Control method and vehicle suitable for narrow lane vehicle goods cross-lane transfer

Abstract

The present application relates to the field of automation mechanical equipment, in particular to the optimization of task execution and control method of industrial vehicle, and the present application is realized by the following technical scheme: the horizontal movement assembly moves to the vehicle width Y1 direction, drives the fork to move to Y1 direction, gets the goods on one side of the shelf, and then the fork returns; the front section overturning step: the overturning device drives the fork to overturn in the horizontal direction to the vehicle head X2 direction away from the vehicle; the rear section overturning step: the overturning device drives the fork to overturn in the horizontal direction to the vehicle width Y2 direction. The purpose of the present application is to provide a method suitable for the industrial vehicle for the goods transfer task of the same lane and different sides, and the vehicle can realize efficient different side transfer without leaving the lane or going to the end of the lane, and the efficiency of the whole goods management system is improved.

Description

Technical Field

[0001] This invention relates to the field of automated mechanical equipment, and more specifically to the optimization of task execution and control methods for industrial vehicles. Background Technology

[0002] Industrial vehicles are powered motor vehicles used for moving, pushing, towing, lifting, stacking, or placing various goods. Common industrial vehicles include forklifts, side forklifts, tractor-trailers, pallet trucks, stackers, etc.

[0003] For example, Chinese patent document CN201820228556.X discloses an industrial vehicle, specifically a forklift. This forklift includes a main body, a traveling mechanism, a lifting mechanism, and forks. Users drive this industrial vehicle between racks, adjusting the fork height via the lifting mechanism to perform normal picking / unloading operations.

[0004] In practical applications, industrial vehicles are used in industrial warehousing environments containing multiple racks with aisles between adjacent racks for vehicle movement. In tasks involving the transfer of goods between different sides of the same aisle, industrial vehicles need to move goods from one rack to another on the opposite side of the same aisle.

[0005] In existing technologies, the end of an aisle often has an area without shelving, providing a large space. Vehicles need to pick up goods first, then drive to the end of the aisle or even out of the aisle, where they turn their forks in this large space before driving to the unloading position in the aisle, extending the forks, and unloading the goods.

[0006] While this technical solution can successfully complete the task of transferring goods between different sides of the same alley, each transfer requires the vehicle to travel to the end of the alley or exit the alley. On the one hand, this may cause the vehicle's route to overlap with other vehicles performing tasks in the same alley, resulting in trajectory interference. On the other hand, the alleys in the current storage environment are quite long, and each transfer task requires the vehicle to travel a long distance, which reduces work efficiency. Summary of the Invention

[0007] The purpose of this invention is to provide a control method and vehicle for moving goods between different sides of the same lane in narrow aisles. This allows for efficient transfer of goods between different sides without the vehicle needing to leave the lane or go to the end of the lane, thereby improving the efficiency of the entire goods management system.

[0008] This invention is achieved through the following technical solution: a control method for moving goods between the same lane and opposite sides of a narrow aisle, wherein an aisle is provided between shelves on both sides, and an industrial vehicle travels in the aisle. The industrial vehicle includes a vehicle body, forks for picking up goods, a tilting device for rotating the forks in the horizontal direction, and a lateral movement assembly for moving the tilting device relative to the vehicle body in the vehicle width direction. The method includes the following steps: S01. Pick-up Procedure: The lateral assembly moves in the vehicle width Y1 direction, driving the forks to advance in the Y1 direction to retrieve goods from one side of the shelf, and then the forks return to their original position. S02, Front section flipping steps: The flipping device drives the forks to flip horizontally in the direction away from the front of the vehicle (X2 direction). S03, Centering Steps: The flipping device drives the forks to continue flipping, and the lateral movement assembly drives the flipping device to move laterally in the vehicle width Y1 direction until the direction of the forks is facing the X2 direction. S04, Rear section flipping steps: The flipping device drives the forks to flip horizontally in the direction of vehicle width Y2, and the lateral movement assembly drives the flipping device to move laterally in the direction of vehicle width Y1 until the direction of the forks is aligned with the Y2 direction. S05. Unloading procedures: The lateral assembly moves in the vehicle width Y2 direction, causing the forks to advance in the Y2 direction, unloading goods on the other side of the shelf, and then the forks return to their original position.

[0009] As a preferred embodiment of the present invention, in S03, when the direction of the forks is directly opposite to the X2 direction, the position of the lateral assembly is the center position in the vehicle width direction.

[0010] As a preferred embodiment of the present invention, the lateral assembly includes a lateral motor and a lateral gear that rotates under the drive of the lateral motor. A rack extending in the vehicle width direction is arranged on the vehicle body. The rack meshes with the lateral gear. When the direction of the forks is oriented toward the X2 direction, the lateral travel of the lateral gear is half the length of the rack.

[0011] As a preferred embodiment of the present invention, a safety warning line L1 is provided, which extends in the length direction of the alley and is close to the Y1 direction. In step S03, the lateral movement assembly is allowed to drive the overturning device to move laterally in the vehicle width Y1 direction only when the distance between the farthest contact point of the goods and L1 begins to increase.

[0012] As a preferred embodiment of the present invention, in step S03, after the distance between the farthest contact point of the goods and L1 begins to increase, the flipping action and the lateral movement are performed independently in segments.

[0013] As a preferred embodiment of the present invention, in step S03, after the distance between the farthest contact point of the goods and L1 begins to increase, the flipping action and the lateral movement are carried out in conjunction. When the fork direction is facing the X2 direction, the lateral movement assembly has synchronously moved to the center position in the vehicle width direction.

[0014] As a preferred embodiment of the present invention, a safety warning line L2 is provided, which extends in the length direction of the alley and is close to the Y2 direction. In step S03, during the process of the lateral movement assembly driving the overturning device to move laterally in the vehicle width Y1 direction, it is always ensured that the outermost extension of the vehicle and the cargo are within the L1 and L2 areas.

[0015] As a preferred embodiment of the present invention, a lifting frame that moves vertically relative to the vehicle body is installed on the vehicle body, and the lateral movement assembly is installed on the lifting frame; in S01 and / or S05, the lifting frame drives the forks to move in the height direction to complete the height adjustment of the picking and / or unloading position.

[0016] As a preferred embodiment of the present invention, S01 further includes a goods arrival detection step, wherein the fork identifies whether the goods are properly mounted on the fork. If the identification fails or the mounting position is incorrect, the subsequent steps are not performed.

[0017] As a preferred embodiment of the present invention, the cargo arrival detection device is a limit switch installed on the forks.

[0018] As a preferred embodiment of the present invention, between steps S03 and S04, there is a step of running to the target storage location, in which the lateral movement position of the forks is kept in the center position and the direction of the forks is facing the X2 direction.

[0019] An industrial vehicle for implementing the method, the industrial vehicle further comprising a walking device mounted on the vehicle body, the walking device comprising drive wheels and load-bearing wheels.

[0020] As a preferred embodiment of the present invention, navigation wheels are provided on both sides of the vehicle body, and the wheel bodies of the navigation wheels extend in the horizontal direction.

[0021] In summary, the present invention has the following beneficial effects: 1. AGV vehicles can change their fork direction in narrow aisles, successfully completing the task of transferring goods between opposite sides of the same aisle without having to enter or exit the aisle, thus greatly improving efficiency.

[0022] 2. In a long tunnel, multiple AGVs can be arranged in sections. Since the AGVs do not need to leave the tunnel, there will be no interference between their routes, further improving the efficiency of cargo transfer.

[0023] 3. The AGV is equipped with a lifting device, which can meet the needs of cargo transfer tasks at different heights.

[0024] 4. Install limit switches on the forks to identify when the goods have been stored or retrieved, increasing safety.

[0025] 5. An added lateral movement timing control design has been implemented to prevent premature lateral movement and collisions between goods and shelves, thus increasing safety. Attached Figure Description

[0026] Figure 1 This is a schematic diagram of the storage environment where the industrial vehicle in Example 1 is located; Figure 2 and Figure 3 This is a schematic diagram of the front end of the method flow of Example 1; Figure 4 and Figure 5 This is a schematic diagram of the latter part of the method flow of Example 1; Figure 6 This is a schematic diagram of the hardware structure of the industrial vehicle in Example 1; Figure 7 yes Figure 6 A magnified view of the details at point A in the image; Figure 8 This is a schematic diagram of the lateral movement timing control in Example 2.

[0027] In the picture: 1. Vehicle body, 2. Lifting frame, 3. Lateral movement assembly, 31. Lateral movement motor, 32. Lateral movement gear, 4. Tilting device, 5. Forks. Detailed Implementation

[0028] The present invention will be further described in detail below with reference to the accompanying drawings.

[0029] This specific embodiment is merely an explanation of the present invention and is not intended to limit the invention. After reading this specification, those skilled in the art can make modifications to this embodiment without contributing any inventive step, but such modifications are protected by patent law as long as they are within the scope of the claims of the present invention.

[0030] Example 1: An industrial vehicle, which can be a forklift, stacker, sorting vehicle, AGV, or other different types of vehicles. In terms of operation type, the vehicle applicable to this invention can be a traditional human-controlled vehicle or a fully automated, unmanned AGV. For both types of vehicles, the logical method steps of this invention are the same; the only difference is that for the former, the implementation steps are performed manually by an operator, while for the latter, the implementation steps are automated by sensors and the vehicle control system.

[0031] This embodiment uses an unmanned AGV as an example to illustrate the method logic of the present invention. Regarding hardware configuration, such as... Figure 6 As shown, the industrial vehicle includes a vehicle body 1, on which a walking and steering device is installed. In this embodiment, the walking device mainly includes three wheels: a drive wheel near the rear of the vehicle and two load-bearing wheels near the front. The drive wheel is driven by a motor to achieve forward movement and steering, and a battery that provides power is also installed on the vehicle body 1.

[0032] The AGV's picking component is the fork 5. In this embodiment, the position / direction adjustment of the fork 5 supports three actions: lifting, lateral movement, and flipping. These three actions also depend on the lifting frame 2, the lateral movement assembly 3, and the flipping device 4, respectively.

[0033] For lifting, the vehicle body 1 is equipped with a lifting frame 2 that can lift vertically, and the lifting power can come from hydraulic cylinders, electric cylinders, etc.

[0034] For lateral movement, a lateral movement assembly 3 is installed on the lifting frame 2, the specific structure of which can be found in [reference needed]. Figure 7 As shown. A rack extending in the width direction of the vehicle is provided on the lifting frame 2. The lateral movement motor 31 drives the lateral movement gear 32 to rotate. The lateral movement gear 32 is connected to the lateral movement frame. The lateral movement gear 32 meshes with the rack. As the lateral movement motor 31 operates, the lateral movement frame moves relative to the vehicle body 1 in the horizontal width direction, completing the lateral movement operation described herein.

[0035] For flipping, such as Figure 6 As shown, the tilting device 4 can adopt many horizontal tilting structures in the prior art, such as including a base, a rotating shaft, and a pallet frame. The base is mounted on the transverse frame, the rotating shaft extends in the vertical direction, and the pallet frame is connected to the forks 5, rotating horizontally about the rotating shaft. The power for its rotation can come from conventional power components such as rotary motors in the prior art.

[0036] The above are all existing technologies, and the hardware part of this invention does not need to be changed.

[0037] Figure 1 The image shows the operating environment of this type of industrial vehicle. The vehicle travels through an aisle, with shelves installed on both sides of the aisle, and goods are placed on the shelves. Figure 1 The lower half of the image shows three sets of dimensions: from the inside out, the width of the AGV forklift (1600mm); the width of the aisle after the shelves are fully stocked (1800mm); and the width of the aisle itself (2000mm). This is a narrow aisle design, meaning the aisles are narrow to accommodate more shelves and goods in the warehouse environment. The width of the shelves after stocking is only 200mm wider than the AGV forklift. Clearly, with such dimensions, the AGV forklift cannot perform maneuvers such as turning around or making U-turns on the spot.

[0038] As shown in the background section, in existing technology, if an AGV retrieves goods from a shelf on side A and needs to transfer them to a shelf on side B, the vehicle needs to leave the aisle or drive to the deepest part of the aisle where no goods are placed. It then needs to turn around and return to the corresponding position on the shelf on side B to extend its forks and place the goods. This operation requires the AGV forklift to travel back and forth from the work point to the aisle entrance, significantly reducing work efficiency.

[0039] In this case, if Figure 2 As shown, the two sides of the vehicle's width direction are Y1 and Y2, and the two sides of the vehicle's length direction are X1 and X2. When the fork 5 is facing the Y1 side, the fork direction is 0°; when facing the Y2 side, it is 180°. Figure 2 The rotation direction of the middle fork 5 is clockwise. The purpose of this embodiment is to place goods from the shelf on the Y1 side onto the shelf on the Y2 side.

[0040] The specific sequence of steps is as follows: S01, the picking step, where the AGV forklift completes the picking by raising, lowering, and lateralizing the forks. During the picking process, the vehicle body 1 itself does not need to move; only the forks 5 need to move. The surface of the forks 5 has a design for detecting the arrival of goods. Specifically, a limit switch is installed on the forks 5. When the goods enter a relatively deep position on the forks 5, the goods will trigger the limit switch, allowing the AGV control system to recognize that the goods have been properly stored and retrieved, and proceed to the next step. If the limit switch is not triggered, the control system cannot confirm that the goods have been properly stored and retrieved, and for safety reasons, it will not proceed to the next step and may report an error.

[0041] Then proceed to step S02, the front-end tilting step. The tilting device 4 drives the forks 5 to tilt horizontally towards the front X2 of the vehicle, away from the vehicle. Figure 2As shown in state 1 of the diagram, each state is labeled with angle and lateral displacement values. The rotation angle of the rotating mechanism is labeled as follows: 0° in the Y1 direction, positive for clockwise rotation, and 180° in the Y2 direction. The lateral displacement value is labeled as follows: 0° at the midpoint of the lateral displacement, positive in the Y1 direction, and negative in the Y2 direction. At this point, the lateral displacement assembly 3 is at its limit position in the Y2 direction, which is -660mm, and the angle of the fork 5 is 40°.

[0042] S03, Centering Step. The tilting device 4 drives the forks 5 to continue tilting, and the lateral movement assembly 3 drives the tilting device 4 to move laterally in the vehicle width Y1 direction until the direction of the forks 5 is directly facing the X2 direction. This step continues until... Figure 3 The state 5 in the process ends. From Figures 2 to 3 As can be seen, from state 2 to state 5, both the lateral displacement and angle values ​​change, indicating that the lateral displacement assembly and the tilting device are working. Finally, the system reaches the center state of state 5, where the angle value is 90° and the lateral displacement value is 0mm, which is exactly in the middle. At this time, the lateral displacement gear 32 is also in the middle position of the rack.

[0043] S04, Rear Flipping Step. This step is essentially the mirror image of the previous step, with the same principle. The flipping device 4 drives the forks 5 to flip horizontally in the direction of the vehicle width Y2, while the lateral movement assembly 3 drives the flipping device 4 to move laterally in the direction of the vehicle width Y1, until the forks 5 are aligned with the Y2 direction. Figure 4 , Figure 5 As shown, from Figure 4 State 1 to Figure 5 In state 6, the angle value increases from 90° in state 1 to 180° in state 6, while the lateral displacement value increases from 0mm in state 1 to the limit position in the Y1 direction of state 6, which is 660mm.

[0044] S05. Unloading procedure: The lateral traverse assembly 3 moves in the Y2 direction (vehicle width), causing the forks 5 to advance in the Y2 direction, unloading the goods from the other side shelf. Figure 5 This is a schematic diagram after state 6. During this process, the lifting frame 2 operates to adjust the height position of the forks 5 according to the different height positions of the goods. The forks 5 then return to their original position.

[0045] Thus, the entire task of transferring goods between different sides of the same aisle is completed. The goods have been moved from shelf A to shelf B. Throughout the process, the AGV vehicles do not leave the aisle or reach its end, allowing them to complete the task without moving forward or backward. This resolves the conflict between work efficiency and storage capacity. In existing technologies, to improve work efficiency and prevent AGV vehicles from leaving the aisle, the aisle needs to be widened to allow vehicles to turn around or make turns within it. However, widened aisles reduce the area available for shelving, thus reducing storage capacity. Conversely, to achieve sufficient storage capacity, the aisles must be narrowed. Without space for AGV vehicles to turn around or make turns within the aisle, they must exit the aisle to change their forklift direction, reducing work efficiency. In this embodiment, however, the AGV vehicles change their forklift direction within the narrow aisle, successfully completing the task of transferring goods between different sides of the same aisle, significantly improving efficiency. Furthermore, since multiple AGVs can be deployed in sections within a long tunnel, and since the AGVs do not need to leave the tunnel, there will be no interference between their routes, further improving the efficiency of cargo transfer.

[0046] For ordinary industrial vehicles, the same lateral movement, lifting, and tilting structure is used, but the lateral movement distance, lifting distance, and tilting angle are controlled manually by the operator. For AGV vehicles, these values ​​are all obtained from sensors. The specific sensor components can be arranged as follows: Navigation section: The navigation laser is connected to the main controller. It emits multiple laser beams and calculates the reflection time to achieve high-precision positioning. This technology can accurately determine the position and shape of surrounding objects, thus ensuring precise navigation of the AGV in complex environments.

[0047] Magnetic navigation: The front of the AGV is equipped with a magnetic nail sensor. The sensor platform uses the magnetic field characteristics of the magnetic nail, combined with software programs, to achieve navigation via the magnetic nail.

[0048] Security Section: The obstacle avoidance laser is connected to the main controller. It emits multiple laser beams and calculates the reflections to ensure the safety of personnel and equipment during operation.

[0049] The safety contact is connected to the control board and detects changes in external pressure, converting them into electrical signal changes. This triggers the safety protection mechanism.

[0050] Driver components: The walking motor encoder (built into the motor) connects to the walking motor controller to achieve precise speed control.

[0051] The steering motor encoder (integrated with the motor) connects to the steering motor controller to achieve precise angle control.

[0052] Boosting components: The AGV's forks (5) lifting height is detected by a draw rope height sensor. The draw rope encoder communicates with the AGV battery and main controller via the CAN communication protocol, enabling materials to be lifted to a specified height.

[0053] Lateral movement component: The lateral movement cable encoder communicates with the main controller via the CAN communication protocol. The lateral movement mechanism uses the cable encoder as a sensor to detect the lateral movement stroke, which, together with the gear and rack structure of the lateral movement component, enables precise confirmation of the lateral movement position.

[0054] A proximity switch serves as both a deceleration sensor and a safety sensor. When the deceleration sensor detects a signal, the hydraulic motor of the traversing mechanism decelerates to prevent the traversing mechanism from exceeding its designed stroke. When the safety sensor detects a signal, the hydraulic motor of the traversing mechanism stops operating. At this point, the traversing mechanism has reached its maximum stroke.

[0055] Fork rotation mechanism: A potentiometer for the rotating mechanism is connected to the main controller. A position gauge is installed at the tail end of the motor of this AGV rotating component as an angle detection element for the rotating mechanism, enabling precise angle control.

[0056] Pallet rack material arrival detection: Limit switches are connected to the IO control main board. This AGV pallet uses limit switches as material arrival detection elements to detect whether the material has arrived in place, ensuring safe material transfer.

[0057] Pallet rack monitoring components: A camera is installed in the middle of the AGV pallet rack to allow personnel to check the status of the fork carriage in real time.

[0058] Pallet rack fork tip detection component: Photoelectric switches are installed at the tips of the pallet rack forks. When the photoelectric switch detects a signal, the equipment stops operating to ensure safety.

[0059] Proximity switches are mechanical anti-collision components installed on the tips of the pallet rack forks. The proximity switch converts the signal into an electrical signal. When the proximity switch detects the signal, the equipment stops operating to ensure safety.

[0060] Charging section: The AGV uses an automatic charging method, with the charging brush plate located in the center of the vehicle's front. It employs an optical communication docking module paired with the optical communication sensors on the automatic charging station. This allows for position verification of the three-way forklift AGV during charging, ensuring accurate and precise charging docking and safe and reliable charging.

[0061] Example 2 differs from Example 1 in that, in step S03, i.e., before... Figure 2 Figure 3 The design of lateral movement timing control was added to the time phase from state 2 to state 5.

[0062] Specifically, such as Figure 8 As shown, when the forks flip and lateralize, the farthest point on the cargo is 'a'. Near the A-side shelf, in the Y1 direction, there is a safety warning line L1. The system monitors the horizontal Y-direction distance between point 'a' and L1. When this distance changes from decreasing to increasing, it means the farthest contact point 'a' of the cargo is moving away from the A-side and towards the B-side. Only then is the lateral movement assembly allowed to perform a lateral movement. In this embodiment, L1 can be a contour line reflecting the width of the vehicle body. Hardware-wise, this can be achieved by adding a laser sensor to the side of the vehicle body, a camera to the forks, or marking strips on the ground with a scanner on the forks. Furthermore, L2 is located on the B-side of the aisle. L2 is parallel and symmetrical to L1 and serves as the safety warning line on the B-side. It is crucial to ensure that both the cargo and its outermost edge are within the area between L1 and L2, thus maintaining a safe clearance on both sides A and B.

[0063] Example 3 differs from Example 2 in that it further defines the coordination of the flipping and lateral movement in this process. In Example 2, after lateral movement was permitted, the lateral movement and flipping were performed simultaneously. In this example, however, these two movements are performed in segments; the flipping can be performed first, followed by the lateral movement, then another flipping, and then another lateral movement. That is, the flipping and lateral movement are independent of each other and do not move in tandem. However, it is still necessary to ensure that the goods and their outermost edges are within the area between L1 and L2, thus maintaining a safe clearance on both sides of AB.

Claims

1. A control method for transferring vehicles and goods between opposite sides of a narrow aisle, wherein an aisle is provided between shelves on both sides, and industrial vehicles travel in the aisle, characterized in that... The industrial vehicle includes a vehicle body (1), forks (5) for picking up goods, a tilting device (4) for tilting the forks (5) in the horizontal direction, and a lateral movement assembly (3) for moving the tilting device (4) relative to the vehicle body (1) in the vehicle width direction. The method includes the following steps: X1 and X2 are the length directions of the vehicle, X2 is the direction from the center of the vehicle to one end of the fork (5), and X1 is the direction of the other end; Y1 and Y2 are the width directions of the vehicle, Y1 is the direction of one end, and Y2 is the direction of the other end. S01. Pick-up Procedure: The lateral assembly (3) moves in the vehicle width Y1 direction, driving the forks (5) to move in the Y1 direction to retrieve goods from one side of the shelf, and then the forks (5) return to their original position; S02, Front section flipping steps: The flipping device (4) drives the forks (5) to flip horizontally toward the front X2 of the vehicle, away from the vehicle. S03, Centering Steps: The flipping device (4) drives the fork (5) to continue flipping, and the lateral movement assembly (3) drives the flipping device (4) to move laterally in the vehicle width Y1 direction until the direction of the fork (5) is facing the X2 direction; S04, Rear section flipping steps: The flipping device (4) drives the fork (5) to flip in the horizontal direction towards the vehicle width Y2 direction, and the lateral movement assembly (3) drives the flipping device (4) to move laterally towards the vehicle width Y1 direction until the direction of the fork (5) is facing the Y2 direction. S05. Unloading procedures: The lateral assembly (3) moves in the vehicle width Y2 direction, driving the forks (5) to move in the Y2 direction to unload goods on the other side of the shelf, and then the forks (5) return to their original position; in S03, when the direction of the forks (5) is facing the X2 direction, the position of the lateral assembly (3) is the center position in the vehicle width direction; A safety warning line L1 is configured, which extends in the length direction of the alley and is close to the Y1 direction. In step S03, the lateral movement assembly (3) is allowed to drive the overturning device (4) to move laterally in the vehicle width Y1 direction only when the distance between the farthest contact point of the goods and L1 begins to increase.

2. The control method for transferring vehicles and goods between opposite sides of a narrow aisle according to claim 1, characterized in that: The lateral assembly (3) includes a lateral motor (31) and a lateral gear (32) that rotates under the drive of the lateral motor (31). A rack extending in the width direction is arranged on the vehicle body (1). The rack meshes with the lateral gear (32). When the direction of the fork (5) is facing the X2 direction, the lateral stroke of the lateral gear (32) is half the length of the rack.

3. The control method for transferring vehicles and goods between opposite sides of a narrow aisle according to claim 1, characterized in that: In step S03, after the distance between the farthest contact point of the goods and L1 begins to increase, the flipping action and the lateral movement are divided into multiple segments and performed independently.

4. The control method for transferring vehicles and goods between opposite sides of a narrow aisle according to claim 1, characterized in that: In step S03, after the distance between the farthest contact point of the goods and L1 begins to increase, the flipping action and the lateral movement are carried out in conjunction. When the fork (5) is facing the X2 direction, the lateral movement assembly (3) has moved synchronously to the center position in the vehicle width direction.

5. The control method for transferring vehicles and goods between opposite sides of a narrow aisle according to claim 1, characterized in that: A lifting frame (2) that moves vertically relative to the vehicle body (1) is installed on the vehicle body (1), and the lateral assembly (3) is installed on the lifting frame (2); in S01 and / or S05, the lifting frame (2) drives the forks (5) to move in the height direction to complete the height adjustment of the picking and / or unloading position.

6. The control method for moving vehicles and goods between opposite sides of a narrow aisle according to claim 1, characterized in that: A safety warning line L2 is configured, which extends in the length direction of the alley and is close to the Y2 direction. In step S03, during the process of the lateral movement assembly (3) driving the overturning device (4) to move laterally in the direction of vehicle width Y1, it is always ensured that the outermost extension of the vehicle and the cargo are within the L1 and L2 areas.

7. The control method for transferring vehicles and goods between opposite sides of a narrow aisle according to claim 1, characterized in that: In S01, there is also a goods arrival detection step. The fork (5) identifies whether the goods are in place. If the identification is unsuccessful or the fork position is incorrect, the subsequent steps are not performed.

8. The control method for transferring vehicles and goods between opposite sides of a narrow aisle according to claim 7, characterized in that: The cargo arrival detection device is a limit switch installed on the forks (5).

9. The control method for transferring vehicles and goods between opposite sides of a narrow aisle according to claim 1, characterized in that: Between steps S03 and S04, there is a step of running to the target storage location. In this step, the lateral movement position of the fork (5) is kept in the center position, and the direction of the fork (5) is facing the X2 direction.

10. An industrial vehicle, characterized in that, For implementing the method as described in any one of claims 1-9, the industrial vehicle further includes a walking device mounted on the vehicle body (1) and including drive wheels and load-bearing wheels.

11. An industrial vehicle according to claim 10, characterized in that: Navigation wheels are provided on both sides of the vehicle body (1), and the wheel body of the navigation wheel extends in the horizontal direction.

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