CN213594408U

CN213594408U - A intelligent guide car for storage commodity circulation

Info

Publication number: CN213594408U
Application number: CN202022545794.3U
Authority: CN
Inventors: 李心远; 马辰雨; 卫洪涛; 马竞
Original assignee: Zhengzhou University
Current assignee: Zhengzhou University
Priority date: 2020-11-06
Filing date: 2020-11-06
Publication date: 2021-07-02
Anticipated expiration: 2030-11-06

Abstract

The utility model discloses an intelligence guide car for storage commodity circulation, including carbon fiber chassis upper cover and carbon fiber chassis, carbon fiber chassis upper cover top installation is cut formula elevating platform and is transported goods, carbon fiber chassis upper cover internally mounted lithium cell drive intelligence guide car and is advanced, carbon fiber chassis upper cover the place ahead installation camera and laser scanner, the singlechip is received the information that camera and laser scanner collected and is handled and realize vision guide intelligence guide and laser guide, be equipped with four mecanum wheels around on the carbon fiber chassis and pass through the gear box and be connected with brushless DC motor, and by brushless DC motor drive, brushless DC motor carries out corotation reversal by motor drive chip control, make intelligence guide car realize the omnidirectional movement. This device combines vision guide and laser guide to realized the omnidirectional movement of intelligence guide car, more intelligent, automatic, the cost of using manpower sparingly, and improved the efficiency of goods transport in narrow and small storage space.

Description

A intelligent guide car for storage commodity circulation

Technical Field

The utility model relates to a commodity circulation transportation field in the storage space specifically is an intelligence guide car for storage commodity circulation.

Background

The intelligent guided vehicle (AGV) is characterized by being unmanned, and an automatic guide system is arranged on the intelligent guided vehicle, so that the system can be ensured to automatically run along a preset route without manual navigation, and goods or materials are automatically conveyed to a destination from a starting point. The intelligent guide vehicle has the other characteristics of good flexibility, high automation degree and high intelligent level, and the running path of the intelligent guide vehicle can be flexibly changed according to the storage goods space requirement, the production process flow and the like.

With the rapid development of the automatic storage system, modern factories have higher requirements on the automation degree, efficiency level and intelligence level of the logistics transport trolley.

SUMMERY OF THE UTILITY MODEL

The utility model discloses optimize it on current intelligent guide car technique, aim at improves the degree of automation of commodity circulation dolly, and is intelligent, agility and accuracy.

In order to achieve the above purpose, the utility model adopts the following technical scheme:

an intelligent guide vehicle for warehouse logistics comprises a trolley main body part and a vehicle-mounted load-bearing part; the trolley main body comprises a carbon fiber chassis and a carbon fiber chassis upper cover, wherein four Mecanum wheels, four gear boxes and four brushless direct current motors are arranged in front of and behind the carbon fiber chassis, a single chip microcomputer and a motor driving chip are arranged in the center of the carbon fiber chassis upper cover, a lithium battery is arranged in the center of the carbon fiber chassis upper cover, and a camera and a laser scanner are arranged in front of the outer part of the carbon fiber chassis upper cover; the vehicle-mounted bearing part consists of a scissor type lifter arranged at the upper end of the upper cover of the carbon fiber chassis.

Furthermore, four Mecanum wheels are arranged on the carbon fiber chassis in the front and at the back and are connected with a brushless direct current motor through gear boxes, the four Mecanum wheels are driven by the brushless direct current motor, the brushless direct current motor is controlled by a motor driving chip to rotate positively and reversely, so that the intelligent guiding vehicle can realize omnidirectional movement in any direction, the intelligent guiding vehicle is quickly positioned in a narrow space, and the specific walking mode is straight, oblique, transverse, S-shaped, zero-radius any-angle rotation and the like.

Furthermore, a camera mounted in front of the upper cover of the carbon fiber chassis can dynamically acquire image information of the surrounding environment of the vehicle, preprocesses the image information of the surrounding environment of the vehicle and compares the image information with an image database, so that the current position is determined, the running path of the intelligent guiding vehicle is planned, weighted summation processing is performed according to the running path, a deviation value of an actual vehicle body and the planned path is acquired, the running track of the intelligent vehicle is adjusted according to the running path and the deviation value, and visual guidance is achieved.

Further, the laser scanner of carbon fiber chassis upper cover the place ahead installation can emit the laser beam, then accepts the laser beam of being reflected back by locating mark all around, the singlechip is handled the laser information that the laser beam sent and reflect, obtains the current position of intelligence guide car and the direction of motion, and the position is rectified through contrasting with built-in digital map, and then the transport goods realizes laser guide.

The utility model has the advantages that:

1. the utility model discloses a navigation mode adopts laser guide and vision guide, and it is more convenient to compare with the electromagnetic guidance of wide use, and is more accurate, and degree of automation is higher with efficiency.

2. The utility model discloses a mecanum wheel relate to the omnidirectional drive technique, can make intelligence guide car can realize omnidirectional movement, carries out quick location to the vehicle in narrow and small space. The specific walking mode is straight walking, oblique walking, transverse walking, S-shaped walking, rotation at any angle with zero radius and the like.

Drawings

Fig. 1 is a schematic view of an intelligent guided vehicle for warehouse logistics according to the present invention;

FIG. 2 is a schematic diagram of an internal structure of an intelligent guided vehicle for warehouse logistics;

FIG. 3 is a schematic view of the internal structure of a carbon fiber chassis;

FIG. 4 is a schematic view of a scissor lift table;

FIG. 5 is a detail view of the gearbox.

In the figure: 1. the system comprises a Mecanum wheel, 2 a brushless direct current motor, 3 a motor driving chip, 4 a gear box, 5 a single chip microcomputer, 6 a lithium battery, 7 a carbon fiber chassis upper cover, 8 a carbon fiber chassis, 9 a shear type lifting table, 10 a camera and 11 a laser scanner.

Detailed Description

The technical solutions in the embodiments of the present invention will be described clearly and completely with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only some embodiments of the present invention, not all embodiments.

Referring to fig. 1 and 2, an intelligence guide car for storage commodity circulation, including carbon fiber chassis upper cover 7 and carbon fiber chassis 8, 7 top installations of carbon fiber chassis upper cover cut formula elevating platform 9, 7 internally mounted lithium cell 6 drive intelligence guide cars in carbon fiber chassis upper cover advance, 7 the place ahead installation cameras 10 and laser scanner 11 in carbon fiber chassis upper cover, camera 10 can obtain intelligence guide car surrounding environment image information dynamically, laser scanner 11 utilizes laser scanning discernment intelligence guide car a plurality of locating mark in its home range to confirm its coordinate position, thereby guide the operation of intelligence guide car.

Referring to fig. 3, be equipped with four mecanum wheels 1 around on the carbon fiber chassis 8 and be connected with brushless dc motor 2 through gear box 4 to by brushless dc motor 2 drive, brushless dc motor 2 is carried out corotation reversal by motor drive chip 5 control, makes the vehicle can realize omnidirectional movement, carries out quick location to intelligent guide car in narrow and small space.

Referring to fig. 3, the single chip microcomputer 5 mounted on the carbon fiber chassis 8 processes image information shot by the camera and laser information emitted and reflected by the laser beam to obtain the current position and the movement direction of the intelligent guided vehicle.

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 person skilled in the art can substitute or change the technical solution and the inventive concept of the present invention within the technical scope of the present invention.

Claims

1. An intelligent guide vehicle for warehouse logistics comprises Mecanum wheels (1), brushless direct current motors (2), motor driving chips (3), a gear box (4), a single chip microcomputer (5), lithium batteries (6), a carbon fiber chassis upper cover (7), a carbon fiber chassis (8), a shear type lifting platform (9), a camera (10), a laser scanner (11), the shear type lifting platform (9) installed above the carbon fiber chassis upper cover (7), the lithium batteries (6) installed inside the carbon fiber chassis upper cover (7) to drive a trolley to advance, the camera (10) and the laser scanner (11) installed in front of the carbon fiber chassis upper cover (7), the single chip microcomputer (5) and the motor driving chips (3) are installed in the middle of the carbon fiber chassis (8), four Mecanum wheels (1) arranged around the carbon fiber chassis (8) are connected with the brushless direct current motors (2) through the gear box (4), and is driven by the brushless direct current motor (2), and the brushless direct current motor (2) is controlled by the motor driving chip (3) to rotate forwards and backwards.

2. The intelligent guided vehicle for warehouse logistics according to claim 1, characterized in that: the camera (10) arranged in front of the carbon fiber chassis upper cover (7) can dynamically acquire image information of the surrounding environment of the vehicle, preprocesses the image information of the surrounding environment of the vehicle and compares the image information with an image database so as to determine the current position and plan the running path of the intelligent guide vehicle, performs weighting summation processing according to the running path to acquire a deviation value of an actual vehicle body and the planned path, and adjusts the running track of the intelligent vehicle according to the running path and the deviation value to realize visual guide.

3. The intelligent guided vehicle for warehouse logistics according to claim 1, characterized in that: laser scanner (11) of installation in carbon fiber chassis upper cover (7) the place ahead can emit the laser beam, then accepts the laser beam by the locating mark reflection all around back, singlechip (5) are handled the laser information that laser beam sent and reflect, obtain the current position of intelligence guide car and the direction of motion, through the position of proofreading with built-in digital map contrast, and then the transport goods realizes laser guide.

4. The intelligent guided vehicle for warehouse logistics according to claim 1, characterized in that: four Mecanum wheels (1) installed on the carbon fiber chassis (8) can enable the intelligent guiding vehicle to realize omnidirectional movement, and the intelligent guiding vehicle can be quickly positioned in a narrow space, and the specific walking mode is straight, oblique, transverse, S-shaped and zero-radius rotation at any angle.