阅读说明：本技术 用于货到人系统巷道清障的自动导引车 (Automatic guided vehicle for clearing obstacles in roadway of goods-to-people system ) 是由 李枭伟 许亚东 华国伟 于 2021-07-21 设计创作，主要内容包括：本发明提供了一种用于货到人系统巷道清障的自动导引车,包括：捕货空间位于机身内部,用于存放捕获到的货物；激光传感器安装于所述机身顶部,用于对机身前方巷道和周围环境进行感知,实现对导引车的导航动作；感应探测器安装于机身上且位于门板的上部,用于感应掉落的货物的位置、大小和形状；捕货空间的左右两侧分别安装有挡板,挡板通过电动滑轨与所述捕获空间的内部滑动连接,且可以滑动伸出机身外,门板为两个对开门的门板,两个门板分别与两个挡板电动铰接,两个门板安装于所述捕获空间的外侧使得当挡板沿着滑轨向机身内外滑动时,门板也随之移动。该自动导引车可以实现自动清障。(The invention provides an automatic guided vehicle for clearing obstacles in a roadway of a cargo-to-people system, which comprises: the goods catching space is positioned in the machine body and used for storing the caught goods; the laser sensor is arranged at the top of the machine body and used for sensing a roadway in front of the machine body and the surrounding environment so as to realize navigation action on the guided vehicle; the induction detector is arranged on the machine body and positioned at the upper part of the door plate and used for inducing the position, size and shape of falling goods; the left side and the right side of the cargo capturing space are respectively provided with a baffle plate, the baffle plates are connected with the inside of the cargo capturing space in a sliding mode through electric sliding rails and can extend out of the machine body in a sliding mode, the two door plates are two door plates which are oppositely opened, the two door plates are respectively hinged with the two baffle plates in an electric mode, and the two door plates are arranged on the outer side of the cargo capturing space so that when the baffle plates slide towards the inside and the outside of the machine body along the sliding rails, the door plates can move along with the baffle plates. The automatic guided vehicle can realize automatic obstacle clearing.)

1. An automated guided vehicle for clearing a lane of a person-to-cargo system, comprising:

the device comprises a machine body, a cargo capturing space, a laser sensor, an induction detector, a baffle plate, a door plate and trundles positioned at the bottom of the machine body;

the goods catching space is positioned in the machine body and used for storing caught goods;

the laser sensor is arranged at the top of the machine body and used for sensing a roadway in front of the machine body and the surrounding environment so as to realize navigation action on the guided vehicle;

the induction detector is arranged on the machine body, is positioned at the upper part of the door plate and is used for inducing the position, size and shape of falling goods;

the left side and the right side of the goods capturing space are respectively provided with a baffle, the baffles are connected with the inside of the capturing space in a sliding mode through electric sliding rails and can extend out of the machine body in a sliding mode, the door plates are two door plates which are oppositely opened, the two door plates are respectively electrically hinged with the two baffles, and the two door plates are arranged on the outer side of the capturing space, so that when the baffles slide inwards and outwards of the machine body along the sliding rails, the door plates can move along with the baffles.

2. The automated guided vehicle of claim 1, further comprising a controller installed inside the body, wherein the controller is electrically connected to the laser sensor, the inductive detector, the baffle, the door panel and the caster wheel at the bottom of the body respectively;

the controller is used for receiving the position information of the laser sensor and further controlling the moving direction of the caster; the door panel is used for receiving signals of the induction detector, controlling the sliding in and out of the baffle and the opening and closing of the door panel: when the size of the goods is sensed to be capable of being accommodated in the capturing space, the door plate is controlled to be opened, and the goods are captured in the capturing space through the left-right swinging of the door plate to complete capturing; when sensing the goods height and being greater than when catching the space, control baffle roll-off and open the door plant, catch door plant, baffle and catch the space inside with the goods through the door plant horizontal hunting to close the door plant, the direct space that constitutes through door plant, baffle and catching the space catches the assigned position with the goods.

3. The automated guided vehicle of claim 1, wherein the fuselage further houses a rechargeable lead battery for powering the guided vehicle.

4. The automated guided vehicle of claim 1, wherein the lower ends of the baffle and the door panel are further bonded with a sealing strip and a brush for sealing a gap between the baffle and the ground and preventing small-volume goods from being stuck in the gap or leaking out of the gap during transportation.

5. The automated guided vehicle of claim 1, wherein the casters comprise 4 casters capable of rotating 360 ° and mounted at the four corners of the bottom of the body.

6. The automated guided vehicle of claim 1, wherein 4 indicator lights are further installed on the main body, and the 4 indicator lights are respectively used for indicating whether the equipment is normal and whether the baffle is retracted inside the main body.

7. The automated guided vehicle of claim 1, wherein a digital display panel is further mounted on the body for displaying equipment numbers and equipment power levels.

8. The automated guided vehicle of claim 1, wherein a power switch is further mounted on the body for controlling the opening and closing of the guided vehicle.

9. The automated guided vehicle of claim 1, wherein the door panel has an outer swing angle of 0 ° -180 °.

Technical Field

The invention relates to the technical field of goods-to-people system automation equipment, in particular to an automatic guided vehicle for obstacle clearing of a goods-to-people system roadway.

Background

Automated guided vehicles for cargo-to-people systems are one of the important applications in the field of intelligent logistics. In the goods-to-people system, small goods of various types are stored on the goods shelf, and in the goods shelf conveying process, the goods accidentally fall into a roadway to further influence the traveling path of other automatic guided vehicles for conveying the goods shelf. The solution in the prior art is as follows: the operation of the whole system is stopped, and people are sent to the system to clean falling goods, so that the operation efficiency of the whole system is seriously influenced.

Therefore, a processing method capable of automatically clearing obstacles is needed.

Disclosure of Invention

The invention provides an automatic guided vehicle for clearing obstacles in a goods-to-people system roadway, which aims to overcome the defects in the prior art.

In order to achieve the purpose, the invention adopts the following technical scheme.

An automated guided vehicle for clearing a lane of a cargo-to-person system, comprising:

the device comprises a machine body, a cargo capturing space, a laser sensor, an induction detector, a baffle plate, a door plate and trundles positioned at the bottom of the machine body;

the goods catching space is positioned in the machine body and used for storing caught goods;

the laser sensor is arranged at the top of the machine body and used for sensing a roadway in front of the machine body and the surrounding environment so as to realize navigation action on the guided vehicle;

the induction detector is arranged on the machine body, is positioned at the upper part of the door plate and is used for inducing the position, size and shape of falling goods;

the left side and the right side of the goods capturing space are respectively provided with a baffle, the baffles are connected with the inside of the capturing space in a sliding mode through electric sliding rails and can extend out of the machine body in a sliding mode, the door plates are two door plates which are oppositely opened, the two door plates are respectively electrically hinged with the two baffles, and the two door plates are arranged on the outer side of the capturing space, so that when the baffles slide inwards and outwards of the machine body along the sliding rails, the door plates can move along with the baffles.

Preferably, the automatic guided vehicle further comprises a controller arranged in the machine body, and the controller is respectively in circuit connection with the laser sensor, the induction detector, the baffle, the door plate and the caster positioned at the bottom of the machine body;

the controller is used for receiving the position information of the laser sensor and further controlling the moving direction of the caster; the door panel is used for receiving signals of the induction detector, controlling the sliding in and out of the baffle and the opening and closing of the door panel: when the size of the goods is sensed to be capable of being accommodated in the capturing space, the door plate is controlled to be opened, and the goods are captured in the capturing space through the left-right swinging of the door plate to complete capturing; when sensing the goods height and being greater than when catching the space, control baffle roll-off and open the door plant, catch door plant, baffle and catch the space inside with the goods through the door plant horizontal hunting to close the door plant, the direct space that constitutes through door plant, baffle and catching the space catches the assigned position with the goods.

Preferably, a rechargeable lead storage battery is further mounted inside the fuselage, and the rechargeable lead storage battery is used for supplying power to the guided vehicle.

Preferably, the lower ends of the baffle plate and the door plate are also bonded with a sealing strip and a hairbrush for sealing a gap between the baffle plate and the ground and preventing small-volume goods from being clamped in the gap or leaking out of the gap in the conveying process.

Preferably, the casters are 4 casters capable of rotating 360 degrees and mounted at four corners of the bottom of the body.

Preferably, 4 indicator lights are further mounted on the fuselage, and the 4 indicator lights are respectively used for indicating whether the equipment is normal or not and whether the baffle is retracted inside the fuselage or not.

Preferably, a digital display panel is further mounted on the body and used for displaying the equipment number and the equipment power.

Preferably, a power switch is further mounted on the body and used for controlling the opening and closing of the guide vehicle.

Preferably, the outer swing angle of the door panel is 0 to 180 °.

According to the technical scheme provided by the automatic guided vehicle for clearing obstacles in the roadway of the goods-to-people system, the automatic guided vehicle can automatically navigate to an accident position through the laser sensor at the top of the vehicle body when goods accidentally fall into the roadway, so that obstacle avoidance with other automatic guided vehicles for carrying goods shelves is realized, and the whole system does not need to be stopped or a manual entry system is not required to be sent for accident treatment; the equipment directly conveys the fallen goods to the outside of the storage area under the condition of no steering in the driving process of the equipment in the roadway of the storage area or realizes turning and changes the driving direction in a pivot steering mode, and the falling accidents of the goods in a plurality of places are processed at one time; the position and the form of the goods are judged through the inductor, the goods with smaller volume are captured into a hollow goods capturing space in the machine body or the goods with volume exceeding the capacity of the goods capturing space in the machine body are captured into the goods capturing space formed between the outward extending baffle and the door plate; catch after dropping the goods in the tunnel, door plant self-closing forms an enclosure space with ground, and equipment automatic navigation returns, and the goods that will drop transports outside the storage area, resumes the unblocked of route of traveling in the tunnel, has sealing strip and brush to block the gap between equipment and the ground simultaneously, prevents that the goods of less volume from transporting the card in the gap or spilling on the way.

Additional aspects and advantages of the invention will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention.

Drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings needed to be used in the description of the embodiments are briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without creative efforts.

FIG. 1 is a schematic view of an embodiment of an expansion structure of an extension door plate of a baffle plate of an automatic guided vehicle for clearing roadways of a cargo-to-people system;

FIG. 2 is a schematic view of an embodiment of an automatic guided vehicle baffle extension door panel closing structure for clearing obstacles in a roadway of a cargo-to-people system;

FIG. 3 is a schematic view of an embodiment of an automatic guided vehicle baffle retraction door panel opening structure for obstacle removal of a roadway of a cargo-to-people system;

FIG. 4 is a schematic view of an embodiment of a retractable door panel of an automated guided vehicle for clearing roadways of a cargo-to-people system;

FIG. 5 is a schematic diagram of an internal circuit structure of the automated guided vehicle;

description of reference numerals:

1. the intelligent cargo container comprises a container body, 2 parts of a laser sensor, 3 parts of an indicator panel, 4 parts of a digital display panel, 5 parts of an induction detector, 6 parts of a baffle, 7 parts of a door panel, 8 parts of a hinge, 9 parts of a caster, 10 parts of a controller, 11 parts of a cargo catching space, 12 parts of a power switch, 13 parts of a battery, 14 parts of a driving motor, 31 parts of a first indicator lamp, 32 parts of a second indicator lamp, 33 parts of a third indicator lamp, 34 parts of a fourth indicator lamp, 41 parts of an equipment number display panel, 42 parts of an equipment electricity quantity display panel, 61 parts of a sliding rail groove, 62 parts of an electric sliding rail, 63 parts of a sealing strip and 71 parts of a brush.

Detailed Description

Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the accompanying drawings are illustrative only for the purpose of explaining the present invention, and are not to be construed as limiting the present invention.

As used herein, the singular forms "a", "an", "the" and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise. It will be further understood that the terms "comprises" and/or "comprising," when used in this specification, specify the presence of stated features, integers, steps, operations, elements, and/or components, but do not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components, and/or groups thereof. It should be understood that the term "and/or" as used herein includes any and all combinations of one or more of the associated listed items.

It will be understood by those skilled in the art that, unless otherwise defined, all terms (including technical and scientific terms) used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. It will be further understood that terms, such as those defined in commonly used dictionaries, should be interpreted as having a meaning that is consistent with their meaning in the context of the prior art and will not be interpreted in an idealized or overly formal sense unless expressly so defined herein.

For the convenience of understanding of the embodiments of the present invention, the following description will be further explained by taking specific embodiments as examples with reference to the drawings, and the embodiments of the present invention are not limited thereto.

Examples

FIG. 1 is a schematic view of an opening structure of an extension door plate of a baffle plate of an automatic guided vehicle for clearing obstacles in a roadway of a cargo-to-people system; FIG. 2 is a schematic view of a closure structure of an extension door panel of a baffle of an automatic guided vehicle for clearing obstacles in a roadway of a cargo-to-people system; FIG. 3 is a schematic view of an opening structure of a retractable door panel of a baffle of an automated guided vehicle for clearing obstacles in a roadway of a cargo-to-people system; fig. 4 is a schematic view of a closing structure of a retractable door panel of a baffle of an automated guided vehicle for clearing roadways of a cargo-arriving people system, and referring to fig. 1, 2, 3 and 4, the automated guided vehicle comprises:

the device comprises a machine body 1, a cargo catching space 11, a laser sensor 2, an induction detector 6, a baffle 6, a door plate 7 and a caster wheel 9 positioned at the bottom of the machine body;

a cargo space 11 is located inside the fuselage 1 for storing captured cargo. As shown in fig. 1, the capturing space is a space whose upper part is enclosed by the inside of the body and whose bottom part is communicated with the ground.

The laser sensor 2 is arranged at the top of the machine body 1 and used for sensing a roadway in front of the machine body 1 and the surrounding environment to realize navigation action of the guided vehicle;

the induction detector 5 is arranged on the machine body 1 and positioned at the upper part of the door plate 7 and is used for sensing the position, size and shape of falling goods;

the left and right sides of the cargo catching space 11 are respectively provided with a baffle 6, the baffle 6 is connected with the inside of the catching space 11 in a sliding way through an electric slide rail 62 and can extend out of the machine body 1 in a sliding way, as shown in fig. 1, and a slide rail groove 61 is arranged on a side plate of the catching space. The door plant 7 is two door plants that run from opposite directions the door, and two door plants are respectively with two electronic hinges of baffle, connect through hinge and driving motor in this embodiment, two door plants install in catch the outside in space so that when the baffle slided to the fuselage inside and outside along the slide rail, the door plant also removed along with it. The outer swing angle of the door panel is 0-180 degrees.

The automated guided vehicle further comprises a controller 10 installed inside the body, fig. 5 is a schematic diagram of an internal circuit structure of the automated guided vehicle, and referring to fig. 5, the controller 10 is respectively in circuit connection with a battery 13, a driving motor 14, the laser sensor 2, the inductive detector 5, the baffle 6, the door panel 7 and the caster 9 located at the bottom of the body.

A controller 10 for receiving the position information of the laser sensor 2 and further controlling the moving direction of the caster 9; the device is used for receiving signals of the induction detector 5, controlling the sliding in and out of the baffle 6 and the opening and closing of the door plate 7: when the situation that the size of the goods can be accommodated in the capturing space 11 is sensed, the door plate 7 is controlled to be opened, and the goods are captured in the capturing space 11 through the left-right swinging of the door plate 7 to complete capturing; when sensing the goods height and being greater than the time of catching space 11, 6 roll-offs of control flap and open door plant 7, catch the goods through 7 horizontal hunting of door plant 7 inside door plant 7, baffle 6 and the space of catching 11 to close door plant 7, the direct space that constitutes through 7, 6 and the space of catching space of door plant 7, baffle catches the assigned position with the goods.

Wherein, door plant, baffle and truckle all are connected with driving motor 14.

Controller 10 catches the goods that drop ground according to the sensing of inductive probe 5 sensing, sends the instruction to the inside driving motor of fuselage by the controller and opens and close, and both sides door plant 7 opens simultaneously or closes simultaneously. When the goods are not captured, the door plate 7 is in an opening state, and swings back and forth after swinging 180 degrees outwards by taking the hinge 8 as an axial direction when being opened; after catching the goods, the door plant is the closed condition, when closing, uses hinge 8 to close to be perpendicular with baffle 6 for the axial internal rotation. The outer swing angle of the door panel is 0-180 degrees.

Specifically, a battery 13 is also mounted inside the body, and the battery 13 is a rechargeable lead storage battery used for supplying power to the lead vehicle. The truckle is 4 truckles 9 that can 360 degrees rotations of installing in fuselage bottom four corners. 4 indicator lamps (31, 32, 33 and 34) are further mounted on the fuselage, and the 4 indicator lamps are respectively used for indicating whether the equipment is normal or not and whether the baffle is retracted in the fuselage or not. After the equipment is started, when the equipment normally runs, the first indicator lamp 31 is turned on and turns green; when the equipment is out of order, the second indicator lamp 32 lights up in red; when the baffle plate is retracted into the fuselage, the third indicator light 33 is turned on to be yellow; when the baffle 6 extends outward through the slide rail, the fourth indicator light 34 lights up in yellow. The first indicator lamp 31 and the second indicator lamp 32 cannot be simultaneously turned on, and the third indicator lamp 33 and the fourth indicator lamp 34 cannot be simultaneously turned on.

The lower ends of the baffle 6 and the door plate 7 are also bonded with a colloid sealing strip 63 and a nylon wire brush 71 for sealing a gap between the baffle 6 and the ground and preventing small-volume goods from being clamped in the gap or leaking out of the gap in the conveying process. As shown in fig. 3, the sealing tape 63 is adhered to the lower side of the shutter 6, and the brush 71 is adhered to the lower side of the door 7.

The body 1 is also provided with a digital display panel 4 for displaying the number of the equipment and the electric quantity of the equipment. The digital display panel 4 includes a device number display panel 41 and a device power display panel 42, and when the device is started, the device number display panel 41 lights up to be red to display the current device number, and the device power display panel 42 lights up to be red to display the current remaining power.

Specifically, the indicator panel 3 and the digital display panel 4 are installed below the strip-shaped induction detector 5, and the position and the shape of the goods falling in the roadway in one meter in front of the equipment are detected and sensed through the induction detector 5.

The body is also provided with a power switch 12 for controlling the start and stop of the guided vehicle.

The specific steps of the guided vehicle for capturing the goods in the embodiment are as follows:

switch 12 is turned on, first pilot lamp 31 on the pilot lamp panel 3 lights and is green, equipment number display panel 41 and equipment electric quantity display panel 42 display device number and electric quantity respectively, when the place ahead ground has the goods that drop, send goods position instruction to controller 10 when sensing detector 5, controller 10 is according to the position of sensing detector 5, with laser sensor 2 interconnection, driving motor 14 control truckle 9 simultaneously removes to the goods place that drops.

When the sensing probe 5 senses that the volume of the dropped cargo is enough to be received in the hollow cargo catching space 11 under the body, the third indicator light 33 is turned on to be yellow. Meanwhile, the controller 10 controls the door plates 7 to swing outwards by 180 degrees and swing left and right through the driving motor 14, when the falling goods on the ground are captured, the induction detector 5 sends an instruction to the controller 10, and the controller 10 controls the door plates 7 on the two sides to rotate inwards by 90 degrees and close through the driving motor 14, so that the captured falling goods on the ground are captured; when the sensing detector 5 senses that the volume of the dropped goods exceeds the hollow goods catching space 11 below the body, the fourth indicator lamp 34 is turned on to be yellow. Controller 10 passes through driving motor 14 control door plant 7 and baffle 6, both sides baffle 6 extends to the fuselage outside through slide rail groove 61 and slide rail 62, forms bigger fishing space 11, driving motor 14 control door plant 7 outward swings 180 and controls the back and forth swing, after catching ground goods that drop, both sides door plant 7 uses hinge 8 to be 90 degrees rotation closure in the axial under the instruction that controller 10 sent driving motor, the completion is to the catching of the ground goods that drop.

After capturing the goods, the controller 10 is interconnected with the laser sensor 2 to move the goods to the designated position.

To sum up, the automated guided vehicle of this embodiment can go in the tunnel of goods to people's system storage area, clears up the small-piece goods of various forms that accidentally drop from the goods shelves, prevents to hinder other automated guided vehicles transport goods shelves and lead to the system paralysed because of the goods drops in the tunnel, also can avoid the system to stop the operation and send artifical entering system to clear up the barrier and influence system operating efficiency.

It will be appreciated by those skilled in the art that the foregoing types of applications are merely exemplary, and that other types of applications, whether presently existing or later to be developed, that may be suitable for use with the embodiments of the present invention, are also intended to be encompassed within the scope of the present invention and are hereby incorporated by reference.

In practical application, the signal processing device can be arranged at other positions of the body. The embodiment of the present invention is not limited to the specific placement position of the signal processing device, and any placement manner of the signal processing device in the interior of the body is within the scope of the embodiment of the present invention.

It should be understood by those skilled in the art that the foregoing description of determining the invoking policy according to the user information is only for better illustrating the technical solutions of the embodiments of the present invention, and is not intended to limit the embodiments of the present invention. Any method of determining the invoking policy based on the user attributes is included in the scope of embodiments of the present invention.

Those of ordinary skill in the art will understand that: the figures are merely schematic representations of one embodiment, and the blocks or flow diagrams in the figures are not necessarily required to practice the present invention.

From the above description of the embodiments, it is clear to those skilled in the art that the present invention can be implemented by software plus necessary general hardware platform. Based on such understanding, the technical solutions of the present invention may be embodied in the form of a software product, which may be stored in a storage medium, such as ROM/RAM, magnetic disk, optical disk, etc., and includes instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) to execute the method according to the embodiments or some parts of the embodiments.

The above description is only for the preferred embodiment of the present invention, but the scope of the present invention is not limited thereto, and any changes or substitutions that can be easily conceived by those skilled in the art within the technical scope of the present invention are included in the scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims.