Forklifts, forklift control methods, devices, computer equipment and storage media

Abstract

This invention relates to the field of engineering machinery technology, and discloses a forklift, a control method for the forklift, a device for the forklift, a computer device, and a storage medium. The forklift includes a vehicle body and a picking device mounted on the vehicle body. The picking device includes a first fork, a second fork, and a fork mast for connecting the first fork and the second fork. The forklift also includes a first distance sensor and a second distance sensor. The first distance sensor is mounted on the first fork and is used to detect a first distance between the first fork and a material pallet; the second distance sensor is mounted on the second fork and is used to detect a second distance between the second fork and the material pallet. Therefore, the lateral deviation of the material pallet on the forks, i.e., the offset of the material pallet relative to the picking device, can be determined using the first and second distances, and further, the offset of the material pallet relative to the vehicle body can be obtained.

Description

Technical Field

[0001] This invention relates to the field of engineering vehicle technology, specifically to a forklift, a forklift control method, a device, a computer device, and a storage medium. Background Technology

[0002] When unmanned forklifts pick up goods, there is a possibility that the pallet loaded with goods may be asymmetrical on the forks. Current solutions involve installing a LiDAR or a 3D camera on the fork mast to detect the position of the goods on the forks and calculating the lateral deviation of the pallet on the forks using point cloud data. However, calculating the lateral deviation of the pallet on the forks using point cloud data places high demands on the computing platform. Summary of the Invention

[0003] In view of this, the present invention provides a forklift, a forklift control method, a device, a computer device, and a storage medium to solve the problem that using lidar or 3D cameras to determine the lateral deviation of a pallet on the forks requires a high-performance computing platform.

[0004] In a first aspect, embodiments of the present invention provide a forklift, including a vehicle body and a pick-and-place device disposed on the vehicle body. The pick-and-place device includes a first fork, a second fork, and a fork mast for connecting the first fork and the second fork, which are arranged in parallel. It also includes a first distance sensor and a second distance sensor. The first distance sensor is disposed on the first fork and is used to detect a first distance between the first fork and a material pallet. The second distance sensor is disposed on the second fork and is used to detect a second distance between the second fork and the material pallet.

[0005] The forklift provided in this embodiment of the invention uses a first distance sensor mounted on the first fork to detect a first distance between the first fork and the material pallet, and a second distance sensor mounted on the second fork to detect a second distance between the second fork and the material pallet. This allows the lateral deviation of the material pallet on the forks, i.e., the offset of the material pallet relative to the picking device, to be determined using the first and second distances, and further, the offset of the material pallet relative to the vehicle body. Compared to calculating the lateral deviation of the pallet on the forks using point cloud data, the solution provided in this embodiment of the invention has lower requirements for the computing platform.

[0006] Meanwhile, LiDAR or 3D cameras are expensive, and the cost of installing LiDAR or 3D cameras on the fork mast in related technologies is high; while distance sensors are cheaper. Therefore, the cost of installing a first distance sensor on the first fork and a second distance sensor on the second fork in the embodiments of the present invention is lower.

[0007] In one alternative implementation, the forklift also includes a third distance sensor for detecting the amount of translation of the insertion device relative to the vehicle body.

[0008] When the forklift's picking device can move horizontally on the vehicle body, the offset of the pallet relative to the vehicle body can be obtained based on the amount of horizontal movement of the picking device relative to the vehicle body detected by the third distance sensor and the offset of the material pallet relative to the picking device determined by the first and second distances.

[0009] In one optional embodiment, the forklift further includes a first position switch and a second position switch. The first position switch is located on the first fork near the fork mast and is used to detect whether the first fork has inserted the material pallet into place. The second position switch is located on the second fork near the fork mast and is used to detect whether the second fork has inserted the material pallet into place.

[0010] Therefore, the first and second positioning switches can be used to determine whether the material pallet has been inserted into the correct position. Only when the material pallet has been inserted into the correct position is the first distance sensor used to detect the first distance between the first fork and the material pallet, and the second distance sensor used to detect the second distance between the second fork and the material pallet. This allows the detected first and second distances to accurately reflect the offset of the material pallet relative to the insertion device.

[0011] In one alternative embodiment, the forklift further includes a fourth distance sensor and a fork spacing adjustment device, wherein the fourth distance sensor is used to detect the distance between the first fork and the second fork; and the fork spacing adjustment device is used to adjust the distance between the first fork and the second fork.

[0012] This is because the measuring range of the first distance sensor and the second distance sensor is limited. When the inner length of the material pallet in the first direction is large or the distance between the first fork and the second fork is small, the first distance between the first fork and the material pallet cannot be detected by the first distance sensor and / or the second distance between the second fork and the material pallet cannot be detected by the second distance sensor. Therefore, it is necessary to adjust the distance between the first fork and the second fork so that the first distance between the first fork and the material pallet can be detected by the first distance sensor and / or the second distance between the second fork and the material pallet can be detected by the second distance sensor.

[0013] Secondly, embodiments of the present invention also provide a control method for a forklift. The forklift includes a vehicle body and a picking device disposed on the vehicle body. The picking device includes a first fork, a second fork, and a fork mast for connecting the first fork and the second fork, arranged in parallel. A first distance sensor is disposed on the first fork, and a second distance sensor is disposed on the second fork. The control method for the forklift includes the following steps: acquiring the operating environment when the forklift picks up a material pallet; when the operating environment meets preset conditions, acquiring a first distance detected by the first distance sensor and a second distance detected by the second distance sensor; and determining the offset of the material pallet relative to the vehicle body based on the first distance and the second distance.

[0014] The forklift control method provided in this embodiment uses a first distance sensor to detect a first distance between the first fork and the material pallet, and a second distance sensor to detect a second distance between the second fork and the material pallet. The first and second distances can then be used to determine the lateral deviation of the material pallet on the forks, i.e., the offset of the material pallet relative to the picking device, and further, the offset of the material pallet relative to the vehicle body. Compared to calculating the lateral deviation of the pallet on the forks using point cloud data, the solution provided in this embodiment has lower requirements for the computing platform.

[0015] Meanwhile, LiDAR or 3D cameras are expensive, and the cost of installing LiDAR or 3D cameras on the fork mast in related technologies is high; while distance sensors are cheaper. Therefore, the cost of installing a first distance sensor on the first fork and a second distance sensor on the second fork in the embodiments of the present invention is lower.

[0016] In one optional implementation, when the forklift's picking device cannot translate on the vehicle body, determining the offset of the material pallet relative to the vehicle body based on a first distance and a second distance includes: obtaining the offset of the material pallet relative to the picking device based on the first distance and the second distance; and using the offset of the material pallet relative to the picking device as the offset of the material pallet relative to the vehicle body. Alternatively, when the forklift's picking device can translate on the vehicle body, the forklift further includes a third distance sensor for detecting the translation amount of the picking device relative to the vehicle body. Determining the offset of the material pallet relative to the vehicle body based on the first distance and the second distance includes: obtaining the offset of the material pallet relative to the picking device based on the first distance and the second distance; acquiring the translation amount of the picking device relative to the vehicle body detected by the third distance sensor; and obtaining the offset of the material pallet relative to the vehicle body based on the offset of the material pallet relative to the picking device and the translation amount of the picking device relative to the vehicle body.

[0017] Therefore, the offset of the material pallet relative to the vehicle body can be determined for both forklifts whose insertion and extraction devices cannot be translated on the vehicle body and forklifts whose insertion and extraction devices can be translated on the vehicle body.

[0018] In one optional embodiment, the forklift further includes a first positioning switch disposed on the first fork near the fork mast; a second positioning switch disposed on the second fork near the fork mast; and before acquiring the first distance detected by the first distance sensor and the second distance detected by the second distance sensor respectively, the forklift further includes: after acquiring the first positioning signal sent by the first positioning switch and the second positioning signal sent by the second positioning switch, issuing an instruction to acquire the first distance detected by the first distance sensor and the second distance detected by the second distance sensor.

[0019] Therefore, the first and second positioning switches can be used to determine whether the material pallet has been inserted into the correct position. Only when the material pallet has been inserted into the correct position is the first distance sensor used to detect the first distance between the first fork and the material pallet, and the second distance sensor used to detect the second distance between the second fork and the material pallet. This allows the detected first and second distances to accurately reflect the offset of the material pallet relative to the insertion device.

[0020] In an optional embodiment, the forklift further includes a fourth distance sensor for detecting the distance between the first fork and the second fork. The control method of the forklift further includes: before the forklift inserts a material pallet, obtaining the inner length of the material pallet in a first direction, the first direction being perpendicular to the insertion direction of the forklift; obtaining the fourth distance between the first fork and the second fork detected by the fourth distance sensor; subtracting the fourth distance from the inner length to obtain a first detection distance of the first distance sensor and a second detection distance of the second distance sensor; determining whether at least one of the first detection distance and the second detection distance is greater than a preset distance threshold; when at least one of the first detection distance and the second detection distance is greater than the distance threshold, adjusting the spacing between the first fork and the second fork until both the first detection distance and the second detection distance are less than or equal to the distance threshold.

[0021] This is because the measuring range of the first distance sensor and the second distance sensor is limited. When the inner length of the material pallet in the first direction is large or the distance between the first fork and the second fork is small, the first distance between the first fork and the material pallet cannot be detected by the first distance sensor and / or the second distance between the second fork and the material pallet cannot be detected by the second distance sensor. Therefore, it is necessary to adjust the distance between the first fork and the second fork so that the first distance between the first fork and the material pallet can be detected by the first distance sensor and / or the second distance between the second fork and the material pallet can be detected by the second distance sensor.

[0022] Thirdly, embodiments of the present invention also provide a control device for a forklift. The forklift includes a vehicle body and a pick-and-place device disposed on the vehicle body. The pick-and-place device includes a first fork, a second fork, and a fork mast for connecting the first fork and the second fork, arranged in parallel. A first distance sensor is disposed on the first fork, and a second distance sensor is disposed on the second fork. The control device for the forklift includes a first acquisition module, an offset determination module, and an offset adjustment module: the first acquisition module is used to acquire a first distance detected by the first distance sensor and a second distance detected by the second distance sensor, respectively; the offset determination module is used to determine the offset of the material pallet relative to the vehicle body based on the first distance and the second distance; and the offset adjustment module is used to adjust the forklift to eliminate the offset of the material pallet relative to the vehicle body.

[0023] Fourthly, embodiments of the present invention also provide a computer device, including a memory and a processor, which are communicatively connected to each other. The memory stores computer instructions, and the processor executes the computer instructions to perform the forklift control method described in the second aspect or any corresponding embodiment.

[0024] Fifthly, embodiments of the present invention also provide a computer-readable storage medium storing computer instructions, which are used to cause a computer to execute the forklift control method of the second aspect or any corresponding embodiment described above. Attached Figure Description

[0025] To more clearly illustrate the specific embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the specific embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present invention. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0026] Figure 1 This is a top view of a forklift according to an embodiment of the present invention;

[0027] Figure 2 This is a rear view of a forklift according to an embodiment of the present invention;

[0028] Figure 3 This is another rear view of the forklift according to an embodiment of the present invention;

[0029] Figure 4 This is a flowchart of a forklift control method according to an embodiment of the present invention;

[0030] Figure 5 This is a flowchart of another forklift control method according to an embodiment of the present invention;

[0031] Figure 6 This is a flowchart of another forklift control method according to an embodiment of the present invention;

[0032] Figure 7 This is a flowchart illustrating an example of determining the lateral offset of a material pallet relative to the vehicle body according to an embodiment of the present invention;

[0033] Figure 8 This is a flowchart of another forklift control method according to an embodiment of the present invention;

[0034] Figure 9 This is a structural block diagram of a forklift control device according to an embodiment of the present invention;

[0035] Figure 10 This is a schematic diagram of the hardware structure of a computer device according to an embodiment of the present invention;

[0036] Among them, 1. vehicle body; 2. first fork; 3. second fork; 4. first distance sensor; 5. second distance sensor; 6. first stop switch; 7. second stop switch; 8. fourth distance sensor; 9. third distance sensor; 10. controller; 11. material pallet; 12. screw; 13. bracket; 14. fork mast. Detailed Implementation

[0037] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0038] According to an embodiment of the present invention, a forklift is provided. For example... Figure 1 As shown, the forklift includes a vehicle body 1 and a picking device mounted on the vehicle body 1. The picking device includes a first fork 2 and a second fork 3 arranged in parallel, and a fork mast 14 for connecting the first fork 2 and the second fork 3; a first distance sensor 4 is mounted on the first fork 2 for detecting a first distance between the first fork 2 and the material pallet 11; and a second distance sensor 5 is mounted on the second fork 3 for detecting a second distance between the second fork 3 and the material pallet 11.

[0039] Specifically, the first distance sensor 4 and the second distance sensor 5 are laser rangefinders or infrared rangefinders.

[0040] The forklift provided in this embodiment of the invention has a first distance sensor 4 mounted on the first fork 2 that can detect a first distance between the first fork 2 and the material pallet 11, and a second distance sensor 5 mounted on the second fork 3 that can detect a second distance between the second fork 3 and the material pallet 11. Therefore, the lateral deviation of the material pallet 11 on the forks, i.e., the offset of the material pallet 11 relative to the picking device, can be determined using the first and second distances. Compared to calculating the lateral deviation of the pallet on the forks using point cloud data, the solution provided in this embodiment of the invention has lower requirements for the computing platform.

[0041] Meanwhile, LiDAR or 3D cameras are relatively expensive, and the cost of installing LiDAR or 3D cameras on the forklift mast 14 in related technologies is high; while distance sensors are cheaper. Therefore, in this embodiment of the invention, installing the first distance sensor 4 on the first fork 2 and the second distance sensor 5 on the second fork 3 is less expensive; compared with using a single-line LiDAR, it saves approximately RMB 1200 per vehicle, and compared with using a 3D camera, it saves approximately RMB 4000. In addition, LiDAR or 3D cameras have higher installation requirements, while distance sensors have lower installation requirements.

[0042] Specifically, such as Figures 1-3 As shown, the forklift also includes a third distance sensor 9 for detecting the amount of translation of the insertion device relative to the vehicle body 1.

[0043] When the forklift's picking device can move horizontally on the vehicle body 1, the offset of the pallet relative to the vehicle body 1 can be obtained based on the amount of horizontal movement of the picking device relative to the vehicle body 1 detected by the third distance sensor 9 and the offset of the material pallet 11 relative to the picking device determined by the first distance and the second distance.

[0044] Specifically, such as Figures 1-3 As shown, the forklift also includes a first position switch 6, which is located on the first fork 2 near the fork mast 14, and is used to detect whether the first fork 2 on the picking device has picked up the material pallet 11 in place; and a second position switch 7, which is located on the second fork 3 near the fork mast 14, and is used to detect whether the second fork 3 on the picking device has picked up the material pallet 11 in place.

[0045] Therefore, the first positioning switch 6 and the second positioning switch 7 can be used to determine whether the material pallet 11 is inserted into the correct position. Only when the material pallet 11 is inserted into the correct position will the first distance sensor 4 detect the first distance between the first fork 2 and the material pallet 11, and the second distance sensor 5 detect the second distance between the second fork 3 and the material pallet 11. This allows the detected first and second distances to accurately reflect the offset of the material pallet 11 relative to the insertion device.

[0046] Specifically, such as Figures 1-3As shown, the forklift also includes a fourth distance sensor 8 and a fork spacing adjustment device. The fourth distance sensor 8 is used to detect the distance between the first fork 2 and the second fork 3; the fork spacing adjustment device is used to adjust the distance between the first fork 2 and the second fork 3.

[0047] This is because the detection range of the first distance sensor 4 and the second distance sensor 5 is limited. When the inner length of the material pallet 11 in the first direction is large or the distance between the first fork 2 and the second fork 3 is small, the first distance between the first fork 2 and the material pallet 11 cannot be detected by the first distance sensor 4 and / or the second distance between the second fork 3 and the material pallet 11 cannot be detected by the second distance sensor 5. Therefore, it is necessary to adjust the distance between the first fork 2 and the second fork 3 so that the first distance between the first fork 2 and the material pallet 11 can be detected by the first distance sensor 4 and / or the second distance between the second fork 3 and the material pallet 11 can be detected by the second distance sensor 5.

[0048] In other words, the forklift mainly consists of a vehicle body 1, a fork mast 14, two forks (first fork 2 and second fork 3), two high-precision laser rangefinders (first distance sensor 4 and second distance sensor 5), two position switches (first position switch 6 and second position switch 7), one fork spacing measurement sensor (fourth distance sensor 8), one fork translation measurement sensor (third distance sensor 9), and one controller 10.

[0049] Two high-precision laser rangefinders (first distance sensor 4 and second distance sensor 5) are respectively installed on the outer side of the root of the two forks (first fork 2 and second fork 3), with the sensor measurement direction facing outwards. They are used to measure the distance between the pallet legs and the forks after the material pallet 11 is picked up. Two position switches (first position switch 6 and second position switch 7) are respectively installed on the inner side of the root of the two forks. They are used to detect whether the left and right sides of the material pallet 11 have been picked up to the bottom. When the material pallet 11 is picked up to the bottom, it can ensure that the two high-precision laser rangefinders (first distance sensor 4 and second distance sensor 5) can effectively measure the distance between the pallet legs and the forks. The fork spacing measurement sensor (fourth distance sensor 8) and the fork translation measurement sensor (third distance sensor 9) are both installed on the fork mast 14. They are used to measure the spacing between the first fork 2 and the second fork 3 and the relative displacement of the forks relative to the forklift body 1, respectively. The controller 10 is used to collect data from all sensors in the system of the present invention and calculate the lateral offset of the material pallet 11 on the forks.

[0050] To facilitate understanding of the feasibility of using two high-precision laser rangefinders (first distance sensor 4 and second distance sensor 5) to measure the distance between the pallet legs and the two forks (first fork 2 and second fork 3), such as... Figure 2 As shown, two high-precision laser rangefinders (first distance sensor 4 and second distance sensor 5) are embedded in the base of two forks (first fork 2 and second fork 3) using high-precision laser rangefinder mounting screws 12. The measuring window is flush with the outer edge of the two forks (first fork 2 and second fork 3). When the forklift picks up the material pallet 11 to the bottom, the detection devices of the two position switches (first position switch 6 and second position switch 7) installed at the base of the forks will be detected by the two position switches (first position switch 6 and second position switch 7) under the push of the pallet fork mast 14. This ensures that the two high-precision laser rangefinders (first distance sensor 4 and second distance sensor 5) can effectively measure the distance between the pallet legs and the forks.

[0051] like Figure 3 As shown, two high-precision laser rangefinders (first distance sensor 4 and second distance sensor 5) are mounted on a high-precision laser rangefinder mounting bracket 13 by high-precision laser rangefinder mounting screws 12. The high-precision laser rangefinder mounting bracket 13 is welded to the base of two forks (first fork 2 and second fork 3).

[0052] According to an embodiment of the present invention, a control method for a forklift is provided. It should be noted that the steps shown in the flowchart in the accompanying drawings can be executed in a computer system such as a set of computer-executable instructions. Furthermore, although a logical order is shown in the flowchart, in some cases, the steps shown or described may be executed in a different order than that shown here.

[0053] This embodiment provides a control method for a forklift, which can be used in computer equipment. The forklift includes a vehicle body and a pick-and-place device mounted on the vehicle body. The pick-and-place device includes a first fork, a second fork, and a fork mast for connecting the first fork and the second fork, arranged in parallel. A first distance sensor is mounted on the first fork, and a second distance sensor is mounted on the second fork.

[0054] Figure 4 This is a flowchart of a forklift control method according to an embodiment of the present invention, such as... Figure 4 As shown, the process includes the following steps:

[0055] Step S401: Obtain the first distance detected by the first distance sensor and the second distance detected by the second distance sensor.

[0056] Specifically, after the forklift picks up the material pallet, the first distance sensor detects the first distance between the first fork and the material pallet, and the second distance sensor detects the second distance between the second fork and the material pallet.

[0057] Step S402: Determine the offset of the material pallet relative to the vehicle body based on the first distance and the second distance.

[0058] Furthermore, after obtaining the offset of the material pallet relative to the vehicle body, the process also includes adjusting the forklift to eliminate the offset of the material pallet relative to the vehicle body.

[0059] The forklift control method provided in this embodiment uses a first distance sensor to detect a first distance between the first fork and the material pallet, and a second distance sensor to detect a second distance between the second fork and the material pallet. The first and second distances can then be used to determine the lateral deviation of the material pallet on the forks, i.e., the offset of the material pallet relative to the picking device, and further, the offset of the material pallet relative to the vehicle body. Compared to calculating the lateral deviation of the pallet on the forks using point cloud data, the solution provided in this embodiment has lower requirements for the computing platform.

[0060] Meanwhile, LiDAR or 3D cameras are expensive, and the cost of installing LiDAR or 3D cameras on the fork mast in related technologies is high; while distance sensors are cheaper. Therefore, the cost of installing a first distance sensor on the first fork and a second distance sensor on the second fork in the embodiments of the present invention is lower.

[0061] This embodiment provides a forklift control method that can be used in computer equipment. The forklift includes a vehicle body and a pick-and-place device mounted on the vehicle body. The pick-and-place device includes a first fork, a second fork, and a fork mast for connecting the first fork and the second fork, arranged in parallel. A first distance sensor is mounted on the first fork; a second distance sensor is mounted on the second fork. The forklift also includes a first stop switch located on the first fork near the fork mast; and a second stop switch located on the second fork near the fork mast. The pick-and-place device of the forklift cannot be moved horizontally on the vehicle body.

[0062] Figure 5 This is a flowchart of another forklift control method according to an embodiment of the present invention, such as... Figure 5 As shown, the process includes the following steps:

[0063] Step S501: Obtain the operating environment when the forklift picks up and drops material pallets.

[0064] This is because, when a forklift operates outdoors, even if the pallet loaded with goods is symmetrical on the forks during pickup, the effects of traveling on bumpy roads, turning, and braking can cause the pallet to become asymmetrical on the pickup mechanism. In other words, asymmetry of the pallet on the pickup mechanism is more likely to occur when the forklift is operating outdoors, and less so when it is operating indoors. Therefore, the operating environment when the forklift is picking up the pallet can be used to determine whether the forklift is operating indoors or outdoors. In other words, the forklift control method is suitable for unmanned forklifts that require long-distance outdoor transport and high-precision unloading operations.

[0065] Step S502: When the working environment meets the preset conditions, determine whether the first position signal sent by the first position switch and the second position signal sent by the second position switch are obtained.

[0066] This is because when the material pallet is not fully inserted into the first and second forks, the material pallet is tilted on the insertion device. Therefore, the first and second distances cannot accurately determine whether the material pallet is symmetrical on the insertion device.

[0067] Step S503: After obtaining the first positioning signal and the second positioning signal, obtain the first distance detected by the first distance sensor and the second distance detected by the second distance sensor, respectively.

[0068] Step S504: Obtain the offset of the material tray relative to the insertion device based on the first distance and the second distance.

[0069] Specifically, the first distance is represented by x1, the second distance by x2, and the offset of the material tray relative to the insertion device is represented by δx; δx = (x1-x2) / 2. When δx is positive, the tray is offset to the left relative to the insertion device; when δx is negative, the tray is offset to the right relative to the insertion device; when δx is 0, the tray is symmetrical relative to the insertion device.

[0070] Step S505: The offset of the material pallet relative to the insertion device is taken as the offset of the material pallet relative to the vehicle body.

[0071] Step S506: Adjust the forklift to eliminate the offset of the material pallet relative to the vehicle body.

[0072] As one specific implementation method, adjusting the forklift to eliminate the offset of the material pallet relative to the vehicle body includes: obtaining the original parking position of the forklift, and adjusting the original parking position according to the offset of the material pallet relative to the vehicle body to eliminate the offset of the material pallet relative to the vehicle body.

[0073] Specifically, the offset of the material pallet relative to the insertion device is a vector, so the original parking position can be adjusted in the opposite direction based on the direction of the offset.

[0074] The forklift control method provided in this embodiment is applicable to forklifts that require long-distance outdoor transportation and high-precision unloading operations, where the picking device cannot move horizontally on the vehicle body. A first distance sensor can detect the first distance between the first fork and the material pallet, and a second distance sensor can detect the second distance between the second fork and the material pallet. The first and second distances can be used to determine the offset of the material pallet relative to the vehicle body. At the same time, after obtaining the first and second positioning signals, the first distance detected by the first distance sensor and the second distance detected by the second distance sensor are obtained respectively. This allows the detected first and second distances to accurately reflect the offset of the material pallet relative to the picking device.

[0075] This embodiment provides a forklift control method that can be used in computer equipment. The forklift includes a chassis and a pick-and-place device mounted on the chassis. The pick-and-place device includes a first fork, a second fork, and a fork mast for connecting the first fork and the second fork, arranged in parallel. A first distance sensor is mounted on the first fork; a second distance sensor is mounted on the second fork. The forklift also includes a first stop switch located on the first fork near the fork mast; and a second stop switch located on the second fork near the fork mast. The pick-and-place device of the forklift is capable of translation on the chassis. The forklift also includes a third distance sensor for detecting the amount of translation of the pick-and-place device relative to the chassis.

[0076] Figure 6 This is a flowchart of another forklift control method according to an embodiment of the present invention, such as... Figure 6 As shown, the process includes the following steps:

[0077] Step S601: After obtaining the first positioning signal sent by the first positioning switch and the second positioning signal sent by the second positioning switch, obtain the first distance detected by the first distance sensor and the second distance detected by the second distance sensor.

[0078] Step S602: Obtain the offset of the material tray relative to the insertion device based on the first distance and the second distance.

[0079] Figure 7 This is a flowchart illustrating an example of determining the lateral offset of a material pallet relative to the vehicle body according to an embodiment of the present invention. Figure 7In the diagram, the first distance is represented by x1, the second distance by x2, and the offset of the material tray (which can be simply referred to as the tray) relative to the insertion device is represented by δx; δx = (x1-x2) / 2. When δx is positive, the tray is offset to the left relative to the insertion device; when δx is negative, the tray is offset to the right relative to the insertion device; when δx is 0, the tray is symmetrical relative to the insertion device.

[0080] Step S603: Obtain the translation amount of the insertion device relative to the vehicle body detected by the third distance sensor.

[0081] like Figure 7 As shown, the translation amount x3 of the insertion device relative to the vehicle body (also known as the vehicle body) is measured by the third distance sensor. When x3 is positive, the insertion device is defined as being offset to the left relative to the vehicle body; when x3 is negative, the insertion device is defined as being offset to the right relative to the vehicle body; when x3 is 0, it means that there is no translation between the insertion device and the vehicle body.

[0082] Step S604: Obtain the offset of the material pallet relative to the vehicle body based on the offset of the material pallet relative to the insertion device and the translation of the insertion device relative to the vehicle body.

[0083] like Figure 7 As shown, by adding the offset of the material pallet relative to the insertion device and the translation of the insertion device relative to the vehicle body, the lateral offset of the material pallet relative to the vehicle body can be obtained.

[0084] Step S605: Adjust the forklift to eliminate the offset of the material pallet relative to the vehicle body.

[0085] As one specific implementation, adjusting the forklift to eliminate the offset of the material pallet relative to the vehicle body includes: adjusting the translation of the picking device relative to the vehicle body according to the offset of the material pallet relative to the vehicle body to eliminate the offset of the material pallet relative to the vehicle body.

[0086] Specifically, the offset of the material pallet relative to the vehicle body is a vector. Therefore, the translation of the insertion device relative to the vehicle body can be adjusted in the opposite direction based on the direction of the offset.

[0087] The forklift control method provided in this embodiment is applicable to forklifts whose picking device can move horizontally on the vehicle body. A first distance sensor can detect the first distance between the first fork and the material pallet, and a second distance sensor can detect the second distance between the second fork and the material pallet. The first and second distances can be used to determine the offset of the material pallet relative to the vehicle body. At the same time, after the first and second positioning signals are obtained, the first distance detected by the first distance sensor and the second distance detected by the second distance sensor are obtained respectively. This allows the detected first and second distances to accurately reflect the offset of the material pallet relative to the picking device.

[0088] This embodiment provides a forklift control method that can be used in computer equipment. The forklift includes a chassis and a pick-and-place device mounted on the chassis. The pick-and-place device includes a first fork, a second fork, and a fork mast for connecting the first fork and the second fork, arranged in parallel. A first distance sensor is mounted on the first fork; a second distance sensor is mounted on the second fork. The forklift also includes a first stop switch located on the first fork near the fork mast; and a second stop switch located on the second fork near the fork mast. The pick-and-place device of the forklift is capable of translation on the chassis. The forklift also includes a third distance sensor for detecting the amount of translation of the pick-and-place device relative to the chassis.

[0089] Figure 8 This is a flowchart of another forklift control method according to an embodiment of the present invention, such as... Figure 8 As shown, the process includes the following steps:

[0090] Step S801: Before the forklift picks up the material pallet, obtain the inner length of the material pallet in a first direction, which is perpendicular to the picking direction of the forklift.

[0091] Step S802: Obtain the fourth distance between the first fork and the second fork detected by the fourth distance sensor.

[0092] Step S803: Subtract the fourth distance from the inner length to obtain the first detection distance of the first distance sensor and the second detection distance of the second distance sensor.

[0093] Step S804: Determine whether at least one of the first detection distance and the second detection distance is greater than a preset distance threshold. If at least one of the first detection distance and the second detection distance is greater than the preset distance threshold, proceed to step S805; otherwise, proceed to step S806.

[0094] Step S805: Adjust the distance between the first fork and the second fork until both the first detection distance and the second detection distance are less than or equal to the distance threshold.

[0095] This is because the detection range of the first and second distance sensors is limited. When the inner length of the material pallet in the first direction is large or the distance between the first and second forks is small, the first distance between the first fork and the material pallet cannot be detected by the first distance sensor and / or the second distance between the second fork and the material pallet cannot be detected by the second distance sensor. Therefore, it is necessary to adjust the distance between the first and second forks so that the first distance between the first fork and the material pallet can be detected by the first distance sensor and / or the second distance between the second fork and the material pallet can be detected by the second distance sensor.

[0096] Step S806: After obtaining the first positioning signal sent by the first positioning switch and the second positioning signal sent by the second positioning switch, obtain the first distance detected by the first distance sensor and the second distance detected by the second distance sensor.

[0097] Step S807: Obtain the offset of the material tray relative to the insertion device based on the first distance and the second distance.

[0098] Step S808: Obtain the translation amount of the insertion device relative to the vehicle body detected by the third distance sensor.

[0099] Step S809: Obtain the offset of the material pallet relative to the vehicle body based on the offset of the material pallet relative to the insertion device and the translation of the insertion device relative to the vehicle body.

[0100] Step S710: Adjust the translation of the insertion device relative to the vehicle body according to the offset of the material pallet relative to the vehicle body to eliminate the offset of the material pallet relative to the vehicle body.

[0101] The forklift control method provided in this embodiment is applicable to forklifts whose picking device can move horizontally on the vehicle body. It can not only accurately detect the first distance between the first fork and the material pallet through the first distance sensor, and accurately detect the second distance between the second fork and the material pallet through the second distance sensor, but also use the first distance and the second distance to determine the lateral deviation of the material pallet on the fork, that is, the offset of the material pallet relative to the picking device.

[0102] This embodiment also provides a forklift control device for implementing the above embodiments and preferred embodiments; details already described will not be repeated. As used below, the term "module" can refer to a combination of software and / or hardware that performs a predetermined function. Although the device described in the following embodiments is preferably implemented in software, hardware implementation, or a combination of software and hardware, is also possible and contemplated.

[0103] This embodiment provides a control device for a forklift, such as... Figure 9As shown, it includes:

[0104] The first acquisition module 901 is used to acquire a first distance detected by a first distance sensor and a second distance detected by a second distance sensor;

[0105] The offset determination module 902 is used to determine the offset of the material pallet relative to the vehicle body based on the first distance and the second distance.

[0106] The offset adjustment module 903 is used to adjust the forklift to eliminate the offset of the material pallet relative to the vehicle body.

[0107] In one optional implementation, when the forklift's picking device cannot translate on the vehicle body, the offset determination module 902 is used to: obtain the offset of the material pallet relative to the picking device based on a first distance and a second distance; and use the offset of the material pallet relative to the picking device as the offset of the material pallet relative to the vehicle body; the offset adjustment module 903 is used to: obtain the original parking position of the forklift; and adjust the original parking position according to the offset of the material pallet relative to the vehicle body to eliminate the offset of the material pallet relative to the vehicle body.

[0108] In an optional embodiment, when the forklift's picking device is capable of translating on the vehicle body, the forklift further includes a third distance sensor for detecting the amount of translation of the picking device relative to the vehicle body. The offset determination module 902 is used to: obtain the offset of the material pallet relative to the picking device based on a first distance and a second distance; acquire the amount of translation of the picking device relative to the vehicle body detected by the third distance sensor; and obtain the offset of the material pallet relative to the vehicle body based on the offset of the material pallet relative to the picking device and the amount of translation of the picking device relative to the vehicle body. The offset adjustment module 903 is used to: adjust the amount of translation of the picking device relative to the vehicle body based on the offset of the material pallet relative to the vehicle body to eliminate the offset of the material pallet relative to the vehicle body.

[0109] In one optional embodiment, the forklift further includes a first position switch disposed on the first fork near the fork mast; and a second position switch disposed on the second fork near the fork mast. The forklift control device also includes a pre-detection module, which is used to: upon receiving a first position signal from the first position switch and a second position signal from the second position switch, issue a command to acquire a first distance detected by a first distance sensor and a second distance detected by a second distance sensor.

[0110] In an optional embodiment, the forklift further includes a fourth distance sensor for detecting the distance between the first fork and the second fork. The control device of the forklift also includes a second acquisition module, a third acquisition module, and a fork spacing adjustment module. Before the forklift inserts a material pallet, the second acquisition module is used to acquire the inner length of the material pallet in a first direction, which is perpendicular to the insertion direction of the forklift; the third acquisition module is used to acquire the fourth distance between the first fork and the second fork detected by the fourth distance sensor; the fork spacing adjustment module is used to subtract the fourth distance from the inner length to obtain the first detection distance of the first distance sensor and the second detection distance of the second distance sensor; determine whether at least one of the first detection distance and the second detection distance is greater than a preset distance threshold; when at least one of the first detection distance and the second detection distance is greater than the distance threshold, adjust the spacing between the first fork and the second fork until both the first detection distance and the second detection distance are less than or equal to the distance threshold.

[0111] In this embodiment, the control device for the forklift is presented in the form of a functional unit. Here, a unit refers to an ASIC circuit, a processor and memory that execute one or more software or fixed programs, and / or other devices that can provide the above functions.

[0112] Further functional descriptions of the above modules and units are the same as those in the corresponding embodiments described above, and will not be repeated here.

[0113] This invention also provides a computer device having the above-described features. Figure 9 The control unit of the forklift shown.

[0114] Please see Figure 10 , Figure 10 This is a schematic diagram of the structure of a computer device provided in an optional embodiment of the present invention, such as... Figure 10 As shown, the computer device includes one or more processors 100, memory 200, and interfaces for connecting the components, including high-speed interfaces and low-speed interfaces. The components communicate with each other via different buses and can be mounted on a common motherboard or otherwise installed as needed. The processors can process instructions executed within the computer device, including instructions stored in or on memory to display graphical information of a GUI on external input / output devices (such as display devices coupled to the interfaces). In some alternative implementations, multiple processors and / or multiple buses can be used with multiple memories and multiple memory modules, if desired. Similarly, multiple computer devices can be connected, each providing some of the necessary operations (e.g., as a server array, a group of blade servers, or a multiprocessor system). Figure 10 Take a processor 100 as an example.

[0115] Processor 100 may be a central processing unit, a network processor, or a combination thereof. Processor 100 may further include a hardware chip. The hardware chip may be an application-specific integrated circuit (ASIC), a programmable logic device (PLD), or a combination thereof. The programmable logic device may be a complex programmable logic device (CAMP), a field-programmable gate array (FPGA), a general-purpose array logic (GPA), or any combination thereof.

[0116] The memory 200 stores instructions executable by at least one processor 100 to cause the at least one processor 100 to perform the method shown in the above embodiments.

[0117] The memory 200 may include a program storage area and a data storage area. The program storage area may store the operating system and applications required for at least one function; the data storage area may store data created by the use of the computer device based on the display of a mini-program landing page. Furthermore, the memory 200 may include high-speed random access memory and may also include non-transient memory, such as at least one disk storage device, flash memory device, or other non-transient solid-state storage device. In some alternative embodiments, the memory 200 may optionally include memory remotely located relative to the processor 100, which can be connected to the computer device via a network. Examples of such networks include, but are not limited to, the Internet, intranets, local area networks, mobile communication networks, and combinations thereof.

[0118] The memory 200 may include volatile memory, such as random access memory; the memory may also include non-volatile memory, such as flash memory, hard disk or solid-state drive; the memory 200 may also include a combination of the above types of memory.

[0119] The computer device also includes an input device 300 and an output device 400. The processor 100, memory 200, input device 300, and output device 400 can be connected via a bus or other means. Figure 10 Taking the example of a connection between China and Israel via a bus.

[0120] Input device 300 can receive input numerical or character information, and generate key signal inputs related to user settings and function control of the computer device, such as a touchscreen, keypad, mouse, trackpad, touchpad, joystick, one or more mouse buttons, trackball, joystick, etc. Output device 400 may include display devices, auxiliary lighting devices (e.g., LEDs), and haptic feedback devices (e.g., vibration motors). The aforementioned display devices include, but are not limited to, liquid crystal displays, light-emitting diodes, displays, and plasma displays. In some alternative embodiments, the display device may be a touchscreen.

[0121] This invention also provides a computer-readable storage medium. The methods described above according to embodiments of the invention can be implemented in hardware or firmware, or implemented as computer code that can be recorded on a storage medium, or implemented as computer code downloaded via a network and originally stored on a remote storage medium or a non-transitory machine-readable storage medium and then stored on a local storage medium. Thus, the methods described herein can be processed by software stored on a storage medium using a general-purpose computer, a dedicated processor, or programmable or dedicated hardware. The storage medium can be a magnetic disk, optical disk, read-only memory, random access memory, flash memory, hard disk, or solid-state drive, etc.; further, the storage medium can also include combinations of the above types of memory. It is understood that computers, processors, microprocessor controllers, or programmable hardware include storage components capable of storing or receiving software or computer code, which, when accessed and executed by the computer, processor, or hardware, implements the methods shown in the above embodiments.

[0122] Although embodiments of the invention have been described in conjunction with the accompanying drawings, those skilled in the art can make various modifications and variations without departing from the spirit and scope of the invention, and such modifications and variations all fall within the scope defined by the appended claims.

Claims

1. A control method for a forklift, characterized in that, The forklift includes a chassis and a pick-and-place device mounted on the chassis. The pick-and-place device includes a first fork, a second fork, and a fork mast for connecting the first fork and the second fork, arranged in parallel. A first distance sensor is mounted on the first fork; a second distance sensor is mounted on the second fork. The control method of the forklift includes the following steps: Acquire the first distance detected by the first distance sensor and the second distance detected by the second distance sensor; The offset of the material pallet relative to the vehicle body is determined based on the first distance and the second distance; The forklift also includes a fourth distance sensor for detecting the distance between the first fork and the second fork, and the control method of the forklift further includes: Before the forklift inserts the material pallet, the inner length of the material pallet is obtained in a first direction, which is perpendicular to the insertion direction of the forklift. Obtain the fourth distance between the first fork and the second fork detected by the fourth distance sensor; By subtracting the fourth distance from the inner length, the first detection distance of the first distance sensor and the second detection distance of the second distance sensor are obtained; Determine whether at least one of the first detection distance and the second detection distance is greater than a preset distance threshold; When at least one of the first detection distance and the second detection distance is greater than the distance threshold, the spacing between the first fork and the second fork is adjusted until both the first detection distance and the second detection distance are less than or equal to the distance threshold.

2. The method according to claim 1, characterized in that: When the forklift's picking device cannot translate on the vehicle body, determining the offset of the material pallet relative to the vehicle body based on the first distance and the second distance includes: The offset of the material tray relative to the insertion device is obtained based on the first distance and the second distance; The offset of the material tray relative to the insertion device is taken as the offset of the material tray relative to the vehicle body; or, When the forklift's picking device is capable of translating on the vehicle body, the forklift further includes a third distance sensor for detecting the amount of translation of the picking device relative to the vehicle body, wherein determining the offset of the material pallet relative to the vehicle body based on the first distance and the second distance includes: The offset of the material tray relative to the insertion device is obtained based on the first distance and the second distance; The translational amount of the insertion device relative to the vehicle body, detected by the third distance sensor, is obtained. The offset of the material tray relative to the vehicle body is obtained based on the offset of the material tray relative to the insertion device and the translation of the insertion device relative to the vehicle body.

3. The method according to claim 1 or 2, characterized in that, The forklift also includes a first position switch, which is disposed on the first fork near the fork mast; and a second position switch, which is disposed on the second fork near the fork mast. Before acquiring the first distance detected by the first distance sensor and the second distance detected by the second distance sensor, respectively, the method further includes: After receiving the first positioning signal sent by the first positioning switch and the second positioning signal sent by the second positioning switch, an instruction is issued to obtain the first distance detected by the first distance sensor and the second distance detected by the second distance sensor.

4. A control device for a forklift, characterized in that, The forklift includes a vehicle body and a pick-and-place device mounted on the vehicle body. The pick-and-place device includes a first fork, a second fork, and a fork mast for connecting the first fork and the second fork, which are arranged in parallel. A first distance sensor is mounted on the first fork. The second distance sensor is installed on the second fork; The control device for the forklift includes: The first acquisition module is used to acquire a first distance detected by the first distance sensor and a second distance detected by the second distance sensor; An offset determination module is used to determine the offset of the material pallet relative to the vehicle body based on the first distance and the second distance; An offset adjustment module is used to adjust the forklift to eliminate the offset of the material pallet relative to the vehicle body; The forklift also includes a fourth distance sensor for detecting the distance between the first fork and the second fork, and the control device of the forklift also includes a second acquisition module, a third acquisition module and a fork spacing adjustment module; Before the forklift inserts the material pallet, the second acquisition module is used to measure the inner length of the material pallet in a first direction, which is perpendicular to the insertion direction of the forklift. The third acquisition module is used to acquire the fourth distance between the first fork and the second fork detected by the fourth distance sensor. The fork spacing adjustment module is used to subtract the fourth distance from the inner length to obtain the first detection distance of the first distance sensor and the second detection distance of the second distance sensor; determine whether there is at least one of the first detection distance and the second detection distance that is greater than a preset distance threshold; when there is at least one of the first detection distance and the second detection distance that is greater than the distance threshold, adjust the spacing between the first fork and the second fork until both the first detection distance and the second detection distance are less than or equal to the distance threshold.

5. A computer device, characterized in that, include: A memory and a processor are communicatively connected, the memory stores computer instructions, and the processor executes the computer instructions to perform the forklift control method according to any one of claims 1 to 3.

6. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores computer instructions for causing the computer to execute the control method of the forklift according to any one of claims 1 to 3.

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