An automatic navigation forklift with height feedback adjustment and height adjustment method thereof

Abstract

The present invention relates to an automatic navigation forklift with height feedback adjustment and a height adjustment method thereof, comprising a housing, a steering wheel and a sensing component, wherein the sensing component is connected to the housing, and the steering wheel is arranged in the housing. The automatic navigation forklift also comprises: an adjustment block, which cooperates with the housing and the steering wheel for height adjustment; and a detection component, which is connected to the steering wheel for height detection. The steering wheel fixing method is designed to be able to quickly replace adjustment blocks of different heights. When the height exceeds the working threshold of the navigation sensing device, the sensing component can be quickly restored to normal operation by quickly replacing the adjustment block. At the same time, the quickly replaced adjustment block can continue to extend the service life of the tire when the wheel diameter exceeds the height threshold of the sensing device but has not reached the tire service life limit, thereby improving the economy of the vehicle body's vulnerable parts.

Description

Technical Field

[0001] The present invention relates to the technical field of automatic navigation forklifts, and in particular to an automatic navigation forklift with height feedback adjustment and a height adjustment method thereof. Background Art

[0002] An automated forklift is a forklift that can operate without manual control through autonomous navigation technology. It is a forklift that integrates advanced navigation technology, sensor perception, control systems, and material handling technology. It uses a variety of sensing technologies such as lidar, cameras, and sensors to achieve autonomous obstacle avoidance, path planning, and precise positioning to complete tasks such as material handling and warehousing.

[0003] There are still some problems and limitations in the current automated guided forklifts on the market. For example, some sensors on the vehicle body, core sensing devices such as lidar, have high requirements for the operating environment of the automated guided forklift. As for the driving steering wheels that provide steering and traveling power, the materials such as rubber or polyurethane covering the traveling wheels are easily consumable. During operation, the tire material will become smaller in diameter with continuous traveling and wear, causing the working plane of devices such as the vehicle body radar to become lower, affecting the data of the navigation sensing devices, and thus affecting the automated navigation function of the entire vehicle. Summary of the Invention

[0004] In view of the above-mentioned shortcomings of the prior art, an object of the present invention is to provide an automatic navigation forklift with height feedback adjustment and a height adjustment method thereof, so as to solve one or more problems in the prior art.

[0005] To achieve the above object, the technical solution of the present invention is as follows:

[0006] An automatic navigation forklift with height feedback adjustment includes a housing, a steering wheel, and a sensing component, wherein the sensing component is connected to the housing, the steering wheel is arranged in the housing, and the automatic navigation forklift also includes:

[0007] an adjusting block, the adjusting block being matched with the housing and the steering wheel for adjusting the height;

[0008] A detection member is connected to the steering wheel for detecting the height.

[0009] Furthermore, a first protrusion is provided on the inner side of the shell, and the adjustment block is detachably provided on the surface of the first protrusion.

[0010] Furthermore, the steering wheel includes a fixing plate, the fixing plate is matched with the adjusting block, and the adjusting block is arranged between the first protrusion and the fixing plate.

[0011] Furthermore, the detection member is arranged on the bottom surface of the fixing plate along the first direction and cooperates with the control system.

[0012] Furthermore, the housing is further provided with a first mounting portion, a second mounting portion and a third mounting portion, and the sensing component is connected to the first mounting portion, the second mounting portion and the third mounting portion respectively.

[0013] A height adjustment method, which is applied to the above-mentioned automatic guided forklift with height feedback adjustment, comprises the following steps:

[0014] Set the height deviation threshold;

[0015] The detection part reads the height from the ground;

[0016] Determine whether the change in height above the ground exceeds a threshold. If not, a closed loop of the navigation algorithm is formed and detection continues; if exceeded, the height is adjusted and detection continues.

[0017] Furthermore, the height adjustment includes the following steps:

[0018] The control system moves the forklift to a safe area and issues an alarm;

[0019] Upload the alarm information to the host computer;

[0020] Replace the adjustment block.

[0021] Compared with the prior art, the beneficial technical effects of the present invention are as follows:

[0022] (1) Preset the working height threshold of the detection part, record the distance from the ground, and issue an alarm when the detection exceeds the normal working height range, thereby improving the reliability of the vehicle's navigation perception;

[0023] (2) The steering wheel mounting system is designed to allow for the rapid replacement of adjustment blocks at different heights. This allows the sensor assembly to quickly resume normal operation when the wheel height exceeds the sensor height threshold but remains below the tire's service life, extending the tire's service life and improving the economic efficiency of the vehicle's vulnerable parts. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] Figure 1 A structural schematic diagram of an automatic navigation forklift with height feedback adjustment and a height adjustment method thereof according to an embodiment of the present invention is shown.

[0025] Figure 2 A flow chart of a height adjustment method of an automatic navigation forklift with height feedback adjustment and a height adjustment method thereof according to an embodiment of the present invention is shown.

[0026] Markings in the accompanying drawings: 1. outer shell; 101. first protrusion; 102. first mounting portion; 103. second mounting portion; 104. third mounting portion; 2. steering wheel; 201. fixing plate; 3. adjustment block; 4. detection part. DETAILED DESCRIPTION

[0027] To make the objectives, technical solutions, and advantages of the present invention more clearly understood, the following, in conjunction with the accompanying drawings and specific embodiments, further describes in detail an automatic guided forklift with height feedback adjustment and a height adjustment method thereof proposed by the present invention. The advantages and features of the present invention will become more apparent from the following description. It should be noted that the drawings are in a very simplified form and are not in exact proportions, and are only used to conveniently and clearly assist in illustrating the objectives of the embodiments of the present invention. To make the objectives, features, and advantages of the present invention more clearly understood, please refer to the drawings. It should be noted that the structures, proportions, sizes, etc. illustrated in the drawings in this specification are only used to match the contents disclosed in this specification for those familiar with the technology to understand and read, and are not intended to limit the implementation conditions of the present invention. Therefore, they have no technical significance. Any structural modifications, changes in proportional relationships, or adjustments in size, without affecting the efficacy and objectives that can be achieved by the present invention, should still fall within the scope of the technical content disclosed by the present invention.

[0028] See also Figure 1 The automatic navigation forklift with height feedback adjustment of this embodiment includes a shell 1, a steering wheel 2 and a sensing component. The sensing component is connected to the shell 1, and the steering wheel 2 is arranged in the shell 1.

[0029] Furthermore, the automatic guided forklift further includes an adjustment block 3 . A first protrusion 101 is provided on the inner side of the housing 1 . The adjustment block 3 is detachably provided on the upper surface of the first protrusion 101 .

[0030] Furthermore, the steering wheel 2 includes a fixing plate 201, which is matched with the adjustment block 3. The adjustment block 3 is arranged between the first protrusion 101 and the fixing plate 201, and is matched with the housing 1 and the steering wheel 2 for height adjustment.

[0031] Furthermore, the automatic guided forklift also includes a detection member 4, which is arranged on the bottom surface of the fixed plate 201 along a first direction and cooperates with the control system for height detection. Preferably, the first direction is a direction perpendicular to the horizontal ground, and the detection member 4 detects the height from the ground.

[0032] Furthermore, the housing 1 is further provided with a first mounting portion 102, a second mounting portion 103, and a third mounting portion 104. Preferably, the first mounting portion 102 is provided at the top of the housing 1, and the second mounting portion 103 and the third mounting portion 104 are symmetrically provided at the left and right ends of the housing 1. The sensing components are respectively connected to the first mounting portion 102, the second mounting portion 103, and the third mounting portion 104. Preferably, the sensing components are detection radars used for direction sensing during forklift self-navigation.

[0033] This embodiment also provides a height adjustment method, please continue to refer to Figure 2 The height adjustment method is applied to the above-mentioned automatic navigation forklift with height feedback adjustment, comprising the following steps:

[0034] Step 1: Set the height deviation threshold

[0035] The upper computer sets the distance between the detection part 4 and the ground to be calibrated to 350 mm, and the threshold value of the affected sensing component is set to 5 mm.

[0036] Step 2: The detection member 4 reads the height from the ground.

[0037] The detection element 4 reports the distance value every 1 minute.

[0038] Step 3: Determine whether the change in height above the ground exceeds the threshold. If not, form a closed loop of the navigation algorithm and continue detection; if exceeded,.

[0039] When the height above the ground read by the detection element 4 exceeds 355 mm or is lower than 345 mm for 10 consecutive times, it is determined to exceed the threshold, otherwise it is determined not to exceed the threshold.

[0040] Step 3.1: Further, when the threshold is not exceeded, the host computer records the current distance value, the control system continues to execute the navigation algorithm to control the movement of the forklift, and the detection component 4 continues to read the ground height detection.

[0041] Step 3.2: Further, when the threshold is exceeded, a height adjustment is performed.

[0042] Step: 3.2.1: The control system moves the forklift to a safe area and sounds an alarm. The horn and light strip module on the forklift issue corresponding warnings.

[0043] Step 3.2.2: At the same time, upload the alarm information to the host computer and display it on the host computer interface.

[0044] Step 3.2.3: Replace the adjustment block 3. The operator removes the fixing plate 201 and detaches the adjustment block 3 from the first protrusion 101. By replacing the adjustment block 3 with one of a different thickness, the operator adjusts the ground clearance to within the threshold range of 345-355 mm. The vehicle control system then controls the vehicle to resume normal operation, and the alarm message automatically clears.

[0045] The technical features of the above-mentioned embodiments can be combined arbitrarily. In order to make the description concise, not all possible combinations of the technical features in the above-mentioned embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0046] The above-described embodiments merely illustrate several implementations of the present invention. While the descriptions are relatively specific and detailed, they should not be construed as limiting the scope of the patent. It should be noted that a person skilled in the art would be able to make numerous variations and improvements without departing from the spirit of the present invention, all of which fall within the scope of protection of the present invention. Therefore, the scope of protection of the patent for this invention shall be determined by the appended claims.

Claims

1. An automatic guided forklift with height feedback adjustment, comprising a housing, a steering wheel, and a sensing assembly, wherein the sensing assembly is connected to the housing, and the steering wheel is disposed within the housing, characterized in that: The automatic navigation forklift also includes: an adjustment block, the adjustment block being matched with the housing and the steering wheel for adjusting the height, the housing being provided with a first protrusion on the inner side, the adjustment block being detachably mounted on the surface of the first protrusion, the steering wheel comprising a fixing plate, the fixing plate being matched with the adjustment block, the adjustment block being disposed between the first protrusion and the fixing plate; A detection member is connected to the steering wheel for detecting the height.

2. The automatic guided forklift with height feedback adjustment according to claim 1, characterized in that: The detection component is arranged on the bottom surface of the fixing plate along a first direction and is coordinated with the control system.

3. The automatic guided forklift with height feedback adjustment according to claim 2, characterized in that: The housing is further provided with a first mounting portion, a second mounting portion and a third mounting portion, and the sensing components are connected to the first mounting portion, the second mounting portion and the third mounting portion respectively.

4. A height adjustment method, the height adjustment method being applied to an automatic guided forklift with height feedback adjustment according to any one of claims 1 to 3, characterized in that The following steps are involved: Set the height deviation threshold; The detection part reads the height from the ground; Determine whether the change in height above the ground exceeds a threshold. If not, form a closed loop of the navigation algorithm and continue detection. If it exceeds, adjust the height. The height adjustment includes the following steps: The control system moves the forklift to a safe area and issues an alarm. Upload the alarm information to the host computer, Replace the adjustment block.

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