A gravity center self-balancing AGV forklift

Abstract

The application relates to the technical field of intelligent storage equipment, and specifically discloses a gravity self-balancing AGV forplant storage, which comprises an AGV body and a pallet fork lifting mechanism installed on a front side door frame, and a gravity self-balancing pallet fork is installed on the pallet fork lifting mechanism. The gravity self-balancing pallet fork comprises a pair of vertical plates, a pair of horizontal plates, a sliding plate slidingly installed on the horizontal plates, a pallet fork connecting seat fixedly connected to the front side of the sliding plate and a fork plate. A pressure sensor is installed on the upper surface of the fork plate, and a protective plate is sleeved above the fork plate. A lead screw and a lead screw nut are arranged between the vertical plates and are driven by a driving motor, and the lead screw nut is fixedly connected with the sliding plate through an intermediate plate. A controller calculates the gravity center deviation direction and deviation amount of goods according to the detection value of the pressure sensor, controls the driving motor to drive the fork plate to move downwards below the gravity center area of the goods, and realizes the automatic centering of the support center of the fork plate and the gravity center of the goods. The gravity center adjustment can be completed without moving the vehicle body, energy saving is achieved, and the flexibility is higher.

Description

Technical Field

[0001] This invention relates to the field of intelligent warehousing equipment technology, specifically to a self-balancing AGV forklift for factory warehousing. Background Technology

[0002] With the widespread adoption of automated warehousing and logistics systems, automated guided vehicles (AGVs) and forklifts play a central role in cargo handling.

[0003] Currently, AGV forklifts typically rely on vision sensors or LiDAR to identify the outline of pallets or goods when performing picking tasks, in order to align the forks with the goods. However, visual positioning can only ensure that the forks are aligned with the geometric center of the goods in the horizontal projection, and cannot detect the unevenness of the internal mass distribution of the goods. When the center of gravity of the goods deviates from its geometric center, even if the forks are accurately aligned, the actual center of gravity of the goods may still deviate from the effective support area of ​​the forks.

[0004] To address the aforementioned issues, some existing technologies detect cargo center of gravity shifts by installing pressure or torque sensors on the forks. However, such solutions typically require the AGV to be manually adjusted after detecting a shift to realign the cargo's center of gravity. This adjustment method has the following limitations: firstly, the large mass and high inertia of the AGV limit adjustment efficiency and impact on operational cycle time; secondly, in warehouse environments with narrow aisles or dense cargo, the AGV's movement space is limited, making effective posture correction difficult. These factors restrict the adaptability of AGV forklifts to handling off-center loads in complex warehouse scenarios. Summary of the Invention

[0005] The purpose of this invention is to provide a self-balancing AGV forklift for factory and warehouse use to solve the problems mentioned in the background art.

[0006] To achieve the above objectives, the present invention provides the following technical solution: a self-balancing AGV forklift for factory warehousing, comprising an AGV body and a fork lifting mechanism mounted on the front mast of the AGV body, wherein a self-balancing fork is mounted on the fork lifting mechanism, and the self-balancing fork comprises: A pair of upright plates fixedly connected to the lifting components on the fork lifting mechanism are spaced apart along the left and right directions of the AGV vehicle body; a pair of horizontal plates are fixedly connected to the front side of the upright plates, and a sliding plate is slidably installed on each of the horizontal plates; a vertically arranged fork connecting seat is fixedly connected to each end of the front side of the pair of sliding plates; and a horizontally forward-extending fork plate is provided at the bottom of the fork connecting seat. Pressure sensors are installed on the upper surface of the fork plates on both sides. The upper surface of the fork plates is covered with a protective plate, and the cargo transmits pressure to the pressure sensors through the protective plate. The system includes a lead screw, a lead screw nut, and a drive motor. The lead screw is horizontally placed, and its two ends are rotatably mounted on two vertical plates on both sides via bearings. The upper and lower sliding plates are fixedly connected in the middle by an intermediate plate. The lead screw nut is fixedly mounted on the intermediate plate. The drive motor is fixedly mounted on one vertical plate. The drive motor drives a pair of sliding plates to move horizontally left and right through the cooperation of the lead screw and the lead screw nut. The controller is located inside the AGV body and is electrically connected to the pressure sensor and the drive motor. The controller is configured to: calculate the direction and amount of the center of gravity offset of the cargo based on the pressure values ​​detected by each pressure sensor, and control the drive motor to move the fork plate to below the center of gravity area of ​​the cargo based on the calculation results.

[0007] Furthermore, a rubber pad is fixed to the upper surface of the fork plate, and the rubber pad has a perforated hole in the pressure sensor arrangement area.

[0008] Furthermore, the pressure sensors are evenly distributed along the longitudinal direction of the fork plate, and there are no fewer than two of them.

[0009] Furthermore, a limiting protrusion is provided on the horizontal plate near its left and right ends, and a stop is provided on the left and right ends of the sliding plate; when the sliding plate slides to the left or right limit position, the stop and the limiting protrusion on the corresponding side form a mechanical abutment to limit the stroke of the fork plate to move left and right.

[0010] Furthermore, a pair of fork plates are hinged to the front end of the fork plate, and the pair of fork plates rotate synchronously in opposite directions in the horizontal plane. The controller is also configured to: when the pressure sensor values ​​on both sides of the fork plate exceed a preset value during the movement of the forklift, control the pair of fork plates to open through the drive component.

[0011] Furthermore, the fork plate has a pair of vertically arranged hinge seats at its front end, and the fork head plate is hinged to the corresponding hinge seats; a guide rod is slidably installed on the fork plate in the front-back direction, and a pair of connecting rods are hinged to the front end of the guide rod, and the front ends of the pair of connecting rods are respectively hinged to the inner side of the corresponding fork head plate.

[0012] A rod sleeve is fixedly installed at the front end of the fork plate. A spring seat is provided on the guide rod and a spring is sleeved on it. The two ends of the spring abut against the spring seat and the rod sleeve, respectively. The end of the guide rod away from the connecting rod extends out from the rod sleeve and is connected to a pull rope. The end of the pull rope away from the guide rod is connected to the winding motor shaft. The winding motor is fixedly installed on the intermediate plate.

[0013] Furthermore, a high-definition camera is installed on the top of the forklift mechanism of the AGV vehicle body, and the high-definition camera includes camera units facing the four directions of front, back, left, and right respectively.

[0014] Furthermore, a lidar is installed on each of the left and right side walls and the rear side wall of the AGV body, and a lidar is also installed on the front side of the middle plate.

[0015] Compared with the prior art, the beneficial effects of the present invention are: 1. This invention, by setting up an upright plate connected to the fork lifting mechanism, a sliding plate slidably mounted on the horizontal plate, and an intermediate plate connecting the sliding plate and a screw nut drive structure, enables a pair of fork plates to move laterally as a whole under the drive of the drive motor; in conjunction with the pressure sensor and controller mounted on the fork plate to calculate the center of gravity of the goods in real time, the AGV forklift can align the support center of the fork plate with the actual center of gravity of the goods through the adaptive displacement of the forks without moving the vehicle body, thus solving the problem of low adjustment efficiency and difficult operation in narrow spaces caused by having to move the whole vehicle to adjust the center of gravity in the prior art.

[0016] 2. This invention, by hinged a pair of fork plates at the front end of the fork plate and in conjunction with a linkage mechanism consisting of a guide rod, a connecting rod and a spring, enables the fork plates to open synchronously under the drive of a winding motor. When the center of gravity of the cargo is detected to be offset beyond a preset safety value, the support width of the fork plate is dynamically expanded, thereby improving the anti-tipping capability of off-center loaded cargo during the handling process. Attached Figure Description

[0017] Figure 1 A structural schematic diagram of a self-balancing AGV forklift used in factory and warehouse operations; Figure 2 This is a schematic diagram of a self-balancing forklift. Figure 3 This is a structural diagram of the fork connector, fork plate, and guard plate. Figure 4 This is a schematic diagram of the structure of the fork plate, rubber pad, and equidistant array pressure sensors. Figure 5 This is a schematic diagram of a self-balancing fork after the sliding plate and the cross plate are separated. Figure 6 A schematic diagram of a self-balancing fork structure with a fork head plate configured; Figure 7 This is a schematic diagram of a self-balancing fork structure with the fork end plates open. Figure 8 A schematic diagram of the structure after the center of gravity self-balancing cargo guard plate is separated to configure the fork end plate; Figure 9 This is a structural diagram of the fork end plate and the fork head plate; Figure 10 This is a schematic diagram of the structure of a single-sided fork head plate and opening / closing transmission components.

[0018] In the diagram: 1. AGV body; 2. Self-balancing forks; 101. LiDAR; 102. High-definition camera; 103. Mast; 104. Fork lifting mechanism; 201. Vertical plate; 202. Horizontal plate; 203. Limiting protrusion; 204. Drive motor; 205. Lead screw; 206. Lead screw nut; 207. Intermediate plate; 208. Sliding plate; 209. Side rail; 210. Fork connector; 211. Fork plate; 212. Guard plate; 213. Rubber pad; 214. Pressure sensor; 215. Fork end plate; 216. Hinge seat; 217. Connecting rod; 218. Guide rod; 219. Spring seat; 220. Spring; 221. Rod sleeve; 222. Pull rope. Detailed Implementation

[0019] 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. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0020] Example 1:

[0021] Please see Figure 1 , Figure 2 , Figure 3 and Figure 5 This embodiment provides a self-balancing AGV forklift for factory and warehouse use, including an AGV body 1 and a fork lifting mechanism 104 mounted on the front mast 103 of the AGV body 1. The AGV body 1 is an automated guided vehicle chassis with autonomous navigation and driving capabilities, and integrates a power supply, a driving system, and a vehicle controller. The mast 103 is the lifting support structure of the forklift, and the fork lifting mechanism 104 is a lifting component that slides up and down along the mast 103 (typically including a lifting bracket and matching chains, cylinders, or electric push rods).

[0022] The fork lifting mechanism 104 is equipped with a center-of-gravity self-balancing fork 2. Specifically, the center-of-gravity self-balancing fork 2 includes a pair of upright plates 201, a pair of horizontal plates 202, a sliding assembly, and a fork actuation assembly.

[0023] A pair of upright plates 201 are fixedly connected to the lifting components on the fork lifting mechanism 104 and are spaced apart along the left and right directions of the AGV body 1. The rear side of the upright plate 201 is attached and fixed to the front side of the lifting components, so that the entire center of gravity self-balancing fork 2 rises and falls synchronously with the fork lifting mechanism 104.

[0024] A pair of horizontal plates 202 are fixedly connected to the front side of the upright plate 201. These horizontal plates 202 are parallel to each other in the vertical direction and spaced apart (i.e., an upper horizontal plate and a lower horizontal plate). A sliding plate 208 is slidably mounted on each of the horizontal plates 202. Preferably, a linear guide rail or slide groove structure is provided between the horizontal plate 202 and the sliding plate 208 to ensure that the sliding plate 208 can only slide freely along the longitudinal direction (i.e., the left-right direction) of the horizontal plate 202, while remaining relatively fixed to the horizontal plate 202 in other directions.

[0025] Each of the two ends of the front side of the pair of sliding plates 208 is fixedly connected to a vertically arranged fork connecting seat 210. Specifically, the left and right ends of the front side of the upper sliding plate 208 are fixedly connected to the upper parts of the two fork connecting seats 210 respectively; the left and right ends of the front side of the lower sliding plate 208 are fixedly connected to the lower parts of the same pair of fork connecting seats 210 respectively. The two fork connecting seats 210 are spaced apart in the left-right direction and are arranged symmetrically.

[0026] Each of the fork connectors 210 has a horizontally extending fork plate 211 at its bottom. The fork plate 211 is a slender plate structure, and its longitudinal extension direction is perpendicular to the surface of the upright plate 201, that is, it extends along the forward direction of the AGV body 1. The fork plate 211 is used to insert into the fork holes at the bottom of the pallet or cargo to support the cargo.

[0027] In the initial state, the fork lifting mechanism 104 lowers the center of gravity of the balance fork 2 to a suitable height, and the fork plate 211 inserts into the bottom of the cargo and lifts the cargo. At this time, the weight of the cargo is transmitted to each pressure sensor 214 through the guard plate 212.

[0028] Taking a single fork plate 211 as an example, multiple pressure sensors 214 (at least two in this embodiment) are arranged on the fork plate 211 along the longitudinal direction (front-back direction). The longitudinal coordinate of each pressure sensor 214 on the fork plate 211 (relative to the center of the fork plate 211 or relative to a preset reference point) is a known fixed value, denoted as xᵢ. The controller reads the pressure value Fᵢ detected by each sensor.

[0029] Based on the lever balance principle and the resultant moment theorem of uniformly distributed loads, the equivalent center of gravity position X_cg of the cargo in the longitudinal (front-back direction) can be calculated using the following weighted average formula:

[0030]

[0031] in, The sum of the readings of all pressure sensors 214 on the same fork plate 211 represents the total weight of the cargo borne by that fork plate; numerator This is the resultant torque of the pressure at each sensor detection point relative to the reference point.

[0032] Similarly, for the left and right fork plates 211, the controller acquires the readings of all sensors on the left fork plate 211. Readings from all sensors on the right fork plate 211 Treating all sensors on the left and right fork plates 211 as a whole, and taking the symmetrical center line of the two fork plates 211 as a reference, the total pressure of each of the left and right fork plates 211 is... and If the forces acting on their respective geometric centers (with the distance between the two forks 211 being a known fixed value D) are applied, then the equivalent center of gravity of the cargo in the lateral (left-right) direction is determined. It can be calculated using the following formula:

[0033]

[0034] Where D / 2 is the offset (absolute value) of the geometric center of the left fork plate 211 and the right fork plate 211 relative to the center line of symmetry. The positive or negative value indicates whether the center of gravity is biased to the left or right, and its absolute value indicates the amount of offset.

[0035] The controller will calculate the actual center of gravity position of the cargo. Compare with the current support center position of the fork plate 211 (i.e., the current lateral position of the fork plate 211, which can be obtained from the number of rotations of the lead screw 205 or the encoder reading). If If the value is not zero (i.e., the center of gravity is shifted to one side), the controller determines that there is a lateral center of gravity shift, and then... The sign determines the offset direction, according to The magnitude of the value determines the amount of displacement that needs to be adjusted.

[0036] Subsequently, the controller outputs control commands to the drive motor 204, driving the lead screw 205 to rotate, which in turn moves the lead screw nut 206 and the intermediate plate 207 in the left and right directions. This, in turn, causes a pair of sliding plates 208 and the fork connecting seat 210 and fork plate 211 fixed thereon to slide horizontally on the cross plate 202. When the support center of the fork plate 211 moves to coincide with the lateral center of gravity of the goods (i.e., the center line of the fork plate 211 is aligned)... The total pressure on both sides of the fork plate 211 tends to be balanced, and the center of gravity of the cargo is automatically aligned with the center of the fork plate support.

[0037] This embodiment, by setting up a sliding fork structure, enables the AGV forklift to adaptively match the center of gravity of the off-center load through the lateral displacement of the forks without moving the vehicle body. This improves the response speed of the center of gravity adjustment and enhances the forklift's operational flexibility in narrow passages.

[0038] Example 2:

[0039] Please see Figure 3 , Figure 4 The difference between this embodiment and embodiment 1 is that the center-of-gravity self-balancing fork 2 further optimizes the structure of the upper surface of the fork plate 211 and the arrangement of the pressure sensor 214.

[0040] A rubber pad 213 is fixed to the upper surface of the fork plate 211. Except for the area where the pressure sensor 214 is located, the rest of the upper surface of the fork plate 211 is covered by the rubber pad 213. The rubber pad 213 has a perforated hole in the area where the pressure sensor 214 is located. The position of this perforated hole corresponds to the installation position of the pressure sensor 214, and the outline of the perforated hole is larger than the external dimensions of the pressure sensor 214, ensuring that the detection end face of the pressure sensor 214 is exposed through the perforated hole.

[0041] A protective plate 212 is fitted onto the upper surface of the fork plate 211. The protective plate 212 covers the top of the fork plate 211, and pressure sensors 214 are evenly distributed along the longitudinal direction of the fork plate 211, with no fewer than two sensors. In this embodiment, three pressure sensors 214 are provided on each fork plate 211, arranged equidistantly along the front, middle, and rear positions of the fork plate 211.

[0042] Working principle:

[0043] When the forklift 211 inserts into the bottom of the cargo and lifts, the bottom surface of the cargo contacts the upper surface of the guard plate 212. The detection end face of the pressure sensor 214 directly bears the pressure of the cargo and converts the pressure signal into an electrical signal, which is then output to the controller.

[0044] The pressure of the cargo on the guard plate 212 is transmitted to the rubber pad 213. The rubber pad 213 is compressed and deformed, absorbing the impact energy at the moment the cargo comes into contact with the fork plate 211, and transmitting the load evenly to the fork plate 211. The elastic cushioning effect of the rubber pad 213 reduces the impact load on the pressure sensor 214 when the cargo falls or shakes, preventing the sensor from being subjected to instantaneous peak pressure exceeding its range, thereby protecting the sensor.

[0045] Meanwhile, the rubber pad 213 increases the friction between the guard plate 212 and the fork plate 211 through its own elastic deformation, preventing the guard plate 212 from sliding on the upper surface of the fork plate 211 and ensuring that the relative position between the guard plate 212 and the pressure sensor 214 remains stable.

[0046] This embodiment absorbs the impact of loading and unloading through the elastic deformation of the rubber pad 213, preventing the pressure sensor 214 from being damaged by instantaneous peak pressure and extending the sensor's service life. The protective plate 212 evenly distributes the load to the fork plate 211, preventing overload of a single sensor due to localized load concentration. Simultaneously, the friction between the rubber pad 213 and the protective plate 212 ensures the relative position stability between the protective plate 212 and the sensor's detection end face, guaranteeing the accuracy and repeatability of pressure detection.

[0047] Example 3:

[0048] Please see Figure 5 The difference between this embodiment and embodiment 1 or 2 is that the center of gravity self-balancing fork 2 is further provided with a limit protection component.

[0049] The horizontal plate 202 has a limiting protrusion 203 near its left and right ends. The limiting protrusion 203 is a stop or pin fixed to the upper surface of the horizontal plate 202. The sliding plate 208 has a stop 209 at each of its left and right ends. The stop 209 is a flange structure that bends downward or to the side from the end of the sliding plate 208.

[0050] The limiting protrusion 203 and the stop 209 are on the same movement trajectory in the left and right directions. When the sliding plate 208 slides to the left or right limit position under the drive of the lead screw, the stop 209 and the limiting protrusion 203 on the corresponding side form a mechanical abutment to limit the stroke of the fork plate 211 to move left and right.

[0051] Working principle:

[0052] During the lateral movement of the sliding plate 208 driven by the drive motor 204 through the lead screw 205, if the sliding plate 208 exceeds the preset travel range due to sensor failure, abnormal control signal, or mechanical jamming, the stop 209 will make rigid contact with the limiting protrusion 203 at the extreme position. This contact creates a mechanical blocking effect, preventing the sliding plate 208 from detaching from the cross plate 202, and at the same time preventing the fork plate 211 and the fork connecting seat 210 from colliding with other components of the AGV body 1.

[0053] This embodiment uses a purely mechanical limiting structure to provide physical travel boundaries for sliding components in the event of electronic control failure or abnormal operating conditions, thereby enhancing the safety of equipment operation.

[0054] Example 4:

[0055] Please see Figure 6 , Figure 7 , Figure 8 , Figure 9 , Figure 10 This embodiment, based on any one of the embodiments 1 to 3, further adds a fork head plate 215 and a matching linkage deployment mechanism.

[0056] A pair of fork plates 215 are hinged to the front end of the fork plate 211. The fork plates 215 are horizontally arranged plate-shaped components, and their tails are rotatably connected to the front end of the fork plate 211 through a vertical hinge shaft, so that the fork plates 215 can rotate around the hinge point in the horizontal plane. The two fork plates 215 are symmetrically arranged on both sides of the front end of the fork plate 211.

[0057] The fork plate 211 has a pair of vertically arranged hinge seats 216 at its front end, and the fork head plate 215 is hinged to the corresponding hinge seats 216. The hinge seat 216 is a support structure fixed to the upper surface or front side of the front end of the fork plate 211, and its interior is provided with a shaft hole for installing the hinge shaft.

[0058] A guide rod 218 is slidably mounted on the fork plate 211 along the front-back direction. The guide rod 218 is a longitudinally extending rod-shaped member, with its axis parallel to the longitudinal direction of the fork plate 211, and can slide back and forth along its own axis. A pair of connecting rods 217 are hinged to the front end of the guide rod 218. The connecting rods 217 are rigid connecting rods, one end of which is rotatably connected to the front end of the guide rod 218 through a hinge shaft, and the other end is respectively hinged to the inner wall surface of the corresponding fork plate 215.

[0059] A pair of connecting rods 217 are symmetrically arranged in the horizontal plane. When the guide rod 218 moves in the front-back direction, the pushing and pulling action of the connecting rods 217 drives the two side end plates 215 to rotate synchronously in opposite directions, thereby opening or closing the end plates 215.

[0060] A rod sleeve 221 is fixedly installed at the front end of the fork plate 211. The rod sleeve 221 is a guide sleeve sleeved on the outside of the guide rod 218, and its inner hole is slidably fitted with the outer diameter of the guide rod 218, providing guidance and support for the sliding of the guide rod 218.

[0061] The guide rod 218 is provided with a spring seat 219 and a spring 220 is sleeved on it. The spring seat 219 is an annular boss fixed to the circumference of the guide rod 218. The two ends of the spring 220 abut against the spring seat 219 and the rod sleeve 221, respectively. The spring 220 is always in a compressed state, and its elastic force pushes the guide rod 218 backward, so that the guide rod 218 is kept in a rearward position when no external force is applied. At this time, the connecting rod 217 pulls the two side fork plates 215 into a retracted state.

[0062] The end of the guide rod 218 away from the connecting rod 217 (i.e., the rear end) extends from the rod sleeve 221, and the end is connected to a pull rope 222. The end of the pull rope 222 away from the guide rod 218 is connected to the reel of the winding motor, and the winding motor is fixedly mounted on the intermediate plate 207.

[0063] Working principle:

[0064] When picking up goods normally, the fork plate 215 is in a retracted state, and its outer edge does not exceed the width of the fork plate 211, making it easy for the fork plate 211 to be inserted into the pallet hole.

[0065] When the AGV forklift is carrying goods and is moving or turning, if the center of gravity of the goods is biased to the left or right, the pressure sensors 214 on the two forks 211 will detect the difference in pressure distribution. When the controller determines that the difference in the values ​​of the pressure sensors 214 on both sides exceeds a preset threshold, it determines that there is a risk of the goods tipping over.

[0066] At this time, the controller sends a control signal to the winding motor, driving the winding motor to rotate and release the pull rope 222. The spring 220 pushes the guide rod 218 forward, and the connecting rod 217 pushes the two side end plates 215 to open outward synchronously with the hinge seat 216 as the rotation center. After opening, the end plates 215 increase the effective support width of the front end of the fork plate 211, expanding the support surface of the fork plate 211 for the goods, thereby reducing the risk of the goods tipping over due to the offset of the center of gravity.

[0067] When the pressure difference returns to a safe range or the cargo is unloaded, the winding motor tightens 222, the guide rod 218 resets, and the connecting rod 217 pulls the fork head plate 215 to close.

[0068] This embodiment features an actively opening fork plate at the front end of the fork plate. When the center of gravity of the cargo is detected to be off-center beyond the safe range, the support width can be dynamically expanded, effectively reducing the risk of tipping over of off-center cargo during handling and improving the operational safety of the AGV forklift.

[0069] Example 5:

[0070] Please see Figure 1 This embodiment adds an environmental perception component based on any one of the embodiments 1 to 4.

[0071] A high-definition camera 102 is installed on the top of the forklift mechanism 104 of the AGV body 1. The high-definition camera 102 is an integrated panoramic camera device, which includes camera units facing the front, rear, left and right directions respectively, for acquiring real-time image information around the AGV body.

[0072] A lidar 101 is installed on each of the left, right, and rear side walls of the AGV body 1. A lidar 101 is also installed on the front side of the intermediate plate 207. The lidars 101 located on the side and rear walls of the body are used to detect the distance between the AGV body and surrounding obstacles, enabling obstacle avoidance navigation. The lidar 101 located on the front side of the intermediate plate 207 moves laterally with the forks, used to detect the outline and spacing of goods at the front end of the fork plates 211 in real time.

[0073] Working principle:

[0074] High-definition camera 102 collects image data around the AGV body for visual navigation, pallet recognition, and monitoring of the working environment. Each lidar 101 emits a laser beam in its respective detection direction and receives the reflected signal, obtaining accurate distance data by calculating the round-trip time of the signal.

[0075] Since the lidar 101 on the middle plate 207 is fixedly connected to the fork plate 211, its detection direction always points towards the direction of the goods. It can detect the outer boundary of the goods in real time during the lateral movement of the fork plate 211, providing the controller with the goods position feedback. Together with the data from the pressure sensor 214, it constitutes a dual perception for goods positioning.

[0076] This embodiment achieves comprehensive perception of the AGV's operating environment through a combination of multi-directional vision and LiDAR. The LiDAR, which is placed on the middle plate, can move synchronously with the forklift, providing dynamic and accurate ranging data for cargo identification and positioning.

Claims

1. A self-balancing AGV forklift for factory and warehouse use, comprising an AGV body (1) and a fork lifting mechanism (104) mounted on the front mast (103) of the AGV body (1), characterized in that, The fork lifting mechanism (104) is equipped with a center-of-gravity self-balancing fork (2), which includes: A pair of upright plates (201) fixedly connected to the lifting components on the fork lifting mechanism (104) are spaced apart along the left and right directions of the AGV body (1); a pair of horizontal plates (202) are fixedly connected to the front side of the upright plate (201), and a sliding plate (208) is slidably installed on each of the horizontal plates (202). A vertically arranged fork connecting seat (210) is fixedly connected to each end of the front side of the pair of sliding plates (208), and a horizontally extended fork plate (211) is provided at the bottom of the fork connecting seat (210). Pressure sensors (214) are installed on the upper surfaces of the fork plates (211) on both sides. A guard plate (212) is fitted on the upper surface of the fork plates (211). The cargo transmits pressure to the pressure sensors (214) through the guard plate (212). The screw (205), screw nut (206), and drive motor (204) are arranged in a horizontal position. The screw (205) is rotatably mounted on the two vertical plates (201) on both sides by bearings. The middle part of the upper and lower sliding plates (208) is fixedly connected by a middle plate (207). The screw nut (206) is fixedly mounted on the middle plate (207). The drive motor (204) is fixedly mounted on the vertical plate (201) on one side. The drive motor (204) drives the pair of sliding plates (208) to move horizontally left and right through the screw (205) and screw nut (206). The controller is located inside the AGV body (1) and is electrically connected to the pressure sensor (214) and the drive motor (204). The controller is configured to: calculate the direction and amount of the center of gravity offset of the cargo based on the pressure value detected by each pressure sensor (214), and control the drive motor (204) to move the fork plate (211) below the center of gravity area of ​​the cargo based on the calculation result.

2. The self-balancing AGV forklift for factory and warehouse use according to claim 1, characterized in that: A rubber pad (213) is fixed to the upper surface of the fork plate (211), and the rubber pad (213) has a hollow hole in the area where the pressure sensor (214) is arranged.

3. The self-balancing AGV forklift for factory and warehouse use according to claim 1, characterized in that: The pressure sensors (214) are evenly distributed along the longitudinal direction of the fork plate (211), and there are no fewer than two of them.

4. The self-balancing AGV forklift for factory and warehouse use according to claim 1, characterized in that: The horizontal plate (202) is provided with a limiting protrusion (203) near its left and right ends, and the sliding plate (208) is provided with a stop edge (209) at its left and right ends. When the sliding plate (208) slides to the left or right limit position, the stop edge (209) and the limiting protrusion (203) on the corresponding side form a mechanical abutment to limit the stroke of the fork plate (211) to move left and right.

5. The self-balancing AGV forklift for factory and warehouse use according to claim 1, characterized in that: The fork plate (211) is hinged to a pair of fork head plates (215) at its front end. The pair of fork head plates (215) rotate synchronously in opposite directions in the horizontal plane. The controller is also configured to: when the difference in the values ​​of the pressure sensors (214) on the two fork plates (211) exceeds a preset value during the movement of the forklift, control the pair of fork head plates (215) to open through the drive component.

6. A self-balancing AGV forklift for factory and warehouse use according to claim 5, characterized in that: The fork plate (211) has a pair of vertically arranged hinge seats (216) at its front end, and the fork head plate (215) is hinged to the corresponding hinge seats (216); a guide rod (218) is slidably installed on the fork plate (211) in the front-back direction, and a pair of connecting rods (217) are hinged to the front end of the guide rod (218), and the front ends of the pair of connecting rods (217) are respectively hinged to the inner side of the corresponding fork head plate (215); A rod sleeve (221) is fixedly installed at the front end of the fork plate (211). A spring seat (219) is provided on the guide rod (218) and a spring (220) is sleeved on it. The two ends of the spring (220) abut against the spring seat (219) and the rod sleeve (221) respectively. One end of the guide rod (218) away from the connecting rod (217) extends out from the rod sleeve (221) and is connected to a pull rope (222) at the end. One end of the pull rope (222) away from the guide rod (218) is connected to the winding motor shaft. The winding motor is fixedly installed on the intermediate plate (207).

7. The self-balancing AGV forklift for factory and warehouse use according to claim 1, characterized in that: A high-definition camera (102) is installed on the top of the fork lifting mechanism (104) of the AGV body (1). The high-definition camera (102) includes camera units facing the front, back, left and right directions respectively.

8. The self-balancing AGV forklift for factory and warehouse use according to claim 1, characterized in that: A laser radar (101) is installed on each of the left and right side walls and the rear side wall of the AGV body (1), and a laser radar (101) is also installed on the front side of the middle plate (207).

Images