Intelligent transportation-based tray four-way shuttle vehicle

Abstract

The utility model relates to four -way shuttle vehicle technical field, concretely relates to a tray four -way shuttle vehicle based on intelligent transportation, including box, transverse motion wheel, longitudinal motion wheel and tray, the box inner chamber bottom is provided with power unit, and the power unit is connected with the transverse motion wheel and longitudinal motion wheel cooperation, and the box inner chamber is provided with controller, and the box inner chamber is provided with the baffle, and the baffle top is provided with the pressure spring, and the box side wall is provided with the support block, and the support block top is provided with the locating block, and the locating block inner chamber is provided with image sensor, and the tray sets up at the pressure spring top end, and the tray bottom is provided with one -way fixer, and the one -way fixer inner chamber is provided with the fixed link, the utility model discloses through the cooperation of control system and image sensor, makes the device in advance avoiding the obstacle, and the common cooperation of pressure spring, fixed link and one -way fixed block, avoids the problem that the tray is inclined when transporting things.

Description

Technical Field

[0001] This utility model relates to the field of four-way shuttle technology, and in particular to a pallet four-way shuttle based on intelligent transportation. Background Technology

[0002] In recent years, with the rise in land and labor costs, the concept of high-density warehousing has attracted increasing attention from logistics and e-commerce companies. Automated storage and retrieval systems (AS / RS) have become an indispensable warehousing technology for enterprise logistics and production management due to their high space utilization and strong inbound and outbound capabilities. Their application in industries such as automobiles, chemicals, electronics, and tobacco has been growing year by year. In the next few years, one of the technological development trends of AS / RS will be high speed, high efficiency, and high density.

[0003] Currently, the cargo handling equipment commonly used in automated warehouses is the four-way shuttle, which has two sets of wheels that travel on two separate tracks. However, during use, since the shape of the goods on the pallet is unknown, if the goods encounter obstacles during transportation, the goods may fall off the pallet, affecting the efficiency of cargo transportation. At the same time, the weight of the goods on the pallet varies, and during transportation, it is very likely that the pallet will tilt, causing the goods to fall off the pallet.

[0004] To address this, a pallet four-way shuttle based on intelligent transportation is proposed. Summary of the Invention

[0005] The purpose of this invention is to provide a pallet four-way shuttle based on intelligent transportation to solve the problems mentioned in the background art, such as the inability of existing four-way shuttles to avoid obstacles and the easy tilting of pallets during cargo transportation.

[0006] To achieve the above objectives, this utility model provides the following technical solution: a four-way shuttle vehicle for pallets based on intelligent transportation, comprising a box body, transverse moving wheels, longitudinal moving wheels, and a pallet. The transverse moving wheels are disposed on the front and rear side walls of the box body, and the longitudinal moving wheels are disposed on the left and right side walls of the box body. A power unit is disposed on the bottom surface of the inner cavity of the box body, and the power unit is connected in cooperation with the transverse and longitudinal moving wheels. A controller is disposed in the inner cavity of the box body, and a partition is disposed in the inner cavity of the box body. A pressure spring is disposed on the top surface of the partition. A support block is disposed on the side wall of the box body, and a positioning block is disposed on the top surface of the support block. An image sensor is disposed in the inner cavity of the positioning block. The pallet is disposed on the top of the pressure spring, and a one-way fixing device is disposed on the bottom surface of the pallet. A fixing rod is disposed in the inner cavity of the one-way fixing device.

[0007] Preferably, a counterweight is also provided on the bottom surface of the inner cavity of the box, the top surface of the counterweight is connected to the bottom surface of the controller, the controller is provided with a battery and a control motherboard, the battery is wired to the control motherboard, and the control motherboard is provided with a control system.

[0008] Preferably, the power unit is divided into a lateral power unit and a longitudinal power unit. Both ends of the lateral power unit are connected to a set of lateral moving wheels, and two sets of lateral power units are symmetrically arranged. The longitudinal power unit is connected to a set of longitudinal moving wheels on the side closer to the longitudinal moving wheels, and two sets of longitudinal power units are symmetrically arranged.

[0009] Preferably, two sets of longitudinal motion wheels are provided on one side of the housing, and a conveyor belt is provided over the two sets of longitudinal motion wheels. The conveyor belt is located in the inner cavity of the housing. One set of longitudinal motion wheels located on one side of the housing has its top end connected to the longitudinal power unit, and the other set has a protective disc at its top end.

[0010] Preferably, three sets of one-way retainers are equidistantly arranged on the bottom surface of the tray. The inner cavity of the one-way retainer is an elongated hole. The inner wall of the one-way retainer is rough. The fixing rod is slidable with the inner cavity of the one-way retainer and penetrates through the side wall of the box.

[0011] Preferably, the sum of the weights of the counterweight and the controller is equal to the sum of the weights of the two sets of longitudinal power units.

[0012] Preferably, the image sensor is rotatable within the positioning block cavity.

[0013] Preferably, the control system consists of a signal receiving module, a map module, and a control module; The signal receiving module is connected to the image sensor signal and is used to receive image data transmitted by the image sensor, analyze the shape data of the goods based on the image data, and transmit the shape data to the map module. The map module includes a detection unit and a construction unit, wherein: The detection unit is connected to the camera signal and is used to receive and transmit the image data transmitted by the camera to the construction unit. The construction unit is used to receive image data and shape data, and construct a three-dimensional point cloud map of the warehouse interior space based on the image data and shape data, and update the specific location of the goods on the three-dimensional point cloud map in real time. The control module is connected to the lateral and longitudinal power units to monitor the three-dimensional point cloud map at all times, and to control the lateral or longitudinal power units to start and adjust the position of the four-way shuttle when the cargo is about to come into contact with an obstacle.

[0014] The beneficial effects of this utility model are: 1. This utility model uses a pallet mounted on the top of four sets of pressure springs to cushion the weight of the goods. At the same time, three sets of one-way fixing blocks are mounted on the bottom of the pallet and connected by fixing rods. The inner cavity of the one-way fixing blocks is provided with an elongated oval hole. When transporting goods, the pressure springs, fixing rods and one-way fixing blocks work together to allow the pallet to move only up and down in a limited manner, thus avoiding the problem of the pallet tilting easily during the transport of goods.

[0015] 2. This utility model utilizes an image sensor to detect the shape of goods, and the control system constructs a three-dimensional point cloud map of the warehouse based on a camera, and updates the position of the goods on the three-dimensional point cloud map in real time, so that the four-way shuttle can adjust its running direction to avoid obstacles before it encounters them. Attached Figure Description

[0016] To more clearly illustrate the technical solutions in this utility model or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only for this utility model. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0017] Figure 1 This is a schematic diagram of the overall structure of this utility model; Figure 2 This is a schematic diagram of part of the structure of this utility model; Figure 3 This is a schematic diagram of the internal structure of the box body of this utility model. Figure 4 This is a schematic diagram of the control system of this utility model; Figure 5 This is a flowchart illustrating the control system of this utility model; Figure 6 This is a schematic diagram of the structure of the computer device of this utility model.

[0018] The components in the diagram are labeled as follows: 1. Box body; 2. Lateral motion wheel; 3. Longitudinal motion wheel; 4. Pallet; 5. Fixing rod; 6. One-way retainer; 7. Compression spring; 8. Baffle; 9. Lateral drive unit; 10. Controller; 11. Counterweight; 12. Longitudinal drive unit; 13. Conveyor belt; 14. Protective disc; 15. Support block; 16. Positioning block; 17. Image sensor. Detailed Implementation

[0019] To make the objectives, technical solutions, and advantages of this utility model clearer, the present utility model will be further described in detail below with reference to specific embodiments.

[0020] It should be noted that, unless otherwise defined, the technical or scientific terms used in this utility model should have the ordinary meaning understood by one of ordinary skill in the art to which this utility model pertains. The terms "first," "second," and similar terms used in this utility model do not indicate any order, quantity, or importance, but are merely used to distinguish different components. Terms such as "comprising" or "including" mean that the element or object preceding the word encompasses the elements or objects listed following the word and their equivalents, without excluding other elements or objects. Terms such as "connected" or "linked" are not limited to physical or mechanical connections, but can include electrical connections, whether direct or indirect. Terms such as "upper," "lower," "left," and "right" are used only to indicate relative positional relationships; when the absolute position of the described object changes, the relative positional relationship may also change accordingly.

[0021] Example 1

[0022] like Figures 1 to 3 As shown in the figure, a specific embodiment of this utility model provides a pallet four-way shuttle based on intelligent transportation, including a box body 1, transverse moving wheels 2, longitudinal moving wheels 3, and a pallet 4. The transverse moving wheels 2 are disposed on the front and rear side walls of the box body 1, and the longitudinal moving wheels 3 are disposed on the left and right side walls of the box body 1. A power unit is disposed on the bottom surface of the inner cavity of the box body 1, and the power unit is connected to the transverse moving wheels 2 and the longitudinal moving wheels 3. A controller 10 is disposed in the inner cavity of the box body 1, a partition 8 is disposed in the inner cavity of the box body 1, a pressure spring 7 is disposed on the top surface of the partition 8, a support block 15 is disposed on the side wall of the box body 1, a positioning block 16 is disposed on the top surface of the support block 15, an image sensor 17 is disposed in the inner cavity of the positioning block 16, the pallet 4 is disposed on the top of the pressure spring 7, a one-way fixing device 6 is disposed on the bottom surface of the pallet 4, and a fixing rod 5 is disposed in the inner cavity of the one-way fixing device 6.

[0023] Three sets of one-way fasteners 6 are equidistantly arranged on the bottom surface of the tray 4. The inner cavity of the one-way fastener 6 is an elongated hole with a rough inner wall. The fixing rod 5 can slide with the inner cavity of the one-way fastener 6 and penetrates the side wall of the box 1.

[0024] It should be noted that when the tray 4 is about to tilt, due to the roughness of the inner cavity of the one-way retainer 6 and the connection between the lower end of the tray 4 and the pressure spring 7, the fixing rod 5 prevents the tray 4 from tilting due to friction. Due to the design of the elongated hole in the inner cavity of the one-way retainer 6, the tray 4 will continue to move downward and be fixed as the weight increases.

[0025] The image sensor 17 is rotatable within the cavity of the positioning block 16.

[0026] It should be noted that the rotation of the image sensor 17 within the cavity of the positioning block 16 is automatic. After the pallet 4 is filled with goods or after a certain period of time, the image sensor 17 will automatically rotate to scan the goods.

[0027] The bottom surface of the inner cavity of the housing 1 is also provided with a counterweight 11. The top surface of the counterweight 11 is connected to the bottom surface of the controller 10. The controller 10 is equipped with a battery and a control motherboard. The battery is connected to the control motherboard by wires. The control motherboard is equipped with a control system.

[0028] The combined weight of the counterweight 11 and the controller 10 is equal to the combined weight of the two sets of longitudinal power units 12.

[0029] It is important to note that the equal weight design is intended to balance the weight at both ends of the four-way shuttle, preventing the shuttle from tipping over due to gravity imbalance.

[0030] The power unit is divided into a lateral power unit 9 and a longitudinal power unit 12. Both ends of the lateral power unit 9 are connected to a set of lateral moving wheels 2. Two sets of lateral power units 9 are symmetrically arranged. The longitudinal power unit 12 is connected to a set of longitudinal moving wheels 3 on the side closer to the longitudinal moving wheels 3. Two sets of longitudinal power units 12 are symmetrically arranged.

[0031] Two sets of longitudinal motion wheels 3 are provided on one side of the housing 1. The two sets of longitudinal motion wheels 3 are covered with a conveyor belt 13. The conveyor belt 13 is located in the inner cavity of the housing 1. One set of the two sets of longitudinal motion wheels 3 located on one side of the housing 1 is connected to the longitudinal power unit 12 at the top, and the other set is equipped with a protective disc 14 at the top.

[0032] It should be noted that when the lateral motor 9 is started, it drives the lateral moving wheels 2 on both sides at the same time. When the longitudinal motor 12 is started, it drives a set of longitudinal moving wheels 3 connected to it. When a set of longitudinal moving wheels 3 is moving, the conveyor belt 12 will connect another set of longitudinal moving wheels 3 to it. The protective disc 14 can prevent the conveyor belt from detaching from the longitudinal moving wheels.

[0033] By adopting the above technical solution, when loading goods, the present invention places the goods on the top surface of the pallet 4. At this time, the weight of the pallet 4 increases, which presses the fixing rod 5 to move downward in the one-way fixing device. When the pallet 4 moves downward, the pressure spring 7 is squeezed and compressed by the pallet 4 to buffer the weight of the pallet 4. At the same time, the image sensor 17 detects the shape of the goods in real time. When transporting goods, the controller 10 starts to move the goods according to the preset national highway control lateral power unit 9 and longitudinal power unit 12.

[0034] Example 2

[0035] like Figures 4 to 5 As shown, the control system consists of a signal receiving module, a map module, and a control module. The signal receiving module is connected to the image sensor signal to receive image data transmitted by the image sensor, analyze the shape data of the goods based on the image data, and transmit the shape data to the map module. It should be noted that the image sensor and signal receiving module can be connected via, but are not limited to, Bluetooth, 4G Wi-Fi, 5G Wi-Fi, and data cable.

[0036] The map module includes detection units and construction units, wherein: The detection unit is connected to the camera signal and is used to receive and transmit image data from the camera to the construction unit. It should be noted that the detection unit can be connected to the camera via, but is not limited to, Bluetooth, 4G Wi-Fi, 5G Wi-Fi, or data cable.

[0037] The construction unit is used to receive image data and shape data, and build a three-dimensional point cloud map of the warehouse interior space based on the image data and shape data, and update the specific location of the goods on the three-dimensional point cloud map in real time. It is important to note that the shape data is used to construct the shape of the goods on a 3D point cloud map, and the image data is constantly updated to show the specific location of the goods as they move.

[0038] The control module is connected to the lateral and longitudinal power units to monitor the 3D point cloud map in real time, and to control the lateral or longitudinal power units to start and adjust the position of the four-way shuttle when the cargo is about to come into contact with an obstacle.

[0039] It should be noted that the control module can be connected to the lateral and longitudinal power units via, but is not limited to, Bluetooth, 4G Wi-Fi, 5G Wi-Fi, and data cables.

[0040] In this embodiment, the signal receiving module receives image data transmitted from the image sensor and analyzes the shape data of the cargo based on the image data. Then, the shape data is transmitted to the map module. After receiving the shape data transmitted by the signal receiving module, the construction unit in the map module builds the shape of the cargo on the 3D point cloud map based on the shape data and updates the specific position of the cargo at all times. When the cargo is about to touch an obstacle, the control module controls the lateral or longitudinal power unit to start and adjust the position of the four-way shuttle. Before the map module receives the shape data, the detection unit in the map module receives the image data transmitted by the camera and transmits it to the construction unit. The construction unit builds a 3D point cloud map based on the image data transmitted by the detection unit.

[0041] Example 3

[0042] like Figure 6As shown, a camera is connected to a detection unit via Bluetooth or 4G / 5G wireless network. At least one set of the camera is set in the four corners of the warehouse to detect, capture, and transmit data of the warehouse cavity.

[0043] A camera-readable storage medium having a computer program thereon, stored in a storage device and executable on a processor, wherein the computer program, when executed by the processor, implements a control system as described above.

[0044] The AR display device of this embodiment connects to a smart terminal via Bluetooth or 4G / 5G wireless network and stores computer programs. The types of storage devices include, but are not limited to, electrical, magnetic, optical, electromagnetic, infrared, or semiconductor systems, devices, or any combination thereof. The types of storage devices include, but are not limited to, one or more wired electrical connections, portable computer disks, hard disks, optical fibers, optical (magnetic) storage devices, random access memory, read-only memory, erasable programmable read-only memory, or any suitable combination thereof. The camera-readable medium can be a computer-readable signal medium or a computer-readable storage medium or any combination thereof, including permanent and non-permanent, removable and non-removable media. Information can be read, written and stored by any method or technology. The information can be computer-readable instructions, data structures, program modules or other data.

[0045] Those skilled in the art should understand that the discussion of any of the above embodiments is merely exemplary and is not intended to imply that the scope of the present invention (including the claims) is limited to these examples; within the framework of the present invention, the technical features of the above embodiments or different embodiments can also be combined, the steps can be implemented in any order, and there are many other variations of the different aspects of the present invention as described above, which are not provided in the details for the sake of brevity.

[0046] This utility model is intended to cover all such substitutions, modifications, and variations that fall within the broad scope of the appended claims. Therefore, any omissions, modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this utility model should be included within the protection scope of this utility model.

Claims

1. A pallet four-way shuttle based on intelligent transportation, comprising a box body (1), transverse motion wheels (2), longitudinal motion wheels (3), and a pallet (4), wherein the transverse motion wheels (2) are disposed on the front and rear side walls of the box body (1), and the longitudinal motion wheels (3) are disposed on the left and right side walls of the box body (1), characterized in that, The bottom surface of the inner cavity of the box (1) is provided with a power unit, which is connected to the transverse moving wheel (2) and the longitudinal moving wheel (3). The inner cavity of the box (1) is provided with a controller (10). The inner cavity of the box (1) is provided with a partition (8). The top surface of the partition (8) is provided with a pressure spring (7). The side wall of the box (1) is provided with a support block (15). The top surface of the support block (15) is provided with a positioning block (16). The inner cavity of the positioning block (16) is provided with an image sensor (17). The tray (4) is located at the top of the pressure spring (7). The bottom surface of the tray (4) is provided with a one-way fixing device (6). The inner cavity of the one-way fixing device (6) is provided with a fixing rod (5).

2. A pallet four-way shuttle vehicle based on intelligent transportation according to claim 1, characterized in that, The bottom surface of the inner cavity of the box (1) is also provided with a counterweight (11). The top surface of the counterweight (11) is connected to the bottom surface of the controller (10). The controller (10) is provided with a battery and a control motherboard. The battery is connected to the control motherboard by wires. The control motherboard is provided with a control system.

3. A pallet four-way shuttle vehicle based on intelligent transportation according to claim 2, characterized in that, The power unit is divided into a lateral power unit (9) and a longitudinal power unit (12). Both ends of the lateral power unit (9) are connected to a set of lateral moving wheels (2). Two sets of lateral power units (9) are symmetrically arranged. The longitudinal power unit (12) is connected to a set of longitudinal moving wheels (3) on the side close to the longitudinal moving wheel (3). Two sets of longitudinal power units (12) are symmetrically arranged.

4. A pallet four-way shuttle vehicle based on intelligent transportation according to claim 3, characterized in that, Two sets of longitudinal motion wheels (3) are provided on one side of the housing (1). The two sets of longitudinal motion wheels (3) are covered with a conveyor belt (13). The conveyor belt (13) is located in the inner cavity of the housing (1). One set of the two sets of longitudinal motion wheels (3) located on one side of the housing (1) is connected to the longitudinal power unit (12) at the top, and the other set is provided with a protective disc (14) at the top.

5. A pallet four-way shuttle vehicle based on intelligent transportation according to claim 4, characterized in that, The one-way fastener (6) is provided in three sets at equal intervals on the bottom surface of the tray (4). The inner cavity of the one-way fastener (6) is an elongated hole. The inner wall of the one-way fastener (6) is rough. The fixing rod (5) can slide with the inner cavity of the one-way fastener (6). The fixing rod (5) penetrates the side wall of the box (1).

6. A pallet four-way shuttle vehicle based on intelligent transportation according to claim 5, characterized in that, The sum of the weights of the counterweight (11) and the controller (10) is equal to the sum of the weights of the two sets of longitudinal power units (12).

7. A pallet four-way shuttle vehicle based on intelligent transportation according to claim 6, characterized in that, The image sensor (17) is rotatable within the cavity of the positioning block (16).

8. A pallet four-way shuttle vehicle based on intelligent transportation according to claim 7, characterized in that, The control system consists of a signal receiving module, a map module, and a control module. The signal receiving module is connected to the image sensor signal and is used to receive image data transmitted by the image sensor, analyze the shape data of the goods based on the image data, and transmit the shape data to the map module. The map module includes a detection unit and a construction unit, wherein: The detection unit is connected to the camera signal and is used to receive and transmit the image data transmitted by the camera to the construction unit. The construction unit is used to receive image data and shape data, and construct a three-dimensional point cloud map of the warehouse interior space based on the image data and shape data, and update the specific location of the goods on the three-dimensional point cloud map in real time. The control module is connected to the lateral and longitudinal power units to monitor the three-dimensional point cloud map at all times, and to control the lateral or longitudinal power units to start and adjust the position of the four-way shuttle when the cargo is about to come into contact with an obstacle.

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