105results about "Forklift trucks" patented technology

In accordance with one aspect of the inventive concepts, provided is a robotic vehicle comprising at least one processor in communication with at least one computer memory device, a navigation system operatively controlling a drive system to navigate the mobile robot along a predetermined path, at least one sensor configured to acquire real-time sensor data, and a dynamic path adjust system comprising computer program code executable by the at least one processor to cause the navigation system to at least partially and / or temporarily deviate from a current path by generating a dynamically determined path or path segment based on the real-time sensor data and / or an indication in the current path to switch to dynamic path adjust. The robotic vehicle can be configured to switch path to a current and / or original path after executing a dynamically determined path adjustment. A corresponding method is also provided.

A suspension assembly includes a first linkage rod coupled between an axle housing and a first frame rail, and a second linkage rod coupled between the axle housing and a second frame rail. The first linkage rod is arranged at an angle relative to a central longitudinal axis so that as the first linkage rod extends from the axle housing toward the first frame rail, the first linkage rod angles laterally outwardly and away from the central longitudinal axis. The second linkage rod is arranged at an angle relative to the central longitudinal axis so that as the second linkage rod extends from the axle housing toward the second frame rail, the second linkage rod angles laterally outwardly and away from the central longitudinal axis.

A lift device includes a lift base, a turntable supported on and rotatably coupled to the lift base, a boom assembly coupled to the turntable, a platform coupled to the boom assembly so that the boom assembly is configured to selectively raise and lower the platform assembly, and a plurality of tractive elements. Each of the plurality of tractive elements is coupled to the lift base by a carrier arm and a pendulum axle assembly. Each of the pendulum axle assemblies includes a pendulum linkage that is pivotally coupled between a respective one of the carrier arms and a respective one of the plurality of tractive elements. Each of the pendulum axle assemblies defines a steering axis that is centered along the respective one of the plurality of tractive elements.

A suspension assembly includes an upper control arm, a lower control arm, a damper coupled between the lower control arm and a frame rail, and a roll control cylinder coupled between the lower control arm and the frame rail. The roll control cylinder includes a body defining an internal cavity, a piston movably arranged within internal cavity, and a rod coupled to the piston and extending outwardly from the body. The piston divides the internal cavity into a piston chamber and a rod chamber. The suspension assembly further includes an accumulator in fluid communication with the piston chamber, and a charge supply in fluid communication with the accumulator. The charge supply is configured to selectively change a charge pressure within the accumulator to adjust a roll rate or stiffness defined by the roll control cylinder.

An automatic horn system and method for a material handling vehicle is provided. An example system includes a perception system and a feedback device. The perception system may be of a material handling vehicle and may include at least one processor and one or more front facing sensors and one or more rear facing sensors designed to capture sensor data of an environment surrounding the material handling vehicle, wherein the at least one processor is designed to identify at least one feature from the sensor data. The feedback device may be of the material handling vehicle and may be designed to perform a feedback operation based at least in part on one or more signals from the perception system.

An engine-type industrial vehicle (10) includes: an engine (31); a power transmission (40) configured to transmit a driving force of the engine (31) to a driving wheel (12); a controller (81) configured to adjust the driving force; a travel direction determiner (88) configured to determine a travel direction of the engine-type industrial vehicle (10); and an object detector (131) configured to detect a position of an object in the travel direction of the engine-type industrial vehicle (10). The power transmission (40) is switchable between a driving force transmission state and a driving force non-transmission state. The controller (81) causes a state of the engine-type industrial vehicle (10) to be in a travel start prohibition state (S3), when the object detector (131) detects the object and a detection direction of the object matches the travel direction, in a case where a vehicle speed of the engine-type industrial vehicle (10) is equal to or less than a stop determination threshold.

The position calibration method is used to fuse images (13, 15) from a camera (1) and a lidar sensor (2). The camera (1) captures an image (13) of a calibration target (11), whereby the pose of the calibration target (11) relative to the camera (1) can be determined using known patterns (12). The lidar sensor (2) captures an image (15) of the calibration target (11), whereby the pose of the calibration target (11) relative to the lidar sensor (2) can be determined using additional reflection areas (14) on the calibration target (11). Based on both poses, images (13, 15) captured by the camera (1) and / or the lidar sensor (2) can subsequently be converted into a common coordinate system or into the coordinate system of the other image (13, 15). This allows objects (7) detected in one image (13, 15) to be verified in another image (15, 13).

In accordance with one aspect of the inventive concepts, provided is a robotic vehicle comprising at least one processor in communication with at least one computer memory device, a navigation system operatively controlling a drive system to navigate the mobile robot along a predetermined path, at least one sensor configured to acquire real-time sensor data, and a dynamic path adjust system comprising computer program code executable by the at least one processor to cause the navigation system to at least partially and / or temporarily deviate from a current path by generating a dynamically determined path or path segment based on the real-time sensor data and / or an indication in the current path to switch to dynamic path adjust. The robotic vehicle can be configured to switch path to a current and / or original path after executing a dynamically determined path adjustment. A corresponding method is also provided.

A driving assembly of a transportation vehicle is provided. The driving assembly includes a driving wheel, a pair of universal wheels arranged on both sides of the driving wheel, and a synchronizing mechanism connected with a pair of universal wheels. The synchronizing mechanism includes a pair of wheel seats and a synchronous rod connected with a pair of wheel seat. Each wheel seat is respectively provided with a first pressure spring and a second pressure spring. The expansion axis of the first pressure spring and the expansion axis of the second pressure spring are longitudinally arranged and parallel to each other. The elastic rigidity of the first pressure spring is smaller than that of the second pressure spring, and an upper end of the first pressure spring is higher than that of the second pressure spring after the driving assembly has been installed. A transportation vehicle with the driving assembly is also provided. Through the above scheme, the effect of floating adjustment can be achieved under light load and heavy load conditions of the transportation vehicle.

The invention relates to the technical field of industrial vehicles, and particularly discloses a control method of a logistics industrial vehicle, the logistics industrial vehicle comprises a chassis assembly, a portal assembly and a control assembly, the portal assembly comprises a portal located on the front side of a chassis and a fork arranged on the portal in a liftable mode; whether the pallet fork is located at a low position or not can be detected through the first inductive switch, when the pallet fork is located at the low position, the control unit controls the driving wheel set to keep a slow-speed mode with the highest speed of 6 km / h, when the pallet fork is located at the high position, whether the speed switching button is in a continuous pressing state or not is judged, if not, the control unit still controls the driving wheel set to keep the slow-speed mode, and if yes, the speed switching button is pressed continuously. The control unit controls the driving wheel set to keep the 13km / h rapid mode, the rapid mode needs to be started to meet the two conditions that the pallet fork is located at the high position and the speed switching button is continuously pressed, the vehicle can be protected, meanwhile, rapid collision caused by falling down of an operator or other misoperation is avoided, and the safety performance is further improved.

To suppress contact between an object and an engine type industrial vehicle.SOLUTION: A forklift includes an engine, a power transmission mechanism, a control device, a direction lever, and an object detection part. The direction lever determines a travel direction of the forklift according to an operation position. The object detection part detects the position of an object existing in the travel direction of the forklift. The power transmission mechanism can be switched between a drive transmission state where drive force of the engine is transmitted to the power transmission mechanism, and a drive non-transmission state where the drive force of the engine is not transmitted to the power transmission mechanism. In the case where the object detection part detects the object and the object detection direction and the travel direction determined by a travel direction determination part coincide with each other, and vehicle speed of the forklift is equal to or less than a stop determination threshold, the control device sets the forklift to be in a start prohibition state S3. In the start prohibition state S3, the power transmission mechanism is set to be the drive non-transmission state.SELECTED DRAWING: Figure 6

A material handling vehicle includes a path confirmation tool, and a drive unit, a steering unit, a positioning module, and a navigation module that cooperate to navigate the vehicle along a warehouse travel path. The path confirmation tool includes warehouse layout data, a recommended travel path, vehicle kinematics, and a dynamic vehicle boundary that is close to the physical outer perimeter of the vehicle. The path confirmation tool executes path confirmation logic to determine the vehicle pose along the recommended travel path, update the dynamic vehicle boundary to account for changes in vehicle speed and steering angle, determine whether the dynamic vehicle boundary is likely to cross an obstacle represented in the layout data based on the determined vehicle pose at a candidate location along the recommended travel path, determine the likelihood of a collision at the candidate location by referring to the dynamic vehicle boundary and obstacle data, and modify the recommended travel path to reduce the likelihood of a collision.

The invention discloses a hybrid power forklift and a control method thereof, and relates to the technical field of forklifts, and the hybrid power forklift comprises a forklift body and a power system. The power system is arranged on the vehicle body and comprises a walking control system, an operation control system and a whole vehicle controller, the walking control system is used for providing power needed by walking of the vehicle body and power needed during operation, the walking control system comprises a generator, the operation control system is used for providing power during operation of the vehicle body, and the operation control system comprises an engine; the vehicle control unit is used for receiving a demand signal input by a driver. Wherein the generator and the engine are jointly connected with an electromagnetic clutch and used for attracting / disconnecting the engine and the generator, the engine and the generator form a whole range extender for power generation when attracting, and the engine and the generator work independently when disconnecting. According to the hybrid power forklift, independent work or simultaneous work between the generator and the engine is controlled through attraction or disconnection of the electromagnetic clutch.

A fluid suspension system for a land vehicle is provided with a fluid biasing member with a first fluid port and a second fluid port. The fluid biasing member is adapted to be connected to a chassis and a first axle of a land vehicle spaced apart from a pivotal connection of the first axle to pivot the first axle relative to the chassis upon movement to a first position and a second position. A proportional valve is in fluid cooperation with the first fluid port of the fluid biasing member to permit fluid to flow to the fluid biasing member to bias the fluid biasing member to the first position, and to permit the fluid to flow from the fluid biasing member to the proportional valve, and to the second fluid port of the fluid biasing member to bias the fluid biasing member to the second position.

The present invention relates to the field of industrial vehicle control technology, and specifically to an obstacle perception method of an industrial vehicle ADAS fused with a large model, comprising: when an obstacle is detected within the radar range of the industrial vehicle, obtaining the grayscale image of the obstacle and the height data and position data of the obstacle at each moment within a preset time period; obtaining a collision risk index based on the object contour distribution in the obstacle grayscale image at the initial moment within the preset time period, combined with the object attributes and height data of the obstacle at the initial moment; obtaining the degree of perceived influence of the obstacle on the industrial vehicle based on the difference between the position data of the obstacle at every two moments and the change between the height data at adjacent moments; dividing the obstacle warning level of the industrial vehicle according to the collision risk index and the degree of perceived influence, and obtaining the level perception result of the obstacle. The present invention effectively improves the reliability of the industrial vehicle ADAS system fused with a large model and the perception accuracy of the obstacle.

The invention provides a wheel load estimation device and the like which can reduce the calculation load compared with the prior art when estimating the wheel load. According to one aspect of the present invention, there is provided a wheel load estimation device that estimates a wheel load applied to each wheel provided in a vehicle. The wheel load estimation device includes an acquisition unit, a calculation unit, and an estimation unit. The acquisition unit acquires a detection value output from the sensor as a parameter. The parameter is a parameter related to movement of the vehicle. The calculation unit calculates an inertia force generated in the vehicle on the basis of the parameter and the mass of the vehicle. The estimation unit estimates the wheel load on the basis of the inertia force and a predetermined estimation formula.

The objective of the present invention is to provide a vehicle control device capable of preventing repetition of movement on the same route when a route including back and forth turning has been planned. A vehicle control device (10) according to the present disclosure comprises a route generating unit (11) for generating a first route for moving from a first location to a target location, a control unit (12) for controlling a drive unit to move along the first route, and a determining unit (13) which, if the first route includes a second route to a back and forth turning point and a third route from the back and forth turning point to the target location, determines whether, at a second location, the vehicle can be deemed to have arrived at the back and forth turning point, wherein, if it is determined that the vehicle is deemed to have reached the back and forth turning point at the second location, the control unit (12) controls the drive unit such that the vehicle proceeds to a position on the third route separated a second distance, greater than a first distance between the first location and the back and forth turning point, from the second location.

The utility model relates to a driving assembly of a carrier, which comprises a driving wheel, a pair of universal wheels arranged on two sides of the driving wheel and a synchronizing mechanism connected with the pair of universal wheels, and the synchronizing mechanism comprises a pair of wheel seats and a synchronizing rod connected with the pair of wheel seats; a first pressure spring and a second pressure spring are respectively arranged on each wheel seat, and the telescopic axes of the first pressure spring and the second pressure spring are longitudinally arranged and are parallel to each other; the elastic rigidity of the first compression spring is smaller than that of the second compression spring, and the upper end of the first compression spring is higher than that of the second compression spring after installation is completed. The utility model further relates to the carrier with the driving assembly. According to the scheme, the floating adjustment effect can be achieved under the conditions of light load and heavy load of the carrier.

The present application relates to the technical field of industrial vehicles, and discloses a control method of a logistics industrial vehicle, which comprises a chassis assembly, a portal assembly and a control assembly, the portal assembly comprises a portal located at the front side of the chassis and a liftable fork arranged on the portal, whether the fork is located at a low position can be detected through a first induction switch, when the fork is located at the low position, a control unit controls a driving wheel set to keep a slow mode with the highest speed of 6km / h, when the fork is located at a high position, whether a speed switching button is in a continuously pressed state is judged, if not, the control unit still controls the driving wheel set to keep the slow mode, if yes, the control unit controls the driving wheel set to keep a fast mode with the speed of 13km / h, two conditions of the fork being located at the high position and the speed switching button being continuously pressed are needed to start the fast mode, which can protect the vehicle, avoid the fast impact caused by the operator falling down or other misoperations, and further improve the safety performance.

The invention provides a vehicle control unit, a vehicle control device and a forklift. The whole vehicle controller is applied to the forklift and comprises a manual driving mode controller interface, an indirect driving mode controller interface, an execution element controller interface and a whole vehicle processing module. The whole vehicle processing module is configured to execute at least one of the following items: receiving a manual control instruction sent by a manual driving mode controller of the forklift through the manual driving mode controller interface; and receiving an indirect control instruction sent by the indirect driving mode controller through the indirect driving mode controller interface. And the whole vehicle processing module is further configured to control the executive component controller of the forklift through the executive component controller interface based on the received target control instruction and the current control mode of the executive component controller so as to control the executive component of the forklift. The vehicle control unit is favorable for reducing the cost of producing a forklift which supports an indirect driving mode and a manual driving mode at the same time.

The present disclosure relates to a system of controlling a lowering speed of a work lever of a forklift which may realize a constant amount of change in the lowering speed of the work lever with respect to a valve opening area, irrespective of a weight of a load placed on the work lever, although a flow regulator is not provided. The system for controlling the lowering speed of a work lever of a forklift includes, a hydraulic motor (130) connected to the work lever through a hydraulic line to transmit a power to the work lever; an electronic solenoid valve (150) for controlling the hydraulic motor connected to the work lever; a weight sensor (140) provided at one side of the work lever, the weight sensor measuring a weight of a load placed on the work lever and transmitting the measured value to a controller (120); and said controller (120) arranged for controlling an RPM of the hydraulic motor (130) and a current amount of the electronic solenoid valve based on the measured value transmitted from the weight sensor (140).

An engine control device for an industrial vehicle includes a seating detector configured to detect a seating state of a driver relative to a driver seat, a neutral detector configured to detect whether a direction operating member of the industrial vehicle is positioned in a neutral position, a fuel supply member configured to supply a fuel to the engine, a first controller configured to stop an output of a driving force from the engine when the seating detector detects that the driver is away from the driver seat, and a second controller configured to restart the output of the driving force from the engine in case that the seating detector detects that the driver is seated on the driver seat and the neutral detector detects that the direction operating member is positioned in the neutral position, after the first controller stops the output of the driving force from the engine.

The present invention describes a collision avoidance system (1) for a ground vehicle, comprising: a first transceiver device (4) associated with an obstacle (B), configured to generate and transmit one or more radio signals (SG_B_i) at pre-established time intervals, the first radio signal (SG_B_1) carrying an obstacle identification code (ID_1); a second transceiver device (3) associated with a ground vehicle (A), configured to transmit one or more radio signals (SG_A_i) and receive one or more radio signals (SG_B_i) including the first radio signal (SG_B_1) carrying the obstacle identification code (ID_1); and a second transceiver device (4) for processing collision data of the vehicle (A). The present invention further describes a method and a computer program product for detecting a high probability of collision between the ground vehicle (A) and the obstacle (B), the method comprising: a first calculation module (21) configured to determine a trajectory (D_TRJ) of the ground vehicle (A) and the obstacle (B) as a function of the radio signals (SG_B_i) and the radio signals (SG_A_i), a second calculation module (23) configured to determine a collision probability between the ground vehicle (A) and the obstacle (B) based on the trajectory (D_TRJ), and a warning module (24) configured to generate and transmit a collision probability signal (S_COLL) between the ground vehicle (A) and the obstacle (B) in response to a high collision probability between the ground vehicle (A) and the obstacle (B).

An obstacle notification device includes an obstacle detection unit configured to detect a positional relationship between an industrial vehicle and an obstacle, a display unit, and processing circuitry. The processing circuitry displays an image for notifying an operator of the presence of the obstacle on the display unit, and executes at least one of restriction of traveling of the industrial vehicle and warning when the obstacle is a causal obstacle meeting a specific condition. The processing circuitry displays a first image on the display unit when notifying the operator of the presence of an obstacle different from the causal obstacle, and displays a second image that is different from the first image on the display unit when notifying the operator of the presence of the causal obstacle.

The invention belongs to the technical field of storage, and particularly discloses an AGV chassis, a carrying device and a carrying robot. The driving wheel assembly on the chassis comprises a driving wheel; the driving wheel fixing frame comprises a first side wall; the cup sleeves are fixed to the two ends of the bottom edge of the first side wall and abut against the two sides of the driving wheel. And the damping device is used for connecting the driving wheels and the AGV chassis body and comprises a damping spring which is fixed in the cup sleeve, an adjusting nut is arranged at one end of the damping spring and used for adjusting the pre-tightening force of the damping spring, and a locking nut is further arranged at the position corresponding to the adjusting nut and used for locking the position of the adjusting nut. The damping robot has the advantages that the pair of damping springs is additionally arranged at the position close to the driving wheel and used for relieving jolt and vibration of the robot in the vertical direction. Therefore, the adaptive capacity of up-down floating of the AGV chassis is higher, and the AGV chassis can stably run in storage bins under various different road conditions.

The invention relates to the technical field of storage equipment, and discloses a vertical damping driving steering wheel system structure for an AGV, the vertical damping driving steering wheel system structure for the AGV comprises a mounting plate, an adjusting spring is fixedly connected to the mounting plate, a pre-tightening pressing block is arranged above the adjusting spring, the pre-tightening pressing block is connected with a pre-tightening driving piece, and the pre-tightening driving piece is fixedly connected with the mounting plate. The pre-tightening pressing block comprises a pressing block capable of moving up and down relative to the upper fixing plate, the pre-tightening driving part comprises a pre-tightening oil cylinder, a transmission part is arranged between the pre-tightening oil cylinder and the pressing block, the pre-tightening oil cylinder drives the pressing block to move vertically, the transmission ratio of the transmission part can be adjusted, and the pre-tightening oil cylinder is communicated with a hydraulic power unit of the AGV. According to the AGV loading the vertical damping driving steering wheel system, the damping spring can be automatically adjusted according to the weights of different cargoes, so that the AGV can stably execute various action instructions, meanwhile, the damping capacity relative to the gravity of the cargoes can be flexibly set in different application scenes, and high flexibility is achieved.

This invention discloses a four-wheel differential walking chassis structure and its working method. The four-wheel differential walking chassis structure includes three parts: a frame (1), a wheel system (2), and a suspension (3). The frame part (1) is divided into an upper frame (11) and a lower frame (12). The upper surface of the upper frame (11) is used to support and install functional components. On the left and right sides of the front beam (111) and the rear beam (112) of the frame part (1), a total of four outrigger hydraulic cylinders (113) are provided. During vehicle transportation, the piston rod of the outrigger hydraulic cylinder (113) does not extend. During engineering operations, the piston rod extends so that the bottom of the piston rod contacts the ground, the overall vehicle height is raised, the tires are lifted off the ground, and the overall vehicle support stability is enhanced. This invention can self-adjust when traveling on complex potholes and uneven roads, which can well ensure the balance and stability of the whole vehicle, and has good passability and road adaptability.

The present disclosure provides a robot and an adjustment method for a suspension system of a robot. The robot includes a robot body, a detection system, and a controller. The robot body includes a mobile chassis. The mobile chassis includes a suspension system. The detection system and the suspension system are electrically connected to the controller. The detection system is configured to detect operating information of the robot body. The controller is configured to control the suspension system to adjust a suspension hardness of the suspension system based on the operating information. The operating information includes at least one of ground information during operation of the robot body and pose information of the robot body.

A system for localization and manipulation of infrastructure includes: a mobile robotics platform; one or more sensors configured to collect sensor data; a processor configured to process the sensor data to identify and localize the infrastructure; and a feedback device configured to confirm the system has correctly identified and localized the infrastructure. The system includes a database of infrastructure descriptors and may spatially register those descriptors to the mobile platform's environment. The mobile robotics platform may employ those infrastructure descriptors as priors to improve sensing and actuation in the identification, localization, and manipulation of infrastructure.