Pallet fork height and levelness self-adaption system and method of laser navigation forklift

Abstract

The invention discloses a fork height and levelness self-adaption system and method for a laser navigation forklift, and the method comprises the steps: receiving and carrying goods: moving the laser navigation forklift to a goods area, and when the laser navigation forklift indicates that the pressure is detected based on a detection result of a third pressure sensor group, regulating and controlling a fork to move downwards until the fork is inserted into the bottom of the goods; when the detection result of the first pressure sensor group shows that the pressure is detected, the pallet fork is adjusted and controlled to move upwards to the set height, and the laser navigation forklift drives the cargoes to be transferred according to the set height; the height of the pallet fork is adjusted in real time, and in the goods transferring process, the height of the pallet fork is adjusted based on the detection result of the second pressure sensor set and the detection result of the horizontal detector; in the process of transferring the goods to the pallet fork and carrying the goods, the height of the pallet fork can be adjusted based on the roadblock condition on the walking route, the weight of the goods and the horizontal state in the walking process, and self-adaptive adjustment of the carrying height is achieved.

Description

Technical Field

[0001] The present invention relates to the technical field of laser navigation forklifts, and in particular to a fork height and levelness self-adapting system and method of a laser navigation forklift. Background Art

[0002] Laser guided forklifts are also commonly known as automatic guided vehicles. They are transport vehicles equipped with automatic guidance devices such as electromagnetic or optical devices, which can travel along a specified guidance path and have safety protection and various transfer functions. They are transport vehicles that do not require drivers in industrial applications and use rechargeable batteries as their power source. Laser guided forklifts are widely used in factory logistics automation, automated assembly lines and other fields.

[0003] In the application of existing laser navigation forklifts, due to roadblocks, if the height of the forks remains unchanged, it is easy for the forks to hit the ground. If the height of the forks is not lowered when the ground is tilted and uneven, it is easy to cause the problem of cargo dumping. Summary of the invention

[0004] The purpose of the present invention is to provide a laser navigation forklift fork height and levelness adaptive system and method, so as to solve the technical problems that there are roadblocks in the prior art, when the height of the fork remains unchanged, it is easy for the fork to collide with the ground, and when the ground is inclined and uneven, if the height of the fork is not lowered, it is easy to cause the cargo to dump.

[0005] In order to solve the above technical problems, the present invention specifically provides the following technical solutions:

[0006] A fork height and levelness adaptive system for a laser navigation forklift, comprising:

[0007] A first pressure sensor group is arranged on the upper surface of each fork of the laser navigation forklift, and a second pressure sensor group is arranged on the lower surface of each fork of the laser navigation forklift, and a third pressure sensor group is also arranged at the front end of each fork of the laser navigation forklift;

[0008] The first pressure sensor group, the second pressure sensor group and the third pressure sensor group are connected to a data processing system, and the output end of the data processing system is connected to the fork vertical drive component of the laser navigation forklift. The data processing system controls the fork vertical drive component based on the detection results of the first pressure sensor group, the second pressure sensor group and the third pressure sensor group to drive the fork of the laser navigation forklift to move vertically up and down.

[0009] As a preferred solution of the present invention, at least one fork of the laser navigation forklift is provided with a level detector, and the level detector is connected to the input end of the data processing system. The data processing system drives the fork of the laser navigation forklift to move vertically up and down based on the detection result of the level detector.

[0010] As a preferred solution of the present invention, the data processing system drives the fork vertical drive assembly based on the detection result of the third pressure sensor group to regulate the downward vertical movement of the fork of the laser navigation forklift;

[0011] Among them, the detection result of the third pressure sensor group indicates that when the third pressure sensor group detects pressure, the data processing system adjusts the fork of the laser navigation forklift to move vertically downward until the detection result of the third pressure sensor group shows that no pressure is detected.

[0012] As a preferred solution of the present invention, the data processing system drives the fork vertical drive assembly based on the detection result of the second pressure sensor group to regulate the upward vertical movement of the fork of the laser navigation forklift;

[0013] Among them, the detection result of the second pressure sensor group indicates that when the second pressure sensor group detects pressure, the data processing system adjusts the fork of the laser navigation forklift to move vertically upward until the detection result of the second pressure sensor group shows that no pressure is detected.

[0014] As a preferred solution of the present invention, the data processing system drives the fork vertical drive assembly based on the detection results of the first pressure sensor group and the detection results of the level detector to regulate the vertical movement of the fork of the laser navigation forklift;

[0015] Wherein, when the detection result of the first pressure sensor group indicates that the first pressure sensor group detects pressure, and the detection result of the level detector indicates that the fork is tilted, the data processing system drives the fork vertical drive assembly to adjust the fork of the laser navigation forklift to move vertically downward to reduce the center of gravity height of the fork;

[0016] When the detection result of the first pressure sensor group indicates that the first pressure sensor group detects pressure, but the detection result of the level detector indicates that the fork is not tilted, the data processing system temporarily keeps the fork of the laser navigation forklift at the current state.

[0017] In addition, the present invention also provides a method for self-adapting the height and levelness of the forks of a laser navigation forklift, comprising the following steps:

[0018] Step 100, receiving and transporting goods: the laser navigation forklift moves to the cargo area, and when the laser navigation forklift detects pressure based on the detection result of the third pressure sensor group, controls the fork to move downward until the fork is inserted into the bottom of the cargo;

[0019] Step 200, transferring goods: when the detection result of the first pressure sensor group indicates that pressure is detected, the cargo fork is adjusted to move upward to a set height, and the laser navigation forklift drives the cargo to be transferred according to the set height;

[0020] Step 300, real-time adjustment of the height of the forks: During the cargo transfer process, the height of the forks is adjusted based on the detection results of the second pressure sensor group and the detection results of the level detector.

[0021] As a preferred solution of the present invention, in step 200, the laser navigation forklift controls the moving height of the fork based on the pressure value detected by the first pressure sensor group;

[0022] When the detected pressure value of the first pressure sensor group is relatively large, it indicates that the weight of the cargo is large, and the set height for regulating the upward movement of the cargo fork is relatively low;

[0023] When the detected pressure value of the first pressure sensor group is relatively small, it means that the weight of the cargo is small, and the set height for regulating the upward movement of the cargo fork is relatively high.

[0024] As a preferred solution of the present invention, in step 300, during the cargo transfer process, when the detection result of the second pressure sensor group indicates that pressure is detected, the cargo fork is regulated to move upward so that the height between the cargo fork and the ground is increased to achieve obstacle avoidance;

[0025] During the cargo transfer process, when the detection result of the level detector indicates that the cargo fork is tilted, the cargo fork is regulated to move downward so that the height between the cargo fork and the ground is reduced.

[0026] As a preferred solution of the present invention, a height adjustment history record module is provided in the data processing system of the laser navigation forklift, wherein the height adjustment history record module is used to record the current height of the fork each time the detection result of the second pressure sensor group indicates that pressure is detected;

[0027] The data processing system extracts the lowest historical height of the fork in the height adjustment history record module. During the cargo transfer process, when the detection result of the level detector indicates that the fork is tilted, the data processing system controls the fork to move downward to the lowest historical height of the fork.

[0028] Compared with the prior art, the present invention has the following beneficial effects:

[0029] The present invention installs three groups of pressure sensors on the fork, so that when transferring goods to the fork and in the process of transporting goods, the height of the fork can be adjusted based on the roadblock conditions on the walking route, the weight of the goods and the horizontal state during the walking process, thereby realizing adaptive adjustment of the transport height. BRIEF DESCRIPTION OF THE DRAWINGS

[0030] In order to more clearly illustrate the implementation methods of the present invention or the technical solutions in the prior art, the following briefly introduces the drawings required for the implementation methods or the description of the prior art. Obviously, the drawings in the following description are only exemplary, and for ordinary technicians in this field, other implementation drawings can be derived from the provided drawings without creative work.

[0031] Figure 1 It is a structural block diagram of the fork height and levelness adaptive system of an embodiment of the present invention;

[0032] The numbers in the figure represent the following:

[0033] 1-first pressure sensor group; 2-second pressure sensor group; 3-third pressure sensor group; 4-data processing system; 5-level detector. DETAILED DESCRIPTION

[0034] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0035] like Figure 1 As shown, the present invention provides a fork height and levelness adaptive system for a laser navigation forklift, including a first pressure sensor group 1 arranged on the upper surface of each fork of the laser navigation forklift, and a second pressure sensor group 2 arranged on the lower surface of each fork of the laser navigation forklift, and a third pressure sensor group 3 is also arranged at the front end of each fork of the laser navigation forklift.

[0036] The first pressure sensor group 1, the second pressure sensor group 2 and the third pressure sensor group 3 are connected to a data processing system 4, and the output end of the data processing system 4 is connected to the fork vertical drive component of the laser navigation forklift. The data processing system 4 controls the fork vertical drive component based on the detection results of the first pressure sensor group 1, the second pressure sensor group 2 and the third pressure sensor group 3 to drive the fork of the laser navigation forklift to move vertically up and down.

[0037] In this embodiment, the detection results of the first pressure sensor group 1, the second pressure sensor group 2 and the third pressure sensor group 3 are specifically used to complete the height control of the forks in the whole process of transporting the goods.

[0038] When the goods are transported to the fork, the data processing system 4 drives the fork vertical drive assembly based on the detection result of the third pressure sensor group 3 to adjust the downward vertical movement of the fork of the laser navigation forklift.

[0039] The detection result of the third pressure sensor group 3 indicates that when the third pressure sensor group 3 detects pressure, the data processing system 4 adjusts the forks of the laser navigation forklift to move vertically downward until the detection result of the third pressure sensor group 3 indicates that no pressure is detected.

[0040] That is to say, the vertical height of the fork of the laser navigation forklift is adjusted based on the detection result of the third pressure sensor group 3. When the detection result of the third pressure sensor group 3 indicates that pressure is detected, the data processing system 4 regulates the operation of the vertical drive assembly of the fork to lower the vertical height of the fork of the laser navigation forklift until the fork is lowered to the lowest end of the cargo stack.

[0041] In the process of transporting goods, the data processing system 4 drives the fork vertical drive assembly based on the detection result of the second pressure sensor group 2 to adjust the fork of the laser navigation forklift to move vertically upward;

[0042] The detection result of the second pressure sensor group 2 indicates that when the second pressure sensor group 2 detects pressure, the data processing system 4 adjusts the fork of the laser navigation forklift to move vertically upward until the detection result of the second pressure sensor group 2 indicates that no pressure is detected.

[0043] That is to say, the vertical height of the forks of the laser navigation forklift is set based on the detection result of the first pressure sensor group 1, and the vertical height of the forks of the laser navigation forklift is adjusted according to the weight of the cargo corresponding to the detection result of the first pressure sensor group 1. When the weight of the cargo is relatively large, the vertical height of the forks of the laser navigation forklift is adjusted to be smaller. When the weight of the cargo is relatively small, the vertical height of the forks of the laser navigation forklift is adjusted to be larger.

[0044] In addition, in the process of transporting goods, the vertical height of the fork of the laser navigation forklift is set based on the detection result of the second pressure sensor group 2. Specifically, when the second pressure sensor group 2 detects pressure, it means that there is an obstacle on the walking road. The vertical height of the fork of the laser navigation forklift is adjusted in time to increase it, so as to avoid obstacles in the process of transporting goods.

[0045] Furthermore, at least one fork of the laser navigation forklift is provided with a level detector 5, which is connected to the input end of the data processing system 4. The data processing system 4 drives the fork of the laser navigation forklift to move vertically up and down based on the detection result of the level detector 5.

[0046] During the process of transporting goods, in order to prevent the laser navigation forklift from tilting and causing the goods on the fork to fall sideways, the data processing system 4 drives the fork vertical drive assembly based on the detection results of the first pressure sensor group 1 and the level detector 5, and regulates the up and down vertical movement of the fork of the laser navigation forklift.

[0047] Among them, when the detection result of the first pressure sensor group 1 indicates that the first pressure sensor group 1 detects pressure, and the detection result of the level detector 5 indicates that the fork is tilted, the data processing system 4 drives the fork vertical drive assembly to adjust the fork of the laser navigation forklift to move vertically downward to lower the center of gravity height of the fork.

[0048] When the detection result of the first pressure sensor group 1 indicates that the first pressure sensor group 1 detects pressure, but the detection result of the level detector 5 indicates that the forks are not tilted, the data processing system 4 temporarily keeps the forks of the laser navigation forklift at the current status.

[0049] Based on the above-mentioned fork height and levelness self-adaptive system of the laser navigation forklift, the present invention also provides a fork height and levelness self-adaptive method of the laser navigation forklift, comprising the following steps:

[0050] Step 100, receiving and transporting goods: the laser navigation forklift moves to the cargo area, and when the laser navigation forklift detects pressure based on the detection result of the third pressure sensor group, it adjusts the fork to move downward until the fork is inserted into the bottom of the cargo.

[0051] Step 200, transferring goods: when the detection result of the first pressure sensor group indicates that pressure is detected, the cargo fork is adjusted to move upward to a set height, and the laser navigation forklift drives the cargo to be transferred according to the set height.

[0052] Step 300, real-time adjustment of the height of the forks: During the cargo transfer process, the height of the forks is adjusted based on the detection results of the second pressure sensor group and the detection results of the level detector.

[0053] In step 200, the laser navigation forklift controls the moving height of the forks based on the pressure value detected by the first pressure sensor group;

[0054] When the detected pressure value of the first pressure sensor group is relatively large, it means that the weight of the cargo is large, and the set height for regulating the upward movement of the cargo fork is relatively low;

[0055] When the detected pressure value of the first pressure sensor group is relatively small, it means that the weight of the cargo is small, and the set height for regulating the upward movement of the cargo fork is relatively high.

[0056] In step 300, during the cargo transfer process, when the detection result of the second pressure sensor group indicates that pressure is detected, the cargo fork is regulated to move upward so that the height between the cargo fork and the ground is increased to achieve obstacle avoidance;

[0057] During the cargo transfer process, when the detection result of the level detector indicates that the forks are tilted, the forks are regulated to move downward so that the height between the forks and the ground is reduced.

[0058] A height adjustment history record module is provided in the data processing system of the laser navigation forklift, wherein the height adjustment history record module is used to record the current height of the fork each time the detection result of the second pressure sensor group indicates that pressure is detected;

[0059] The data processing system extracts the lowest historical height of the forks in the height adjustment history record module. During the cargo transfer process, when the detection result of the level detector indicates that the forks are tilted, the data processing system controls the forks to move downward to the lowest historical height of the forks.

[0060] Therefore, in summary, this embodiment installs three groups of pressure sensors on the fork, which can adjust the height of the fork based on the roadblocks on the walking route, the weight of the cargo and the horizontal state during the walking process when transferring the cargo to the fork and transporting the cargo, thereby realizing adaptive adjustment of the transport height.

[0061] The above embodiments are only exemplary embodiments of the present application and are not intended to limit the present application. The protection scope of the present application is defined by the claims. Those skilled in the art may make various modifications or equivalent substitutions to the present application within the essence and protection scope of the present application, and such modifications or equivalent substitutions shall also be deemed to fall within the protection scope of the present application.

Claims

1. A fork height and levelness adaptive system for a laser navigation forklift, characterized in that: include: A first pressure sensor group (1) is arranged on the upper surface of each fork of the laser navigation forklift, and a second pressure sensor group (2) is arranged on the lower surface of each fork of the laser navigation forklift, and a third pressure sensor group (3) is also arranged at the front end of each fork of the laser navigation forklift; The first pressure sensor group (1), the second pressure sensor group (2) and the third pressure sensor group (3) are connected to a data processing system (4), the output end of which is connected to a fork vertical drive component of the laser navigation forklift. The data processing system (4) controls the fork vertical drive component based on the detection results of the first pressure sensor group (1), the second pressure sensor group (2) and the third pressure sensor group (3) to drive the fork of the laser navigation forklift to move vertically up and down.

2. The fork height and levelness adaptive system of a laser navigation forklift according to claim 1, characterized in that: At least one fork of the laser navigation forklift is provided with a level detector (5), and the level detector (5) is connected to the input end of the data processing system (4). The data processing system (4) drives the fork of the laser navigation forklift to move vertically up and down based on the detection result of the level detector (5).

3. The fork height and levelness adaptive system of a laser navigation forklift according to claim 1, characterized in that: The data processing system (4) drives the fork vertical drive assembly based on the detection result of the third pressure sensor group (3) to regulate the downward vertical movement of the fork of the laser navigation forklift; Wherein, the detection result of the third pressure sensor group (3) indicates that when the third pressure sensor group (3) detects pressure, the data processing system (4) adjusts the fork of the laser navigation forklift to move vertically downward until the detection result of the third pressure sensor group (3) indicates that no pressure is detected.

4. The fork height and levelness adaptive system of a laser navigation forklift according to claim 1, characterized in that: The data processing system (4) drives the fork vertical drive assembly based on the detection result of the second pressure sensor group (2) to regulate the upward vertical movement of the fork of the laser navigation forklift; Wherein, when the detection result of the second pressure sensor group (2) indicates that the second pressure sensor group (2) detects pressure, the data processing system (4) adjusts the fork of the laser navigation forklift to move vertically upwards until the detection result of the second pressure sensor group (2) indicates that no pressure is detected.

5. The fork height and levelness adaptive system of a laser navigation forklift according to claim 2, characterized in that: The data processing system (4) drives the fork vertical drive assembly based on the detection results of the first pressure sensor group (1) and the detection results of the level detector (5), so as to regulate the vertical movement of the fork of the laser navigation forklift; When the detection result of the first pressure sensor group (1) indicates that the first pressure sensor group (1) detects pressure, and the detection result of the level detector (5) indicates that the fork is tilted, the data processing system (4) drives the fork vertical drive assembly to adjust the fork of the laser navigation forklift to move vertically downward to reduce the center of gravity height of the fork; When the detection result of the first pressure sensor group (1) indicates that the first pressure sensor group (1) detects pressure, but the detection result of the level detector (5) indicates that the fork is not tilted, the data processing system (4) temporarily keeps the fork of the laser navigation forklift in its current state.

6. A method for self-adapting the height and levelness of the forks of a laser-guided forklift, characterized in that: The fork height and levelness adaptive system of the laser navigation forklift according to any one of claims 1 to 5 is characterized in that it comprises the following steps: Step 100, receiving and transporting goods: the laser navigation forklift moves to the cargo area, and when the laser navigation forklift detects pressure based on the detection result of the third pressure sensor group, controls the fork to move downward until the fork is inserted into the bottom of the cargo; Step 200, transferring goods: when the detection result of the first pressure sensor group indicates that pressure is detected, the cargo fork is adjusted to move upward to a set height, and the laser navigation forklift drives the cargo to be transferred according to the set height; Step 300, real-time adjustment of the height of the forks: During the cargo transfer process, the height of the forks is adjusted based on the detection results of the second pressure sensor group and the detection results of the level detector.

7. The method for self-adapting the height and levelness of the forks of a laser-guided forklift according to claim 6, characterized in that: In the step 200, the laser navigation forklift controls the moving height of the forks based on the pressure value detected by the first pressure sensor group; When the detected pressure value of the first pressure sensor group is relatively large, it indicates that the weight of the cargo is large, and the set height for regulating the upward movement of the cargo fork is relatively low; When the detected pressure value of the first pressure sensor group is relatively small, it means that the weight of the cargo is small, and the set height for regulating the upward movement of the cargo fork is relatively high.

8. The method for self-adapting the height and levelness of the forks of a laser-guided forklift according to claim 6, characterized in that: In step 300, during the cargo transfer process, when the detection result of the second pressure sensor group indicates that pressure is detected, the cargo fork is regulated to move upward so that the height between the cargo fork and the ground is increased to achieve obstacle avoidance; During the cargo transfer process, when the detection result of the level detector indicates that the cargo fork is tilted, the cargo fork is regulated to move downward so that the height between the cargo fork and the ground is reduced.

9. The method for self-adapting the height and levelness of the forks of a laser-guided forklift according to claim 8, characterized in that: A height adjustment history record module is provided in the data processing system of the laser navigation forklift, wherein the height adjustment history record module is used to record the current height of the fork each time the detection result of the second pressure sensor group indicates that pressure is detected; The data processing system extracts the lowest historical height of the fork in the height adjustment history record module. During the cargo transfer process, when the detection result of the level detector indicates that the fork is tilted, the data processing system controls the fork to move downward to the lowest historical height of the fork.

Images