid rigid collision between the mounting plate and the buffer frame, thereby reducing impact noise and extending the service life of the structure, and preventing the collision from being transmitted to the collision plate and fragile items such as glass.

[0035] The cushioning pad can be a rubber pad with adhesive backing.

[0036] Preferably, the end of the push rod 41 away from the collision plate 42 is hinged to the mounting plate 45 through the first hinge seat 412, and the mounting plate 45 is provided with a clamp 413 on the side close to the collision plate 42 so that the push rod 41 is fastened in the clamp 413.

[0037] Specifically, the extension and retraction direction of the push rod is parallel to the sliding direction of the mounting plate. The first hinge seat enables rotational engagement between the push rod and the mounting plate, and a clamp provides radial restraint to the push rod, ensuring that it always applies force in the predetermined direction during extension and retraction, preventing bending or jamming due to uneven loading. Simultaneously, temporary removal of the clamp allows the push rod to rotate along the first hinge seat, facilitating inspection or replacement and improving maintenance convenience.

[0038] The first hinge seat has a rotating shaft, and a wear-resistant bushing is provided between the rotating shaft and the mounting plate to reduce rotational friction and improve the service life of the hinge.

[0039] Preferably, the bracket 48 has a plurality of adjustment holes 414 spaced apart along the moving direction of the slider 47, and the end of the elastic member 49 is hung at one of the adjustment holes 414.

[0040] Specifically, by selecting adjustment holes at different positions, the initial tension of the elastic element can be adjusted, thereby changing the preload of the elastic element on the mounting plate, and thus adjusting the contact pressure between the flexible pad and the surface of the goods to adapt to goods of different weights or materials, and improve the adaptability of the device to different working conditions.

[0041] In one embodiment of this solution, a detachable connection between the elastic element and the bracket can be achieved by screwing a bolt into the adjustment hole and having the end of the bolt pass through the hook at the end of the tension spring; preferably, the spacing between adjacent adjustment holes can be set to 5mm.

[0042] Preferably, the end of the push rod 41 is hinged to the collision plate 42 via a second hinge seat 415. A travel limit plate 416 is provided at the bracket 48. The travel limit plate 416 has a travel switch 417 corresponding to the second hinge seat 415. When the second hinge seat 415 moves to the travel limit plate 416 as the push rod 41 resets, the travel switch 417 is triggered to limit the travel of the push rod 41.

[0043] Specifically, when the second hinge seat moves to the travel limit plate with the push rod reset, it triggers the travel switch. The travel switch sends a signal to the electric push rod control box, which then controls the push rod to stop moving, so that the collision plate accurately stops at the preset initial position.

[0044] The second hinge seat has a rotating shaft to ensure the rotational engagement of the collision plate. At the same time, the rotating connection of the rotating shaft has damping to improve the positioning stability of the collision plate in the non-working state and avoid the collision plate from unexpected deflection or shaking due to external force disturbance.

[0045] Preferably, the mast 2 is symmetrically connected with forks 21 on both sides, the forks 21 have a first collision detection element 22 at the end, the mast 2 has a second collision detection element 23 between two adjacent forks 21 on the side, and the mast 2 has a camera 24 for identifying goods 5 on the side facing the forks 21.

[0046] Specifically, when the vehicle body is inserting or picking up goods, if the first collision detection device touches the goods or other obstacles, the photoelectric sensor inside it will be triggered, and the vehicle body will stop inserting or picking up goods. When the forks safely enter the insertion hole of the goods pallet, the first collision detection device will not be triggered. When the goods pallet touches the second collision detection device, the photoelectric sensor inside it will be triggered, and the vehicle body will stop moving forward. At this time, the forks are inserted into the correct position.

[0047] Meanwhile, before the forks pick up the goods, the camera on the mast can capture the insertion hole of the goods pallet and transmit the relative position of the forks and the pallet to the vehicle body VCU, and then make secondary adjustments to the vehicle body through automatic or manual calibration.

[0048] Both the first and second collision detection components employ a structure combining a photoelectric sensor and an elastic contact rod. When the elastic contact rod is impacted, it undergoes displacement, triggering a photoelectric signal.

[0049] Preferably, a tilting drive 25 is connected between the mast 2 and the vehicle body 1. The two ends of the tilting drive 25 are hinged to the mast 2 and the vehicle body 1 respectively. A sensor 26 for detecting the tilt angle of the mast 2 is also provided between the mast 2 and the vehicle body 1.

[0050] Specifically, the telescopic movement of the tilting drive unit causes the mast to tilt and rotate relative to the vehicle body, thereby adjusting the fork angle. This facilitates the insertion and removal of goods with tilted insertion holes, such as glass pallets, improving the success rate of insertion. After insertion, the tilting angle allows the center of the goods to be closer to the vehicle body, improving driving stability.

[0051] The tilting drive can be a hydraulic cylinder, and the sensor can be a displacement sensor, with its two ends hinged to the mast and the vehicle body, respectively.

[0052] Preferably, a plurality of first lidar 11 are arranged around the outer periphery of the vehicle body 1, and the detection range of the plurality of first lidar 11 covers a 360-degree area around the vehicle body 1. A column 12 is arranged extending along the height direction at the vehicle body 1, and a second lidar 13 is arranged on the column 12 at an angle so that the detection direction of the second lidar 13 is towards the ground area in front of the vehicle body 1.

[0053] Specifically, the first lidar scans obstacles on both sides of the vehicle body, and an obstacle avoidance shield can be installed around the first lidar to protect it. The second lidar is installed at an angle on the column to scan obstacles in the direction the vehicle is moving. In one embodiment of this solution, the scanning surface height of the second lidar is controlled between 120mm and 150mm to ensure that obstacles on the ground and the standard tray are within the laser scanning range, thus achieving 360-degree safety protection around the vehicle body in conjunction with the first lidar.

[0054] This invention is not limited to the preferred embodiments described above. Anyone can derive other products in various forms under the guidance of this invention. However, regardless of any changes in shape or structure, any technical solution that is the same as or similar to this application falls within the protection scope of this invention.

Claims

1. A flexible transport AGV based on multi-sensor fusion, characterized in that: The vehicle includes a vehicle body (1) and a mast (2) hinged to the end of the vehicle body (1). A push rod frame (3) is connected to the mast (2). Push rod assemblies (4) are symmetrically arranged at both ends of the push rod frame (3). The push rod assembly (4) includes a push rod (41) on the push rod frame (3) and a collision plate (42) hinged to the end of the push rod (41). The surface of the collision plate (42) is covered with a flexible pad (43), and a plurality of flexible rollers (44) are spaced apart on the outer periphery of the collision plate (42) so that the outer ring of the flexible rollers (44) is tangent to the surface of the flexible pad (43).

2. The flexible transport AGV based on multi-sensor fusion according to claim 1, characterized in that: The push rod assembly (4) also includes a mounting plate (45) for connecting the push rod (41) and a guide rail (46) located at the push rod frame (3). Several sliders (47) are movably mounted at the guide rail (46), and the sliders (47) are connected to the mounting plate (45) so that after the flexible pad (43) abuts against the goods (5), it can generate a reaction force on the push rod (41), and the sliders (47) drive one end of the push rod (41) to slide along the guide rail (46).

3. The flexible transport AGV based on multi-sensor fusion according to claim 2, characterized in that: The push rod assembly (4) also includes a bracket (48) at one end of the guide rail (46), an elastic element (49) between the bracket (48) and one of the sliders (47), a micro switch contact plate (410) connected to the mounting plate (45), and a micro switch (411) located on the side of the guide rail (46) and corresponding to the position of the micro switch contact plate (410), so that the mounting plate (45) slides along the guide rail (46) under the reaction force, and the micro switch contact plate (410) triggers the micro switch (411).

4. The flexible transport AGV based on multi-sensor fusion according to claim 2, characterized in that: The push rod frame (3) has a buffer frame (31) that matches the moving direction of the mounting plate (45). The buffer frame (31) is provided with a buffer pad (32), and there is a gap between the buffer pad (32) and the end of the mounting plate (45).

5. The flexible transport AGV based on multi-sensor fusion according to claim 2, characterized in that: The end of the push rod (41) away from the collision plate (42) is hinged to the mounting plate (45) through the first hinge seat (412), and the mounting plate (45) is provided with a clamp (413) on the side close to the collision plate (42) so that the push rod (41) is fastened in the clamp (413).

6. The flexible transport AGV based on multi-sensor fusion according to claim 3, characterized in that: The bracket (48) has several adjustment holes (414) spaced apart along the moving direction of the slider (47), and the end of the elastic element (49) is hung at one of the adjustment holes (414).

7. The flexible transport AGV based on multi-sensor fusion according to claim 3, characterized in that: The end of the push rod (41) is hinged to the collision plate (42) through the second hinge seat (415). A travel limit plate (416) is provided at the bracket (48). The travel limit plate (416) has a travel switch (417) corresponding to the second hinge seat (415). When the second hinge seat (415) moves to the travel limit plate (416) with the push rod (41) as it resets, the travel switch (417) is triggered to limit the travel of the push rod (41).

8. The flexible transport AGV based on multi-sensor fusion according to claim 1, characterized in that: The mast (2) is symmetrically connected with forks (21) on both sides. The forks (21) have a first collision detection element (22) at the end. The mast (2) has a second collision detection element (23) between two adjacent forks (21) on its side. The mast (2) has a camera (24) for identifying goods (5) on the side facing the forks (21).

9. The flexible transport AGV based on multi-sensor fusion according to claim 1, characterized in that: A front-to-back tilting drive (25) is connected between the mast (2) and the vehicle body (1). The two ends of the front-to-back tilting drive (25) are hinged to the mast (2) and the vehicle body (1) respectively. A sensor (26) for detecting the tilt angle of the mast (2) is also provided between the mast (2) and the vehicle body (1).

10. The flexible transport AGV based on multi-sensor fusion according to claim 1, characterized in that: The vehicle body (1) is equipped with a plurality of first lidars (11) around its periphery. The detection range of the plurality of first lidars (11) covers the area around the vehicle body (1). A column (12) is provided on the vehicle body (1) along the height direction. A second lidar (13) is provided on the column (12) at an angle so that the detection direction of the second lidar (13) is toward the ground area in front of the vehicle body (1).

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