PCB board carrying vehicle

Abstract

The present disclosure provides a PCB plate carrying vehicle. The PCB plate carrying vehicle comprises: a vehicle body; a control device arranged on the vehicle body, configured to receive external instructions and perform corresponding operations, and plan an optimal path of the PCB plate carrying vehicle to a target device; a visual positioning device arranged on the vehicle body, configured to control the vehicle body to complete posture adjustment and dock the target device based on a visual reference mark identification mode; an adjusting device arranged on the top of the vehicle body, one side of the adjusting device being provided with a tray; the adjusting device is configured to be controlled by the control device to adjust the height of the tray and the width of the tray; the visual positioning device is connected with the control device and is further configured to generate a final height compensation value based on the visual positioning height after the adjusting device completes the adjustment, and feed back to the control device; the control device is further configured to drive the adjusting device to adjust the height according to the final height compensation value.

Description

Technical Field

[0001] This disclosure relates to the field of PCB board transporter design, and more particularly to a PCB board transporter. Background Technology

[0002] Currently, in the SMT (Surface Mount Technology) production process, the board receiving machine, as a key piece of equipment at the end of the production line, uses a belt conveyor structure to sequentially collect finished PCBs (Printed Circuit Boards) that have undergone mounting and soldering into dedicated board frames. When the board frames are full, the existing solution relies entirely on workers to move the board frames from the board receiving machine's outlet to a fixed anti-static handcart, and then manually transfer them between the upper and lower boards using the handcart. However, this manual handling method not only leads to a significant bottleneck in production line efficiency, but also makes it difficult to guarantee operational stability during handling, easily causing the board frames to tilt or fall, resulting in damage to the PCBs and components. This method is no longer able to meet the demands of modern production lines for efficient, high-yield, and automated production. Summary of the Invention

[0003] This disclosure provides a PCB board handling vehicle that, through automated control, not only replaces manual handling, eliminating operational errors and safety hazards, but also reduces direct contact between personnel and PCB boards, lowering the risk of ESD (electrostatic discharge), while shortening the single transfer time, significantly improving the overall operating efficiency and yield of surface mount technology production lines.

[0004] The technical solution of this disclosure embodiment is implemented as follows: This disclosure provides a PCB board transport vehicle, comprising: a vehicle body; a control device mounted on the vehicle body, configured to receive external commands and execute corresponding operations, and to construct a workshop grid map, locate its own position in real time, and plan the optimal path from the PCB board transport vehicle to the target equipment; a walking device mounted on the bottom of the vehicle body, configured to be controlled by the control device to drive the vehicle body to move and turn; and a visual positioning device mounted on the vehicle body, configured to calculate the spatial coordinates of marker points based on a visual reference marker recognition mode, and control the vehicle body to complete attitude adjustment and dock with the target equipment; An adjustment device is positioned on the top of the vehicle body, and a tray is provided on one side of the adjustment device along a first direction; the tray is configured to support a PCB board frame; the adjustment device is configured to be controlled by the control device to adjust the height of the tray and the width of the tray along a second direction; wherein the first direction is perpendicular to the second direction; a visual positioning device is connected to the control device and is further configured to generate a final height compensation value based on the visual positioning height after the adjustment device completes the adjustment, and feed it back to the control device; the control device is further configured to drive the adjustment device to adjust the height according to the final height compensation value.

[0005] In some embodiments of this disclosure, the PCB board transport vehicle further includes: a pushing device disposed on the adjusting device; the pushing device includes: a first electric push rod and a pusher connected to the first electric push rod; the pusher is matched with the PCB board frame; the pushing device is configured to be controlled by the control device to push the PCB board frame; the control device is further configured to control the pushing device to push the PCB board frame to another target device when the PCB board frame is transferred to another target device.

[0006] In some embodiments of this disclosure, the adjusting device is further configured to adjust the width of the tray along the second direction via a servo motor; the control device is further configured to control the servo motor to adjust the width of the tray when the PCB board frame is placed at a preset position on the tray, and when the tray contacts the PCB board frame, the torque of the servo motor increases until a preset torque is reached, and the servo motor stops rotating and maintains its position.

[0007] In some embodiments of this disclosure, the control device includes: a main control unit configured to generate corresponding instructions based on task scheduling, state management, and exception handling; a vision control unit connected to the main control unit, configured to construct a workshop grid map, obtain real-time point cloud data by scanning the surrounding environment with a LiDAR, match the real-time point cloud data with the map, determine its own pose in the map, and plan the optimal path for the PCB board transport vehicle to the target device; the vision control unit is further configured to detect suddenly appearing dynamic obstacles on the optimal path using the real-time point cloud data from the LiDAR, replan a detour route based on the original optimal path to bypass the dynamic obstacles, and then return to the original optimal path; and a motion control unit connected to the main control unit, configured to receive instructions from the main control unit and execute corresponding operations.

[0008] In some embodiments of this disclosure, the control device further includes: an inertial navigation unit; the inertial navigation unit is configured to continuously measure acceleration and angular velocity, and fuse the data of the vision control unit and the inertial navigation unit through a filtering algorithm to achieve autonomous path planning and obstacle avoidance in a workshop environment; the motion control unit is configured to adjust the height of the PCB board transport vehicle based on the results of a proportional-integral-derivative control algorithm when the vehicle is traveling in a straight line.

[0009] In some embodiments of this disclosure, the real-time point cloud data includes a path point sequence; the walking device includes a differential chassis and drive wheels; the motion control unit, connected to the vision control unit, is configured to receive the path point sequence in real time, calculate the required speed and steering angle of multiple drive wheels in real time using the proportional-integral-derivative control algorithm, and drive the differential chassis to move.

[0010] In some embodiments of this disclosure, the adjusting device includes: a height adjusting device; the height adjusting device includes: a second electric push rod, an absolute encoder, and a limit sensor; the second electric push rod is configured to adjust the height of the tray in response to a control command from the control device; the absolute encoder and the limit sensor are configured to dock with the target device according to the task type; the pushing device is connected to the second electric push rod and is configured to cooperate with the tray.

[0011] In some embodiments of this disclosure, the adjustment device further includes: a width adjustment device; the width adjustment device includes: two guide rails arranged opposite to each other along the second direction; the two guide rails are respectively connected to two servo motors; the two guide rails are connected to the tray; the control device is further configured to drive the two servo motors to control the two guide rails to move relative to each other along the second direction; the width adjustment device is configured to adjust the width of the tray to a standby width based on the type of the PCB board frame.

[0012] In some embodiments of this disclosure, the visual positioning device is further configured to generate a visual positioning width and feed it back to the control device; the control device is further configured to adjust the width of the tray from the standby width to the input width based on the difference between the visual positioning width and the actual required width.

[0013] In some embodiments of this disclosure, the import width is equal to the sum of the width of the PCB board outline and the allowance width.

[0014] In some embodiments of this disclosure, the visual positioning device includes: a far-field navigation camera configured to identify environmental feature points; and a near-field docking camera configured to identify positioning markers on the target device.

[0015] In some embodiments of this disclosure, the main control unit is further configured to generate an activation command when the PCB board transport vehicle enters a preset range of the target device; the visual positioning device is further configured to activate the near-field docking camera to acquire images in response to the activation command; the recognition mode includes: searching for quadrilateral contours in the images, decoding each quadrilateral contour, identifying the internal code, and when the code of the quadrilateral contour matches a preset code in the database, calculating the deviation value between the pallet and the target device through the positioning mark on the target device; the motion control unit, connected to the visual positioning device, is further configured to receive the deviation value and control the walking device and the adjustment device to adjust until docking with the target device is completed; the main control unit is further configured to send a docking signal to an external server after docking is completed.

[0016] In some embodiments of this disclosure, the PCB board transport vehicle further includes: a power supply device disposed within the vehicle body; the power supply device includes: a battery pack and a battery management unit; the battery management unit is configured to monitor the operating status of the battery pack and upload all status data of the battery pack to the main control unit in real time; the main control unit is further configured to perform feedback adjustment based on the status data of the battery pack.

[0017] In some embodiments of this disclosure, the control device further includes: a servo drive unit connected to the motion control unit and configured to drive each servo motor; and an input / output unit connected to the motion control unit and configured to centrally acquire and output signals.

[0018] In some embodiments of this disclosure, the vehicle body is also provided with multiple anti-collision sensors around its perimeter; the vehicle body is also provided with an emergency stop button.

[0019] The embodiments disclosed herein offer the following advantages: A control device plans the optimal path for the PCB board transporter to the target equipment and drives the walking device to move. During travel, the control device controls the adjustment device in real time, dynamically adjusting the pallet height according to the target equipment's frame picking or receiving height to avoid the risk of jamming or falling due to height deviation. When the PCB board transporter approaches the target equipment, the vision positioning device is activated. By scanning the preset positioning marks on the target equipment, it accurately calculates the real-time pose deviation of the PCB board transporter relative to the target and guides the walking device to make millimeter-level fine adjustments to achieve precise alignment. After initial positioning, the vision positioning device further generates a final height compensation value to correct the pallet height, thereby improving docking accuracy. Furthermore, the adjustment device can adaptively adjust the pallet width according to the actual width of the PCB board frame, accommodating different specifications of material frames and improving equipment versatility. Through the above-mentioned automated control, not only is manual handling replaced, eliminating operational errors and safety hazards, but direct contact between personnel and PCB boards is also reduced, lowering the ESD (electrostatic discharge) risk from the source. Simultaneously, it shortens the single transfer time, significantly improving the overall operating efficiency and yield of the surface mount technology production line. Attached Figure Description

[0020] To more clearly illustrate the technical solutions in the embodiments of this disclosure, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this disclosure. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort, wherein: Figure 1 This is a schematic diagram of the PCB board transport vehicle in standby mode provided in an embodiment of the present disclosure; Figure 2 This is a schematic diagram of the control device in the PCB board transport vehicle provided in an embodiment of the present disclosure; Figure 3 This is a schematic diagram of the PCB board transport vehicle's travel route provided in an embodiment of this disclosure; Figure 4 This is a schematic diagram of the pushing device in the PCB board transport vehicle provided in an embodiment of the present disclosure; Figure 5 This is a schematic diagram of the height adjustment device in the PCB board transport vehicle provided in the embodiments of this disclosure; Figure 6 This is a schematic diagram of the width adjustment device in the PCB board transport vehicle provided in the embodiments of this disclosure; Figure 7 This is a schematic diagram of the structure of the PCB board handling vehicle provided in this embodiment, where the target device is the unloading machine; Figure 8This is a schematic diagram of the PCB board handling vehicle and the unloading machine provided in an embodiment of this disclosure. Figure 9 This is a schematic diagram of the structure of the PCB board handling vehicle provided in this embodiment, where the target device is the board loading machine; Figure 10 This is a schematic diagram of the PCB board transport vehicle and the board loading machine provided in an embodiment of this disclosure. Detailed Implementation

[0021] To make the objectives, technical solutions, and advantages of the embodiments of this disclosure clearer, the specific technical solutions of the invention will be further described in detail below with reference to the accompanying drawings of the embodiments of this disclosure. The following embodiments are used to illustrate the embodiments of this disclosure, but are not intended to limit the scope of the embodiments of this disclosure.

[0022] In the following description, references are made to “some embodiments,” which describe a subset of all possible embodiments. However, it is understood that “some embodiments” may be the same subset or different subsets of all possible embodiments and may be combined with each other without conflict.

[0023] In the following description, the terms “first / second / third” are used merely to distinguish similar objects and do not represent a specific ordering of objects. It is understood that “first / second / third” may be interchanged in a specific order or sequence where permitted, so that the embodiments of this disclosure described herein can be implemented in an order other than that illustrated or described herein.

[0024] In this document, when a layer / component is referred to as being "above" another layer / component, the layer / component may be directly above the other layer / component, or there may be an intermediate layer / component between them. Furthermore, in one orientation, a layer / component is "above" another layer / component; when the orientation is reversed, the layer / component may be "below" the other layer / component.

[0025] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which embodiments of this disclosure belong. The terminology used herein is for descriptive purposes only and is not intended to limit the scope of this disclosure.

[0026] In some embodiments, in the SMT (Surface Mount Technology) production process, the board receiving machine, as a key piece of equipment at the end of the production line, is used to sequentially collect finished PCB boards (printed circuit boards) that have completed mounting and soldering into dedicated board frames via a belt conveyor mechanism. The empty frame weighs approximately 3.5 kg, and the fully loaded frame weighs approximately 7.5 kg. In existing workshop workflow solutions, when a board frame is full, it relies entirely on manual labor to move the frame from the board receiving machine's outlet to an anti-static handcart, which then moves the frame between the upper and lower receiving machines. The anti-static handcarts currently in widespread use are fixed structures, which cannot adjust the load-bearing height and pushing direction. In practical applications, they have the following technical defects: (1) The height of the upper load-bearing bracket of the handcart is fixed, which deviates from the height of the upper and lower board machine's frame outlet, resulting in the board frame inlet not being accurately aligned with the equipment's board outlet, affecting the efficiency of the board connection and the stability of the connection; (2) The arrangement of the lower anti-static handcart's surrounding bracket structure is unreasonable, interfering with the board frame's pushing direction, making it difficult for operators to push the board frame smoothly and horizontally into the upper frame, which is difficult and time-consuming; (3) The loading, unloading, handling, and loading / unloading of the board frame are entirely dependent on manual operation, with a low degree of automation, which not only limits the improvement of the overall efficiency of the production line but also increases the labor intensity, constituting an efficiency bottleneck; (4) When manually handling the board frame, improper operation or center of gravity shift can easily cause the PCB board to tilt, the board frame to fall, or to collide with each other, resulting in quality problems such as component damage and solder joint cracking in the finished PCB board, affecting the product yield.

[0027] Based on this, the present disclosure provides a PCB board transport vehicle, referring to... Figure 1 and Figure 8As shown, the PCB board transport vehicle includes: a vehicle body 10; a control device 20 mounted on the vehicle body 10, configured to receive external commands and execute corresponding operations, and to construct a workshop grid map, locate its own position in real time, and plan the optimal path from the PCB board transport vehicle to the target equipment; a walking device 30 mounted on the bottom of the vehicle body 10, configured to be controlled by the control device 20 to move and turn the vehicle body 10; a visual positioning device 40 mounted on the vehicle body 10, configured to calculate the spatial coordinates of the marker points based on the visual reference mark (AprilTag) recognition mode, and control the vehicle body 10 to complete attitude adjustment and dock with the target equipment; and an adjustment device 50 mounted on the top of the vehicle body 10. A tray 51 is provided on one side along the first direction X; the tray 51 is configured to support the PCB board frame 13; an adjustment device 50 is configured to be controlled by the control device 20 to adjust the height of the tray 51 (that is, the position along the vertical direction Z) and the width of the tray 51 along the second direction; wherein, the first direction X is perpendicular to the second direction Y, and both the first direction X and the second direction Y are perpendicular to the vertical direction Z; a visual positioning device 40 is connected to the control device 20 and is further configured to generate a final height compensation value based on the visual positioning height after the adjustment device 50 completes the adjustment, and feed it back to the control device 20; the control device 20 is further configured to drive the adjustment device 50 to adjust the height according to the final height compensation value.

[0028] It should be noted that, referring to Figure 1 As shown, the AprilTag recognition mode is an advanced technical solution for precise positioning and navigation of a mobile platform through highly robust coded tags. This mode utilizes a camera to collect positioning tags 41 in the environment in real time. By decoding their unique coded information and combining the geometric features of the tags, the precise pose (position and attitude) of the platform relative to the tags can be stably estimated under complex lighting and dynamic backgrounds. The visual positioning device 40 uses the AprilTag recognition mode for positioning, which has higher recognition efficiency and stronger anti-occlusion capability compared to traditional fast response codes (QR codes). Its simple coding structure enables fast decoding and accurate pose estimation, ensuring the stable operation of the PCB board transport vehicle in the complex environment of the SMT workshop.

[0029] It should also be noted that, referring to Figure 1 As shown, when the PCB board transport vehicle controls the vehicle body 10 to complete the posture adjustment and dock with the target equipment through the vision device, the vision device performs a micro-adjustment of ±0.5mm based on the final height compensation value (e.g., 1000.2mm, accuracy 0.1mm) generated by the visual positioning height. The control device 20 drives the adjustment device 50 to simultaneously complete the final compensation in the vertical direction Z, ensuring that the pallet 51 is completely coplanar with the inlet or outlet of the target equipment.

[0030] Understandably, referring to Figure 1 and Figure 8 As shown, the control device 20 plans the optimal path for the PCB board transporter to the target equipment and drives the walking device 30 to move. During the movement, the control device 20 controls the adjustment device 50 in real time, dynamically adjusting the height of the pallet 51 according to the frame picking or receiving height of the target equipment to avoid the risk of jamming or falling due to height deviation. When the PCB board transporter approaches the target equipment, the vision positioning device 40 is activated. By scanning the preset positioning mark 41 on the target equipment, it accurately calculates the real-time pose deviation of the PCB board transporter relative to the target and guides the walking device 30 to make fine adjustments to achieve precise alignment. After completing the initial positioning, the vision positioning device 40 further generates a final height compensation value to correct the height of the pallet 51 to improve docking accuracy. In addition, the adjustment device 50 can also adaptively adjust the width of the pallet 51 according to the actual width of the PCB board frame 13, making it compatible with different specifications of material frames and improving the versatility of the equipment. The above-mentioned automated control not only replaces manual handling, eliminating operational errors and safety hazards, but also reduces direct contact between personnel and PCB boards, reducing ESD (electrostatic discharge) risks from the source, while shortening the single transfer time and significantly improving the overall operating efficiency and yield of the SMT production line.

[0031] Specifically, the PCB board handling vehicle automates the entire process, reducing the single transfer time from 15 seconds for manual handling to 10 seconds, thus improving handling efficiency; visual precision positioning combined with the adjustment device 50 achieves a docking success rate of 99.99%; it eliminates the risks of manual handling, and the annual quality incidents are expected to decrease by 90%; the modular design is compatible with mainstream SMT equipment interfaces, reducing modification costs by 60%.

[0032] In some embodiments of this disclosure, reference is made to Figure 1 and Figure 4 As shown, the PCB board transporter also includes a pushing device 60 mounted on the adjusting device 50; the pushing device 60 includes a first electric push rod 61 and a pusher 62 connected to the first electric push rod 61; the pusher 62 is matched with the PCB board frame 13; the pushing device 60 is configured to be controlled by the control device 20 to push the PCB board frame 13; the control device 20 is also configured to control the pushing device 60 to push the PCB board frame 13 to another target device when the PCB board frame 13 is transferred to another target device.

[0033] It should be noted that, referring to Figure 1 and Figure 4As shown, by adding a pushing device 60 to the adjusting device 50, the automatic ejection function of the PCB board frame 13 after being transferred to the target equipment is realized. The pushing device 60 is coordinated and scheduled by the control device 20. When the PCB board transport vehicle travels to the docking position of the target equipment, it can smoothly push the PCB board frame 13 to the docking station. The entire pushing process does not require manual intervention. Thus, it not only reduces the labor intensity of manual unloading operations and avoids the safety risks caused by manual operation, but also facilitates the realization of unmanned closed-loop operation of the entire PCB board frame 13 flow process, effectively improving the automation level and process continuity of material transfer in the SMT production line.

[0034] In some embodiments of this disclosure, reference is made to Figure 1 and Figure 6 As shown, the adjustment device 50 is also configured to adjust the width of the tray 51 along the second direction Y by means of a servo motor; the control device 20 is also configured to control the servo motor to adjust the width of the tray 51 when the PCB board frame 13 is placed in a preset position on the tray 51, and when the tray 51 contacts the PCB board frame 13, the torque of the servo motor increases until it reaches the preset torque, and the servo motor stops rotating and maintains the position.

[0035] It should be noted that, referring to Figure 1 As shown, the servo motor automatically stops and maintains clamping force when the torque reaches a preset threshold. This ensures reliable positioning and constraint of the tray 51 on the board frame, preventing the board frame from shifting or tilting during transport, and also avoids mechanical damage to the PCB board and board frame due to excessive clamping. In addition, the servo motor has position holding capability, maintaining the clamping state even in the event of a power outage or emergency stop, effectively improving the safety and reliability of the equipment.

[0036] In some embodiments of this disclosure, reference is made to Figure 1 and Figure 2 As shown, the control device 20 includes: a main control unit 21, configured to generate corresponding instructions based on task scheduling, status management, and exception handling, and to provide human-machine interaction (such as a debugging interface); a vision control unit 22, connected to the main control unit 21, configured to construct a workshop grid map, obtain real-time point cloud data by scanning the surrounding environment with LiDAR, match the real-time point cloud data with the map, determine its own pose in the map, and plan the optimal path for the PCB board transport vehicle to the target equipment; the vision control unit 22 is also configured to detect dynamic obstacles that suddenly appear on the optimal path through the real-time point cloud data of LiDAR, replan a detour route based on the original optimal path to bypass the dynamic obstacles, and then return to the original optimal path; and a motion control unit 23, connected to the main control unit 21, configured to receive instructions from the main control unit 21 and execute corresponding operations.

[0037] It should be noted that, referring to Figure 1 and Figure 2 As shown, the main control unit 21 coordinates task scheduling, status management, and anomaly handling to ensure orderly operation under complex working conditions. The vision control unit 22 constructs a grid map of the workshop using LiDAR and achieves high-precision positioning and global path planning based on the matching of real-time point cloud data and the map. It also has the ability to detect dynamic obstacles in real time. When an obstacle is detected on the optimal path using real-time point cloud data from LiDAR, the vision control unit 22 can immediately replan a detour path, allowing the transport vehicle to smoothly bypass the obstacle and return to the original route. This ensures operational safety and minimizes the impact of path deviation on the overall cycle time, avoiding production line interruptions caused by emergency braking or shutdown. Thus, it improves the autonomous operation capability and task completion efficiency of the PCB board transport vehicle in complex workshop environments.

[0038] In some embodiments of this disclosure, reference is made to Figure 1 and Figure 2 As shown, the control device 20 also includes: an inertial navigation unit; the inertial navigation unit is configured to continuously measure acceleration and angular velocity, and fuse the data of the vision control unit 22 and the inertial navigation unit through a filtering algorithm to realize autonomous path planning and obstacle avoidance in the workshop environment; and a motion control unit 23, which is configured to adjust the height of the PCB board transport vehicle based on the results of the proportional-integral-derivative control algorithm when the vehicle is traveling in a straight line.

[0039] It should be noted that, referring to Figure 1 and Figure 2 As shown, the lidar continuously scans the surrounding environment to acquire environmental observation information, while the inertial navigation unit simultaneously measures the acceleration and angular velocity of the carrier to capture short-term motion changes. A filtering algorithm fuses the data from the vision control unit 22 and the inertial navigation unit, utilizing the short-term, high-dynamic motion output characteristics of the inertial navigation unit to compensate for the positioning drift and jump errors that easily occur with lidar under conditions of high-speed travel, wheel slippage, and insufficient environmental features. This results in a smooth, high-frequency pose update, ensuring continuous and reliable positioning of the transport vehicle during travel and providing accurate pose input for actions such as docking of the vehicle body 10 and pushing of the pallet frame.

[0040] In some embodiments of this disclosure, the control device 20 further includes a 5G WIFI module (i.e., a wireless local area network module supporting 5GHz band communication), configured to interact with an external server 100 (such as a manufacturing execution system, equipment automation program system, or cloud server). Through the 5G WIFI module, the PCB board transport vehicle can access the workshop's industrial wireless network, enabling real-time reception of task instructions, reporting of equipment status, synchronization of scheduling information, and transmission of remote monitoring data. This seamlessly integrates the transport vehicle into the workshop-level information management system, effectively ensuring the real-time performance and reliability of information transmission, and providing a communication foundation for subsequent production line-level coordinated scheduling.

[0041] In some embodiments of this disclosure, reference is made to Figure 1 and Figure 2 As shown, the real-time point cloud data includes: path point sequence; the walking device 30 includes: differential chassis and drive wheels; the motion control unit 23, connected to the vision control unit 22, is configured to receive the path point sequence in real time, calculate the required speed and steering angle of multiple drive wheels in real time through the proportional-integral-derivative control algorithm (PID algorithm), and drive the differential chassis to move.

[0042] It should be noted that, referring to Figure 1 and Figure 2 As shown, the PID algorithm comprises three stages: the proportional stage applies control force based on the current deviation, the integral stage eliminates steady-state error by accumulating historical deviations, and the derivative stage suppresses system oscillations by predicting the trend of deviation changes. These three stages work together to enable the system to quickly, smoothly, and accurately converge the controlled variable (such as drive wheel speed or pallet height 51) to the target value, and effectively resist external disturbances (such as changes in ground friction or load fluctuations). The PID algorithm dynamically corrects posture deviations at millisecond intervals, enabling the differential chassis to accurately track the predetermined path under different loads and road conditions, achieving a straight and unbiased driving quality on straight sections and smooth transitions on curved sections, significantly improving the path tracking accuracy and operational stability of the transport vehicle. The walking device 30 adopts a differential drive system, equipped with an omnidirectional moving chassis, supporting heading correction with an accuracy of ±1°.

[0043] It should also be noted that, referring to Figures 1 to 3As shown, the PCB board transport vehicle is in sleep standby mode at the dedicated rest station / charging pile 80, with the battery maintaining a charge. When the Equipment Automation Program (EAP) system of the next board machine 81 detects that the board frame is full, it sends a "transfer required" request to the Manufacturing Execution System (MES) via the workshop Wi-Fi / 5G network. The MES system assigns the task to an idle PCB board transport vehicle according to the scheduling logic and sends an instruction packet containing the target device, global coordinates, and task type to the main control unit 21 (industrial control computer) via the wireless network. After parsing the instruction, the main control unit 21 starts a self-test program to check the battery level, sensor status, and whether the actuators are normal. After the self-test passes, the power to the charging pile is disconnected, and the electric push rod lifts the chassis off the charging pile, so that the drive wheels are fully on the ground and ready to move. Subsequently, the PCB board transport vehicle loads the pre-stored high-precision laser SLAM grid map, the laser radar starts scanning the surrounding environment, and matches the real-time point cloud data with the map to complete the initial self-localization. The main control unit 21 inputs the current coordinates and the target device coordinates into the path planning algorithm, and calculates an optimal path based on the static obstacle information in the map. Thus, the entire process from wake-up to path planning is completed.

[0044] In some embodiments of this disclosure, reference is made to Figure 5 and Figure 8 As shown, the adjustment device 50 includes: a height adjustment device; the height adjustment device includes: a second electric push rod 52, an absolute encoder, and a limit sensor; the second electric push rod 52 is configured to adjust the height of the tray 51 in response to the control command of the control device 20; the absolute encoder and the limit sensor are configured to dock with the target device according to the task type; and a pushing device 60 is connected to the second electric push rod 52 and is configured to cooperate with the tray 51.

[0045] It should be noted that, referring to Figure 5 and Figure 8As shown, the height adjustment device uses a second electric push rod 52 (e.g., thrust 2000N, stroke 1200mm) instead of the traditional hydraulic solution, eliminating the risk of oil contamination and avoiding the additional costs of regular oil changes and maintenance. Combined with an absolute encoder (e.g., resolution 0.1mm) and a limit sensor, it achieves a height docking accuracy of 0.5mm with the upper and lower pallet machines. The height adjustment device enables precise control of the pallet 51's height. The second electric push rod 52 responds to the control device 20's commands to execute lifting and lowering actions. The absolute encoder and limit sensor work together to achieve precise docking with the target equipment according to the task type (e.g., picking up or placing the frame). The absolute encoder provides real-time feedback on the push rod's absolute position, while the limit sensor provides physical hard limit protection at the end of the stroke, effectively preventing the push rod from overtraveling and avoiding equipment collisions or mechanical jamming. Furthermore, the pushing device 60 is connected to the second electric push rod 52 and is configured to cooperate with the pallet 51, creating a structural linkage between height adjustment and frame pushing actions. When the push rod rises or falls to the target height, the pushing device 60 can smoothly push out the frame. Thus, while ensuring docking accuracy, the efficiency and safety of the transport vehicle at the loading and unloading machines are significantly improved.

[0046] For example, refer to Figure 7 and Figure 8 As shown, the PCB board transporter receives a task to retrieve a frame from the unloading machine 81 at the rest station (e.g., the target height is 1000mm). The main control unit 21 sends the target height to the motion control unit 23. The motion control unit 23 calculates the required lifting stroke ΔH=800mm based on the current height of the pallet 51 (e.g., the sleep height is 200mm). After the PCB board transporter starts and enters the straight acceleration section, the main control unit 21 determines that the road surface is stable and issues a height adjustment command (the height adjustment action is only performed on the straight section; lifting and lowering are prohibited when turning to prevent the center of gravity from shifting). The motion control unit 23 uses S-curve speed planning (acceleration → constant speed → deceleration) to drive the electric push rod to lift and lower smoothly. The absolute encoder provides high-frequency feedback of the real-time height and, in conjunction with the PID algorithm, achieves precise adjustment to ensure that the height meets the docking requirements when arriving at the target equipment.

[0047] In some embodiments of this disclosure, reference is made to Figure 6 and Figure 8 As shown, the adjustment device 50 further includes: a width adjustment device; the width adjustment device includes: two guide rails 53 arranged opposite each other along the second direction Y; the two guide rails 53 are respectively connected to two servo motors; the two guide rails 53 are connected to the tray 51; the control device 20 is also configured to drive the two servo motors to control the two guide rails 53 to move relative to each other along the second direction Y; the width adjustment device is configured to adjust the width of the tray 51 to the standby width based on the type of the PCB board frame 13.

[0048] What is needed is, for reference Figure 6 and Figure 8 As shown, the width adjustment device, driven by the control device 20, uses two guide rails 53 arranged opposite each other along the second direction Y and two servo motors to achieve bidirectional synchronous adjustment of the tray 51 width. It can quickly switch to a suitable standby width according to the type of PCB board frame 13, significantly improving the equipment's compatibility with different board frame specifications and its changeover efficiency. Furthermore, the dual-sided synchronous centering adjustment ensures that the board frame is always centered on the tray 51, preventing pushing deviation. For example, the distance between the two guide rails 53 can be adjusted from 400 to 600 mm, compatible with various standard board frame specifications; the surface is covered with a polyurethane anti-slip coating, providing both anti-slip and cushioning protection functions to ensure reliable board frame positioning and no damage during transport.

[0049] For example, refer to Figures 1 to 3 , Figure 6 As shown, after receiving a task instruction that includes the board frame type, the main control unit 21 queries its internal database to obtain the corresponding target width value (e.g., W=500mm) and preset clamping force, and calculates the absolute position (with the system center as the zero point) that the guide rails 53 on both sides need to be moved to within ±250mm. To save time, during the PCB board transport vehicle's journey from the dedicated rest station / charging pile 80 to the unloading machine 81, the main control unit 21 sends a width pre-adjustment instruction to the motion control unit 23, driving the two servo motors to move the guide rails 53 to a standby position slightly wider than the target width (e.g., 520mm), ensuring that the board frame can enter without obstruction. After the PCB board transport vehicle completes visual positioning and height adjustment and is positioned at the unloading machine 81's discharge port, the control device 20 precisely narrows the guide rails 53 from the standby width (520mm) to the guide width (W + margin, e.g., 505mm), leaving a reasonable guide gap for the smooth introduction of the board frame. When the plate frame is fully pushed into the tray 51, the photoelectric sensor inside the guide rail 53 detects a "positioned" signal. The motion control unit 23 immediately switches from position control to torque control mode, driving the two guide rails 53 to move towards each other with a constant preset torque F. When the guide rails 53 contact the side wall of the plate frame and the motor torque reaches the preset value, the servo motor stops rotating and maintains a locked position, achieving constant force clamping. This prevents the plate frame from shaking during transport and avoids damage to the plate frame due to excessive clamping force. Afterwards, refer to... Figures 7 to 10 As shown, after the PCB board transporter travels from the lower board machine 81 to the target upper board machine 82 and completes the alignment, the control device 20 drives the motor to reverse and loosens the guide rail 53 to the output width (also W + margin, such as 505mm). The pushing device 60 is then activated to smoothly send the board frame into the upper board machine 82. After the board frame is sent out, the width adjustment device is reset to the maximum width or the middle standby position to prepare for the next task.

[0050] In some embodiments of this disclosure, reference is made to Figure 1As shown, the visual positioning device 40 is also configured to generate a visual positioning width and feed it back to the control device 20; the control device 20 is also configured to adjust the width of the tray 51 from the standby width to the input width based on the difference between the visual positioning width and the actual required width.

[0051] It should be noted that, referring to Figure 1 As shown, the visual positioning device 40 can identify the actual width of the equipment's exit or receiving port when the transport vehicle approaches the target equipment, generating a visual positioning width as a calibration basis. The control device 20 compares this width with the actual required width, calculates the compensation difference, and drives the width adjustment device to fine-tune the width from the standby width to the input width. This effectively compensates for dimensional deviations caused by machining errors, long-term wear and tear, and temperature deformation, ensuring a precise match between the width of the pallet 51 and the interface width of the target equipment, significantly improving the docking success rate and operational reliability.

[0052] In some embodiments of this disclosure, reference is made to Figure 8 As shown, the import width is equal to the sum of the width of the PCB board frame 13 and the allowance width.

[0053] It should be noted that, referring to Figure 8 As shown, the allowance width provides the necessary guide gap for the PCB board frame 13 to enter the frame, in order to compensate for the slight positional deviation that may exist during the docking process, to avoid the board frame from getting stuck or scratched due to the gap being too small, and also to prevent the board frame from shifting due to the gap being too large.

[0054] In some embodiments of this disclosure, reference is made to Figure 1 As shown, the visual positioning device 40 includes: a far-field navigation camera configured to identify environmental feature points; and a near-field docking camera configured to identify positioning markers 41 on the target device.

[0055] It should be noted that, referring to Figure 1 As shown, the far-field navigation camera can be configured with 2 megapixels and a 4mm focal length to collect environmental feature points in real time during the movement of the transport vehicle, providing visual assistance and redundancy verification for laser SLAM positioning. The near-field docking camera can be configured with 5 megapixels and an 8mm focal length, equipped with a ring light source, to perform high-precision recognition and decoding of identification marks on the upper and lower circuit boards when the transport vehicle approaches the target equipment. The far-field navigation camera and the near-field docking camera work together based on the OpenCV (open-source computer vision library) algorithm framework, and through algorithm links such as mark detection, pose calculation, and sub-pixel corner point extraction, a positioning accuracy of ±0.3mm is ultimately achieved.

[0056] In some embodiments of this disclosure, reference is made to Figure 1 and Figure 2As shown, the main control unit 21 is also configured to generate an activation command when the PCB board transport vehicle enters the preset range of the target device; the visual positioning device 40 is also configured to activate the near-field docking camera connection to acquire images in response to the activation command; the recognition mode includes: searching for quadrilateral contours in the image, decoding each quadrilateral contour, recognizing the internal code, and when the code of the quadrilateral contour matches the preset code in the database, calculating the deviation value between the pallet 51 and the target device through the positioning mark 41 on the target device; the motion control unit 23, connected to the visual positioning device 40, is also configured to receive the deviation value and control the walking device 30 and the adjustment device 50 to adjust until docking with the target device is completed; the main control unit 21 is also configured to send a docking signal to an external server after docking is completed.

[0057] It should be noted that, referring to Figure 1 and Figure 2 As shown, through the hierarchical collaboration of the main control unit 21, the visual positioning device 40, and the motion control unit 23, fully automatic and highly reliable docking control between the transport vehicle and the target equipment is achieved. The main control unit 21 generates a control command when the transport vehicle enters the preset range of the target equipment, ensuring that the visual positioning device 40 only activates when approaching the target, avoiding the waste of computing power and power consumption caused by long-term operation of the near-field camera. After responding, the visual positioning device 40 activates the near-field docking camera, reliably identifying and decoding the positioning mark 41 based on the AprilTag recognition mode, and then calculating the precise deviation value between the pallet 51 and the target equipment. After receiving the deviation value, the motion control unit 23 coordinates the driving device 30 and the adjustment device 50 to perform closed-loop adjustment until the deviation is zero, completing the docking. Finally, after docking is completed, the main control unit 21 actively sends a docking signal to an external server, realizing remote monitoring of equipment status and production line linkage, providing real-time status feedback to the upper-level scheduling system. Thus, while ensuring high-precision docking, the degree of automation, equipment utilization efficiency, and overall monitorability are significantly improved.

[0058] For example, refer to Figures 1 to 3As shown, when the PCB board transport vehicle enters the unloading machine within a 13-meter range from the dedicated rest station / charging pile 80, the visual positioning device 40 activates the near-field navigation camera and switches to preset exposure parameters to continuously acquire images at a high frame rate (e.g., 30fps). After preprocessing such as denoising, grayscale conversion, and binarization, the quadrilateral contour is searched and the identification mark is decoded. After successful matching with the database, the dual transformation relationship between the mark coordinate system and the discharge port coordinate system, and between the camera coordinate system and the pallet 51 coordinate system is used to calculate the center of the pallet 51 relative to the center of the discharge port in the first direction X and the second direction X. The deviations (ΔX, ΔY, Δθ) in the three degrees of freedom of the two directions Y and θ (yaw angle) are measured. The visual positioning device 40 sends the deviation values ​​to the motion control unit 23 at a high frequency (e.g., once every 50ms). The chassis is fine-tuned through closed-loop iteration of the PID algorithm until the deviation converges and then brakes and locks. The height and width adjustment are then triggered to perform the final micro-motion, and a "precise positioning, ready to receive" signal is sent to the EAP system. Under the command of the EAP system, the board 81 starts the conveyor belt to push the full board frame to the pallet 51 of the PCB board transport vehicle, completing the automated handover.

[0059] In some embodiments of this disclosure, reference is made to Figure 1 and Figure 2 As shown, the PCB board transport vehicle also includes a power supply unit 70 located inside the vehicle body 10; the power supply unit 70 includes a battery pack and a battery management unit; the battery management unit is configured to monitor the working status of the battery pack and upload all status data of the battery pack to the main control unit 21 in real time; the main control unit 21 is also configured to perform feedback adjustment based on the status data of the battery pack.

[0060] It should be noted that, referring to Figure 1 and Figure 2 As shown, the battery pack can be a lithium iron phosphate battery, which, compared to ordinary ternary lithium batteries, has superior thermal stability (less prone to catching fire or exploding under extreme conditions such as needle penetration and overcharging) and a longer cycle life (greater than or equal to 3000 cycles), fully meeting the high-intensity, long-cycle usage requirements of industrial equipment. For example, in this embodiment, the battery pack is configured as 48V / 60Ah, where the nominal voltage of 48V is suitable for high-power loads such as drive motors, and the 60Ah capacity ensures continuous operation of the equipment for no less than 8 hours. The battery pack is encapsulated in a metal casing with a locking device, possessing excellent heat dissipation, shock resistance, and electromagnetic shielding characteristics, effectively improving the battery's anti-interference capability and operational safety in the complex electromagnetic environment of the workshop.

[0061] It should be noted that by ensuring the consistency of voltage among the individual cells within the battery pack, the "weakest link" effect is effectively avoided, thereby extending the overall lifespan of the battery pack. Simultaneously, the battery pack is equipped with a high-precision monitoring module that can collect key parameters such as total voltage, total current, remaining charge (SOC), health status, and temperature in real time, providing the system with comprehensive and accurate battery status information. The battery pack incorporates multiple protection mechanisms: overcharge protection (automatically cutting off the charging circuit when the voltage exceeds the threshold), over-discharge protection (automatically cutting off the discharging circuit when the voltage is too low), overcurrent / short circuit protection (millisecond-level output cut-off in case of abnormal high current or short circuit), and temperature protection (automatically stopping operation when exceeding the safe range of 0℃~55℃), comprehensively ensuring the safety of the battery and the entire device. Furthermore, the battery pack uploads all status data to the main control unit 21 in real time via a CAN (Control Area Network) bus or RS485 communication interface, and ultimately displays it on the Human-Machine Interface (HMI) or reports it to the MES (Manufacturing Execution System), realizing remote monitoring and full lifecycle management of battery status, providing data support for equipment maintenance and production line scheduling.

[0062] It should also be noted that during system startup, the Battery Management Unit (BMS) first performs a power-on self-test. After confirming that the battery is in good condition, it closes the main relay to supply power to the Power Distribution Unit (PDU). The main control unit 21 sequentially turns on the power of each subsystem through the PDU according to a preset sequence (first the core controller, then the sensors, and finally the drive motor), effectively suppressing surge current impact. During operation, the BMS continuously monitors battery parameters and sends the State of Charge (SOC) to the main control unit 21 in real time. The HMI (Human Machine Interface) simultaneously displays the battery percentage and estimated range. When the SOC drops to the 20% threshold, the main control unit 21 sends a low battery alarm to the MES system, requesting to recharge after completing the task, and will not accept new tasks during this period. If the BMS detects serious faults such as overcurrent, short circuit, or abnormal temperature, it immediately disconnects the main relay and issues the highest priority alarm. During task breaks, the MES assigns charging tasks to the PCB board transport vehicle based on the battery status and production plan. The PCB board transport vehicle autonomously navigates to the charging pile, and after the visual positioning device 40 precisely positions the vehicle against the positioning mark 41 on the charging pile, it slowly drives in to ensure accurate electrode contact. After physical contact is established, the BMS communicates with the charging pile to verify its identity and status. Once the verification is successful, the charging circuit is closed, and the charging pile intelligently charges in a constant current-constant voltage mode. When the SOC reaches 95%, the output stops, and the PCB board transport vehicle automatically disconnects the circuit and enters standby mode, waiting for the next task assignment.

[0063] In some embodiments of this disclosure, reference is made to Figure 1 and Figure 2As shown, the control device 20 also includes: a servo drive unit 24, connected to the motion control unit 23, configured to drive each servo motor; and an input / output unit 25, connected to the motion control unit 23, configured to realize centralized acquisition and output of signals.

[0064] It should be noted that, referring to Figure 1 and Figure 2 As shown, the servo drive unit 24 and the motion control unit 23 are connected via an EtherCAT (Ethernet Automation Technology) bus or pulse interface to drive various servo motors (including drive wheel motors, electric push rod motors, and servo motors for width adjustment devices) to perform actions such as walking, lifting, and width adjustment. The input / output unit 25 is extended to the motion control unit 23 via EtherCAT and PROFINET (Process Field Network) to centrally acquire input signals from limit sensors, limit switches, and button signals, and output corresponding control signals. This achieves centralized control of power drive and signal acquisition, simplifies wiring, and provides a standard interface for subsequent expansion of external functional modules.

[0065] In some embodiments of this disclosure, reference is made to Figure 1 As shown, the vehicle body 10 is also equipped with multiple anti-collision sensors 11 around its perimeter; the vehicle body 10 is also equipped with an emergency stop button 12.

[0066] It should be noted that, referring to Figure 1 As shown, the anti-collision sensors 11 are distributed around the vehicle body 10, which can detect obstacles in the direction of travel and to the side in real time. When approaching an obstacle, they send a signal to the control device 20 in advance, so that the transport vehicle can slow down or stop in time, effectively avoiding damage to the equipment and PCB board caused by collision accidents. The emergency stop button 12 is a hardware safety device independent of the automatic control device 20. In the event of a sudden abnormality (such as system crash, sensor failure or unauthorized personnel entry), it can be manually triggered by on-site personnel to directly cut off the power output and realize the emergency braking of the vehicle body 10.

[0067] It should be understood that in the various embodiments of this disclosure, the sequence numbers of the processes described above do not imply the order of execution. The execution order of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiments of this disclosure. The sequence numbers of the embodiments of this disclosure are merely for description and do not represent the superiority or inferiority of the embodiments. It should be noted that, in this document, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitations, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes that element.

[0068] The sequence numbers of the embodiments disclosed above are for descriptive purposes only and do not represent the superiority or inferiority of the embodiments. The methods disclosed in the several method embodiments provided in this disclosure can be arbitrarily combined to obtain new method embodiments without conflict. The features disclosed in the several product embodiments provided in this disclosure can be arbitrarily combined to obtain new product embodiments without conflict. The features disclosed in the several method or device embodiments provided in this disclosure can be arbitrarily combined to obtain new method embodiments or device embodiments without conflict.

[0069] The above are merely specific implementations of the embodiments of this disclosure, but the protection scope of the embodiments of this disclosure is not limited thereto. Any changes or substitutions that can be easily conceived by those skilled in the art within the technical scope disclosed in the embodiments of this disclosure should be included within the protection scope of the embodiments of this disclosure.

Claims

1. A PCB board transport vehicle, characterized in that, The PCB board transport vehicle includes: Vehicle body; The control device installed on the vehicle body is configured to receive external commands and execute corresponding operations, and to construct a workshop grid map, locate its own position in real time, and plan the optimal path from the PCB board transport vehicle to the target equipment. The walking device located at the bottom of the vehicle body is configured to be controlled by the control device to drive the vehicle body to move and turn. The visual positioning device installed on the vehicle body is configured to calculate the spatial coordinates of the marker points based on the visual reference marker recognition mode, and control the vehicle body to complete the attitude adjustment and dock with the target device. An adjustment device is provided on the top of the vehicle body, and a tray is provided on one side of the adjustment device along a first direction; the tray is configured to support a PCB board frame; the adjustment device is configured to be controlled by the control device to adjust the height of the tray and adjust the width of the tray along a second direction; wherein, the first direction is perpendicular to the second direction; The visual positioning device, connected to the control device, is further configured to generate a final height compensation value based on the visual positioning height after the adjustment device completes the adjustment, and to feed it back to the control device. The control device is also configured to drive the adjustment device to adjust the height based on the final height compensation value.

2. The PCB board transport vehicle according to claim 1, characterized in that, The PCB board transport vehicle also includes: A pushing device is provided on the adjustment device; the pushing device includes: a first electric push rod, and a pusher connected to the first electric push rod; the pusher matches the PCB board frame; The pushing device is configured to be controlled by the control device to push the PCB board frame; The control device is further configured to control the pushing device to push the PCB board frame to the other target device when the PCB board frame is transferred to another target device.

3. The PCB board transport vehicle according to claim 1, characterized in that, The adjustment device is further configured to adjust the width of the tray along the second direction via a servo motor; The control device is further configured to control the servo motor to adjust the width of the tray when the PCB board frame is placed in a preset position on the tray, and when the tray contacts the PCB board frame, the torque of the servo motor increases until it reaches a preset torque, and the servo motor stops rotating and maintains its position.

4. The PCB board transport vehicle according to claim 1, characterized in that, The control device includes: The main control unit is configured to generate corresponding instructions based on task scheduling, status management, and exception handling. The vision control unit, connected to the main control unit, is configured to construct a workshop grid map, obtain real-time point cloud data by scanning the surrounding environment with LiDAR, match the real-time point cloud data with the map to determine its own pose in the map, and plan the optimal path for the PCB board transport vehicle to the target equipment; the vision control unit is also configured to detect dynamic obstacles that suddenly appear on the optimal path by using the real-time point cloud data of the LiDAR, replan a detour route based on the original optimal path to bypass the dynamic obstacles, and then return to the original optimal path; The motion control unit, connected to the main control unit, is configured to receive instructions from the main control unit and execute corresponding operations.

5. The PCB board transporter according to claim 4, characterized in that, The control device further includes: an inertial navigation unit; The inertial navigation unit is configured to continuously measure acceleration and angular velocity, and to fuse the data from the vision control unit and the inertial navigation unit through a filtering algorithm to achieve autonomous path planning and obstacle avoidance in a workshop environment. The motion control unit is configured to adjust the height of the PCB board transport vehicle based on the results of a proportional-integral-derivative control algorithm when the vehicle is traveling in a straight line.

6. The PCB board transport vehicle according to claim 5, characterized in that, The real-time point cloud data includes: a sequence of path points; The walking device includes: a differential chassis and drive wheels; The motion control unit, connected to the vision control unit, is configured to receive the path point sequence in real time, calculate the required speed and steering angle of multiple drive wheels in real time using the proportional-integral-derivative control algorithm, and drive the differential chassis to move.

7. The PCB board transport vehicle according to claim 2, characterized in that, The adjustment device includes: a height adjustment device; the height adjustment device includes: a second electric push rod, an absolute encoder, and a limit sensor; The second electric push rod is configured to adjust the height of the tray in response to a control command from the control device; The absolute encoder and the limit sensor are configured to interface with the target device according to the task type; The pushing device is connected to the second electric push rod and is configured to cooperate with the tray.

8. The PCB board transport vehicle according to claim 3, characterized in that, The adjustment device further includes: a width adjustment device; the width adjustment device includes: two guide rails arranged opposite each other along the second direction; the two guide rails are respectively connected to the two servo motors; the two guide rails are connected to the tray; The control device is also configured to drive the two servo motors to control the two guide rails to move relative to each other along the second direction; The width adjustment device is configured to adjust the width of the tray to a standby width based on the type of the PCB board frame.

9. The PCB board transport vehicle according to claim 8, characterized in that, The visual positioning device is also configured to generate a visual positioning width and feed it back to the control device; The control device is further configured to adjust the width of the tray from the standby width to the input width based on the difference between the visual positioning width and the actual required width.

10. The PCB board transport vehicle according to claim 9, characterized in that, The import width is equal to the sum of the width of the PCB board frame and the allowance width.

11. The PCB board transport vehicle according to claim 4, characterized in that, The visual positioning device includes: Far-field navigation camera: configured to identify environmental feature points; Near-field docking camera: configured to identify positioning markers on the target device.

12. The PCB board transport vehicle according to claim 11, characterized in that, The main control unit is also configured to generate an activation command when the PCB board transport vehicle enters the preset range of the target device; The visual positioning device is also configured to activate the near-field docking camera to acquire images in response to the activation command. The recognition mode includes: searching for quadrilateral contours in the image, decoding each quadrilateral contour, recognizing the internal code, and when the code of the quadrilateral contour matches the preset code in the database, calculating the deviation value between the tray and the target device through the positioning mark on the target device; The motion control unit, connected to the visual positioning device, is also configured to receive the deviation value and control the walking device and the adjustment device to adjust until docking with the target device is completed. The main control unit is also configured to send a docking signal to an external server after docking is completed.

13. The PCB board transport vehicle according to claim 4, characterized in that, The PCB board transport vehicle also includes a power supply device located inside the vehicle body; The power supply device includes: a battery pack and a battery management unit; The battery management unit is configured to monitor the working status of the battery pack and upload all status data of the battery pack to the main control unit in real time. The main control unit is also configured to perform feedback adjustment based on the state data of the battery pack.

14. The PCB board transport vehicle according to claim 4, characterized in that, The control device further includes: A servo drive unit, connected to the motion control unit, is configured to drive each servo motor; The input / output unit, connected to the motion control unit, is configured to achieve centralized acquisition and output of signals.

15. The PCB board transport vehicle according to claim 1, characterized in that, The vehicle body is also equipped with multiple anti-collision sensors around its perimeter; The vehicle is also equipped with an emergency stop button.

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