A magnetic navigation intensive test method for a high-position sorting vehicle

Abstract

The application discloses a kind of high-position sorting car's magnetic navigation intensive test method, comprising the following steps: step 1, before test, sorting car is checked;Step 2, setting test path and test procedure, the test section at least includes straight line section and turning section, the test procedure includes sorting car variable-speed travel;Step 3, sorting car is driven on test path according to the test procedure set, and in the process of driving, the magnetic navigation state of sorting car is detected, and the detection result is recorded;Step 4, test is ended, the application can under magnetic navigation, carry out multiple cycles of walking and lifting combined operation condition, check its speed, direction stability;And under magnetic navigation, vehicle, lamp, horn and the like switch can be frequently started and stopped.

Description

Technical Field

[0001] This invention relates to the field of high-level picking vehicle technology, specifically a magnetic navigation enhancement test method for high-level picking vehicles. Background Technology

[0002] High-bay picking carts are used for transporting and picking goods between high-level racks. Their main operating conditions involve moving within the racks and stopping mid-journey to pick goods. Due to the narrow aisles, the picking cart uses a magnetic navigation system to automatically correct its direction and guide the vehicle in a straight line. In magnetic navigation mode, no manual steering wheel operation is required; the vehicle is automatically guided. However, turning requires switching to manual mode and manually operating the steering wheel.

[0003] For vehicle safety, the navigation system is equipped with safety measures, such as derailment safety protection and automatic stopping of the vehicle if it deviates from its course.

[0004] The operating platform of the high-lift picking vehicle can be raised with the mast, and the vehicle can only be guided by the magnetic navigation system when the operator is at a high position and the vehicle is moving through narrow aisles of high-rise racks. After the magnetic navigation system is applied to forklifts, how to design effective reinforcement tests, and how to design corresponding test methods to address the problems and risks in the overall vehicle application, are crucial questions. However, existing whole-vehicle reinforcement test methods do not consider the impact of the magnetic navigation system's operation on other electrical control components, and do not focus on testing the stability of the magnetic navigation mode in combined walking and lifting operations. Summary of the Invention

[0005] The purpose of this invention is to provide a magnetic navigation enhancement test method for high-level picking vehicles to solve the problems mentioned in the background art.

[0006] To achieve the above objectives, the present invention provides the following technical solution: A magnetic navigation enhancement test method for a high-level picking vehicle includes the following steps: Step 1: Inspect the picking cart before the test; Step 2: Set up the test path and test procedure. The test path shall include at least straight sections and turning sections, and the test procedure shall include the picking vehicle traveling at different speeds. Step 3: The picking vehicle travels along the test path according to the set test procedure, and the magnetic navigation status of the picking vehicle is detected during the journey, and the detection results are recorded. Step 4: Test complete.

[0007] As a further aspect of the present invention: in step 1, it is confirmed before the test that the picking cart is normal and the magnetic navigation line is normal.

[0008] As a further aspect of the present invention: In step 2, magnetic navigation is provided on the test path. The test path includes straight line segment AB and straight line segment AC. Straight line segment AB and straight line segment AC are arranged perpendicularly and intersect at point A.

[0009] As a further aspect of the present invention: the length of the straight line segment AB is 32000mm, and the length of the straight line segment AC is 3000mm.

[0010] As a further aspect of the present invention: the test process in step 2 includes at least one test cycle, and one test cycle includes the following steps: Step 2.1: With the picking car mast in a low position, the picking car travels straight from point A and accelerates to S1, then decelerates until it stops at point B. After stopping for time T1, it reverses from point B, first accelerating to S1, then decelerating until it stops at point A. Step 2.2: The picking car gantry is raised to the middle position. At the same time, the picking car moves straight from point A and accelerates to S2, then decelerates until it stops at point B. After stopping for time T2, it reverses from point B, first accelerating to S2, and then decelerating until it stops at point A. Step 2.3: The picking car mast is raised to the high position. At the same time, the picking car moves straight from point A and accelerates to S3. Then it decelerates until it stops at point B. After stopping for time T3, it reverses from point B, first accelerating to S3. While accelerating, the picking car mast is lowered from the high position to the low position. Then it decelerates until it stops at point A. Step 2.4: The picking vehicle starts from point A, reverses and turns to point C, the mast lowers, loads goods, then moves forward and turns back to point A, switches to magnetic guidance mode, accelerates to S4, then decelerates until it stops at point B, stops at time T4, then reverses from point B, first accelerates to 4, while the picking vehicle mast lowers from a high position to a low position during acceleration, then decelerates until it stops at point A.

[0011] As a further embodiment of the present invention: in steps 2.1, 2.2, and 2.3, the picking cart is driven unloaded; in step 2.1, the height of the picking cart mast is 0-600mm (low position); in step 2.2, the height of the picking cart mast is 600-3250mm (medium position); and in step 2.3, the height of the picking cart mast is 3250-5000mm (high position).

[0012] As a further aspect of the present invention: in step 2.1, the picking vehicle accelerates to its maximum speed S1 in a low position, and S1 is 12 km / h; in step 2.2, the picking vehicle accelerates to its maximum speed S2 in a mid-range position, and S2 is 6 km / h; in step 2.3, the picking vehicle accelerates to its maximum speed S3 in a high position, and S3 is 4 km / h; in step 2.4, the picking vehicle is in a fully loaded state, and the maximum speed of the picking vehicle in the fully loaded state is S4, and S4 is 12 km / h.

[0013] As a further aspect of the present invention: in step 2, the pause times T1, T2, T3, and T4 in each test are all within the range of 25-35 seconds. During the pause time, the picking cart needs to be picked.

[0014] As a further aspect of the present invention: In step 2, the picking vehicle adopts magnetic navigation mode when traveling on a straight road section, and manual operation is adopted when the picking vehicle turns. In step 2, the picking vehicle completes one cycle on the test path according to the test procedure. Each test includes multiple cycles. The picking vehicle must start and stop at least once in each cycle. In magnetic navigation mode, the picking vehicle should honk the horn and turn on the lights at least once.

[0015] As a further aspect of the present invention: In step 3, it is necessary to detect whether the gantry is raised and lowered normally during the driving process of the picking vehicle in magnetic navigation mode, whether the picking vehicle is driven smoothly when the gantry is at different height positions, and whether the picking vehicle can stop safely when the magnetic navigation fails.

[0016] Compared with the prior art, the beneficial effects of the present invention are: 1. This application can perform multiple cycles of combined walking and lifting operations under magnetic navigation to check the stability of the magnetic navigation system in terms of speed and direction control in the entire electronic control system; and whether frequent starting and stopping of vehicles, lights, horns, etc., under magnetic navigation will interfere with the magnetic navigation system. 2. The picking cart in this application has two modes: manual mode for turning and magnetic navigation mode for straight-line operation. These two modes can be switched frequently to test the stability of the picking cart during different working modes and the switching process. 3. This application can also test whether the picking vehicle can effectively stop working when the magnetic navigation fails. Attached Figure Description

[0017] Figure 1 This is a schematic diagram of the test path in this embodiment. Detailed Implementation

[0018] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0019] Please see Figure 1 In this embodiment of the invention, a magnetic navigation enhancement test method for a high-position picking vehicle includes the following steps: Step 1: Before the test, inspect the picking cart to ensure that the picking cart and the magnetic navigation line are in normal working order.

[0020] Step 2: Set the test path and test procedure. The test route should include at least straight sections and turning sections. The test procedure should include the picking vehicle's variable speed travel. In this embodiment, for example... Figure 1 As shown, magnetic navigation is set up on the test path. The test path includes straight line segment AB and straight line segment AC. Straight line segment AB and straight line segment AC are arranged perpendicularly and intersect at point A. The length of straight line segment AB is 32000mm and the length of straight line segment AC is 3000mm.

[0021] The test procedure in step 2 includes at least one test cycle. When the picking vehicle is traveling on a straight section of road, it uses magnetic navigation mode. When the picking vehicle is turning, it is manually operated. In step 2, the picking vehicle travels on the test path in the form of the test procedure once as a cycle. Each test includes multiple cycles. The picking vehicle must start and stop at least once in each cycle. In magnetic navigation mode, the picking vehicle should honk the horn and turn on the lights at least once.

[0022] A test cycle includes the following steps: Step 2.1: With the picking cart mast in a low position, the picking cart travels straight from point A and accelerates to S1, then decelerates until it stops at point B. After a stop time T1, it reverses from point B, first accelerating to S1, then decelerating until it stops at point A. In this embodiment, the mast is raised to about 100mm, and the cart moves forward from point A, accelerating to 12km / h. When it is about 5-7m away from point B, the OPS pedal is released. After stopping at point B for 30s, the cart reverses from point B, accelerating to its maximum speed. When it is about 5-7m away from point A, the handle is released, and the cart stops at point A. Step 2.2: The picking cart gantry is raised to the middle position. Simultaneously, the picking cart travels straight from point A and accelerates to S2, then decelerates until it stops at point B. After a stop time T2, it reverses from point B, first accelerating to S2, then decelerating until it stops at point A. In this embodiment, starting from point A, the cart accelerates forward to 6 km / h while simultaneously raising the operating platform to approximately 3000m, about 3-4m from point B. The pedal is released, and the cart stops at point B for 30 seconds to perform the picking action. Then, the cart reverses from point B to its maximum speed while simultaneously lowering the gantry to its lowest position, about 3-4m from point A. The handle is released, and the cart stops at point A. Step 2.3: The picking cart mast is raised to the high position, and the picking cart moves straight from point A and accelerates to S3, then decelerates until it stops at point B. After a stop time T3, it reverses from point B, first accelerating to S3, while simultaneously lowering the picking cart mast from the high position to the low position, and then decelerating until it stops at point A. In this embodiment, starting from point A, the operating platform is first raised to above 3250m, and the forward acceleration reaches 4km / h. At the same time, the operating platform is raised to 4m, about 3-4m away from point B, the OPS pedal is released, and it stops at point B for 30s to perform the picking action. It then reverses from point B and moves to the maximum speed, while simultaneously lowering the mast to about 600mm, about 3-4m away from point A, the handle is released, and it stops at point A. Step 2.4: The picking cart starts from point A, reverses and turns to point C, the mast lowers, loads goods, then moves forward and turns back to point A, switches to magnetic guidance mode, accelerates to S4, then decelerates until it stops at point B. After stopping for time T4, it reverses from point B, first accelerating to S4, while simultaneously lowering the picking cart mast from a high position to a low position, then decelerating until it stops at point A. In this embodiment, starting from point A, it reverses and turns to point C, the mast lowers, and loads goods. It then moves forward and turns to point A on the magnetic navigation line, switches to magnetic guidance mode, and accelerates forward to 12 km / h. When it is about 5-7 m away from point B, the OPS pedal is released to stop. It stops at point B, then reverses and travels to its maximum speed. When it is about 3-4 m away from point A, the handle is released, and it stops at point A.

[0023] In this embodiment, the picking cart is driven unloaded in steps 2.1, 2.2, and 2.3. In step 2.1, the mast height of the picking cart is 0-600mm (low position), in step 2.2, the mast height is 600-3250mm (medium position), and in step 2.3, the mast height is 3250-5000mm (high position). The pause times T1, T2, T3, and T4 in each test are all within the range of 25-35s. During the pause time, the picking cart needs to be picked.

[0024] In step 2.1, the picking vehicle accelerates to its maximum speed S1 in the low position state, and S1 is 12 km / h. In step 2.2, the picking vehicle accelerates to its maximum speed S2 in the mid-position state, and S2 is 6 km / h. In step 2.3, the picking vehicle accelerates to its maximum speed S3 in the high position state, and S3 is 4 km / h. In step 2.4, the picking vehicle is in a fully loaded state, and the maximum speed of the picking vehicle in the fully loaded state is S4, and S4 is 12 km / h.

[0025] Step 3: The picking vehicle travels along the test path according to the set test procedure, and the magnetic navigation status of the picking vehicle is detected during the journey, and the detection results are recorded. It is necessary to test whether the mast lifting and lowering are normal during the operation of the picking cart in magnetic navigation mode, whether the picking cart travels smoothly when the mast is at different heights, and whether the picking cart can stop safely when the magnetic navigation fails.

[0026] Step 4: Test complete.

[0027] It will be apparent to those skilled in the art that the present invention is not limited to the details of the exemplary embodiments described above, and that the invention can be implemented in other specific forms without departing from its spirit or essential characteristics. Therefore, the embodiments should be considered in all respects as exemplary and non-limiting, and the scope of the invention is defined by the appended claims rather than the foregoing description. Thus, all variations falling within the meaning and scope of equivalents of the claims are intended to be included within the present invention. No reference numerals in the claims should be construed as limiting the scope of the claims. Furthermore, it should be understood that although this specification describes embodiments, not every embodiment contains only one independent technical solution. This narrative style is merely for clarity. Those skilled in the art should consider the specification as a whole, and the technical solutions in each embodiment can also be appropriately combined to form other embodiments that can be understood by those skilled in the art.

Claims

1. A magnetic navigation enhancement test method for a high-level picking vehicle, characterized in that, Includes the following steps: Step 1: Inspect the picking cart before the test; Step 2: Set up the test path and test procedure. The test path includes at least straight sections and turning sections. Magnetic navigation is set up on the test path. The test path includes straight sections AB and AC. Straight sections AB and AC are arranged perpendicularly and intersect at point A. The test procedure includes the picking cart traveling at varying speeds and at least one test cycle. One test cycle includes the following steps: Step 2.1: When the picking car mast is in a low position, the picking car travels straight from point A and accelerates to the first maximum speed S1, then decelerates until it stops at point B. After stopping for time T1, it reverses from point B, first accelerating to the first maximum speed S1, then decelerating until it stops at point A. Step 2.2: The picking car gantry is raised to the middle position. At the same time, the picking car moves straight from point A and accelerates to the second maximum speed S2, and then decelerates until it stops at point B. After stopping for time T2, it reverses from point B, first accelerating to the second maximum speed S2, and then decelerating until it stops at point A. Step 2.3: The picking car mast is raised to the high position. At the same time, the picking car moves straight from point A and accelerates to the third maximum speed S3. Then it decelerates until it stops at point B. After stopping for time T3, it reverses from point B, first accelerating to the third maximum speed S3. While accelerating, the picking car mast is lowered from the high position to the low position. Then it decelerates until it stops at point A. Step 2.4: The picking cart starts from point A, reverses and turns to point C, the mast lowers, loads goods, then moves forward and turns back to point A, switches to magnetic guidance mode, accelerates to the fourth maximum speed S4, then decelerates until it stops at point B, stops for time T4, then reverses from point B, first accelerates to the fourth maximum speed S4, while the picking cart mast lowers from a high position to a low position during acceleration, then decelerates until it stops at point A. The height of the picking cart mast is 0-600mm for low position, 600-3250mm for medium position, and 3250-5000mm for high position; Step 3: The picking vehicle travels along the test path according to the set test procedure, and the magnetic navigation status of the picking vehicle is detected during the journey, and the detection results are recorded. Step 4: Test complete.

2. The magnetic navigation enhancement test method for a high-level picking vehicle according to claim 1, characterized in that, In step 1, it is confirmed before the test that the picking vehicle and the magnetic navigation line are normal.

3. The magnetic navigation enhancement test method for a high-level picking vehicle according to claim 1, characterized in that, The length of the straight line segment AB is 32000mm, and the length of the straight line segment AC is 3000mm.

4. The magnetic navigation enhancement test method for a high-level picking vehicle according to claim 1, characterized in that, In steps 2.1, 2.2, and 2.3, the picking vehicle is always running empty.

5. The magnetic navigation enhancement test method for a high-level picking vehicle according to claim 1, characterized in that, In step 2.1, the picking vehicle accelerates to the first maximum speed S1 in the low position state, and S1 is 12km / h; In step 2.2, the picking vehicle accelerates to the second maximum speed S2 in the mid-position state, and S2 is 6km / h; In step 2.3, the picking vehicle accelerates to the third maximum speed S3 in the high position, and S3 is 4km / h; In step 2.4, the picking vehicle is fully loaded. Under full load, the fourth maximum speed of the picking vehicle is S4, and S4 is 12 km / h.

6. The magnetic navigation enhancement test method for a high-level picking vehicle according to claim 1, characterized in that, In step 2, the pause times T1, T2, T3, and T4 in each test are all between 25 and 35 seconds. During the pause time, the picking cart needs to be picked.

7. The magnetic navigation enhancement test method for a high-level picking vehicle according to claim 1, characterized in that, In step 2, the picking vehicle uses magnetic navigation mode when traveling on straight sections and manual operation when turning. In step 2, the picking vehicle travels on the test path once according to the test procedure, which is one cycle. Each test includes multiple cycles. The picking vehicle must start and stop at least once in each cycle. In magnetic navigation mode, the picking vehicle should honk the horn and turn on the lights at least once each.

8. The magnetic navigation enhancement test method for a high-level picking vehicle according to claim 1, characterized in that, In step 3, detecting the magnetic navigation status of the picking vehicle refers to checking whether the mast rises and falls normally during the picking vehicle's journey in magnetic navigation mode, whether the picking vehicle travels smoothly when the mast is at different heights, and whether the picking vehicle can stop safely when the magnetic navigation fails.

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