CN218860259U

CN218860259U - Forklift truck

Info

Publication number: CN218860259U
Application number: CN202223135544.8U
Authority: CN
Inventors: 路威; 李陆洋; 方牧; 鲁豫杰
Original assignee: Visionnav Robotics Shenzhen Co Ltd
Current assignee: Visionnav Robotics Shenzhen Co Ltd
Priority date: 2022-11-24
Filing date: 2022-11-24
Publication date: 2023-04-14
Anticipated expiration: 2032-11-24

Abstract

The application discloses a forklift, which comprises a forklift body, a camera bracket and a positioning camera; the camera bracket is arranged at the top of the forklift body; the location camera sets up in the camera support, and the shooting direction of location camera is towards the bottom of fork truck body for shoot be located the location camera below and be used for carrying out the target information of fixing a position to fork truck. By means of the mode, the position and pose information of the forklift can be calculated by acquiring the target information through the positioning camera. In addition, the switching mechanism of the camera support extends to the periphery of the forklift body, so that the shooting direction of the positioning camera mounted on the camera support faces downwards, target information of a lower position or the ground can be acquired, related personnel can mark the target information, and the adaptability of the forklift to the environment can be improved.

Description

Forklift truck

Technical Field

The application relates to the technical field of intelligent forklifts, in particular to a forklift.

Background

The intelligent forklift is a common tool capable of semi-automatically or fully automatically completing forking and goods stacking in a factory.

In order to realize accurate forking and stacking of goods, the intelligent forklift needs to acquire self pose information in work. However, the existing intelligent forklift cannot conveniently acquire self pose information.

SUMMERY OF THE UTILITY MODEL

The main technical problem who solves of this application provides fork truck, can improve among the prior art fork truck and acquire the pose information of self convenient problem inadequately.

In order to solve the technical problem, the application adopts a technical scheme that: providing a forklift, which comprises a forklift body, a camera bracket and a positioning camera; the camera bracket is arranged at the top of the forklift body; the location camera is arranged on the camera support, the shooting direction of the location camera faces the bottom of the forklift body, and the location camera is used for shooting target information which is located below the location camera and used for locating the forklift.

The beneficial effect of this application is: different from the situation of the related art, the positioning camera of the forklift can acquire target information to calculate the pose information of the forklift. The target information includes markers that can be configured to assist the forklift in locating. In addition, when the positioning camera is installed on the camera support, the shooting direction faces downwards, so that target information at a lower position or on the ground can be acquired, and related personnel can mark the target information.

Drawings

FIG. 1 is a schematic structural view of an embodiment of a lift truck according to the present application;

FIG. 2 is a schematic plan view of an embodiment of the subject lift truck;

FIG. 3 is a schematic diagram of an embodiment of a forklift truck according to the present application for scanning target information;

FIG. 4 is a schematic diagram of a camera support and a positioning camera of an embodiment of a forklift truck according to the present application;

FIG. 5 is a schematic diagram of a camera support of an embodiment of the forklift of the present application;

FIG. 6 is a schematic view of a mount for an embodiment of a lift truck according to the subject application;

fig. 7 is a schematic diagram illustrating a view field of the forklift truck according to the embodiment of the present application.

Detailed Description

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

The inventor of the present application has found, through long-term research, that in the related art, the forklift generally operates in a preset cargo compartment, and by arranging some marks inside the cargo compartment, positioning of the forklift through the marks can be facilitated. However, the freight house scene is complex, and the forklift often cannot conveniently acquire the marks and can timely position the marks. In order to solve the above technical problem, the present application proposes the following embodiments.

The forklift 1 is exemplarily described in the following embodiments of the forklift of the present application.

Referring to fig. 1 and 2, the forklift 1 may include a forklift body 10, a camera support 20, and a positioning camera 30. Wherein the forklift body 10 is used to fork the goods and move the goods to a desired position. The positioning camera 30 is used to acquire target information 2 (see fig. 2). The target information 2 may be a mark made in advance, and specifically may also be a two-dimensional code or a barcode carrying position information. The camera support 20 is used to support the positioning camera 30.

In some examples, the truck body 10 may include a truck body 100, a carrier 110, and a master box 120. The carrier 110 is fixedly disposed on the top of the car body 100 and extends outward away from the top of the car body 100. The console box 120 is disposed on the carrier 110. The camera bracket 20 is fixedly disposed on the carrier 110 and located above the console box 120. The main control box 120 is used for controlling the forklift 1 to perform movements such as moving, forking goods, placing goods and the like.

Specifically, the vehicle body 100 may have a mast assembly and a fork assembly. The fork assembly may include forks and a fork carriage. The fork sets up in the fork frame. The mast assembly generally includes at least an inner mast, an outer mast, and the like. Outer portal movably sets up in interior portal. The fork frame of fork subassembly movably sets up in the outer mast. In this case, the fork carriage may be raised and lowered relative to the outer mast, which may be raised and lowered relative to the inner mast. In other examples, the forklift mast may further include a middle mast disposed between the outer mast and the inner mast to further increase the maximum lift height of the forks.

In addition, the target information 2 can be recorded with information corresponding to the posture of the forklift. The image information can be acquired by photographing the object information 2 by the positioning camera 30. The main control box 120 can process the image information through a preset algorithm to calculate the relative pose of the forklift 1, so that the self-positioning of the forklift 1 can be realized.

In some examples, the carrier 110 includes two support columns 111 and a cross-connecting column 112. One ends of the two support pillars 111 are fixedly coupled to the top of the vehicle body 100. The cross-connecting column 112 is bridged across the other ends of the two support columns 111. The main control box 120 is disposed between the two support columns 111, and the camera support 20 is fixedly disposed on the cross-connecting column 112. In other examples, the support posts 111 and the cross-connecting posts 112 may be integrally formed.

In some examples, the truck body 10 further includes a clearance light 130, the clearance light 130 being disposed at the top of the cross-connecting post 112. The camera mount 20 is provided on a side wall of the cross pillar 112 facing the outer peripheral side of the vehicle body 100. In this case, the outline of the forklift 1 can be displayed by the outline marker lamp 130, and the safety of the forklift 1 can be improved.

In some examples, the truck body 10 also includes a communication box 140. The carrier 110 includes a barricade frame fixedly coupled between two support posts 111. The communication box 140 and the main control box 120 are respectively and fixedly arranged on the two opposite sides of the blocking frame.

In general, the target information 2 may be marked anywhere within the warehouse, for example, may be provided on the roof, side walls, or floor of the warehouse. Generally, since the goods are generally on the ground and the forklift 1 moves on the ground, marking the target information 2 on the top of the warehouse or the side wall of the warehouse in the area near the top of the warehouse facilitates the positioning camera 30 to scan the target information 2.

That is, when the shooting direction of the positioning camera 30 is directed upward and the object information 2 is marked on the top of the warehouse, the positioning camera 30 can recognize the object information 2 more conveniently. However, the roof of some warehouses may be inclined or in an inverted "V" shape, and the roof of some warehouses may be a relatively complex structure with many intersecting beams, in which case, if the target information 2 is marked on the roof, it is not beneficial to the positioning camera 30 to acquire the target information 2. In addition, it is difficult to mark the target information 2 on the top of the bin, which is not beneficial to the operation of the relevant personnel.

Referring to fig. 3, in some examples, the target information 2 may also be marked at relatively low positions of the ground or a region near the ground in a sidewall of the warehouse, so that the relevant person can mark the target information 2 on the sidewall or the ground.

In some examples, the camera bracket 20 may be disposed on top of the forklift body 10. The positioning camera 30 may be provided to the camera stand 20. The shooting direction of the positioning camera 30 is toward the bottom of the forklift body 10, and is used for shooting the target information 2 which is located below the positioning camera 30 and used for positioning the forklift 1.

In this case, when the positioning camera 30 is mounted on the camera stand 20, the shooting direction is directed downward, and the target information 2 at a lower position or on the ground can be acquired, which is advantageous for the relevant person to mark the target information 2. In addition, this kind of fork truck 1 can work in multiple warehouse to the adaptability of fork truck 1 to the environment has been improved.

It is considered that the target information 2 marked on the area near the ground in the side wall of the warehouse is likely to be hidden by the stacked goods. The adaptation of the truck 1 to different environments can be further improved by marking the target information 2 on the ground.

Specifically, referring to fig. 4 and 5, the camera bracket 20 may include a transfer mechanism 200 and a mount 210. The adapter mechanism 200 is fixedly connected to the forklift body 10, and has an attachment portion 201 extending to the outside of the periphery of the forklift body 10. The mounting seat 210 is disposed on the mounting portion 201 and detachably connected to the adapting mechanism 200. Positioning camera 30 is fixedly mounted on mounting block 210. In this case, the extension of the changeover mechanism 200 to the outside of the circumferential side of the forklift body 10 is advantageous for the photographing view angle of the positioning camera 30 to avoid the influence of the shielding of the forklift 1 itself. In addition, the mounting base 210 is detachably connected with the adapter mechanism 200, so that the mounting base 210 and the positioning camera 30 can be conveniently detached and maintained.

Since the front side of the forklift body 10 may have forks, the positioning camera 30 is disposed in front of the forklift body 10, which may increase the length of the changeover mechanism 200. In addition, during the movement of the forklift 1, the left and right sides of the forklift 1 may be loaded with goods, and if the positioning cameras 30 are disposed outside the left and right sides of the forklift body 10, the goods may collide with the positioning cameras or the goods may be covered on the target information 2, which is not favorable for the positioning cameras 30 to acquire the target information 2. Therefore, the changeover mechanism 200 can be extended to the outside of the rear side of the vehicle tail of the forklift body 10, in which case the positioning camera 30 can effectively acquire the target information 2 of the ground behind the forklift 1.

In some examples, the mount 210 may include a fixed mount 211 and a rotating mount 212. The fixed frame 211 is detachably connected with the adapting mechanism 200, and the rotating frame 212 is rotatably connected with the fixed frame 211. The positioning camera 30 is fixedly disposed on the rotating frame 212 so as to be rotatable with respect to the adapting mechanism 200, so as to adjust a shooting field of view.

Referring to fig. 6, in some examples, the holder 211 can include a holding plate 2111 and two side wings 2112. The two side wings 2112 are connected to the fixing plate 2111 in an opposed and spaced-apart manner. The fixing plate 2111 is detachably connected to the upper side of the mounting portion 201, and the two side flaps 2112 extend toward the bottom of the forklift body 10. The turret 212 includes a mounting plate 2121 and two side plates 2122. Two side plates 2122 are attached to the mounting plate 2121 in opposing spaced relation. The two side connection plates 2122 are rotatably connected with the two side wing plates 2112 in a one-to-one correspondence manner. The mounting plate 2121 is located below the fixing plate 2111 and is arranged opposite to the fixing plate 2111; the positioning camera 30 is fixed to the side of the mounting plate 2121 facing away from the fixing plate 2111.

In some examples, the orientation of the positioning camera 30 is inclined downward compared to the horizontal plane (reference plane) so that the shooting direction of the positioning camera 30 is toward the bottom of the forklift body 10. Wherein the orientation of the positioning camera 30 may be understood as the orientation of the optical axis of the lens in the positioning camera 30. The shooting direction of the positioning camera 30 may be determined by the optical axis of the lens and the field of view of the shooting. Specifically, the orientation of the positioning camera 30 may be the same as the vertical direction of the mount plate 2121. The adjustable included angle between the vertical direction of the mounting plate 2121 and the vertical direction of the fixing plate 2111 ranges from-85 degrees to 85 degrees.

In this case, referring to fig. 7, the rotating frame 212 may be hinged to the fixed frame 211. The turret 212 may rotate about a predetermined axis C1. Wherein the preset axis C1 may be on a horizontal plane. In addition, the preset axis C1 may also be parallel or perpendicular to the front-rear direction of the forklift 1. For example, when the changeover mechanism 200 extends to the outside of the rear side of the vehicle of the forklift body 10, the preset axis C1 may be perpendicular or parallel to the front-rear direction of the forklift 1 to adjust the photographing field of view. For example, when the orientation of the positioning camera 30 is close to the vertical direction, the positioning camera 30 may obtain certain target information under the forklift 1. When the orientation of positioning camera 30 is close to the horizontal direction, positioning camera 30 can obtain object information further rearward than the object information. Thereby adjusting the shooting field of view of the positioning camera 30.

In some examples, the adapter mechanism 200 may include a support bracket 2001 and an extension plate 2002. The support frame 2001 extends away from the top of the forklift body 10. The extension plate 2002 is fixedly connected to the support frame 2001, and extends at least partially in a lateral direction of the forklift body 10 to outside a peripheral side of the forklift body 10. One end of the extension plate 2002 remote from the supporting frame 2001 is formed as a mounting portion 201. In other examples, the support frame 2001 and the extension plate 2002 may be integrally formed.

In some examples, the support 2001 may be provided with a fixing portion 2003. The fixing portion 2003 is fixed to the forklift body 10. In other examples, the securing portion 2003 and the support 2001 may be integrally formed.

In some examples, the support frame 2001 is perforated with at least one lightening hole 2004 (see fig. 5). The extension plate 2002 may also be provided with at least one lightening hole 2004. The transition mechanism 200 may also include a reinforced side panel 2005. The reinforcing side plate 2005 may connect the support frame 2001 and the extension plate 2002 to increase the strength of the relay mechanism 200. In some examples, the reinforced side panel 2005, which may also be referred to as a stiffener, is integrally formed with the support frame 2001 and the extension panel 2002.

To sum up, the forklift 1 of the present application can acquire the target information 2 through the positioning camera 30 to calculate the pose information of the forklift 1. In addition, the adapter mechanism 200 of the camera mount 20 extends to the outer periphery of the forklift body 10 so that the imaging direction of the positioning camera 30 mounted on the camera mount 20 is directed downward, and the target information 2 at a low position or on the ground can be acquired, which is advantageous for the relevant person to mark the target information 2, and also improves the adaptability of the forklift 1 to the environment.

The above description is only an example of the present application, and is not intended to limit the scope of the present application, and all equivalent structures or equivalent processes performed by the present application and the contents of the attached drawings, which are directly or indirectly applied to other related technical fields, are also included in the scope of the present application.

Claims

1. A forklift, comprising:

a forklift body;

the camera bracket is arranged at the top of the forklift body;

the positioning camera is arranged on the camera support, the shooting direction of the positioning camera faces the bottom of the forklift body and is used for shooting target information which is located below the positioning camera and is used for positioning the forklift.

2. The lift truck of claim 1,

the camera support comprises a switching mechanism and a mounting seat, the switching mechanism is fixedly connected with the forklift body and is provided with a mounting part extending to the outer side of the periphery of the forklift body; the mounting seat is arranged on the mounting part and is detachably connected with the switching mechanism; the positioning camera is fixedly arranged on the mounting seat.

3. The lift truck of claim 2,

the mounting seat comprises a fixed frame and a rotating frame; the fixed frame is detachably connected with the switching mechanism, and the rotating frame is rotatably connected with the fixed frame; the positioning camera is fixedly arranged on the rotating frame and can rotate relative to the switching mechanism so as to adjust the shooting visual field.

4. The lift truck of claim 3,

the fixing frame comprises a fixing plate and two side wing plates; the two side wing plates are opposite and connected to the fixing plate at intervals; the fixed plate is detachably connected above the mounting part, and the two side wing plates extend towards the bottom of the forklift body; the rotating frame comprises a mounting plate and two side connecting plates; the two side connection plates are opposite and are arranged at intervals and connected with the mounting plate; the two side connection plates are in one-to-one correspondence and rotatable connection with the two side wing plates; the mounting plate is positioned below the fixing plate and is arranged opposite to the fixing plate; the positioning camera is fixed on one side of the mounting plate, which deviates from the fixing plate.

5. The lift truck of claim 1,

the orientation of the positioning camera is inclined downwards relative to the horizontal plane so that the shooting direction of the positioning camera faces the bottom of the forklift body.

6. The lift truck of claim 2,

the switching mechanism comprises a support frame and an extension plate; the support frame is provided with a fixing part; the fixing part is fixed with the forklift body; the supporting frame extends in the direction far away from the top of the forklift body; the extending plate is fixedly connected with the supporting frame and at least partially extends to the outside of the periphery of the forklift body along the lateral direction of the forklift body; one end of the extension plate, which is far away from the support frame, is formed into the mounting part.

7. The lift truck of claim 6,

at least one lightening hole is formed in each of the supporting frame and the extending plate.

8. The lift truck of claim 1,

the forklift body comprises a forklift body, a bearing frame and a main control box; the bearing frame is fixedly arranged at the top of the vehicle body and extends outwards to be far away from the top of the vehicle body; the main control box is arranged on the bearing frame; the camera support is fixedly arranged on the bearing frame and is positioned above the main control box.

9. The lift truck of claim 8,

the bearing frame comprises two supporting columns and a cross connecting column; one end of each of the two support columns is fixedly connected to the top of the vehicle body; the transverse connecting column is bridged at the other ends of the two supporting columns; the master control box is arranged between the two support columns, and the camera support is fixedly arranged on the transverse connecting column.

10. The lift truck of claim 9,

the forklift body further comprises a contour lamp, and the contour lamp is arranged at the top of the transverse connecting column; the camera bracket is arranged on a side wall of the transverse connecting column, which faces the periphery of the vehicle body; and/or the forklift body further comprises a communication box; the bearing frame comprises a blocking and separating frame fixedly connected between the two supporting columns, and the communication box and the main control box are fixedly arranged on two opposite sides of the blocking and separating frame respectively.