Small-size tray type forklift for roadway

Abstract

The utility model relates to the technical field of carrying tools, in particular to a small-size tray type forklift for roadways, which comprises a forklift body, a positioning radar is arranged at the top end of the forklift body, a visual camera is arranged above the surface of the back of the forklift body, and a tooth root photoelectric device is arranged below the surface of the back of the forklift body. A first fork arm is connected to one side of the forklift body, a tooth tip camera is arranged in one end of the first fork arm, and a second fork arm is connected to the other side of the forklift body. The relative position of the unmanned forklift in the whole dispatching space is monitored in real time through the positioning radar, the unmanned forklift can sense and control the external environment and the state performance of the unmanned forklift in a narrow roadway, the safety of forklift operation is guaranteed, the unmanned forklift can well sense the state of the unmanned forklift and the external environment information, and the unmanned forklift is convenient to use. And safer control on the whole vehicle is realized based on sensor information data.

Description

Technical Field

[0001] The utility model relates to the technical field of transport tools, in particular to a small-volume pallet forklift used in lanes. Background Art

[0002] A forklift is an industrial handling vehicle, which refers to various wheeled handling vehicles that are used for loading and unloading, stacking and short-distance transportation of palletized goods. Pallet forklifts are generally divided into manual pallet forklifts and electric pallet forklifts. They are both means of transportation and are generally used for unloading and loading goods. They are small and flexible and can be used in almost any place.

[0003] When using the existing pallet forklift, the function of the pallet forklift is to use the fork as a picking device, and the vehicle can lift the goods to a certain height and transport them. Given that the aisle space in some application scenarios is narrow, the unmanned forklift cannot obtain external environmental information and its own status, making it impossible to ensure the forklift's safe driving in the aisle. Utility Model Content

[0004] The purpose of the utility model is to provide a small-volume pallet forklift for use in alleys, so as to solve the problem raised in the above-mentioned background technology that due to the narrow space of the alleys in some application scenarios, the unmanned forklift cannot obtain external environment information and its own status, making it impossible to ensure the safe driving of the forklift in the alley.

[0005] To achieve the above-mentioned purpose, the utility model provides the following technical solution, a small-volume pallet forklift for lanes, comprising a forklift body:

[0006] A positioning radar is arranged at the top of the forklift body, a visual camera is arranged above the back surface of the forklift body, a tooth root photoelectric is arranged below the back surface of the forklift body, a first fork arm is connected to one side of the forklift body, a tooth tip camera is arranged inside one end of the first fork arm, a second fork arm is connected to the other side of the forklift body, a tooth tip photoelectric is inserted inside one end of the second fork arm, an upper limit switch of the fork arm is arranged above the inside of the forklift body, a lower limit switch of the fork arm is arranged below the inside of the forklift body, a safety touch edge is arranged on the bottom surface of the forklift body, a laser obstacle avoidance radar is arranged on the surface of the forklift body, and a three-dimensional obstacle avoidance camera is arranged on one side of the top of the forklift body.

[0007] Preferably, the positioning radar is used to monitor the relative position of the unmanned forklift in the entire scheduling space in real time, and the visual camera is used to detect the actual position of the pallet in front of the first fork arm and the second fork arm relative to the first fork arm and the second fork arm.

[0008] Preferably, the tooth root photoelectric device is used to detect whether there is cargo on the first fork arm and the second fork arm, and the tooth tip camera is used for three-dimensional obstacle avoidance in the direction of the first fork arm and the second fork arm.

[0009] Preferably, rollers are provided at the bottom of the first fork arm and the second fork arm, and the tooth tip photoelectric is used to prevent the first fork arm and the second fork arm from colliding with a pallet or other obstacles.

[0010] Preferably, the fork arm upper limit switch is used to detect and limit the highest lifting position of the first fork arm and the second fork arm, and the fork arm lower limit switch is used to detect and limit the lowest lifting position of the first fork arm and the second fork arm.

[0011] Preferably, the safety touch edge is used for passive mechanical protection in the direction of the front of the forklift body, and the laser obstacle avoidance radar is used for active plane protection in the direction of the front of the forklift body.

[0012] Preferably, the stereoscopic obstacle avoidance camera itself is made of elastic material, and is used for stereoscopic protection in the front direction of the forklift body.

[0013] Compared with the prior art, the beneficial effects of the utility model are:

[0014] 1. The relative position of the unmanned forklift in the entire dispatching space is monitored in real time by the positioning radar, and the visual camera is used to detect the actual position of the pallet in front of the first fork and the second fork relative to the first fork and the second fork, and the root photoelectric is used to detect whether there is any cargo on the first fork and the second fork, the tip camera is used for three-dimensional obstacle avoidance in the direction of the first fork and the second fork, and rollers are provided at the bottom of the first fork and the second fork to assist in movement, and the tip photoelectric is used to prevent the first fork and the second fork from hitting the pallet or other obstacles, and the fork upper limit switch is used to detect and limit the highest position of the first fork and the second fork when adjusting, and the fork lower limit switch is used to detect and limit the first The fork arm and the second fork arm are lifted to the lowest position, and the lifting of the first fork arm and the second fork arm is limited in cooperation with the fork arm upper limit switch, and the safety touch edge is used for passive mechanical protection in the direction of the front of the forklift body, and the laser obstacle avoidance radar is used to perform active planar protection in the direction of the front of the forklift body, and the three-dimensional obstacle avoidance camera is used for three-dimensional protection in the direction of the front of the forklift body, so that it cooperates with the safety touch edge and the laser obstacle avoidance radar to realize the perception and control of the external environment and its own state performance of the unmanned forklift in narrow aisles, ensure the safety of forklift operation, enable the unmanned forklift to better perceive its own state and external environment information, and achieve safer control of the entire vehicle based on sensor information data. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Figure 1 It is a front view stereoscopic schematic diagram of the structure of the utility model;

[0016] Figure 2 It is a schematic diagram of a side cutaway perspective view of the structure of the utility model;

[0017] Figure 3 For this utility model Figure 1 A in the middle is an enlarged three-dimensional schematic diagram of the structure;

[0018] Figure 4 For this utility model Figure 1 The enlarged three-dimensional schematic diagram of the structure at B in the middle;

[0019] Figure 5 For this utility model Figure 2 Enlarged schematic diagram of the structure at point C in the middle.

[0020] In the figure: 1. Forklift body; 2. Positioning radar; 3. Visual camera; 4. Tooth root photoelectric; 5. First fork arm; 6. Tooth tip camera; 7. Second fork arm; 8. Tooth tip photoelectric; 9. Fork arm upper limit switch; 10. Fork arm lower limit switch; 11. Safety touch edge; 12. Laser obstacle avoidance radar; 13. Three-dimensional obstacle avoidance camera. DETAILED DESCRIPTION

[0021] The following will be combined with the drawings in the embodiments of the utility model to clearly and completely describe the technical solutions in the embodiments of the utility model. Obviously, the described embodiments are only part of the embodiments of the utility model, not all of the embodiments. Based on the embodiments in the utility model, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the utility model.

[0022] See also Figure 1-5 , an embodiment provided by the utility model:

[0023] A small-volume pallet forklift for use in lanes, comprising a forklift body 1:

[0024] A positioning radar 2 is arranged at the top of the forklift body 1, a visual camera 3 is arranged above the back surface of the forklift body 1, a tooth root photoelectric 4 is arranged below the back surface of the forklift body 1, a first fork arm 5 is connected to one side of the forklift body 1, and a tooth tip camera 6 is arranged inside one end of the first fork arm 5, a second fork arm 7 is connected to the other side of the forklift body 1, and a tooth tip photoelectric 8 is inserted inside one end of the second fork arm 7, a fork arm upper limit switch 9 is arranged above the inside of the forklift body 1, and a fork arm lower limit switch 10 is arranged below the inside of the forklift body 1, a safety touch edge 11 is arranged on the bottom surface of the forklift body 1, a laser obstacle avoidance radar 12 is arranged on the surface of the forklift body 1, and a stereo obstacle avoidance camera 13 is arranged on one side of the top of the forklift body 1. The electronic components in the forklift body 1 are existing technologies and can be purchased on the market. They are not used as technical protection points of this application, and therefore, no excessive statements are made.

[0025] Furthermore, the positioning radar 2 is used to monitor the relative position of the unmanned forklift in the entire scheduling space in real time, and the visual camera 3 is used to detect the actual position of the pallet in front of the first fork arm 5 and the second fork arm 7 relative to the first fork arm 5 and the second fork arm 7, so as to detect the relative position of the first fork arm 5 and the second fork arm 7 and the pallet through the visual camera 3.

[0026] Furthermore, the tooth root photoelectric device 4 is used to detect whether there are goods on the first fork arm 5 and the second fork arm 7, and the tooth tip camera 6 is used for three-dimensional obstacle avoidance in the direction of the first fork arm 5 and the second fork arm 7, thereby realizing three-dimensional obstacle avoidance in the direction of the first fork arm 5 and the second fork arm 7 through the tooth tip camera 6.

[0027] Furthermore, rollers are provided at the bottom of the first fork arm 5 and the second fork arm 7, and the tooth tip photoelectric 8 is used to prevent the first fork arm 5 and the second fork arm 7 from colliding with a pallet or other obstacles, thereby preventing the first fork arm 5 and the second fork arm 7 from colliding with obstacles through the tooth tip photoelectric 8.

[0028] Furthermore, the fork arm upper limit switch 9 is used to detect and limit the highest lifting position of the first fork arm 5 and the second fork arm 7, and the fork arm lower limit switch 10 is used to detect and limit the lowest lifting position of the first fork arm 5 and the second fork arm 7, thereby realizing the detection and limitation of the lifting of the first fork arm 5 and the second fork arm 7 by cooperating with the fork arm lower limit switch 10 and the fork arm upper limit switch 9.

[0029] Furthermore, the safety touch edge 11 is used for passive mechanical protection in the front direction of the forklift body 1, and the laser obstacle avoidance radar 12 is used for active plane protection in the front direction of the forklift body 1, thereby realizing active plane protection in the front direction of the forklift body 1.

[0030] Furthermore, the three-dimensional obstacle avoidance camera 13 itself is configured to be made of elastic material, and the three-dimensional obstacle avoidance camera 13 is used for three-dimensional protection of the front direction of the forklift body 1 , thereby achieving a three-dimensional protection effect on the front direction of the forklift body 1 .

[0031] Working principle: When a small-volume pallet forklift is used, the relative position of the unmanned forklift in the entire scheduling space is monitored in real time by the positioning radar 2, and the visual camera 3 is used to detect the actual position of the pallet in front of the first fork arm 5 and the second fork arm 7 relative to the first fork arm 5 and the second fork arm 7, and the root photoelectric 4 is used to detect whether there is any cargo on the first fork arm 5 and the second fork arm 7, the tooth tip camera 6 is used for three-dimensional obstacle avoidance in the direction of the first fork arm 5 and the second fork arm 7, and rollers are provided at the bottom of the first fork arm 5 and the second fork arm 7 to assist in movement, and the tooth tip photoelectric 8 is used to prevent the first fork arm 5 and the second fork arm 7 from colliding with the pallet or other obstacles, and the fork arm upper limit switch 9 is used to detect and limit the first fork arm 5 and the second fork arm 7 during adjustment. The first fork arm 5 and the second fork arm 7 are lifted to the highest position, and the fork arm lower limit switch 10 detects and limits the lowest position of the first fork arm 5 and the second fork arm 7, and cooperates with the fork arm upper limit switch 9 to limit the lifting of the first fork arm 5 and the second fork arm 7. The safety touch edge 11 is used for passive mechanical protection in the front direction of the forklift body 1, and the laser obstacle avoidance radar 12 is used to perform active planar protection in the front direction of the forklift body 1. The three-dimensional obstacle avoidance camera 13 is used for three-dimensional protection in the front direction of the forklift body 1, so that it cooperates with the safety touch edge 11 and the laser obstacle avoidance radar 12 to realize the perception and control of the external environment and its own state performance by the unmanned forklift in narrow alleys, thereby ensuring the safety of forklift operation.

[0032] It is obvious to those skilled in the art that the present invention is not limited to the details of the exemplary embodiments described above, and that the present invention can be implemented in other specific forms without departing from the spirit or essential features of the present invention. Therefore, the embodiments should be regarded as exemplary and non-restrictive from any point of view, and the scope of the present invention is defined by the appended claims rather than the above description, and it is intended that all changes falling within the meaning and scope of the equivalent elements of the claims be included in the present invention. Any reference numeral in a claim should not be regarded as limiting the claim to which it relates.

Claims

1. A small-volume pallet forklift for use in lanes, comprising a forklift body (1), characterized in that: The forklift body (1) is provided with a positioning radar (2) at the top, a visual camera (3) is provided above the back surface of the forklift body (1), a tooth root photoelectric (4) is provided below the back surface of the forklift body (1), a first fork arm (5) is connected to one side of the forklift body (1), a tooth tip camera (6) is provided inside one end of the first fork arm (5), a second fork arm (7) is connected to the other side of the forklift body (1), a tooth tip photoelectric (8) is inserted inside one end of the second fork arm (7), a fork arm upper limit switch (9) is provided above the inside of the forklift body (1), a fork arm lower limit switch (10) is provided below the inside of the forklift body (1), a safety touch edge (11) is provided on the bottom surface of the forklift body (1), a laser obstacle avoidance radar (12) is provided on the surface of the forklift body (1), and a stereo obstacle avoidance camera (13) is provided on one side of the top of the forklift body (1).

2. A small-volume pallet forklift for use in lanes according to claim 1, characterized in that: The positioning radar (2) is used to monitor the relative position of the unmanned forklift in the entire dispatching space in real time, and the visual camera (3) is used to detect the actual position of the pallet in front of the first fork arm (5) and the second fork arm (7) relative to the first fork arm (5) and the second fork arm (7).

3. A small-volume pallet forklift for use in lanes according to claim 1, characterized in that: The tooth root photoelectric device (4) is used to detect whether there is any cargo on the first fork arm (5) and the second fork arm (7), and the tooth tip camera (6) is used for three-dimensional obstacle avoidance in the direction of the first fork arm (5) and the second fork arm (7).

4. A small-volume pallet forklift for use in lanes according to claim 1, characterized in that: Rollers are arranged at the bottom of the first fork arm (5) and the second fork arm (7), and the tooth tip photoelectric device (8) is used to prevent the first fork arm (5) and the second fork arm (7) from colliding with a tray or other obstacles.

5. The small-volume pallet forklift for lane according to claim 1, characterized in that: The fork arm upper limit switch (9) is used to detect and limit the highest lifting position of the first fork arm (5) and the second fork arm (7), and the fork arm lower limit switch (10) is used to detect and limit the lowest lifting position of the first fork arm (5) and the second fork arm (7).

6. A small-volume pallet forklift for use in lanes according to claim 5, characterized in that: The safety touch edge (11) is used for passive mechanical protection in the front direction of the forklift body (1), and the laser obstacle avoidance radar (12) is used for active plane protection in the front direction of the forklift body (1).

7. A small-volume pallet forklift for use in lanes according to claim 5, characterized in that: The three-dimensional obstacle avoidance camera (13) itself is configured to be made of an elastic material, and the three-dimensional obstacle avoidance camera (13) is used for three-dimensional protection of the front direction of the forklift body (1).

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