A control method and related equipment for a multi-forklift

Abstract

The present invention discloses a control method and related equipment for a multi-forklift. The method comprises: upon detecting a forklift task, obtaining a forklift status; determining an active forklift corresponding to the forklift status based on the forklift task and the forklift status; and controlling the active forklift to perform the forklift task based on the forklift task. The present invention achieves automatic control of multiple forks, improving cargo transportation efficiency while ensuring the safety of the forks when performing tasks.

Description

Technical Field

[0001] The present invention relates to the technical field of transportation operations, and in particular to a control method and related equipment for a multi-forklift. Background Art

[0002] Forklifts are industrial handling vehicles, referring to various wheeled transport vehicles used for loading, unloading, stacking, and short-distance transportation of palletized goods. With the advancement of intelligent technology, unmanned forklift technology has rapidly developed. "Unmanned forklifts," also known as "forklift AGVs," are intelligent industrial vehicle robots. Unmanned forklifts integrate forklift and AGV technologies. By incorporating advanced guidance technologies, mapping algorithms, embedded vehicle software, and safety avoidance technologies, they enable automated guidance, handling, and stacking, thus enabling unmanned forklift operations.

[0003] Unmanned forklift control systems typically control the motion of only one fork arm. However, in many industrial applications, when unmanned forklifts are picking up and placing goods in the same or different warehouses, multiple round trips are required with only one fork arm, resulting in low efficiency. However, with multiple fork arms, such as double forks, the control process becomes more complex, making it easy for fork arm loss of control and resulting in safety accidents. Summary of the Invention

[0004] The technical problem to be solved by the present invention is that the control process of a forklift with multiple forks is complicated and prone to accidents. In view of the shortcomings of the existing technology, a control method and related equipment for a multi-forklift are provided.

[0005] In order to solve the above technical problems, the technical solutions adopted by the present invention are as follows:

[0006] A control method for a multi-forklift, the method comprising:

[0007] When a fork arm task is detected, the fork arm status is obtained;

[0008] Determining an activated fork arm corresponding to the fork arm state according to the fork arm task and the fork arm state;

[0009] According to the fork arm task, the activated fork arm is controlled to perform the fork arm task.

[0010] The control method of the multi-forklift, wherein the fork arm state includes a double-arm loaded state, a single-arm loaded state and / or a double-arm idle state;

[0011] The fork arm tasks include loading tasks, unloading tasks and / or rest tasks.

[0012] The control method of the multi-forklift, wherein determining the activated fork arm corresponding to the fork arm state according to the fork arm task and the fork arm state comprises:

[0013] When the fork arm task is a loading task and the fork arm state is a double-arm load state, it is determined that the activated fork arm is empty;

[0014] When the fork arm task is a loading task and the fork arm state is a single-arm load state, determining that the activated fork arm is a lower fork arm;

[0015] When the fork arm task is a loading task and the fork arm state is a double-arm idle state, it is determined that the activated fork arm is the upper fork arm.

[0016] The control method of the multi-forklift, wherein, according to the fork arm task and the fork arm state, determining an activated fork arm corresponding to the fork arm state comprises:

[0017] When the fork arm task is an unloading task and the fork arm state is a double-arm idle state, it is determined that the activated fork arm is empty;

[0018] When the fork arm task is an unloading task and the fork arm state is a single-arm load state, determining that the activated fork arm is an upper fork arm;

[0019] When the fork arm task is an unloading task and the fork arm state is a double-arm load state, it is determined that the activated fork arm is the lower fork arm.

[0020] The control method of the multi-forklift, wherein the fork arm task includes cargo coordinates and cargo status; and controlling the activated fork arm to perform the fork arm task according to the fork arm task includes:

[0021] Obtaining the fork arm coordinates corresponding to the activated fork arm;

[0022] Calculating an offset distance according to the cargo coordinates and the fork arm coordinates;

[0023] According to the offset distance and a preset safety speed range, the activated fork arm is controlled to perform the fork arm task.

[0024] The control method of the multi-forklift, wherein controlling the activated fork arm to perform the fork arm task according to the offset distance and a preset safe speed range comprises:

[0025] Determining a position state corresponding to the activated fork arm according to the fork arm coordinates corresponding to the activated fork arm;

[0026] When the position state is a safe state, calculating an expected speed range according to the offset distance;

[0027] determining an execution speed according to the expected speed range and the safe speed range;

[0028] According to the execution speed, the activation fork arm is controlled to execute the fork arm task.

[0029] The control method of the multi-forklift, wherein the method further comprises:

[0030] When the offset distance and / or the expected speed range meet the preset feedback rules, terminating the task execution and generating feedback information;

[0031] The feedback rules include:

[0032] The offset distance exceeds the corresponding movement range of the activation fork arm;

[0033] The expected speed range and the safe speed range do not overlap.

[0034] The control method of the multi-forklift, wherein, after determining the activated fork arm corresponding to the fork arm state according to the fork arm task and the fork arm state, further comprises:

[0035] Acquiring a static coordinate of a static fork arm, wherein the static fork arm is a fork arm other than the activated fork arm;

[0036] determining whether the stationary fork arm is a safe fork arm according to the offset distance and the stationary coordinates;

[0037] If not, the stationary fork arm is reset.

[0038] A computer-readable storage medium stores one or more programs, wherein the one or more programs can be executed by one or more processors to implement the steps in any of the above-mentioned methods for controlling a multi-forklift.

[0039] A terminal device comprises: a processor, a memory and a communication bus; the memory stores a computer-readable program executable by the processor;

[0040] The communication bus realizes the connection and communication between the processor and the memory;

[0041] When the processor executes the computer-readable program, the steps in any of the above-mentioned methods for controlling a multi-forklift are implemented.

[0042] Beneficial Effects: In this embodiment, when a fork arm task is detected, the fork arm status is obtained to determine whether each fork arm is loaded with cargo and its specific coordinates. Then, based on the fork arm task and fork arm status, a suitable fork arm is selected from multiple forks as the active fork arm, and the active fork arm is controlled to perform the fork arm task, rather than randomly selecting a fork arm. Furthermore, the activation of the fork arm and the execution of the task are determined based on the task content and fork arm status, reducing the possibility of safety accidents, improving safety, and ensuring forklift efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0043] Figure 1 This is a first flow chart of the control method for a multi-forklift provided by the present invention.

[0044] Figure 2 This is a second flow chart of the control method for the multi-forklift provided by the present invention.

[0045] Figure 3 This is a flow chart for determining the execution speed in the control method of the multi-forklift provided by the present invention.

[0046] Figure 4 This is a flow chart of feedback in the control method of the multi-forklift provided by the present invention.

[0047] Figure 5 This is a structural principle diagram of the terminal device provided by the present invention. DETAILED DESCRIPTION

[0048] The present invention provides a control method for a multi-forklift. To make the objectives, technical solutions, and effects of the present invention more clear and explicit, the present invention is further described in detail below with reference to the accompanying drawings and examples. It should be understood that the specific examples described herein are intended only to illustrate the present invention and are not intended to limit the present invention.

[0049] It will be understood by those skilled in the art that, unless expressly stated otherwise, the singular forms "a", "an", "said" and "the" used herein may also include the plural forms. It should be further understood that the term "comprising" used in the description of the present invention refers to the presence of the features, integers, steps, operations, elements and / or components, but does not exclude the presence or addition of one or more other features, integers, steps, operations, elements, components and / or groups thereof. It should be understood that when we refer to an element as being "connected" or "coupled" to another element, it may be directly connected or coupled to the other element, or there may be intermediate elements. In addition, "connected" or "coupled" as used herein may include wireless connections or wireless couplings. The term "and / or" used herein includes all or any units and all combinations of one or more associated listed items.

[0050] It will be understood by those skilled in the art that, unless otherwise defined, all terms (including technical and scientific terms) used herein have the same meaning as commonly understood by those skilled in the art in the art to which the present invention belongs. It should also be understood that terms such as those defined in common dictionaries should be understood to have meanings consistent with their meanings in the context of the prior art and will not be interpreted in an idealized or overly formal sense unless specifically defined as herein.

[0051] like Figure 1 and Figure 2 As shown, this embodiment provides a control method for a multi-forklift. For ease of explanation, the forklift controller is used as the execution subject. The controller is installed on the forklift to control the movement of the forklift and the operation of the fork arms. The controller here can be replaced with a device with data processing capabilities such as a central management server. The control method for a multi-forklift includes the following steps:

[0052] S10. When a fork arm task is detected, obtain the fork arm status.

[0053] Specifically, a forklift task is a task that requires the controller to control the forklift to perform a series of actions. The controller can obtain forklift tasks in various ways. In the first method, the controller may have several buttons that a user can press while sitting on the forklift to send a forklift task to the controller. In the second method, the controller may communicate with a central management device for cargo management. When the central management device determines that cargo needs to be transported, it sends a forklift task to the controller. Furthermore, based on forklift safety management, forklift tasks can be generated based on environmental, time, and other information. For example, if no pickup or delivery tasks are detected for an extended period, a rest task can be generated. This rest task instructs the forklift to return to a designated location and reset the forklift, restoring the forklift to its original state. Forklift tasks can include loading tasks for loading cargo onto the forklift, unloading tasks for unloading cargo from the forklift, and rest tasks for restoring the forklift to its original state. When a user, central management device, or other device sends a forklift task to the controller, the controller detects the forklift task.

[0054] To control the operation of the fork arms, the controller needs to be able to obtain the fork arm status, which includes the position of the fork arm and whether it is loaded. One method for obtaining the fork arm status is to install a sensor on each fork arm. This sensor can determine the fork arm's position and its position within the entire space by its distance from the ground, and determine whether it is loaded by its weight. For example, a laser sensor can determine whether a fork arm is loaded by determining whether there is an object blocking the space above the fork arm, and also determine the distance from the ground based on the laser's emission and return time. Another method for obtaining the fork arm status is to take a photo of the forklift to obtain a forklift image. Based on the forklift image, the relative position of each fork arm is calculated, and object recognition is performed on the area above the fork arm to determine whether there is cargo above the fork arm. Depending on whether there is cargo on the fork arm, the fork arm status can be divided into a two-arm loaded state, a single-arm loaded state, and a two-arm idle state.

[0055] The double-arm loaded state refers to when both forks are loaded with cargo. The single-arm loaded state refers to when a single fork is loaded with cargo. Based on the relative positions of the loaded forks, the single-arm loaded state can be further divided into an upper fork loaded state and a lower fork loaded state. In this embodiment, the two forks are divided into upper fork loaded state and lower fork loaded state based on their relative upper and lower positions. The upper fork loaded state refers to when the upper fork is loaded with cargo, and the lower fork loaded state refers to when the lower fork is loaded with cargo. The double-arm idle state refers to when neither fork is loaded with cargo.

[0056] S20. Determine, according to the fork arm task and the fork arm state, an activated fork arm corresponding to the fork arm state.

[0057] Specifically, after obtaining the fork arm task, the controller can determine the activated fork arm among the two connected forks that can be used to execute the fork arm task based on the content of the fork arm task and the fork arm status.

[0058] For example, if the fork arm task is a loading task, if the fork arm status is "double-arm loaded," it means that no new cargo can be added to the fork arm at this time. Therefore, neither fork arm can be used as the active fork arm for subsequent fork arm tasks. In this case, the active fork arm is empty. If the fork arm status is "single-arm loaded," since the upper and lower forks are generally stacked close together when the fork arm is not working, the order of picking up cargo is first the upper fork arm and then the lower fork arm. Therefore, in the single-arm loaded state, only the upper fork arm can be loaded, so the active fork arm is the lower fork arm. If the fork arm status is "double-arm idle," neither the upper or lower fork arm is carrying cargo. At this time, since the upper and lower forks are stacked, the upper fork arm should be determined as the active fork arm and used to perform the pickup task.

[0059] Taking the unloading task as an example, if the fork arm status is "Dual Arm Idle," this indicates that no cargo is placed on the fork arms, and therefore the forklift cannot perform the unloading task. In this case, the corresponding active fork arm is "empty." If the fork arm status is "Dual Arm Loaded," both the upper and lower forks are carrying cargo, and therefore both can be used for unloading. If the unloading location is low, cargo from the upper fork arm cannot pass through the lower fork arm to be placed. Instead, the upper and lower forks will collide, causing a safety accident. Therefore, the cargo from the lower fork arm must be unloaded first, and in this case, the active fork arm is determined to be the lower fork arm. If the fork arm status is "Single Arm Loaded," since cargo from the lower fork arm is unloaded first when unloading, and the upper fork arm is used first when picking up cargo, the single arm load state should indicate that the upper fork arm is carrying cargo, so the active fork arm is determined to be the upper fork arm.

[0060] Taking the fork arm task as an example, the rest task is to restore the double fork arms to a non-working state.

[0061] S30. According to the fork arm task, control the activated fork arm to execute the fork arm task.

[0062] Specifically, after determining to activate the fork arm, the activated fork arm can execute the fork arm task based on the content of the fork arm task. For example, if the fork arm task is a loading task, the fork arm task contains the coordinates of the cargo to be loaded. The cargo coordinates include the location of the cargo, the height of the cargo, and other information that can accurately locate the cargo. If the fork arm task is an unloading task, the cargo coordinates include the coordinates of the location where the cargo is to be placed, the height of the cargo after unloading, and other information that can accurately indicate the unloading location.

[0063] If it is a loading task, the fork arm is controlled to move to the bottom of the cargo to be loaded according to the coordinates of the activated fork arm and the cargo coordinates, and then moves upward to support the cargo to be loaded, completing the loading task. If it is an unloading task, the fork arm is controlled to move to the top of the unloading position according to the coordinates of the activated fork arm and the cargo coordinates, and then moves downward until it is separated from the cargo, completing the unloading task.

[0064] Furthermore, when the fork arm is performing unloading or loading tasks, the fork arm moves too fast, and due to the influence of inertia, there is a deviation between the actual position and the expected position, which is prone to safety accidents. Figure 3 As shown, when performing the fork arm task, it specifically includes:

[0065] A10. Obtain the fork arm coordinates corresponding to the activated fork arm.

[0066] Specifically, as mentioned above, the fork arm coordinates corresponding to the laser fork arm can be obtained through sensors, image detection, and other methods. The fork arm coordinates include the position coordinates of each fork arm relative to the bottom surface and its position coordinates in the environment. The former can be used to determine the distance the fork arm will subsequently move up and down, while the latter can be used to determine the desired position of the forklift.

[0067] A20. Calculate an offset distance based on the cargo coordinates and the fork arm coordinates.

[0068] Specifically, given the cargo coordinates and fork arm coordinates, the position to which the fork arm needs to move when loading or unloading cargo, i.e., the offset distance, can be calculated based on the current forklift position and the fork arm coordinates of the activated fork arm.

[0069] A30. Control the activated fork arm to perform the fork arm task according to the offset distance and a preset safe speed range.

[0070] Specifically, if the fork arm rises or falls too quickly, it can easily cause the upper and lower forks and the cargo they carry to collide, leading to safety accidents. Furthermore, if the forklift moves too fast or too slow, the loaded cargo can also become unstable. Therefore, a safe speed range is pre-set to regulate the speed of the fork arm's movement and the forklift's movement to improve safety.

[0071] In one execution method, the execution speed of the activated fork arm when moving up and down is calculated based on the offset distance and the safe speed range. Based on the fork arm coordinates and the cargo coordinates, the activated fork arm is controlled to perform the fork arm task according to the execution speed. In another execution method, in order to improve the working efficiency of the fork arm, the time threshold required for a fork arm task can be pre-set, and then the expected speed is calculated based on the time threshold and the offset distance. For example, the minimum value of the set time threshold is 5s and the maximum value is 10s. When calculating the expected speed, 5s is used as the shortest time and 10s is used as the longest time. The expected speed range is calculated based on the offset distance. Then, based on the safe speed range, the maximum speed that can be used to perform the fork arm task within the expected speed range is determined, and it is used as the execution speed, and the activated fork arm is controlled to perform the fork arm task according to the execution speed.

[0072] Furthermore, the offset distance calculated to activate the fork arm includes both the descent distance and the ascent distance. For example, if the upper fork arm is located higher than the cargo, the upper fork arm must first descend to below the cargo height based on the descent distance, and then load the cargo based on the ascent distance. Similarly, the speed calculated based on the offset distance can also include both ascent and descent speeds. Determining the appropriate execution speed also varies by type, so I won't go into detail here.

[0073] Furthermore, when calculating the offset distance and expected speed range, if the offset distance exceeds the fork arm range or the expected speed range exceeds the safe speed range, the fork arm task cannot be executed. Therefore, a feedback rule is pre-set. When the offset distance and / or expected speed range meet this feedback rule, task execution is terminated and feedback information is generated. This feedback information can be notified to the user or the central management server via the controller display, SMS, etc., prompting them to correct the error and wait for the next task.

[0074] like Figure 4 As shown, the feedback rule may include an offset distance exceeding the corresponding range of movement of the activated fork arm. The activated fork arm has a certain range of vertical movement. If the offset distance exceeds the corresponding range of movement of the activated fork arm, the task cannot be executed. For example, the height of the cargo to be loaded is higher than the maximum height that the upper fork arm can lift, or the height of the cargo to be unloaded is lower than the minimum height that the lower fork arm can reach.

[0075] The feedback rule may further include that the expected speed range does not overlap with the safe speed range, that is, the minimum value in the expected speed range is greater than the maximum value of the safe speed, or the maximum value of the expected speed is less than the minimum value of the safe speed.

[0076] Furthermore, if any fork arms other than the active fork arm move during execution, the likelihood of a safety incident increases. To this end, after determining the active fork arm, the fork arms other than the active fork arm are treated as stationary fork arms, and the coordinate positions corresponding to the stationary fork arms, i.e., the stationary coordinates, are obtained. Based on the stationary coordinates and offset distance, it can be determined whether the active fork arm is likely to intersect with the stationary fork arm during mission execution. Then, based on the offset distance and the stationary coordinates, it is determined whether the stationary fork arm is a safe fork arm. For example, when the upper fork arm is acting as the active fork arm and needs to load cargo, the upper fork arm's current stationary coordinates and offset distance can be used to determine whether the lower fork arm will affect the upper fork arm's upward and downward movement, thereby determining whether the lower fork arm is safe at this time, i.e., whether it is a safe fork arm. If it is a safe fork arm, no further processing is required for the stationary fork arm. However, if it is not a safe fork arm, the stationary fork arm needs to be reset to its original position to ensure safe mission execution.

[0077] Furthermore, if a forklift task is a dormant task, all forklifts are activated and reset. Dormant tasks can be initiated by the user or the central management server, or automatically generated if no new forklift tasks are detected within a waiting period. Resetting forklifts that have been inactive for extended periods of time can prevent collisions with other forklifts, improving safety.

[0078] It is worth noting that although this embodiment is described with a double fork arm as the object, it is also feasible to implement the steps of this embodiment with multiple forks, using one as the active fork arm and the others as the static forks.

[0079] Based on the above-mentioned control method of the multi-forklift, the present invention also provides a terminal device, such as Figure 5 As shown, it includes at least one processor 20; a display screen 21; and a memory 22. It may also include a communications interface 23 and a bus 24. The processor 20, display screen 21, memory 22, and communications interface 23 can communicate with each other via bus 24. The display screen 21 is configured to display a preset user guidance interface in the initial setup mode. The communications interface 23 can transmit information. The processor 20 can call logic commands in the memory 22 to execute the method in the above embodiment.

[0080] In addition, the logic commands in the memory 22 can be implemented in the form of software functional units and stored in a computer-readable storage medium when sold or used as an independent product.

[0081] The memory 22, as a computer-readable storage medium, can be configured to store software programs and computer-executable programs, such as program commands or modules corresponding to the methods in the embodiments of the present disclosure. The processor 20 executes the software programs, commands, or modules stored in the memory 22 to execute functional applications and data processing, thereby implementing the methods in the above embodiments.

[0082] The memory 22 may include a program storage area and a data storage area. The program storage area may store an operating system and at least one application required for a function; the data storage area may store data generated based on the use of the terminal device. Furthermore, the memory 22 may include high-speed random access memory and non-volatile memory. For example, various media that can store program code, such as a USB flash drive, a mobile hard drive, a read-only memory (ROM), a random access memory (RAM), a magnetic disk, or an optical disk, may also be transient computer-readable storage media.

[0083] In addition, the specific process of loading and executing the plurality of command processors in the above-mentioned computer-readable storage medium and the terminal device has been described in detail in the above-mentioned method and will not be described here one by one.

[0084] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the various embodiments of the present invention.

Claims

1. A control method for a multi-forklift, characterized in that: The method comprises: When a fork arm task is detected, the fork arm status is obtained; Determining an activated fork arm corresponding to the fork arm state according to the fork arm task and the fork arm state; According to the fork arm task, controlling the activated fork arm to perform the fork arm task; The fork arm states include a double-arm loaded state, a single-arm loaded state, and a double-arm idle state; The fork arm tasks include loading tasks, unloading tasks and resting tasks; The step of determining, based on the fork arm task and the fork arm state, an activated fork arm corresponding to the fork arm state comprises: When the fork arm task is a loading task and the fork arm state is a double-arm load state, it is determined that the activated fork arm is empty; When the fork arm task is a loading task and the fork arm state is a single-arm load state, determining that the activated fork arm is a lower fork arm; When the fork arm task is a loading task and the fork arm state is a double-arm idle state, determining that the activated fork arm is an upper fork arm; Wherein, according to the fork arm task and the fork arm state, determining an activated fork arm corresponding to the fork arm state includes: When the fork arm task is an unloading task and the fork arm state is a double-arm idle state, it is determined that the activated fork arm is empty; When the fork arm task is an unloading task and the fork arm state is a single-arm load state, determining that the activated fork arm is an upper fork arm; When the fork arm task is an unloading task and the fork arm state is a double-arm load state, it is determined that the activated fork arm is the lower fork arm.

2. The control method of a multi-forklift according to claim 1, characterized in that: The fork arm task includes cargo coordinates and cargo status; and controlling the activated fork arm to execute the fork arm task according to the fork arm task includes: Obtaining the fork arm coordinates corresponding to the activated fork arm; Calculating an offset distance according to the cargo coordinates and the fork arm coordinates; According to the offset distance and a preset safety speed range, the activated fork arm is controlled to perform the fork arm task.

3. The control method of a multi-forklift according to claim 2, characterized in that: The controlling the activated fork arm to perform the fork arm task according to the offset distance and the preset safe speed range includes: Determining a position state corresponding to the activated fork arm according to the fork arm coordinates corresponding to the activated fork arm; When the position state is a safe state, calculating an expected speed range according to the offset distance; determining an execution speed according to the expected speed range and the safe speed range; According to the execution speed, the activation fork arm is controlled to execute the fork arm task.

4. The control method of a multi-forklift according to claim 3, characterized in that: The method further comprises: When the offset distance and / or the expected speed range meet the preset feedback rules, terminating the task execution and generating feedback information; The feedback rules include: The offset distance exceeds the corresponding movement range of the activation fork arm; The expected speed range and the safe speed range do not overlap.

5. The control method of a multi-forklift according to claim 2, characterized in that: After determining, according to the fork arm task and the fork arm state, an activated fork arm corresponding to the fork arm state, the method further includes: Acquiring a static coordinate of a static fork arm, wherein the static fork arm is a fork arm other than the activated fork arm; determining whether the stationary fork arm is a safe fork arm according to the offset distance and the stationary coordinates; If not, the stationary fork arm is reset.

6. A computer-readable storage medium, characterized in that The computer-readable storage medium stores one or more programs, and the one or more programs can be executed by one or more processors to implement the steps in the control method of the multi-forklift according to any one of claims 1 to 5.

7. A terminal device, characterized in that: include: processor, memory, and communication bus; The memory stores a computer-readable program executable by the processor; The communication bus realizes the connection and communication between the processor and the memory; When the processor executes the computer-readable program, the steps of the control method of the multi-forklift according to any one of claims 1 to 5 are implemented.

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