CN219792377U - Unmanned handling system - Google Patents

Abstract

The embodiment of the utility model discloses an unmanned carrying system which comprises an unmanned forklift and a material cage, wherein the unmanned forklift is used for inserting and taking the material cage, the material cage is provided with an inserting hole, and the fork taking height and the fork taking angle of the unmanned forklift are adjustable; the unmanned forklift comprises a sensing module and a control module; the sensing module is used for collecting structural characteristic parameters of the material cage; the control module is in communication connection with the sensing module and is used for obtaining pose information of the material cage according to the structural feature parameters and adjusting the forking height and the forking angle of the unmanned forklift according to the pose information so as to enable the unmanned forklift to be aligned with the jack of the material cage. By implementing the embodiment of the utility model, the unmanned forklift can be inserted into the jack and can insert and take the material cage, so that the unmanned forklift can carry out self-adaptive adjustment of the forking height and the forking angle according to the pose of the material cage, the falling or damage in the cargo taking process is avoided, and the cargo taking efficiency is ensured.

Description

Unmanned handling system

Technical Field

The utility model relates to the technical field of automation, in particular to an unmanned carrying system.

Background

With the development of intelligent warehouse logistics, the technology for carrying goods is also increasingly developed. In the goods placement areas such as warehouses, the storage cages or the material cages are generally used as storage devices for storing the goods. However, since the placement position and the placement posture of the material cage in the warehouse are not fixed, if the unmanned forklift cannot be aligned with the material cage, the material cage can be possibly dropped or even damaged when being taken out, and the efficiency of taking out the material is affected.

Disclosure of Invention

The embodiment of the utility model discloses an unmanned carrying system which can enable an unmanned forklift to be self-adaptively aligned with a material cage, prevent dropping or damage in the process of taking out cargoes, and ensure the efficiency of taking out cargoes.

The first aspect of the embodiment of the utility model discloses an unmanned carrying system, which comprises an unmanned forklift and a material cage for carrying cargoes, wherein the unmanned forklift is used for inserting and taking the material cage, the material cage is provided with a jack, and the fork taking height and the fork taking angle of the unmanned forklift are adjustable; the unmanned forklift comprises a sensing module and a control module;

the sensing module is used for collecting structural characteristic parameters of the material cage;

the control module is in communication connection with the sensing module, and is used for obtaining pose information of the material cage according to the structural feature parameters, and adjusting the forking height and the forking angle of the unmanned forklift according to the pose information so that the unmanned forklift is aligned with the jack of the material cage.

Compared with the related art, the embodiment of the utility model has the following beneficial effects:

including unmanned fork truck and material cage in the unmanned handling system, unmanned fork truck is used for inserting the material cage that bears the goods and gets, and the material cage has the jack, and unmanned fork truck has included perception module and control module, control module respectively with perception module and unmanned fork truck communication connection. The sensing module in the unmanned forklift is used for collecting structural feature parameters of the material cage, the control module is used for obtaining pose information of the material cage according to the structural feature parameters, and the fork taking height and the fork taking angle of the unmanned forklift are adjusted according to the pose information, so that the unmanned forklift can be aligned with the jack of the material cage, the unmanned forklift can be inserted into the jack, the material cage is inserted, self-adaptive adjustment of the fork taking height and the fork taking angle of the unmanned forklift according to the pose of the material cage is achieved, dropping or damage in the goods taking process is avoided, and the goods taking efficiency is guaranteed.

Drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present utility model, the drawings that are needed in the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present utility model, and other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.

FIG. 1 is a schematic diagram of an automated handling system according to one embodiment;

FIG. 2 is a schematic view of a structure of a cage according to one embodiment;

FIG. 3 is a schematic view of an exemplary embodiment of an unmanned forklift;

fig. 4 is a schematic structural view of another automated handling system disclosed in one embodiment.

Detailed Description

The following description of the embodiments of the present utility model will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present utility model, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the utility model without making any inventive effort, are intended to be within the scope of the utility model.

It should be noted that the terms "comprising" and "having" and any variations thereof in the embodiments of the present utility model and the accompanying drawings are intended to cover non-exclusive inclusions. For example, a process, method, system, article, or apparatus that comprises a list of steps or elements is not limited to only those listed steps or elements but may include other steps or elements not listed or inherent to such process, method, article, or apparatus.

The embodiment of the utility model discloses an unmanned carrying system, which enables an unmanned forklift to be inserted into a jack and insert and take a material cage, realizes the self-adaptive adjustment of the fork height and the fork angle of the unmanned forklift according to the pose of the material cage, avoids dropping or damage in the process of taking out cargoes, and ensures the efficiency of taking out cargoes. The following will describe in detail.

Referring to fig. 1, fig. 1 is a schematic structural diagram of an unmanned handling system according to an embodiment of the disclosure. As shown in fig. 1, the automated guided vehicle 100 includes: an unmanned forklift 10 and a cage 20 for carrying goods; the unmanned forklift 10 is used for inserting and taking the material cage 20, the material cage 20 is provided with a jack 230, and the fork taking height and the fork taking angle of the unmanned forklift 10 are adjustable. The unmanned forklift 10 includes a perception module 110 and a control module 120. The sensing module 110 is used for collecting structural characteristic parameters of the material cage 20. The control module 120 is in communication connection with the sensing module 110, and the control module 120 is configured to obtain pose information of the material cage 20 according to structural feature parameters of the material cage 20, and adjust a fork height and a fork angle of the unmanned forklift 10 according to the pose information, so that the unmanned forklift 10 is aligned to the jack of the material cage 20.

In the embodiment of the present utility model, the unmanned forklift 10 in the unmanned carrying system may determine the material cage 20 to be inserted and removed first, then the sensing module 110 in the unmanned forklift 10 may identify the material cage 20 by means of object identification and the like, collect the structural feature parameters of the material cage 20, and send the structural feature parameters to the control module 120 communicatively connected to the sensing module 110. The control module 120 in the unmanned forklift 10 determines pose information of the discharging cage 20 according to the received structural feature parameters of the discharging cage 20. After the pose information of the material cage 20 is obtained, the control module 120 can also adjust the fork height and the insertion angle of the unmanned forklift 10 according to the pose information, so that the unmanned forklift 10 can align with the insertion hole 230 of the material cage 20, and then the subsequent insertion of the material cage 20 is performed. The structural characteristic parameters of the material cage 20 may include a size parameter of the material cage 20, an angle parameter of the material cage 20, and the like, and the angle parameter of the material cage 20 may be an angle with the right front of the unmanned forklift 10, and an angle between the material cage 20 and the ground. The control module 120 may determine pose information such as the orientation and pose of the cage 20 based on the structural feature parameters described above.

Adopt above-mentioned embodiment for unmanned fork truck can insert in the jack accurately, and insert and get the material cage, realized unmanned fork truck and got the self-adaptation adjustment of height and fork angle according to the position appearance of material cage, avoided dropping or damage in the goods take out process, guaranteed goods take out efficiency.

Referring to fig. 2, fig. 2 is a schematic structural diagram of a cage according to an embodiment of the disclosure.

In some embodiments, as shown in fig. 2, the cage 20 includes a bottom plate 220 and two cage columns 210, and the two cage columns 210 are vertically disposed on two sides of the bottom plate 220 of the cage 20.

As shown in fig. 2, the insertion holes 230 of the material cage 20 are disposed on the bottom plate 220, and the insertion holes 230 are plural, and the plural insertion holes 230 are disposed at intervals. The cage 20 may further comprise a cage door 240 and a latch structure 250, wherein the cage door 240 is movably connected to one of the cage posts 210. The material cage door 240 is detachably connected to the other material cage column 210 by a latch structure 250, and the material cage door 240 remains stationary with respect to one of the material cage columns 240 when the material cage door 240 is connected to the other material cage column 210 by the latch structure 250.

The material cage 20 further comprises a plurality of hollow partition plates 260, wherein the middle partition plates 260 are connected between the two material cage upright posts 210, and the middle partition plates 260 and the bottom plate 220 are arranged at intervals.

In an embodiment of the present utility model, the cage 20 may include a plurality of columns and a bottom plate 220, most of the columns are perpendicular to the bottom plate 220 of the cage 20, and the two columns perpendicular to the bottom plate 220 of the cage 20 and farthest from and located at two sides of the bottom plate 220 may be defined as the cage columns 210.

In an embodiment of the present utility model, the sensing module 110 in the unmanned forklift 10 takes structural feature parameters of the aggregate cage 20, including the distance between two cage posts 210 of the aggregate cage 20, and the angle between the cage posts 210 and the ground. The control module 120 in the unmanned forklift 10 can determine the width of the discharge cage 20 according to the distance between two cage columns 210, and determine the inclination between the discharge cage 20 and the ground according to the angle between any one cage column 210 and the ground. The pose information of the material cage 20 includes the width of the material cage 20 and the inclination between the material cage 20 and the ground. Accordingly, the control module 120 may determine pose information for the outfeed cage 20 based on structural feature parameters of the material cage 20. In combination with the structure of the material cage 20, the distance information and the angle information of the material cage upright post 210 are taken as the acquisition objects of the sensing module 110, so that the control module 120 determines the pose information of the material cage 20 according to the information to perform self-adaptive adjustment, and the information amount required to be acquired by the sensing module 110 is reduced under the condition that the accuracy of the determined pose information of the material cage 20 can be ensured, and the inserting and taking efficiency of the unmanned forklift 10 in the unmanned carrying system is improved.

In an embodiment of the present utility model, the body portion of the cage 20 may include cage posts 210 and a bottom plate 220, and if the cage 20 includes a plurality of posts in addition to the cage posts 210, the body portion of the cage 20 includes all of the posts. The main body of the cage 20 may be a non-closed solid structure formed by all the columns and the bottom plate 220. The material cage 20 may further comprise a material cage door 240 and a latch structure 250, wherein the material cage door 240 is movably connected with one material cage column 210 in the main body, and the material cage door 240 is detachably connected with the other material cage column 210 in the main body through the latch structure 250. When the unmanned forklift 10 or the user takes out the goods in the material cage 20, the latch structure 250 of the material cage door 240 may be in a non-closed state, and at this time, the material cage door 240 is not connected to the other material cage upright 210, or the material cage door 240 may rotate relative to one of the material cage uprights 240, that is, the material cage door 240 is opened; when the unmanned forklift 10 or the user does not need to take out the goods in the material cage 20, or when the unmanned forklift 10 carries the material cage 20, the latch structure 250 may be in a closed state, that is, when the material cage door 240 is connected with another material cage upright 210 through the latch structure 250, the material cage door 240 is kept stationary relative to one of the material cage uprights 240, or the material cage door 240 cannot rotate relative to one of the material cage uprights 240, that is, the material cage door 240 is closed. Wherein, another material cage column 210 refers to a detachably connected material cage column 210, and one material cage column 210 refers to an movably connected material cage column 210. Because the latch structure 250 is used for preventing the material cage door 240 from moving relative to the main body of the material cage 20, the material cage door 240 and the latch structure 250 are arranged, so that the material cage 20 can be conveniently accessed.

In the embodiment of the present utility model, the cage door 240 further includes a plurality of hollow partition plates 260, each hollow partition plate 260 is disposed inside the main body of the cage 20, and each hollow partition plate 260 is parallel to the bottom plate 220 of the cage 20 and connected between two cage columns 210. In the case that only one hollow partition plate 260 is included in the cage 20, the hollow partition plate 260 and the bottom plate 220 are spaced apart; in the case that the cage 20 includes at least two hollow partition plates 260, the hollow partition plates 260 are spaced apart from the bottom plate 220, and each hollow partition plate 260 is also spaced apart along the length direction of the cage pillar 210, that is, the hollow partition plates 260 equally divide the space of the main body of the cage 20. The hollow partition 260 is used for placement of cargo in the feeder cage 20. The hollow partition plate 260 is provided, so that the cargoes in the material cage 20 can be conveniently distinguished, and the utilization rate of the space for placing the cargoes in the main body part of the material cage 20 is improved.

In some embodiments, the structural feature parameters of the cage 20 obtained by the sensing module 110 further include the radial dimensions of each receptacle 230.

In the embodiment of the present utility model, the insertion holes 230 of the material cage 20 are disposed on the bottom plate 220 of the material cage 20, and the material cage 20 includes a plurality of insertion holes 230. When the sensing module 110 in the unmanned forklift 10 picks up the structural feature parameters of the aggregate cage 20, the radial dimension of each jack 230 of the aggregate cage 20 can be picked up in addition to the distance between two material cage columns 210 of the aggregate cage 20 and the angle between any one material cage column 210 and the ground. The radial dimension of the receptacle 230 refers to the length of the axis passing through the plane of the cross section of the receptacle 230. For example, if the cross-section of the receptacle 230 is rectangular, the radial dimension of the receptacle 230 may be the length and/or width of the cross-section of the receptacle 230; if the cross-section of the receptacle 230 is circular, the radial dimension of the receptacle 230 may be the diameter of the cross-section of the receptacle 230.

Because the radial dimensions of each of the receptacles of the same cage 20 are generally equal, the control module 120 of the unmanned forklift 10 may determine whether the forks on the unmanned forklift 10 may be inserted into the receptacles 230 of the cage 20 according to the radial dimensions of each of the receptacles 230, and may determine the direction in which the discharge cage 20 is deflected and the angle of deflection between the cage 20 and the front of the unmanned forklift 10 according to the radial dimensions of each of the receptacles 230. For example, the tangent value of the deflection angle, and thus the angle value of deflection, is determined based on the ratio between the radial dimensions of each receptacle 230. At this time, the pose information of the cage 20 includes the angle value of the deflection of the cage 20 in addition to the width of the cage 20 and the inclination between the cage 20 and the ground.

By adopting the embodiment, when the fork height and the fork angle of the unmanned forklift are further adjusted, the realizability of the insertion and extraction of the jacks to be aligned with the fork on the unmanned forklift can be judged, so that the unmanned forklift can be adaptively adjusted in the process, the problem that the fork on the unmanned forklift is aligned with the insertion-free material cage jacks, and the subsequent material cage insertion and extraction fails can be avoided.

In some embodiments, the cage posts 210 are provided with identification plates thereon.

The identification plate is used for marking the unique corresponding identification of the material cage 20.

In the embodiment of the present utility model, the upright posts 210 of the material cages may be provided with identification plates, such as two-dimensional codes, etc., where the identification plates on each material cage 20 are different, the sensing module 110 may collect the unique corresponding identification of the material cage 20 marked on the identification plate, and the control module 120 determines which material cage 20 is currently aligned according to the collected identification. The quick determination of the material cage 20 to be inserted and removed is achieved in the case of a plurality of material cages 20 in the unmanned handling system.

In some embodiments, the unmanned forklift 10 may insert and remove cargo in addition to the cage 20, and may move the cage 20 or cargo in close proximity or transport in long distance.

Referring to fig. 3, fig. 3 is a schematic structural diagram of an unmanned forklift according to an embodiment of the disclosure. As shown in fig. 3, the unmanned forklift 10 may include a fork assembly 310, a chassis 320, and a frame 330, wherein the fork assembly 310 is supported on the chassis 320 and slidably coupled to the chassis 320. The frame 330 is supported by the chassis 320. The fork assembly 310 may include a mast 311 and a fork 312, the fork 312 being capable of carrying a load or a cage 20. The forks 312 are slidable relative to the mast 311 in the height direction of the mast 311 to raise or lower the load. The door frame 311 can slide relative to the chassis 320 to realize extension and retraction of the door frame 311, and when the door frame 311 slides relative to the chassis 320, the door frame 311 can drive the fork 312 to slide synchronously relative to the chassis 320, so that the fork 312 is far away from or near the frame 330, and the cargo or the material cage 20 is carried.

In an embodiment of the present utility model, the unmanned forklift 10 further includes a sensing module 110 and a control module 120. The sensing module 110 may be disposed on the fork 312 near the chassis 320, and the control module 120 may be disposed inside the frame 330. The sensing module 110 is used for collecting structural characteristic parameters of the material cage 20; the control module 120 is in communication connection with the sensing module 110, and the control module 120 is configured to obtain pose information of the material cage 20 according to the structural feature parameters, and adjust a fork height and a fork angle of the fork 312 according to the pose information, so that the fork 312 is aligned to the jack 230 of the material cage 20, so as to insert and extract the material cage 20. The control module 120 is disposed inside the frame 330, and the control module 120 is further configured to control the movement of the fork 312 relative to the chassis 320, so as to adjust the height of the fork 312, so that the fork 312 is aligned with the receptacle 230 of the cage 20. The control module 120 is further configured to control the gantry 311 to move relative to the chassis 320, so that the fork 312 can be inserted into the insertion hole 230 to insert and remove the material cage 20.

In the embodiment of the present utility model, when the unmanned forklift 10 needs to insert the material taking cage 20, the control module 120 controls the gantry 311 to extend out relative to the chassis 320, so that the fork 312 can be inserted into the jack 230 to insert and take the material taking cage 20, and after the unmanned forklift 10 carries the material taking cage 20 to a designated position, the control module 120 controls the gantry 311 to retract relative to the chassis 320, so that the fork 312 can be separated from the insertion jack 230 to place the material taking cage 20 at the designated position, thereby completing the carrying of the material taking cage 20.

In some embodiments, the control module 120 may include a processor and a drive mechanism. The fork assembly 310 is connected to the chassis 320 via a driving mechanism, which is used to drive the fork assembly 310 to fork and rotate the goods onto any one layer of shelves, or to fork and move the goods out of any layer of shelves. The processor in the control module 120 is disposed inside the frame 330 and disposed on the chassis 320, and the processor is electrically connected with the driving mechanism, and is configured to determine pose information of the material cage 20 according to structural feature parameters obtained by the sensing module 110, and control the driving mechanism to drive the fork assembly 310 to perform adaptive adjustment according to the pose information, so as to adjust a fork height and a fork angle of the fork assembly 310, so that the fork assembly 310 is aligned to the jack 230 of the material cage 20. The processor is further configured to control the driving mechanism to drive the fork assembly 310 to lift to a position of any one shelf, and/or control the driving mechanism to drive the fork assembly 310 to fork and place the goods on any one shelf, or to fork and place the goods from any one shelf and move the goods out of the shelf.

With the above embodiment, the fork assembly 310 can be driven to perform adaptive adjustment by the driving mechanism such as the hydraulic device, the piston rod, etc. under the control of the processor, so that the effect of the adaptive adjustment is improved.

In some embodiments, the perception module 110 is a lidar disposed proximate to the chassis 320 of the fork assembly 310.

In the embodiment of the present utility model, the sensing module 110 in the unmanned forklift 10 may be specifically a laser radar, such as a 2D laser radar, a 3D laser radar, or a depth camera. The laser radar is arranged at the root of the fork assembly 310, the height of the laser radar can be changed along with the movement of the fork assembly 310, for example, the fork assembly 310 is lifted, and then the laser radar can be lifted; fork assembly 310 is lowered and the lidar can be lowered at any time. The laser radar can be used for acquiring point cloud data of the material cage 20, and obtaining structural characteristic parameters of the material cage 20 according to the point cloud data of the material cage 20. The structural characteristic parameters can be better obtained by adopting the laser radar as the sensing module 110, and the laser radar is arranged at the root of the fork assembly 310, so that the laser radar can be better matched with the fork assembly 310 to collect the structural characteristic parameters of the material cage 20.

In some embodiments, the perception module 110 includes a lidar and/or an unmanned camera.

In an embodiment of the present utility model, the sensing module 110 may include a lidar for acquiring point cloud data of the aggregate cage 20; alternatively, the perception module 110 may include a camera for capturing image data of the aggregate cage 20; still alternatively, the sensing module 110 includes a lidar and a camera to enable the sensing module 110 to simultaneously acquire point cloud data and image data of the cage 20. The detection result obtained according to the point cloud data can be mutually checked with the detection result obtained according to the image data, and the accuracy of the sensing module is improved.

In some embodiments, the unmanned forklift 10 further includes an omni-directional movement module 340, the omni-directional movement module 340 being disposed on the chassis 320.

The omni-directional movement module 340 is configured to drive the chassis 320 to move in any direction along the horizontal direction, so as to move the unmanned forklift 10 to the target detection position.

In the embodiment of the present utility model, the unmanned forklift 10 further includes an omni-directional mobile module 340, and the omni-directional mobile unit may be a wheel capable of omni-directional rotation. The omnidirectional moving module 340 is specifically disposed on the chassis 320, and is configured to drive the unmanned forklift 10 to move relative to the ground, and specifically may drive the unmanned forklift 10 to move longitudinally and/or laterally, so as to move to the target detection position according to a planned route or a custom route.

In the process of moving the unmanned forklift 10 to the target detection position, the control module 120 may adjust the fork height of the fork assembly 310 according to the height of the position where the material cage 20 is located, so that when the unmanned forklift 10 reaches the target detection position, the fork assembly 310 is aligned to the material cage 20 in height. The omnidirectional moving module 340 is adopted, so that actions such as turning of a forklift can be reduced or even avoided in the moving process, and the moving convenience of the forklift is improved; and the height of the fork assembly 310 is adjusted in the moving process of the unmanned forklift 10, so that the adjusting time of the unmanned forklift 10 in the carrying process can be reduced.

In some embodiments, the forks 312 include a first fork and a second fork; the unmanned forklift 10 further comprises a distance adjusting module, wherein the distance adjusting module is arranged on the frame 330, and the first fork and the second fork are connected with the frame 330 through the distance adjusting module;

the distance adjusting module is configured to drive the first fork and/or the second fork to move relative to the gantry 311, so that the first fork and the second fork are close to each other or far away from each other, thereby adjusting a distance between the first fork and the second fork.

In the embodiment of the present utility model, the unmanned forklift 10 may further include a distance adjusting module, where the distance adjusting module may be disposed on the frame 330, specifically may be disposed at the root of the fork assembly 310, so that the fork assembly 310 is connected to the frame 330 through the distance adjusting module. The forks 312 specifically include a first fork and a second fork, which are each connected to the frame 330 of the unmanned forklift 10 via a pitch adjustment module. The distance adjusting module is used for driving the first fork and/or the second fork to move towards a direction approaching or separating from each other.

For example, the distance adjusting module drives the first fork to move leftwards and simultaneously drives the second fork to move rightwards;

or the distance adjusting module drives the first fork to move rightwards and drives the second fork to move leftwards; etc.

Therefore, the distance adjusting module can adjust the distance between the first fork and the second fork according to the distance between any two jacks 230 of the material cage 20 or the width of one jack 230, so that the first fork and the second fork in the fork assembly 310 are better aligned with the jacks 230 of the material cage 20, and the insertion of the material cage 20 is realized.

Referring to fig. 4, fig. 4 is a schematic structural diagram of another unmanned handling system according to an embodiment of the disclosure. In some embodiments, as shown in fig. 4, the unmanned handling system may include a central control device 30 in addition to the unmanned forklift 10 and the plurality of cages 20, the central control device 30 being communicatively connected to the sensing module 110 and the control module 120, respectively.

The central control device 30 is configured to send a scheduling instruction to the control module 120 when receiving a cargo retrieval instruction.

The control module 120 is configured to control the unmanned forklift 10 to move to the target detection position in response to the scheduling instruction;

the sensing module 110 is configured to collect structural feature parameters of the aggregate cage 20 after the unmanned forklift 10 moves to the target detection position, and transmit the structural feature parameters to the control module 120;

the control module 120 is further configured to determine pose information of the material cage 20 according to the structural feature parameter, and adaptively adjust the forking height and the forking angle according to the obtained pose information, so that the unmanned forklift 10 aligns with the jack 230 of the material cage 20, thereby inserting and taking the material cage 20.

In the embodiment of the present utility model, the central control device 30 may be an intelligent terminal device, such as a computer, a smart phone, etc., outside the unmanned forklift 10. The central control device 30 may receive a cargo taking instruction triggered by a user, and the cargo taking instruction may be triggered by a user through a voice trigger or a button trigger, which is not limited in detail. The central control apparatus 30 generates a scheduling instruction in response to the triggered cargo retrieval instruction and transmits the scheduling instruction to the control module 120. The scheduling instructions may include information indicating the target detection location or location of the material cage 20, among other things. The unmanned forklift 10 moves to a target detection position in response to the scheduling instruction, where the target detection position may be a position located at a distance from the material cage 20 and in a certain azimuth corresponding to the material cage 20, for example, a position where the target detection position is located directly in front of the material cage 20 and 5 meters from the material cage 20. After the control module 120 controls the unmanned forklift 10 to move to the target detection position, the sensing module 110 in the unmanned forklift 10 can collect structural feature parameters of the material cage 20 in a mode of object recognition and the like after the unmanned forklift 10 moves to the target detection position, and the collected structural feature parameters are sent to the control module 120 in communication connection with the sensing module 110. The control module 120 in the unmanned forklift 10 determines pose information of the discharging cage 20 according to the received structural feature parameters of the discharging cage 20. The structural characteristic parameters of the material cage can comprise size parameters of the material cage, angle parameters of the material cage and the like, and the angle parameters of the material cage can be an angle between the material cage and the right front of the unmanned forklift and an angle between the material cage and the ground. The control module can determine pose information of the azimuth and the pose of the material cage according to the structural characteristic parameters. After the pose information of the material cage 20 is obtained, the control module 120 can also adjust the fork height and the insertion angle of the unmanned forklift 10 according to the pose information, so that the unmanned forklift 10 can align with the insertion hole 230 of the material cage 20, and then the subsequent insertion of the material cage 20 is performed.

In the embodiment of the present utility model, the central control device 30 in the unmanned carrying system mainly responds to the instruction of the user, instructs the unmanned forklift 10 to move to a specific position, and starts to detect the material cage 20, so as to perform the subsequent adaptive adjustment. The unmanned forklift 10 can be effectively controlled, and the controllability of the unmanned conveyance system can be improved.

In some embodiments, since there may be more than one cage in the unmanned handling system, if the cage 20 to be inserted by the unmanned forklift 10 cannot be determined from the plurality of cages, the unmanned forklift 10 may generate an unnecessary adjustment process, which affects the efficiency of the unmanned handling system. Thus, the central control device 30 in the unmanned handling system is further configured to determine the target cage 20 and send a scheduling instruction to the control module 120 when receiving the cargo retrieval instruction;

the control module 120 is configured to control the unmanned forklift 10 to move to the target detection position in response to the scheduling instruction;

the sensing module 110 is configured to detect a first structural feature parameter of the target material cage 20 after the unmanned forklift 10 moves to the target detection position, and send the first structural feature parameter to the central control device 30; wherein the target material cage 20 is any material cage in the unmanned conveying system;

the central control device 30 is further configured to match the first structural feature parameter with the second structural feature parameter of the stored target material cage 20, and send a pickup instruction and the first structural feature parameter of the target material cage 20 to the control module 120 if the first structural feature parameter and the second structural feature parameter are successfully matched;

the control module 120 is configured to determine pose information of the target cage 20 according to the first structural feature parameter of the target cage 20 in response to the pickup command, and adjust a pickup height and a pickup angle of the unmanned forklift 10 according to the pose information, so that the unmanned forklift 10 is aligned with the jack 230 of the target cage 20 to insert and pick the target cage 20.

In the embodiment of the present utility model, in the case that a plurality of cages exist in the unmanned handling system, in order to help the unmanned forklift 10 determine the target cage 20 for detection, the central control device 30 may be configured to determine the target cage 20 from the plurality of cages in the unmanned handling system after receiving the cargo taking instruction triggered by the user, and send the scheduling instruction to the control module 120. Wherein, each material cage in the unmanned carrying system can comprise a unique corresponding identifier, such as a number. In a material cage storage area such as a storage warehouse, the central control equipment stores the current position of each material cage in the storage area, and binds the current position of the material cage with the identification of the material cage. Therefore, the user triggered cargo taking-out instruction may include the identifier corresponding to the target cage 20, and the central control device 30 may determine, according to the identifier of the target cage 20 included in the cargo taking-out instruction, the target cage 20 and the current position of the target cage 20 in the storage area. The central control apparatus 30 transmits a scheduling instruction generated according to the current location of the target cage 20 in the storage area to the control module 120. The control module 120 controls the movement of the unmanned forklift 10 to the target detection position in response to the scheduling instruction.

The sensing module 110 in the unmanned forklift 10 is configured to detect the determined first structural feature parameter of the target material cage 20 after the unmanned forklift 10 moves to the target detection position, and send the detected first structural feature parameter to the central control device 30. The central control device 30 is further configured to match the received first structural feature parameter with the stored second structural feature parameter of the target material cage 20; the second structural feature parameter of each material cage is a structural feature parameter pre-recorded in the central control device 30, and the second structural feature parameter is the same as the parameter type and the parameter number of the first structural feature parameter, for example, the first structural feature parameter and the second structural feature parameter both comprise size parameters of the material cage. The central control device 30 may calculate a deviation from the dimensional parameter in the second structural feature parameter of the target cage 20 according to the dimensional parameter in the first structural feature parameter of the target cage 20, and determine a deviation value between the first structural feature parameter and the second structural feature parameter. For example, the first structural characteristic parameter and the second structural characteristic parameter both comprise the length, width and height of the material cage, the difference value between the three parameters is calculated, and the sum of the difference values of the length, width and height is used as the deviation value between the first structural characteristic parameter and the second structural characteristic parameter. The central control device 30 compares the obtained deviation value with a preset deviation threshold value, and if the deviation value is smaller than the deviation threshold value, the first structural feature parameter and the second structural feature parameter can be considered to be successfully matched; otherwise, the first structural feature parameter and the second structural feature parameter are considered to fail to be matched.

In the embodiment of the present utility model, the central control device 30 is further configured to send the pickup command and the first structural feature parameter of the target cage 20 to the control module 120 if the first structural feature parameter is successfully matched with the second structural feature parameter. The control module 120 in the unmanned forklift 10 is configured to determine pose information of the target material cage 20 according to the first structural feature parameter of the target material cage 20 in response to the pickup command, and adjust a pickup height and a pickup angle of the unmanned forklift 10 according to the pose information, so that the unmanned forklift 10 is aligned with the jack 230 of the target material cage 20 to insert and pick the target material cage 20.

By adopting the above embodiment, the matching module in the central control device 30 is used for judging whether the currently detected material cage of the unmanned forklift 10 is the target material cage 20, and the instruction module in the central control device 30 is used for indicating the unmanned forklift 10 to perform self-adaptive adjustment according to the pose information of the target material cage 20 under the condition that the currently detected material cage of the unmanned forklift 10 is determined to be the target material cage 20, so that the accuracy of the insertion and extraction process of the material cage 20 in the unmanned carrying system is ensured. In addition, when the matching module determines that the currently detected material cage is the target material cage 20, the command module sends a related command and forwards the first structural feature parameter, so that the control module 120 in the unmanned forklift 10 does not need to wait for the command to execute logic processes such as control after receiving the first structural feature parameter, and only needs to execute operations such as pose determination and adaptive adjustment after receiving the first structural feature parameter, thereby reducing the operation amount of the control module 120 of the unmanned forklift 10.

It should be appreciated that reference throughout this specification to "one embodiment" or "an embodiment" means that a particular feature, structure or characteristic described in connection with the embodiment is included in at least one embodiment of the present utility model. Thus, the appearances of the phrases "in one embodiment" or "in an embodiment" in various places throughout this specification are not necessarily all referring to the same embodiment. Furthermore, the particular features, structures, or characteristics may be combined in any suitable manner in one or more embodiments. Those skilled in the art will also appreciate that the embodiments described in the specification are alternative embodiments and that the acts and modules referred to are not necessarily required for the present utility model.

In various embodiments of the present utility model, it should be understood that the sequence numbers of the foregoing processes do not imply that the execution sequences of the processes should be determined by the functions and internal logic of the processes, and should not be construed as limiting the implementation of the embodiments of the present utility model.

The units described above as separate components may or may not be physically separate, and components shown as units may or may not be physical units, may be located in one place, or may be distributed over a plurality of network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the embodiment.

In addition, each functional unit in the embodiments of the present utility model may be integrated in one processing unit, or each unit may exist alone physically, or two or more units may be integrated in one unit. The integrated units may be implemented in hardware or in software functional units.

The integrated units described above, if implemented in the form of software functional units and sold or used as stand-alone products, may be stored in a computer-accessible memory. Based on this understanding, the technical solution of the present utility model, or a part contributing to the prior art or all or part of the technical solution, may be embodied in the form of a software product stored in a memory, comprising several requests for a computer device (which may be a personal computer, a server or a network device, etc., in particular may be a processor in a computer device) to execute some or all of the steps of the above-mentioned method of the various embodiments of the present utility model.

Those of ordinary skill in the art will appreciate that all or part of the steps of the various methods of the above embodiments may be implemented by a program that instructs associated hardware, the program may be stored in a computer readable storage medium including Read-Only Memory (ROM), random access Memory (Random Access Memory, RAM), programmable Read-Only Memory (Programmable Read-Only Memory, PROM), erasable programmable Read-Only Memory (Erasable Programmable Read Only Memory, EPROM), one-time programmable Read-Only Memory (OTPROM), electrically erasable programmable Read-Only Memory (EEPROM), compact disc Read-Only Memory (Compact Disc Read-Only Memory, CD-ROM) or other optical disk Memory, magnetic disk Memory, tape Memory, or any other medium that can be used for carrying or storing data that is readable by a computer.

The foregoing has outlined some of the more detailed description of the utility model in terms of an automated handling system, wherein specific examples are provided herein to facilitate the understanding of the method and concepts underlying the utility model. Meanwhile, as those skilled in the art will have variations in the specific embodiments and application scope according to the ideas of the present utility model, the present description should not be construed as limiting the present utility model in view of the above.

Claims (10)

1. The unmanned carrying system is characterized by comprising an unmanned forklift and a material cage for carrying goods, wherein the unmanned forklift is used for inserting and taking the material cage, the material cage is provided with jacks, and the forking height and the forking angle of the unmanned forklift are adjustable; the unmanned forklift comprises a sensing module and a control module;

the sensing module is used for collecting structural characteristic parameters of the material cage;

the control module is in communication connection with the sensing module, and is used for obtaining pose information of the material cage according to the structural feature parameters, and adjusting the forking height and the forking angle of the unmanned forklift according to the pose information so that the unmanned forklift is aligned with the jack of the material cage.

2. The automated guided system of claim 1, wherein the material cage comprises a bottom plate and two material cage posts vertically disposed on both sides of the bottom plate;

the structural characteristic parameters comprise the distance between two material cage upright posts of the material cage and the angle between the material cage upright posts and the ground.

3. The automated guided system of claim 2, wherein the plurality of receptacles are disposed in the base plate and the plurality of receptacles are disposed in opposed spaced relation;

the structural feature parameter further includes a radial dimension of each of the receptacles.

4. The unmanned handling system of claim 2, wherein the cage posts are provided with identification panels;

the identification plate is used for marking the unique corresponding identification of the material cage.

5. The automated guided system of claim 1, wherein the automated guided system further comprises a central control device; the central control equipment is respectively in communication connection with the sensing module and the control module;

and the central control equipment is used for sending a scheduling instruction to the control module under the condition of receiving a cargo taking-out instruction, so that the control module responds to the scheduling instruction and controls the unmanned forklift to move to a target detection position.

6. The automated guided system of claim 1, wherein the automated guided vehicle further comprises a fork assembly, a frame, and a chassis, the frame supported by the chassis, the fork assembly slidably coupled to the chassis;

the sensing module is arranged at a position of the fork assembly close to the chassis.

7. The automated guided system of claim 6, wherein the automated guided vehicle further comprises an omni-directional movement module disposed on the chassis;

the omnidirectional moving module is used for driving the chassis to move in any direction along the horizontal direction so as to enable the unmanned forklift to move to the target detection position.

8. The unmanned handling system of claim 1, wherein the perception module comprises a lidar and/or a camera.

9. The automated guided system of claim 7, wherein the fork assembly comprises a mast and a fork, the mast being movably coupled to the chassis, the fork being movably coupled to the mast;

the control module is arranged in the frame and is also used for controlling the fork to move relative to the chassis so as to adjust the height of the fork, so that the fork is aligned to the jack of the material cage;

the control module is also used for controlling the gantry to move relative to the chassis so that the fork can be inserted into the jack to insert and take the material cage.

10. The automated guided system of claim 9, wherein the forks comprise a first fork and a second fork; the unmanned forklift further comprises a distance adjusting module, wherein the distance adjusting module is arranged at the root of the fork assembly, and the first fork and the second fork are connected with the frame through the distance adjusting module;

the distance adjusting module is used for driving the first fork and/or the second fork to move relative to the portal frame so as to enable the first fork and the second fork to be close to or far away from each other, and therefore the distance between the first fork and the second fork is adjusted.