CN113104768A - Reach forklift AGV - Google Patents
Reach forklift AGV Download PDFInfo
- Publication number
- CN113104768A CN113104768A CN202110493886.8A CN202110493886A CN113104768A CN 113104768 A CN113104768 A CN 113104768A CN 202110493886 A CN202110493886 A CN 202110493886A CN 113104768 A CN113104768 A CN 113104768A
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- Prior art keywords
- vehicle body
- agv
- main control
- vehicle
- control module
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- 229910000831 Steel Inorganic materials 0.000 claims abstract description 4
- 239000010959 steel Substances 0.000 claims abstract description 4
- 238000004891 communication Methods 0.000 claims description 30
- 238000001514 detection method Methods 0.000 claims description 11
- 238000005516 engineering process Methods 0.000 claims description 6
- 239000000872 buffer Substances 0.000 claims description 3
- 239000000284 extract Substances 0.000 claims description 3
- 238000003909 pattern recognition Methods 0.000 claims description 3
- 238000012545 processing Methods 0.000 claims description 3
- 239000000463 material Substances 0.000 abstract description 2
- 238000009434 installation Methods 0.000 abstract 1
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000004134 energy conservation Methods 0.000 description 1
- 230000007613 environmental effect Effects 0.000 description 1
- 230000017525 heat dissipation Effects 0.000 description 1
- 238000002407 reforming Methods 0.000 description 1
- 238000012827 research and development Methods 0.000 description 1
Images
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
- B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
- B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
- B66F9/063—Automatically guided
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
- B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
- B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
- B66F9/075—Constructional features or details
- B66F9/07504—Accessories, e.g. for towing, charging, locking
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
- B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
- B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
- B66F9/075—Constructional features or details
- B66F9/0755—Position control; Position detectors
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
- B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
- B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
- B66F9/075—Constructional features or details
- B66F9/07572—Propulsion arrangements
Abstract
The invention relates to the technical field of AGV and discloses a forward fork truck AGV which comprises a truck body, a hoisting system and a control system, wherein the truck body is provided with a lifting mechanism; the vehicle body consists of a vehicle body, a driving system, a hydraulic system and a power supply system; the hoisting system is arranged on the vehicle body and can move forwards along a channel steel guide rail of the vehicle body, the control system is arranged in the vehicle body, and a control panel is arranged on the table top of the vehicle body; the vehicle body is provided with a laser navigation device and a laser obstacle avoidance device; the power supply system consists of a battery, a connector and a charging plate. This antedisplacement formula fork truck AGV with useless overhead guard of AGV and manual operation district cancellation, has saved certain material cost, and has made automobile body the place ahead have sufficient space installation electrical power generating system, has abandoned manual operation district to make the automobile body length and width all obtain certain retrenching, and the space of vacating can be used to install various control electrical apparatus that AGV used, and is great because of the space, and electrical apparatus overall arrangement flexibility is good, and the thermal diffusivity is good.
Description
Technical Field
The invention relates to the technical field of AGV, in particular to an AGV of a forward-moving forklift.
Background
The forklift is an industrial transport vehicle, and refers to various wheeled transport vehicles for loading, unloading, stacking and short-distance transport of finished pallet goods, the forklift can be divided into various types according to the structural characteristics and the working performance of the forklift, and the forward-moving forklift is an industrial transport vehicle, and is a storage forklift, is used for transporting large storage objects, and is generally driven by a battery. The forward forklift integrates the advantages of a balance weight type electric forklift and a stacking truck, and has the characteristics of environmental protection, energy conservation, low noise, high lifting, small operation space and the like.
At present conventional antedisplacement formula fork truck AGV is let the artificial car transform come, and the artificial car has a lot of differences with the AGV, though can normal use through the AGV of reforming transform, but the function receives great influence, to this, has designed the antedisplacement formula fork truck of a forward research and development of section.
Disclosure of Invention
Aiming at the defects in the prior art, the invention provides an AGV (automatic guided vehicle) of a forward-moving forklift.
The invention provides the following technical scheme: an AGV (automatic guided vehicle) of a forward fork truck comprises a vehicle body, a hoisting system and a control system;
the vehicle body consists of a vehicle body, a driving system, a hydraulic system and a power supply system;
the hoisting system is arranged on the vehicle body and can move forwards along a channel steel guide rail of the vehicle body, the control system is arranged in the vehicle body, and a control panel is arranged on the table top of the vehicle body;
the vehicle body is provided with a laser navigation device and a laser obstacle avoidance device;
the power supply system consists of a battery, a connector and a charging plate, and the charging plate is arranged right in front of the vehicle body;
the hoisting system is provided with a laser ranging device and a control device for lifting the gantry and detecting the cargo sensing;
the control system comprises a main control module, a communication module, a safety system, a power supply module and a machine vision system;
the main control module is in communication connection with the laser navigation device and is used for the cruising of the forklift;
the main control module is in communication connection with the driving system and is used for controlling the speed and the steering;
the main control module is in communication connection with the hydraulic system and mainly controls the operation of the micro hydraulic cylinder;
the main control module is in communication connection with the power supply module, detects the battery capacity in real time, and sends a charging request to the upper computer when the capacity is reduced to a set value;
the main control module is in communication connection with the communication module, so that collision avoidance scheduling, working state detection and command uploading and issuing among the AGVs are realized.
Preferably, the main control module performs overall control on the AGV, receives commands and tasks of the upper computer, reports the real-time state of the AGV to the upper computer, and automatically cruises and controls the speed according to a set route to transport goods to a destination point.
Preferably, the communication module adopts a wireless communication mode to realize the communication between the upper computer and the AGV.
Preferably, the vehicle body is provided with a laser obstacle avoidance device, when obstacles are found around the vehicle, the vehicle can be controlled to decelerate or stop, and in addition, mechanical buffers are arranged around the vehicle frame.
Preferably, the machine vision system collects a shot target image of a three-dimensional scene into a computer by using a camera to form an original image, then preprocesses the original image by using an image processing technology to improve the image quality, segments the image, extracts characteristic elements to form description of the image, finally performs characteristic classification by using a pattern recognition technology, outputs a result according to preset conditions, and facilitates a driving system to control the AGV.
Preferably, when the laser navigation device is in operation, a mark with a position, such as a bar code, needs to be arranged along a walking path, a rotating laser beam installed at the top of the trolley rotates at a certain angular speed, a sensor on the trolley receives reflected light and then transmits the information to an on-board computer, the direction of the trolley is obtained, and the trolley is guided to walk along a specified path through position information.
Preferably, be equipped with fault detection device in the automobile body, and the surface mosaic of automobile body has the LED display, and fault detection device regularly patrols and examines fork truck internal system to only the fault reason automatically through the LED display.
Compared with the prior art, the invention has the following beneficial effects:
according to the forward fork truck AGV, a useless overhead guard and a manual operation area of the AGV are eliminated, certain material cost is saved, a sufficient space is reserved in front of a truck body to install a power supply system, the manual operation area is abandoned to enable the length and the width of the truck body to be reduced to a certain extent, the vacant space can be used for installing various control electric appliances for the AGV, and the space is large, the electric appliance layout flexibility is good, and the heat dissipation performance is good; the navigator is independently arranged on the frame, is not influenced by the height of the overhead guard, and is convenient to customize and modify; the operation panel ground is operable, makes things convenient for personnel's debugging, saves the debugging engineering time.
Drawings
FIG. 1 is a schematic structural view of the present invention;
FIG. 2 is a schematic side view of the FIG. 1 embodiment of the present invention;
FIG. 3 is a schematic top view of the structure of FIG. 1 according to the present invention.
In the figure: 1. a vehicle body; 11. a vehicle body; 12. a drive system; 13. a hydraulic system; 14. a power supply system; 2. a hoisting system; 3. a control system; 4. a laser navigation device; 5. a laser obstacle avoidance device; 6. a laser ranging device; 7. a control device; 8. and a control panel.
Detailed Description
To make the objects, technical solutions and advantages of the embodiments of the present disclosure clearer, technical solutions of the embodiments of the present disclosure will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present disclosure, and in order to keep the following description of the embodiments of the present disclosure clear and concise, detailed descriptions of known functions and known parts of the disclosure are omitted to avoid unnecessarily obscuring the concepts of the present disclosure.
Referring to fig. 1-3, an AGV includes a vehicle body 1, a lifting system 2, and a control system 3;
the vehicle body 1 consists of a vehicle body 11, a driving system 12, a hydraulic system 13 and a power supply system 14;
the hoisting system 2 is arranged on the vehicle body 1 and can move forwards along a vehicle body channel steel guide rail, the control system 3 is arranged in the vehicle body 1, and a control panel 8 is arranged on the table surface of the vehicle body 1;
the vehicle body 1 is provided with a laser navigation device 4 and a laser obstacle avoidance device 5;
the power supply system 14 consists of a battery, a connector and a charging plate, and the charging plate is arranged right in front of the vehicle body 1;
the hoisting system 2 is provided with a laser ranging device 6 and a control device 7 for gantry lifting height and cargo detection sensing;
the control system comprises a main control module, a communication module, a safety system, a power supply module and a machine vision system;
the main control module is in communication connection with the laser navigation device 4 and is used for the cruising of the forklift;
the main control module is in communication connection with the driving system 12 and is used for controlling the speed and the steering;
the main control module is in communication connection with the hydraulic system 13 and mainly controls the operation of the micro hydraulic cylinder;
the main control module is in communication connection with the power supply module, detects the battery capacity in real time, and sends a charging request to the upper computer when the capacity is reduced to a set value;
the main control module is in communication connection with the communication module, so that collision avoidance scheduling, working state detection and command uploading and issuing among the AGVs are realized.
The main control module carries out overall control on the AGV, receives commands and tasks of the upper computer, reports the real-time state of the AGV to the upper computer, and carries the goods to a destination point according to a set route and autonomous cruising and speed control.
The communication module adopts wireless communication's mode, realizes host computer and AGV's communication.
The vehicle body is provided with a laser obstacle avoidance device 5, when obstacles are found around the vehicle, the vehicle can be controlled to decelerate or stop, and in addition, mechanical buffers are arranged around the vehicle frame.
The machine vision system collects a shot target image of a three-dimensional scene into a computer by using a camera to form an original image, then preprocesses the original image by using an image processing technology to improve the image quality, segments the image, extracts characteristic elements to form description of the image, finally classifies the characteristics by using a pattern recognition technology, outputs a result according to preset conditions, and facilitates a driving system to control the AGV.
When the laser navigation device 4 is in operation, a mark with a position, such as a bar code, needs to be arranged along a walking path, a rotating laser beam arranged at the top of the trolley rotates at a certain angular speed, a sensor on the trolley receives reflected light and then transmits the information to a vehicle-mounted computer to obtain the direction of the trolley, and the trolley is guided to walk along a specified path through position information.
Be equipped with fault detection device in the automobile body 11, and the surface mosaic of automobile body 11 has the LED display, and fault detection device patrols and examines fork truck internal system regularly to only the fault reason automatically through the LED display.
The above embodiments are only exemplary embodiments of the present invention, and are not intended to limit the present invention, and the scope of the present invention is defined by the claims. Various modifications and equivalents may be made by those skilled in the art within the spirit and scope of the present invention, and such modifications and equivalents should also be considered as falling within the scope of the present invention.
Claims (7)
1. The utility model provides a reach forklift AGV which characterized in that: comprises a vehicle body (1), a hoisting system (2) and a control system (3);
the vehicle body (1) consists of a vehicle body (11), a driving system (12), a hydraulic system (13) and a power supply system (14);
the lifting system (2) is arranged on the vehicle body (1) and can move forwards along a channel steel guide rail of the vehicle body, the control system (3) is arranged in the vehicle body (1), and a control panel (8) is arranged on the table top of the vehicle body (1);
the vehicle body (1) is provided with a laser navigation device (4) and a laser obstacle avoidance device (5);
the power supply system (14) consists of a battery, a connector and a charging plate, and the charging plate is arranged right in front of the vehicle body (1);
the hoisting system (2) is provided with a laser ranging device (6) and a control device (7) for gantry lifting height and cargo detection sensing;
the control system comprises a main control module, a communication module, a safety system, a power supply module and a machine vision system;
the main control module is in communication connection with the laser navigation device (4) and is used for the cruising of the forklift;
the main control module is in communication connection with the driving system (12) and is used for controlling the speed and the steering;
the main control module is in communication connection with a hydraulic system (13) and mainly controls the operation of the micro hydraulic cylinder;
the main control module is in communication connection with the power supply module, detects the battery capacity in real time, and sends a charging request to the upper computer when the capacity is reduced to a set value;
the main control module is in communication connection with the communication module, so that collision avoidance scheduling, working state detection and command uploading and issuing among the AGVs are realized.
2. An advancing fork lift AGV according to claim 1, characterized in that: the main control module carries out overall control on the AGV, receives commands and tasks of the upper computer, reports the real-time state of the AGV to the upper computer, and carries the goods to a destination point according to a set route and autonomous cruising and speed control.
3. An advancing fork lift AGV according to claim 1, characterized in that: the communication module adopts wireless communication's mode, realizes host computer and AGV's communication.
4. An advancing fork lift AGV according to claim 1, characterized in that: the vehicle body is provided with a laser obstacle avoidance device (5), when obstacles are found around the vehicle, the vehicle can be controlled to decelerate or stop, and in addition, mechanical buffers are arranged around the vehicle frame.
5. An advancing fork lift AGV according to claim 1, characterized in that: the machine vision system collects a shot target image of a three-dimensional scene into a computer by using a camera to form an original image, then preprocesses the original image by using an image processing technology to improve the image quality, segments the image, extracts characteristic elements to form description of the image, finally classifies the characteristics by using a pattern recognition technology, outputs a result according to preset conditions, and facilitates a driving system to control the AGV.
6. An advancing fork lift AGV according to claim 1, characterized in that: when the laser navigation device (4) is in operation, a mark with a position, such as a bar code, needs to be arranged along a walking path, a rotating laser beam arranged at the top of the trolley rotates at a certain angular speed, a sensor on the trolley receives reflected light and then transmits the information to a vehicle-mounted computer to obtain the direction of the trolley, and the trolley is guided to walk along a specified path through position information.
7. An advancing fork lift AGV according to claim 1, characterized in that: be equipped with fault detection device in automobile body (11), and the surface mosaic of automobile body (11) has the LED display, and fault detection device patrols and examines fork truck internal system regularly to only the fault reason through the LED display is automatic.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110493886.8A CN113104768A (en) | 2021-05-07 | 2021-05-07 | Reach forklift AGV |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110493886.8A CN113104768A (en) | 2021-05-07 | 2021-05-07 | Reach forklift AGV |
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| Publication Number | Publication Date |
|---|---|
| CN113104768A true CN113104768A (en) | 2021-07-13 |
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ID=76721021
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202110493886.8A Pending CN113104768A (en) | 2021-05-07 | 2021-05-07 | Reach forklift AGV |
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| Country | Link |
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| CN (1) | CN113104768A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117428790A (en) * | 2023-12-19 | 2024-01-23 | 四川吉埃智能科技有限公司 | Robot obstacle avoidance detection device and method |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102616703A (en) * | 2012-04-16 | 2012-08-01 | 缪慰时 | Track-free intelligent moving device of goods shelf warehouse |
| CN205333083U (en) * | 2015-10-13 | 2016-06-22 | 合肥泰禾光电科技股份有限公司 | AGV dolly based on laser navigation |
| KR20180028575A (en) * | 2016-09-08 | 2018-03-19 | (주)엠텍 | Operation Safety Motion Base with Sensor at the AGV and Control Method Thereof |
| CN109160452A (en) * | 2018-10-23 | 2019-01-08 | 西安中科光电精密工程有限公司 | Unmanned transhipment fork truck and air navigation aid based on laser positioning and stereoscopic vision |
| WO2019087072A1 (en) * | 2017-10-31 | 2019-05-09 | Nuova Sima S.P.A. | An automatically-guided vehicle provided with forks for moving a support structure of tiles |
| CN110110608A (en) * | 2019-04-12 | 2019-08-09 | 国网浙江省电力有限公司嘉兴供电公司 | The fork truck speed monitoring method and system of view-based access control model under a kind of overall view monitoring |
| CN111717844A (en) * | 2020-06-09 | 2020-09-29 | 安徽意欧斯物流机器人有限公司 | Industrial safety type laser SLAM navigation tray stack AGV |
-
2021
- 2021-05-07 CN CN202110493886.8A patent/CN113104768A/en active Pending
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102616703A (en) * | 2012-04-16 | 2012-08-01 | 缪慰时 | Track-free intelligent moving device of goods shelf warehouse |
| CN205333083U (en) * | 2015-10-13 | 2016-06-22 | 合肥泰禾光电科技股份有限公司 | AGV dolly based on laser navigation |
| KR20180028575A (en) * | 2016-09-08 | 2018-03-19 | (주)엠텍 | Operation Safety Motion Base with Sensor at the AGV and Control Method Thereof |
| WO2019087072A1 (en) * | 2017-10-31 | 2019-05-09 | Nuova Sima S.P.A. | An automatically-guided vehicle provided with forks for moving a support structure of tiles |
| CN109160452A (en) * | 2018-10-23 | 2019-01-08 | 西安中科光电精密工程有限公司 | Unmanned transhipment fork truck and air navigation aid based on laser positioning and stereoscopic vision |
| CN110110608A (en) * | 2019-04-12 | 2019-08-09 | 国网浙江省电力有限公司嘉兴供电公司 | The fork truck speed monitoring method and system of view-based access control model under a kind of overall view monitoring |
| CN111717844A (en) * | 2020-06-09 | 2020-09-29 | 安徽意欧斯物流机器人有限公司 | Industrial safety type laser SLAM navigation tray stack AGV |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117428790A (en) * | 2023-12-19 | 2024-01-23 | 四川吉埃智能科技有限公司 | Robot obstacle avoidance detection device and method |
| CN117428790B (en) * | 2023-12-19 | 2024-02-23 | 四川吉埃智能科技有限公司 | Robot obstacle avoidance detection device and method |
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Application publication date: 20210713 |
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