Portal movement control method based on reach forklift and reach forklift

Abstract

The invention discloses a gantry movement control method based on a reach forklift and the reach forklift, and the method comprises the following steps: after the movement of a gantry enters an automatic mode, monitoring the movement distance of the gantry through a distance detection device; if a first trigger signal generated by triggering a preset distance key in the input device is obtained, determining a first preset moving distance according to the first trigger signal and a first corresponding relation, and controlling a portal frame to move on a track along a preset direction and the first preset moving distance based on the first trigger signal; and if the moving distance is equal to the first preset moving distance, or the moving distance is smaller than the first preset moving distance, and a second trigger signal generated by triggering any key or stop button in the input device or a second operation signal generated by not operating the handle is obtained, the portal frame is controlled to stop moving. Automation of portal frame moving operation can be achieved, and efficiency is improved.

Description

Technical Field

[0001] This invention relates to the field of reach trucks, and more specifically to a mast movement control method based on a reach truck and a reach truck. Background Technology

[0002] Reach trucks, as a type of industrial material handling vehicle and warehouse forklift, are characterized by their environmental friendliness, energy efficiency, low noise, high lifting capacity, and compact operating space. Combining the advantages of counterbalance electric forklifts and stackers, they can operate flexibly in narrow aisles and stack goods to higher positions through their forward-moving function, maximizing the use of available space. Therefore, reach trucks play an indispensable role in material handling and stacking operations.

[0003] Existing reach trucks require operators to operate a lever when moving the mast along the rails. Each forward or backward movement requires manual judgment of the distance to be moved. The distance that the lever can move is basically determined by the operator's experience, which is not precise or intelligent enough and affects efficiency. Summary of the Invention

[0004] In view of the aforementioned problems, the purpose of the embodiments of this application is to propose a mast movement control method based on a reach truck and a reach truck to solve the technical problems mentioned in the background section above.

[0005] In a first aspect, embodiments of this application propose a mast movement control method based on a reach truck, the reach truck including a mast, rails, handles, a distance detection device, and an input device, comprising the following steps:

[0006] Establish a first correspondence between the preset movement distance of the gantry and the trigger signal of the preset distance button in the input device;

[0007] In response to a trigger signal indicating that the gantry has moved, the system enters automatic mode and monitors the movement distance of the gantry using a distance detection device.

[0008] In response to the determination that a first trigger signal is generated by the preset distance button in the trigger input device, a first preset moving distance is determined according to the first trigger signal and a first correspondence, and the gantry is controlled to move along the preset direction and the first preset moving distance on the track based on the first trigger signal.

[0009] As a preferred option, it also includes:

[0010] In response to determining that the moving distance is equal to the first preset moving distance during the movement of the gantry on the track, or determining that the moving distance is less than the first preset moving distance during the movement of the gantry on the track, and obtaining a second trigger signal generated by any key or stop button in the trigger input device or a second operation signal generated by not operating the handle, the gantry is controlled to stop moving.

[0011] Preferably, the gantry is controlled to move along a preset direction and a first preset moving distance on the track based on a first trigger signal, specifically including:

[0012] The first correspondence also includes the association between the preset direction corresponding to the preset movement distance and the trigger signal of the preset distance button in the input device;

[0013] Alternatively, a second correspondence can be established between the preset direction of gantry movement and the trigger signal of the preset direction button in the input device;

[0014] In response to determining that a third trigger signal has been acquired from a preset directional button in the trigger input device;

[0015] The preset direction is determined based on the third trigger signal and the second correspondence;

[0016] A first control command is generated based on the first trigger signal and the third trigger signal;

[0017] The gantry is controlled to move on the track in a preset direction and a first preset moving distance according to the first control command.

[0018] As a preferred option, it also includes:

[0019] Based on the first trigger signal and the first operation signal generated by the handle operating in the preset direction, the gantry is controlled to move along the track in the preset direction and by the first preset moving distance.

[0020] Preferably, the gantry is controlled to move along the track along a preset direction and a first preset moving distance based on a first trigger signal and a first operating signal generated by an operating handle in a preset direction. Specifically, this includes:

[0021] A third control command is generated based on the first trigger signal and the first operation signal;

[0022] The gantry is controlled to move on the track in a preset direction and a first preset moving distance according to the third control command.

[0023] As a preferred option, it also includes:

[0024] In response to the acquisition of a third operation signal generated by the handle to continue operating in a preset direction after the gantry stops moving, a fourth control command is generated based on the third operation signal. The gantry is then controlled to continue moving on the track in a preset direction according to the fourth control command until the moving distance is equal to the first preset moving distance.

[0025] As a preferred option, it also includes:

[0026] Establish a third correspondence between the preset moving speed of the gantry and the trigger signal of the preset speed button in the input device;

[0027] A fourth trigger signal is obtained in response to confirming that a preset speed button in the trigger input device has been obtained;

[0028] The preset speed is determined based on the fourth trigger signal and the third correspondence.

[0029] A second control command is generated based on the first trigger signal and the fourth trigger signal, or the first trigger signal, the third trigger signal and the fourth trigger signal, or the first trigger signal, the first operation signal and the fourth trigger signal;

[0030] The second control command controls the gantry to move on the track in a preset direction, a first preset moving distance, and a preset speed.

[0031] As a preferred option, it also includes:

[0032] In response to re-triggering the input device after the gantry stops moving, or triggering the input device and operating handle and repeating the steps corresponding to the automatic mode;

[0033] In response to the determination that a trigger signal for the gantry to move into manual mode has been obtained, the gantry is entered into manual mode and the handle is used to control the gantry to move on the track. The trigger signal for the gantry to move into manual mode can be generated by triggering the button corresponding to manual mode or triggering the button corresponding to automatic mode again.

[0034] Preferably, the input device includes a keypad or numeric keypad, and the distance detection device includes a photoelectric distance sensor, a magnetic induction distance sensor, or a distance encoder. The photoelectric distance sensor or distance encoder is mounted on the mast or vehicle body. The magnetic induction distance sensor includes a magnetic induction sensor and a grid plate. The magnetic induction sensor is mounted on the mast, and the grid plate is mounted on the guide rail of the reach truck. The grid plate has several grids arranged at equal intervals. After passing through the grid, the magnetic induction sensor outputs a first signal or a second signal. The number of the first signal or the second signal is counted, and the travel distance is calculated.

[0035] Secondly, embodiments of this application provide a forklift that employs the mast movement control method based on a reach truck as described in the first aspect.

[0036] Compared with the prior art, the beneficial effects of the present invention are as follows:

[0037] (1) The mast movement control method based on reach truck proposed in this invention can reach the pre-selected position without operating the handle after entering the automatic mode, and can be stopped when needed, thus realizing operation automation and improving efficiency.

[0038] (2) The mast movement control method based on reach truck proposed in this invention can determine the preset movement distance by selecting the corresponding preset distance button after entering the automatic mode, and retain the manual operation handle to control the operation risk. It increases the pre-selection position control, reduces the workload of actively judging the distance each time, improves efficiency and ensures safety and reliability.

[0039] (3) The mast movement control method based on reach truck proposed in this invention can control the forward and backward movement of the mast on the track in multiple ways in automatic mode. It is not only convenient to operate, but also effectively improves the intelligence of reach truck. Attached Figure Description

[0040] The accompanying drawings are included to provide a further understanding of the embodiments and are incorporated in and constitute a part of this specification. The drawings illustrate embodiments and, together with the description, serve to explain the principles of the invention. Other embodiments and many anticipated advantages of the embodiments will be readily recognized as they become better understood through reference to the following detailed description. Elements in the drawings are not necessarily to scale. The same reference numerals refer to corresponding similar parts.

[0041] Figure 1 A flowchart illustrating a mast movement control method based on a reach truck according to Embodiment 1 of this application is shown.

[0042] Figure 2 A schematic diagram of the structure of the reach truck in the mast movement control method based on the reach truck according to Embodiment 1 of this application is shown.

[0043] Figure 3 The diagram shows the installation schematic of the magnetic induction ranging sensor in the mast movement control method based on a reach truck according to Embodiment 1 of this application;

[0044] Figure 4 The control logic diagram of the mast movement control method based on a reach truck according to Embodiment 1 of this application is shown.

[0045] Figure 5 A flowchart illustrating the mast movement control method based on a reach truck according to Embodiment 2 of this application is shown.

[0046] Figure 6 The control logic diagram of the mast movement control method based on a reach truck according to Embodiment 2 of this application is shown. Detailed Implementation

[0047] The present application will now be described in further detail with reference to the accompanying drawings and embodiments. It is to be understood that the specific embodiments described herein are merely illustrative of the relevant invention and not intended to limit the invention. It should also be noted that, for ease of description, only the parts relevant to the invention are shown in the drawings. It should be observed that the dimensions and sizes of the components in the drawings are not to scale, and the size of certain components may be highlighted for clarity.

[0048] It should be noted that, unless otherwise specified, the embodiments and features described in this application can be combined with each other. This application will now be described in detail with reference to the accompanying drawings and embodiments.

[0049] Example 1

[0050] refer to Figure 1 Embodiment 1 of this application provides a mast movement control method based on a reach truck. The reach truck includes a mast, rails, handles, a distance detection device, and an input device, and includes the following steps:

[0051] S1, establish a first correspondence between the preset movement distance of the gantry and the trigger signal of the preset distance button in the input device.

[0052] In a specific embodiment, the input device includes buttons or a numeric keypad, and the distance detection device includes a photoelectric distance sensor, a magnetic induction distance sensor, or a distance encoder. The photoelectric distance sensor or distance encoder is installed on the mast or vehicle body. When moving a distance, the photoelectric sensor or distance encoder provides accurate distance measurement results through the distance measurement principle of the component itself, which has high accuracy and good stability. The magnetic induction distance sensor includes a magnetic induction sensor and a grid plate. The magnetic induction sensor is installed on the mast, and the grid plate is installed on the guide rail of the reach truck. The grid plate has a number of grids arranged at equal intervals. After passing through the grid, the magnetic induction sensor outputs a first signal or a second signal, counts the number of the first signal or the second signal, and calculates the moving distance.

[0053] Specifically, in one embodiment, the first correspondence only includes the association between the preset moving distance of the gantry and the trigger signal of the preset distance button in the input device, and does not include the association between the preset direction corresponding to the preset moving distance of the gantry and the trigger signal of the preset distance button in the input device. For example, 1 on the button or numeric keypad corresponds to a movement of 10cm, and 2 on the button or numeric keypad corresponds to a movement of 20cm. This first correspondence can be set during calibration. Furthermore, this first correspondence can be pre-selected through button settings and the corresponding program can be set for execution; it is not completely fixed and can be flexibly set according to actual needs. The gantry is controlled to move to the corresponding pre-selected position on the track by triggering the corresponding preset distance button. A reach truck is equipped with a photoelectric distance sensor or a magnetic induction distance sensor on the gantry to detect the forward and backward movement distance, and is also equipped with a button or numeric keypad for pre-selection. Reference Figure 2 and 3 The input device 1 can be installed on or above the operating table in a location easily accessible to the operator. If the distance detection device uses a magnetic induction distance sensor, the grid plate 2 is fixed on the track 3. The spacing between the grids on the grid plate 2 is consistent for easy counting. The magnetic induction sensor 4 is installed on the gantry 5 and moves together with it. When it senses a grid, it outputs a 0 / 1 signal. The distance traveled is calculated by the number of 0 / 1 signal switching. Before use, the software system should be debugged. The operating mode should be set according to customer requirements and warehouse installation conditions, and the distance parameters should be pre-selected. The corresponding travel speed can also be set simultaneously. When forward or backward movement is required, the preset button should be pressed according to the set mode to reach the pre-selected position.

[0054] S2, in response to the trigger signal indicating that the gantry has moved and entered the automatic mode, the automatic mode is entered and the moving distance of the gantry is monitored by the distance detection device.

[0055] For details, please refer to Figure 4 The trigger signal for the mast to enter automatic mode can be set via buttons or keys on the input device, or via an app or other control methods. When a reach truck needs to move its mast, it detects the trigger signal to enter automatic mode. In automatic mode, the operator presses the key corresponding to the desired position using the numeric keypad or pre-installed buttons. The forklift recognizes the trigger signal and executes the corresponding control command, moving to the pre-selected position and stopping. If it recognizes a stop button or other key information trigger signal, it stops moving. The operator can input the forward / reverse position on the installed buttons, allowing for accurate stacking and unloading of goods, precise operation, and improved efficiency.

[0056] S3, in response to determining that a first trigger signal generated by the preset distance button in the trigger input device has been obtained, a first preset moving distance is determined according to the first trigger signal and the first correspondence, and the gantry is controlled to move on the track along a preset direction and the first preset moving distance based on the first trigger signal.

[0057] In a specific embodiment, the gantry is controlled to move along a preset direction and a first preset moving distance on the track based on a first trigger signal, specifically including:

[0058] The first correspondence also includes the association between the preset direction corresponding to the preset movement distance and the trigger signal of the preset distance button in the input device;

[0059] Alternatively, a second correspondence can be established between the preset direction of gantry movement and the trigger signal of the preset direction button in the input device;

[0060] In response to determining that a third trigger signal has been acquired from a preset directional button in the trigger input device;

[0061] The preset direction is determined based on the third trigger signal and the second correspondence;

[0062] A first control command is generated based on the first trigger signal and the third trigger signal;

[0063] The gantry is controlled to move on the track in a preset direction and a first preset moving distance according to the first control command.

[0064] Specifically, in one embodiment, a second correspondence also needs to be established, which can be set in advance. This second correspondence is the association between the preset direction of gantry movement and the preset direction button in the input device. In addition to triggering the preset distance button in the input device, the preset direction button in the input device also needs to be triggered to determine the preset direction and the first preset movement distance. A first control command is generated based on the third trigger signal generated corresponding to triggering the preset direction button and the first trigger signal generated corresponding to triggering the preset distance button. The first control command controls the gantry to move on the track according to the preset direction and the first preset movement distance to reach the corresponding pre-selected position.

[0065] Specifically, in another embodiment, the first correspondence not only includes the association between the preset movement distance of the gantry and the trigger signal of the preset distance key in the input device, but also the association between the preset direction corresponding to the preset movement distance of the gantry and the trigger signal of the preset distance key in the input device. For example, 1 on a key or numeric keypad corresponds to a movement of -10cm, where the negative sign corresponds to a preset direction of backward movement, and 10cm corresponds to a preset movement distance of 10cm; 2 on a key or numeric keypad corresponds to a movement of +10cm, where the positive sign corresponds to a preset direction of forward movement, and 10cm corresponds to a preset movement distance of 10cm. That is, by associating the preset movement distance and its corresponding preset direction with a preset movement key, the preset direction can be determined without triggering the preset direction key, saving operation steps and making it more convenient and intelligent. This first correspondence can be set during calibration. This first correspondence can be pre-selected through key settings and the corresponding program can be set for execution; it is not completely fixed and can be flexibly set according to actual needs of the keys in the input device.

[0066] In specific embodiments, it also includes:

[0067] Establish a third correspondence between the preset moving speed of the gantry and the trigger signal of the preset speed button in the input device;

[0068] A fourth trigger signal is obtained in response to confirming that a preset speed button in the trigger input device has been obtained;

[0069] The preset speed is determined based on the fourth trigger signal and the third correspondence.

[0070] A second control command is generated based on the first trigger signal and the fourth trigger signal, or the first trigger signal, the third trigger signal, and the fourth trigger signal.

[0071] The second control command controls the gantry to move on the track in a preset direction, a first preset moving distance, and a preset speed.

[0072] Specifically, the gantry's movement speed on the track can be a default speed or a preset speed. If a preset speed is selected, the corresponding preset speed button in the input device needs to be triggered to generate a fourth trigger signal. The preset speed is determined based on the fourth trigger signal and the third correspondence. For example, the preset speed corresponding to button 5 on the keypad or numeric keypad is 0.5 mm / s, and the preset speed corresponding to button 6 on the keypad or numeric keypad is 0.6 mm / s. This third correspondence can be set during calibration. Therefore, a second control command can be generated based on the first and fourth trigger signals, or the first, third, and fourth trigger signals. The second control command controls the gantry to move on the track in a preset direction, with a first preset movement distance and a preset speed.

[0073] S4, in response to determining that the moving distance is equal to the first preset moving distance during the movement of the gantry on the track, or determining that the moving distance is less than the first preset moving distance during the movement of the gantry on the track, and obtaining the second trigger signal generated by any key or stop button in the trigger input device, the gantry is controlled to stop moving.

[0074] In a specific embodiment, S4 specifically includes:

[0075] In response to determining that the moving distance is equal to the first preset moving distance or to obtaining the second trigger signal, a fifth control command is generated;

[0076] The fifth control command controls the gantry to stop moving.

[0077] Specifically, a distance detection device is used to monitor the gantry's movement distance on the track in real time. When the monitored movement distance equals the first preset movement distance, it indicates that the gantry has reached the pre-selected position, and a fifth control command can be generated to stop the gantry's movement. When the movement distance is less than the first preset movement distance, i.e., before reaching the pre-selected position, pressing any key on the keyboard or the stop button will generate a second trigger signal. The fifth control command can be generated based on the second trigger signal, or the gantry can be stopped based on the fifth control command.

[0078] In specific embodiments, it also includes:

[0079] In response to re-triggering the keypad or numeric keypad in the input device after the gantry stops moving, the steps corresponding to the automatic mode are repeated;

[0080] In response to the determination that a trigger signal for the gantry to move into manual mode has been obtained, the gantry is entered into manual mode and the handle is used to control the gantry to move on the track. The trigger signal for the gantry to move into manual mode can be generated by triggering the button corresponding to manual mode or triggering the button corresponding to automatic mode again.

[0081] Specifically, after the gantry stops moving, the buttons on the input device or any preset distance button or preset distance and preset direction button on the numeric keypad can be repeatedly triggered to control the gantry to move to the next preset position. If the manual mode button is selected or the automatic mode button is selected again, a trigger signal to enter manual mode is generated. In manual mode, the gantry can only be moved by the handle.

[0082] Example 2

[0083] refer to Figure 5 Embodiment 2 of this application provides a mast movement control method based on a reach truck. The reach truck includes a mast, rails, handles, a distance detection device, and an input device, and includes the following steps:

[0084] T1 establishes a first correspondence between the preset movement distance of the gantry and the trigger signal of the preset distance button in the input device.

[0085] Specifically, the distance detection device and input device in Embodiment 2 of this application are the same as those in Embodiment 1, and will not be described again here. The first correspondence only includes the relationship between the preset movement distance of the gantry and the trigger signal of the preset distance button in the input device, and does not include the relationship between the preset direction corresponding to the preset movement distance of the gantry and the trigger signal of the preset distance button in the input device. The preset direction of the gantry movement is determined by the preset direction when the handle is operated.

[0086] T2, in response to the trigger signal indicating that the gantry has moved and entered automatic mode, enters automatic mode and monitors the moving distance of the gantry through the distance detection device.

[0087] For details, please refer to Figure 6 When a reach truck needs to move its mast forward or backward, it detects a trigger signal from the automatic mode activation button. In automatic mode, the truck is activated by pressing the button corresponding to the desired pre-selected position via the numeric keypad or pre-installed buttons. This generates a corresponding trigger signal. The truck then uses a control lever to recognize both the trigger signal from the preset distance button and the lever's operation signal, executing the corresponding control commands to move to the pre-selected position and stop. Releasing the control lever will also stop the truck.

[0088] T3, in response to determining that a first trigger signal generated by a preset distance button in the trigger input device has been obtained, determines a first preset moving distance according to the first trigger signal and a first correspondence, and controls the gantry to move along the preset direction and the first preset moving distance on the track based on the first trigger signal and a first operation signal generated by the operating handle along the preset direction.

[0089] In a specific embodiment, the gantry is controlled to move along the track along a preset direction and a first preset moving distance based on a first trigger signal and a first operation signal generated by operating the handle in a preset direction. Specifically, this includes:

[0090] A third control command is generated based on the first trigger signal and the first operation signal;

[0091] The gantry is controlled to move on the track in a preset direction and a first preset moving distance according to the third control command.

[0092] Specifically, in addition to triggering the preset distance button on the input device to obtain the first trigger signal, it is also necessary to operate the handle in a preset direction to obtain the first operation signal, thereby determining the preset direction and the first preset movement distance of the gantry. Operating the handle in the preset direction determines the direction of gantry movement; for example, operating the handle forward results in the gantry moving forward, and operating the handle backward results in the gantry moving backward. It is worth noting that the first operation signal here can be an operation signal generated by continuously operating the handle, or other methods, depending on the specific vehicle model. A third control command is generated based on the first trigger signal generated by triggering the preset distance button and the first operation signal generated by operating the handle. This third control command controls the gantry to move along the track in the preset direction and the first preset movement distance to reach the corresponding pre-selected position.

[0093] In specific embodiments, it also includes:

[0094] Establish a third correspondence between the preset moving speed of the gantry and the trigger signal of the preset speed button in the input device;

[0095] A fourth trigger signal is obtained in response to confirming that a preset speed button in the trigger input device has been obtained;

[0096] The preset speed is determined based on the fourth trigger signal and the third correspondence.

[0097] A second control command is generated based on the first trigger signal, the first operation signal, and the fourth trigger signal;

[0098] The second control command controls the gantry to move on the track in a preset direction, a first preset moving distance, and a preset speed.

[0099] Specifically, the gantry's movement speed on the track can be either a default speed or a preset speed. If a preset speed is selected, the corresponding preset speed button in the input device needs to be triggered to generate a fourth trigger signal. The preset speed is then determined based on the fourth trigger signal and the third correspondence. For example, the preset speed corresponding to button 5 on the keypad or numeric keypad is 0.5 mm / s, and the preset speed corresponding to button 6 on the keypad or numeric keypad is 0.6 mm / s. This third correspondence can be set during calibration. Therefore, a second control command can be generated based on the first trigger signal, the first operation signal, and the fourth trigger signal. This second control command controls the gantry to move on the track in a preset direction, a first preset movement distance, and a preset speed.

[0100] T4, in response to determining that the moving distance is equal to the first preset moving distance during the movement of the gantry on the track, or determining that the moving distance is less than the first preset moving distance during the movement of the gantry on the track, and obtaining the second operation signal generated by not operating the handle, controls the gantry to stop moving.

[0101] In a specific embodiment, T4 specifically includes:

[0102] In response to determining that the moving distance is equal to the first preset moving distance or to receiving the second operation signal, a fifth control command is generated;

[0103] The fifth control command controls the gantry to stop moving.

[0104] Specifically, the second operation signal corresponds to the operator releasing the handle. When the movement distance is less than the first preset movement distance (i.e., before reaching the pre-selected position), releasing the handle will stop the gantry's movement. Therefore, the use of the handle facilitates control of the gantry's movement, preventing accidents where there is insufficient time to stop the gantry.

[0105] In specific embodiments, it also includes:

[0106] In response to the acquisition of a third operation signal generated by the handle to continue operating in a preset direction after the gantry stops moving, a fourth control command is generated based on the third operation signal. The gantry is then controlled to continue moving on the track in a preset direction according to the fourth control command until the moving distance is equal to the first preset moving distance.

[0107] In specific embodiments, it also includes:

[0108] In response to the re-triggering of the input device and operating handle after the gantry stops moving, the steps corresponding to the automatic mode are repeated;

[0109] In response to the determination that a trigger signal for the gantry to move into manual mode has been obtained, the gantry is entered into manual mode and the handle is used to control the gantry to move on the track. The trigger signal for the gantry to move into manual mode can be generated by triggering the button corresponding to manual mode or triggering the button corresponding to automatic mode again.

[0110] Specifically, if the handle is operated again after the gantry has stopped moving, generating a third operation signal, a fourth control command is generated based on the third operation signal. This fourth control command controls the gantry to continue moving along the track in a preset direction until the moving distance equals the first preset moving distance, at which point the gantry stops at the pre-selected position. If the preset distance button, preset direction button, and / or preset speed button in the input device are triggered after the gantry has stopped moving, and the handle is operated, the gantry can continue moving to the next pre-selected position. Selecting the manual mode button or the automatic mode button again generates a trigger signal to enter manual mode. In manual mode, the gantry can only be moved by operating the handle.

[0111] Embodiments of this application also propose a forklift that employs the mast movement control method based on a reach truck as described above.

[0112] The flowcharts and block diagrams in the accompanying drawings illustrate the architecture, functionality, and operation of possible implementations of apparatus, methods, and computer program products according to various embodiments of this application. In this regard, each block in a flowchart or block diagram may represent a module, segment, or portion of code containing one or more executable instructions for implementing a specified logical function. It should also be noted that in some alternative implementations, the functions indicated in the blocks may occur in a different order than those indicated in the drawings. For example, two consecutively indicated blocks may actually be executed substantially in parallel, and they may sometimes be executed in reverse order, depending on the functions involved. It should also be noted that each block in the block diagrams and / or flowcharts, and combinations of blocks in the block diagrams and / or flowcharts, can be implemented using dedicated hardware-based apparatus to perform the specified function or operation, or using a combination of dedicated hardware and computer instructions.

[0113] The modules described in the embodiments of this application can be implemented in software or hardware. These modules can also be located within a processor.

[0114] In the description of this application, it should be understood that the word "comprising" does not exclude the presence of elements or steps not listed in the claims. The word "a" or "an" preceding an element does not exclude the presence of a plurality of such elements. The simple fact that certain measures are recited in mutually different dependent claims does not indicate that combinations of these measures cannot be used for improvement. Any reference numerals in the claims should not be construed as limiting the scope. The above description is merely a preferred embodiment of this application and an explanation of the technical principles employed.

[0115] Those skilled in the art should understand that the scope of the invention involved in this application is not limited to technical solutions formed by specific combinations of the above-mentioned technical features, but should also cover other technical solutions formed by arbitrary combinations of the above-mentioned technical features or their equivalent features without departing from the above-mentioned inventive concept. For example, technical solutions formed by substituting the above-mentioned features with technical features disclosed in this application (but not limited to) that have similar functions.

Claims

1. A mast movement control method based on a reach truck, wherein the reach truck includes a mast, rails, a handle, a distance detection device, and an input device, characterized in that, Includes the following steps: Establish a first correspondence between the preset moving distance of the gantry and the trigger signal of the preset distance button in the input device; In response to a trigger signal indicating that the gantry has moved and entered automatic mode, the system enters automatic mode and monitors the moving distance of the gantry using a distance detection device. In response to the determination that a first trigger signal generated by triggering a preset distance button in the input device is obtained, a first preset moving distance is determined according to the first trigger signal and the first correspondence, and the gantry is controlled to move along a preset direction and the first preset moving distance on the track based on the first trigger signal.

2. The mast movement control method based on a reach truck according to claim 1, characterized in that, Also includes: In response to determining that the moving distance is equal to the first preset moving distance during the movement of the gantry on the track, or determining that the moving distance is less than the first preset moving distance during the movement of the gantry on the track, and obtaining a second trigger signal generated by triggering any key or stop button in the input device or a second operation signal generated by not operating the handle, the gantry is controlled to stop moving.

3. The mast movement control method based on a reach truck according to claim 1, characterized in that, The step of controlling the gantry to move along a preset direction and a preset moving distance on the track based on the first trigger signal specifically includes: The first correspondence also includes the association between the preset direction corresponding to the preset movement distance and the trigger signal of the preset distance button in the input device; Alternatively, a second correspondence can be established between the preset direction of the gantry movement and the trigger signal of the preset direction button in the input device; In response to determining that a third trigger signal has been acquired to trigger a preset directional key in the input device; The preset direction is determined based on the third trigger signal and the second correspondence. A first control command is generated based on the first trigger signal and the third trigger signal; The gantry is controlled to move on the track in the preset direction and by the first preset moving distance according to the first control command.

4. The mast movement control method based on a reach truck according to claim 3, characterized in that, Also includes: Based on the first trigger signal and the first operation signal generated by operating the handle in a preset direction, the gantry is controlled to move along the track in a preset direction and by the first preset moving distance.

5. The mast movement control method based on a reach truck according to claim 4, characterized in that, The control of the gantry to move along the track along the preset direction and the first preset moving distance based on the first trigger signal and the first operation signal generated by operating the handle in the preset direction specifically includes: A third control command is generated based on the first trigger signal and the first operation signal; The third control command controls the gantry to move on the track in the preset direction and by the first preset moving distance.

6. The mast movement control method based on a reach truck according to claim 4, characterized in that, Also includes: In response to the determination of a third operation signal generated by continuing to operate the handle in a preset direction after the gantry stops moving, a fourth control command is generated according to the third operation signal, and the gantry is controlled to continue moving on the track in the preset direction according to the fourth control command until the moving distance is equal to the first preset moving distance.

7. The mast movement control method based on a reach truck according to claim 4, characterized in that, Also includes: Establish a third correspondence between the preset moving speed of the gantry and the trigger signal of the preset speed button in the input device; A fourth trigger signal is obtained in response to confirming that a preset speed button in the input device has been triggered; The preset speed is determined based on the fourth trigger signal and the third correspondence. A second control command is generated based on the first trigger signal and the fourth trigger signal, or the first trigger signal, the third trigger signal and the fourth trigger signal, or the first trigger signal, the first operation signal and the fourth trigger signal; The second control command controls the gantry to move on the track in the preset direction, at the first preset moving distance, and at the preset speed.

8. The mast movement control method based on a reach truck according to claim 1, characterized in that, Also includes: In response to re-triggering the input device after the gantry stops moving, or triggering the input device and operating the handle to repeat the steps corresponding to the automatic mode; In response to the determination that a trigger signal for the gantry to move into manual mode has been obtained, the gantry is entered into manual mode, and the handle is used to control the gantry to move on the track. The trigger signal for the gantry to move into manual mode is generated by triggering the button corresponding to manual mode or triggering the button corresponding to automatic mode again.

9. The mast movement control method based on a reach truck according to claim 1, characterized in that, The input device includes buttons or a numeric keypad. The distance detection device includes a photoelectric distance sensor, a magnetic induction distance sensor, or a distance encoder. The photoelectric distance sensor or distance encoder is mounted on the mast or vehicle body. The magnetic induction distance sensor includes a magnetic induction sensor and a grid plate. The magnetic induction sensor is mounted on the mast, and the grid plate is mounted on the guide rail of the reach truck. The grid plate has a plurality of equally spaced grids. After passing through the grid, the magnetic induction sensor outputs a first signal or a second signal. The number of the first signal or the second signal is counted, and the travel distance is calculated.

10. A reach truck, characterized in that, The mast movement control method based on a reach truck, as described in any one of claims 1-9, is adopted.

Images