Limiting structure and unmanned forklift

Abstract

The utility model relates to the technical field of unmanned forklifts, in particular to a limiting structure and an unmanned forklift, which comprise a positioning component, the positioning component comprises a limiting connecting plate, guide joints, a positioning joint and a linkage connecting plate, the guide joints are arranged at two ends of the limiting connecting plate, the positioning joint is arranged on the limiting connecting plate, and the linkage connecting plate is arranged on the limiting connecting plate. A linkage connecting plate is arranged in the positioning connector, the unmanned forklift can autonomously adjust the height of a pallet fork, goods can be stably stacked, the unmanned forklift accurately recognizes and positions the goods through images captured by a network camera by means of a target detection algorithm, and on the basis of target detection, the goods can be accurately and accurately stacked. The depth camera calculates the distance and height between the goods and the camera by applying a triangulation ranging principle and combining with a monocular distance measurement method, so that the height of the pallet fork is automatically adjusted, high-position goods storage and taking are carried out, the effects of efficient operation and high performance are achieved, and the monitoring end detects the forklift in real time so as to reduce the goods damage rate of the unmanned forklift and improve the safety of the unmanned forklift.

Description

Technical Field

[0001] The utility model relates to the technical field of unmanned forklifts, in particular to a limiting structure and an unmanned forklift. Background Art

[0002] Forklifts are one of the most commonly used transport vehicles today. They are various wheeled transport vehicles used for loading and unloading, stacking, short-distance transportation, and heavy object handling of palletized goods.

[0003] In the existing cargo transportation, the cargo is usually transported manually. However, in large transfer stations, manual handling is not efficient. The accuracy of each forklift picking up cargo depends on the skills and accumulated experience of the forklift driver. When the forklift driver works for a long time, he is prone to operating errors, which may cause damage to the cargo. Manual operation not only has high labor costs, but also has limited working hours. Utility Model Content

[0004] The purpose of this section is to summarize some aspects of the embodiments of the utility model and briefly introduce some preferred embodiments. Some simplifications or omissions may be made in this section and the specification abstract and utility model name of this application to avoid blurring the purpose of this section, specification abstract and utility model name, and such simplifications or omissions cannot be used to limit the scope of the utility model.

[0005] In view of the problem that there is no auxiliary limiting structure when performing lifting movement in the above-mentioned or prior art, which is prone to errors, the present utility model is proposed.

[0006] Therefore, the purpose of the present invention is to provide a limiting structure.

[0007] In order to solve the technical problem that there is no auxiliary limiting structure in the above-mentioned prior art during lifting movement, which is prone to errors, the utility model provides the following technical solutions: a limiting structure, including:

[0008] The positioning assembly comprises a limit connecting plate, a guide joint, a positioning joint and a linkage connecting plate. Guide joints are arranged at both ends of the limit connecting plate, a positioning joint is arranged on the limit connecting plate, and a linkage connecting plate is arranged inside the positioning joint.

[0009] As a preferred solution of the limiting structure of the utility model, wherein: the guide joint includes a connecting screw hole and a locking slot, a connecting screw hole is reserved in the guide joint, and a locking slot is provided in the connecting screw hole.

[0010] As a preferred solution of the limiting structure of the utility model, wherein: a fixed bracket is arranged at one end of the linkage connecting plate, a locking connecting arm is arranged on the fixed bracket, and a locking joint is arranged on the locking connecting arm.

[0011] As a preferred solution of the limiting structure of the utility model, wherein: the locking link arm includes a rotating shaft and a reset torsion spring, the locking link arm is provided with a rotating shaft, and the rotating shaft is provided with a reset torsion spring.

[0012] As a preferred solution of the limiting structure of the utility model, a locking groove is provided in the locking joint, the position of the locking joint during installation corresponds to the position of the locking slot, and the locking groove is an inwardly concave arc structure.

[0013] As a preferred solution of the limiting structure of the utility model, wherein: two linkage connecting plates are symmetrically arranged in the positioning joint, and two identically structured ones are symmetrically arranged on the limiting connecting plate of the positioning joint.

[0014] The beneficial effects of the limiting structure of the utility model are:

[0015] Through the trigger structure set on the fork teeth, when the limiting structures driven by the screw are connected to each other, the locking structure set inside the limiting structure will be triggered, and the screws at both ends will be locked by two synchronously moving connecting arms inside. After the screw is locked, since the screw cannot rotate, the difference in rising height caused by the inertia of the fork teeth can be alleviated, which helps to reduce data errors.

[0016] In actual use, the accuracy of picking up goods depends on experience and operational errors are prone to occur.

[0017] In order to solve the above-mentioned technical problem that the accuracy of picking up goods depends on experience and is prone to operational errors, the utility model also provides the following technical solutions: an unmanned forklift, a forklift body, a positioning component is arranged on the forklift body, the forklift body comprises a lifting track, a transport fork and a limiting top plate, a lifting track is arranged on the forklift body, a transport fork is arranged on the lifting track, and a limiting top plate is arranged on the transport fork.

[0018] As a preferred solution of the unmanned forklift of the utility model, the forklift body also includes a camera module, a drive motor and a connecting screw, the camera module is arranged on the outside of the lifting track, the drive motor is arranged inside the lifting track, and the drive motor is arranged on the connecting screw.

[0019] As a preferred solution of the unmanned forklift of the utility model, wherein: two mutually symmetrical trigger joints are arranged on the limit top plate, and the size of the limit top plate is adapted to the size of the lifting track.

[0020] As a preferred solution of the unmanned forklift of the utility model, wherein: the camera module is electrically connected to the driving motor, the camera module is electrically connected to the transport fork teeth, and the camera module is electrically connected to the forklift body.

[0021] Beneficial effects of the unmanned forklift of the utility model:

[0022] The unmanned forklift can autonomously adjust the height of the fork so that the goods can be stacked stably. The unmanned forklift uses the images captured by the network camera and the target detection algorithm to accurately identify and locate the goods. On the basis of target detection, the depth camera uses the triangulation principle and integrates the monocular ranging method to calculate the distance and height between the goods and the camera, so as to autonomously adjust the height of the fork and store and retrieve high-level goods, achieving efficient operation and high performance. Of course, the unmanned forklift also has the functions of route planning and obstacle avoidance. The monitoring end performs real-time detection on the forklift to reduce the cargo damage rate of the unmanned forklift and improve the safety of the unmanned forklift. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] In order to more clearly illustrate the technical solutions of the embodiments of the present utility model, the following is a brief introduction to the drawings required for the description of the embodiments. Obviously, the drawings described below are only some embodiments of the present utility model. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work. Among them:

[0024] Figure 1 It is a schematic diagram of the overall structure of the utility model;

[0025] Figure 2 It is a schematic diagram of the overall structure of the positioning component;

[0026] Figure 3 It is a schematic diagram of the overall structure of the locking connecting arm;

[0027] Figure 4 It is a schematic diagram of the working state structure of the locking connecting arm;

[0028] Figure 5 This is a schematic diagram of the structure of the unmanned forklift control module;

[0029] Figure 6 A schematic diagram of the workflow structure. DETAILED DESCRIPTION

[0030] In order to make the above-mentioned purposes, features and advantages of the present invention more obvious and easy to understand, the specific implementation methods of the present invention are described in detail below in conjunction with the accompanying drawings.

[0031] In the following description, many specific details are set forth to facilitate a full understanding of the present invention, but the present invention may also be implemented in other ways different from those described herein, and those skilled in the art may make similar generalizations without violating the connotation of the present invention. Therefore, the present invention is not limited to the specific embodiments disclosed below.

[0032] Secondly, the term "one embodiment" or "embodiment" as used herein refers to a specific feature, structure or characteristic that may be included in at least one implementation of the present invention. The term "in one embodiment" that appears in different places in this specification does not necessarily refer to the same embodiment, nor is it an embodiment that is mutually exclusive with other embodiments, either individually or selectively.

[0033] Example 1

[0034] Reference Figure 1 and Figure 2 , which is the first embodiment of the utility model. This embodiment provides a limiting structure, which enables an unmanned forklift to autonomously adjust the height of the fork so that the goods can be stably stacked. The unmanned forklift uses the image captured by the network camera and uses the target detection algorithm to accurately identify and locate the goods. On the basis of target detection, the depth camera uses the triangulation distance measurement principle and integrates the monocular distance measurement method to calculate the distance height between the goods and the camera, so as to autonomously adjust the height of the fork and perform high-level goods storage and retrieval to achieve efficient operation and high performance. Of course, the unmanned forklift also has the functions of route planning and obstacle avoidance. The monitoring end detects the forklift in real time to reduce the damage rate of the unmanned forklift and improve the safety of the unmanned forklift. It includes a forklift body 200, and a positioning component 100 is arranged on the forklift body 200. The forklift body 200 includes a lifting track 201, a transport fork tine 205 and a limiting top plate 206. The forklift body 200 is provided with a lifting track 201, and the lifting track 201 is provided with a transport fork tine 205. The transport fork tine 205 is provided with a limiting top plate 206;

[0035] Preferably, the forklift body 200 further includes a camera module 202, a drive motor 203 and a connecting screw 204. The camera module 202 is arranged on the outer side of the lifting track 201, and the drive motor 203 is arranged inside the lifting track 201. The connecting screw 204 is arranged on the drive motor 203. The drive motor 203 is controlled to work by the data collected by the camera module 202. The drive motor 203 drives the connecting screw 204 to move, and drives the structure connected thereto to move up and down.

[0036] Furthermore, two symmetrical trigger joints 207 are provided on the limiting top plate 206, and the size of the limiting top plate 206 is adapted to the size of the lifting track 201. Through the mutually adapted trigger joints 207 and positioning joints 103, the mutual structures can be better connected and installed, thereby improving the accuracy of installation.

[0037] When in use, relevant data is collected through the camera module 202, and the forklift body 200 is driven to move through the driving structure inside the forklift body 200. When the forklift body 200 moves to the cargo position, the transport fork tine 205 at the lower end contacts the cargo pallet and identifies the height of the cargo placement position. After identification, the drive motor 203 drives the positioning assembly 100 to move through the connecting screw 204, so that it is transported to the end of the lifting position of the lower transport fork tine 205 to help limit it.

[0038] Example 2

[0039] Reference Figure 2-Figure 4 , which is the second embodiment of the utility model. Different from the previous embodiment, this embodiment provides a limiting structure, which solves the problem that there is no auxiliary limiting structure during lifting and lowering movement, and errors are prone to occur. It includes a positioning assembly 100, which includes a limiting connecting plate 101, a guide joint 102, a positioning joint 103 and a linkage connecting plate 104. The limiting connecting plate 101 is provided with guide joints 102 at both ends, the limiting connecting plate 101 is provided with a positioning joint 103, and the positioning joint 103 is provided with a linkage connecting plate 104;

[0040] Preferably, the guide joint 102 includes a connecting screw hole 102a and a locking slot 102b. The connecting screw hole 102a is reserved in the guide joint 102, and a locking slot 102b is provided in the connecting screw hole 102a. A fixing bracket 105 is provided at one end of the linkage connecting plate 104, and a locking connecting arm 106 is provided on the fixing bracket 105. A locking joint 107 is provided on the locking connecting arm 106. Through the connection between the connecting screw hole 102a inside the guide joint 102 and the connecting screw 204, the limiting connecting plate 101 can be driven to rise and fall through threaded movement. At the same time, the locking slot 102b provided inside the connecting screw hole 102a can allow the locking joint 107 to extend, and the connecting screw 204 is locked and limited by the locking groove 107a on the locking joint 107, which helps to improve the accuracy of lifting.

[0041] Furthermore, the locking link arm 106 includes a rotating shaft 106a and a reset torsion spring 106b. The locking link arm 106 is provided with a rotating shaft 106a, and the rotating shaft 106a is provided with a reset torsion spring 106b. By rotating the reset torsion spring 106b on the rotating shaft 106a, the locking link arm 106 can be moved outward in an untriggered state, so that the distance between the locking joints 107 is increased, and the connecting screw 204 can be better moved.

[0042] Furthermore, a locking groove 107a is provided in the locking joint 107, and the position of the locking joint 107 during installation corresponds to the position of the locking slot 102b. The locking groove 107a is an inwardly recessed arc structure. Two linkage connecting plates 104 are symmetrically arranged in the positioning joint 103, and the positioning joint 103 is symmetrically arranged with two identical structures on the limiting connecting plate 101. Through the two symmetrical groups of structures, the connecting screws 204 on both sides can be locked and fixed at the same time when triggered to prevent one end from being unlocked, which may cause the transport fork tine 205 to deviate, thereby better ensuring the stability when transporting goods.

[0043] When in use, with the cooperation of the connecting screw 204 and the connecting screw hole 102a, the limiting connecting plate 101 is driven to move up and down. When the trigger joint 207 enters the interior of the positioning joint 103, it will contact with the linkage connecting plate 104 arranged inside the positioning joint 103. When the linkage connecting plate 104 is subjected to external force, it will move to both sides, squeezing the fixed bracket 105 to move inward, and driving the locking arm 106 to rotate by rotating the rotating shaft 106a, so that the locking joint 107 connected to one end of the locking arm 106 will extend outward from the locking slot 102b, and contact with the connecting screw 204 through the locking groove 107a to lock it.

[0044] Example 3

[0045] Reference Figure 5 and Figure 6 , which is the third embodiment of the utility model. Different from the previous embodiment, this embodiment solves the problem that the accuracy of picking up goods depends on experience and is prone to operating errors. It includes an electrical connection between the camera module 202 and the driving motor 203, an electrical connection between the camera module 202 and the transport fork tine 205, and an electrical connection between the camera module 202 and the forklift body 200;

[0046] A distance measurement module, a motion module and a monitoring module are arranged in the forklift body 200. The distance measurement module also includes an inertial measurement unit for measuring the angular velocity and acceleration of the forklift, a wheel speed sensor for estimating the travel distance and direction of the forklift, and a depth camera for directly acquiring the depth information of objects in the scene. The motion module includes a start-stop device for starting and stopping the forklift, a moving object acquisition and capture module for capturing moving objects on the forklift's travel path, an autonomous navigation for path navigation, a navigation-based path planning module, an anti-collision module for anti-collision protection of the forklift, a fork control module for forklift pickup, and a central processor for motion module management. The monitoring module includes a main control device for controlling the detection module, a four-bit camera for monitoring the path conditions, a wireless control terminal for communicating with the monitoring terminal, and a differential navigation device for conventional path navigation. A monitoring terminal is also provided to monitor the forklift body 200, and the monitoring terminal is provided with a controller, an image receiver, a remote controller and a GPS positioning device.

[0047] Preferably, the controller is used to receive various parameters when the unmanned forklift is in motion, including the start-stop number of the start-stop device, whether the autonomous navigation is normal, the number of paths planned by the path planning module, whether the anti-collision module is started, whether the fork control module is normal, the start-stop number of the start-stop device, whether the autonomous navigation is normal, the number of paths planned by the path planning module, whether the anti-collision module is started, and whether the fork control module is normal. The above signals are all transmitted by the central processor to the monitoring end;

[0048] Furthermore, the start-stop device mainly controls the power system, circuit system and speed control system of the unmanned forklift. The autonomous navigation is communicated with the detection module, the distance measurement module is communicated with the fork control module, and the inertial measurement unit includes three single-axis accelerometers and three single-axis gyroscopes.

[0049] When in use, the inertial measurement unit IMU used to measure the angular velocity and acceleration of the forklift, initialize the IMU, calibrate its sensor to obtain accurate acceleration and angular velocity data, by integrating the acceleration data, the speed change of the object can be estimated, and then the position change of the object can be estimated, combined with the angular velocity data, the posture change of the object can be estimated, the wheel speed sensor used to estimate the travel distance and direction of the forklift, by reading the data of the wheel speed sensor, the wheel speed information can be obtained, according to the wheel speed and wheel radius, the wheel linear speed can be calculated, combined with the vehicle's driving time, the distance traveled by the vehicle can be estimated, the depth camera used to directly obtain the depth information of objects in the scene, for the binocular camera, by finding the same feature points in the two images to obtain matching points, the depth information of the target point is calculated using the triangulation principle, for the structured light camera, the projected coded light source and the depth sensor are used to obtain the image modulated by the depth of the object surface, and then the depth information is calculated, the data of the depth camera is fused with the monocular ranging algorithm or the data of the IMU / wheel speed sensor, a more accurate and robust ranging result can be obtained, the start-stop device used to start and stop the forklift, used for forklift A moving object acquisition and capture module for capturing moving objects on the driving path, an autonomous navigation for path navigation, a navigation-based path planning module, an anti-collision module for anti-collision protection of forklifts, a fork control module for forklifts to pick up goods, a central processor for motion module management, a main control device for controlling the detection module, a wireless control terminal for communicating with the monitoring end, a differential navigation device for conventional path navigation, the monitoring end includes a controller, an image receiver, a remote controller and a GPS positioning device, the monitoring module is equivalent to a control terminal, and can detect the operation status and position of each forklift in real time on the monitoring module to ensure the safe operation of the unmanned forklift, the controller is used to receive various parameters when the unmanned forklift is moving, including processing information provided by the ranging module, the start and stop times of the start and stop device of the motion module, whether the autonomous navigation is normal, the number of paths planned by the path planning module, whether the anti-collision module is started, whether the fork control module is normal, the start and stop times of the start and stop device, whether the autonomous navigation is normal, the number of paths planned by the path planning module, whether the anti-collision module is started, and whether the fork control module is normal. The above signals are all transmitted to the monitoring end by the central processor.

[0050] Importantly, it should be noted that the construction and arrangement of the present application shown in a number of different exemplary embodiments are only exemplary. Although only a few embodiments are described in detail in this disclosure, it should be readily understood by those who refer to this disclosure that many modifications are possible, for example, the size, scale, structure, shape and proportion of various elements, and parameter values ​​such as temperature, pressure, etc., mounting arrangements, use of materials, color, directional changes, etc., without substantially departing from the novel teachings and advantages of the subject matter described in the application. For example, the element shown as integrally formed can be composed of multiple parts or elements, the position of the element can be inverted or otherwise changed, and the nature or number or position of the discrete element can be changed or changed. Therefore, all such modifications are intended to be included in the scope of the present utility model. The order or sequence of any process or method steps can be changed or reordered according to alternative embodiments. In the claims, any "device plus function" clause is intended to cover the structure of the execution function described herein, and is not only structurally equivalent but also equivalent structure. Without departing from the scope of the present utility model, other replacements, modifications, changes and omissions can be made in the design, operating conditions and arrangement of the exemplary embodiments. Therefore, the invention is not limited to a specific embodiment, but extends to several modifications still falling within the scope of the appended claims.

[0051] Furthermore, in order to provide a concise description of exemplary embodiments, all features of an actual embodiment may not be described, i.e., those features that are not relevant to the best mode presently contemplated for carrying out the invention or those features that are not relevant to implementing the invention.

[0052] It should be understood that in the development of any actual implementation, as in any engineering or design project, numerous implementation-specific decisions may be made. Such a development effort may be complex and time-consuming, but for those of ordinary skill having the benefit of this disclosure, the development effort will be a routine task of design, fabrication, and production without undue experimentation.

[0053] It should be noted that the above embodiments are only used to illustrate the technical solution of the utility model rather than to limit it. Although the utility model has been described in detail with reference to the preferred embodiments, ordinary technicians in the field should understand that the technical solution of the utility model can be modified or replaced by equivalents without departing from the spirit and scope of the technical solution of the utility model, which should be included in the scope of the claims of the utility model.

Claims

1. A limiting structure, characterized in that: include, A positioning assembly (100), the positioning assembly (100) comprising a limit connecting plate (101), a guide joint (102), a positioning joint (103) and a linkage connecting plate (104), the limit connecting plate (101) being provided with guide joints (102) at both ends, the limit connecting plate (101) being provided with a positioning joint (103), and the linkage connecting plate (104) being provided inside the positioning joint (103).

2. The limiting structure according to claim 1, characterized in that: The guide joint (102) comprises a connecting screw hole (102a) and a locking slot (102b); a connecting screw hole (102a) is reserved in the guide joint (102), and a locking slot (102b) is provided in the connecting screw hole (102a).

3. The limiting structure according to claim 1, characterized in that: A fixing bracket (105) is provided at one end of the linkage connecting plate (104), a locking connecting arm (106) is provided on the fixing bracket (105), and a locking joint (107) is provided on the locking connecting arm (106).

4. The limiting structure according to claim 3, characterized in that: The locking connecting arm (106) comprises a rotating shaft (106a) and a return torsion spring (106b). The locking connecting arm (106) is provided with a rotating shaft (106a), and the rotating shaft (106a) is provided with a return torsion spring (106b).

5. The limiting structure according to claim 3, characterized in that: A locking groove (107a) is provided in the locking joint (107); the position of the locking joint (107) during installation corresponds to the position of the locking slot (102b); and the locking groove (107a) is an inwardly concave arc-shaped structure.

6. The limiting structure according to claim 5, characterized in that: Two linkage connecting plates (104) are symmetrically arranged in the positioning joint (103), and two positioning joints (103) with the same structure are symmetrically arranged on the limiting connecting plates (101).

7. An unmanned forklift, characterized in that: It comprises the limiting structure as described in any one of claims 1 to 6, and a forklift body (200), wherein the forklift body (200) is provided with a positioning assembly (100), the forklift body (200) comprises a lifting track (201), a transport fork (205) and a limiting top plate (206), the forklift body (200) is provided with a lifting track (201), the lifting track (201) is provided with a transport fork (205), and the transport fork (205) is provided with a limiting top plate (206).

8. The unmanned forklift according to claim 7, characterized in that: The forklift body (200) further comprises a camera module (202), a drive motor (203) and a connecting screw (204); the camera module (202) is arranged on the outside of the lifting track (201); the drive motor (203) is arranged inside the lifting track (201); and the connecting screw (204) is arranged on the drive motor (203).

9. The unmanned forklift according to claim 8, characterized in that: The position-limiting top plate (206) is provided with two mutually symmetrical trigger joints (207), and the size of the position-limiting top plate (206) is adapted to the size of the lifting track (201).

10. The unmanned forklift according to claim 8, characterized in that: The camera module (202) is electrically connected to the driving motor (203), the camera module (202) is electrically connected to the transport fork teeth (205), and the camera module (202) is electrically connected to the forklift body (200).

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