Intelligent anti-slip operation trolley and control method thereof

Abstract

The application discloses an intelligent anti-slip car operation trolley and a control method thereof, and relates to the technical field of mechanical automation. The intelligent anti-slip car operation trolley comprises a driving chassis, a laser sensing module, a control mainboard and a triangular wood executing mechanism. The laser sensing module and the control mainboard are fixedly installed on the top of the driving chassis, and the laser sensing module is located on the two sides of the control mainboard. The triangular wood executing mechanism is slidably installed on one side of the driving chassis in the vertical direction. The triangular wood executing mechanism comprises a first fixed support, an electric control push rod, a wedge-shaped push block, a wedge connecting block, a triangular wood and a second fixed support. The control mainboard is electrically connected with the driving chassis, the laser sensing module and the electric control push rod. The application has the advantages of realizing full-process automation of triangular wood layout and recovery, eliminating the risk of manual operation, and improving the safety and reliability, operation efficiency and flexibility of the tank car loading and unloading operation.

Description

Technical Field

[0001] This invention relates to the field of mechanical automation technology, and more specifically, to an intelligent anti-slippage trolley and its control method. Background Technology

[0002] During the loading and unloading of hazardous chemicals, tank trucks are prone to unexpected slippage due to factors such as site slope, equipment vibration, wind, or brake system degradation. Once slippage occurs, it can easily break connecting equipment such as loading arms and loading / unloading hoses, leading to major safety accidents such as hazardous chemical leaks, poisoning, environmental pollution, fires, and explosions, causing serious casualties and property damage.

[0003] To prevent the risk of vehicle runaway, the industry has long used wheel chocks (also known as tire stoppers or wheel chocks) as the primary passive anti-runaway device. Their working principle is to wed the wheel chocks between the tires and the ground, increasing friction to limit vehicle movement. Currently, anti-runaway operations in tank truck loading and unloading areas both domestically and internationally generally rely on manual placement and retrieval of wheel chocks; this step is a critical operational procedure in the safety management of hazardous chemical loading and unloading.

[0004] In existing technologies, the main anti-rollover solutions include: 1. Manual triangular wood anti-slip technology (the most mainstream): Before loading and unloading, manual labor is required to insert triangular wood under the tires of the tanker truck (placed in both directions between the front and rear wheels or in the middle of the double-row drive wheels). After loading and unloading, manual labor is required to retrieve the triangular wood. The entire process relies on manual labor.

[0005] 2. Fixed telescopic anti-slip bollards / wheel stops: This solution involves fixing metal blocks or hydraulic lifting wheel stops on the ground at the loading and unloading position to prevent tire displacement after the vehicle is in place.

[0006] 3. Traditional AGV handling equipment: This solution uses electromagnetic / optical track navigation and differential drive for warehouse pallet and cargo handling, enabling path planning and automatic loading and unloading.

[0007] However, the manual triangular block anti-slip technology relies mainly on manual placement of the triangular blocks. This method is not only unsafe and unreliable, but also prone to errors due to fatigue or negligence, leading to slippage accidents. Furthermore, it is inefficient, labor-intensive, and cannot achieve automated recording and traceability of the operation process. In addition, fixed anti-slip bollards suffer from poor flexibility, low adaptability, and high maintenance costs, while traditional AGV handling equipment, due to limited navigation methods, lack of dedicated pick-and-place mechanisms, and weak environmental adaptability, struggles to accurately place and retrieve triangular blocks in confined spaces.

[0008] To address this, the present invention provides an intelligent anti-slip vehicle operation trolley and its control method, which can automate the entire process of triangular log placement and retrieval, eliminate the risks of manual operation, and improve the safety, reliability, efficiency, and flexibility of tank truck loading and unloading operations. Summary of the Invention

[0009] To overcome the shortcomings of existing technologies, this invention provides an intelligent anti-slip vehicle operation trolley and its control method, which can realize the full automation of the triangular log placement and retrieval process, eliminate the risks of manual operation, and improve the safety, reliability, efficiency and flexibility of tank truck loading and unloading operations.

[0010] The technical solution adopted by the present invention to solve its technical problem is: an intelligent anti-slip operation trolley, the improvement of which is that it includes a drive chassis, a laser sensing module, a control motherboard and a triangular wooden actuator. The laser sensing module and the control motherboard are both fixedly installed on the top of the drive chassis, and the laser sensing module is located on both sides of the control motherboard; the triangular wooden actuator is slidably installed on one side of the drive chassis in the vertical direction. The triangular wooden actuator includes a first fixed bracket, an electrically controlled push rod, a wedge-shaped push block, a wedge connecting block, a triangular wooden block, and a second fixed bracket. The first fixed bracket is fixedly installed on one side of the drive chassis. The electrically controlled push rod is fixedly installed on the bottom of the drive chassis, with its drive end close to the first fixed bracket. The wedge-shaped push block is fixedly connected to the drive end of the electrically controlled push rod, and passes through the center of the first fixed bracket. The second fixed bracket is slidably connected to the first fixed bracket in the vertical direction. The wedge connecting block is fixedly connected to the second fixed bracket, with its inclined surface abutting against the inclined surface of the wedge-shaped push block. The triangular wooden block is fixedly installed on both sides of the second fixed bracket. The control motherboard is electrically connected to the drive chassis, the laser sensing module, and the electric push rod. The control motherboard is configured to: control the movement and steering of the drive chassis according to the signal from the laser sensing module, and control the electric push rod to drive the wedge-shaped push block and the inclined wedge connecting block to cooperate, so that the second fixed bracket slides vertically along the first fixed bracket, thereby driving the triangular wood to rise and fall, and realizing the automatic deployment and retrieval of the triangular wood.

[0011] In the above structure, the drive chassis includes a support base plate, a walking mechanism, and a steering drive mechanism. The walking mechanism is rotatably mounted on the bottom of the support base plate; the steering drive mechanism is fixedly mounted on the top of the support base plate, and the steering drive mechanism is connected to the top of the walking mechanism via a transmission connection.

[0012] In the above structure, the walking mechanism includes four hub motors, a first motor bracket, a first rotating shaft, a second rotating shaft, and bearings. The four hub motors are respectively installed at the four bottom corners of the support base plate. The bearings are embedded in the support base plate. One end of the first rotating shaft is fixedly connected to the top of the first motor bracket, and the other end is fixedly connected to the steering drive mechanism. The first rotating shaft passes through the bearings. The second rotating shaft passes horizontally through the first motor bracket and the hub motors.

[0013] In the above structure, the steering drive mechanism includes a first transmission gear, a second transmission gear, a second motor bracket, and a steering drive motor. The center of the first transmission gear is fixedly connected to the other end of the first rotating shaft, and the first transmission gear meshes with the second transmission gear. The center of the second transmission gear is fixedly connected to the drive shaft of the second steering drive motor. The second motor bracket is fixedly installed on the top of the support base plate. The steering drive motor is fixedly installed on the top of the second motor bracket.

[0014] In the above structure, the laser sensing module includes two laser sensors, which are fixedly installed on the side of the second motor bracket near the triangular wooden actuator, and the two laser sensors are located on both sides of the control motherboard.

[0015] In the above structure, the intelligent anti-slip vehicle operation trolley also includes an electronic control motherboard bracket for mounting the control motherboard.

[0016] In the above structure, the triangular wooden actuator further includes a sliding component, which includes a slide rail and a slider. The slide rail is fixedly installed on one side of the first fixed bracket, and the slider is fixedly installed on the side of the second fixed bracket close to the first fixed bracket. The slide rail and the slider are slidably connected.

[0017] An improvement in the control method for an intelligent anti-slippage work trolley is that the control method includes the following steps: S10 controls the main board to drive the chassis to the preset return point and puts the triangular wood actuator in a raised state. S20, the control motherboard controls the drive chassis to move in a straight line along the side wall of the tanker truck according to the signal from the laser sensing module, and controls the drive chassis to stop when the gap between the tires of the target vehicle is detected; S30, the main board controls the steering drive mechanism of the drive chassis to make the four wheel hub motors rotate in place, switching the direction of travel to be perpendicular to the neutral position; S40, the main control board controls the drive chassis to travel in a straight line in the vertical direction and drive into the neutral position between the two tires; S50, the main control board controls the electric control push rod to retract, so that the wedge push block drives the inclined wedge connecting block through the inclined surface, and drives the second fixed bracket to slide vertically downward along the first fixed bracket, and lowers the triangular wood to the ground to complete the deployment; S60, the main control board controls the drive chassis to remain stationary, and continuously monitors the tire position through the laser sensing module. When it detects that the vehicle is slipping, it outputs an alarm signal. S70, after the control motherboard receives the recycling command, it controls the electric push rod to extend, so that the wedge push block drives the inclined wedge connecting block in the opposite direction, causing the second fixed bracket to slide vertically upward along the first fixed bracket, lifting the triangular wood off the ground; S80, the mainboard controls the drive chassis to exit neutral and controls the steering drive mechanism to restore the four wheel hub motors to their initial direction; S90 controls the mainboard to drive the chassis back to the preset return point along the original path.

[0018] The beneficial effects of this invention are as follows: This invention uses a laser sensing module to detect the tire position and wheel clearance of the tank truck in real time. The control board automatically controls the drive chassis's movement and steering based on the sensing signals, allowing the trolley to move flexibly to any working position without relying on fixed tracks or preset paths. This solves the problems of poor flexibility, inability to adapt to different vehicle models, and parking deviations caused by fixed anti-slip bollards. Simultaneously, the trolley uses a four-wheel independent steering drive chassis, enabling precise positioning within narrow tire spacing. Combined with the triangular log actuator, it achieves precise placement and retrieval of the triangular logs, overcoming the shortcomings of traditional AGVs that cannot complete this task due to limited navigation methods and lack of dedicated pick-and-place mechanisms. Furthermore, this invention completely replaces the manual placement of triangular logs, thoroughly eliminating the core pain points of poor safety and reliability, low work efficiency, and lack of automated management associated with manual operation. Therefore, this invention can achieve full automation of the triangular log placement and retrieval process, eliminate the risks of manual operation, and improve the safety, reliability, work efficiency, and flexibility of tank truck loading and unloading operations. Attached Figure Description

[0019] Figure 1 This is a schematic diagram of the overall structure of an intelligent anti-slip operation trolley according to the present invention; Figure 2 This is a schematic diagram of the triangular wooden actuator of an intelligent anti-slip vehicle trolley according to the present invention; Figure 3 This is a schematic diagram of the drive chassis of an intelligent anti-slip vehicle according to the present invention; Figure 4 This is an overall flowchart of a control method for an intelligent anti-slippage work trolley according to the present invention. Detailed Implementation

[0020] The present invention will be further described below with reference to the accompanying drawings and embodiments.

[0021] The following will clearly and completely describe the concept, specific structure, and technical effects of the present invention in conjunction with embodiments and accompanying drawings, so as to fully understand the purpose, features, and effects of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, not all of them. Other embodiments obtained by those skilled in the art based on the embodiments of the present invention without creative effort are all within the scope of protection of the present invention. Furthermore, all connections / linkages involved in the patent do not simply refer to direct contact between components, but rather to the ability to form a better connection structure by adding or reducing connecting accessories according to specific implementation conditions. The various technical features in this invention can be combined interactively without contradicting each other.

[0022] Reference Figures 1-3 As shown, the present invention provides an intelligent anti-slip vehicle operation trolley, which is used to automatically complete the placement and retrieval of triangular blocks 101 during the loading and unloading of hazardous chemicals from tank trucks, replacing traditional manual operation, eliminating safety hazards, and improving operation efficiency.

[0023] Reference Figure 1 As shown, the intelligent anti-slip vehicle operation trolley includes a drive chassis 2, a laser sensing module, a control motherboard, and a triangular log actuator 1. The laser sensing module and the control motherboard are both fixedly mounted on the top of the drive chassis 2, with the laser sensing module located on both sides of the control motherboard, forming a symmetrical dual-sensor layout 4 for comprehensive perception of the trolley's surrounding environment. The triangular log actuator 1 is slidably mounted vertically on one side of the drive chassis 2, used to complete the deployment and retrieval of the triangular log 101.

[0024] Reference Figure 2As shown, the triangular wooden actuator 1, as the core execution unit of this invention, specifically includes a first fixed bracket 102, an electrically controlled push rod 106, a wedge-shaped push block 105, a wedge connecting block 104, a triangular wooden block 101, and a second fixed bracket 103. The first fixed bracket 102 serves as the mounting base for the entire actuator, fixedly mounted on one side of the drive chassis 2, providing stable support for other components. The electrically controlled push rod 106 is fixedly mounted on the bottom of the drive chassis 2, with its drive end close to the first fixed bracket 102, serving as the power source for the entire actuator. The wedge-shaped push block 105 is fixedly connected to the drive end of the electrically controlled push rod 106, and passes through the center of the first fixed bracket 102, allowing it to reciprocate horizontally under the guidance of the first fixed bracket 102. The second fixed bracket 103 is slidably connected to the first fixed bracket 102 in the vertical direction. The wedge connecting block 104 is fixedly connected to the second fixed bracket 103, and the inclined surface of the wedge connecting block 104 fits against the inclined surface of the wedge-shaped push block 105, forming a pair of mutually cooperating inclined surface transmission pairs, used to convert the horizontal thrust into vertical lifting motion. The triangular block 101 is fixedly installed on both sides of the second fixed bracket 103, arranged symmetrically on the left and right. When the second fixed bracket 103 is raised or lowered, it drives the triangular block 101 to rise or fall synchronously. In this embodiment, when the electric control push rod 106 extends, it pushes the wedge-shaped push block 105 to move forward in the horizontal direction. The inclined surface of the wedge-shaped push block 105 contacts the inclined surface of the wedge connecting block 104 and generates relative sliding. Since the inclined surface has the characteristic of converting horizontal motion into vertical motion, the horizontal thrust of the wedge-shaped push block 105 is converted into vertical upward thrust, thereby pushing the wedge connecting block 104 and the second fixed bracket 103 fixedly connected to it to slide upward, so that the triangular block 101 is lifted off the ground. Conversely, when the electrically controlled push rod 106 retracts, the wedge-shaped push block 105 moves backward in the horizontal direction, the inclined wedge connecting block 104 loses its supporting force, and slides down the inclined plane under the combined action of its own weight and the weight of the triangular block 101, driving the second fixed bracket 103 to slide downward, so that the triangular block 101 is smoothly lowered to the ground. This inclined plane transmission method has a simple structure, large load-bearing capacity, and smooth and reliable operation.

[0025] The control motherboard is the central control unit of the entire vehicle, electrically connected to the drive chassis 2, the laser sensing module, and the electric push rod 106. The control motherboard has a pre-set complete operation control program, capable of receiving environmental data collected by the laser sensing module, processing it, and then issuing corresponding control commands to the drive chassis 2 and the electric push rod 106. Specifically, the control motherboard is configured to: control the movement and steering of the drive chassis 2 based on signals from the laser sensing module, and control the electric push rod 106 to drive the wedge-shaped push block 105 to cooperate with the inclined wedge connecting block 104, causing the second fixed bracket 103 to slide vertically along the first fixed bracket 102, thereby raising and lowering the triangular block 101, achieving automatic deployment and retrieval of the triangular block 101.

[0026] Reference Figure 3 As shown, the drive chassis 2 includes a support base plate 201, a traveling mechanism, and a steering drive mechanism. The support base plate 201 is a flat structure that serves as the mounting platform for the entire vehicle, bearing the weight of all upper components. The traveling mechanism is rotatably mounted on the bottom of the support base plate 201 and is responsible for driving the vehicle on the ground. The steering drive mechanism is fixedly mounted on the top of the support base plate 201 and is connected to the top of the traveling mechanism for transmission, used to control the steering angle of the traveling mechanism.

[0027] Furthermore, continue to refer to Figure 3 As shown, the walking mechanism includes four hub motors 202, a first motor bracket 207, a first rotating shaft 204, a second rotating shaft 205, and a bearing 206. The four hub motors 202 are respectively mounted at the four bottom corners of the support base plate 201, forming a four-wheel independent drive layout. Each hub motor 202 integrates the motor, reducer, and wheel into a single unit, resulting in a compact structure and high driving torque. The bearing 206 is embedded in the support base plate 201, providing rotational support for the first rotating shaft 204. One end of the first rotating shaft 204 is fixedly connected to the top of the first motor bracket 207, and the other end is fixedly connected to the steering drive mechanism. The first rotating shaft 204 passes through the bearing 206, allowing the steering drive mechanism to drive the entire hub motor 202 to rotate around a vertical axis via the first rotating shaft 204. The second rotating shaft 205 horizontally passes through the first motor bracket 207 and the hub motors 202, fixing the hub motors 202 to the first motor bracket 207 and ensuring the rigidity of the connection between the motor and the bracket.

[0028] Furthermore, further reference Figure 3 As shown, the steering drive mechanism includes a first transmission gear 209, a second transmission gear 210, a second motor bracket 208, and a steering drive motor 203. The center of the first transmission gear 209 is fixedly connected to the other end of the first rotating shaft 204, and the first transmission gear 209 meshes with the second transmission gear 210 to form a gear transmission pair. The center of the second transmission gear 210 is fixedly connected to the drive shaft of the steering drive motor 203, and the steering drive motor 203 provides rotational power. The second motor bracket 208 is fixedly mounted on the top of the support base plate 201, providing a mounting base for the steering drive motor 203. The steering drive motor 203 is fixedly mounted on the top of the second motor bracket 208, and its output shaft extends vertically downward.

[0029] It should be noted that in this embodiment, when the steering drive motor 203 starts, it drives the second transmission gear 210 to rotate. The second transmission gear 210 drives the first transmission gear 209, which meshes with it, to rotate. The first transmission gear 209 transmits the rotational torque to the first motor bracket 207 through the first rotating shaft 204, ultimately driving the hub travel motor 202 to rotate around the vertical axis of the first rotating shaft 204, thus achieving in-situ steering of the wheels. Since each wheel is equipped with an independent steering drive mechanism, the four hub travel motors 202 can achieve independent steering without interfering with each other. This four-wheel independent steering structure enables the vehicle to have multiple flexible movement modes such as in-situ steering, lateral translation, and diagonal driving, and can complete attitude adjustment and precise positioning in extremely narrow spaces.

[0030] Reference Figure 1 As shown, the laser sensing module includes two laser sensors 4. The two laser sensors 4 are fixedly mounted on the side of the second motor bracket 208 near the triangular wooden actuator 1, and are located on opposite sides of the control mainboard, forming a symmetrical dual-sensor layout. In this embodiment, the two laser sensors 4 work collaboratively to form a redundant sensing system. During operation, the two laser sensors 4 simultaneously emit laser beams and receive reflected signals, scanning the tanker truck tire area in real time to acquire three-dimensional spatial data such as the tire's outline shape, the distance between tires, and the gap between the tire and the ground. This data is transmitted to the control mainboard for processing in real time. The algorithm built into the control mainboard can accurately identify the tire entity and the gap between the wheels from the laser radar data, and calculate the distance and orientation of the vehicle relative to the target working position.

[0031] Continue to refer to Figure 1 As shown, the intelligent anti-slip vehicle also includes an electronic control motherboard bracket 3 for mounting the control motherboard. The electronic control motherboard bracket 3 is fixedly mounted on the top of the drive chassis 2 and is typically made of metal, providing good strength and heat dissipation. The control motherboard is secured to the electronic control motherboard bracket 3 with screws or other fasteners, maintaining a certain gap between the bracket and the motherboard to facilitate airflow and heat dissipation.

[0032] Reference Figure 2As shown, the triangular wooden actuator 1 also includes a sliding assembly for achieving smooth vertical sliding of the second fixed support 103 relative to the first fixed support 102. The sliding assembly includes a slide rail 107 and a slider 108. The slide rail 107 is fixedly installed on one side of the first fixed support 102 and extends vertically. The slider 108 is fixedly installed on the side of the second fixed support 103 near the first fixed support 102. The slider 108 has a groove that matches the slide rail 107, and the slide rail 107 is embedded in the groove. Through the sliding connection between the slide rail 107 and the slider 108, the second fixed support 103 always maintains vertical movement during lifting and lowering, without swaying or tilting, ensuring that the triangular wooden block 101 can accurately align with the gap between the tire and the ground when lowered, and can smoothly leave the ground when lifted.

[0033] Reference Figure 4 As shown, the present invention also provides a control method for an intelligent anti-slip operation trolley, which realizes fully automated closed-loop control from departure to return, and specifically includes the following steps: S10, the mainboard controls the drive chassis 2 to travel to the preset return point and puts the triangular wooden actuator 1 in a raised state. At this time, the electric push rod 106 is extended, the wedge-shaped push block 105 is pushed to the front end, and the inclined wedge connecting block 104 and the second fixed bracket 103 are lifted to the highest position through the inclined plane transmission. The triangular wooden block 101 is fixed and lifted off the ground at a certain height to avoid contact with the ground. The orientation of the four wheel hub motors 202 is uniformly adjusted to the initial direction of travel, and the dual laser sensors 4 are in standby monitoring state. At this point, the trolley has completed the pre-operation preparations.

[0034] S20: Based on the signals from the laser sensing module, the control motherboard controls the drive chassis 2 to move in a straight line along the side wall of the tanker. During movement, two laser sensors 4 continuously scan the tire area of ​​the tanker, collecting tire contour and spacing data in real time. The control motherboard analyzes the tire arrangement using algorithms to accurately determine the gap position between two adjacent tires. When a gap position between the tires of the target vehicle is detected, the control motherboard issues a stop command, controlling the drive chassis 2 to stop moving. At the same time, the two laser sensors 4 also compare their respective ranging data to determine whether the vehicle has deviated from the straight trajectory parallel to the side wall of the tanker. If deviation is detected, the control motherboard immediately fine-tunes the speed difference between each wheel to correct the deviation.

[0035] S30, the control motherboard controls the steering drive mechanism of the drive chassis 2 to rotate the four wheel hub motors 202 in place, switching the direction of travel to perpendicularly pointing to the neutral position. Specifically, when the trolley is completely stationary, the drive motors 202 remain locked to ensure that the vehicle body does not move at all. The control motherboard synchronously drives the four steering drive motors 203 to work, which, through the gear transmission mechanism, drive the four wheel hub motors 202 to synchronously complete the in-place angle deflection, switching the direction of travel of the wheels from the original "along the side of the tank car" to "perpendicularly pointing to the wheel gap". After the steering is completed, the steering drive motors 203 lock, the wheel angle is fixed, and the direction switch is complete. Throughout the entire process, the vehicle body does not move at all, and the positioning accuracy is not affected.

[0036] S40, the control motherboard controls the drive chassis 2 to travel in a straight line vertically, precisely entering the gap between the two tires. The control motherboard restarts the four wheel hub motors 202, and the trolley travels in a straight line vertically along the new wheel orientation, precisely entering the gap between the two tires. When the trolley reaches the target point set by the triangular block 101, the motors stop, and the trolley positioning is complete. At this time, the trolley is exactly below the tire gap, and the triangular block actuator 1 is directly facing the gap between the tire and the ground.

[0037] S50, the control board retracts the electronically controlled push rod 106, causing the wedge-shaped push block 105 to drive the inclined wedge connecting block 104 through the inclined surface. This drives the second fixed bracket 103 to slide vertically downwards along the first fixed bracket 102, lowering the triangular block 101 to the ground to complete the installation. Specifically, the drive end of the electronically controlled push rod 106 retracts, causing the wedge-shaped push block 105 to move backwards in the horizontal direction. The inclined surface of the wedge-shaped push block 105 slides relative to the inclined surface of the inclined wedge connecting block 104. Under the combined action of its own weight and the weight of the triangular block 101, the inclined wedge connecting block 104 slides down the inclined surface, driving the second fixed bracket 103 to slide vertically downwards along the first fixed bracket 102. As the second fixed bracket 103 moves downwards, the triangular blocks 101 fixed on both sides of it descend synchronously, landing smoothly on the ground and accurately engaging in the limiting position between the tire and the ground. At this point, the installation of the triangular block 101 is complete, effectively preventing the tanker truck tire from rolling backwards.

[0038] The S60 control board keeps the drive chassis 2 stationary and continuously monitors tire position via a laser sensing module. When slippage is detected, an alarm signal is output. After the triangular blocks 101 are deployed, the trolley remains stationary. The laser sensor 4 continues to operate, monitoring tire position changes in real time. The control board analyzes the data from the laser sensor 4 to determine if the tanker truck has slipped. If slippage is detected or actual displacement is observed, the control board immediately outputs an alarm signal and sends the alarm information to the loading equipment (such as a batch controller) via the communication interface, triggering an emergency stop interlock to cut off loading and unloading operations and prevent accidents. Throughout the entire tanker truck loading and unloading operation, the trolley remains in a standby monitoring state to ensure safety.

[0039] S70, after receiving the recovery command, the control motherboard controls the extension of the electrically controlled push rod 106, causing the wedge-shaped push block 105 to drive the inclined wedge connecting block 104 in the opposite direction, which in turn drives the second fixed bracket 103 to slide vertically upward along the first fixed bracket 102, lifting the triangular block 101 off the ground. Specifically, after the tanker loading and unloading operation is completed, the loading operation equipment sends an operation completion signal. After receiving the recovery command, the control motherboard sends an extension command to the electrically controlled push rod 106. The drive end of the electrically controlled push rod 106 extends, pushing the wedge-shaped push block 105 to move forward in the horizontal direction. The inclined surface of the wedge-shaped push block 105 fits against the inclined surface of the inclined wedge connecting block 104, and the horizontal thrust is converted into a vertically upward thrust through the inclined surface transmission, pushing the inclined wedge connecting block 104 and the second fixed bracket 103 to slide vertically upward along the first fixed bracket 102. Triangular block 101 is then lifted off the ground to prevent friction and collision between triangular block 101 and the ground during subsequent movement of the trolley, thus preventing displacement and wear of triangular block 101 and reducing walking resistance.

[0040] S80, the control motherboard controls the drive chassis 2 to shift out of neutral and controls the steering drive mechanism to restore the four wheel hub motors 202 to their initial direction. After the triangular block 101 is raised and suspended in the air, the control motherboard controls the four wheel hub motors 202 to rotate in the opposite direction, and the trolley reverses in a straight line along the original vertical route, completely exiting the tire gap and returning to the reference point of the previous four-wheel steering. Subsequently, the vehicle body remains stationary, and the control motherboard synchronously drives the four steering drive motors 203 to work again, driving the wheels to turn in the opposite direction in place, restoring the wheel orientation to the initial "along the side of the tanker" direction. After the steering is completed, the steering drive motors 203 lock, and the direction is reset.

[0041] S90, the control motherboard controls the drive chassis 2 to return to the preset return point along the original path. The control motherboard retrieves the initial return coordinates recorded throughout the process, starts the hub travel motor 202, and the trolley returns in a straight line along the side of the tanker. After reaching the preset return point, the entire vehicle stops, all mechanisms reset, the electric control push rod 106 returns to the extended state, and the triangular block 101 remains in the raised position. At this point, the entire process of deploying and retrieving the triangular block 101 is completed, and the trolley awaits the next operation command.

[0042] Compared with existing technologies, the beneficial effects of this invention are as follows: By using a laser sensing module to detect the tire position and wheel clearance of the tank truck in real time, the control board automatically controls the movement and steering of the drive chassis 2 based on the sensing signals. This allows the trolley to move flexibly to any working position without relying on fixed tracks or preset paths, thus solving the problems of poor flexibility, inability to adapt to different vehicle models, and parking deviations caused by fixed anti-slip bollards. Simultaneously, the trolley uses a four-wheel independent steering drive chassis 2, enabling precise positioning within narrow tire spacing. Combined with the triangular log actuator 1, this achieves precise placement and retrieval of the triangular log 101, overcoming the shortcomings of traditional AGVs that cannot complete this task due to limited navigation methods and lack of dedicated pick-and-place mechanisms. Furthermore, this invention completely replaces the manual placement of the triangular log 101, thoroughly eliminating the core pain points of poor safety and reliability, low work efficiency, and lack of automated management caused by manual operation. Therefore, this invention can achieve full automation of the triangular log 101 placement and retrieval process, eliminate the risks of manual operation, and improve the safety, reliability, work efficiency, and flexibility of tank truck loading and unloading operations.

[0043] The above is a detailed description of the preferred embodiments of the present invention. However, the present invention is not limited to the embodiments described. Those skilled in the art can make various equivalent modifications or substitutions without departing from the spirit of the present invention. All such equivalent modifications or substitutions are included within the scope defined by the claims of this application.

Claims

1. An intelligent anti-slippage work trolley, characterized in that, The device includes a drive chassis, a laser sensing module, a control motherboard, and a triangular wooden actuator. The laser sensing module and the control motherboard are both fixedly installed on the top of the drive chassis, with the laser sensing module located on both sides of the control motherboard. The triangular wooden actuator is slidably installed on one side of the drive chassis in a vertical direction. The triangular wooden actuator includes a first fixed bracket, an electrically controlled push rod, a wedge-shaped push block, a wedge connecting block, a triangular wooden block, and a second fixed bracket. The first fixed bracket is fixedly installed on one side of the drive chassis. The electrically controlled push rod is fixedly installed on the bottom of the drive chassis, with its drive end close to the first fixed bracket. The wedge-shaped push block is fixedly connected to the drive end of the electrically controlled push rod, and passes through the center of the first fixed bracket. The second fixed bracket is slidably connected to the first fixed bracket in the vertical direction. The wedge connecting block is fixedly connected to the second fixed bracket, with its inclined surface abutting against the inclined surface of the wedge-shaped push block. The triangular wooden block is fixedly installed on both sides of the second fixed bracket. The control motherboard is electrically connected to the drive chassis, the laser sensing module, and the electric push rod. The control motherboard is configured to: control the movement and steering of the drive chassis according to the signal from the laser sensing module, and control the electric push rod to drive the wedge-shaped push block and the inclined wedge connecting block to cooperate, so that the second fixed bracket slides vertically along the first fixed bracket, thereby driving the triangular wood to rise and fall, and realizing the automatic deployment and retrieval of the triangular wood.

2. The intelligent anti-slip operation trolley according to claim 1, characterized in that, The drive chassis includes a support base plate, a walking mechanism, and a steering drive mechanism. The walking mechanism is rotatably mounted on the bottom of the support base plate; the steering drive mechanism is fixedly mounted on the top of the support base plate, and the steering drive mechanism is connected to the top of the walking mechanism via a transmission connection.

3. The intelligent anti-slip operation trolley according to claim 2, characterized in that, The walking mechanism includes four hub motors, a first motor bracket, a first shaft, a second shaft, and bearings. The four hub motors are respectively installed at the four bottom corners of the support base plate. The bearings are embedded in the support base plate. One end of the first shaft is fixedly connected to the top of the first motor bracket, and the other end is fixedly connected to the steering drive mechanism. The first shaft passes through the bearings. The second shaft passes horizontally through the first motor bracket and the hub motors.

4. The intelligent anti-slip operation trolley according to claim 3, characterized in that, The steering drive mechanism includes a first transmission gear, a second transmission gear, a second motor bracket, and a steering drive motor. The center of the first transmission gear is fixedly connected to the other end of the first rotating shaft, and the first transmission gear meshes with the second transmission gear. The center of the second transmission gear is fixedly connected to the drive shaft of the second steering drive motor. The second motor bracket is fixedly installed on the top of the support base plate. The steering drive motor is fixedly installed on the top of the second motor bracket.

5. The intelligent anti-slip operation trolley according to claim 4, characterized in that, The laser sensing module includes two laser sensors, which are fixedly installed on the side of the second motor bracket near the triangular wooden actuator, and the two laser sensors are located on both sides of the control motherboard.

6. The intelligent anti-slip operation trolley according to claim 1, characterized in that, The intelligent anti-slip vehicle also includes an electronic control motherboard bracket for mounting the control motherboard.

7. The intelligent anti-slip operation trolley according to claim 1, characterized in that, The triangular wooden actuator further includes a sliding component, which includes a slide rail and a slider. The slide rail is fixedly installed on one side of the first fixed bracket, and the slider is fixedly installed on the side of the second fixed bracket close to the first fixed bracket. The slide rail and the slider are slidably connected.

8. A control method for an intelligent anti-slippage work trolley, characterized in that, The control method for the intelligent anti-slippage trolley includes the following steps: S10 controls the main board to drive the chassis to the preset return point and puts the triangular wood actuator in a raised state. S20, the control motherboard controls the drive chassis to move in a straight line along the side wall of the tanker truck according to the signal from the laser sensing module, and controls the drive chassis to stop when the gap between the tires of the target vehicle is detected; S30, the main board controls the steering drive mechanism of the drive chassis to make the four wheel hub motors rotate in place, switching the direction of travel to be perpendicular to the neutral position; S40, the main control board controls the drive chassis to travel in a vertical straight line and enter the neutral position between the two tires; S50, the main control board controls the electric control push rod to retract, so that the wedge push block drives the inclined wedge connecting block through the inclined surface, and drives the second fixed bracket to slide vertically downward along the first fixed bracket, and lowers the triangular wood to the ground to complete the deployment; S60, the main control board controls the drive chassis to remain stationary, and continuously monitors the tire position through the laser sensing module. When it detects that the vehicle is slipping, it outputs an alarm signal. S70, after the control motherboard receives the recycling command, it controls the electric push rod to extend, so that the wedge push block drives the inclined wedge connecting block in the opposite direction, causing the second fixed bracket to slide vertically upward along the first fixed bracket, lifting the triangular wood off the ground; S80, the mainboard controls the drive chassis to exit neutral and controls the steering drive mechanism to restore the four wheel hub motors to their initial direction; S90 controls the mainboard to drive the chassis back to the preset return point along the original path.

Images