An AGV transfer vehicle

Abstract

The embodiment of the application relates to intelligent transfer, and discloses an AGV transfer vehicle, which comprises a base provided with walking wheels; a carrying frame arranged on the base and detachably connected with the base; an interaction module arranged on the carrying frame and at least comprising a gesture recognition unit supporting remote interaction and a voice recognition unit supporting near-distance soft voice instruction interaction; and a control module arranged in the base and used for receiving a control instruction of the interaction module and controlling the walking wheels to execute corresponding actions according to a preset strategy, wherein the actions at least include instruction actions in response to the gesture recognition unit and / or the voice recognition unit; and wherein the carrying frame and the interaction module are integrated structures. Through the cooperation of the base, the detachable carrying frame, the interaction module integrating remote gesture recognition and near-distance soft voice recognition, and the control module, and through the adoption of the integrated structure of the carrying frame and the interaction module, the high-efficiency intelligent transfer vehicle suitable for scenes such as quiet and dust-free workshops is formed; and the flexibility and environmental adaptability of human-computer interaction are realized.

Description

Technical Field

[0001] This application relates to the field of intelligent transfer technology, and in particular to an AGV transfer vehicle. Background Technology

[0002] In the field of industrial automation production, AGV (Automated Guided Vehicle) transport vehicles, as core equipment for material handling, have been widely used in workshops of industries such as electronics, automobiles, and pharmaceuticals. However, with the increasing demands of production processes for environmental adaptability, human-machine interaction flexibility, and transport reliability, existing AGV transport vehicles are gradually revealing various technical limitations.

[0003] Current AGV interaction methods mostly rely on fixed control panels, remote controllers, or conventional voice commands. On the one hand, control panels and remote controllers require operators to be in close contact with the equipment to control it, which poses a risk of collision in heavy material handling scenarios, and the control panels are prone to dust accumulation in the workshop, affecting their use. On the other hand, conventional voice commands require a relatively high volume (usually ≥60dB) to be accurately recognized, which will cause noise pollution in quiet cleanrooms (such as electronic component manufacturing workshops), interfering with the precision production environment, while in noisy automobile assembly workshops, they are easily affected by environmental noise, causing command recognition failure. Utility Model Content

[0004] One object of this application is to provide an AGV transport vehicle that at least solves the above-mentioned problems.

[0005] To achieve the above objectives, some embodiments of this application provide an AGV transfer vehicle, including:

[0006] The base is equipped with wheels;

[0007] A shelf is mounted on the base and is detachably connected to the base;

[0008] The interaction module is located on the shelf and includes at least a gesture recognition unit that supports far-distance interaction and a voice recognition unit that supports near-distance whispered command interaction.

[0009] The control module, located inside the base, is used to receive control commands from the interaction module and control the walking wheels to perform corresponding actions according to a preset strategy. The actions include at least responding to the commands of the gesture recognition unit and / or the voice recognition unit.

[0010] The shelf and the interaction module are integrated into one structure.

[0011] Compared with related technologies, the AGV transfer vehicle provided in this application embodiment, through the collaborative design of the base, detachable rack, integrated interaction module for long-distance gesture recognition and close-range whispered voice recognition, and built-in control module, and the rack and interaction module adopt an integrated structure, forms a highly efficient intelligent transfer vehicle suitable for scenarios such as quiet cleanrooms.

[0012] The detachable rack allows for flexible replacement based on material type and handling needs, significantly improving the adaptability of the transfer vehicle to different working conditions and avoiding application limitations caused by a fixed load structure. The long-range gesture recognition unit allows operators to control the transfer vehicle without approaching it, reducing the safety risks of close-range operation. The close-range whisper voice recognition meets the environmental requirements of quiet workshops, avoiding noise interference from conventional voice commands. The control module drives the wheels according to preset strategies based on interactive commands, ensuring the accuracy and stability of the transfer vehicle's response. The integrated structure of the rack and the interactive module not only simplifies the assembly process of the transfer vehicle and reduces component connection failure points, but also optimizes the installation position and recognition angle of the interactive module, improving the accuracy of gesture and voice command capture. Overall, it achieves flexibility in human-machine interaction, environmental adaptability, and reliability in the operation of the transfer vehicle. Attached Figure Description

[0013] One or more embodiments are illustrated by way of example with reference numerals in the accompanying drawings. These illustrations do not constitute a limitation on the embodiments. Elements with the same reference numerals in the drawings are denoted as similar elements. Unless otherwise stated, the figures in the drawings are not to be limited by scale.

[0014] Figure 1 This is a schematic diagram of the structure of the AGV transfer vehicle provided in the embodiments of this disclosure;

[0015] Figure 2 This is a structural schematic diagram of the AGV transfer vehicle provided in an embodiment of this disclosure from another perspective;

[0016] Figure 3 This is a structural schematic diagram of the AGV transport vehicle provided in an embodiment of this disclosure from another perspective.

[0017] Figure label:

[0018] 10: Base; 20: Wheels; 30: Shelf; 301: First side frame; 3011: First crossbeam; 302: Second side frame; 3021: Second crossbeam; 303: Base frame; 40: Interaction module; 50: Sensing module. Detailed Implementation

[0019] To make the objectives, technical solutions, and advantages of the embodiments of this application clearer, the technical solutions of 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, not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0020] The terms "first," "second," etc., used in the specification, claims, and accompanying drawings of this disclosure are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate for the embodiments of this disclosure described herein. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover non-exclusive inclusion.

[0021] In this disclosure, the terms "upper," "lower," "inner," "middle," "outer," "front," and "rear," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. These terms are primarily for better description of the embodiments of this disclosure and their implementations, and are not intended to limit the indicated devices, elements, or components to having a specific orientation, or to require them to be constructed and operated in a specific orientation. Furthermore, some of the aforementioned terms may be used to indicate other meanings besides orientation or positional relationship; for example, the term "upper" may in some cases indicate a dependency or connection relationship. Those skilled in the art can understand the specific meaning of these terms in the embodiments of this disclosure according to the specific circumstances.

[0022] Furthermore, the terms "set up," "connect," and "fix" should be interpreted broadly. For example, "connection" can be a fixed connection, a detachable connection, or an integral structure; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, or it can be an internal connection between two devices, components, or parts. Those skilled in the art can understand the specific meaning of the above terms in the embodiments of this disclosure according to the specific circumstances.

[0023] Unless otherwise stated, the term "multiple" means two or more.

[0024] In this embodiment of the disclosure, the character " / " indicates that the objects before and after it are in an "or" relationship. For example, A / B means: A or B.

[0025] The term "and / or" describes an association between objects, indicating that three relationships can exist. For example, A and / or B means: A or B, or A and B.

[0026] It should be noted that, unless otherwise specified, the embodiments and features described in the present disclosure can be combined with each other.

[0027] Combination Figures 1 to 3 As shown in the figure, an AGV transfer vehicle provided in this embodiment includes: a base 10, a carrying rack 30, an interaction module 40, and a control module.

[0028] The base 10 is equipped with wheels 20; the shelf 30 is located on the base 10 and is detachably connected to the base 10; the interaction module 40 is located on the shelf 30 and includes at least a gesture recognition unit supporting far-distance interaction and a voice recognition unit supporting near-distance whispered command interaction; the control module is located inside the base 10 and is used to receive control commands from the interaction module 40 and control the wheels 20 to perform corresponding actions according to a preset strategy, the actions including at least responding to the commands of the gesture recognition unit and / or the voice recognition unit; wherein, the shelf 30 and the interaction module 40 are integrated structures.

[0029] The AGV transport vehicle provided in this embodiment of the present disclosure, through the collaborative design of the base 10, the detachable rack 30, the interactive module 40 integrating long-range gesture recognition and near-range whispered voice recognition, and the built-in control module, and the rack 30 and the interactive module 40 adopt an integrated structure, forms a highly efficient intelligent transport vehicle adapted to scenarios such as quiet cleanrooms.

[0030] The detachable rack 30 allows for flexible replacement based on material type and handling requirements, significantly improving the adaptability of the transfer vehicle to different working conditions and avoiding application limitations caused by a fixed load structure. The long-range gesture recognition unit allows operators to control the transfer vehicle without approaching it, reducing the safety risks of close-range operation. The close-range whispered voice recognition meets the environmental requirements of quiet workshops, avoiding noise interference from conventional voice commands. The control module drives the walking wheels 20 according to preset strategies based on interactive commands, ensuring the accuracy and stability of the transfer vehicle's response. The integrated structure of the rack 30 and the interaction module 40 not only simplifies the transfer vehicle assembly process and reduces component connection failure points, but also optimizes the installation position and recognition angle of the interaction module 40, improving the accuracy of gesture and voice command capture. Overall, it achieves flexibility in human-machine interaction, environmental adaptability, and reliability in transfer vehicle operation.

[0031] Optionally, the gesture recognition unit supports at least the following gestures: arms hanging naturally, right arm raised, both arms raised, and left arm raised.

[0032] The gesture recognition unit explicitly supports specific gestures such as arms hanging naturally, right arm raised, both arms raised, and left arm raised, providing operators with a clear and differentiated control command system. Different gestures correspond to different transport vehicle actions, allowing operators to quickly issue commands through intuitive body movements without relying on complex operating interfaces or additional transport vehicle controls, thus lowering the operational threshold and improving work efficiency. Simultaneously, the differentiated gesture design reduces recognition confusion and avoids misinterpretation of commands due to similar gestures, ensuring that the gesture recognition unit accurately receives and executes control intentions, further enhancing the reliability of human-computer interaction.

[0033] Optionally, the AGV transfer vehicle further includes: a sensing module 50, located on the rack 30, for detecting obstacles and environmental information in the operating environment of the transfer vehicle, including at least a lidar unit; wherein, the control module receives the environmental detection data from the sensing module 50 and controls the walking wheels 20 to perform corresponding actions according to a preset strategy, the actions also including safety avoidance actions for sudden obstacles.

[0034] The AGV transport vehicle is equipped with a sensing module 50 containing a lidar unit, mounted on the rack 30. This module enables real-time environmental detection and risk prediction. The lidar unit can accurately capture obstacles and environmental information in the operating path, providing comprehensive environmental perception support for the AGV transport vehicle and avoiding collision risks caused by blind spots. The control module, combined with environmental detection data, drives the walking wheels 20 to perform sudden obstacle avoidance actions. It can respond quickly when encountering obstacles, preventing collisions between the transport vehicle and obstacles and ensuring the safety of the transport vehicle, materials, and the workshop environment.

[0035] Optionally, the AGV transfer vehicle also includes: a navigation module, integrated into the base 10 or the rack 30, which is communicatively connected to the lidar unit and used to realize map construction and real-time addressing based on the environmental information collected by the lidar unit; wherein, the control module receives the environmental detection data from the perception module 50 and the addressing information from the navigation module, and controls the walking wheels 20 to perform corresponding actions according to a preset strategy, the actions also including seamless restoration of the original path after avoiding sudden obstacles.

[0036] The navigation module communicates with the lidar unit, enabling map building and real-time addressing based on environmental information. This, combined with the control module, forms a complete closed-loop operation of "detection-navigation-avoidance-recovery." Map building and real-time addressing ensure the transport vehicle can accurately locate itself and plan the optimal path, avoiding the limitations of traditional AGVs that rely on preset tracks and improving its operational flexibility in complex workshop environments. The control module, combining environmental detection data and addressing information, drives the walking wheels 20 to seamlessly restore the original path after avoiding sudden obstacles. This eliminates the need for manual path replanning, allowing for rapid return to the preset transport process and ensuring that transport tasks proceed as planned, avoiding production delays caused by path interruptions.

[0037] Optionally, the interaction module 40 is located on the top of the shelf 30, and the recognition area of ​​the interaction module 40 faces the operator's operating direction to obtain gesture and voice commands.

[0038] The interaction module 40 is located at the top of the shelf 30 with its recognition area facing the operator's direction, improving the effectiveness and accuracy of command capture. The top mounting position reduces obstruction of the recognition range by other components of the shelf 30, providing a wider detection angle for the gesture recognition unit and ensuring accurate recognition of the operator's gestures within a reasonable operating range. The recognition area facing the operator's direction also brings the voice recognition unit closer to the operator's speaking position, reducing interference from ambient noise on whispered commands, improving voice recognition accuracy, and further ensuring the efficiency and reliability of human-computer interaction.

[0039] Optionally, the shelf 30 includes: a first side shelf 301, including a first crossbeam 3011; and a second side shelf 302, which is arranged parallel to the first side shelf 301 and includes a second crossbeam 3021 corresponding to the first crossbeam 3011; wherein the first crossbeam 3011 and the second crossbeam 3021 are load-bearing beams for carrying boxes.

[0040] The rack 30 employs a first side frame 301 (including a first crossbeam 3011) and a second side frame 302 (including a second crossbeam 3021) arranged in parallel, with the crossbeams serving as load-bearing beams to support the cargo box, thus constructing a stable and reliable cargo-carrying structure. The parallel side frames and corresponding crossbeams form a symmetrical support system, which can evenly distribute the weight of the cargo box, preventing excessive local stress that could cause the rack 30 to deform or the cargo box to tilt and fall, ensuring safety during material handling.

[0041] Optionally, the first crossbeam 3011 and the second crossbeam 3021 are spaced at a predetermined distance from the upper surface of the base 10 to prevent interference between the cargo box and the upper surface of the base 10. Preferably, the predetermined distance can be one-third of the height of the first side frame 301.

[0042] The first crossbeam 3011 and the second crossbeam 3021 are spaced at a predetermined distance from the upper surface of the base 10, effectively solving the interference problem between the cargo box and the base 10. This distance provides ample installation and storage space for the cargo box. Even if there are protruding structures on the bottom of the cargo box or other components on the upper surface of the base 10, collisions and scratches between the two can be avoided during loading, unloading, or operation, protecting the cargo box and base 10 components from damage. At the same time, the reasonable spacing design also facilitates the loading and unloading of the cargo box by operators, avoiding operational inconvenience caused by limited space, improving loading and unloading efficiency, and ensuring the smooth operation of the transfer vehicle as a whole.

[0043] Optionally, the first side frame 301 and the second side frame 302 are inserted into the base 10, or the first side frame 301 and the second side frame 302 are disposed on the base 10 through the bottom frame 303.

[0044] The first side frame 301 and the second side frame 302 are installed on the base 10 via insertion or a base frame 303, providing two flexible and reliable ways to connect the rack 30 to the base 10. The insertion connection method has a simple structure, allowing operators to quickly disassemble and assemble the rack 30, facilitating maintenance of the transfer vehicle or replacing different racks 30 as needed, thus improving the flexibility of the transfer vehicle. The base frame 303 installation method enhances the connection stability between the side frame and the base 10, ensuring that the rack 30 remains firmly connected even when carrying heavy materials or when the transfer vehicle is bumpy, preventing the rack 30 from shaking or shifting and ensuring the safety of material handling. Both connection methods can be flexibly selected according to workshop operation needs (such as disassembly and assembly frequency, load-bearing weight), further improving the practicality and adaptability of the transfer vehicle.

[0045] For example, the first side frame 301 and the second side frame 302 of the shelf 30 are both made of aluminum alloy profiles and are fixed to the base 10 by the bottom frame 303 (bolted connection). The contact part between the bottom frame 303 and the base 10 is provided with anti-slip pads. The distance between the first crossbeam 3011 and the second crossbeam 3021 is 800mm. The first crossbeam 3011 / second crossbeam 3021 is made of hollow square steel (section size 50mm×50mm). The upper surface of the first crossbeam 3011 / second crossbeam 3021 is attached with anti-static rubber pads. The first crossbeam 3011 / second crossbeam 3021 is 200mm away from the upper surface of the base 10 to avoid interference between the mounted storage box and the base 10.

[0046] Optionally, the base 10 is a shell structure, and the control module is located inside the shell of the base 10 to isolate the control module from the external environment.

[0047] The base 10 adopts a shell structure with the control module located inside the shell cavity, providing effective physical protection for the control module. The shell structure isolates the control module from the external environment, preventing dust, moisture, impurities, etc. from entering the control module and preventing malfunctions due to environmental factors, thus ensuring the stable operation of the control module. At the same time, the isolation design reduces the impact of external shocks or vibrations on the control module, extends its service life, and ensures that it continuously and accurately receives signals from the interaction and sensing module 50 and drives the walking wheels 20, providing core assurance for the overall reliability of the transport vehicle.

[0048] Optionally, the inner wall of the base 10 housing is provided with a dustproof buffer layer to protect the control module and prevent dust intrusion and vibration during the operation of the transport vehicle.

[0049] The base 10 housing features a dustproof buffer layer on its inner wall, further enhancing the protection of the control module. This layer effectively prevents fine dust from entering the housing cavity, avoiding circuit malfunctions caused by dust adhering to control module components, thus meeting the cleanliness requirements of cleanrooms for transport vehicles. Simultaneously, the buffer layer absorbs vibrations generated during transport vehicle operation, reducing the impact on the control module and preventing component loosening or damage due to vibration. This ensures long-term stable operation of the control module and further improves the overall durability and reliability of the transport vehicle.

[0050] For example, the base 10 adopts a 304 stainless steel shell structure with a shell wall thickness of 3mm and a 2mm thick polyurethane dustproof buffer layer attached to the inner wall, which effectively blocks the intrusion of fine dust in the workshop and absorbs the vibration of the transfer vehicle. The walking wheels 20 are made of silent rubber material with a wheel diameter of 120mm and are equipped with shock-absorbing bearings. The operating noise is ≤50dB, which meets the requirements of the silent workshop environment.

[0051] For example, in the scenario of transferring electronic components in a quiet cleanroom, the transfer process of the AGV transfer vehicle provided in this embodiment is as follows:

[0052] Integrated at the top center of the rack 30, the recognition area faces the aisle where workshop operators usually stand (at a 90° angle to the transport vehicle's running path); the gesture recognition unit supports both arms hanging naturally (transport vehicle in standby mode), the right arm raised (transport vehicle moving forward), both arms raised (transport vehicle paused), and the left arm raised (transport vehicle moving backward); the voice recognition unit supports soft commands within 1m (volume 30-40dB), such as "start path 1" or "stop at workstation A", to avoid noise interference with the electronic component production environment.

[0053] The lidar unit of the perception module 50 is located at the top corner of the rack 30 (offset from the interaction module 40), with a detection angle of 360° and a detection distance of 0-5m. It can identify sudden obstacles such as transport vehicle supports and personnel in the workshop. The navigation module is integrated into the base 10 and communicates with the lidar unit in real time. Based on the environmental information such as workshop columns and markings collected by the lidar, it constructs a high-precision map (positioning accuracy ±5mm) to achieve real-time addressing. After receiving environmental detection data and navigation information, the control module can drive the walking wheels 20 to perform obstacle avoidance (avoidance distance ≥300mm). After avoidance, the original path is seamlessly restored through the path correction function of the navigation module, ensuring that electronic components are accurately transported to the preset workstation according to plan.

[0054] The foregoing description and accompanying drawings fully illustrate embodiments of the present disclosure to enable those skilled in the art to practice them. Other embodiments may include structural and other changes. The embodiments represent only possible variations. Individual components and functions are optional unless explicitly required, and the order of operation may vary. Parts and features of some embodiments may be included or substituted for parts and features of other embodiments. Embodiments of the present disclosure are not limited to the structures described above and shown in the accompanying drawings, and various modifications and changes may be made without departing from its scope. The scope of the present disclosure is limited only by the appended claims, and the foregoing embodiments should be considered exemplary and non-limiting.

Claims

1. An AGV transporter, characterized in that, include: The base is equipped with wheels; A shelf is mounted on the base and is detachably connected to the base; The interaction module is located on the shelf and includes at least a gesture recognition unit that supports far-distance interaction and a voice recognition unit that supports near-distance whispered command interaction. The control module, located inside the base, is used to receive control commands from the interaction module and control the walking wheels to perform corresponding actions according to a preset strategy. The actions include at least responding to the commands of the gesture recognition unit and / or the voice recognition unit. The shelf and the interaction module are integrated into one structure.

2. The AGV pallet according to claim 1, wherein, The gesture recognition unit supports at least the following gestures: arms hanging naturally, right arm raised, both arms raised, and left arm raised.

3. The AGV pallet according to claim 1, wherein, Also includes: The sensing module, located on the rack, is used to detect obstacles and environmental information in the operating environment of the transport vehicle, and includes at least a lidar unit; The control module receives environmental detection data from the sensing module and controls the walking wheels to perform corresponding actions according to a preset strategy. The actions also include safety avoidance actions for sudden obstacles.

4. The AGV pallet according to claim 3, wherein, Also includes: The navigation module, integrated into the base or shelf, communicates with the lidar unit and is used to build maps and perform real-time addressing based on environmental information collected by the lidar unit. The control module receives environmental detection data from the perception module and addressing information from the navigation module, and controls the walking wheels to perform corresponding actions according to a preset strategy. The actions also include seamless path restoration after avoiding sudden obstacles.

5. The AGV pallet according to claim 1, wherein, The interaction module is located at the top of the shelf, and the recognition area of ​​the interaction module faces the direction of the operator to receive gestures and voice commands.

6. The AGV pallet according to claim 1, wherein, The shelving includes: The first side frame includes the first crossbeam; The second side frame is arranged parallel to the first side frame and includes a second crossbeam that corresponds to the first crossbeam; The first and second crossbeams are load-bearing beams used to support cargo boxes.

7. The AGV pallet according to claim 6, wherein, The first and second crossbeams are spaced at a predetermined distance from the upper surface of the base to prevent interference between the cargo box and the upper surface of the base.

8. The AGV pallet according to claim 6, wherein, The first and second side frames are inserted into the base, or the first and second side frames are mounted on the base via the bottom frame.

9. The AGV pallet according to any one of claims 1 to 8, characterized in that, The base is a shell structure, and the control module is located inside the shell to isolate the control module from the external environment.

10. The AGV pallet according to claim 9, wherein, The inner wall of the base housing is equipped with a dustproof buffer layer to protect the control module and prevent dust intrusion and vibration during the operation of the transport vehicle.

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