Control method, device, equipment and storage medium for three-way forklift

Abstract

The present application discloses a control method, device, equipment, and storage medium for a three-way forklift, relating to the field of forklift control. The method comprises: obtaining real-time posture data of the three-way forklift, the real-time posture data including the lateral position data of the cantilever and the rotation angle data of the fork arm; obtaining the center point coordinates of the fork arm based on the real-time posture data; obtaining target control data of the three-way forklift based on a preset anti-collision range and the real-time posture data, the target control data including the lateral displacement data of the cantilever and the rotation data of the fork arm, wherein when the center point coordinates of the fork arm are within the preset anti-collision range, the cargo on the forklift does not interfere with obstacles on both sides of the shelf aisle; and controlling the three-way forklift to perform corresponding actions based on the target control data. The present application improves the efficiency of three-way forklift operations.

Description

Technical Field

[0001] The present application relates to the field of forklift control, and in particular to a control method, device, equipment and storage medium for a three-way forklift. Background Art

[0002] Among related technologies, three-way forklifts are characterized by their small footprint, flexibility, and high efficiency, making them suitable for densely packed warehouses. Currently, most three-way forklifts on the market are manually operated, although some unmanned forklift manufacturers have also achieved unmanned three-way forklifts.

[0003] However, whether the three-way forklift is manually driven or automatically driven, when the fork arm needs to change direction, the vehicle must first be controlled to leave the rack aisle and go to an open area, and then enter the rack aisle to perform the next action after completing the change of direction, resulting in low operating efficiency.

[0004] Application Contents

[0005] The main purpose of this application is to provide a control method, device, equipment and storage medium for a three-way forklift, aiming to solve the technical problem of low efficiency in performing operations of the three-way forklift.

[0006] In a first aspect, to achieve the above-mentioned objectives, the present application provides a control method for a three-way forklift, the three-way forklift comprising a mast, a cantilever, and a fork arm, wherein the cantilever is movably connected to the mast in a horizontal direction, and the fork arm is rotatably connected to the cantilever, the method comprising:

[0007] Obtain the real-time posture data of the three-way forklift, which includes the lateral position data of the cantilever and the rotation angle data of the fork arm;

[0008] According to the real-time posture data, the coordinates of the center point of the fork arm are obtained;

[0009] Based on the preset anti-collision range and real-time posture data, the target control data of the three-way forklift is obtained. The target control data includes the lateral movement data of the cantilever and the rotation data of the fork arm. When the coordinates of the center point of the fork arm are within the preset anti-collision range, the goods on the forklift will not interfere with the obstacles on both sides of the shelf aisle.

[0010] According to the target control data, the three-way forklift is controlled to perform corresponding actions.

[0011] Optionally, according to the target control data, the three-way forklift is controlled to perform corresponding actions, including:

[0012] Acquiring task information, wherein the task information includes task point location information;

[0013] Determining whether the fork arm needs to be reversed according to the task information and the real-time posture data;

[0014] If it is determined that the fork arm needs to be reversed, the three-way forklift is controlled to perform a corresponding action according to the target control data.

[0015] Optionally, if it is determined that the fork arm needs to be reversed, controlling the three-way forklift to perform a corresponding action according to the target control data includes:

[0016] If it is determined that the fork arm does not need to be reversed, the three-way forklift is controlled to go to the task point according to the position information of the task point.

[0017] Optionally, if it is determined that the fork arm needs to be reversed, controlling the three-way forklift to perform a corresponding action according to the target control data includes:

[0018] If it is determined that the fork arm needs to be reversed, the three-way forklift is controlled to perform a corresponding action according to the target control data, and the three-way forklift is controlled to go to the task point according to the task point position information.

[0019] Optionally, according to the target control data, the three-way forklift is controlled to perform corresponding actions, including:

[0020] If it is determined that the fork arm needs to be reversed, the three-way forklift is controlled to perform the corresponding action according to the target control data;

[0021] According to the location information of the task point, the three-way forklift is controlled to go to the task point.

[0022] Optionally, an angle sensor is installed at the hinge between the cantilever and the fork arm, and the angle sensor is used to monitor the rotation angle data of the fork arm.

[0023] Optionally, a distance measuring sensor is installed at the gantry, and the distance measuring sensor is used to monitor the lateral position data of the cantilever.

[0024] In a second aspect, the present application further provides a control device for a three-way forklift, the control device for a three-way forklift comprising:

[0025] An acquisition module is used to obtain real-time posture data of the three-way forklift, the real-time posture data including the lateral position data of the cantilever and the rotation angle data of the fork arm;

[0026] The center point coordinate acquisition module is used to obtain the center point coordinates of the fork arm based on real-time posture data;

[0027] The target control data acquisition module is used to obtain the target control data of the three-way forklift based on the preset anti-collision range and real-time posture data. The target control data includes the lateral movement data of the cantilever and the rotation data of the fork arm. When the coordinates of the center point of the fork arm are within the preset anti-collision range, the cargo on the forklift does not interfere with the obstacles on both sides of the shelf aisle.

[0028] The control module is used to control the three-way forklift to perform corresponding actions according to the target control data.

[0029] In a third aspect, the present application also provides a control device for a three-way forklift, comprising: a processor, a memory, and a control program for the three-way forklift stored in the memory. When the control program for the three-way forklift is executed by the processor, the steps of the control method for the three-way forklift in the first aspect of the present application are implemented.

[0030] In a fourth aspect, the present application further provides a computer-readable storage medium, on which a control program for a three-way forklift is stored. When the control program for the three-way forklift is executed by a processor, the control method for the three-way forklift according to the first aspect of the present application is implemented.

[0031] A control method for a three-way forklift proposed in an embodiment of the present application obtains real-time posture data of the three-way forklift, the real-time posture data including the lateral position data of the cantilever and the rotation angle data of the fork arm; the center point coordinates of the fork arm are obtained based on the real-time posture data; target control data of the three-way forklift is obtained based on a preset anti-collision range and the real-time posture data, the target control data including the lateral movement data of the cantilever and the rotation data of the fork arm, wherein when the center point coordinates of the fork arm are within the preset anti-collision range, the goods on the forklift do not interfere with the obstacles on both sides of the shelf aisle; and the three-way forklift is controlled to perform corresponding actions based on the target control data.

[0032] Therefore, this application determines the center point coordinates of the fork arm through the real-time posture data of the three-way forklift, and then controls the center point coordinates of the fork arm within the preset anti-collision range, thereby realizing the forklift's reversal in the shelf aisle and improving the forklift's operating efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0033] Figure 1 A schematic diagram of the architecture of a control system of a three-way forklift according to the control method of the three-way forklift of the present application;

[0034] Figure 2 A schematic structural diagram of a three-way forklift control device in the hardware operating environment of the three-way forklift control method of the present application;

[0035] Figure 3 This is a flow chart of a first embodiment of a control method for a three-way forklift provided by the present application;

[0036] Figure 4 This is a schematic diagram of the module of the control device of the three-way forklift of this application;

[0037] Figure 5 Schematic diagram of a three-way forklift according to the control method of the three-way forklift of the present application.

[0038] The realization of the objectives, functional features and advantages of this application will be further explained in conjunction with embodiments and with reference to the accompanying drawings. DETAILED DESCRIPTION

[0039] It should be understood that the specific embodiments described herein are only used to explain the present application and are not intended to limit the present application.

[0040] Three-way forklifts, as they are known in related technologies, require minimal space, are flexible, and are highly efficient, making them suitable for densely packed warehouses. However, most three-way forklifts currently on the market are manually operated. Whether manually or autonomously operated, existing three-way forklifts require the vehicle to exit the rack aisle and move to an open area before reversing its fork arm, which in turn requires the vehicle to reenter the rack aisle to perform the next action. This results in low operational efficiency.

[0041] In order to solve the above problems, the present application provides a control method for a three-way forklift, which obtains the real-time posture data of the three-way forklift, and the real-time posture data includes the lateral position data of the cantilever and the rotation angle data of the fork arm; according to the real-time posture data, the center point coordinates of the fork arm are obtained; according to the preset anti-collision range and the real-time posture data, the target control data of the three-way forklift are obtained, and the target control data includes the lateral position data of the cantilever and the rotation data of the fork arm, wherein when the center point coordinates of the fork arm are within the preset anti-collision range, the goods on the forklift do not interfere with the obstacles on both sides of the shelf aisle; according to the target control data, the three-way forklift is controlled to perform corresponding actions. Therefore, after the present application determines the center point coordinates of the fork arm through the real-time posture data of the three-way forklift, it realizes the forklift's reversal in the shelf aisle by controlling the center point coordinates of the fork arm within the preset anti-collision range, thereby improving the operating efficiency of the forklift.

[0042] The inventive concept of the present application is further described below with reference to some specific embodiments.

[0043] The following describes the control system of a three-way forklift truck used in the implementation of the present invention.

[0044] Reference Figure 1 , Figure 1 FIG. 1 is a schematic diagram of a control system for a three-way forklift provided by an exemplary embodiment. Figure 1 As shown, the control system of the three-way forklift may include a server 11, a network 12, and a control terminal 13 of the three-way forklift.

[0045] The server 11 can be a physical server containing a standalone host, or a virtual server hosted by a host cluster. During operation, the server 11 can run the server-side program of a certain application to implement the relevant business functions of the application. For example, when the control terminal 13 of a three-way forklift obtains the real-time position data of the three-way forklift, the server 11 can serve as the server of the application for obtaining the real-time position data of the three-way forklift, supporting the control terminal 13 of the three-way forklift to complete the task of obtaining the real-time position data of the three-way forklift.

[0046] The network 12 may include various types of wired or wireless networks. In one embodiment, the network 12 may include a public switched telephone network (PSTN) and the Internet. The control terminal 13 of the three-way forklift can interact with the server 11 via the network 12.

[0047] The control terminal 13 of the three-way forklift can include electronic devices such as the following types: a control workstation, a smart phone, a tablet device, a laptop computer, a PDA (Personal Digital Assistants), etc., and one or more embodiments of this specification are not limited to this. During operation, the control terminal 13 of the three-way forklift can run the program on the control side of the three-way forklift to implement the relevant business functions of the application. And it can be understood that in other embodiments, the control terminal 13 of the three-way forklift can run some applications that are loaded with functions such as display and modification. For example, when the control terminal 13 of the three-way forklift runs the control program of the three-way forklift, the control terminal 13 of the three-way forklift can realize the client of the control display of the three-way forklift.

[0048] Reference Figure 2 , Figure 2 This is a structural diagram of the control device of a three-way forklift in the hardware operating environment involved in the embodiment of the present application.

[0049] like Figure 2As shown, the control device of the three-way forklift may include: a processor 1001, such as a central processing unit (CPU), a communication bus 1002, a user interface 1003, a network interface 1004, and a memory 1005. Among them, the communication bus 1002 is used to realize the connection and communication between these components. The user interface 1003 may include a display screen (Display), an input unit such as a keyboard (Keyboard), and optionally the user interface 1003 may also include a standard wired interface and a wireless interface. The network interface 1004 may optionally include a standard wired interface and a wireless interface (such as a wireless fidelity (WI-FI) interface). The memory 1005 may be a high-speed random access memory (RAM) memory, or a stable non-volatile memory (NVM), such as a disk storage. The memory 1005 may also be a storage device independent of the aforementioned processor 1001.

[0050] Those skilled in the art will understand that Figure 2 The structure shown in the figure does not constitute a limitation on the control device of the three-way forklift, and may include more or less components than shown in the figure, or combine certain components, or arrange the components differently.

[0051] like Figure 2 As shown, the memory 1005 as a storage medium may include an operating system, a data storage module, a network communication module, a user interface module and a control program for a three-way forklift.

[0052] exist Figure 2 In the control device of the three-way forklift shown, the network interface 1004 is mainly used for data communication with the network server; the user interface 1003 is mainly used for data interaction with the user; the processor 1001 and the memory 1005 in the control device of the three-way forklift of the present application can be set in the control device of the three-way forklift. The control device of the three-way forklift calls the control program of the three-way forklift stored in the memory 1005 through the processor 1001 and executes the control method of the three-way forklift provided in the embodiment of the present application.

[0053] Based on the hardware structure of the control device of the three-way forklift described above but not limited to the above hardware structure, the present application provides a first embodiment of a control method for a three-way forklift. Figure 3 , Figure 3 A flow chart of a first embodiment of a control method for a three-way forklift truck according to the present application is shown.

[0054] It should be noted that although a logical order is shown in the flowcharts, in some cases, the steps shown or described may be performed in an order different from that shown or described here.

[0055] In this embodiment, the control method of the three-way forklift includes:

[0056] Step S10, obtaining real-time posture data of the three-way forklift, the real-time posture data including the lateral position data of the cantilever and the rotation angle data of the fork arm;

[0057] It should be understood that a three-way forklift refers to a high-lift stacking vehicle that can stack or pick up goods in front of and on either side of the vehicle. The three-way forklift includes components such as a body, a gantry, a cantilever, and a fork arm. The gantry of the three-way forklift can move vertically relative to the body, the cantilever can move horizontally left and right on the gantry, and the fork arm of the three-way forklift can rotate on the cantilever. Generally speaking, posture data includes position data and posture data. For a three-way forklift, its real-time posture data refers to the position data and posture data of the three-way forklift at real time, such as the coordinate position of the forklift. In this embodiment, the problem of interference between the goods on the fork arm and the items on the shelf is addressed, and the interference is mainly affected by the current motion state of the cantilever and fork arm. Therefore, the real-time posture data of the three-way forklift includes the lateral position data of the cantilever and the rotation angle data of the fork arm. The three-way forklift control device obtains the lateral position data of the three-way forklift through a distance sensor and obtains the rotation angle data of the three-way forklift through an angle sensor. As a specific embodiment, an angle sensor is installed at the joint between the cantilever and the fork arm, and the angle sensor is used to monitor the rotation angle data of the fork arm. As a specific embodiment, a distance sensor is installed at the gantry, and the distance sensor is used to monitor the lateral position data of the cantilever.

[0058] Step S20, obtaining the center point coordinates of the fork arm according to the real-time posture data;

[0059] Specifically, see Figure 5 , with the mast horizontal line as the Y-axis and the mast horizontal length center point as the origin O, the X-axis perpendicular to the Y-axis is obtained based on the Y-axis and the origin O. The X-axis, Y-axis, and the origin O form a plane rectangular coordinate system. It can be understood that the fork arm rotation center and the cantilever distance are fixed, while the cantilever's lateral displacement distance is available. Therefore, the control device of the three-way forklift can calculate the coordinates of the fork arm's center point based on the lateral position data, the fork arm's rotation angle data, and the plane rectangular coordinate system.

[0060] In step S30, target control data of the three-way forklift is obtained based on the preset anti-collision range and the real-time posture data. The target control data includes the lateral movement data of the cantilever and the rotation data of the fork arm. When the coordinates of the center point of the fork arm are within the preset anti-collision range, the goods on the forklift do not interfere with the obstacles on both sides of the shelf aisle.

[0061] It is understandable that for warehouses, the shelf aisles are fixed and known. In order to smoothly remove the goods, the packing size of the goods must be smaller than the shelf aisles. On this basis, the preset anti-collision range is an interval delineated on the Y-axis, that is, an interval in the width direction of the shelf aisle, and the center point of the interval is the origin of the coordinate system. When the horizontal coordinate of the center point of the fork arm is within this interval, the surface of the goods on the fork arm will not collide with the obstacles on both sides of the shelf aisle. Therefore, based on the preset anti-collision range and real-time posture data, the lateral movement data of the cantilever and the rotation data of the fork arm required to control the coordinates of the center point of the fork arm to be within the preset anti-collision range can be calculated.

[0062] Among them, the target control data of the three-way forklift is obtained in the following way:

[0063] use Indicates the posture state of the fork arm, represents the control action of lateral movement and rotation, then the state and control action of the system at time k and time k+1 satisfy the following state space equations:

[0064] Formula 1: X(k+1)=AX(k)+BU(k)

[0065] Where A and B are coefficient matrices, A=I (I represents the identity matrix), a and b are related to the actuator and represent the ratio of the control amount to the lateral displacement and rotation speed of the fork arm respectively.

[0066] F represents the distance between the cargo and the fork arm center point M and the x-axis, that is, the length of |MN| in the figure, which is also the absolute value of the left and right boundary points of the preset anti-collision range.

[0067] From the geometric relationship, we can see

[0068] Formula 2: F = y + c * sin (yaw), where c = |MP|;

[0069] Use Taylor expansion on formula 2 at y = y(k), yaw = yaw(k), ignore the higher-order terms, and keep only the first-order terms, and we get

[0070] Formula 3:

[0071] That is, F=F(k)+yy(k)+c*cos(yaw(k))*(yaw-yaw(k))

[0072] Therefore, the distance between the cargo and the fork arm center point and the x-axis at time k+1 and the state and control quantities at time k satisfy the following relationship:

[0073] Formula 4: F(k+1)=F(k)+y(k+1)-y(k)+c*cos(yaw(k))*(yaw(k+1)-yaw(k))

[0074] Substitute formula 1 into the above formula and simplify it, and we can get

[0075] Formula 5: F(k+1)=y(k)+c*sin(yaw(k))+[1 c*cos(yaw(k))]·(B(k)U(k))

[0076] When the fork arm changes direction, in order to avoid the collision between the pallet or fork arm and the shelf, it is only necessary to minimize the distance between the center point of the cargo and the fork arm from the x-axis at any time. The problem is transformed into solving the problem of solving the constraint U at time k. min <=U<=U max The control quantity U(k) under the condition of |F(k+1)| is minimized, where the constraint U min The table shows the minimum control required to make the fork arm move, U max Indicates the maximum control that the actuator can provide.

[0077] It can be understood that the control quantity U(k) consists of two parts: one is the constant traction and torque when the fork arm changes direction, and the other is the control function to prevent collision with the shelf. In order to minimize the distance between the cargo and the fork arm center point from the x-axis at any time, it is necessary to optimize the overall control. At each moment, the optimal solution is obtained based on the current state quantity and the optimal target at the next moment. The optimal target in this embodiment is

[0078] Formula 6:

[0079] Let t = [1 c*cos(yaw(k))]·(B(k)U(k)), and substitute it into formula 5 to obtain,

[0080] Formula 7: F = y + c * sin (yaw) + t

[0081] Squaring both sides of the equation, we get

[0082] Formula 8: F 2 =y 2 +2*y*c*sin(yaw)+c 2 *sin 2 (yaw)+2*y*c*sin(yaw)*t+t 2

[0083] Obviously, when t=-y*c*sin(yaw), F 2 Get the minimum value. Therefore, the optimal solution satisfies the function

[0084] Formula 9: [1 c*cos(yaw(k))]·(B(k)U(k))=-y(k)+c*sin(yaw(k))

[0085] Will Substituting into formula 9, the optimal solution at time k is

[0086] Formula 10:

[0087] Formula 10 is the target control data.

[0088] Step S40: Control the three-way forklift to perform corresponding actions according to the target control data.

[0089] It should be understood that the control device of the three-way forklift controls the movement of the three-way forklift, and the target control data also includes the control lateral movement data of the cantilever and the control rotation data of the fork arm. According to the control lateral movement data of the cantilever, the control device of the three-way forklift can control the lateral movement of the cantilever of the three-way forklift; according to the control rotation data of the fork arm, the control device of the three-way forklift can control the rotation of the fork arm of the three-way forklift.

[0090] In this embodiment, after determining the center point coordinates of the fork arm through the real-time posture data of the three-way forklift, the center point coordinates of the fork arm are controlled within the preset anti-collision range, thereby achieving the forklift's reversal in the shelf aisle and improving the forklift's operating efficiency.

[0091] As a specific implementation, step S40, controlling the three-way forklift to perform corresponding actions according to the target control data, includes:

[0092] Step S401: Acquire task information, wherein the task information includes task point location information.

[0093] It's important to understand that a three-way forklift is used to pick up and place goods. Task information refers to the task instructions assigned by the warehouse management center to a single three-way forklift. Task information includes the target goods, their current storage location, and their target placement location.

[0094] Step S402: judging whether the fork arm needs to be reversed based on the task information and the real-time posture data;

[0095] It should be understood that determining whether the fork arm needs to be reversed means that when the warehouse manager receives a pickup instruction, he or she will determine the task information from the cargo information database based on the pickup instruction. The task information includes the location and specification information of the target cargo.

[0096] It can be determined based on the task information and real-time posture data determined by the warehouse management system whether the fork arm of the three-way forklift can be allowed to pick up the target goods without changing direction. If it is determined based on the task information and real-time posture data determined by the warehouse management system that the fork arm of the three-way forklift cannot be allowed to pick up the target goods without changing direction, the fork arm of the three-way forklift needs to be changed direction; if it is determined based on the task information and real-time posture data determined by the warehouse management system that the fork arm of the three-way forklift can be allowed to pick up the target goods without changing direction, the fork arm of the three-way forklift does not need to be changed direction.

[0097] Step S403: If it is determined that the fork arm needs to be reversed, the three-way forklift is controlled to perform a corresponding action according to the target control data.

[0098] It should be understood that if the task information and real-time posture data determined by the warehouse management system cannot allow the fork arm of the three-way forklift to obtain the target goods determined by the warehouse management system, then it is determined that the fork arm needs to be changed direction, and the control device of the three-way forklift is required to control the three-way forklift to perform the corresponding action according to the target control data.

[0099] As a specific implementation, in step S403, if it is determined that the fork arm needs to be reversed, the three-way forklift is controlled to perform corresponding actions according to the target control data, including:

[0100] Step S4031: If it is determined that the fork arm does not need to be reversed, the three-way forklift is controlled to go to the task point according to the task point position information.

[0101] It should be understood that if the task information determined by the warehouse management system and the real-time posture data obtained by the control device of the three-way forklift can enable the fork arm of the three-way forklift to obtain the target goods, then it is determined that the fork arm does not need to change direction, and the target goods information determined by the warehouse management system, that is, the task point information, is directly sent to the forklift control system, so that the three-way forklift can travel to the task point and obtain the target goods.

[0102] In this embodiment, the fork arm determines whether it needs to change direction based on task information and real-time posture data. If so, the three-way forklift is controlled to perform the corresponding action based on the target control data. If the fork arm does not need to change direction, this information is sent to the forklift control system, causing the three-way forklift to travel to the task point and retrieve the target cargo. Thus, by first determining whether the fork arm needs to change direction based on task information and real-time posture data, and then controlling the fork arm to reach the task point and retrieve the target cargo, fork arm control becomes more accurate and improves work efficiency.

[0103] This application provides a second embodiment of a control method for a three-way forklift. In this embodiment, in step S403, if it is determined that the fork arm needs to be reversed, the three-way forklift is controlled to perform corresponding actions according to the target control data, specifically including:

[0104] Step S4032: If it is determined that the fork arm needs to be reversed, the three-way forklift is controlled to perform a corresponding action according to the target control data, and the three-way forklift is controlled to go to the task point according to the task point location information.

[0105] It should be understood that when the control device of the three-way forklift receives a pick-up instruction, it determines the task information from the cargo information database according to the pick-up instruction, and determines whether the fork arm needs to change direction based on the target cargo information and real-time posture data. If it is determined that the fork arm needs to change direction, the control device of the three-way forklift controls the three-way forklift to perform the corresponding action according to the target control data and at the same time controls the three-way forklift to go to the task point according to the task point location information.

[0106] In this embodiment, if the control device of the three-way forklift determines that the fork arm needs to change direction, it controls the three-way forklift to perform the corresponding action based on the target control data, and simultaneously controls the three-way forklift to proceed to the task point based on the task point location information. In this way, the control device of the three-way forklift can simultaneously proceed to the task point to obtain the target cargo while changing direction, providing convenience.

[0107] The present application provides a third embodiment of a control method for a three-way forklift. In this embodiment, step S40 controls the three-way forklift to perform corresponding actions according to target control data, including:

[0108] Step S4033: If it is determined that the fork arm needs to be reversed, the three-way forklift is controlled to perform the corresponding action according to the target control data;

[0109] Step S4034: Control the three-way forklift to go to the task point according to the task point location information.

[0110] It should be understood that when the control device of the three-way forklift receives a pick-up instruction, it determines the task information from the cargo information database according to the pick-up instruction, and determines whether the fork arm needs to be reversed according to the target cargo information and real-time posture data. If it is determined that the fork arm needs to be reversed, the three-way forklift first goes to the reversing point. After completing the reversal of the fork arm according to the target control information, the control device of the three-way forklift controls the three-way forklift to go to the task point according to the position information of the task point. The reversing point can be selected arbitrarily by the warehouse manager, and can be selected anywhere in the aisle as the reversing point.

[0111] In this embodiment, if the control device of the three-way forklift determines that the fork arm needs to be reversed, it controls the three-way forklift to perform the corresponding action based on the target control data. After the three-way forklift completes the fork arm reversal, the control device controls the three-way forklift to proceed to the task point based on the location information of the task point. Thus, the control device of the three-way forklift can first proceed to the reversal point to reverse, and after the fork arm reversal is completed, it proceeds to the task point to retrieve the target cargo, thereby improving convenience.

[0112] Based on the same application concept, this application also provides a control device for a three-way forklift. Figure 4 , Figure 4 This is a schematic diagram of the structure of a control device for a three-way forklift provided in this application, which specifically includes:

[0113] An acquisition module 400 is used to acquire real-time posture data of the three-way forklift, the real-time posture data including the lateral position data of the cantilever and the rotation angle data of the fork arm;

[0114] The center point coordinate acquisition module 500 is used to obtain the center point coordinates of the fork arm according to the real-time posture data;

[0115] The target control data acquisition module 600 is used to obtain target control data for the three-way forklift based on the preset anti-collision range and real-time posture data. The target control data includes the lateral movement data of the cantilever and the rotation data of the fork arm. When the coordinates of the center point of the fork arm are within the preset anti-collision range, the cargo on the forklift does not interfere with obstacles on both sides of the shelf aisle.

[0116] The control module 700 is used to control the three-way forklift to perform corresponding actions according to the target control data.

[0117] The technical solution in this embodiment, through the mutual cooperation between various functional modules, proposes a control device for a three-way forklift, which obtains the real-time posture data of the three-way forklift, and the real-time posture data includes the lateral position data of the cantilever and the rotation angle data of the fork arm; according to the real-time posture data, the center point coordinates of the fork arm are obtained; according to the preset anti-collision range and the real-time posture data, the target control data of the three-way forklift is obtained, and the target control data includes the lateral displacement data of the cantilever and the rotation data of the fork arm, wherein when the center point coordinates of the fork arm are within the preset anti-collision range, the goods on the forklift do not interfere with the obstacles on both sides of the shelf aisle; according to the target control data, the three-way forklift is controlled to perform corresponding actions. Therefore, after the present application determines the center point coordinates of the fork arm through the real-time posture data of the three-way forklift, it realizes the forklift's reversal in the shelf aisle by controlling the center point coordinates of the fork arm within the preset anti-collision range, thereby improving the operating efficiency of the forklift.

[0118] In addition, an embodiment of the present application further proposes a computer storage medium, on which a control program for a three-way forklift is stored. When the control program for the three-way forklift is executed by a processor, the steps of the control method for the three-way forklift as described above are implemented. Therefore, no further description will be given here. In addition, the description of the beneficial effects of adopting the same method will not be repeated. For technical details not disclosed in the computer-readable storage medium embodiment involved in this application, please refer to the description of the method embodiment of this application. As an example, the program instructions can be deployed to be executed on one computing device, or on multiple computing devices located at one location, or on multiple computing devices distributed at multiple locations and interconnected by a communication network.

[0119] Those skilled in the art will appreciate that all or part of the processes in the above-described method embodiments can be implemented by instructing related hardware through a computer program. The above-described program can be stored in a computer-readable storage medium. When the program is executed, it can include the processes in the above-described method embodiments. The above-described storage medium can be a magnetic disk, an optical disk, a read-only memory (ROM), or a random access memory (RAM).

[0120] It should also be noted that the device embodiments described above are merely illustrative, wherein the units described as separate components may or may not be physically separate, and the components displayed as units may or may not be physical units, that is, they may be located in one place, or they may be distributed across multiple network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the present embodiment. In addition, in the drawings of the device embodiments provided in this application, the connection relationship between the modules indicates that there is a communication connection between them, which may be specifically implemented as one or more communication buses or signal lines. A person of ordinary skill in the art can understand and implement the present invention without inventive work.

[0121] Through the description of the above embodiments, it is clear to those skilled in the art that the present application can be implemented by means of software plus necessary general hardware, and of course it can also be implemented by dedicated hardware including application-specific integrated circuits, dedicated CPUs, dedicated memories, dedicated components, etc. In general, all functions performed by computer programs can be easily implemented with corresponding hardware, and the specific hardware structures used to implement the same function can also be various, such as analog circuits, digital circuits, or dedicated circuits, etc. However, for the present application, software program implementation is a better implementation method in most cases. Based on such an understanding, the technical solution of the present application is essentially or the part that contributes to the prior art can be embodied in the form of a software product, which is stored in a readable storage medium, such as a computer's floppy disk, USB flash drive, mobile hard disk, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), disk or optical disk, etc., including a number of instructions to enable a computer device (which can be a personal computer, server, or network device, etc.) to execute the method of each embodiment of the present application.

[0122] The above are only preferred embodiments of the present application and do not limit the patent scope of the present application. Any equivalent structure or equivalent process transformation made using the contents of the present application specification and drawings, or directly or indirectly applied in other related technical fields, are also included in the patent protection scope of the present application.

Claims

1. A control method for a three-way forklift, characterized in that: The three-way forklift comprises a mast, a cantilever and a fork arm, wherein the cantilever is movably connected to the mast in a horizontal direction, and the fork arm is rotatably connected to the cantilever, and the method comprises: Acquiring real-time position data of the three-way forklift, wherein the real-time position data includes lateral position data of the cantilever and rotation angle data of the fork arm; Obtaining the center point coordinates of the fork arm according to the real-time posture data; Under the condition that the coordinates of the center point of the fork arm are kept within a preset anti-collision range, target control data of the three-way forklift is calculated based on the real-time posture data, wherein the target control data includes the lateral movement data of the cantilever and the rotation data of the fork arm, wherein when the coordinates of the center point of the fork arm are within the preset anti-collision range, the goods on the forklift do not interfere with obstacles on both sides of the shelf aisle; According to the target control data, the cantilever is controlled to move laterally and the fork arm is controlled to rotate, so that the three-way forklift completes a reversing operation in the rack aisle; Calculating target control data of the three-way forklift according to the real-time posture data specifically includes: At the current moment, calculating a first offset distance of the center point of the fork arm and the entire cargo relative to the perpendicular midline of the mast; Based on the first offset distance at the current moment, with the goal of minimizing the second offset distance of the center point of the fork arm and the entire cargo relative to the median perpendicular line of the portal frame at the next moment, the control data corresponding to the current moment is solved as the target control data.

2. The control method of a three-way forklift according to claim 1, characterized in that: The step of controlling the cantilever to move laterally and the fork arm to rotate according to the target control data so that the three-way forklift completes the reversing operation in the rack aisle includes: Acquiring task information, wherein the task information includes task point location information; Determining whether the fork arm needs to be reversed according to the task information and the real-time posture data; If it is determined that the fork arm needs to be reversed, the cantilever is controlled to move laterally and the fork arm is controlled to rotate according to the target control data, so that the three-way forklift completes the reversing operation in the shelf aisle.

3. The control method of a three-way forklift according to claim 2, characterized in that: After determining whether the fork arm needs to be reversed based on the task information and the real-time posture data, the control method of the three-way forklift further includes: If it is determined that the fork arm does not need to be reversed, the three-way forklift is controlled to go to the task point according to the position information of the task point.

4. The control method of a three-way forklift according to claim 2, characterized in that: If it is determined that the fork arm needs to be reversed, the cantilever is controlled to move laterally and the fork arm is controlled to rotate according to the target control data, so that the three-way forklift completes the reversing operation in the rack aisle, including: If it is determined that the fork arm needs to change direction, the cantilever is controlled to move laterally and the fork arm is controlled to rotate according to the target control data, so that the three-way forklift completes the reversing operation in the shelf aisle, and the three-way forklift is controlled to go to the task point according to the task point position information.

5. The control method of a three-way forklift according to claim 2, characterized in that: If it is determined that the fork arm needs to be reversed, the cantilever is controlled to move laterally and the fork arm is controlled to rotate according to the target control data, so that the three-way forklift completes the reversing operation in the rack aisle, including: If it is determined that the fork arm needs to be reversed, the cantilever is controlled to move laterally and the fork arm is controlled to rotate according to the target control data, so that the three-way forklift completes the reversing operation in the rack aisle; According to the location information of the task point, the three-way forklift is controlled to go to the task point.

6. The control method of a three-way forklift according to claim 1, characterized in that: An angle sensor is installed at the hinged joint of the cantilever and the fork arm, and the angle sensor is used to monitor the rotation angle data of the fork arm.

7. The control method of a three-way forklift according to claim 1, characterized in that: A distance measuring sensor is installed at the gantry, and the distance measuring sensor is used to monitor the lateral position data of the cantilever.

8. A control device for a three-way forklift, characterized in that: The control device of the three-way forklift includes: an acquisition module, configured to acquire real-time position data of the three-way forklift, wherein the real-time position data includes lateral position data of the cantilever and rotation angle data of the fork arm; A center point coordinate acquisition module is used to obtain the center point coordinates of the fork arm according to the real-time posture data; a target control data acquisition module, configured to calculate target control data of the three-way forklift based on the real-time posture data while maintaining the coordinates of the center point of the fork arm within a preset anti-collision range, wherein the target control data includes lateral movement data of the cantilever and rotation data of the fork arm, wherein when the coordinates of the center point of the fork arm are within the preset anti-collision range, the cargo on the forklift does not interfere with obstacles on both sides of the shelf aisle; The target control data acquisition module is specifically configured to calculate, at a current moment, a first offset distance of the center point of the fork arm and the entire cargo relative to the perpendicular midline of the mast; based on the first offset distance at the current moment, with the goal of minimizing a second offset distance of the center point of the fork arm and the entire cargo relative to the perpendicular midline of the mast at a next moment, solve for control data corresponding to the current moment as the target control data; A control module is used to control the cantilever to move laterally and the fork arm to rotate according to the target control data, so that the three-way forklift completes a reversing operation in the shelf aisle.

9. A control device for a three-way forklift, characterized in that: include: A processor, a memory, and a control program for a three-way forklift stored in the memory, wherein the control program for the three-way forklift is executed by the processor to implement the steps of the control method for a three-way forklift according to any one of claims 1 to 7.

10. A computer-readable storage medium, characterized in that The computer-readable storage medium stores a control program for a three-way forklift, and when the control program for the three-way forklift is executed by a processor, the control method for a three-way forklift according to any one of claims 1 to 7 is implemented.

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