Multi-control dual-energy electrically-driven freight trolley

Abstract

The utility model relates to a multi-control dual-energy electrically-driven freight trolley which comprises a warehouse, wheels, a machine vision imaging system, a solar charging panel, a solar battery, a charging power supply, a storage battery, a remote controller and a control panel, and one side wall of the warehouse is controlled by a turnover mechanism to turn over; in the wheels at the bottom, front wheels are provided with steering motors, and rear wheels are provided with driving motors; the machine vision imaging system comprises a vision imager mounted at the front end of the warehouse; the solar charging panel is arranged above the warehouse and is provided with a light seeking system; the solar charging panel is in signal connection with the solar battery; the solar cell and the charging power supply respectively charge the storage battery; the control panel is in signal connection with the visual imager, the storage battery, the turnover mechanism, the steering motor and the driving motor. The control panel is manually controlled, controlled by a single-chip microcomputer or remotely input by a remote controller. According to the utility model, two charging modes of solar energy and charging station charging can be adopted; and advancing and loading and unloading actions can be completed under the control of a singlechip or a remote controller.

Description

Technical Field

[0001] This utility model relates to the field of construction equipment technology, and in particular to a multi-control dual-energy electric drive freight trolley. Background Technology

[0002] On construction sites, the transportation of large quantities of small parts and bulk materials, as well as the removal of waste, all require the use of trolleys. Existing trolleys are mostly hand-push or electric-hand-push types (controlled by buttons). In traditional construction, water conservancy, and mining industries, with the reduction of workers and the increase in labor costs, the above two types of trolleys can no longer meet the needs of engineering projects. Therefore, how to provide a multi-control dual-energy electric-driven trolley with a higher degree of automation and more flexible control methods is a technical problem that urgently needs to be solved by those skilled in the art. Utility Model Content

[0003] This invention provides a multi-control dual-energy electric drive cargo transport vehicle to solve the above-mentioned technical problems.

[0004] To address the aforementioned technical problems, this utility model provides a multi-control dual-energy electric-driven cargo transport vehicle, including a cargo compartment, wheels, a machine vision imaging system, a solar charging panel, solar cells, a charging power supply, a storage battery, a remote controller, and a control panel.

[0005] One side wall of the warehouse is flipped by a flipping mechanism;

[0006] The wheels are mounted on the bottom of the cargo compartment, with the front wheels equipped with a steering motor and the rear wheels equipped with a drive motor;

[0007] The machine vision imaging system includes a vision imager installed at the front end of the warehouse;

[0008] The solar charging panel is installed above the cargo warehouse and is equipped with a photovoltaic detector;

[0009] The solar charging panel is connected to the solar cell via a signal connection.

[0010] The solar cell and the charging power supply charge the battery respectively;

[0011] The control panel is connected to the visual imager, battery, flipping mechanism, steering motor and drive motor respectively; the control panel can be manually inputted, or input via a microcontroller control motherboard button or remote control.

[0012] Preferably, the flipping mechanism includes a main support rod, a secondary support rod, a slide rail, a first motor, and a spring. The slide rail is disposed on the side wall to be flipped, and the first motor drives one end of the main support rod to slide along the slide rail. One end of the secondary support rod is hinged to the middle of the main support rod, and the other end is connected to the bottom of the cargo compartment through the spring.

[0013] Preferably, the photovoltaic detector adjusts the position and angle of the solar charging panel based on the light-finding system.

[0014] Preferably, the warehouse also includes a compartment for accommodating robotic arms and / or robotic hands.

[0015] Preferably, the robotic arm and / or robotic hand is driven by a second electric motor, which is powered by the battery.

[0016] Preferably, the visual imager is signal-connected to the robotic arm and / or robotic hand.

[0017] Preferably, the rear end of the cargo compartment is also equipped with a push rod.

[0018] Preferably, the solar charging panel is a PN junction silicon photovoltaic solar charging panel.

[0019] Preferably, the solar cell and the charging power supply are respectively controlled by a main switch.

[0020] Preferably, a remote control signal receiver for receiving the remote control control signal is installed on the top of the cargo hold.

[0021] Compared with the prior art, the multi-control dual-energy electric drive freight trolley provided by this utility model has the following advantages:

[0022] 1. This utility model can be charged by solar energy and charging station; it can be controlled by direct manual input of control commands, operation of single-chip microcomputer keypad motherboard interface to execute program control, or by remote control signal input of commands to direct the delivery vehicle to complete the movement and loading and unloading actions, thereby realizing multiple control and drive modes, with higher degree of automation and more flexible control mode;

[0023] 2. By adding a machine vision imaging system, a robotic arm and / or a robotic hand, this utility model enables the delivery cart to autonomously identify and sort ground items and loose materials during its movement.

[0024] 3. In this utility model, the solar charging panel is equipped with a photovoltaic detector and a light-finding system, which can rationally select the best and safest area to receive solar radiation based on the value of the photovoltaic detector, so as to realize the autonomous search for solar light sources and the autonomous charging and storage of electrical energy using the solar charging panel.

[0025] 4. This utility model controls the flipping of one side wall of the cargo compartment through a flipping mechanism, so that the trolley can exist in three states: one is when loading goods, the side wall of the cargo compartment can be flat; another is when the goods are loaded, the side wall of the cargo compartment is closed to prevent the goods from falling; and the third is when tilting the goods, the side wall of the cargo compartment can tilt downward at a certain angle. Attached Figure Description

[0026] Figure 1 This is a schematic diagram of the structure of a multi-control dual-energy electric drive freight trolley in a specific embodiment of the present invention;

[0027] Figure 2 This is a top view of a multi-control dual-energy electric drive freight trolley in a specific embodiment of the present invention;

[0028] Figure 3 This is a left view of a multi-control dual-energy electric drive freight trolley in a specific embodiment of this utility model;

[0029] Figure 4 This is a right view of a multi-control dual-energy electric drive freight trolley in a specific embodiment of this utility model;

[0030] Figure 5 This is a circuit diagram of a multi-control dual-energy electric drive freight trolley in a specific embodiment of this utility model;

[0031] Figure 6 This is a block diagram of the control system of a multi-control dual-energy electric drive freight trolley in a specific embodiment of this utility model.

[0032] In the diagram: 10-Cargo compartment, 11-Main support rod, 12-Secondary support rod, 13-Slide rail, 14-First motor, 15-Spring, 16-Compartment, 17-Hand push rod, 21-Front wheel, 22-Rear wheel, 23-Steering motor, 24-Drive motor, 30-Machine vision imaging system, 31-Vision imager, 40-Solar charging panel, 41-Photovoltaic detector, 50-Solar cell, 51-Main switch, 60-Charging power supply, 70-Battery, 81-Remote control signal receiver, 90-Control panel. Detailed Implementation

[0033] To illustrate the technical solution of the above utility model in more detail, specific embodiments are listed below to demonstrate the technical effects; it should be emphasized that these embodiments are used to illustrate the present utility model and not to limit the scope of the present utility model.

[0034] The multi-control dual-energy electric drive cargo trolley provided by this utility model, such as Figures 1 to 6As shown, it includes a cargo compartment 10, wheels, a machine vision imaging system 30, a solar charging panel 40, a solar cell 50, a charging power supply 60, a storage battery 70, a remote control (not shown), and a control panel 90, wherein:

[0035] One side wall of the cargo compartment 10 is controlled to flip by a flipping mechanism, thereby changing the state of the cargo compartment 10 according to the loading and unloading needs of the goods, so as to facilitate loading and unloading of goods.

[0036] The wheels are mounted on the bottom of the cargo compartment 10, forming a separate drive mechanism. A DC servo motor, coaxial reducer, brake, rotary encoder, and tachometer are installed within a wheel bracket. The rear wheels 22 are drive wheels, and the front wheels 21 are steering wheels. The rear wheels 22 are equipped with drive motors 24, which are independently controlled on both sides to drive the vehicle. The front wheels 21 are equipped with steering motors 23 to control the steering of the vehicle. The rear wheels serve as the drive unit. The entire vehicle has a compact four-wheel structure, occupies little space, has high controllability, reliable performance, and is easy to maintain.

[0037] The machine vision imaging system 30 includes a vision imager 31 installed at the front end of the cargo compartment 10, thereby smoothly placing items into the cargo compartment 10. Internal sensors (including an odometer, laser gyroscope navigation platform, magnetic tachometer, and potentiometer, etc.) can also be added, allowing the delivery vehicle to adjust its posture and speed in a timely manner according to the surrounding conditions.

[0038] The solar charging panel 40 is positioned above the cargo compartment 10 and is equipped with a photovoltaic detector 41. In this embodiment, a simple, battery-free photovoltaic detector 41 can be used, which can display the intensity and charging efficiency of available solar energy in the current time period and area, enabling the vehicle to find solar energy sources and charge itself using the solar charging panel 40, and store electrical energy.

[0039] The solar charging panel 40 is connected to the solar cell 50 via a signal; the solar cell 50 and the charging power supply 60 charge the battery 70 respectively, thereby realizing two charging methods: solar energy and charging station charging.

[0040] The control panel 90 is connected to the visual imager 31, the battery 70, the flipping mechanism, the steering motor 23, and the drive motor 24 respectively. The control panel 90 can be manually input, controlled by a microcontroller motherboard button, or remotely input by a remote controller, thereby realizing multiple control and drive modes, with a higher degree of automation and more flexible control.

[0041] In some embodiments, please refer to the following: Figure 1The flipping mechanism includes a main support rod 11, a secondary support rod 12, a slide rail 13, a first motor 14, and a spring 15. The slide rail 13 is disposed on the side wall to be flipped. The first motor 14 drives one end of the main support rod 11 to slide along the slide rail 13. One end of the secondary support rod 12 is hinged to the middle of the main support rod 11, and the other end is connected to the bottom of the cargo compartment 10 through the spring 15. The first motor 14 is used to drive the main support rod 11 to flip the side wall, and the spring 15 is used to pull the secondary support rod 12 to reset the side wall.

[0042] In some embodiments, please refer to the following: Figure 2 and Figure 3 The photovoltaic detector 41 adjusts the position and angle of the solar charging panel 40 based on a light-finding system (not shown), thereby rationally selecting the optimal and safe area for receiving solar radiation based on the values ​​from the photovoltaic detector 51. For details, please refer to... Figure 5 The light-following system can draw inspiration from the photosensitive organs of certain organisms, using artificial materials and circuit technology to simulate the phototactic characteristics of living organisms. For example, the system can consist of common photosensitive devices (infrared receivers, photodiodes, photoresistors), and supporting circuit components such as transistors, potentiometers, connectors, lithium batteries, and chargers. Infrared receivers can sense infrared light in addition to visible light, allowing the robot to be controlled even in dark environments using any button on a TV remote. Photodiodes are devices specifically designed to detect light. Photoresistors are special resistors whose resistance decreases as light intensity increases. The actual operation of the circuit converts the light sensed by the robot into pulses, driving a motor to rotate. The motor's operating time depends on the pulse duration, making it a typical opto-mechanical-electrical integrated system. The physical layout of the light sensor (photoresistor) and actuator (motor) determines the characteristics of the light-following system. By simply adding a motor to a tracking servo system with capture and aiming capabilities and attaching a mobile chassis, a light-following robot capable of moving freely can be created.

[0043] In some embodiments, please refer to the following: Figure 1 , 2 and Figure 4 The warehouse 10 is further provided with a compartment 16 for accommodating a robotic arm and / or robotic hand (not shown); in some embodiments, the visual imager 31 is signal-connected to the robotic arm and / or robotic hand, and the two work together to control the robotic arm and / or robotic hand to move flexibly and complete tasks such as autonomously identifying and sorting ground items and loose materials; in some embodiments, the robotic arm and / or robotic hand can be driven by a second electric motor (not shown), which is powered by the battery 70.

[0044] Please refer to this carefully. Figure 6The machine vision imaging system 30, the travel power system (including the drive motor 24 that drives the rear wheels 22 and the steering motor 23 that drives the front wheels 21), and the total circuit power of the trolley are all driven by DC power. The flipping mechanism (first motor 14) that controls the flipping of the side wall of the cargo compartment 10, and the power drive of the robotic arm and / or robotic hand are driven by AC power. The trolley's travel control can also be achieved by adding an AGV on-board control system, and various types of modules can be flexibly added, taking into account versatility, flexibility, and diversity.

[0045] Specifically, the machine vision imaging system 30 (CPU) and recognition processing system of the freight cart are the main information sources and processing components for the cart's movement and the robotic arm's grasping of items and simple operations. Neural networks and AI technologies such as machine autonomous learning can be employed. The precision and intelligence of the robotic arm and / or hand can also be intelligently upgraded based on the configuration of sensors and processors. Machine vision uses machines to replace human eyes for measurement and judgment, and involves several steps: first, a camera converts the target into an image signal; based on information such as pixel distribution, color, and brightness, the image signal is converted into a digital signal and transmitted to a dedicated image processing system; the dedicated image processing system performs various digital operations on these signals to extract target features, including common control information. The camera lens is a crucial component; all image information is obtained through the lens. Its main function is similar to the structure of the human eye, first focusing the image (similar to the function of the lens), and then presenting the focused image on the photosensitive array of the image sensor. The photosensitive sensor is a device that uses photoelectric devices to convert light signals into electrical signals, similar to the retina in the structure of the eye. The physical principle of both is the photoelectric effect. An image sensor is a functional device, similar to the optic nerve, that converts the light image on a photosensitive surface into a proportionally proportional electrical signal image (pixel array) through the photoelectric conversion function of an optoelectronic device. By adding visual imaging technology and a machine image recognition system, the vehicle can move flexibly in conjunction with the added robotic arm and / or robotic hand to achieve autonomous identification and sorting of goods. In this embodiment, the camera of the visual imager 31 can be a visible light camera, an infrared camera, an ultraviolet camera, or a hyperspectral camera, etc., to image light of different wavelengths; it can also be a radar camera, thus adapting to different application scenarios; to accommodate different wavelengths, it can also be specifically divided into lidar, shortwave radar, millimeter-wave radar, acoustic radar, etc.

[0046] In this embodiment, the robotic arm and / or robotic hand can be a robotic arm controlled by a servo motor, a rotary positioning disk and nylon rope traction to realize a series of actions such as the trolley grabbing and releasing goods and putting them into the warehouse 10.

[0047] In some embodiments, please refer to the following: Figures 1 to 3The rear end of the cargo compartment 10 is also equipped with a push rod 17, which can be used to move the cargo trolley in the event of a power outage or other malfunction.

[0048] In some embodiments, the solar charging panel 40 may be a PN junction silicon photovoltaic solar charging panel, which is composed of a large area silicon PN junction and uses the photovoltaic effect of the semiconductor interface to charge the silicon photovoltaic solar cell.

[0049] In some embodiments, please refer to the following: Figure 3 and Figure 6 The solar cell 50 and the charging power supply 60 are controlled by the main switch 51 to turn on and off. In case of a fault, the main switch 51 can be used to shut down the motor and the correction and repair can be carried out manually.

[0050] In some embodiments, please refer to the following: Figures 1 to 4 A remote control signal receiver 81 for receiving the control signals from the remote controller is installed on the top of the cargo compartment 10, thereby enabling remote control of the vehicle and the exchange and processing of internal information.

[0051] The main working states and control procedures of the delivery trolley provided by this utility model are as follows:

[0052] 1. Automatic control mode: The trolley autonomously (according to the pre-set travel control program) travels back and forth between the loading and unloading points. In this mode, it can travel back and forth automatically according to the back-and-forth program between two fixed points A and B set on the control panel 90. For example, when loading goods at point A, the first motor 14 controlled by the program controls the main support rod 11 to rotate at point B, raising the cargo compartment 10 and unloading the goods;

[0053] 2. Remote control signal control mode: The delivery trolley can change its travel path, adjust its direction, adjust its speed, and direct its actions during loading and unloading; as well as switch its working mode and perform light-seeking charging, etc.

[0054] 3. Mechanical operation mode: When a problem occurs, the automatic control mode and remote control signal operation mode can still be turned off, and the conventional mechanical operation mode can be used instead. For example, the delivery trolley can be pushed to the charging socket for charging using the push rod 17.

[0055] 4. During the journey, based on the machine vision imaging system, the computer-controlled transport vehicle can also use its front-end robotic arm and / or robotic hand to grab items and place them into the cargo compartment 10. Therefore, the transport vehicle can also be used for tasks such as mineral sorting in mining areas. Only the corresponding item image recognition feature parameters need to be set in the control system, and the robotic arm and / or robotic hand can be operated via internal commands to perform the grabbing and releasing actions.

[0056] In summary, the multi-control dual-energy electric-driven cargo trolley provided by this utility model includes a cargo compartment 10, wheels, a machine vision imaging system 30, a solar charging panel 40, a solar cell 50, a charging power supply 60, a storage battery 70, a remote controller (not shown), and a control panel 90. One side wall of the cargo compartment 10 is controlled to flip by a flipping mechanism. The wheels are installed at the bottom of the cargo compartment 10, with the rear wheels 22 equipped with a drive motor 24 and the front wheels 21 equipped with a steering motor 23. The machine vision imaging system 30 includes a vision imager 31 installed at the front end of the cargo compartment 10. The solar charging panel 40 is installed above the cargo compartment 10 and is equipped with a photovoltaic detector 41; the solar charging panel 40 is connected to the solar cell 50; the solar cell 50 and the charging power supply 60 charge the storage battery 70 respectively; the control panel 90 is connected to the visual imager 31, the storage battery 70, the flipping mechanism, the steering motor 23, and the drive motor 24 respectively; the control panel 90 can be manually input or controlled by a single-chip microcomputer mainboard button input, thereby realizing multiple control and drive modes, with a higher degree of automation and more flexible control.

[0057] Obviously, those skilled in the art can make various modifications and variations to the utility model without departing from the spirit and scope of the utility model. Therefore, if these modifications and variations of the utility model fall within the scope of the claims of the utility model and their equivalents, the utility model also intends to include these modifications and variations.

Claims

1. A multi-control dual-energy electrically driven delivery trolley, characterized in that, The warehouse, wheels, machine vision imaging system, solar charging panel, solar cell, charging power supply, battery, remote control and control panel, One side wall of the warehouse is controlled by a turnover mechanism to turn over; The wheels are installed at the bottom of the warehouse, wherein the front wheels are provided with a steering motor and the rear wheels are provided with a driving motor; The machine vision imaging system comprises a vision imager installed at the front end of the warehouse; The solar charging panel is arranged above the warehouse and is provided with a photovoltaic detector; The solar charging panel is signal connected with the solar cell; The solar cell and the charging power supply respectively charge the battery; The control panel is signal connected with the vision imager, the battery, the turnover mechanism, the steering motor and the driving motor respectively; the control panel is input by manual, single-chip control board button or remote control.

2. The dual energy electrically driven cart of claim 1, wherein, The turnover mechanism comprises a main support rod, a secondary support rod, a slide rail, a first motor and a spring; the slide rail is arranged on the side wall to be turned over; the first motor drives one end of the main support rod to slide along the slide rail; one end of the secondary support rod is hinged to the middle part of the main support rod, and the other end is connected with the bottom of the warehouse through the spring.

3. The dual energy electric drive delivery cart of claim 1, wherein, The photovoltaic detector adjusts the position and angle of the solar charging panel based on a light seeking system.

4. The dual energy electric drive delivery cart of claim 1, wherein, The warehouse is further provided with a warehouse room for accommodating a mechanical arm and / or a mechanical hand.

5. The dual energy electric drive delivery cart of claim 4, wherein, The mechanical arm and / or the mechanical hand are driven by a second motor, and the second motor is powered by the battery.

6. The dual energy electric drive delivery cart of claim 5, wherein, The vision imager is signal connected with the mechanical arm and / or the mechanical hand.

7. The dual energy electric drive delivery cart of claim 1, wherein, The rear end of the warehouse is further provided with a hand pushing rod.

8. The dual energy electric drive delivery cart of claim 1, wherein, The solar charging panel adopts a P-N junction silicon light solar charging panel.

9. The dual energy electric drive delivery cart of claim 1, wherein, The solar cell and the charging power supply are respectively controlled by a total switch.

10. The dual energy electric drive delivery cart of claim 1, wherein, A remote control signal receiver for receiving the control signal of the remote control is installed at the top of the warehouse.

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