CN115892803A - Goods shelf and intelligent warehousing system for laser SLAM navigation AGV - Google Patents
Goods shelf and intelligent warehousing system for laser SLAM navigation AGV Download PDFInfo
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- CN115892803A CN115892803A CN202111155812.XA CN202111155812A CN115892803A CN 115892803 A CN115892803 A CN 115892803A CN 202111155812 A CN202111155812 A CN 202111155812A CN 115892803 A CN115892803 A CN 115892803A
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- 230000003014 reinforcing effect Effects 0.000 claims description 7
- 239000002184 metal Substances 0.000 claims description 5
- 230000007306 turnover Effects 0.000 abstract 1
- 238000010586 diagram Methods 0.000 description 8
- 238000000034 method Methods 0.000 description 6
- 238000010276 construction Methods 0.000 description 4
- 238000013461 design Methods 0.000 description 2
- 238000001514 detection method Methods 0.000 description 2
- 238000004519 manufacturing process Methods 0.000 description 2
- 238000013507 mapping Methods 0.000 description 2
- 239000000463 material Substances 0.000 description 2
- 230000001360 synchronised effect Effects 0.000 description 2
- 230000000007 visual effect Effects 0.000 description 2
- 230000004888 barrier function Effects 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000002452 interceptive effect Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
- B65G1/02—Storage devices
- B65G1/04—Storage devices mechanical
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
- Y02P90/60—Electric or hybrid propulsion means for production processes
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- Engineering & Computer Science (AREA)
- Aviation & Aerospace Engineering (AREA)
- Radar, Positioning & Navigation (AREA)
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- Automation & Control Theory (AREA)
- Mechanical Engineering (AREA)
- Warehouses Or Storage Devices (AREA)
Abstract
The invention provides a goods shelf and an intelligent warehousing system for a laser SLAM navigation AGV, wherein the goods shelf for the laser SLAM navigation AGV comprises a bearing frame and supporting legs, the supporting legs are fixed on the bearing frame and used for supporting the bearing frame, the bearing frame comprises a cross beam and two longitudinal beams arranged in parallel at intervals, the cross beam is fixed at the tail ends of the two longitudinal beams, the head ends of the two longitudinal beams form an opening end for the AGV to enter and exit, a baffle plate for positioning the AGV is arranged on one side opposite to the opening end, and the baffle plate is fixed on the supporting legs or the cross beam; the open end of this goods shelves is used for supplying the AGV business turn over, and this goods shelves can realize the goods through the tray transportation through placing the tray on bearing the frame, and the baffle participates in the scene map and constructs as reference and navigation mark point in the laser SLAM navigation for SLAM laser navigation AGV can realize automatic traveling.
Description
Technical Field
The invention belongs to the technical field of warehouse logistics, and particularly relates to a goods shelf and an intelligent warehousing system for a laser SLAM navigation AGV.
Background
In recent years, the use of Automated Guided Vehicles (AGVs) as a preferred transport for Automated production has been rapidly developed, and the development of AGV navigation technology has attracted much attention in the industry. Synchronous positioning and mapping (SLAM) means that in an unknown environment, an AGV robot positions itself through an internal sensor (an encoder, an IMU, and the like) and an external sensor (a laser sensor or a visual sensor) carried by itself, and incrementally constructs an environment map by using environment information acquired by the external sensor on the basis of positioning.
After the environment map is constructed, the navigation of the AGV needs to be implemented by performing map-based position and path planning on the basis of the constructed map. In the moving process of the laser SLAM navigation AGV, the accurate pose of the AGV in the map is continuously obtained in real time by matching laser data obtained by combining milemeter information and a laser sensor with the map, meanwhile, path planning (dynamic routes or fixed routes, and routes at each time are slightly different) is carried out according to the current position and a task destination, and a control instruction is sent to the AGV according to a track obtained by planning, so that the AGV can automatically run.
Goods shelves are transported for dismantling commodity circulation generally to commodity circulation among the current storage logistics system, and AGV goods shelves are participated in when transporting goods and are transported, and the goods can't be operated through the tray, and the goods shelves can't provide the location reference for laser SLAM navigation AGV moreover.
Disclosure of Invention
The embodiment of the invention aims to provide a goods shelf for a laser SLAM navigation AGV, and the goods shelf can not be used for transporting goods through a tray, and the goods shelf can not provide positioning reference for the SLAM laser navigation AGV in the prior art.
Another objective of the embodiments of the present invention is to provide an intelligent warehousing system, so as to solve the technical problems that in the prior art, a rack cannot run goods through a tray, and the rack cannot provide a positioning reference for an SLAM laser navigation AGV.
In order to achieve the above object, a first aspect of the embodiments of the present invention provides a rack for a laser SLAM navigation AGV, including a bearing frame and support legs, wherein the support legs are fixed on the bearing frame for supporting the bearing frame;
the bearing frame comprises a cross beam and two longitudinal beams which are arranged in parallel at intervals, the cross beam is fixed at the tail ends of the two longitudinal beams, and the head ends of the two longitudinal beams form an opening end for the AGV to enter and exit;
and a baffle for positioning the AGV is arranged on one side right opposite to the opening end, and the baffle is fixed on the supporting legs or the cross beam.
In one embodiment, the baffle is a rectangular baffle, and the length of the baffle in the height direction of the support leg is 15 cm-35 cm.
In one embodiment, the top of the baffle is flush with the top of the beam.
In one embodiment, the number of the legs is four; the two support legs are respectively arranged at the head end and the tail end of one of the longitudinal beams, and the other two support legs are respectively arranged at the head end and the tail end of the other longitudinal beam.
In one embodiment, a first reinforcing plate is arranged at the joint of two of the support legs and one of the longitudinal beams, and a second reinforcing plate is arranged at the joint of the other two of the support legs and the other longitudinal beam.
In one embodiment, the two longitudinal beams and the transverse beam are of an integrally formed structure; or the two longitudinal beams and the cross beam are of detachable connection structures.
In one embodiment, the baffle is detachably and fixedly connected with the cross beam or the baffle is welded on the cross beam; or the baffle plate and the supporting leg are detachably and fixedly connected or the baffle plate is welded on the supporting leg.
In one embodiment, the bottom of the leg is provided with a cushion pad.
In an embodiment, the support legs, the longitudinal beams and the cross beams are all made of metal pieces.
According to a second aspect of the embodiments of the present invention, an intelligent warehousing system is provided, where the intelligent warehousing logistics system includes a plurality of shelves and AGVs, where the shelves are as described above, and the shelves are used for being fixed on the ground.
The goods shelf for the laser SLAM navigation AGV comprises a bearing frame and supporting legs, wherein the supporting legs are fixed on the bearing frame and used for supporting the bearing frame, the bearing frame comprises a cross beam and two longitudinal beams which are arranged in parallel at intervals, the cross beam is fixed at the tail ends of the two longitudinal beams, the head ends of the two longitudinal beams are provided with opening ends for the AGV to enter and exit, a baffle plate for positioning the AGV is arranged on one side opposite to the opening ends, the baffle plate is fixed on the supporting legs or on the cross beam, the opening end of the goods shelf is used for the AGV to enter and exit, the goods can be transferred through a tray by placing the tray on the bearing frame, the baffle plate in the SLAM laser navigation is used as a reference object and a navigation mark point to participate in scene map construction, and the SLAM laser navigation AGV can automatically travel.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings needed for the embodiments or the prior art descriptions will be briefly described 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 without creative efforts.
FIG. 1 is a schematic structural diagram of a rack for a laser SLAM guided AGV according to an embodiment of the present invention;
FIG. 2 is a schematic diagram of a rack for a laser SLAM guided AGV according to an embodiment of the present invention at an angle of view;
FIG. 3 is a schematic diagram of a rack at another view angle for a laser SLAM guided AGV according to an embodiment of the present invention;
FIG. 4 is a schematic diagram of a rack for a laser SLAM guided AGV according to an embodiment of the present invention at another viewing angle.
Wherein, in the figures, the respective reference numerals:
1-a bearing frame;
2-a support leg;
3-a baffle plate;
11-a cross beam;
12-longitudinal beam.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, but not all, embodiments of the present invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
In the description of the present invention, it is to be understood that the terms "comprises" and "comprising," and any variations thereof, as used herein, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed, but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.
In addition, in the present application, unless otherwise explicitly specified or limited, the terms "connected," "secured," "mounted," and the like are to be construed broadly, e.g., as both a mechanical and electrical connection; the terms may be directly connected or indirectly connected through an intermediate medium, and may be used for communicating between two elements or for interacting between two elements, unless otherwise specifically defined, and the specific meaning of the terms in the present application may be understood by those skilled in the art according to specific situations.
It is to be understood that the terms "length," "width," "upper," "lower," "front," "rear," "left," "right," and the like are used in the orientations and positional relationships indicated in the drawings for convenience in describing the present invention and to simplify the description, and are not intended to indicate or imply that the referenced devices or elements must be in a particular orientation, constructed and operated in a particular orientation, and are not to be construed as limiting the present invention. It should be understood that in the description of the present invention, "a plurality" means two or more unless otherwise specified.
Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. It should be understood that the term "and/or" as used herein is merely one type of association that describes an associated object, meaning that three relationships may exist, e.g., a and/or B may mean: a exists alone, A and B exist simultaneously, and B exists alone.
Synchronous positioning and mapping (SLAM) means that in an unknown environment, an AGV robot positions itself through an internal sensor (an encoder, an IMU, and the like) and an external sensor (a laser sensor or a visual sensor) carried by itself, and incrementally constructs an environment map by using environment information acquired by the external sensor on the basis of positioning. Because the laser SLAM navigation is limited by laser radar parameters, the general detection distance is 10m to 25m, and because of the algorithm principle, in order to realize the SLAM laser navigation, a certain fixed shielding object is required to be arranged within at least 25m of the radius, and the mobility of the shielding object is low. Because the laser SLAM navigation AGV needs a fixed reference object during operation, the pure warehouse deployment and the factory building of the existing warehouse logistics items are of flat-layer structures, cargoes are stacked on the ground, and the cargoes are in a flowing form and do not accord with the laser SLAM navigation operation conditions. The invention provides a shelf and an intelligent warehousing system to solve the problems of pure warehouse deployment of existing warehouse logistics items and laser SLAM navigation that factory building conditions do not meet AGV.
The rack and the smart storage system for the laser SLAM navigation AGV provided by the invention are explained in detail with reference to specific embodiments.
The first embodiment is as follows:
fig. 1 is a schematic structural diagram of a rack for a laser SLAM navigation AGV according to an embodiment of the present invention, fig. 2 is a schematic structural diagram of a rack for a laser SLAM navigation AGV according to an embodiment of the present invention at one viewing angle, fig. 3 is a schematic structural diagram of a rack for a laser SLAM navigation AGV according to an embodiment of the present invention at another viewing angle, and fig. 4 is a schematic structural diagram of a rack for a laser SLAM navigation AGV according to an embodiment of the present invention at yet another viewing angle. Referring to fig. 1-4, an embodiment of the present invention provides a rack for a laser SLAM navigation AGV, which includes a carriage 1 and legs 2, wherein the legs 2 are fixed on the carriage 1 for supporting the carriage 1.
The loading frame 1 comprises a cross beam 11 and two longitudinal beams 12 arranged in parallel at intervals, the cross beam 11 is fixed at the tail ends of the two longitudinal beams 12, and the head ends of the two longitudinal beams 12 form an opening end for the AGV to enter and exit;
and one side right opposite to the opening end is provided with a baffle 3 for positioning the AGV, and the baffle 3 is fixed on the supporting legs 2 or the cross beam 11.
The legs 2 of the present embodiment are used to support a carrier 1 for placing pallets carrying goods. In this embodiment, the material of the supporting leg 2 and the loading frame 1 is not particularly limited.
The loading frame 1 of the embodiment comprises a cross beam 11 and two longitudinal beams 12 arranged in parallel at intervals, wherein the cross beam 11 is fixed at the tail ends of the two longitudinal beams 12, and the head ends of the two longitudinal beams 12 form an opening end for the AGV to get in and out. The interval has between two longerons 12 of this embodiment, and the open end is formed to the head end of longeron 12 for the AGV can get into and pass in and out between two longerons 12, places goods and tray on the longeron 12 after, and the AGV drives in the below of tray and goods from the open end, and the AGV holds in the palm tray and goods after, and the AGV drives in from the open end. The dimensions of the cross beam 11 and the longitudinal beam 12 in this embodiment can be preset in advance according to the dimensions of the AGV cart and the tray, and the dimensions of the cross beam 11 and the longitudinal beam 12 are not particularly limited in this embodiment.
The laser SLAM navigation is limited by laser radar parameters, the general detection distance is 10m to 25m, and due to the algorithm principle, in order to realize the SLAM laser navigation, at least a certain fixed shielding object is required within the radius of 25m, the flowability of the shielding object is low, in the embodiment, the baffle 3 is arranged on the goods shelf, the baffle 3 is used as a laser SLAM navigation mark point when the AGV runs, the laser SLAM navigation AGV can be adapted, and the laser is emitted onto the baffle 3 to form a laser SLAM map so as to provide navigation information for the AGV. In this embodiment, the specific size and material of the baffle 3 are not particularly limited.
In the moving process of the laser SLAM navigation AGV, the accurate pose of the AGV in the map is continuously obtained in real time by matching laser data obtained by combining milemeter information and a laser sensor with the map, meanwhile, path planning (dynamic routes or fixed routes, and routes at each time are slightly different) is carried out according to the current position and a task destination, and a control instruction is sent to the AGV according to a track obtained by planning, so that the AGV can automatically run. The pure storehouse of current storage logistics item deploys and the factory building is flat bed structure, and the goods is stacked subaerial, and the goods is not conform to laser SLAM navigation running condition for the form of flowing, and this embodiment is through setting up baffle 3 that supplies AGV to carry out the location on the goods shelves, and baffle 3 participates in the scene map and constructs as reference thing and navigation mark point for SLAM laser navigation AGV can be applied to spacious storage logistics system.
The goods shelf for the laser SLAM navigation AGV comprises a bearing frame and supporting legs, wherein the supporting legs are fixed on the bearing frame and used for supporting the bearing frame, the bearing frame comprises a cross beam and two longitudinal beams which are arranged in parallel at intervals, the cross beam is fixed at the tail ends of the two longitudinal beams, the head ends of the two longitudinal beams are provided with opening ends for the AGV to enter and exit, a baffle plate for positioning the AGV is arranged on one side opposite to the opening ends, the baffle plate is fixed on the supporting legs or on the cross beam, the opening ends of the fixed goods shelf are used for the AGV to enter and exit, goods can be transferred through a tray by placing the tray on the bearing frame, the baffle plate in the SLAM laser navigation is used as a reference object and a navigation mark point to participate in scene map construction, and the SLAM laser navigation AGV can automatically travel.
The second embodiment:
the present embodiment provides a rack for a laser SLAM guided AGV, which has a similar overall structure as the rack described in the first embodiment, except that the present embodiment provides a specific structure of the barrier based on the first embodiment.
In this embodiment, the baffle 3 is a rectangular baffle, and the length of the baffle 3 in the height direction of the support leg 2 is 15cm to 35cm.
The baffle 3 of the embodiment is a rectangular baffle, the baffle 3 of the embodiment is used as a reference when the laser SLAM navigation AGV operates, the design height of the baffle 3 of the embodiment is set in advance according to the height of the laser SLAM navigation AGV, the height of the laser SLAM navigation AGV is generally 15cm to 35cm, and the length of the baffle 3 of the embodiment in the height direction of the supporting leg 1 is preferably 15cm to 35cm.
Further, the top of the baffle 3 is flush with the top of the cross beam 11. In this embodiment, in order to avoid the design position of the apron 3 interfering with the goods or pallets on the loading ledges 1, the top of the apron 3 is arranged at a level with the top of the cross beams.
In this embodiment, optionally, the baffle 3 is detachably and fixedly connected with the cross beam 11 or the baffle 3 is welded on the cross beam 11; or, the baffle 3 and the supporting leg 2 are detachably and fixedly connected or the baffle 3 is welded on the supporting leg 2. The baffle 3 of this embodiment can set up on crossbeam 11 or landing leg 2, and when the baffle 3 of this embodiment can dismantle fixed connection with crossbeam 11 or landing leg 2, the dismouting of baffle 3 of being convenient for.
In this embodiment, the baffle 3 is preferably a metal member. The baffle 3 of this embodiment adopts the metalwork, can improve the life of baffle 3 to a certain extent.
The goods shelf for the laser SLAM navigation AGV comprises a bearing frame and supporting legs, wherein the supporting legs are fixed on the bearing frame and used for supporting the bearing frame, the bearing frame comprises a cross beam and two longitudinal beams which are arranged in parallel at intervals, the cross beam is fixed at the tail ends of the two longitudinal beams, the head ends of the two longitudinal beams are provided with opening ends for the AGV to enter and exit, a baffle plate for positioning the AGV is arranged on one side opposite to the opening ends, the baffle plate is fixed on the supporting legs or on the cross beam, the opening ends of the fixed goods shelf are used for the AGV to enter and exit, goods can be transferred through a tray by placing the tray on the bearing frame, the baffle plate in the SLAM laser navigation is used as a reference object and a navigation mark point to participate in scene map construction, and the SLAM laser navigation AGV can automatically travel.
Example three:
the present embodiment provides a rack for a laser SLAM navigation AGV, which has a similar overall structure to the rack described in the first embodiment, except that the present embodiment provides a specific structure of a bearing frame and supporting legs on the basis of the second embodiment.
In this embodiment, the number of the supporting legs 2 is four, the longitudinal beam 12 includes a first longitudinal beam and a second longitudinal beam, two supporting legs 2 are respectively disposed at the head end and the tail end of the first longitudinal beam, and the other two supporting legs 2 are respectively disposed at the head end and the tail end of the second longitudinal beam. The embodiment adopts four supporting legs 2 to support the bearing frame 1, and the implementation mode is simple.
Furthermore, a first reinforcing plate is arranged at the joint of the supporting leg 2 and the first longitudinal beam, and a second reinforcing plate is arranged at the joint of the supporting leg and the second longitudinal beam. This embodiment has improved the bulk strength of goods shelves through set up the reinforcing plate in longeron and landing leg junction, has improved the life of goods shelves.
Optionally, the two longitudinal beams 12 and the transverse beam 11 are of an integrally formed structure, and when the transverse beam 11 and the longitudinal beams 12 are of an integrally formed structure, the manufacturing method is simple. Or, the two longitudinal beams 12 and the transverse beam 11 are of detachable connection structures, and when the transverse beam 11 and the longitudinal beams 12 are of detachable structures, the storage rack occupies a small storage space after being detached.
Further, the bottom of the leg 2 is provided with a cushion pad. Through set up the blotter in the bottom of landing leg 2, when putting the goods on the bearing frame of goods shelves, avoided landing leg 2 to cause the damage to ground. The cushion pad of this embodiment can be made of elastic rubber.
Preferably, the supporting legs 2, the longitudinal beams 12 and the cross beams 11 are all metal members, and the supporting legs 2, the longitudinal beams 12 and the cross beams 11 of the embodiment all adopt metal members, so that the service life of the shelf can be prolonged.
Example four:
the embodiment provides an intelligent storage system, which comprises the rack for the laser SLAM navigation AGV described in the first embodiment, the second embodiment or the third embodiment, and the rack is fixed on the ground.
For example, the shelf for the laser SLAM navigation AGV comprises a bearing frame and supporting legs, wherein the supporting legs are fixed on the bearing frame and used for supporting the bearing frame;
the bearing frame comprises a cross beam and two longitudinal beams arranged in parallel at intervals, the cross beam is fixed at the tail ends of the two longitudinal beams, and the head ends of the two longitudinal beams form an opening end for the AGV to enter and exit;
and a baffle for positioning the AGV is arranged on one side right opposite to the opening end, and the baffle is fixed on the supporting legs or the cross beam.
The intelligent warehousing system provided by the embodiment of the invention comprises a goods shelf for laser SLAM navigation AGV, the intelligent warehousing logistics system comprises a plurality of goods shelves and AGV, the open end of each goods shelf is used for the AGV to enter and exit, goods can be transferred through the trays by placing the trays on a bearing frame, and a baffle in laser SLAM navigation is used as a reference and a navigation mark point to participate in scene map construction, so that the SLAM laser navigation AGV can automatically run.
The above embodiments are only used to illustrate the technical solution of the present invention, and not to limit the same; while the invention has been described in detail and with reference to the foregoing embodiments, it will be understood by those skilled in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some or all of the technical features may be equivalently replaced; and these modifications or substitutions do not depart from the spirit of the corresponding technical solutions of the embodiments of the present invention.
Claims (10)
1. The utility model provides a goods shelves that is used for laser SLAM navigation AGV which characterized in that:
the support leg is fixed on the bearing frame and used for supporting the bearing frame;
the bearing frame comprises a cross beam and two longitudinal beams arranged in parallel at intervals, the cross beam is fixed at the tail ends of the two longitudinal beams, and the head ends of the two longitudinal beams form an opening end for the AGV to enter and exit;
and a baffle for positioning the AGV is arranged on one side right opposite to the opening end, and the baffle is fixed on the supporting legs or the cross beam.
2. The rack of claim 1 for a laser SLAM navigation AGV, characterized by: the baffle is a rectangular baffle, and the length of the baffle in the height direction of the supporting leg is 15 cm-35 cm.
3. The rack of claim 1 for a laser SLAM navigation AGV, characterized by: the top of the baffle is flush with the top of the cross beam.
4. The rack of claim 1 for a laser SLAM navigation AGV, characterized by: the number of the supporting legs is four; the two support legs are respectively arranged at the head end and the tail end of one of the longitudinal beams, and the other two support legs are respectively arranged at the head end and the tail end of the other longitudinal beam.
5. The rack of claim 4 for a laser SLAM guided AGV, wherein: a first reinforcing plate is arranged at the joint of the two supporting legs and one of the longitudinal beams, and a second reinforcing plate is arranged at the joint of the other two supporting legs and the other longitudinal beam.
6. The rack of claim 1 for a laser SLAM navigation AGV, characterized in that: the two longitudinal beams and the cross beam are of an integrally formed structure; or the two longitudinal beams and the cross beam are of detachable connection structures.
7. The rack of claim 1 for a laser SLAM navigation AGV, characterized in that: the baffle plate is detachably and fixedly connected with the cross beam or welded on the cross beam; or,
the baffle plate and the supporting leg are detachably and fixedly connected or the baffle plate is welded on the supporting leg.
8. The rack for laser SLAM guided AGVs according to any of claims 1-7, characterized in that: and the bottom of each supporting leg is provided with a cushion pad.
9. The rack of claim 8 for a laser SLAM navigation AGV, characterized by: the supporting legs, the longitudinal beams and the cross beams are all metal pieces.
10. An intelligent warehousing system, which is characterized in that: the smart warehouse logistics system comprises a plurality of shelves and AGVs, wherein the shelves are the shelves according to any one of claims 1-9 and are used for being fixed on the ground.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111155812.XA CN115892803A (en) | 2021-09-30 | 2021-09-30 | Goods shelf and intelligent warehousing system for laser SLAM navigation AGV |
| PCT/CN2022/098872 WO2023050891A1 (en) | 2021-09-30 | 2022-06-15 | Goods shelf for laser slam navigation agv and intelligent warehousing system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111155812.XA CN115892803A (en) | 2021-09-30 | 2021-09-30 | Goods shelf and intelligent warehousing system for laser SLAM navigation AGV |
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| Publication Number | Publication Date |
|---|---|
| CN115892803A true CN115892803A (en) | 2023-04-04 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN202111155812.XA Pending CN115892803A (en) | 2021-09-30 | 2021-09-30 | Goods shelf and intelligent warehousing system for laser SLAM navigation AGV |
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| CN (1) | CN115892803A (en) |
| WO (1) | WO2023050891A1 (en) |
Family Cites Families (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE102011089858A1 (en) * | 2011-12-23 | 2013-06-27 | Krones Ag | System for transporting goods arranged on auxiliary means |
| US10214354B2 (en) * | 2014-12-18 | 2019-02-26 | Nextshift Robotics, Inc. | Method and system for automated transport of items |
| US10196210B2 (en) * | 2017-01-16 | 2019-02-05 | Locus Robotics Corp. | Display for improved efficiency in robot assisted order-fulfillment operations |
| CN107472787B (en) * | 2017-08-14 | 2023-06-16 | 北京物资学院 | Intelligent logistics picking and storing system and method |
| CN110703745A (en) * | 2019-09-10 | 2020-01-17 | 上海快仓智能科技有限公司 | Navigation of an automated guided vehicle |
| TWI764069B (en) * | 2019-12-19 | 2022-05-11 | 財團法人工業技術研究院 | Automatic guided vehicle positioning system and operating method thereof |
| CN113955372A (en) * | 2021-11-22 | 2022-01-21 | 株洲时代新材料科技股份有限公司 | Air spring transferring and positioning method and transferring device |
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2021
- 2021-09-30 CN CN202111155812.XA patent/CN115892803A/en active Pending
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- 2022-06-15 WO PCT/CN2022/098872 patent/WO2023050891A1/en active Application Filing
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| WO2023050891A1 (en) | 2023-04-06 |
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