Handling AGV and AGV control method

Abstract

A handling AGV and an AGV control method. A fork assembly (10) comprises a cam bearing support (10-5) and a cam bearing (10-6). A cam slider mechanism (170) comprises a slider (170-1), an electric push rod (170-2), a linear guide slider (170-3), and a linear guide rail (170-4). The electric push rod (170-2) is connected to the slider (170-1). The slider (170-1) is arranged on the linear guide rail (170-4) and used for pushing the slider (170-1) to move along the linear guide rail (170-4). The linear guide slider (170-3) is mounted on the linear guide rail (170-4), and provides linear motion guidance for the slider (170-1). An upper end inclined surface of the slider (170-1) is located below the cam bearing (10-6) on the cam bearing support (10-5), and is in contact with the cam bearing (10-6) when the slider (170-1) moves. The fork assembly (10) further comprises a load-bearing wheel assembly (10-1), a load-bearing wheel support (10-2), a push rod (10-3), and a steel wheel support (10-4). The load-bearing wheel support (10-2), the push rod (10-3), and the steel wheel support (10-4) form a linkage mechanism. The linkage mechanism is connected to the slider (170-1) and the load-bearing wheel assembly (10-1), and is used to drive, when the slider (170-1) moves, the load-bearing wheel assembly (10-1) to retract into the interior of a fork along a direction of the fork assembly (10) or to extend out to contact the ground.

Description

A transport AGV and an AGV control method

[0001] Cross-reference to related applications

[0002] This application claims priority to Chinese Patent Application No. 2024117165772, filed on November 27, 2024, entitled "A Handling AGV and an AGV Control Method", the entire contents of which are incorporated herein by reference. Technical Field

[0003] This application relates to the field of robotics, and in particular to a material handling AGV and an AGV control method. Background Technology

[0004] With the rapid development of mobile robot technology, Automated Guided Vehicles (AGVs) are increasingly being used across various industries. The introduction of AGVs has significantly reduced reliance on manual labor and improved the automation level of logistics and warehousing systems. Different industries and factories have their own unique application scenarios, placing different demands on the functions and performance of AGVs. This has prompted researchers to continuously develop new products to meet the diverse needs of users.

[0005] Pallets are one of the core carriers in warehousing and logistics operations. Currently, the two most widely used pallets domestically and internationally are the A-frame pallets and the trestle pallets. A-frame pallets can typically be handled efficiently using warehouse handling vehicles or stackers. However, the structure of trestle pallets limits their compatibility with conventional warehousing equipment, and current technology mainly relies on counterbalance forklifts or reach trucks for handling. While these two types of vehicles can handle trestle pallets, they have high requirements for the operating environment, require wide aisle space, and are relatively expensive. If used only for simple horizontal handling, these devices have a very low cost-effectiveness ratio, and their operational efficiency is also limited.

[0006] Therefore, how to efficiently transport lattice pallets in confined spaces has become a pressing issue for the industry. Developing a cost-effective and practical AGV (Automated Guided Vehicle) that is compatible with lattice pallets is therefore crucial. This will help improve operational efficiency, reduce operating costs, and achieve flexibility and efficiency in various application scenarios. Summary of the Invention

[0007] In view of the above problems, embodiments of this application are proposed to provide a material handling AGV and an AGV control method that overcome or at least partially solve the above problems.

[0008] To address the aforementioned problems, this application discloses a material handling AGV, comprising:

[0009] Fork assembly, including cam bearing bracket and cam bearing; and

[0010] The cam-slider mechanism includes a slider, an electric push rod, a linear guide slider, and a linear guide rail.

[0011] The electric push rod is connected to the slider, which is mounted on the linear guide rail and used to push the slider to move along the linear guide rail. The linear guide rail slider is mounted on the linear guide rail and provides linear motion guidance for the slider. The slider has an upper inclined surface, which is located below the cam bearing on the cam bearing bracket and contacts the cam bearing when the slider moves.

[0012] The fork assembly also includes a load-bearing wheel assembly, a load-bearing wheel bracket, a push rod, and a steel wheel bracket;

[0013] The load-bearing wheel bracket, push rod, and steel wheel bracket form a linkage mechanism. The linkage mechanism is connected to the slider and the load-bearing wheel assembly and is used to drive the load-bearing wheel assembly to retract into the fork or extend to contact the ground along the direction of the fork assembly when the slider moves.

[0014] Optionally, the slider also has a lower inclined surface located above the steel wheel on the steel wheel bracket, which is used to contact the steel wheel and push the steel wheel bracket downward under the drive of the slider moving backward, so that the bearing wheel assembly extends out and contacts the ground.

[0015] Optionally, it also includes:

[0016] The frame assembly, the fork assembly and the cam slider mechanism are both mounted on the frame assembly; the frame assembly is used to support and fix the various functional components.

[0017] Optionally, it also includes:

[0018] A navigation column assembly is fixed to the vehicle frame assembly; the navigation column assembly is equipped with a navigation laser assembly for AGV navigation and positioning.

[0019] Optionally, it also includes:

[0020] A side laser assembly, which is mounted on the side of the frame assembly; and

[0021] Safety contact edges, located on the outer periphery of the frame assembly, are used to detect obstacles and protect the AGV's safety.

[0022] Optionally, it also includes:

[0023] A battery, which is installed within the chassis assembly, is used to provide power to the AGV;

[0024] Electrical components, which are electrically connected to the battery; and

[0025] A charging brush plate, which is located outside the vehicle frame assembly, is used for charging the AGV.

[0026] Optionally, it also includes:

[0027] A drive assembly, mounted on the bottom of the chassis assembly, is used to drive the AGV to move;

[0028] A steering component, connected to the drive component, for controlling the steering of the AGV; and

[0029] A hydraulic assembly, connected to the fork assembly, is used to control the lifting and lowering of the forks.

[0030] Optionally, it also includes:

[0031] A display screen, mounted on the chassis assembly, is used to display the operating status of the AGV;

[0032] The marker lights and tri-color lights are located on the outside of the chassis assembly and are used to indicate the working status of the AGV.

[0033] Optionally, it also includes:

[0034] An outer casing, which is disposed on the frame assembly, is used to cover and protect the components within the frame assembly.

[0035] Optionally, the navigation column assembly is also provided with an antenna, which is used to realize wireless communication of the AGV.

[0036] This application discloses an AGV control method applied to the aforementioned transport AGV, the AGV control method comprising:

[0037] Receive handling task control instructions;

[0038] According to the handling task control command, the electric push rod is controlled to push the slider to move along the linear guide rail;

[0039] The movement of the slider drives the linkage mechanism to move, so that the load-bearing wheel assembly retracts into the fork or extends out to contact the ground along the direction of the fork assembly.

[0040] Optionally, it also includes:

[0041] Monitor the direction of movement of the slider;

[0042] As the slider moves backward, the load-bearing wheel assembly is controlled to extend and contact the ground.

[0043] Optionally, it also includes:

[0044] Environmental information is obtained through the navigation laser component;

[0045] Navigation and positioning are performed based on the environmental information to determine the current location;

[0046] Plan a movement path based on the current position and the target position.

[0047] Optionally, it also includes:

[0048] Obstacles are detected by the side laser assembly and / or the safety contact edge;

[0049] If an obstacle is detected, the AGV will be controlled to slow down or stop.

[0050] Optionally, it also includes:

[0051] Monitor the battery's charge level;

[0052] If the battery level is below a preset threshold, control the AGV to move to the charging area;

[0053] The AGV is automatically charged via the charging brush plate.

[0054] Optionally, it also includes:

[0055] The drive component is controlled to drive the AGV to move;

[0056] Control the steering component to adjust the AGV's direction;

[0057] The hydraulic components are controlled to drive the forks to rise and fall.

[0058] Optionally, it also includes:

[0059] The AGV's operating status is displayed on the screen;

[0060] The working status of the AGV is indicated by the marker lights and the tri-color lights.

[0061] Optionally, it also includes:

[0062] Wireless communication is established with the control center via the antenna;

[0063] Receive the handling task control command issued by the control center;

[0064] The AGV status information is uploaded to the control center in real time.

[0065] The embodiments of this application have the following advantages:

[0066] This application provides a material handling AGV and an AGV control method, wherein the AGV control method is applied to the material handling AGV. The material handling AGV includes: a fork assembly 10, including a cam bearing bracket 10-5 and a cam bearing 10-6; and a cam slider mechanism 170, including a slider 170-1, an electric push rod 170-2, a linear guide slider 170-3, and a linear guide rail 170-4. The electric push rod 170-2 is connected to the slider 170-1, and the slider 170-1 is mounted on the linear guide rail 170-4 to push the slider 170-1 to move along the linear guide rail 170-4; the linear guide slider 170-3 is mounted on the linear guide rail 170-4 to provide linear motion guidance for the slider 170-1; the slider 170-1 has an upper inclined surface, which is located below the cam bearing 10-6 on the cam bearing bracket 10-5, and is positioned on the slider 170-1. 1. When moving, it contacts the cam bearing 10-6; the fork assembly 10 also includes a load-bearing wheel assembly 10-1, a load-bearing wheel bracket 10-2, a push rod 10-3, and a steel wheel bracket 10-4; the load-bearing wheel bracket 10-2, the push rod 10-3, and the steel wheel bracket 10-4 form a linkage mechanism, which is connected to the slider 170-1 and the load-bearing wheel assembly 10-1, and is used to drive the load-bearing wheel assembly 10-1 to retract into the fork or extend to contact the ground along the direction of the fork assembly 10 when the slider 170-1 moves.

[0067] This embodiment of the application, through the cooperation of the fork assembly 10 and the cam slider mechanism 170, enables the AGV to be compatible with lattice pallets for forking and handling operations. This design breaks through the limitation of traditional AGVs that can only handle lattice pallets, and is especially suitable for application scenarios that require the use of lattice pallets, greatly expanding the applicability of AGVs. Traditional counterbalance forklifts and reach trucks require relatively wide aisle space to complete the handling of lattice pallets. However, the AGV of this embodiment adopts a compact design, and the load-bearing wheel assembly 10-1 can automatically retract into the forks when picking up pallets, thereby greatly reducing the aisle width requirements and improving space utilization, making it particularly suitable for narrow warehouse environments. The automatic retraction and extension of the load-bearing wheel assembly is achieved through the electric push rod 170-2 and the slider 170-1, enabling the AGV to complete the pallet picking, handling, and unloading process fully automatically. Compared with counterbalance forklifts or reach trucks that require manual operation, it not only reduces the dependence on manual labor, but also lowers the overall operating cost, and has higher economic efficiency. Because the load-bearing wheel assembly 10-1 can retract into the forks when not in use, the AGV can flexibly enter the fork openings of a grid pallet for operation. This feature gives the AGV greater operational flexibility when handling different pallet shapes, making it suitable for various warehousing and production environments. The slider 170-1 contacts the cam bearing 10-6 via its upper inclined surface, and combined with the linkage mechanism (composed of the load-bearing wheel bracket 10-2, push rod 10-3, and steel wheel bracket 10-4), precise control of the load-bearing wheel assembly 10-1 is achieved. When the AGV completes pallet handling, the load-bearing wheel assembly 10-1 extends and contacts the ground, providing stable support and ensuring the stability and safety of the pallet and goods during handling.

[0068] In summary, compared with traditional counterbalance forklifts and reach trucks, the embodiments of this application have significant advantages such as improved space utilization, enhanced economy, and increased operational flexibility, while ensuring the stability and safety of goods during handling. Attached Figure Description

[0069] Figure 1 is a schematic diagram of the external structure of a material handling AGV according to an embodiment of this application;

[0070] Figure 2 is a schematic diagram showing the internal details of a material handling AGV according to an embodiment of this application;

[0071] Figure 3 is a schematic diagram of a linkage-cam slider mechanism of a material handling AGV according to an embodiment of this application;

[0072] Figure 4 is a schematic diagram of the contact state between the load-bearing wheel of a material handling AGV and the ground according to an embodiment of this application;

[0073] Figure 5 is a schematic diagram of the intermediate state of the carrying wheels of a transport AGV according to an embodiment of this application when the carrying wheels are retracted;

[0074] Figure 6 is a schematic diagram of a transport AGV in an embodiment of this application with its load-bearing wheels fully retracted;

[0075] Figure 7 is a schematic diagram of a transport AGV in the lowered state of its load-bearing wheels according to an embodiment of this application;

[0076] Figure 8 is a flowchart illustrating the steps of an AGV control method according to an embodiment of this application.

[0077] Explanation of reference numerals: 10. Fork assembly; 20. Charging brush plate; 30. Frame assembly; 40. Side laser assembly; 50. Safety edge; 60. Housing; 70. Navigation column assembly; 80. Display screen; 90. Antenna; 100. Marker light; 110. Tri-color light; 120. Navigation laser assembly; 130. Battery; 140. Electrical assembly; 150. Drive assembly; 160. Steering assembly; 170. Cam slider mechanism; 180. Hydraulic assembly; 10-1. Load-bearing wheel assembly; 10-2. Load-bearing wheel bracket; 10-3. Push rod; 10-4. Steel wheel bracket; 10-5. Cam bearing bracket; 10-6. Cam bearing; 10-7. Steel wheel; 170-1. Slider; 170-2. Electric push rod; 170-3. Linear guide slider; 170-4. Linear guide rail. Specific Implementation

[0078] 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.

[0079] As shown in Figures 1 and 2, the material handling AGV provided in this embodiment includes a fork assembly 10, a charging brush plate 20, a frame assembly 30, a side laser assembly 40, a safety contact edge 50, a housing 60, a navigation column assembly 70, a display screen 80, an antenna 90, a marker light 100, a tri-color light 110, a navigation laser assembly 120, a battery 130, an electrical assembly 140, a drive assembly 150, a steering assembly 160, a cam slider mechanism 170, and a hydraulic assembly 180.

[0080] As shown in Figure 2, the fork assembly 10 is used to carry and transport crisscross pallets, including a load-bearing wheel assembly 10-1, a load-bearing wheel bracket 10-2, a push rod 10-3, a steel wheel bracket 10-4, a cam bearing bracket 10-5, a cam bearing 10-6, and a steel wheel 10-7. These components cooperate with each other through a linkage mechanism, enabling the retraction or extension of the load-bearing wheels during pallet transport by the AGV. The cam slider mechanism 170 includes a slider 170-1, an electric push rod 170-2, a linear guide slider 170-3, and a linear guide rail 170-4. The slider 170-1 is mounted on the linear guide rail 170-4. The electric push rod 170-2, connected to the slider 170-1, pushes the slider 170-1 to move along the linear guide rail 170-4, thereby actuating the load-bearing wheel assembly 10-1 and ensuring that the forks can flexibly enter the pallet's fork opening.

[0081] When the AGV performs pallet handling, the electric push rod 170-2 is activated, pushing the slider 170-1 to move along the linear guide rail 170-4. The upper inclined surface of the slider 170-1 is located below the cam bearing 10-6 on the cam bearing bracket 10-5, and engages with the cam bearing 10-6 on the cam bearing bracket 10-5 when the slider 170-1 moves. This engagement is achieved through a linkage mechanism (10-2 to 10-4) connecting the slider 170-1 and the load-bearing wheel assembly 10-1. As the slider 170-1 moves, it causes the load-bearing wheel assembly 10-1 to retract into the forks along the direction of the fork assembly 10, facilitating the entry of the forks into the fork holes of the grid pallet. After the fork is picked up, the load-bearing wheel assembly 10-1 extends and contacts the ground, supporting the AGV in the handling of goods.

[0082] In one exemplary embodiment of this application, the electric push rod 170-2 is fixedly connected to the slider 170-1, or the electric push rod 170-2 is hinged to the slider 170-1. In the case of hinge, a certain degree of rotational freedom can be achieved between the two.

[0083] In one exemplary embodiment of this application, the lower inclined surface of the slider 170-1 is located above the steel wheel 10-7 on the steel wheel bracket 10-4. Driven by the backward movement of the slider 170-1, the lower inclined surface contacts the steel wheel 10-7 and pushes the steel wheel bracket 10-4 downward, thereby extending the load-bearing wheel assembly 10-1 and bringing it into contact with the ground, ensuring that the AGV can stably support the pallet after completing the picking task.

[0084] In one exemplary embodiment of this application, the frame assembly 30 is the support structure of the AGV, and the fork assembly 10 and the cam slider mechanism 170 are both fixed to the frame assembly 30. The frame assembly 30 not only provides mechanical support, but also fixes other functional components, such as the navigation system and the power system, for supporting and fixing the various functional components.

[0085] In one exemplary embodiment of this application, the navigation column assembly 70 is fixed to the frame assembly 30, and a navigation laser assembly 120 for AGV navigation and positioning is provided, and the navigation laser assembly 120 is supported. The navigation laser assembly 120 helps the AGV complete path planning and positioning by scanning the surrounding environment in real time.

[0086] In one exemplary embodiment of this application, a side laser assembly 40 is mounted on the side of the frame assembly 30 for detecting side obstacles. A safety contact edge 50 is arranged on the outer periphery of the frame assembly 30 for detecting obstacles and protecting the AGV. When the AGV comes into contact with an obstacle, an emergency stop mechanism is triggered to ensure safety.

[0087] In one exemplary embodiment of this application, the battery 130 is installed inside the frame assembly 30 to provide power to all electronic components of the AGV. The electrical component 140 is electrically connected to the battery 130 and manages and distributes power to ensure the normal operation of each functional module. A charging brush plate 20 is disposed outside the frame assembly 30 for automatic charging of the AGV, enabling rapid charging when the AGV's power is insufficient.

[0088] In one exemplary embodiment of this application, a drive assembly 150 is mounted on the bottom of the frame assembly 30 to power the AGV, enabling it to travel along a path. A steering assembly 160 is connected to the drive assembly 150 to control the steering of the AGV, ensuring flexible movement on complex paths. A hydraulic assembly 180 is connected to the fork assembly 10 to control the lifting and lowering of the forks, facilitating pallet handling at different heights.

[0089] In one exemplary embodiment of this application, a display screen 80 is mounted on the chassis assembly 30 to display the operating status of the AGV, facilitating real-time monitoring by the operator. A marker light 100 and a tri-color light 110 are disposed on the exterior of the chassis assembly 30 to indicate the operating status of the AGV, such as normal operation, standby, or fault status.

[0090] In one exemplary embodiment of this application, the housing 60 covers the exterior of the frame assembly 30 to protect critical internal components from external environmental influences and enhance the durability of the AGV.

[0091] In one exemplary embodiment of this application, an antenna 90 is provided on the navigation column assembly 70 for wireless communication of the AGV. Through the antenna 90, the AGV can maintain communication with the host computer, receive instructions, and send status feedback.

[0092] In the specific work process:

[0093] During normal travel, slider 170-1 is in the position shown in Figure 3. Supported by the linkage mechanism (10-2 to 10-4), the load-bearing wheel assembly 10-1 contacts the ground (as shown in Figure 4, where the linkage mechanism is not shown), bearing the weight of the cargo and the vehicle body.

[0094] When the AGV arrives at the station to perform a pickup task, the host computer sends the pickup task to the AGV. Upon receiving the information, the electric push rod 170-2 extends, pushing the slider 170-1 forward. Through the action of the upper inclined surface of the slider 170-1 and the cam bearing 10-6, the steel wheel bracket 10-4 is lifted upwards (as shown in Figure 5). Through the linkage mechanism (10-2 to 10-4), the load-bearing wheel assembly 10-1 and the load-bearing wheel bracket 10-2 are retracted into the forks (as shown in Figure 6, where the linkage mechanism is not shown). At this point, the AGV can enter the tray to perform the pickup task.

[0095] Once the AGV has retrieved the goods, the electric push rod 170-2 retracts, pulling the slider 170-1 backward. Through the interaction between the lower inclined surface of the slider 170-1 and the steel wheel 10-7, the steel wheel bracket 10-4 is pushed downward (as shown in Figure 7), and the AGV returns to the state shown in Figure 3. The load-bearing wheel assembly 10-1 contacts the ground, at which point the lifting and transporting of goods can be performed. The unloading process is similar.

[0096] Based on the above description of an embodiment of a transport AGV, an AGV control method is introduced below. This AGV control method can be applied to transport AGVs to control them to perform transport tasks.

[0097] Referring to Figure 8, a flowchart illustrating the steps of an AGV control method according to an embodiment of this application is shown.

[0098] Step 801: Receive the handling task control instruction.

[0099] The transport AGV receives transport task control commands from the control center via antenna 90 on the navigation column assembly. These commands include the target location of the pallet, the current path plan, and possible task priorities. The transport task control commands provide the logical starting point for the entire operation.

[0100] Step 802: According to the handling task control command, control the electric push rod 170-2 to push the slider 170-1 to move along the linear guide rail 170-4.

[0101] The electric actuator 170-2 is activated according to the requirements of the handling task control command, pushing the slider 170-1 to move along the linear guide rail 170-4, thus creating conditions for subsequent operations. The movement mode of the slider 170-1 is preset by the system to ensure precise action.

[0102] Step 803: The movement of slider 170-1 drives the linkage mechanism to move, so that the load-bearing wheel assembly 10-1 retracts into the fork or extends out to contact the ground along the direction of fork assembly 10.

[0103] The movement of slider 170-1 directly affects the linkage mechanism of fork assembly 10 (including load-bearing wheel bracket 10-2, push rod 10-3, and steel wheel bracket 10-4). The contact between the upper inclined surface of slider 170-1 and cam bearing 10-6 drives the linkage mechanism to move, and load-bearing wheel assembly 10-1 retracts or extends inside the fork to contact the ground as needed.

[0104] In one exemplary embodiment of this application, the direction of movement of the slider 170-1 can also be monitored; when the slider 170-1 moves backward, the load-bearing wheel assembly 10-1 is controlled to extend and contact the ground. When the slider 170-1 moves backward, the load-bearing wheel assembly 10-1 extends and contacts the ground, providing support for the pallet. When the slider 170-1 moves forward, the load-bearing wheel assembly 10-1 retracts into the fork, facilitating the insertion of the fork assembly into the pallet fork hole.

[0105] During the AGV's handling tasks, the direction of movement of slider 170-1 directly determines the extension and retraction state of the load-bearing wheel assembly 10-1. The movement of slider 170-1 is driven by electric push rod 170-2 and guided by linear guide slider 170-3. When slider 170-1 moves backward, its lower inclined surface contacts the steel wheel 10-7 on the steel wheel bracket 10-4, pushing the steel wheel bracket 10-4 downward, thereby causing the load-bearing wheel assembly 10-1 to extend and contact the ground, providing support for the pallet. When slider 170-1 moves forward, its upper inclined surface contacts the cam bearing 10-6, driving the linkage mechanism to retract the load-bearing wheel assembly 10-1 into the fork. This bidirectional movement design ensures efficient operation of the AGV when picking up and supporting pallets, while reducing spatial interference when the fork assembly 10 enters the pallet fork hole.

[0106] In one exemplary embodiment of this application, environmental information is acquired through a navigation laser component 120; navigation and positioning are performed based on the environmental information to determine the current position; and a movement path is planned based on the current position and the target position. The transport AGV relies on the navigation laser component 120 to acquire information about the surrounding environment in real time for dynamic navigation, positioning, and path planning. Before starting a task, the navigation laser component 120 scans fixed structures (such as shelves) and dynamic objects (such as other moving vehicles) in the environment to establish a three-dimensional environmental model. Based on the environmental model, the AGV first determines its current position and then performs path planning in conjunction with the target position in the transport task. The path planning algorithm considers the shortest path, travel efficiency, and possible obstacle locations to generate an optimized travel path for the AGV. During task execution, if a new obstacle is detected, the navigation laser component 120 readjusts the path to ensure that the AGV can reach the target position safely and efficiently.

[0107] In one exemplary embodiment of this application, obstacles are detected by the side laser assembly 40 and / or the safety contact edge 50; upon detection of an obstacle, the AGV is controlled to decelerate or stop. During transport, the AGV may encounter obstacles such as pedestrians, forklifts, or other objects. To ensure safe operation, the surrounding environment is monitored in real time by the side laser assembly 40 and / or the safety contact edge 50. The side laser assembly 40 is mounted on both sides of the vehicle frame and continuously scans the environment to identify the distance and position of obstacles within a certain range around the AGV. If an obstacle is detected, the next action is determined based on its position, such as deceleration, stopping, or replanning the path. The safety contact edge 50 acts as a last line of defense; when the AGV comes into direct contact with an obstacle, an emergency stop command is immediately triggered to prevent further collisions.

[0108] In one exemplary embodiment of this application, the battery 130's charge level is monitored; when the charge level falls below a preset threshold, the AGV is controlled to move to a charging area; and the AGV is automatically charged via the charging brush plate 20. The transport AGV relies on the battery 130 as its primary power source, therefore, charge monitoring and charging management are crucial. The remaining battery charge is monitored in real time, and an automatic charging mode is triggered when the charge level falls below a preset threshold. The AGV plans its path to the charging area using a navigation system and moves to the designated charging station. In the charging area, the AGV's charging brush plate 20 contacts the charging interface to complete the charging operation. During charging, the battery's charging status is monitored, including charging current, voltage, and remaining time. Once fully charged, the AGV disconnects the charging interface and returns to standby mode or continues to perform the next task.

[0109] In one exemplary embodiment of this application, a control drive assembly 150 drives the AGV to move; a control steering assembly 160 adjusts the AGV's direction; and a control hydraulic assembly 180 drives the forks to rise and fall. The motion control of the transport AGV is jointly accomplished by the drive assembly 150 and the steering assembly 160, while the hydraulic assembly 180 adjusts the height of the fork assembly to meet the operational requirements of different pallets. During travel, the drive assembly 150 provides stable forward power, while the steering assembly 160 achieves precise steering by controlling the speed difference between the two wheel sets through differential control. The lifting control of the hydraulic assembly 180 works in conjunction with the fork assembly, adjusting the fork position according to the pallet's height requirements. For example, when the AGV transports a pallet from a high-level rack, the hydraulic assembly 180 raises the forks to an appropriate height to complete the picking operation. In complex paths, the steering assembly 160, in conjunction with the navigation system, makes precise adjustments to ensure the AGV can smoothly pass through narrow passages or complex intersections.

[0110] In one exemplary embodiment of this application, the AGV's operating status is displayed on the display screen 80; the AGV's working status is indicated by the marker lights 100 and the tri-color lights 110. The transport AGV communicates its operating status to the operator through the display screen 80 and the lighting indicator system. The display screen 80 displays the current task's progress, battery level, equipment health status, and potential fault information in real time, allowing the operator to easily understand the AGV's operating status. The marker lights 100 and tri-color lights 110 use light color and flashing patterns to indicate the equipment's working status; for example, green indicates normal operation, yellow indicates standby, and red indicates a fault or emergency stop. These display and indicator functions not only improve the AGV's ease of operation but also enhance the equipment's visibility in collaborative environments, preventing accidental collisions.

[0111] In one exemplary embodiment of this application, the AGV communicates wirelessly with the control center via antenna 90; receives handling task control commands issued by the control center; and uploads AGV status information to the control center in real time. The handling AGV achieves wireless communication with the control center via antenna 90, ensuring smooth information transmission during task execution. At the start of a task, the AGV receives handling task control commands issued by the control center, including pallet position, handling path, and destination position, etc. During task execution, the AGV uploads real-time operating status information, such as current position, battery level, and obstacle detection status. The wireless communication function can also be used for remote diagnosis and maintenance of equipment faults, improving the reliability and efficiency of equipment operation.

[0112] The various embodiments in this specification are described in a progressive manner, with each embodiment focusing on the differences from other embodiments. The same or similar parts between the various embodiments can be referred to each other.

[0113] Those skilled in the art will understand that embodiments of this application can be provided as methods, apparatus, or computer program products. Therefore, embodiments of this application can take the form of entirely hardware embodiments, entirely software embodiments, or embodiments combining software and hardware aspects. Furthermore, embodiments of this application can take the form of computer program products implemented on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0114] This application describes embodiments with reference to flowchart illustrations and / or block diagrams of methods, terminal devices (systems), and computer program products according to embodiments of this application. It should be understood that each block of the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, special-purpose computer, embedded processor, or other programmable data processing terminal device to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing terminal device, create means for implementing the functions specified in one or more blocks of the flowchart illustrations and / or one or more blocks of the block diagrams.

[0115] These computer program instructions may also be stored in a computer-readable storage medium that can direct a computer or other programmable data processing terminal device to function in a particular manner, such that the instructions stored in the computer-readable storage medium produce an article of manufacture including instruction means that implement the functions specified in one or more flowcharts and / or one or more block diagrams.

[0116] These computer program instructions may also be loaded onto a computer or other programmable data processing terminal equipment to cause a series of operational steps to be performed on the computer or other programmable terminal equipment to produce a computer-implemented process, such that the instructions, which execute on the computer or other programmable terminal equipment, provide steps for implementing the functions specified in one or more flowcharts and / or one or more block diagrams.

[0117] Although preferred embodiments of the present application have been described, those skilled in the art, upon learning the basic inventive concept, can make other changes and modifications to these embodiments. Therefore, the appended claims are intended to be interpreted as including the preferred embodiments as well as all changes and modifications falling within the scope of the embodiments of the present application.

[0118] Finally, it should be noted that in this document, relational terms such as "first" and "second" are used only to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or terminal device that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or terminal device. Without further limitations, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or terminal device that includes said element.

[0119] The foregoing has provided a detailed description of a material handling AGV and an AGV control method provided in this application. Specific examples have been used to illustrate the principles and implementation methods of this application. The descriptions of the above embodiments are only for the purpose of helping to understand the method and core ideas of this application. At the same time, for those skilled in the art, there will be changes in the specific implementation methods and application scope based on the ideas of this application. Therefore, the content of this specification should not be construed as a limitation of this application.

Claims

1. A transport AGV, characterized by comprising: include: Fork assembly (10), including cam bearing bracket (10-5) and cam bearing (10-6); as well as The cam slider mechanism (170) includes a slider (170-1), an electric push rod (170-2), a linear guide slider (170-3), and a linear guide rail (170-4); The electric push rod (170-2) pushes the slider (170-1) to move along the linear guide rail (170-4); the linear guide rail slider (170-3) is mounted on the linear guide rail (170-4) to provide linear motion guidance for the slider (170-1); the slider (170-1) has an upper inclined surface, which is located below the cam bearing (10-6) on the cam bearing bracket (10-5) and contacts the cam bearing (10-6) when the slider (170-1) moves; The fork assembly (10) further includes a load-bearing wheel assembly (10-1), a load-bearing wheel bracket (10-2), a push rod (10-3), and a steel wheel bracket (10-4); The load-bearing wheel bracket (10-2), push rod (10-3), and steel wheel bracket (10-4) form a linkage mechanism. The linkage mechanism is connected to the slider (170-1) and the load-bearing wheel assembly (10-1) and is used to drive the load-bearing wheel assembly (10-1) to retract into the fork or extend to contact the ground along the direction of the fork assembly (10) when the slider (170-1) moves.

2. The transport AGV according to claim 1, characterized in that, The slider (170-1) also has a lower inclined surface, which is located above the steel wheel (10-7) on the steel wheel bracket (10-4). It is used to contact the steel wheel (10-7) and push the steel wheel bracket (10-4) downward under the drive of the slider (170-1) moving backward, so that the bearing wheel assembly (10-1) extends out and contacts the ground.

3. The handling AGV of claim 1, wherein Also includes: The frame assembly (30) is provided on the fork assembly (10) and the cam slider mechanism (170); the frame assembly (30) is used to support and fix the various functional components.

4. The handling AGV of claim 3, wherein Also includes: A navigation column assembly (70) is fixed to the frame assembly (30); the navigation column assembly (70) is provided with a navigation laser assembly (120) for AGV navigation and positioning.

5. The handling AGV according to claim 4, characterized in that, Also includes: A side laser assembly (40) is mounted on the side of the frame assembly (30); as well as A safety contact edge (50) is provided on the outer periphery of the frame assembly (30) for detecting obstacles and protecting the AGV.

6. The handling AGV of claim 3, wherein Also includes: A battery (130), which is installed within the frame assembly (30), is used to provide power to the AGV; Electrical component (140), which is electrically connected to the battery (130); and A charging brush plate (20) is disposed outside the frame assembly (30) for charging the AGV.

7. The material handling AGV according to claim 3, characterized in that, Also includes: A drive assembly (150) is mounted on the bottom of the frame assembly (30) for driving the AGV to move; A steering assembly (160), connected to the drive assembly (150), is used to control the steering of the AGV; and A hydraulic assembly (180), which is connected to the fork assembly (10), is used to control the lifting and lowering of the forks.

8. The handling AGV according to claim 3, characterized in that, Also includes: A display screen (80), mounted on the frame assembly (30), is used to display the operating status of the AGV; A marker light (100) and a tri-color light (110) are disposed on the outside of the frame assembly (30) to indicate the working status of the AGV.

9. The handling AGV of claim 3, wherein Also includes: A housing (60) is disposed on the frame assembly (30) for covering and protecting the components within the frame assembly (30).

10. An AGV control method, characterized in that, The AGV control method, applied to any one of claims 1-9, comprises: Receive handling task control instructions; According to the handling task control command, the electric push rod (170-2) is controlled to push the slider (170-1) to move along the linear guide rail (170-4); The movement of the slider (170-1) drives the linkage mechanism to move, so that the load-bearing wheel assembly (10-1) retracts into the fork or extends out to contact the ground along the direction of the fork assembly (10).

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