Method and device for detecting gravity center of forklift and gravity center of transport vehicle

Abstract

The embodiment of the invention provides a method and a device for detecting gravity center of a forklift and gravity center of a transport vehicle, the forklift comprises a lifting oil cylinder, a forklift arm, a pressure sensor and a distance sensor, wherein the forklift arm is used for lifting the goods according to the pressure generated by the lifting oil cylinder, the pressure sensor is usedfor detecting the pressure of the oil cylinder of the lifting oil cylinder, and the distance sensor is used for detecting the ground clearance of the forklift arm; the detecting method for the gravity center of the forklift comprises the following steps of acquiring the oil cylinder pressure of the lifting oil cylinder detected by the pressure sensor and the ground clearance detected by the distance sensor; calculating the cargo quality lifted by the forklift arm according to the oil cylinder pressure and the oil cylinder sectional area of the lifting oil cylinder; and calculating the real-time gravity center height of the forklift on the basis of the cargo quality, the ground clearance, the mass and the gravity center height of the forklift in the no-load state. According to the technical scheme of the embodiment, the gravity center position of the forklift and a transport vehicle can be detected in real time and accurately, and safe and reliable control of the forklift and the transport vehicle is realized.

Description

technical field [0001] The invention relates to the technical field of mobile robots, in particular to a method and device for detecting the center of gravity of a forklift and a transport vehicle. Background technique [0002] With the development of stochastic technology, mobile robots have gradually been popularized in industry and life. In the process of mobile control of mobile robots, the position of their center of gravity is an important reference factor, especially for AGV (Automated Guided Vehicle, automatic guided transportation Forklift trucks and transport vehicles, the position of the center of gravity will change due to the need to pick up the goods. If the position of the center of gravity cannot be detected accurately in real time, safe and reliable control will not be possible. [0003] It should be noted that the information disclosed in the above background technology section is only used to enhance the understanding of the background of the present inven...

AI Technical Summary

Problems solved by technology

[0002] With the development of stochastic technology, mobile robots have gradually been popularized in industry and life. In the process of mobile control of mobile robots, the position of their center of gravity is an important reference factor, especially for AGV (Automated Guided Vehicle, automatic guided transportation Forklift trucks and transport vehicles, the position of the center of gravity will change due to the need to pick up the goods. If the position of the center of gravity cannot be detected accurately in real time, safe and reliable control will not be possible.

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