An unmanned forklift and its safety protection device

Abstract

This application relates to the field of unmanned forklift technology and discloses an unmanned forklift and its safety protection device. The safety protection device includes: a data acquisition module and a domain controller installed on the unmanned forklift; the domain controller is communicatively connected to the data acquisition module; the data acquisition module includes a front obstacle avoidance unit, a positioning unit, a three-dimensional protection unit, a fork tip obstacle avoidance unit, and a cargo detection unit; the front obstacle avoidance unit is located at the front of the vehicle body, the positioning unit is located at the top of the vehicle body, the three-dimensional protection unit is located below the positioning unit, the fork tip obstacle avoidance unit is located on the frame parallel to the fork arm of the unmanned forklift, and the cargo detection unit is located above the fork arm; the data acquisition module is used to collect point cloud data; the domain controller is used to receive the point cloud data, obtain the positioning results of the unmanned forklift and the cargo pallet, and the detection results of obstacles and cargo. This application achieves 360-degree three-dimensional protection around the unmanned forklift, improving the stability and reliability of operation in complex scenarios.

Description

Technical Field

[0001] This application relates to the field of unmanned forklift technology, and in particular to an unmanned forklift and its safety protection device. Background Technology

[0002] Autonomous driving technology is currently a hot topic in technological development, with broad application prospects in various fields. Among them, unmanned forklift systems, as an important application of autonomous driving technology, have been widely used in logistics, manufacturing, and other industries. However, existing unmanned forklifts still have some problems and limitations. First, the positioning accuracy of existing unmanned forklifts in complex environments is not high, which may affect their operating efficiency and safety. Second, existing unmanned forklifts may not meet the requirements for all-weather, all-terrain operation, which to some extent limits their application scope. Finally, existing unmanned forklifts cannot achieve comprehensive three-dimensional protection, which may increase the operational risks. Utility Model Content

[0003] In view of this, the present application provides an unmanned forklift and its safety protection device, which can effectively solve the problem that existing unmanned forklifts cannot provide safety protection and operation in complex scenarios.

[0004] In a first aspect, embodiments of this application provide a safety protection device for an unmanned forklift, comprising a data acquisition module and a domain controller mounted on the unmanned forklift;

[0005] The domain controller is communicatively connected to the data acquisition module;

[0006] The data acquisition module includes a forward obstacle avoidance unit, a positioning unit, a three-dimensional protection unit, a fork tip obstacle avoidance unit, and a cargo detection unit;

[0007] The front obstacle avoidance unit is located at the front of the unmanned forklift body, the positioning unit is located at the top of the body, the three-dimensional protection unit is located below the positioning unit, the fork tip obstacle avoidance unit is located on the frame parallel to the fork arm of the unmanned forklift, and the cargo detection unit is located above the fork arm.

[0008] The data acquisition module is used to collect point cloud data of the unmanned forklift;

[0009] The domain controller is used to receive the point cloud data to obtain the positioning results of the unmanned forklift and the cargo pallet, as well as the detection results of obstacles and cargo.

[0010] In a first possible embodiment of the first aspect, the positioning unit includes a multi-line lidar;

[0011] The multi-line lidar is used to acquire the first point cloud data of the unmanned forklift's operating scene.

[0012] In a second possible embodiment of the first aspect, the three-dimensional protection unit includes a multi-line three-dimensional sensing lidar;

[0013] The multi-line stereo sensing lidar is used to collect second point cloud data at the top of the unmanned forklift.

[0014] In a third possible embodiment of the first aspect, the fork tip obstacle avoidance unit includes a first obstacle avoidance lidar and a second obstacle avoidance lidar respectively disposed on both sides of the frame;

[0015] Both the first obstacle avoidance lidar and the second obstacle avoidance lidar are used to collect third point cloud data in the direction of the fork arm.

[0016] In a fourth possible embodiment of the first aspect, the cargo detection unit includes a high-beam lidar;

[0017] The high-beam lidar is used to collect fourth point cloud data behind the unmanned forklift.

[0018] In a fifth possible embodiment of the first aspect, the forward obstacle avoidance unit includes a third obstacle avoidance lidar and a fourth obstacle avoidance lidar;

[0019] The third obstacle avoidance lidar and the fourth obstacle avoidance lidar are respectively located on both sides of the front of the vehicle body;

[0020] Both the third and fourth obstacle avoidance lidars are used to collect the fifth point cloud data in front of the unmanned forklift.

[0021] Secondly, embodiments of this application provide an unmanned forklift, including the aforementioned safety protection device for the unmanned forklift.

[0022] In a first possible embodiment of the second aspect, the unmanned forklift further includes: a main control screen;

[0023] The main control screen is located in front of the unmanned forklift and is communicatively connected to the domain controller.

[0024] In a second possible embodiment of the second aspect, the unmanned forklift further includes: a remote communication module;

[0025] The remote communication module is installed in the body of the unmanned forklift;

[0026] The remote communication module is used to remotely send the status information of the unmanned forklift and receive remote commands.

[0027] In a third possible embodiment of the second aspect, the unmanned forklift further includes: a steering wheel module, the steering wheel module including a first rubber tire and a second rubber tire;

[0028] The first rubber tire and the second rubber tire are respectively mounted on both sides of the frame of the unmanned forklift.

[0029] The embodiments of this application have the following beneficial effects:

[0030] This application discloses a safety protection device for an unmanned forklift, comprising: a data acquisition module and a domain controller mounted on the unmanned forklift; the domain controller is communicatively connected to the data acquisition module; the data acquisition module includes a front obstacle avoidance unit, a positioning unit, a three-dimensional protection unit, a fork tip obstacle avoidance unit, and a cargo detection unit; the front obstacle avoidance unit is located at the front of the unmanned forklift body, the positioning unit is located at the top of the body, the three-dimensional protection unit is located below the positioning unit, the fork tip obstacle avoidance unit is located on the frame parallel to the fork arm of the unmanned forklift, and the cargo detection unit is located above the fork arm; the data acquisition module is used to acquire point cloud data of the unmanned forklift; the domain controller is used to receive the point cloud data to obtain the positioning results of the unmanned forklift and the cargo pallet, as well as the detection results of obstacles and cargo. Based on the above solution, this application can achieve high-precision positioning of the unmanned forklift and 360-degree three-dimensional protection in complex indoor and outdoor scenarios, effectively solving the problem of low positioning accuracy in complex environments in existing technologies, effectively reducing the operational risks of the unmanned forklift system, and improving its operational stability and reliability. This application can also locate cargo pallets and detect cargo, enabling unmanned forklifts to adjust their position according to the cargo pallets for automatic cargo pickup. Attached Figure Description

[0031] To more clearly illustrate the technical solutions of the embodiments of this application, the accompanying drawings used in the embodiments will be briefly introduced below. It should be understood that the following drawings only show some embodiments of this application and should not be regarded as a limitation of the scope. For those skilled in the art, other related drawings can be obtained based on these drawings without creative effort.

[0032] Figure 1 This paper shows a schematic diagram of a first structural embodiment of the safety protection device for an unmanned forklift according to an embodiment of this application;

[0033] Figure 2 This paper shows a second structural schematic diagram of the safety protection device for an unmanned forklift according to an embodiment of this application;

[0034] Figure 3 This paper shows a third structural schematic diagram of the safety protection device for an unmanned forklift according to an embodiment of this application;

[0035] Figure 4This paper shows a fourth structural schematic diagram of the safety protection device for an unmanned forklift according to an embodiment of this application;

[0036] Figure 5 A schematic diagram of an unmanned forklift according to an embodiment of this application is shown.

[0037] Explanation of key component symbols:

[0038] 100 - Safety protection device for unmanned forklift; 110 - Data acquisition module; 111 - Forward obstacle avoidance unit; 1111 - Third obstacle avoidance lidar; 1112 - Fourth obstacle avoidance lidar; 112 - Positioning unit; 1121 - Multi-line lidar; 113 - Three-dimensional protection unit; 1131 - Multi-line three-dimensional perception lidar; 114 - Fork tip obstacle avoidance unit; 1141 - First obstacle avoidance lidar; 1142 - Second obstacle avoidance lidar; 115 - Cargo detection unit; 1151 - High-beam lidar; 120 - Domain controller; 200 - Unmanned forklift; 210 - Main control screen; 220 - Steering wheel module; 221 - First rubber tire; 222 - Second rubber tire. Detailed Implementation

[0039] The technical solutions in the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments.

[0040] The components of the embodiments of this application described and illustrated in the accompanying drawings can be arranged and designed in a variety of different configurations. Therefore, the following detailed description of the embodiments of this application provided in the drawings is not intended to limit the scope of the claimed application, but merely to illustrate selected embodiments of the application. All other embodiments obtained by those skilled in the art based on the embodiments of this application without inventive effort are within the scope of protection of this application.

[0041] In the following text, the terms "comprising," "having," and their cognates, which may be used in various embodiments of this application, are intended only to indicate a particular feature, number, step, operation, element, component, or combination thereof, and should not be construed as primarily excluding the presence of one or more other features, numbers, steps, operations, elements, components, or combinations thereof, or adding the possibility of one or more combinations thereof. Furthermore, the terms "first," "second," "third," etc., are used only for distinguishing descriptions and should not be construed as indicating or implying relative importance.

[0042] Unless otherwise specified, all terms used herein (including technical and scientific terms) shall have the same meaning as commonly understood by one of ordinary skill in the art to which the various embodiments of this application pertain. Terms (such as those defined in commonly used dictionaries) shall be interpreted as having the same meaning as in their contextual meaning in the relevant technical field and shall not be construed as having an idealized or overly formal meaning, unless clearly defined in the various embodiments of this application.

[0043] The following detailed description of some embodiments of this application is provided in conjunction with the accompanying drawings. Unless otherwise specified, the following embodiments and features can be combined with each other.

[0044] One of the core technologies of unmanned forklift systems is positioning and navigation technology, which determines the system's operational efficiency and safety. LiDAR technology is an advanced ranging technology that accurately measures the distance and orientation of objects by emitting and receiving reflected laser light. This technology has wide applications in fields such as autonomous driving and robot navigation.

[0045] Existing technological solutions: Unmanned forklifts typically use magnetic guidance, visual QR code sensors, or laser reflectors for positioning and navigation. However, magnetic guidance and visual QR codes are limited by site constraints, resulting in complex deployment and susceptibility to damage. In outdoor environments, visual QR codes and laser reflectors are affected by sunlight and cannot provide stable and accurate positioning information.

[0046] To address the aforementioned issues, this application proposes an unmanned forklift and its safety protection device. It collects point cloud data of the unmanned forklift to locate its position, the position of obstacles, and the position of the cargo pallet. When an obstacle approaches, it can dynamically plan a local path to automatically avoid it, achieving 360-degree three-dimensional protection for the unmanned forklift and intelligent detection of the warehouse environment, thus solving safety risk problems. It can also identify cargo pallets to adjust the unmanned forklift's posture for automatic picking. This application also enables detection of cargo exceeding size limits, detection of the presence of cargo during picking, and detection of the presence of cargo during placing.

[0047] The safety protection devices for unmanned forklifts will be explained below with reference to some specific embodiments.

[0048] Figure 1 A structural diagram of a safety protection device 100 for an unmanned forklift according to an embodiment of this application is shown. Exemplarily, the safety protection device 100 for the unmanned forklift includes a data acquisition module 110 and a domain controller 120 disposed on the unmanned forklift 200. The domain controller 120 is communicatively connected to the data acquisition module 110 to enable the domain controller 120 to acquire point cloud data acquired by the data acquisition module 110.

[0049] In this embodiment, the data acquisition module 110 is used to acquire point cloud data of the unmanned forklift; the domain controller 120 is used to receive the point cloud data to obtain the positioning results of the unmanned forklift and the cargo pallet, so as to adjust the pose of the unmanned forklift when the cargo pallet is located. The domain controller 120 is also used to acquire the detection results of obstacles and goods, so as to adjust the driving path of the unmanned forklift 200 when obstacles are detected.

[0050] Point cloud data refers to a collection of numerous discrete points in three-dimensional space. In this application, point cloud data is acquired using LiDAR. Each discrete point represents a sampling location of the unmanned forklift 200, obstacles, goods, and the surface of the pallet, and carries three-dimensional coordinate information. The large amount of point cloud data from the unmanned forklift constitutes a three-dimensional map, supporting the unmanned forklift's positioning and navigation. The three-dimensional map of the unmanned forklift 200 is a digital spatial representation for navigation and positioning. The three-dimensional map enables the unmanned forklift 200 to achieve accurate path planning, obstacle avoidance, and task execution in warehouses, factories, or other complex environments.

[0051] In one embodiment, such as Figure 2 As shown, the data acquisition module 110 includes a front obstacle avoidance unit 111, a positioning unit 112, a three-dimensional protection unit 113, a fork tip obstacle avoidance unit 114, and a cargo detection unit 115. The front obstacle avoidance unit 111 is located at the front of the unmanned forklift 200 and is used to collect point cloud data of obstacles in front of the unmanned forklift 200. The positioning unit 112 is located on the top of the vehicle body and is used to collect point cloud data of the unmanned forklift 200's operating scenario. The three-dimensional protection unit 113 is located below the positioning unit 112 and has a large field of view in the vertical direction, meeting the requirements for collecting three-dimensional laser point cloud protection data. The fork tip obstacle avoidance unit 114 is located on the frame parallel to the fork arm of the unmanned forklift 200 and is used to collect point cloud data in the fork tip direction of the fork arm. The cargo detection unit 115 is located above the fork arm and is used to collect point cloud data of the unmanned forklift 200's cargo handling scenario.

[0052] Exemplary, such as Figure 3 As shown, the positioning unit 112 includes a multi-line lidar 1121, which is used to acquire first point cloud data of the operating scene of the unmanned forklift 200. The first point cloud data includes multi-dimensional information about objects within the detection area of ​​the multi-line lidar 1121, including but not limited to the height distribution of ground information, the position of the unmanned forklift, the position of obstacles, the shelf height, and the position of moving personnel. In this application, the domain controller 120 is communicatively connected to the multi-line lidar 1121 to acquire the first point cloud data, thereby obtaining the positioning information of the unmanned forklift and obstacles within the detection area of ​​the multi-line lidar 1121.

[0053] In one embodiment, the multi-line lidar 1121 forms multiple scanning planes in the vertical direction through multiple laser emitters and receivers, thereby quickly generating the first point cloud data of the unmanned forklift. The point cloud data generated by the multi-line lidar 1121 is denser and more accurate. Through multi-line scanning, it can better identify dynamic information in the unmanned forklift's environment (such as moving personnel or other moving vehicles). The multi-line lidar 1121 is suitable for multi-layer racks, automated warehouses, or scenarios with uneven ground.

[0054] In one embodiment, the detection area of ​​the multi-line lidar 1121 covers the entire environmental area where the unmanned forklift is located. The multi-line lidar 1121 can achieve positioning and navigation and 3D stereoscopic protection. The detection distance can reach 150m@10%, the detection range is 360 degrees in the horizontal field of view, and the detection range is 31 degrees (-16 degrees to +15 degrees) in the vertical field of view.

[0055] In one embodiment, the three-dimensional protection unit 113 includes a multi-line stereo sensing lidar 1131; the multi-line stereo sensing lidar 1131 is used to collect second point cloud data at the top of the unmanned forklift 200. The coverage angle of the detection area of ​​the multi-line stereo sensing lidar 1131 is α1, and the second point cloud data includes multi-dimensional information of objects within the protection range of the multi-line stereo sensing lidar 1131, including but not limited to the positions of obstacles and moving personnel. The multi-line stereo sensing lidar 1131 can meet the three-dimensional protection requirements of the unmanned forklift 200 with a large field of view in the vertical direction.

[0056] In one embodiment, the domain controller 120 is used to determine whether there are obstacles within the protection area of ​​the multi-line stereo sensing lidar 1131 based on the second point cloud data. In this application, the domain controller 120 obtains the location information of obstacles within the protection area of ​​the multi-line stereo sensing lidar 1131 by acquiring the second point cloud data.

[0057] It is understandable that the multi-line stereo sensing lidar 1131 can achieve three-dimensional protection covering the entire unmanned forklift 200 from the top, and can detect obstacles in time when they appear around the unmanned forklift 200, so as to avoid obstacles in time and effectively avoid collisions with obstacles.

[0058] In one embodiment, the fork tip obstacle avoidance unit 114 includes a first obstacle avoidance lidar 1141 and a second obstacle avoidance lidar 1142 respectively disposed on both sides of the frame. Both the first obstacle avoidance lidar 1141 and the second obstacle avoidance lidar 1142 are used to detect third point cloud data in the direction of the fork arm.

[0059] The coverage angle of the protected area of ​​the first obstacle avoidance lidar 1141 and the second obstacle avoidance lidar 1142 is α2. The third point cloud data includes the position of obstacles, the position of moving personnel, and the moving speed of obstacles within the protected area of ​​the first obstacle avoidance lidar 1141 and the second obstacle avoidance lidar 1142.

[0060] In another embodiment, the domain controller 120 is further configured to determine, based on the third point cloud data, whether there are obstacles within the protected areas of the first obstacle avoidance lidar 1141 and the second obstacle avoidance lidar 1142. In this application, the domain controller 120 is communicatively connected to the first obstacle avoidance lidar 1141 and the second obstacle avoidance lidar 1142 to obtain the third point cloud data, thereby acquiring obstacle location information within the protected areas of the first obstacle avoidance lidar 1141 and the second obstacle avoidance lidar.

[0061] It is understandable that the setup of the first obstacle avoidance lidar 1141 and the second obstacle avoidance lidar 1142 can achieve three-dimensional protection in the direction of the fork arm of the unmanned forklift 200. If an obstacle appears in front of the fork arm of the unmanned forklift 200, the route can be replanned in time to improve the efficiency of cargo handling.

[0062] In one embodiment, the cargo detection unit 115 includes a high-line-width lidar 1151; the high-line-width lidar 1151 is used to acquire fourth point cloud data behind the unmanned forklift 200. The high-line-width lidar 1151 can generate high-density point cloud data, with higher spatial resolution and spatial coverage. The high-line-width lidar 1151 includes, but is not limited to, 64-line lidar and 128-line lidar. The coverage angle of the detection area of ​​the high-line-width lidar 1151 is α3, and the fourth point cloud data includes information such as the position of the cargo pallet, the size of the cargo, and the location of the cargo within the protection area of ​​the high-line-width lidar 1151.

[0063] In another embodiment, the domain controller 120 is also used to locate the pallet and detect the goods based on the fourth point cloud data. In this application, the domain controller 120 is communicatively connected to the high-beam lidar 1151 to obtain the fourth point cloud data, thereby acquiring pallet location information and goods information. When handling goods via the pallet, it detects whether the goods exceed size limits, whether there are goods during retrieval, or whether there are goods during placement, and can promptly alert the user when abnormal situations such as no goods during retrieval, no goods during placement, or goods exceeding size limits occur. This application also automatically locates the pallet position based on the fourth point cloud data, and can promptly adjust the posture of the unmanned forklift and fork arm after locating the pallet to perform automatic goods picking operations.

[0064] It is understood that the detection area of ​​the high-beam lidar 1151 in this application can, on the one hand, realize the pallet position positioning in the area behind the unmanned forklift 200, and on the other hand, enable the domain controller 120 to identify whether the goods exist in the unmanned forklift 200 handling scenario, so as to ensure stable handling of goods.

[0065] In one embodiment, such as Figure 4 As shown, the front obstacle avoidance unit 111 includes a third obstacle avoidance lidar 1111 and a fourth obstacle avoidance lidar 1112; the third obstacle avoidance lidar 1111 and the fourth obstacle avoidance lidar 1112 are respectively located on both sides of the front of the vehicle body. Both the third obstacle avoidance lidar 1111 and the fourth obstacle avoidance lidar 1112 are used to acquire the fifth point cloud data in front of the unmanned forklift 200.

[0066] The coverage angle of the protected area of ​​the third obstacle avoidance lidar 1111 and the fourth obstacle avoidance lidar 1112 is α4. The fifth point cloud data includes the position of obstacles, the position of moving personnel, and the moving speed of obstacles within the protected area of ​​the third obstacle avoidance lidar 1111 and the fourth obstacle avoidance lidar 1112.

[0067] In another embodiment, the domain controller 120 is further configured to determine, based on the fifth point cloud data, whether there are obstacles within the protected areas of the third obstacle avoidance lidar 1111 and the fourth obstacle avoidance lidar 1112. In this application, the domain controller 120 is communicatively connected to the third obstacle avoidance lidar 1111 and the fourth obstacle avoidance lidar 1112 to acquire the fifth point cloud data, thereby obtaining the location results of obstacles within the protected areas of the third obstacle avoidance lidar 1111 and the fourth obstacle avoidance lidar 1112.

[0068] It is understandable that the protection zones of the third obstacle avoidance lidar 1111 and the fourth obstacle avoidance lidar 1112 enable the domain controller 120 to detect obstacles on the ground in front of the unmanned forklift 200, thus preventing the unmanned forklift 200 from hitting obstacles and affecting normal operation.

[0069] This application utilizes a top-mounted multi-line LiDAR 1121 to achieve real-time scanning and mapping of the environment surrounding the unmanned forklift 200, thereby enabling precise matching and positioning of the forklift 200. This application improves the positioning stability and accuracy of the unmanned forklift 200 in complex environments, allowing it to operate stably in all weather and terrain conditions. This application also receives point cloud data from LiDARs located at various parts of the unmanned forklift 200 to obtain obstacle location results, achieving 360-degree three-dimensional protection for the forklift 200. When an obstacle is detected approaching, the unmanned forklift 200 automatically adjusts its travel route to avoid collisions, ensuring its safe operation. This application also provides cargo and pallet identification and detection through a high-beam LiDAR, adjusting the forklift posture based on the pallet position and detecting whether cargo has been moved. This application can improve the working efficiency of the unmanned forklift 200, reduce human intervention, and achieve truly unmanned material handling.

[0070] This application also provides an unmanned forklift 200, which, exemplary, includes the safety protection device 100 of the unmanned forklift described in the above embodiments. Since the unmanned forklift 200 of this application employs the aforementioned safety protection device 100, it possesses all the advantages of the aforementioned safety protection device 100. It is understood that the options described in the above embodiments are also applicable to this embodiment, and therefore will not be repeated here.

[0071] In one embodiment, such as Figure 5 As shown, the unmanned forklift 200 also includes a main control screen 210, which is located in front of the unmanned forklift 200. The main control screen 210 provides a data interaction window for the unmanned forklift 200. The main control screen 210 displays real-time status information through a graphical interface or touch screen, and allows users to input commands or adjust parameters.

[0072] In one embodiment, the real-time status information displayed on the main control screen 210 includes the current position of the unmanned forklift 200, a 3D map, obstacle detection results, and the position information of goods and pallets. The main control screen 210 allows users to send commands via touchscreen or buttons to start or pause transport tasks, adjust the travel path or target point, and manually intervene in obstacle avoidance. The main control screen 210 allows users to set key parameters of the unmanned forklift 200 such as speed, obstacle avoidance distance, and pallet size.

[0073] As an example, the unmanned forklift 200 also includes a remote communication module; the remote communication module is located in the body of the unmanned forklift 200. The remote communication module is used to remotely send status information of the unmanned forklift 200 and to receive remote commands.

[0074] In one embodiment, the remote communication module is communicatively connected to the domain controller 120. The main control panel 210 can send information such as the location and status of the unmanned forklift 200 to the remote monitoring and scheduling system through the internally configured remote communication module, and simultaneously receive task instructions from the remote system, so that the domain controller 120 can receive the task instructions and execute the corresponding operations. The remote communication module can be a mobile communication network, a wireless local area network, or a low-power wide area network, etc., and is not limited here.

[0075] It is understood that the unmanned forklift 200 of this application realizes remote monitoring and scheduling of the unmanned forklift 200 through the remote communication module, including location tracking, status monitoring, task allocation, etc., which can improve the efficiency of logistics management of the unmanned forklift 200 and realize remote control and management of the unmanned forklift 200.

[0076] In another embodiment, the unmanned forklift 200 further includes a steering wheel module 220, which is an actuator in the unmanned forklift 200 and is responsible for realizing the driving, steering, and support functions of the unmanned forklift 200. The steering wheel module 220 includes a first rubber tire 221 and a second rubber tire 222; the first rubber tire 221 and the second rubber tire 222 are respectively disposed on both sides of the frame of the unmanned forklift 200.

[0077] The first rubber tire 221 and the second rubber tire 222 of this application are wear-resistant rubber tires, which provide stable ground contact and shock absorption, can bear the weight of goods, ensure reliability under long-term operation, and support unmanned forklifts in complex outdoor or field scenarios for handling work.

[0078] In one embodiment, the steering wheel module 220 further includes an integrated motor, a reducer, and a steering wheel mechanism. The integrated motor provides power output and supports precise speed control. The reducer converts the high-speed rotation of the motor into a low-speed, high-torque output to meet actual load requirements. The steering wheel mechanism enables independent or differential steering and supports high-precision angle adjustment.

[0079] In the several embodiments provided in this application, it should be understood that the disclosed apparatus and methods can also be implemented in other ways. The apparatus embodiments described above are merely illustrative. For example, the flowcharts and block diagrams in the accompanying drawings show the architecture, functionality, and operation of possible implementations of apparatus, methods, and computer program products according to various embodiments of this application. In this regard, each block in a flowchart or block diagram may represent a module, segment, or portion of code, which contains one or more executable instructions for implementing a specified logical function. It should also be noted that, as an alternative implementation, the functions marked in the blocks may occur in a different order than those marked in the drawings. For example, two consecutive blocks may actually be executed substantially in parallel, and they may sometimes be executed in reverse order, depending on the functions involved. It should also be noted that each block in the block diagram and / or flowchart, and combinations of blocks in the block diagram and / or flowchart, can be implemented using a dedicated hardware-based system that performs the specified function or action, or using a combination of dedicated hardware and computer instructions.

[0080] In addition, the functional modules or units in the various embodiments of this application can be integrated together to form an independent part, or each module can exist independently, or two or more modules can be integrated to form an independent part.

[0081] If a function is implemented as a software module and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of this application, in essence, or the part that contributes to the prior art, or part of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a smartphone, personal computer, server, or network device, etc.) to execute all or part of the steps of the methods of the various embodiments of this application.

[0082] The above are merely specific embodiments of this application, but the scope of protection of this application is not limited thereto. Any changes or substitutions that can be easily conceived by those skilled in the art within the scope of the technology disclosed in this application should be included within the scope of protection of this application.

Claims

1. A safety guard for a driverless fork lift truck, characterised in that, include: Data acquisition module and domain controller installed on the unmanned forklift; The domain controller is communicatively connected to the data acquisition module; The data acquisition module includes a forward obstacle avoidance unit, a positioning unit, a three-dimensional protection unit, a fork tip obstacle avoidance unit, and a cargo detection unit; The front obstacle avoidance unit is located at the front of the unmanned forklift body, the positioning unit is located at the top of the body, the three-dimensional protection unit is located below the positioning unit, the fork tip obstacle avoidance unit is located on the frame parallel to the fork arm of the unmanned forklift, and the cargo detection unit is located above the fork arm. The data acquisition module is used to collect point cloud data of the unmanned forklift; The domain controller is used to receive the point cloud data to obtain the positioning results of the unmanned forklift and the cargo pallet, as well as the detection results of obstacles and cargo.

2. The safety guard for a driverless fork truck of claim 1, wherein, The positioning unit includes a multi-line lidar; The multi-line lidar is used to acquire the first point cloud data of the unmanned forklift's operating scene.

3. The safety shield for a driverless fork truck of claim 1, wherein, The three-dimensional protection unit includes a multi-line three-dimensional sensing lidar; The multi-line stereo sensing lidar is used to collect second point cloud data at the top of the unmanned forklift.

4. The safety shield for unmanned fork trucks of claim 1, wherein, The fork tip obstacle avoidance unit includes a first obstacle avoidance lidar and a second obstacle avoidance lidar respectively disposed on both sides of the frame. Both the first obstacle avoidance lidar and the second obstacle avoidance lidar are used to collect third point cloud data in the direction of the fork arm.

5. The safety shield for unmanned fork trucks of claim 1 wherein, The cargo detection unit includes a high-beam laser radar; The high-beam lidar is used to collect fourth point cloud data behind the unmanned forklift.

6. The safety shield for unmanned fork trucks of claim 1, wherein, The forward obstacle avoidance unit includes a third obstacle avoidance lidar and a fourth obstacle avoidance lidar; The third obstacle avoidance lidar and the fourth obstacle avoidance lidar are respectively located on both sides of the front of the vehicle body; Both the third and fourth obstacle avoidance lidars are used to collect the fifth point cloud data in front of the unmanned forklift.

7. An unmanned fork truck characterized by, Includes the safety protection device for unmanned forklifts as described in any one of claims 1-6.

8. The unmanned fork truck of claim 7, wherein, Also includes: Main control screen; The main control screen is located in front of the unmanned forklift and is communicatively connected to the domain controller.

9. The unmanned fork truck of claim 7, wherein, Also includes: Remote communication module; The remote communication module is installed in the body of the unmanned forklift; The remote communication module is used to remotely send the status information of the unmanned forklift and receive remote commands.

10. The unmanned fork truck of claim 7, wherein, Also includes: A steering wheel module, the steering wheel module comprising a first rubber tire and a second rubber tire; The first rubber tire and the second rubber tire are respectively mounted on both sides of the frame of the unmanned forklift.

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