Forklift type AGV warehouse location system
By combining vision and laser sensors, the AGV forklift has achieved efficient and precise cargo stacking and stacking, solving the problems of low efficiency, high safety hazards and wasted space in existing technologies, and increasing warehouse capacity.
Patent Information
- Application Number
- CN202423300269.X
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- Filing Date
- 2024-12-31
- Publication Date
- 2025-11-14
- Estimated Expiration
- 2034-12-31
AI Technical Summary
Existing AGV forklift systems are inefficient, lack precision, pose significant safety hazards, and occupy warehouse space, resulting in reduced warehouse capacity.
By combining vision sensors and laser sensors, the vision sensors identify the height and position of goods, while the laser sensors prevent collisions, thus controlling the AGV forklift to accurately stack and pile up goods.
It enables efficient and precise stacking and storage of goods, reducing space waste and improving safety and warehouse capacity.
Smart Images
Figure CN223547675U_ABST
Abstract
Description
Technical Field
[0001] This utility model relates to the field of AGV technology, and in particular to a forklift-type AGV warehouse storage system. Background Technology
[0002] Existing manual forklifts have problems such as low efficiency, insufficient precision and accuracy, significant safety hazards, and high costs when stacking goods. In order to improve the efficiency and safety of goods stacking and reduce the operating costs of enterprises, using AGV forklifts to stack goods in warehouses to replace manual forklifts has become a trend.
[0003] Existing AGV forklift systems only consider the flat placement of goods. Flat placement of goods involves AGV forklifts moving palletized goods to a designated area in the warehouse and placing them on a flat surface. In this case, AGV lanes must be reserved next to the storage location so that AGV forklifts can pass through the lanes to put the goods into the designated storage location. However, in reality, the warehouse area of the client company is limited, and reserving AGV lanes will occupy a lot of warehouse space, resulting in a decrease in warehouse capacity instead of an increase. Utility Model Content
[0004] To overcome the problems existing in the prior art, this utility model constructs a warehouse location system based on visual sensors, which uses visual sensors to identify the height information of goods and realize the stacking of goods.
[0005] The technical solution adopted in this utility model is as follows: a forklift-type AGV warehouse location system, comprising: an AGV forklift, a controller, and a vision sensor, wherein the AGV forklift and the vision sensor are electrically connected to the controller; wherein...
[0006] A vision sensor is used to generate a pallet positioning signal;
[0007] The controller receives the pallet positioning signal from the vision sensor to generate a pallet placement signal;
[0008] The AGV forklift receives the lifting and lowering signals from the controller to generate lifting and lowering actions when it arrives at the storage location.
[0009] Furthermore, it also includes: a laser sensor, which is electrically connected to the controller; wherein,
[0010] Laser sensors are used to measure the distance between the AGV forklift and its surroundings to generate distance signals;
[0011] The controller receives distance signals from the laser sensor to generate driving signals;
[0012] The AGV forklift receives driving signals from the controller to generate forward, backward, and turning movements.
[0013] Furthermore, it also includes: a server, which is electrically connected to the controller, and is used to store the location information of the goods to be placed.
[0014] Furthermore, a communication module is provided between the server and the controller for data transmission between them.
[0015] Furthermore, the communication modules include: a 5G module, a 4G module, a Bluetooth module, and a ZigBee module.
[0016] Furthermore, the controllers include: microcontrollers, MCU controllers, and PLC controllers.
[0017] Furthermore, the laser sensor model is SICK S30B-3011GB.
[0018] Furthermore, the vision sensor is model FHV7.
[0019] Furthermore, it also includes a power module, which supplies power to the controller, vision sensor, and laser sensor.
[0020] Furthermore, it also includes a display module, which is used to display the quantity and location information of goods stacked in the storage location.
[0021] The beneficial effects of this utility model are:
[0022] 1. By using vision sensors to generate pallet positioning signals, the height, front, back, left and right position information of the goods to be stacked can be accurately identified. The controller controls the AGV forklift to move accurately to lift or lower the goods to the designated storage location and accurately lay and stack the goods.
[0023] 2. High-precision laser sensors can accurately control the movement of AGV forklifts and avoid collisions. Attached Figure Description
[0024] Figure 1 This is a connection diagram of the forklift-type AGV warehouse location system of this utility model;
[0025] Figure 2 This is a schematic diagram of the existing AGV warehouse storage locations.
[0026] Figure 3 This is a schematic diagram of the utility model laid flat;
[0027] Figure 4 This is a stacking diagram of the present invention;
[0028] Figure 5 This is a schematic diagram of the stacking mode of this utility model for retrieving goods. Detailed Implementation
[0029] The present invention will now be described in further detail with reference to the accompanying drawings.
[0030] like Figure 2 As shown, existing AGV forklifts transport palletized goods to a designated area in the warehouse and lay them out flat. An AGV passage is reserved next to the storage location so that the AGV forklifts can pass through the passage to lay the goods flat in the designated storage location. It can be seen that in this mode, the AGV passage cannot be utilized and the flat laying out results in a huge waste of space.
[0031] like Figure 3 This is a diagram illustrating the flat placement of goods without reserving an AGV passageway. Figure 2 The comparison shows that more goods can be laid flat; each column is a lane, and the AGV places the goods from the inside out when picking up and putting them in, that is, first put the innermost cell, then the second to last cell, the third cell, and so on.
[0032] Figure 4 This is a schematic diagram of the cargo stacking mode. Figure 4 There are multiple stacks of goods in storage locations 1, 2, and 3. When goods are stacked, the accuracy of the stacking position of the goods is crucial. If the stacks are not aligned, it will result in wasted space and the risk of the goods collapsing.
[0033] Figure 4 When stacking, place the first layer in the innermost cell of the aisle, then the second layer in the innermost cell, and so on; place the first layer in the second-to-last cell, then the second layer in the second-to-last cell, and so on; until the last layer in the outermost cell is placed in the second aisle, following the same rules as the first aisle, and so on; until the entire warehouse area is filled; excluding... Figure 4 The crossed-out area indicates mn storage locations.
[0034] like Figure 1 As shown, the forklift-type AGV warehouse storage system includes: AGV forklift, controller, and vision sensor. The AGV forklift and vision sensor are electrically connected to the controller. The vision sensor is used to generate pallet positioning signals. The controller receives the pallet positioning signals from the vision sensor to generate pallet lifting and lowering signals. The AGV forklift receives the lifting and lowering signals from the controller to generate lifting and lowering actions when it arrives at the storage location.
[0035] When the AGV forklift travels to the storage location, the vision sensor detects whether there are goods in the current storage location. When there are no goods in the storage location, the vision sensor detects that the pallet positioning signal is empty and feeds the information back to the controller. The controller receives the empty pallet positioning signal and generates a drop signal in the pallet placement signal. The AGV forklift receives the drop signal and executes the forklift drop action to realize the flat placement of goods in the designated storage location.
[0036] When there are already goods in the storage location, the vision sensor detects that the pallet positioning signal is not empty and feeds back the height, front-back, left-right position information of the current goods to the controller. The controller receives the corresponding pallet positioning signal and generates a towing signal in the pallet placement signal. The AGV forklift receives the towing signal, executes the forklift towing action, and adjusts the height and position of the current goods lifted by the forklift according to the height, front-back, left-right position of the current goods, so as to stack the goods above the current position of the goods in the designated storage location.
[0037] This invention uses a vision sensor of model FHV7. FHV7 utilizes image processing technology to accurately acquire the height and coordinate information of the target to be detected. In addition, FHV7 is compact and easy to install, replace and maintain.
[0038] It also includes: a laser sensor, which is electrically connected to the controller; the laser sensor is used to measure the distance between the AGV forklift and the surrounding environment to generate a distance signal; the controller receives the distance signal from the laser sensor to generate a driving signal; the laser sensor is used to detect the surrounding environment and measure the distance between the AGV forklift and surrounding goods or obstacles, and the controller corrects the speed and direction of the AGV based on the measured distance to prevent collisions.
[0039] The laser sensor of this invention is model SICK S30B-3011GB. This sensor is a high-precision, high-reliability measuring device that uses laser technology to scan and measure the surrounding environment, enabling obstacle detection. Furthermore, the sensor has a fast response time, allowing it to quickly detect changes in the surrounding environment and ensure the system's real-time performance and safety. It also features multiple operating modes, such as continuous scanning and single scanning, which can be selected according to actual needs. It is easy to install and debug, and has a high protection level, enabling it to operate normally in harsh environments, ensuring the system's stability and reliability.
[0040] The server and controller are electrically connected. The server is used to store the location information of the goods to be placed. The AGV trolley is based on the coordinate information of the corresponding stacking location of the goods set in the server. The controller obtains the coordinate information of the goods placement and controls the AGV trolley to drive to the corresponding storage location.
[0041] The communication modules include: 5G module, 4G module, Bluetooth module and ZigBee module. The controller and server have different communication interfaces, which are compatible with various wireless communications.
[0042] The controller can be a microcontroller, such as STM32; it can also be an MCU controller, PLC controller, etc., for control and calculation modules.
[0043] The power module is used to power the controller and sensors; the power module can be model 6EP1334-2BA20 / O; this power module has multiple output voltage and current options; the output settings of the power module can be adjusted or different models of power modules can be selected; the power module has protection functions such as overvoltage protection, overcurrent protection, short circuit protection, and overheat protection.
[0044] It also includes a display module, which can intuitively display the quantity and location coordinates of goods stacked in the warehouse. The display module can be an LCD12864 display module.
[0045] like Figure 4 In the arrangement shown and the corresponding picking and placing of goods, it is assumed that the long side of the warehouse can hold m goods, the short side can hold n goods, and the stacking height is h. Under this arrangement, the warehouse capacity is more than that of the traditional AGV flat-bottom stacking warehouse, that is, the number of warehouse positions = ((round(m / n)+1)*nn)*h.
[0046] The logic for retrieving any item A is as follows:
[0047] Assume A is in the c-th cell from the outside to the d-th layer of lane b, and the AGV reaches the outermost cell of lane b.
[0048] Take out the goods in the first cell and put them in the outer empty area of the warehouse. The AGV moves to the second cell in aisle b and puts them in the other empty area of the warehouse. This process continues until the goods reach the c cells in aisle b from the outside to the inside.
[0049] Take out the topmost layer of goods and place them in the first layer of the outer empty area e of the warehouse. Take out the second topmost layer of goods and place them in the second layer of the outer empty area e of the warehouse, and so on, until goods A are taken.
[0050] Take the goods from the f-th cell in the outermost empty area of the warehouse (cell e) and place them in the c-th cell of the aisle (cell b). Repeat this process to return all the goods.
[0051] Figure 5 (a) to (f) are schematic diagrams of the process of retrieving goods numbered 1 from the 3rd layer.
[0052] Based on the above-described preferred embodiments of this utility model, and through the foregoing description, those skilled in the art can make various changes and modifications without departing from the technical concept of this utility model. The technical scope of this utility model is not limited to the contents of the specification, but must be determined according to the scope of the claims.
Claims
1. A forklift-type AGV warehouse storage system, characterized in that, include: AGV forklift, controller, vision sensor; the AGV forklift and vision sensor are electrically connected to the controller; among them, A vision sensor is used to generate a pallet positioning signal; The controller receives the pallet positioning signal from the vision sensor to generate a pallet placement signal; The AGV forklift receives the lifting and lowering signals from the controller to generate lifting and lowering actions when it arrives at the storage location.
2. The forklift-type AGV warehouse location system as described in claim 1, characterized in that, Also includes: The laser sensor is electrically connected to the controller; among which, Laser sensors are used to measure the distance between the AGV forklift and its surroundings to generate distance signals; The controller receives distance signals from the laser sensor to generate driving signals; The AGV forklift receives driving signals from the controller to generate forward, backward, and turning movements.
3. The forklift-type AGV warehouse location system as described in claim 1, characterized in that, Also includes: The server is electrically connected to the controller and is used to store the location information of the goods to be placed.
4. The forklift-type AGV warehouse location system as described in claim 3, characterized in that, A communication module is installed between the server and the controller for data transmission between them.
5. The forklift-type AGV warehouse location system as described in claim 1, characterized in that, The communication modules include: a 5G module, a 4G module, a Bluetooth module, and a ZigBee module.
6. The forklift-type AGV warehouse location system as described in claim 1, characterized in that, The controller includes: Microcontrollers, MCU controllers, and PLC controllers.
7. The forklift-type AGV warehouse location system as described in claim 2, characterized in that, The laser sensor model is SICK S30B-3011GB.
8. The forklift-type AGV warehouse location system as described in claim 1, characterized in that, The vision sensor model is FHV7.
9. The forklift-type AGV warehouse location system as described in claim 1, characterized in that, Also includes: The power supply module is used to power the controller, vision sensor, and laser sensor.
10. The forklift-type AGV warehouse location system as described in claim 1, characterized in that, Also includes: The display module is used to display the quantity and location information of goods stacked in the storage location.