Control method for preventing shelf from collapsing by goods during emergency stop and locking of Forklift AGV

A control method and shelf technology, applied in the direction of hoisting devices, lifting equipment safety devices, etc., can solve the problems of cargo dumping and no technical application, etc., and achieve the effect of improving stability and robustness

Active Publication Date: 2020-11-24
ZHEJIANG UNIV +1
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  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

In order to ensure the good and complete characteristics of the goods during transportation, the goods c

Method used

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  • Control method for preventing shelf from collapsing by goods during emergency stop and locking of Forklift AGV
  • Control method for preventing shelf from collapsing by goods during emergency stop and locking of Forklift AGV
  • Control method for preventing shelf from collapsing by goods during emergency stop and locking of Forklift AGV

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Example Embodiment

[0027] The present invention will be further described with reference to the attached drawings and specific embodiments.

[0028] such asFigure 1-4 In the illustrated embodiment,

[0029] A control method for preventing goods from dumping on shelves when Forklift AVG is stopped and locked, which includes the following steps:

[0030] 1, when Forklift AGV encounters obstacles or faults, the main program enters an emergency stop interrupt, and the relative speed sensor on the shelf detects whether there is a relative speed between goods and shelves to obtain a relative speed curve; The relative speed sensor is the differential expression of the displacement sensor, and the interpolation formula is as follows:

[0031] f(t)＝a 1 f[n 1 ]+a 2 f[n 2 ]+…+a n f[n n ]

[0032] Where n is the relative displacement between goods and shelves, the displacement interpolation at each moment can be obtained through the above formula, and the relationship between displacement and speed is as follow...

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Abstract

The invention aims to overcome the problem that the goods slip to collapse when an existing Forklift AGV suddenly stops and locks during goods handling, provides a control method for preventing a shelf from collapsing by goods during emergency stop and locking of a Forklift AGV, and at the same time, improves reliability and work efficiency of the Forklift AGV. In order to achieve the purpose, thetechnical scheme is adopted: when the Forklift AGV suddenly stops, a relative speed sensor on the shelf detects a relative speed between the goods and the shelf to obtain a relative speed curve; therelative speed curve is performed an interpolation analysis, if the relative speed is detected, the shelf and the goods are controlled to move in the same direction and continue to traverse the relative speed; when the relative speed is zero, a motor starts to brake and traverse the shelf speed curve; when a return interpolation value is zero, a motor of the shelf is controlled to rotate reverselyat a rated speed; and when feedback displacement is interpolated to a preset position, the motor is braked at a rated acceleration, and the shelf returns when the speed is zero.

Description

technical field [0001] The invention relates to the field of intelligent vehicles, in particular to a control method for preventing goods from dumping on shelves when Forklift AVG is locked in an emergency stop. Background technique [0002] The development of computer-related technologies has led to the improvement of industrial technology. In order to reduce the cost of hiring labor, many factories and container warehouses have begun to use Forklift AGV (automatic cruise forklift) for sorting, handling and classification of goods. How to use this intelligent forklift system to carry out the "Great Revolution" of the industrial age, thereby reducing production costs, improving the efficiency of warehouse work and the accuracy of sorting goods, and reducing the loss rate of goods has become an urgent problem to be solved. [0003] Forklift AGV is a remarkable mechanism in automatic handling equipment and has obvious advantages. The working process of AGV consists of three p...

Claims

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Application Information

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IPC IPC(8): B66F9/06B66F9/075B66F17/00
CPCB66F9/063B66F9/07559B66F17/003
Inventor 童水光蒋耀兴童哲铭
Owner ZHEJIANG UNIV
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