CN215249355U - Three-dimensional laser navigation carrying forklift - Google Patents
Three-dimensional laser navigation carrying forklift Download PDFInfo
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- CN215249355U CN215249355U CN202120432088.XU CN202120432088U CN215249355U CN 215249355 U CN215249355 U CN 215249355U CN 202120432088 U CN202120432088 U CN 202120432088U CN 215249355 U CN215249355 U CN 215249355U
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- forklift
- dimensional laser
- laser navigation
- vehicle body
- display device
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Abstract
The utility model provides a three-dimensional laser navigation carrying forklift, which comprises a forklift body, a traveling gear, a fork body and a control handle, wherein the traveling gear is arranged at the bottom of the forklift body; the three-dimensional laser navigation carrying forklift further comprises an equipment support, a three-dimensional laser scanning device, a camera device, a display device and a laser obstacle avoidance sensor; the equipment support is erected at the upper end of the vehicle body, the three-dimensional laser scanning device, the camera device and the display device are all arranged on the equipment support, the three-dimensional laser scanning device is located at the top of the equipment support, the camera device is arranged towards the first side, the vehicle body is provided with a second side opposite to the first side, and the display device is arranged towards the second side; the laser obstacle avoidance sensor is arranged at the bottom of the second side of the vehicle body. The three-dimensional laser navigation carrying forklift is suitable for working modes of manual carrying, semi-automatic carrying and automatic carrying.
Description
Technical Field
The utility model relates to a commodity circulation transportation technical field, concretely relates to three-dimensional laser navigation transport fork truck.
Background
The existing carrying forklift is an electric forklift and comprises a forklift body, a walking device, an operating handle and a standing plate, wherein the walking device is arranged at the bottom of the forklift body, the forklift body is arranged at the front side of the forklift body, the operating handle is arranged at the upper end of the forklift body, the standing plate is arranged at the bottom of the rear end of the forklift body, and a standing position is formed above the standing plate. The staff can stand on standing the board and control electric fork truck walking and override fork body lift through controlling the handle to the realization is carried the goods.
The problem that this kind of transport fork truck exists at present is, transport fork truck needs the staff to control just can carry out goods transport work, can't use in automatic logistics transportation system.
SUMMERY OF THE UTILITY MODEL
An object of the utility model is to provide a can realize artifical transport and be applicable to automatic three-dimensional laser navigation transport fork truck of logistics conveying system simultaneously.
The utility model provides a three-dimensional laser navigation carrying forklift, which comprises a forklift body, a traveling gear, a fork body and a control handle, wherein the traveling gear is arranged at the bottom of the forklift body; the three-dimensional laser navigation carrying forklift further comprises an equipment support, a three-dimensional laser scanning device, a camera device, a display device and a laser obstacle avoidance sensor; the equipment support is erected at the upper end of the vehicle body, the three-dimensional laser scanning device, the camera device and the display device are all arranged on the equipment support, the three-dimensional laser scanning device is located at the top of the equipment support, the camera device is arranged towards the first side, the vehicle body is provided with a second side opposite to the first side, and the display device is arranged towards the second side; the laser obstacle avoidance sensor is arranged at the bottom of the second side of the vehicle body.
According to the scheme, the three-dimensional laser navigation carrying forklift not only maintains the original manual operation carrying mode, but also can be applied to an automatic logistics transportation system, the system scans and identifies the outline of an object existing in a scene through the three-dimensional laser scanning device, so that automatic navigation of the forklift is realized, and the laser obstacle avoidance sensor can avoid collision between the forklift and the object in a lower position in the scene; after the forklift reaches the loading point, the system judges the position of the fork body hole of the goods shelf through the image data acquired by the camera device, so that the fork body is ensured to enter the correct bearing position, and then the goods are transported. In addition, the three-dimensional laser navigation carrying forklift is also suitable for semi-automatic carrying occasions, and workers stand on the forklift to monitor the working state of the forklift and input or change the next working command of the forklift through display devices such as a display screen or a touch screen. Therefore, the utility model provides a three-dimensional laser navigation transport fork truck is applicable to the mode of manual handling, semi-automatic handling and automatic handling.
The three-dimensional laser navigation carrying forklift further comprises an anti-collision frame, wherein the anti-collision frame is arranged at the bottom of the second side of the forklift body; the laser obstacle avoidance sensor is arranged on the anti-collision frame.
Therefore, when unavoidable collision occurs in the three-dimensional laser navigation carrying forklift, the collision avoidance frame can relieve impact force and protect the forklift body and goods.
The vehicle body is provided with two corners on the second side, and the anti-collision frame is arranged on the peripheries of the two corners; two laser obstacle avoidance sensors are respectively arranged on the peripheries of the two corners.
Therefore, the obstacle avoidance device can improve the identification accuracy of the obstacles and improve the obstacle avoidance effect.
The further scheme is that the peripheral edge of anticollision frame is provided with the bolster.
From top to bottom, this setting makes the shock-absorbing capacity of anticollision frame improve, further protects automobile body and goods.
Further, the imaging device faces a region other than the extending end of the fork.
Therefore, the camera device can accurately identify the position of the jack for inserting the fork body at the bottom of the goods or the goods shelf, and further automatically load or unload the goods.
In a further scheme, the display device is a touch display screen.
Therefore, the arrangement is more beneficial to operating the system by workers, and more accurately and timely controls the current working state of the forklift.
The three-dimensional laser navigation carrying forklift further comprises a standing plate, the standing plate is arranged on the lower portion of the second side of the forklift body, and a standing position is formed above the standing plate.
Further, the standing plate can be rotatably arranged on the vehicle body.
It can be seen from above that, when fork truck carried out automatic handling work, can pack up the board of standing in order to reduce the hindrance.
Further, a charging port is arranged on the surface side of the vehicle body.
It can be seen from above that, when the current electric quantity of fork truck was lower when the system judged, fork truck can automatic cruise and carry out the automatic charging to the point of charging.
The equipment support comprises an upright part and a transverse part, wherein the upright part and the transverse part are oppositely arranged and erected on the vehicle body, and the transverse part extends between the upper parts of the upright part and the transverse part; the three-dimensional laser scanning device, the camera device and the display device are all arranged on the transverse part; between the two vertical parts, an avoidance space is formed below the transverse extending part, and the control handle is positioned in the avoidance space.
It is from top to bottom visible, equipment support is located the place ahead of the position of standing, and the staff of being convenient for looks over display device, and equipment support's setting does not cause the influence to operating and controlling of handle to the staff.
Drawings
Fig. 1 is the structure diagram of the first visual angle of the embodiment of the three-dimensional laser navigation carrying forklift of the utility model.
Figure 2 is the utility model discloses the structure chart at three-dimensional laser navigation transport fork truck embodiment second visual angle.
Detailed Description
Referring to fig. 1 and 2, the utility model provides a three-dimensional laser navigation transport fork truck is electric fork truck, and it includes automobile body 1, the forked body 2, controls handle 3, standing board 4, equipment support 5, camera device 61, display device 62, three-dimensional laser scanning device 63, laser keep away barrier sensor 64, anticollision frame 7, running gear 81 and supporting wheel 82.
The basic structure of the three-dimensional laser navigation carrying forklift comprises the forklift body 1, a fork body 2, an operating handle 3, a standing plate 4, a traveling device 81 and a supporting wheel 82, wherein the fork body 2 is arranged on a first side 101 of the forklift body 1 in a liftable manner through a lifting device, and the lifting device can be a screw rod assembly or a lifting cylinder; the control handle 3 is arranged at the upper end of the vehicle body 1, the standing plate 4 is arranged at the lower part of a second side 102 opposite to the first side 101 on the vehicle body 1 in a turnable way, and a standing position 103 is formed above the standing plate 4. The running gear 81 is arranged at the bottom of the vehicle body 1, and the running gear 81 is a steering wheel device; the support wheels 82 are provided at the bottom of the extended ends of the fork body 2.
The standing plate 4 shown in fig. 1 and 2 is in an upturning position, the standing plate 4 can be turned downwards to reach a substantially horizontal position, a worker can stand on the standing plate 4 in the horizontal position and can stand at a standing position 103, and the hand of the worker can extend forwards to control the control handle 3, so that goods can be carried by manual control.
Based on the basic structure, the equipment bracket 5 is arranged at the upper end of the vehicle body 1, the camera device 61, the display device 62 and the three-dimensional laser scanning device 63 are arranged on the equipment bracket 5, the anti-collision frame 7 is arranged at the bottom of the second side 102 of the vehicle body 1, and the laser obstacle avoidance sensor 64 is arranged on the anti-collision frame 7.
The apparatus frame 5 includes an erected portion 51 and a cross portion 52, the cross portion 52 includes a first cross member 521 and a second cross member 522, the two erected portions 51 are oppositely disposed and erected on the vehicle body 1, and the first cross member 521 and the second cross member 522 extend between upper portions of the two erected portions 51. Between the two upright portions 51, an escape space 500 is formed below the lateral extension portion 52, and the steering handle 3 is located in the escape space 500.
The camera 61 is a high-definition camera, the camera 61 is fixedly arranged on the lower side of the second beam 522, as shown in fig. 2, the camera 61 is arranged towards the first side 101, and the camera 61 is arranged towards the region outside the extending tail end 29 of the fork 2, so that the camera 61 can accurately identify the position of the insertion hole at the bottom of the goods or goods shelf, into which the fork 2 is inserted, and further automatically load or unload the goods.
The display device 62 is a touch display screen, the display device 62 is fixed in the middle of the second beam 522, and the display device 62 faces the second side 102 and the standing position 103. The operator standing in the standing position 103 can monitor the operation state of the forklift and input or change the operation command of the forklift in the next step through the display device 62.
The three-dimensional laser scanning device 63 is fixedly arranged at the top of the first cross beam 521, and the three-dimensional laser scanning device 63 is arranged at the top of the three-dimensional laser navigation carrying forklift. The system scans and identifies the outline of the object existing in the scene through the three-dimensional laser scanning device 63, so that the automatic navigation of the forklift is realized.
On the second side 102 of the vehicle body 1, two corners 19 are respectively arranged at two lateral sides of the vehicle body 1, the anti-collision frame 7 is arranged at the peripheries of the two corners 19, and the two laser obstacle avoidance sensors 64 are respectively arranged at the peripheries of the two corners 19, as can be seen from fig. 2, the two laser obstacle avoidance sensors 64 are located within the outer contour edge of the anti-collision frame 7. The peripheral edge of the crash frame 7 is provided with a buffer member 71, and the buffer member 71 is a rubber protective edge.
In addition, a charging port 18 is provided on the front side of the vehicle body 1. The vehicle body 1 is internally provided with a rechargeable battery, a control circuit and a charging circuit, the charging port 18 is electrically connected with the rechargeable battery through the charging circuit, and when the system judges that the current electric quantity of the forklift is low, the forklift can automatically cruise to a charging point for automatic charging.
The utility model provides a three-dimensional laser navigation transport fork truck can also use in automatic logistics transport system except keeping original artifical the transport mode of controlling. The control system scans and identifies the outline of an object existing in the scene through the three-dimensional laser scanning device 63, so that automatic navigation of the forklift is realized, and the laser obstacle avoidance sensor 64 can prevent the forklift from colliding with the object at a lower position in the scene; after the forklift reaches the loading point, the system judges the hole position of the fork body 2 of the goods shelf through the image data acquired by the camera device 61, so that the fork body 2 is ensured to enter the correct bearing position, and then the goods are transported. In addition, the three-dimensional laser navigation carrying forklift is also suitable for semi-automatic carrying occasions, and workers stand on the forklift to monitor the working state of the forklift and input or change the next working command of the forklift through the display device 62 such as a display screen or a touch screen. Therefore, the utility model provides a three-dimensional laser navigation transport fork truck is applicable to the mode of manual handling, semi-automatic handling and automatic handling.
Finally, it should be emphasized that the above-described embodiments are merely preferred examples of the present invention, and are not intended to limit the invention, as those skilled in the art will appreciate that various changes and modifications may be made, and any and all modifications, equivalents, and improvements made, while remaining within the spirit and principles of the present invention, are intended to be included within the scope of the present invention.
Claims (10)
1. The three-dimensional laser navigation carrying forklift comprises a forklift body, a traveling device, a fork body and an operating handle, wherein the traveling device is arranged at the bottom of the forklift body, the fork body is arranged on the first side of the forklift body, and the operating handle is arranged on the forklift body;
the method is characterized in that:
the three-dimensional laser navigation carrying forklift further comprises an equipment support, a three-dimensional laser scanning device, a camera device, a display device and a laser obstacle avoidance sensor;
the equipment support is erected at the upper end of the vehicle body, the three-dimensional laser scanning device, the camera device and the display device are all arranged on the equipment support, the three-dimensional laser scanning device is located at the top of the equipment support, and the camera device is arranged towards the first side;
the vehicle body is provided with a second side opposite to the first side, the display device is arranged towards the second side, and the laser obstacle avoidance sensor is arranged at the bottom of the second side of the vehicle body.
2. The three-dimensional laser navigation handling forklift of claim 1, wherein:
the three-dimensional laser navigation carrying forklift further comprises an anti-collision frame, and the anti-collision frame is arranged at the bottom of the second side of the forklift body;
the laser obstacle avoidance sensor is arranged on the anti-collision frame.
3. The three-dimensional laser navigation handling forklift of claim 2, wherein:
on the second side, the vehicle body is provided with two corners, and the anti-collision frames are arranged on the peripheries of the two corners;
the two laser obstacle avoidance sensors are respectively arranged on the peripheries of the two corners.
4. The three-dimensional laser navigation handling forklift of claim 2, wherein:
the peripheral edge of anticollision frame is provided with the bolster.
5. The three-dimensional laser navigation handling forklift of any one of claims 1 to 4, wherein:
the imaging device faces a region other than the extending end of the fork body.
6. The three-dimensional laser navigation handling forklift of any one of claims 1 to 4, wherein:
the display device is a touch display screen.
7. The three-dimensional laser navigation handling forklift of any one of claims 1 to 4, wherein:
the three-dimensional laser navigation carrying forklift further comprises a standing plate, the standing plate is arranged on the lower portion of the second side of the forklift body, and a standing position is formed above the standing plate.
8. The three-dimensional laser navigation handling forklift of claim 7, wherein:
the standing plate is rotatably arranged on the vehicle body.
9. The three-dimensional laser navigation handling forklift of any one of claims 1 to 4, wherein:
and a charging port is arranged on the surface side of the vehicle body.
10. The three-dimensional laser navigation handling forklift of any one of claims 1 to 4, wherein:
the equipment stand includes upright portions disposed opposite to each other and standing on the vehicle body, and a cross portion extending between upper portions of the upright portions;
the three-dimensional laser scanning device, the camera device and the display device are all arranged on the transverse part;
between the two vertical parts, an avoidance space is formed below the transverse extending part, and the control handle is positioned in the avoidance space.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202120432088.XU CN215249355U (en) | 2021-02-26 | 2021-02-26 | Three-dimensional laser navigation carrying forklift |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202120432088.XU CN215249355U (en) | 2021-02-26 | 2021-02-26 | Three-dimensional laser navigation carrying forklift |
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| Publication Number | Publication Date |
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| CN215249355U true CN215249355U (en) | 2021-12-21 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN202120432088.XU Active CN215249355U (en) | 2021-02-26 | 2021-02-26 | Three-dimensional laser navigation carrying forklift |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115072623A (en) * | 2022-06-15 | 2022-09-20 | 法睿兰达科技(武汉)有限公司 | AMR carrier with omnidirectional laser navigation cooperation |
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2021
- 2021-02-26 CN CN202120432088.XU patent/CN215249355U/en active Active
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115072623A (en) * | 2022-06-15 | 2022-09-20 | 法睿兰达科技(武汉)有限公司 | AMR carrier with omnidirectional laser navigation cooperation |
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