Multi-joint control method based on forklift

Abstract

The invention relates to the technical field of forklift control, in particular to a multi-joint control method based on a forklift, which comprises the following steps: getting floor tiles and inclining a pallet fork to the maximum caster angle; the pallet fork is shaken so that the floor tiles can be stacked in a preset shape; determining a first distance and a second distance between the brick paving machine and the brick paving starting point to determine a distance difference, and determining the accuracy of the real-time coordinates according to the distance difference; responding to the real-time coordinates to determine feeding coordinates of the forklift; the feeding advancing speed of the forklift is controlled in response to the feeding coordinates and the brick paving speed; the characterization state of the distance between the paver and the forklift during feeding is determined, and the feeding matching state between the forklift and the brick paving machine is determined in combination with the brick paving speed; an adjusting strategy is determined according to the feeding matching state of the preset number of times; and determining the jitter characterization trend of the forklift on the paved pavement so as to determine the pressure of the road roller. According to the invention, multi-equipment combined control among the forklift, the brick paving machine and the road roller is realized, the overall construction efficiency is improved, and the construction difficulty and complexity are reduced.

Description

Technical Field

[0001] The present invention relates to the technical field of forklift control, and in particular to a multi-joint control method based on a forklift. Background Art

[0002] During the road paving process, in order to improve construction efficiency, ensure road surface quality and reduce labor costs, it is particularly important to adopt the technology of joint control of forklifts, brick pavers and rollers. This technology realizes the coordinated operation and precise control of forklifts, brick pavers and rollers through integrated sensors, intelligent control systems and automated machinery, so that key construction steps such as floor tile laying, road leveling and compaction can be completed efficiently and accurately, improving the overall construction efficiency and road surface quality.

[0003] Chinese patent announcement number CN114436173B discloses a forklift hydraulic transmission system and a forklift transmission control system, including a first fluid supply oil circuit, a second fluid supply oil circuit, a travel drive oil circuit, an operation control oil circuit, a displacement control oil circuit, a first valve, and the first valve is configured to have at least the following stations: station one, the first valve connects the first fluid supply oil circuit with the travel drive oil circuit; and station two, the first valve connects the first fluid supply with the operation control oil circuit; the second valve, the second valve is configured to have at least station I, and station II; the displacement control valve, the displacement control valve is located between the second fluid supply oil circuit and the displacement control oil circuit. The system can realize the pump-valve joint control hydraulic continuously variable transmission when the forklift is traveling, the valve-controlled hydraulic transmission of the forklift micro-movement travel, and the pump-valve joint control transmission of the forklift lifting and mast tilting, and its purpose is to improve the forklift travel transmission efficiency and reduce the hydraulic transmission power loss of the forklift hydraulic actuator. It can be seen that the invention has the following problems:

[0004] The invention does not consider how to jointly control the forklift and the brick paving machine and roller that cooperate with the forklift, which leads to the problem of low paving efficiency. Summary of the invention

[0005] To this end, the present invention provides a forklift-based multi-joint control method to overcome the problem of low paving efficiency caused by the prior art not considering how to jointly control the forklift and the brick paving machine and roller that cooperate with the forklift.

[0006] To achieve the above objectives, on the one hand, the present invention provides a multi-joint control method based on a forklift, comprising:

[0007] Step S1, picking up a standard number of floor tiles in the floor tile stacking area and tilting the fork to the maximum tilt angle;

[0008] Step S2, shaking the fork to stack the floor tiles in a preset shape;

[0009] Step S3, determining a first distance between the brick paving machine and the brick paving starting point in response to the brick paving moving speed and the brick paving time of the brick paving machine, and determining a second distance in response to the real-time coordinates of the brick paving machine and the coordinates of the brick paving starting point;

[0010] Step S4, determining the accuracy of the real-time coordinates according to the distance difference between the first distance and the second distance, comprising:

[0011] If the distance difference is greater than the reference distance difference, it is determined that the real-time coordinates are inaccurate;

[0012] If the distance difference is less than or equal to the reference distance difference, it is determined that the real-time coordinates are accurate;

[0013] Step S5, determining the loading coordinates of the forklift in response to the real-time coordinates;

[0014] Step S6, controlling the loading speed of the forklift in response to the loading coordinates and the brick laying speed;

[0015] Step S7, determining the distance characterization state between the road paver and the forklift during loading and determining the loading coordination state between the forklift and the brick paving machine according to the distance characterization state and the brick paving speed;

[0016] Step S8, determining the adjustment strategy according to the preset number of feeding matching states, including:

[0017] If the feeding coordination status does not meet the preset number of consecutive times, no adjustment strategy will be formulated;

[0018] If the loading coordination state meets the preset number of consecutive times, an adjustment strategy is formulated and the brick laying speed is adjusted;

[0019] Step S9, determining a vibration characterization trend of the forklift on the paved road;

[0020] Step S10, determining the pressure of the roller in response to the vibration characterization trend.

[0021] Further, in step S2, the method of shaking the fork to stack the floor tiles in a preset shape includes:

[0022] Step S21, shaking the fork at a preset frequency and a preset height and shooting a video of the shaking of the floor tiles;

[0023] Step S22, determining whether to end the shaking according to the shape of the floor tiles in each video frame, wherein:

[0024] If the shape of the floor tiles in a single real-time video frame is the preset shape, the jitter is terminated;

[0025] If the shape of the floor tiles in each video frame is not the preset shape, continue shaking;

[0026] Step S23, determining whether to adjust the shaking height according to the determination result of continued shaking and the shaking duration, including:

[0027] If the shaking duration is greater than the reference duration, adjusting the shaking height;

[0028] If the jitter duration is less than or equal to the reference duration, the jitter height is not adjusted;

[0029] Step S24, determining to end the shaking according to the result of adjusting the shaking height and the shaking duration, wherein:

[0030] If the jitter duration is greater than the reference duration, the jitter is terminated;

[0031] The shaking direction is the direction in which the fork moves along the gantry track.

[0032] Further, in step S22, it is determined whether the shape of the floor tile is a preset shape according to the machine learning model;

[0033] The preset shape is a quasi-right-angled trapezoid, and two right-angled sides of the quasi-right-angled trapezoid are respectively parallel to the fork and the gantry track.

[0034] Further, in step S3, the method for determining the first distance and the second distance includes:

[0035] Step S31, determining a first distance according to the product of the brick-laying moving speed and the brick-laying time;

[0036] Step S32, determining the first reference coordinate and the second reference coordinate in the paving direction according to the real-time coordinate and the paving starting point coordinate respectively;

[0037] Step S33: determining the distance between the first reference coordinate and the second reference coordinate along the paving direction as a second distance.

[0038] Further, in step S5, the loading coordinate of the forklift is determined according to the difference between the real-time coordinate and the fork length, including:

[0039] Step S51, determining the value of the loading coordinate along the paving direction according to the difference between the value of the real-time coordinate along the paving direction and the length of the fork;

[0040] Step S52, determining the value of the real-time coordinate perpendicular to the paving direction as the value of the loading coordinate perpendicular to the paving direction;

[0041] Step S53, determining the loading coordinate according to the value of the loading coordinate along the paving direction and the value of the loading coordinate perpendicular to the paving direction.

[0042] Further, in step S6, the method of controlling the corresponding loading travel speed of the forklift in response to the single loading coordinate and the brick laying speed includes:

[0043] Step S61, determining the paving time according to the product of the standard number and the paving speed;

[0044] Step S62, determining the feeding travel distance according to the feeding coordinates and the floor tile stacking area coordinates;

[0045] Step S63, determining the feeding speed according to the quotient of the feeding distance and the brick laying time.

[0046] Further, in step S7, the method of determining the distance characterization state between the road paver and the forklift during loading and determining the loading coordination state between the forklift and the brick paving machine according to the distance characterization state and the brick paving rate includes:

[0047] Step S71, determining the loading characterization state according to the real-time distance between the paver and the forklift during a single loading, wherein:

[0048] If the real-time spacings are all within the spacing range, it is determined that the feeding characterization state is normal feeding;

[0049] If any of the real-time spacings is not within the spacing range, the feeding characterization state is determined to be abnormal feeding;

[0050] Step S72, determining the material loading coordination state between the forklift and the brick paving machine according to whether the spacing characterization state and the brick paving speed meet the coordination coordination condition, wherein:

[0051] If the spacing representation state and the brick laying speed meet the coordinated cooperation condition, the feeding coordination state is determined to be a coordinated cooperation state;

[0052] If the spacing representation state and the brick laying rate do not meet the coordinated cooperation condition, the feeding coordination state is determined to be a non-coordinated coordination state;

[0053] Among them, the cooperative cooperation condition is that the spacing characterization state is normal loading and the brick laying rate is greater than or equal to the preset rate.

[0054] Further, in step S9, the method for determining the vibration characterization trend of the forklift on the paved road surface includes:

[0055] Step S91, obtaining acceleration data of the accelerometer in a direction perpendicular to the ground, wherein the acceleration data includes an acceleration peak value and a frequency of acceleration change;

[0056] Step S92, determining the vibration characterization trend of the paved road surface according to the acceleration peak value and the change frequency, wherein:

[0057] If the acceleration peak value is greater than or equal to a preset peak value and the change frequency is greater than or equal to a preset frequency, it is determined that the jitter characteristic trend of the paved road surface is a dominant jitter trend;

[0058] If the acceleration peak value is less than a preset peak value or the change frequency is less than a preset frequency, it is determined that the shaking characteristic trend of the paved road surface is a latent shaking trend;

[0059] If the acceleration peak value is less than a preset peak value and the change frequency is less than a preset frequency, it is determined that the vibration characteristic trend of the paved road surface is a stable trend.

[0060] Further, in step S10, the pressure of the roller is determined in response to the vibration characterization trend, including:

[0061] If the vibration characterization trend is a dominant vibration trend, the pressure of the roller is determined according to the preset pressure, the acceleration peak value and the change frequency;

[0062] If the vibration characterization trend is a latent vibration trend and the acceleration peak value is less than the preset peak value, the pressure of the roller is determined according to the preset pressure and the change frequency;

[0063] If the vibration characterization trend is a latent vibration trend and the change frequency is less than the preset frequency, the pressure of the roller is determined according to the preset pressure and the acceleration peak value;

[0064] If the vibration characterization trend is a stable trend, the pressure of the roller is set to a preset pressure.

[0065] On the other hand, the present invention also provides a forklift, comprising:

[0066] An accelerometer is installed at the center of gravity of the forklift to determine the acceleration data of the forklift in the direction perpendicular to the ground when the forklift is traveling on a paved road;

[0067] A video shooting unit, comprising a video shooting device and a movable bracket, wherein the movable bracket is connected to the fork through a hinge, and is used to shoot a video of the shaking of the floor tiles;

[0068] The image analysis unit and the video shooting unit are installed with a machine learning model to split the floor tile shaking video into several frames and use the machine learning model to analyze the shape of the floor tiles in each video frame.

[0069] Compared with the prior art, the beneficial effect of the present invention lies in that the forklift-based multi-joint control method provided by the present invention realizes multi-device joint control between forklifts, brick pavers and road rollers, and a collaborative operation system is formed between the devices through information sharing and intelligent decision-making. This multi-joint control method improves the overall construction efficiency and reduces the difficulty and complexity of construction. At the same time, automated operations and multi-device collaborative control reduce manual intervention and reduce safety risks during the construction process.

[0070] Furthermore, in the fully automatic pavement and floor tile laying, the present invention realizes automation and intelligence in multiple links such as floor tile collection, stacking, positioning, coordinated loading, intelligent adjustment of brick laying speed, and optimization of roller pressure, thereby significantly improving construction efficiency and quality, reducing labor costs and safety risks, and ensuring the stability and controllability of the construction process, thus bringing a new method of efficient, accurate, and safe pavement construction.

[0071] Furthermore, the method realizes a fully automated process for laying floor tiles, significantly improves construction efficiency and reduces labor costs; ensures precise coordination between the forklift and the tile laying machine by accurately judging the real-time coordinates; dynamically determines the loading coordinates and the loading speed according to the moving speed and the laying time of the tile laying machine, realizes seamless connection between the two, and improves operation accuracy and coordination; intelligently adjusts the laying speed to adapt to different construction environments and requirements by judging the loading coordination status for a preset number of consecutive times. This dynamic adjustment strategy not only improves construction efficiency, but also ensures the stability of construction quality;

[0072] Furthermore, the method determines the vibration characterization trend of the forklift on the paved road surface and adjusts the pressure of the roller accordingly, further optimizing the construction process, improving the construction quality, and reducing waste and loss during the construction process;

[0073] Furthermore, the method avoids the problem of floor tiles being difficult to break up due to insufficient shaking, effectively prevents the risk of floor tiles being damaged due to excessive shaking, and ensures the stability and service life of the forklift by accurately setting the preset frequency and preset height of the fork shaking; at the same time, by shooting the video of the floor tile shaking and analyzing it in real time, the stacking state of the floor tiles can be accurately judged and the shaking can be ended in time, avoiding unnecessary energy consumption and waste of time; in addition, the step of intelligently adjusting the shaking height according to the shaking duration further improves the efficiency and uniformity of breaking up the floor tiles.

[0074] Furthermore, the method firstly accurately calculates the paving time according to the standard quantity and the paving speed, and then provides the forklift with clear driving path and distance information by accurately measuring the travel distance between the loading coordinates and the floor tile stacking area; on this basis, by calculating the ratio of the loading travel distance to the paving time, the loading travel speed of the forklift is scientifically and reasonably determined, which not only ensures the timely supply of floor tiles, but also avoids unnecessary waiting and waste; in addition, a lower paving speed is selected in the initial stage to ensure the stability and accuracy of paving, and as the construction process progresses, that is, after the coordinated cooperation between the forklift and the tile laying machine is confirmed, the paving speed is gradually increased, thereby improving the construction efficiency while ensuring the quality.

[0075] Furthermore, step S7 of the method achieves a high degree of coordination and precise control in the construction process by accurately determining the distance characterization state between the paver and the forklift during loading, and jointly evaluating the loading coordination state between the forklift and the brick-laying machine based on the state and the brick-laying rate, thereby achieving a comprehensive improvement in construction efficiency, precision, safety and quality, and bringing a more efficient, precise and safe solution to road tile paving construction.

[0076] Furthermore, this method achieves fine control and optimization of pavement paving quality by accurately monitoring the vibration characteristics of forklifts on paved roads and dynamically adjusting the pressure of the roller accordingly, thereby improving construction efficiency, quality and safety, and enhancing the level of construction intelligence while reducing construction costs. BRIEF DESCRIPTION OF THE DRAWINGS

[0077] Figure 1 A step diagram of a multi-joint control method based on a forklift according to an embodiment of the present invention;

[0078] Figure 2 It is a front view of a floor tile tray according to an embodiment of the present invention;

[0079] Figure 3 A left side view of a floor tile tray according to an embodiment of the present invention;

[0080] In the figure: 1, active surface; 2, bottom surface; 3, left side surface. DETAILED DESCRIPTION

[0081] In order to make the objects and advantages of the present invention more clearly understood, the present invention is further described below in conjunction with embodiments; it should be understood that the specific embodiments described herein are only used to explain the present invention and are not used to limit the present invention.

[0082] The preferred embodiments of the present invention are described below with reference to the accompanying drawings. It should be understood by those skilled in the art that these embodiments are only used to explain the technical principles of the present invention and are not intended to limit the protection scope of the present invention.

[0083] It should be noted that, in the description of the present invention, terms such as "up", "down", "left", "right", "inside" and "outside" indicating directions or positional relationships are based on the directions or positional relationships shown in the drawings. This is merely for the convenience of description and does not indicate or imply that the device or element must have a specific orientation, be constructed and operated in a specific orientation. Therefore, it cannot be understood as a limitation on the present invention.

[0084] In addition, it should be noted that in the description of the present invention, unless otherwise clearly specified and limited, the terms "installed", "connected", and "connected" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, or it can be the internal communication of two components. For those skilled in the art, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0085] See also Figure 1 As shown, it is a step diagram of a forklift-based multi-joint control method according to an embodiment of the present invention. An embodiment of the present invention provides a forklift-based multi-joint control method for fully automatic pavement tile laying, comprising:

[0086] Step S1, pick up a standard number of floor tiles in the floor tile stacking area and tilt the fork to the maximum tilt angle; it can be understood that the actual floor tile stacking is regular, and each floor tile pallet is placed with the same number of floor tiles, and the forklift picks up one floor tile pallet each time; in practice, the standard number is generally 200 tiles;

[0087] See also Figure 2 and Figure 3 As shown, they are respectively a front view of the floor tile tray according to an embodiment of the present invention and a left view of the floor tile tray according to an embodiment of the present invention.

[0088] In practice, the floor tile pallet has four fixed surfaces (including the bottom surface 2, the left side surface 3, the right side surface and the back near the forklift gantry) and a movable surface 1 (the front near the forklift gantry); one side of the left side surface 3 near the movable surface 1 and one end of the right side surface near the movable surface 1 are both provided with symmetrical parallel slide rails so that the movable surface 1 can move along the slide rails, and the plane formed by the two parallel slide rails is parallel to the back and perpendicular to the bottom surface 2; the bottom surface 2 has the same structure as the cargo pallet of the forklift in the prior art, so it will not be repeated;

[0089] In implementation, the length of the first side connecting the left side 3 and the bottom surface 2 is equal to the length of the second side connecting the right side 3 and the bottom surface 2, which is equal to the length of the fork;

[0090] Step S2, shaking the fork to stack the floor tiles in a preset shape;

[0091] Step S3, determining a first distance between the brick paving machine and the brick paving starting point in response to the brick paving moving speed and the brick paving time of the brick paving machine, and determining a second distance in response to the real-time coordinates of the brick paving machine and the brick paving starting point coordinates; it can be understood that the brick paving moving speed is the moving speed of the brick paving machine relative to the ground (in meters per minute); in implementation, a positioning device is provided at the top center of the brick paving machine to determine the real-time coordinates (x1, y1, z1) of the brick paving machine, and the positioning device can be any one of the prior art; the brick paving starting point coordinates are determined before paving, and the brick paving starting point is the starting point coordinates of the paving center line, and any point on the paving center line has the same vertical distance to both sides of the road to be paved; generally, the road width of the paving road is equal to the length of the brick paving machine;

[0092] Step S4, determining the accuracy of the real-time coordinates according to the distance difference between the first distance and the second distance, comprising:

[0093] If the distance difference is greater than the reference distance difference, it is determined that the real-time coordinates are inaccurate;

[0094] If the distance difference is less than or equal to the reference distance difference, it is determined that the real-time coordinates are accurate;

[0095] Step S5, determining the loading coordinates of the forklift in response to the real-time coordinates;

[0096] Step S6, controlling the loading speed of the forklift in response to the loading coordinates and the brick laying speed; it can be understood that the brick laying speed is the number of floor tiles that can be laid per minute, and its unit is block / minute; the unit of the loading speed is meter / minute;

[0097] Step S7, determining the distance characterization state between the road paver and the forklift during loading and determining the loading coordination state between the forklift and the brick paving machine according to the distance characterization state and the brick paving speed;

[0098] Step S8, determining the adjustment strategy according to the preset number of feeding matching states, including:

[0099] If the loading coordination status is not met for the preset number of consecutive times, no adjustment strategy will be formulated; in implementation, it means that the coordination between the forklift loading and the brick paving machine is not high, so the road is still paved at the current relatively low brick paving speed;

[0100] If the loading coordination state meets the preset number of consecutive times, an adjustment strategy is formulated and the brick laying speed is adjusted;

[0101] In implementation, the preset number of times ∈ [3, 8] times, the larger the preset number, the more accurate the judgment of the material feeding coordination state, but too large a preset number may lead to a decrease in paving efficiency, so it is preferably set to 5 times; that is, if the forklift meets the coordinated coordination state for five consecutive material feeding times, it means that the coordination degree of the adjustment strategy at this speed is high, so the adjustment strategy can be re-formulated to increase the material feeding speed and the brick laying speed to improve the paving efficiency;

[0102] It is understandable that if the brick laying speed is increased, the brick laying movement speed and the material feeding travel speed will be increased accordingly, thus improving the paving efficiency;

[0103] Step S9, executing the adjustment strategy and determining the vibration characterization trend of the forklift on the paved road;

[0104] Step S10, determining the pressure of the roller in response to the vibration characterization trend.

[0105] Specifically, in step S2, the method of shaking the fork to stack the floor tiles in the floor tile tray in a preset shape includes:

[0106] Step S21, shaking the fork at a preset frequency and a preset height and shooting a video of the shaking of the floor tiles;

[0107] It can be understood that the preset frequency ∈ [120,300] times / minute and the preset height ∈ [5,20] cm;

[0108] In practice, when the fork shakes at a low frequency, the vibration amplitude and frequency of the floor tile pallet are insufficient, resulting in the inability to effectively overcome the friction and adhesion between the floor tiles, making it difficult to break up the floor tiles; when the fork shakes at a high frequency, on the one hand, the floor tile pallet and floor tiles will be subjected to a large instantaneous impact force, which may cause damage to the floor tiles such as edge collapse and corner chipping; on the other hand, too high a frequency will cause the fork and related connecting parts to be subjected to a large alternating stress, accelerating the wear and fatigue damage of the connecting parts of the fork and forklift, reducing the service life of the forklift and fork, and also generating a large noise, which will have an adverse effect on the health of the operator; therefore, the preset frequency is set to 120 times / minute;

[0109] In practice, if the preset shaking height is too large, it will generate a large impact force, which may damage the floor tiles due to the excessive impact force and have a great impact on the stability of the forklift, which may cause the forklift to be unbalanced during driving, posing a safety hazard; if the preset shaking height is too low, the shaking amplitude of the floor tile pallet will be too small, resulting in the inability to effectively overcome the friction and adhesion between the floor tiles, making it difficult to break up the floor tiles; therefore, the preset height is set to 10cm;

[0110] Step S22, determining whether to end the shaking according to the shape of the floor tiles in each video frame, wherein:

[0111] If the shape of the floor tiles in a single real-time video frame is the preset shape, the jitter is terminated;

[0112] If the shape of the floor tiles in each video frame is not the preset shape, continue to shake;

[0113] Step S23, determining whether to adjust the shaking height according to the determination result of continued shaking and the shaking duration, including:

[0114] If the shaking duration is greater than the reference duration, the shaking height is adjusted; in practice, the shaking height is usually adjusted from 10 cm to 15 cm;

[0115] If the jitter duration is less than or equal to the reference duration, the jitter height is not adjusted;

[0116] In the implementation, the reference duration ∈ [0.5min, 3min] is preferably set to 1.5min;

[0117] Step S24, determining to end the shaking according to the result of adjusting the shaking height and the shaking duration, wherein:

[0118] If the jitter duration is greater than the reference duration, the jitter is terminated;

[0119] The shaking direction is the direction in which the fork moves along the gantry track;

[0120] In practice, the reference duration is greater than the benchmark duration, and the reference duration is usually 1 minute longer than the benchmark duration.

[0121] Specifically, in step S22, it is determined whether the shape of the floor tile is a preset shape according to the machine learning model;

[0122] The preset shape is a quasi-right-angled trapezoid, and two right-angled sides of the quasi-right-angled trapezoid are respectively parallel to the fork and the gantry track.

[0123] In implementation, the hypotenuse of the right-angled trapezoid can be narrow at the top and wide at the bottom as a whole, and the acute angle formed between the upper base of the right-angled trapezoid and the portal track should be 60°~90°, and can also be 60° and 90°; in implementation, the machine learning model is used to determine whether it is a preset shape.

[0124] Specifically, in step S3, the method for determining the first distance and the second distance includes:

[0125] Step S31, determining a first distance according to the product of the brick-laying moving speed and the brick-laying time;

[0126] Step S32, determining the first reference coordinate and the second reference coordinate in the paving direction according to the real-time coordinate and the paving starting point coordinate respectively;

[0127] Step S33: determining a vertical distance between the first reference coordinate and the second reference coordinate along the paving direction as a second distance.

[0128] Specifically, in step S5, the loading coordinates of the forklift are determined according to the difference between the real-time coordinates and the fork length, including:

[0129] Step S51, determining the value of the loading coordinate along the paving direction according to the difference between the value of the real-time coordinate along the paving direction and the length of the fork;

[0130] Step S52, determining the value of the real-time coordinate perpendicular to the paving direction as the value of the loading coordinate perpendicular to the paving direction;

[0131] Step S53, determining the material loading coordinate according to the value of the material loading coordinate along the paving direction and the value of the material loading coordinate perpendicular to the paving direction.

[0132] It can be understood that the real-time coordinates and the loading coordinates differ only in the x or y coordinates, which are the same as both coordinates. The real-time coordinates and the loading coordinates should both be located on the paving centerline; in implementation, the paving surface is usually taken as a surface with a z-axis of 0, so the z coordinates of all coordinates in the present invention are 0.

[0133] Specifically, in step S6, the method of controlling the corresponding loading travel speed of the forklift in response to the single loading coordinate and the brick laying speed includes:

[0134] Step S61, determining the paving time according to the product of the standard number and the paving speed;

[0135] Step S62, determining the loading travel distance according to the loading coordinate and the floor tile stacking area coordinate; in implementation, the loading travel route is to travel in a straight line from the floor tile stacking area to the previous loading coordinate, and then travel from the previous loading coordinate to the current loading coordinate; wherein, the first travel distance from the floor tile stacking area to the previous loading coordinate along a straight line can be determined according to the Pythagorean theorem, so it is not repeated here; the second travel distance from the previous loading coordinate to the current loading coordinate can be determined according to the coordinate; the loading travel distance is the sum of the first row short distance and the second travel distance;

[0136] Step S63, determining the feeding speed according to the quotient of the feeding distance and the brick laying time.

[0137] It can be understood that the present invention moves toward the corresponding loading coordinate when the fork reaches the floor tile pallet, and shakes the fork during the movement; therefore, in order to avoid the quality of paving tiles at the beginning, the paving speed should take a lower value, and then gradually increase the paving speed after the coordinated state is met;

[0138] In practice, the ideal brick-laying speed of a large brick-laying machine is 20 to 200 bricks / minute. For a highly automated brick-laying machine, the initial brick-laying speed is set to 50 bricks / minute, and for a simple brick-laying machine, the initial brick-laying speed is set to 20 bricks / minute.

[0139] It can be understood that this method scientifically and rationally determines the loading speed of the forklift by accurately calculating the paving time and the loading distance, and gradually improves the construction efficiency while ensuring the quality of paving. This method not only improves the automation and intelligence level of pavement floor tile laying, but also significantly reduces labor costs and safety risks, bringing a more efficient, more accurate and safer solution to pavement construction.

[0140] Specifically, in step S7, the method of determining the distance characterization state between the road paver and the forklift during loading and determining the loading coordination state between the forklift and the brick paving machine according to the distance characterization state and the brick paving rate includes:

[0141] Step S71, determining the loading characterization state according to the real-time distance between the paver and the forklift during a single loading, wherein:

[0142] If the real-time spacings are all within the spacing range, it is determined that the feeding characterization state is normal feeding;

[0143] If any of the real-time spacings is not within the spacing range, the feeding characterization state is determined to be abnormal feeding;

[0144] In practice, the spacing range is between plus or minus 5 cm of the fork length. The smaller the spacing range, the more accurate the determination of the loading characterization status.

[0145] Step S72, determining the material loading coordination state between the forklift and the brick paving machine according to whether the spacing characterization state and the brick paving speed meet the coordination coordination condition, wherein:

[0146] If the spacing representation state and the brick laying speed meet the coordinated cooperation condition, the feeding coordination state is determined to be a coordinated cooperation state;

[0147] If the spacing representation state and the brick laying rate do not meet the coordinated cooperation condition, the feeding coordination state is determined to be a non-coordinated coordination state;

[0148] Among them, the cooperative cooperation condition is that the spacing characterization state is normal loading and the brick laying rate is greater than or equal to the preset rate.

[0149] Specifically, in step S9, the method for determining the vibration characterization trend of the forklift on the paved road includes:

[0150] Step S91, obtaining acceleration data of the accelerometer in a direction perpendicular to the ground, wherein the acceleration data includes an acceleration peak value and a frequency of acceleration change;

[0151] Step S92, determining the vibration characterization trend of the paved road surface according to the acceleration peak value and the change frequency, wherein:

[0152] If the acceleration peak value is greater than or equal to the preset peak value and the change frequency is greater than or equal to the preset frequency, it is determined that the jitter characterization trend of the paved road surface is a dominant jitter trend; it can be understood that the paved road surface with a dominant jitter trend represents that the paved road surface is very uneven;

[0153] If the acceleration peak value is less than a preset peak value or the change frequency is less than a preset frequency, it is determined that the jitter characterization trend of the paved road surface is a latent jitter trend; it can be understood that the paved road surface with a latent jitter trend represents that there are uneven sections on the paved road surface;

[0154] If the acceleration peak is less than a preset peak and the change frequency is less than a preset frequency, it is determined that the jitter characterization trend of the paved road surface is a stable trend; it can be understood that a paved road surface with a stable trend represents that the paved road surface is flat and meets expectations.

[0155] Specifically, in step S10, the pressure of the roller is determined in response to the vibration characterization trend, including:

[0156] If the vibration characterization trend is a dominant vibration trend, the pressure of the roller is determined according to the preset pressure, the acceleration peak value and the change frequency; that is, when the paved road surface is very uneven, the pressure of the roller should be increased according to the acceleration peak value and the change frequency;

[0157] If the vibration characterization trend is a latent vibration trend and the acceleration peak value is less than the preset peak value, the pressure of the roller is determined according to the preset pressure and the change frequency;

[0158] If the vibration characterization trend is a latent vibration trend and the change frequency is less than the preset frequency, the pressure of the roller is determined according to the preset pressure and the acceleration peak value;

[0159] It can be understood that when there are uneven sections on the paved road surface, it is sufficient to increase the pressure of the roller only according to the peak value of acceleration or the frequency of change;

[0160] If the vibration characterization trend is a stable trend, the pressure of the roller is set to a preset pressure.

[0161] It is understood that the peak acceleration is an important indicator for measuring the degree of jitter. In one implementation, if the peak vertical acceleration recorded by the accelerometer is 0.5g (g is the acceleration due to gravity, about 9.8m / s 2 ), it means that the acceleration generated by the forklift's vertical vibration is 0.5 times the acceleration of gravity; it is understandable that the larger the acceleration peak, the stronger the vibration: usually when the acceleration peak is less than 0.1g, the vibration is relatively slight, and the driver may not feel it very obviously in the driver's seat; when the acceleration peak exceeds 0.3g, the vibration will be more obvious, and the cargo may also shake significantly; therefore, the preset peak is set to 0.3g.

[0162] It is understandable that the frequent alternation of positive and negative changes in the frequency of acceleration changes in a short period of time indicates that the forklift has a high frequency of shaking in the up and down directions; usually, 5 to 10 times of positive and negative acceleration alternation per second may be due to high-frequency shaking caused by continuous small bumps on the road surface or unbalanced forklift tires, which may make the driver feel uncomfortable and have a great impact on the stability of the goods. At this time, it is necessary to increase the pressure of the roller to make the road smooth; lower-frequency acceleration changes (less than 5 times per second) may be caused by occasional potholes on the road surface, indicating that only individual sections of the road are uneven and there is no need to use higher pressure to compact the road; therefore, the preset frequency is set to 5 times / s.

[0163] An embodiment of the present invention further provides a forklift, comprising:

[0164] An accelerometer is installed at the center of gravity of the forklift to determine the acceleration data of the forklift in the direction perpendicular to the ground when the forklift is traveling on a paved road;

[0165] A video shooting unit, comprising a video shooting device and a movable bracket, wherein the movable bracket is connected to the fork through a hinge, and is used to shoot a video of the shaking of the floor tiles;

[0166] The image analysis unit and the video shooting unit are installed with a machine learning model to split the floor tile shaking video into several frames and use the machine learning model to analyze the shape of the floor tiles in each video frame.

[0167] exist Figure 3The medium video shooting device is used to shoot the shaking video of the floor tiles on the left side 3 of the floor tile pallet. The movable bracket includes a telescopic rod and a fixed rod. One end of the telescopic rod is fixedly connected to the fixed rod and is perpendicular to each other. The other end of the telescopic rod is connected to the side of the shelf away from the fork through a hinge. A video shooting device (which can be a high-speed camera, a high-definition camera, etc., one of the existing technologies that can shoot videos) is installed on the end of the fixed rod away from the telescopic rod. The length of the fixed rod is half the length of the fork, and the length of the telescopic rod is one to three times the length of the fixed rod. During implementation, (1) when the forklift forks the tile pallet, the movable bracket is in the initial position: the telescopic rod is extended, the telescopic rod is perpendicular to the straight line where the two forks are located and the fork plane, and the fixed rod is parallel to the straight line where the two forks are located and the two fork planes. At this time, the video shooting device can shoot the tile pallet from top to bottom; (2) when shooting the tile shaking video, the movable bracket is in the shooting position: the telescopic rod remains in the extended state and rotates until the telescopic rod is perpendicular to the straight line where the two forks are located and parallel to the fork plane, and the fixed rod is parallel to the straight line where the two forks are located and the fork plane. At this time, the video shooting device can shoot the left side 3 of the tile pallet; wherein, the fork plane is the plane determined by the two forks.

[0169] During implementation, a distance sensor (any one of the prior art techniques will suffice) is installed next to the video shooting device to determine the relative distance between the video shooting device and the left side 3 of the floor tile tray. When the distance sensor determines that the relative distance is equal to a preset distance (determined according to the video shooting device, set to a distance when the device can capture the entire left side 3), the telescopic rod is locked and the video shooting device is controlled to start shooting the floor tile shaking video.

[0170] It is understandable that, in this embodiment, the left side 3 of the floor tile tray is photographed using a video shooting unit. The present invention may also use a video shooting unit to photograph the right side of the floor tile tray, and the position of the movable bracket may be modified accordingly.

[0171] So far, the technical solutions of the present invention have been described in conjunction with the preferred embodiments shown in the accompanying drawings. However, it is easy for those skilled in the art to understand that the protection scope of the present invention is obviously not limited to these specific embodiments. Without departing from the principle of the present invention, those skilled in the art can make equivalent changes or substitutions to the relevant technical features, and the technical solutions after these changes or substitutions will fall within the protection scope of the present invention.

[0172] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. For those skilled in the art, the present invention may have various modifications and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

Claims

1. A multi-joint control method based on a forklift, characterized in that: For fully automatic paving and floor tile laying, including: Step S1, picking up a standard number of floor tiles in the floor tile stacking area and tilting the fork to the maximum tilt angle; Step S2, shaking the fork to stack the floor tiles in a preset shape; Step S3, determining a first distance between the brick paving machine and the brick paving starting point in response to the brick paving moving speed and the brick paving time of the brick paving machine, and determining a second distance in response to the real-time coordinates of the brick paving machine and the coordinates of the brick paving starting point; Step S4, determining the accuracy of the real-time coordinates according to the distance difference between the first distance and the second distance, comprising: If the distance difference is greater than the reference distance difference, it is determined that the real-time coordinates are inaccurate; If the distance difference is less than or equal to the reference distance difference, it is determined that the real-time coordinates are accurate; Step S5, determining the loading coordinates of the forklift in response to the real-time coordinates; Step S6, controlling the loading speed of the forklift in response to the loading coordinates and the brick laying speed; Step S7, determining the distance characterization state between the road paver and the forklift during loading and determining the loading coordination state between the forklift and the brick paving machine according to the distance characterization state and the brick paving speed; Step S8, determining the adjustment strategy according to the preset number of feeding matching states, including: If the feeding coordination status does not meet the preset number of consecutive times, no adjustment strategy will be formulated; If the loading coordination state meets the preset number of consecutive times, an adjustment strategy is formulated and the brick laying speed is adjusted; Step S9, determining a vibration characterization trend of the forklift on the paved road; Step S10, determining the pressure of the roller in response to the vibration characterization trend.

2. The forklift-based multi-joint control method according to claim 1, characterized in that: In step S2, the method of shaking the fork to stack the floor tiles in a preset shape includes: Step S21, shaking the fork at a preset frequency and a preset height and shooting a video of the shaking of the floor tiles; Step S22, determining whether to end the shaking according to the shape of the floor tiles in each video frame, wherein: If the shape of the floor tiles in a single real-time video frame is the preset shape, the jitter is terminated; If the shape of the floor tiles in each video frame is not the preset shape, continue shaking; Step S23, determining whether to adjust the shaking height according to the determination result of continued shaking and the shaking duration, including: If the shaking duration is greater than the reference duration, adjusting the shaking height; If the jitter duration is less than or equal to the reference duration, the jitter height is not adjusted; Step S24, determining to end the shaking according to the result of adjusting the shaking height and the shaking duration, wherein: If the jitter duration is greater than the reference duration, the jitter is terminated; The shaking direction is the direction in which the fork moves along the gantry track.

3. The forklift-based multi-joint control method according to claim 2, characterized in that: In step S22, determining whether the shape of the floor tile is a preset shape according to the machine learning model; The preset shape is a quasi-right-angled trapezoid, and two right-angled sides of the quasi-right-angled trapezoid are respectively parallel to the fork and the gantry track.

4. The forklift-based multi-joint control method according to claim 1, characterized in that: In step S3, the method for determining the first distance and the second distance includes: Step S31, determining a first distance according to the product of the brick-laying moving speed and the brick-laying time; Step S32, determining the first reference coordinate and the second reference coordinate in the paving direction according to the real-time coordinate and the paving starting point coordinate respectively; Step S33: determining the distance between the first reference coordinate and the second reference coordinate along the paving direction as a second distance.

5. The forklift-based multi-joint control method according to claim 1, characterized in that: In step S5, the loading coordinates of the forklift are determined according to the difference between the real-time coordinates and the fork length, including: Step S51, determining the value of the loading coordinate along the paving direction according to the difference between the value of the real-time coordinate along the paving direction and the length of the fork; Step S52, determining the value of the real-time coordinate perpendicular to the paving direction as the value of the loading coordinate perpendicular to the paving direction; Step S53, determining the loading coordinate according to the value of the loading coordinate along the paving direction and the value of the loading coordinate perpendicular to the paving direction.

6. The forklift-based multi-joint control method according to claim 1, characterized in that: In step S6, the method of controlling the corresponding loading travel speed of the forklift in response to the single loading coordinate and the brick laying speed includes: Step S61, determining the paving time according to the product of the standard number and the paving speed; Step S62, determining the feeding travel distance according to the feeding coordinates and the floor tile stacking area coordinates; Step S63, determining the feeding speed according to the quotient of the feeding distance and the brick laying time.

7. The forklift-based multi-joint control method according to claim 1, characterized in that: In step S7, the method of determining the distance characterization state between the road paver and the forklift during loading and determining the loading coordination state between the forklift and the brick paving machine according to the distance characterization state and the brick paving rate includes: Step S71, determining the loading characterization state according to the real-time distance between the paver and the forklift during a single loading, wherein: If the real-time spacings are all within the spacing range, it is determined that the feeding characterization state is normal feeding; If any of the real-time spacings is not within the spacing range, the feeding characterization state is determined to be abnormal feeding; Step S72, determining the material loading coordination state between the forklift and the brick paving machine according to whether the spacing characterization state and the brick paving speed meet the coordination coordination condition, wherein: If the spacing representation state and the brick laying speed meet the coordinated cooperation condition, the feeding coordination state is determined to be a coordinated cooperation state; If the spacing representation state and the brick laying rate do not meet the coordinated cooperation condition, the feeding coordination state is determined to be a non-coordinated coordination state; Among them, the cooperative cooperation condition is that the spacing characterization state is normal loading and the brick laying rate is greater than or equal to the preset rate.

8. The forklift-based multi-joint control method according to claim 1, characterized in that: In step S9, the method for determining the vibration characterization trend of the forklift on the paved road comprises: Step S91, obtaining acceleration data of the accelerometer in a direction perpendicular to the ground, wherein the acceleration data includes an acceleration peak value and a frequency of acceleration change; Step S92, determining the vibration characterization trend of the paved road surface according to the acceleration peak value and the change frequency, wherein: If the acceleration peak value is greater than or equal to a preset peak value and the change frequency is greater than or equal to a preset frequency, it is determined that the jitter characteristic trend of the paved road surface is a dominant jitter trend; If the acceleration peak value is less than a preset peak value or the change frequency is less than a preset frequency, it is determined that the shaking characteristic trend of the paved road surface is a latent shaking trend; If the acceleration peak value is less than a preset peak value and the change frequency is less than a preset frequency, it is determined that the vibration characteristic trend of the paved road surface is a stable trend.

9. The forklift-based multi-joint control method according to claim 8, characterized in that: In step S10, the pressure of the roller is determined in response to the vibration characterization trend, including: If the vibration characterization trend is a dominant vibration trend, the pressure of the roller is determined according to the preset pressure, the acceleration peak value and the change frequency; If the vibration characterization trend is a latent vibration trend and the acceleration peak value is less than the preset peak value, the pressure of the roller is determined according to the preset pressure and the change frequency; If the vibration characterization trend is a latent vibration trend and the change frequency is less than the preset frequency, the pressure of the roller is determined according to the preset pressure and the acceleration peak value; If the vibration characterization trend is a stable trend, the pressure of the roller is set to a preset pressure.

10. A forklift that implements the forklift-based multi-joint control method according to any one of claims 1 to 9, characterized in that: include, An accelerometer is installed at the center of gravity of the forklift to determine the acceleration data of the forklift in the direction perpendicular to the ground when the forklift is traveling on a paved road; A video shooting unit, comprising a video shooting device and a movable bracket, wherein the movable bracket is connected to the fork through a hinge, and is used to shoot a video of the shaking of the floor tiles; The image analysis unit and the video shooting unit are installed with a machine learning model to split the floor tile shaking video into several frames and use the machine learning model to analyze the shape of the floor tiles in each video frame.

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