Forklift control method, forklift and computer readable storage medium

Abstract

The invention discloses a forklift control method, a forklift and a computer readable storage medium, a detection device used for detecting cargo tray information is arranged on a portal of the forklift, and the control method comprises the steps that a forklift dispatching instruction and the cargo tray information detected by the detection device are obtained; switching a target detection area of the detection device according to the forklift dispatching instruction and the cargo tray information; and according to the cargo tray information detected by the detection device in the target detection area, the taking and unloading state is identified. According to the control method, the goods taking and unloading states of the forklift can be accurately recognized, the accuracy and reliability of the goods taking and unloading operation of the forklift are improved, misjudgment and operation risks are reduced, the problem of goods falling caused by mechanical structure faults in the unloading process is solved, and therefore the safety of goods carrying is improved.

Description

Technical Field

[0001] The present invention relates to the technical field of transport vehicles, and in particular to a forklift control method, a forklift and a computer-readable storage medium. Background Art

[0002] At present, the solution adopted by AGV (Automated Guided Vehicle) forklifts when picking up goods is to confirm the arrival of goods by squeezing the pallet arrival mechanical mechanism in the middle of the gantry. This mechanical mechanism usually uses a proximity switch or a limit switch as a sensor to trigger the acquisition of the goods arrival signal. However, this solution has some problems.

[0003] For example, during the picking process, if the pallet is skewed, the AGV forklift cannot correctly position it by squeezing the pallet into place mechanical mechanism, which may result in the inability to accurately obtain the goods in place signal, resulting in a misjudgment. In addition, this solution can only obtain the goods in place signal, but lacks a signal to determine whether the fork has completely left the pallet, that is, it lacks a signal for the unloading status. This means that before the unloading is completed, if there is a failure or problem with the mechanical structure, the forklift cannot detect in time whether the fork has completely left the pallet, thereby increasing the risk of failure. In this case, if the mechanical structure does not function properly, it may cause the forklift to leave the pallet without completely unloading, causing the goods to fall or be damaged, and even posing a danger to equipment and personnel. Summary of the invention

[0004] The present invention aims to solve at least one of the technical problems existing in the prior art. To this end, one object of the present invention is to provide a control method for a forklift, which can accurately identify the pickup and unloading status of the forklift, improve the accuracy and reliability of the forklift's pickup and unloading operations, reduce misjudgment and operation risks, avoid problems caused by mechanical structure failures during the unloading process, and thus improve the safety of cargo handling.

[0005] The second objective of the present invention is to provide a forklift.

[0006] A third object of the present invention is to provide a computer-readable storage medium.

[0007] In order to achieve the above-mentioned purpose, a control method for a forklift in an embodiment of the first aspect of the present invention is provided with a detection device for detecting cargo pallet information on the mast of the forklift, and the control method comprises: obtaining a forklift dispatching instruction and the cargo pallet information detected by the detection device; switching a target detection area of ​​the detection device according to the forklift dispatching instruction and the cargo pallet information; and identifying the loading and unloading status according to the cargo pallet information detected by the detection device within the target detection area.

[0008] According to the control method of the forklift of the embodiment of the present invention, by setting a detection device on the mast of the forklift to detect the cargo pallet information, combined with the forklift dispatching instruction (such as a pickup instruction or an unloading instruction), the target detection area of ​​the detection device can be dynamically adjusted to adapt to the characteristics of different tasks and cargoes. In the target detection area, the detection device can accurately detect the cargo pallet information, and based on this information, the state of the pallet and the cargo during the pickup and unloading process can be identified, thereby improving the accuracy and reliability of the forklift's pickup and unloading operations, reducing misjudgment and operational risks, and avoiding the problem of cargo falling due to mechanical structure failure during the unloading process, thereby improving the safety of cargo handling.

[0009] In some embodiments, the detection device includes a first laser scanning sensor and a second laser scanning sensor arranged on both sides of the gantry, and the target detection area of ​​the detection device is switched according to the forklift scheduling instructions and the cargo pallet information, including: if the forklift enters the picking route, the detection areas of the first laser scanning sensor and the second laser scanning sensor are controlled to be picking and unloading sensing areas, wherein along the forking direction of the fork on the gantry, the length of the picking and unloading sensing area is greater than the length of the fork.

[0010] In some embodiments, the picking and unloading status is identified based on the cargo pallet information detected by the detection device in the target detection area, including: receiving the cargo pallet information detected by one of the first laser scanning sensor and the second laser scanning sensor in the picking and unloading sensing area and not receiving the cargo pallet information detected by the other sensor of the first laser scanning sensor and the second laser scanning sensor, then determining that the picking is abnormal.

[0011] In some embodiments, the target detection area of ​​the detection device is switched according to the forklift dispatch instruction and the cargo pallet information, including: receiving the cargo pallet information detected by the first laser scanning sensor and the second laser scanning sensor in the picking and unloading sensing area; controlling the detection areas of the first laser scanning sensor and the second laser scanning sensor to switch to the cargo arrival sensing area, wherein the cargo pallet has an overlapping area with the cargo arrival sensing area when the fork is in the required position.

[0012] In some embodiments, after controlling the detection areas of the first laser scanning sensor and the second laser scanning sensor to switch to the cargo arrival sensing area, the control method further includes: controlling the travel motor of the forklift to slow down to a preset speed; receiving the cargo pallet information detected by the first laser scanning sensor and the second laser scanning sensor in the cargo arrival sensing area, and controlling the lifting mechanism of the forklift to rise.

[0013] In some embodiments, the picking and unloading status is identified based on the cargo pallet information detected by the detection device in the target detection area, including: when the cargo pallet information detected by one of the first laser scanning sensor and the second laser scanning sensor in the cargo arrival sensing area is received and the detection information of the other sensor of the first laser scanning sensor and the second laser scanning sensor is not received, it is determined that the picking is abnormal.

[0014] In some embodiments, the target detection area of ​​the detection device is adjusted according to the forklift dispatch instruction and the cargo pallet information, including: if the forklift enters the unloading route and reaches the unloading point, controlling the lifting mechanism to descend; if the cargo pallet detected by the first laser scanning sensor and the second laser scanning sensor in the cargo arrival sensing area is not received, controlling the detection areas of the first laser scanning sensor and the second laser scanning sensor to switch to the picking and unloading sensing area.

[0015] In some embodiments, the control method further includes: controlling the speed of the travel motor to decrease to a preset speed until the first laser scanning sensor and the second laser scanning sensor cannot detect the cargo pallet in the pickup and unloading sensing area.

[0016] In some embodiments, the picking and unloading status is identified based on the cargo pallet information detected by the detection device in the target detection area, including: if the forklift leaves the unloading route, and also receives the cargo pallet information detected by the first laser scanning sensor and / or the second laser scanning sensor in the picking and unloading sensing area, it is determined that the unloading is abnormal.

[0017] In some embodiments, the detection device includes a 3D camera, and identifying the loading and unloading status based on the cargo pallet information detected by the detection device within the target detection area includes: analyzing the image of the cargo pallet within the target detection area captured by the 3D camera to identify the status of the cargo pallet.

[0018] In order to achieve the above-mentioned purpose, a forklift according to an embodiment of the second aspect of the present invention comprises: a body, on which a gantry and a fork mounted on the gantry are disposed; a detection device, which is disposed on the gantry and is used to detect cargo pallet information; and a controller, which is connected to the detection device and is used to execute the control method described in the above embodiment.

[0019] The forklift according to the embodiment of the present invention can accurately detect the cargo pallet information and identify the forklift's picking and unloading status, including whether the forks have completely left the pallet, by arranging a detection device on the forklift's door frame and connecting the controller to execute the control method described in the above embodiment. This improves the accuracy and reliability of the forklift's picking and unloading operations, reduces misjudgment and operational risks, and prevents cargo from falling due to mechanical structure failure during the unloading process, thereby improving the safety of cargo handling.

[0020] In some embodiments, the detection device includes: a first laser scanning sensor and a second laser scanning sensor, and the first laser scanning sensor and the second laser scanning sensor are arranged on both sides of the gantry.

[0021] In some embodiments, the detection device is a 3D camera.

[0022] In order to achieve the above object, a computer-readable storage medium according to an embodiment of the third aspect of the present invention implements the forklift control method described in the above embodiment when the computer program is executed.

[0023] Additional aspects and advantages of the present invention will be given in part in the following description and in part will be obvious from the following description, or will be learned through practice of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] The above and / or additional aspects and advantages of the present invention will become apparent and easily understood from the description of the embodiments in conjunction with the following drawings, in which:

[0025] Figure 1 is a flow chart of a method for controlling a vehicle side pedal according to an embodiment of the present invention;

[0026] Figure 2 is a schematic diagram of a forklift according to an embodiment of the present invention;

[0027] Figure 3 is a flow chart of a method for controlling a forklift according to an embodiment of the present invention;

[0028] Figure 4 is a schematic diagram of a tray overlapping a sensing area according to an embodiment of the present invention;

[0029] Figure 5 is a schematic diagram of a pickup anomaly according to an embodiment of the present invention;

[0030] Figure 6 is a schematic diagram of scanning area switching of a laser scanning sensor according to an embodiment of the present invention;

[0031] Figure 7 is a control principle diagram of various components according to an embodiment of the present invention;

[0032] Figure 8 is an electrical schematic diagram of various components according to an embodiment of the present invention.

[0033] Reference numerals:

[0034] Forklift 1;

[0035] Vehicle body 10; detection device 20; gantry 30; fork 40; cargo pallet 50;

[0036] A first laser scanning sensor 21 ; a second laser scanning sensor 22 . DETAILED DESCRIPTION

[0037] Embodiments of the present invention are described in detail below. The embodiments described with reference to the accompanying drawings are exemplary. Embodiments of the present invention are described in detail below.

[0038] Figure 1 Schematic diagram of a mechanical mechanism for placing a cargo pallet in place used in the prior art; Figure 1 As shown in the figure, the solution adopted by the AGV forklift when picking up goods is to confirm the arrival status of the goods by squeezing the cargo pallet arrival mechanical mechanism in the middle of the gantry. This mechanical mechanism usually uses a proximity switch or a limit switch as a sensor to trigger the acquisition of the goods arrival signal. However, this solution has some problems.

[0039] During the picking process, if the cargo pallet is skewed, the AGV forklift cannot correctly position it by squeezing the cargo pallet into place mechanical mechanism, which may result in the inability to accurately obtain the cargo arrival signal, leading to misjudgment. In addition, this solution can only obtain the cargo arrival signal, but lacks the signal to determine whether the fork has completely left the cargo pallet, that is, lacks the unloading status signal. This means that before unloading is completed, if there is a failure or problem with the mechanical structure, the forklift cannot detect in time whether the fork has completely left the cargo pallet, thereby increasing the risk of failure. In this case, if the mechanical structure does not function properly, it may cause the forklift to leave the cargo pallet without completely unloading, causing the cargo to fall or be damaged, and even posing a danger to equipment and personnel.

[0040] In order to solve the above problems, the present invention proposes a forklift control method and a forklift. By arranging a detection device for detecting cargo pallet information on the door frame of the forklift, the cargo pallet information can be accurately detected and the picking and unloading status of the forklift can be judged, thereby improving the accuracy and reliability of the forklift's picking and unloading operations and reducing misjudgment and operation risks.

[0041] For the convenience of description, a forklift according to an embodiment of the present invention will be described first.

[0042] Figure 2is a schematic diagram of a forklift according to an embodiment of the present invention, Figure 2 As shown, the forklift 1 includes: a vehicle body 10, a detection device 20 and a controller.

[0043] The vehicle body 10 is the main structural frame of the forklift 1. The vehicle body 10 is provided with a gantry 30 and a fork 40 mounted on the gantry 30. The fork 40 is the part of the gantry 30 that carries articles and is used to be inserted into the fork 40 slot of the cargo pallet 50. The detection device 20 is provided on the gantry 30 and is used to detect the information of the cargo pallet 50. The controller is connected to the detection device 20 and is used to execute the control method described in the following embodiment. It receives and processes the data from the detection device 20 and makes corresponding control decisions based on the data.

[0044] By connecting the detection device 20 to the controller, the forklift 1 is able to obtain and analyze information about the cargo pallet 50 in real time, and control the movement and operation of the forklift 1 accordingly. In this way, the forklift 1 can perform the picking and unloading tasks more effectively, improve work efficiency and reduce operational errors. The first laser scanning sensor 21 is installed on one side of the gantry 30, and the second laser scanning sensor 22 is installed on the other side of the gantry 30, corresponding to the first laser scanning sensor 21. The laser scanning sensor can scan and detect objects in a specific area by emitting a laser beam and receiving a reflected laser signal. By using the first laser scanning sensor 21 and the second laser scanning sensor 22 at the same time, the forklift 1 can obtain more comprehensive and accurate information about the cargo pallet 50, and improve the accuracy and efficiency of the operation.

[0045] In some embodiments, the detection device 20 may also be a 3D camera. A 3D camera is an advanced visual sensor that can obtain three-dimensional geometric information and texture features of an object. A 3D camera obtains depth and shape information of an object in a scene by emitting infrared light or other specific light sources and receiving light reflected by the object. The sensors and algorithms inside the camera process and analyze the received light to generate a three-dimensional model or point cloud data of the object.

[0046] In the forklift 1, the 3D camera can be used as the detection device 20 to obtain information about the cargo pallet 50. It can scan and analyze the image of the cargo pallet 50 in the target detection area, and identify the state and related properties of the cargo pallet 50 by processing and analyzing the image. Specifically, using the capabilities of the 3D camera, the shape, size, position and posture of the cargo pallet 50 can be accurately identified. Based on this information, the controller can determine the loading and unloading status of the cargo and make corresponding control actions.

[0047] According to the forklift 1 of the embodiment of the present invention, by arranging the detection device 20 on the door frame 30 of the forklift 1 and connecting the controller to execute the control method described in the following embodiment, it is possible to accurately detect the cargo pallet information and identify the picking and unloading status of the forklift 1, thereby improving the accuracy and reliability of the picking and unloading operations of the forklift 1, reducing the risks of misjudgment and operation, preventing the cargo from falling due to mechanical structure failure during the unloading process, and thus improving the safety of cargo handling.

[0048] Reference below Figure 3-Figure 8 A control method of a forklift according to an embodiment of the present invention is described.

[0049] Figure 3 is a flow chart of a method for controlling a forklift according to an embodiment of the present invention. Figure 3 As shown, the forklift control method of the embodiment of the present invention at least includes the following steps S1-S3.

[0050] S1, obtaining forklift dispatching instructions and cargo pallet information detected by a detection device.

[0051] Among them, the forklift dispatch instruction can be an instruction to guide the forklift to perform a specific task, which may include but is not limited to information such as the pickup point, unloading point, moving path (i.e., pickup route and unloading route), task priority, etc.

[0052] In some embodiments, the forklift dispatching instructions can be obtained through the dispatching system. The dispatching system is a central control system that manages and assigns tasks and actions to each forklift. It can generate corresponding dispatching instructions and send them to the forklift according to factors such as the needs of the warehouse or factory, material flow, order information, etc. After the forklift receives the instructions issued by the dispatching system, it performs corresponding actions and control operations according to the content of the instructions.

[0053] In some embodiments, the cargo pallet information may be data or parameters related to the cargo pallet. For example, cargo pallet position information, cargo pallet posture information, cargo pallet size information, and cargo pallet weight information. Among them, the cargo pallet position information may include the offset of the cargo pallet on the gantry, the height from the gantry, etc. The cargo pallet posture information may be the inclination angle, rotation angle or other posture parameters of the cargo pallet, which can help determine whether the cargo pallet is in the correct placement state and whether it is tilted or rotated. The cargo pallet size may be the length, width, height and other dimensional parameters of the cargo pallet. Cargo pallets of different sizes may require different processing and operations. The cargo pallet weight may be the weight of the goods carried on the cargo pallet, and the forklift may need to determine the lifting or lowering force based on the weight of the cargo pallet to ensure safe and smooth operation.

[0054] S2, switching the target detection area of ​​the detection device according to the forklift dispatch instruction and the cargo pallet information.

[0055] The switching of the target detection area can be achieved through communication and instruction transmission between the controller and the detection device, and adjusting the parameters or settings of the detection device according to the instructions.

[0056] Specifically, the detection device can have an adaptive function to adjust the target detection area in real time according to the forklift dispatching instructions and cargo pallet information. The controller can send instructions or parameters to the detection device to inform the position, size or other parameters of the target detection area that needs to be adjusted, so that the detection device can dynamically switch and adapt to the characteristics of the current task and cargo during operation. For example, in the pickup operation, the range of the area to be detected can be determined according to the dispatching instructions and cargo pallet information to ensure that the detection device can cover the key parts of the cargo. In the unloading operation, the target detection area can be adjusted according to the instructions and cargo pallet information to more accurately determine whether the fork has completely left the cargo pallet.

[0057] S3, identifying the loading and unloading status according to the cargo pallet information detected by the detection device in the target detection area.

[0058] Specifically, the detection device can perform real-time detection of the cargo pallet within the preset target detection area. Based on the detected cargo pallet information, the current pickup and unloading status of the forklift can be accurately determined. For example, in the pickup state, the detection device can detect the position and posture of the cargo pallet and whether it is properly aligned with the fork. By analyzing this information, the controller can determine whether the cargo is ready to be picked up by the forklift and take corresponding actions. Similarly, in the unloading state, the detection device can monitor the contact status of the fork with the cargo pallet, the time to leave the cargo pallet, and whether the cargo pallet is completely empty. Based on this information, the controller can confirm whether the forklift has successfully unloaded the cargo and perform subsequent operations or switch to other tasks.

[0059] According to the control method of the forklift of the embodiment of the present invention, by setting a detection device on the mast of the forklift to detect the cargo pallet information, combined with the forklift dispatching instruction (such as a pickup instruction or an unloading instruction), the target detection area of ​​the detection device can be dynamically adjusted to adapt to the characteristics of different tasks and cargoes. In the target detection area, the detection device can accurately detect the cargo pallet information, and based on this information, the state of the pallet and the cargo during the pickup and unloading process can be identified, thereby improving the accuracy and reliability of the forklift's pickup and unloading operations, reducing misjudgment and operational risks, and avoiding the problem of cargo falling due to mechanical structure failure during the unloading process, thereby improving the safety of cargo handling.

[0060] In some embodiments, the detection device includes two laser scanning sensors, namely a first laser scanning sensor and a second laser scanning sensor. The two laser scanning sensors are arranged on both sides of the mast of the forklift to cover a wider detection range. Through the two laser scanning sensors, the cargo pallet information can be detected and identified. According to the forklift dispatch instruction and the cargo pallet information, the target detection area of ​​the detection device can be switched.

[0061] The detection range of the laser scanning sensor in the detection device can be adjusted and configured according to the size of the cargo pallet being processed. For example, for a larger cargo pallet, by adjusting the position, angle or scanning range of the laser scanning sensor, the length and width of the scanning sensing area can be expanded to ensure that the entire cargo pallet surface can be covered by the laser scanning sensor. For a smaller cargo pallet, by adjusting the position, angle or scanning range of the laser scanning sensor, the scanning sensing area can be reduced to improve accuracy and efficiency.

[0062] Specifically, when the forklift receives a dispatch instruction, the controller can determine the current area range that needs to be detected based on the instruction content and the cargo pallet information. By sending corresponding instructions or parameters, the controller can adjust the scanning area of ​​the first and second laser scanning sensors to correspond to the target detection area. This ensures that the status and position of the cargo pallet can be accurately detected and identified during operation.

[0063] By using the first and second laser scanning sensors at the same time, the reliability and accuracy of detection can be improved. Even if one of the sensors fails or misjudges, the other sensor can still provide valid detection data, avoiding misjudgment or safety issues caused by failure of a single sensor.

[0064] In some embodiments, when a forklift enters the pickup route, the detection areas of the first laser scanning sensor and the second laser scanning sensor are both set as the pickup and unloading sensing area. This means that during the pickup operation, the two sensors will perform detection at the same time to ensure accurate sensing and identification of key parts of the cargo pallet.

[0065] Among them, Figure 4As shown, in the pickup and unloading sensing area, the length of the pickup and unloading sensing area is greater than the length of the fork, and extends along the fork direction of the fork on the gantry, and a certain distance is set to ensure that the sensing area has an overlapping area with the cargo pallet. The specific distance value can be adjusted according to the different requirements of the cargo pallet size and the AGV forklift pickup and unloading accuracy. For example, it can be set to 20mm or other appropriate values. The purpose of this design is to ensure that during the pickup process, the detection device can fully cover the cargo pallet and the position aligned with the fork, so that it can detect and identify whether the cargo pallet is skewed before the cargo pallet reaches the fork. By setting the pickup and unloading sensing area, the first laser scanning sensor and the second laser scanning sensor can simultaneously monitor and identify the state of the cargo pallet. They can detect the position, posture and alignment of the cargo pallet with the fork. In this way, the controller can determine whether the cargo is ready to be picked up by the forklift based on this information and take corresponding actions.

[0066] In some embodiments, if the forklift receives only the cargo pallet information detected by one of the first laser scanning sensor and the second laser scanning sensor in the pickup and unloading sensing area, and does not receive the cargo pallet information detected by the other of the first laser scanning sensor and the second laser scanning sensor, the forklift will determine that the pickup is abnormal. This means that only one sensor can detect the cargo pallet at this time, while the other sensor fails to detect it, which may be an abnormal situation caused by sensor failure or other reasons.

[0067] Figure 5 is a schematic diagram of an abnormal pickup according to an embodiment of the present invention. Figure 5 As shown, the controller monitors the scanning area and processes the feedback signal through a pair of laser scanning sensors. This means that the two laser scanning sensors should receive the cargo pallet information at the same time. During the picking process, the cargo pallet may be placed at an angle or deviated. In this case, the controller can only receive the feedback signal from one of the laser scanning sensors, but fails to receive the signal from the other laser scanning sensor, that is, only one laser scanning sensor can determine the cargo pallet, while the other sensor cannot correctly detect the cargo pallet. The controller determines this situation as a picking anomaly because the position of the cargo pallet does not match the expected position.

[0068] Through this control method, the vehicle system can detect and identify abnormal situations in the picking process in advance, including the situation where only one laser scanning sensor determines that the cargo pallet is on. Such a judgment basis can help the system take corresponding measures in time, such as suspending the picking action or repositioning, to ensure the accuracy and safety of the picking process.

[0069] In some embodiments, when the forklift receives the cargo pallet information detected by the first laser scanning sensor and the second laser scanning sensor in the pickup and unloading sensing area, the controller controls the detection areas of the first laser scanning sensor and the second laser scanning sensor to switch to the cargo arrival sensing area. Figure 3 As shown in the figure, in the cargo in-place sensing area, there is an overlap area between the cargo pallet and the cargo in-place sensing area when the cargo pallet is at the required position of the fork. To ensure accuracy, the overlap area sets an overlap difference in the fork direction, for example, it can be set to 20mm or other appropriate values. The specific overlap difference can be adjusted according to the different cargo pallet sizes and the requirements of the AGV forklift's loading and unloading accuracy. The purpose of this design is to ensure that the forklift can accurately detect whether the cargo pallet has reached the required position and is aligned with the fork.

[0070] By switching to the cargo in-place sensing area and setting the overlap difference, the first laser scanning sensor and the second laser scanning sensor can simultaneously monitor and identify the status of the cargo pallet. They can detect the cargo pallet's position, posture, and alignment with the forks. In this way, the controller can determine whether the cargo is in place based on this information and take corresponding actions, such as stopping the movement or performing a pick-up operation.

[0071] In some embodiments, after the detection area of ​​the first laser scanning sensor and the second laser scanning sensor is switched to the cargo in-place sensing area, the controller issues an instruction to slow down the travel motor of the forklift to a preset speed. This is to ensure that the forklift can travel smoothly when approaching the cargo in-place position, reduce possible vibrations and shocks, and ensure the accuracy and safety of the operation. During the deceleration process, the first laser scanning sensor and the second laser scanning sensor continue to detect the cargo pallet information in the cargo in-place sensing area. This information includes the position, posture and alignment of the cargo pallet with the fork. Based on the cargo pallet information detected by the first laser scanning sensor and the second laser scanning sensor, the controller issues an instruction to start the lifting mechanism of the forklift to rise. In this way, the cargo pallet can be lifted to the required height for the pickup operation.

[0072] In some embodiments, when the cargo pallet information detected by one of the first laser scanning sensor and the second laser scanning sensor in the cargo in-place sensing area is received and the detection information of the other of the first laser scanning sensor and the second laser scanning sensor is not received, it is determined that the picking is abnormal. This may be because the cargo pallet is not correctly aligned to the forklift's picking position, or there are other problems that cause the other sensor to fail to correctly detect the cargo. In this case, the controller can take corresponding measures to handle the abnormal situation. For example, an alarm can be sent or a specific error handling procedure can be executed, such as retrying to pick up the goods, terminating the picking action, notifying the operator, or recording the abnormal information for subsequent analysis.

[0073] In some embodiments, when the forklift enters the unloading route and arrives at the unloading point, the lifting mechanism is controlled to descend according to the forklift dispatching instruction so as to unload the goods from the forklift. When the forklift completes unloading, that is, when the cargo pallet leaves the cargo in-place sensing area, the controller checks whether the information that the first laser scanning sensor and the second laser scanning sensor detect the cargo pallet in the cargo in-place sensing area is received. If the detection information of these sensors is not received, it means that the cargo pallet has left the cargo in-place sensing area. In this case, the controller controls the detection area of ​​the first laser scanning sensor and the second laser scanning sensor to switch to the pickup and unloading sensing area. This means that the target detection area of ​​the scanning sensor will switch from the cargo in-place sensing area to the pickup and unloading sensing area so as to detect the position of the cargo pallet during the unloading process in a timely manner.

[0074] In some embodiments, when the forklift completes the unloading operation and the detection areas of the first laser scanning sensor and the second laser scanning sensor are switched to the pick-up and unloading sensing area, the speed of the travel motor is controlled to be reduced to a preset speed to ensure that the forklift can travel at an appropriate speed when performing detection in the pick-up and unloading sensing area, so as to improve the accuracy and reliability of the detection, while also increasing the safety and stability of the operation.

[0075] Furthermore, after the travel motor slows down, the first laser scanning sensor and the second laser scanning sensor will continue to perform target detection to obtain the position and status information about the cargo pallet. The controller continuously monitors the detection results of the first laser scanning sensor and the second laser scanning sensor. If the presence of the cargo pallet is not detected in the pickup and unloading sensing area, that is, the target signal of the cargo pallet cannot be detected, indicating that the cargo pallet has left the area, the speed of the forklift's travel motor will be restored to the original speed.

[0076] In some embodiments, if the forklift leaves the unloading route, it also receives the cargo pallet information detected by the first laser scanning sensor and / or the second laser scanning sensor in the pickup and unloading sensing area, and determines that the unloading is abnormal. This may be due to inaccurate adjustment of the lifting mechanism of the forklift during the unloading process, resulting in an error between the unloading height and the fork position. This may cause the cargo pallet to still be in contact with the fork when it leaves the unloading position. And before leaving the unloading route, the controller determines that the cargo has not completely left the fork. Therefore, when the forklift can still receive the cargo pallet information detected by the laser scanning sensor in the pickup and unloading sensing area after leaving the unloading route, it is determined that there is an abnormal unloading situation.

[0077] In some embodiments, when the controller determines that there is an abnormal unloading condition, it will upload the abnormal condition to the dispatching system. In this way, the relevant operators or maintenance personnel can be informed of the abnormal condition in a timely manner and take appropriate measures to solve the problem. For example, readjust the unloading height, reposition the cargo pallet to ensure that it is completely off the forks, or perform other necessary operations to solve the abnormal unloading condition.

[0078] Figure 6 FIG. 1 is a schematic diagram of a scanning area switching of a laser scanning sensor according to an embodiment of the present invention. Figure 6 As shown, when the AGV forklift receives an instruction from the dispatching system to enter the pickup route, the controller switches the scanning area of ​​the laser scanning sensor to the pickup and unloading sensing area. When the cargo pallet enters the pickup and unloading sensing area, the laser scanning sensor senses the presence of the cargo pallet, and the controller switches to the pickup mode and switches the scanning area of ​​the laser scanning sensor to the cargo in-place sensing area. At this time, the travel motor speed is controlled to be reduced to a preset speed (for example, reduced to 70% of the original speed) until the cargo pallet enters the cargo in-place sensing area and the vehicle reaches the route pickup point required by the dispatching system. The controller outputs the lifting solenoid valve to lift the cargo, the controller records the success of the pickup, and requests the dispatching system for the next action.

[0079] Furthermore, when the AGV forklift receives an instruction from the dispatching system to arrive at the unloading point, the scanning area of ​​the laser scanning sensor is always the cargo arrival sensing area. The controller outputs the descending solenoid valve to complete the descent of the cargo. After the AGV forklift leaves the unloading point, when the cargo pallet leaves the cargo arrival sensing area, the vehicle logic controller senses the state of no cargo pallet and switches the scanning area of ​​the laser scanning sensor to the pickup and unloading sensing area. At this time, the travel motor speed is controlled to be reduced to a preset speed (for example, reduced to 70% of the original speed) until the cargo pallet completely leaves the pickup and unloading sensing area. The controller records the unloading success and requests the dispatching system for the next action.

[0080] Figure 7 is a control principle diagram of each component according to an embodiment of the present invention, Figure 8 is an electrical schematic diagram of various components according to an embodiment of the present invention, such as Figure 7 and Figure 8 As shown, the controller serves as the core control unit of the forklift system and interacts and communicates with components such as the dispatching system, motor controller, lifting solenoid valve, lowering solenoid valve, and laser scanning sensor.

[0081] Among them, the controller obtains vehicle dispatch instructions and related task information by exchanging information with the dispatch system. The vehicle logic controller receives instructions from the dispatch system, such as pickup instructions or unloading instructions, as well as relevant information such as task priority and target location. This information will be used by the controller to adjust the behavior of the forklift and perform the corresponding tasks. In addition, the controller also provides feedback on the vehicle status to the dispatch system. For example, the vehicle logic controller can report the execution status of the current task, the location of the vehicle, the running speed, the height of the fork, and other information to the dispatch system so that the dispatch system can perform real-time monitoring and dispatch decisions.

[0082] The controller can send a lifting command to the lifting solenoid valve and a lowering command to the lowering solenoid valve by interacting with the lifting solenoid valve and the lowering solenoid valve. These commands are used to control the lifting and lowering action of the lifting mechanism to raise or lower the height of the cargo pallet.

[0083] The controller can control the speed of the travel motor by interacting with the motor controller, so that it can reduce the speed to a preset speed in the cargo arrival sensing area of ​​the pickup route and the pickup and unloading sensing area of ​​the unloading route.

[0084] The controller controls the laser scanner sensor to monitor the position, posture and alignment of the cargo pallet with the fork by interacting with the first laser scanning sensor and the second laser scanning sensor. When the controller needs to switch the target detection area, it sends instructions to the first laser scanning sensor and the second laser scanning sensor to inform them that the scanning area needs to be changed so that the cargo pallet in the pickup route and the unloading route can be accurately detected.

[0085] In some embodiments, the detection device includes a 3D camera for detecting information of a cargo pallet within a target detection area and identifying its loading and unloading status.

[0086] Specifically, the forklift is equipped with a 3D camera as a detection device. The camera can capture images of cargo pallets in the target detection area and provide three-dimensional information about the cargo pallets. These images can contain information about the position, posture, size and shape of the cargo pallets. By analyzing the images collected by the 3D camera, image processing and computer vision algorithms can be used to extract the characteristics and attributes of the cargo pallet. For example, image segmentation technology can be used to separate the cargo pallet from the background, extract the boundaries and contours of the cargo pallet, calculate the volume and weight of the cargo pallet, and detect the cargo or specific marks on the cargo pallet. By analyzing the image data collected by the 3D camera, the controller can identify the state of the cargo pallet, including the pickup state and the unloading state. For example, by detecting whether there is cargo on the cargo pallet, it is determined whether the cargo pallet is in the picked-up state. And, by detecting whether the cargo pallet is empty, it is determined whether the cargo pallet is in the unloaded state.

[0087] This 3D camera-based image analysis and cargo pallet status recognition can provide more accurate and reliable loading and unloading control for forklifts. By real-time monitoring and analysis of the cargo pallet status, the controller can make timely decisions and adjust the forklift's behavior to ensure that the loading and unloading tasks are completed efficiently and safely.

[0088] The embodiment of the present invention further provides a computer-readable storage medium on which a computer program is stored. When the computer program is executed by a processor, the battery SOC correction method described in the above embodiment is implemented. The specific implementation process of the battery SOC correction method can refer to the description of the above embodiment.

[0089] The computer-readable storage medium of the embodiments of the present invention may include, but is not limited to, phase change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory or other optical or magnetic storage media, which are not listed here one by one.

[0090] In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "illustrative embodiments", "examples", "specific examples", or "some examples" means that the specific features, structures, materials, or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic representation of the above terms does not necessarily refer to the same embodiment or example.

[0091] Although the embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the claims and their equivalents.

Claims

1. A forklift control method, characterized in that: The forklift door frame is provided with a detection device for detecting cargo pallet information, and the control method comprises: Obtaining forklift dispatch instructions and the cargo pallet information detected by the detection device; Switching the target detection area of ​​the detection device according to the forklift dispatch instruction and the cargo pallet information; The loading and unloading status is identified according to the cargo pallet information detected by the detection device in the target detection area.

2. The forklift control method according to claim 1, characterized in that: The detection device includes a first laser scanning sensor and a second laser scanning sensor disposed on both sides of the gantry, and switching the target detection area of ​​the detection device according to the forklift dispatch instruction and the cargo pallet information, including: If the forklift enters the cargo pickup route, the detection areas of the first laser scanning sensor and the second laser scanning sensor are controlled to be cargo pickup and unloading sensing areas, wherein along the forking direction of the fork on the gantry, the length of the cargo pickup and unloading sensing area is greater than the length of the fork.

3. The forklift control method according to claim 2, characterized in that: Identifying the loading and unloading status according to the cargo pallet information detected by the detection device in the target detection area includes: If the cargo pallet information detected by one of the first laser scanning sensor and the second laser scanning sensor in the picking and unloading sensing area is received, and the cargo pallet information detected by the other of the first laser scanning sensor and the second laser scanning sensor is not received, it is determined that the picking is abnormal.

4. The forklift control method according to claim 3, characterized in that: Switching the target detection area of ​​the detection device according to the forklift dispatch instruction and the cargo pallet information includes: Receiving the cargo pallet information detected by the first laser scanning sensor and the second laser scanning sensor in the pickup and unloading sensing area; The detection areas of the first laser scanning sensor and the second laser scanning sensor are controlled to switch to the cargo arrival sensing area, wherein the cargo pallet has an overlapping area with the cargo arrival sensing area when the cargo fork is at the required position.

5. The forklift control method according to claim 4, characterized in that: After controlling the detection areas of the first laser scanning sensor and the second laser scanning sensor to switch to the cargo arrival sensing area, the control method further includes: Controlling the travel motor of the forklift to slow down to a preset speed; The cargo pallet information detected by the first laser scanning sensor and the second laser scanning sensor in the cargo arrival sensing area is received, and the lifting mechanism of the forklift is controlled to rise.

6. The forklift control method according to claim 5, characterized in that: Identifying the loading and unloading status according to the cargo pallet information detected by the detection device in the target detection area includes: When the cargo pallet information detected by one of the first laser scanning sensor and the second laser scanning sensor in the cargo arrival sensing area is received and the detection information of the other of the first laser scanning sensor and the second laser scanning sensor is not received, it is determined that the picking is abnormal.

7. The forklift control method according to claim 5, characterized in that: Adjusting the target detection area of ​​the detection device according to the forklift dispatch instruction and the cargo pallet information includes: If the forklift enters the unloading route and reaches the unloading point, the lifting mechanism is controlled to descend; If the cargo pallet detected by the first laser scanning sensor and the second laser scanning sensor in the cargo arrival sensing area is not received, the detection areas of the first laser scanning sensor and the second laser scanning sensor are controlled to switch to the picking and unloading sensing area.

8. The forklift control method according to claim 7, characterized in that: The control method further comprises: The speed of the travel motor is controlled to be reduced to a preset speed until the first laser scanning sensor and the second laser scanning sensor cannot detect the cargo pallet in the pickup and unloading sensing area.

9. The forklift control method according to claim 7, characterized in that: Identifying the loading and unloading status according to the cargo pallet information detected by the detection device in the target detection area includes: If the forklift leaves the unloading route and also receives the cargo pallet information detected by the first laser scanning sensor and / or the second laser scanning sensor in the pickup and unloading sensing area, it is determined that the unloading is abnormal.

10. The forklift control method according to claim 1, characterized in that: The detection device includes a 3D camera, and identifying the loading and unloading status according to the cargo pallet information detected by the detection device in the target detection area includes: The image of the cargo pallet within the target detection area captured by the 3D camera is analyzed to identify the state of the cargo pallet.

11. A forklift, characterized in that: The forklift comprises: A vehicle body, wherein the vehicle body is provided with a gantry and a fork mounted on the gantry; A detection device, the detection device is arranged on the door frame and is used to detect cargo pallet information; A controller, wherein the controller is connected to the detection device and is used to execute the control method according to any one of claims 1 to 10.

12. The forklift according to claim 11, characterized in that: The detection device comprises: A first laser scanning sensor and a second laser scanning sensor, wherein the first laser scanning sensor and the second laser scanning sensor are arranged on both sides of the gantry.

13. The forklift according to claim 11, characterized in that: The detection device is a 3D camera.

14. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed, the forklift control method according to any one of claims 1 to 10 is implemented.

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