Three-direction forklift attachment position calibration control method and forklift

Abstract

The invention discloses a three-way forklift truck accessory position calibration control method and a forklift truck, and relates to the technical field of accessory position calibration, the three-way forklift truck accessory position calibration control method comprises the following steps: automatically identifying and acquiring a first electric signal value output by a sensor when an accessory moves to a first limit position; automatically identifying and acquiring a second electric signal value output by the sensor when the accessory moves to a second limit position; and calculating a third electric signal value when the accessory moves to a middle position between the first limit position and the second limit position according to the first electric signal value and the second electric signal value. The accessory does not need to be operated to move to the first limit position and the second limit position while electric signals are checked, calibration actions of the first limit position, the second limit position and the middle position can be completed, accurate calibration of all the positions can be achieved through unified control steps, the work intensity of workers is effectively reduced, the number of moving times of the accessory can be reduced, and the work efficiency is improved. The efficiency of calibrating each position of the accessory can be improved.

Description

Technical Field

[0001] This invention relates to the field of attachment position calibration technology, and in particular to a three-way forklift attachment position calibration control method and forklift. Background Technology

[0002] Three-way attachment stacker trucks are widely used in high-density racking warehouses. Their coordinated lateral and rotational movements allow the attachments to directly reach the first, second, or third safety position, significantly improving the turnover efficiency and safety of goods on both sides of the racking. To ensure the reliable operation of the attachment's lateral and rotational functions and to ensure goods reach their designated positions safely, quickly, and efficiently, accurate attachment positioning is fundamental and of paramount importance.

[0003] During vehicle use, it is inevitable that the positions of attachments will need to be calibrated, such as due to damage to the detection mechanism, wear and tear of sensors, adjustment of sensor positions, or replacement of the vehicle controller. Due to the large number of positions involved and the high requirements for calibration accuracy and consistency, this work must be performed by professionals. It is time-consuming, physically demanding for workers, and inefficient in calibrating the various positions of attachments.

[0004] Therefore, how to improve the efficiency of calibrating the various positions of attachments is a technical problem that needs to be solved by those skilled in the art. Summary of the Invention

[0005] The purpose of this invention is to provide a three-way forklift attachment position calibration control method and forklift, which can improve the efficiency of calibrating the positions of the attachments.

[0006] To achieve the above objectives, the present invention provides a three-way forklift attachment position calibration control method, comprising:

[0007] Acquire the first electrical signal value output by the sensor when the attachment moves to the first extreme position;

[0008] Acquire the second electrical signal value output by the sensor when the attachment moves to the second extreme position;

[0009] The third electrical signal value is calculated based on the first and second electrical signal values ​​when the attachment moves to the intermediate position between the first and second limit positions.

[0010] In one possible implementation, the step of acquiring the first electrical signal value output by the sensor when the attachment moves to the first extreme position further includes:

[0011] Control the attachment to move toward the first extreme position.

[0012] In one possible implementation, the step of controlling the attachment to move toward the first extreme position specifically involves:

[0013] When the attachment is more than L1 away from the first limit position, control the attachment to run at the first speed;

[0014] When the attachment is less than L2 from the first limit position, control the attachment to run at the second speed;

[0015] When the attachment is less than or equal to L1 and greater than or equal to L2 from the first limit position, control the attachment to run at the third speed;

[0016] The first speed is greater than the third speed, and the third speed is greater than the second speed.

[0017] In one possible implementation, the step of controlling the attachment to move toward the first extreme position is further included before:

[0018] Obtain the real-time position of the attachments;

[0019] The position of the end closest to the attachment is determined as the first extreme position.

[0020] In one possible implementation, the step of obtaining the first electrical signal value output by the sensor when the attachment moves to the first extreme position specifically involves:

[0021] The motor used to drive the attachment to move was detected to be operating at a current not lower than the preset current and the motor stopped rotating.

[0022] The motor is powered off after a preset time is detected that the motor has stopped rotating.

[0023] Obtain the first electrical signal value output by the sensor when the motor is powered off.

[0024] In one possible implementation, the step of obtaining the second electrical signal value output by the sensor when the attachment moves to the second extreme position specifically involves:

[0025] Control the attachment to move from the first extreme position toward the second extreme position;

[0026] The motor used to drive the attachment to move was detected to be operating at a current not lower than the preset current and the motor stopped rotating.

[0027] The motor is powered off after a preset time is detected that the motor has stopped rotating.

[0028] Obtain the second electrical signal value output by the sensor when the motor is powered off.

[0029] In one possible implementation, the step of controlling the attachment to move from the first extreme position toward the second extreme position specifically involves:

[0030] When the attachment is more than L1 away from the second limit position, control the attachment to run at the first speed;

[0031] When the attachment is less than L2 from the second limit position, control the attachment to run at the second speed;

[0032] When the attachment is less than or equal to L1 and greater than or equal to L2 from the second limit position, control the attachment to run at the third speed;

[0033] The first speed is greater than the third speed, and the third speed is greater than the second speed.

[0034] In one possible implementation, the sensor is a linear displacement sensor, and the step of calculating the third electrical signal value when the attachment moves to the intermediate position between the first and second limit positions based on the first and second electrical signal values ​​specifically includes:

[0035] Calculate the average of the first electrical signal value and the second electrical signal value;

[0036] The position of the attachment is marked as the middle position when the sensor outputs a third electrical signal value that is equal to the average value.

[0037] Based on the above, this application also provides a forklift, including a memory and a processor. The memory stores a computer program, and when the processor calls the computer program in the memory, it implements the steps of the three-way forklift attachment position calibration control method as described in the above embodiments.

[0038] Compared with the prior art, the technical solution provided by the present invention has at least the following beneficial effects: a sensor for outputting electrical signal values ​​is provided on the three-way forklift attachment. When the attachment is driven to move to the first extreme position, the first electrical signal value output by the sensor is acquired, completing the calibration action of the first extreme position. When the attachment is driven to move to the second extreme position, the second electrical signal value output by the sensor is acquired, completing the calibration action of the second extreme position. The third electrical signal value output by the sensor at the intermediate position between the first and second extreme positions can be calculated from the first and second electrical signal values. The calibration action of the intermediate position can be completed without driving the attachment to move again. The unified control steps can achieve accurate calibration of each position, effectively reducing the workload of workers. Furthermore, by reducing the number of attachment movements, the efficiency of calibrating each position of the attachment can be improved. Attached Figure Description

[0039] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on the provided drawings without creative effort.

[0040] Figure 1 This is a schematic diagram of the structure of the attachment provided in an embodiment of the present invention;

[0041] Figure 2 This is a structural diagram showing the location of the instrument panel and vehicle control unit provided in an embodiment of the present invention;

[0042] Figure 3 This is a schematic diagram of the attachment provided in the embodiment of the present invention when it is in the first safe position;

[0043] Figure 4 This is a schematic diagram of the attachment provided in the embodiment of the present invention when it is in the second safe position;

[0044] Figure 5 This is a schematic diagram of the attachment provided in the embodiment of the present invention when it is in the third safe position;

[0045] Figure 6 This is a control block diagram for automatic attachment position calibration provided in an embodiment of the present invention;

[0046] Figure 7 This is a flowchart for automatic attachment position calibration provided in an embodiment of the present invention.

[0047] in:

[0048] 1-Instrument panel; 2-Vehicle control unit; 3-First sensor; 4-Side shift controller; 5-Rotation controller; 6-Side shift motor; 7-Rotation motor; 8-Second sensor; 9-Handle; 10-Bridge; 11-Forks. Detailed Implementation

[0049] 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.

[0050] To enable those skilled in the art to better understand the present invention, the present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments.

[0051] In the description of this invention, it should be understood that the terms "upper", "lower", "front", "rear", "left" and "right" indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this invention and simplifying the description, and do not indicate or imply that the position or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations of this invention.

[0052] The purpose of this invention is to provide a three-way forklift attachment position calibration control method and forklift, which can improve the efficiency of calibrating the positions of the attachments.

[0053] Please see Figure 1 To achieve the above objectives, the present invention provides a three-way forklift attachment position calibration control method for calibrating the position of attachments installed on a forklift. The attachment includes a bridge 10 capable of horizontal translation relative to the forklift via a side-shift motor 6, and forks 11 connected to the bridge 10 and capable of horizontal rotation relative to the bridge 10 via a rotary motor 7. The attachment has a first fixed frame and is mounted on the forklift or other equipment and devices for cargo transfer via the first fixed frame. Driven by a vertical moving mechanism, the attachment as a whole can move upward and downward relative to the forklift. A horizontally extending side-shift rail is also provided on the side of the first fixed frame facing away from the forklift. This side-shift rail allows the attachment to be connected to the forklift... The bridge 10 of the lateral shift track moves along the extension direction of the lateral shift track under the drive of the lateral shift motor 6. The end of the bridge 10 away from the lateral shift track is provided with a rotating shaft that can rotate relative to the bridge 10. The fork 11 is connected to the rotating shaft so that when the rotating motor 7 drives the rotating shaft to rotate, the fork 11 rotates relative to the bridge 10 to adjust the orientation of the fork 11. The fork 11 includes a second fixed frame connected to the rotating shaft and two horizontally extending forks connected to the second fixed frame. The two forks are parallel and spaced apart, and are used to move to the bottom of the goods or other positions to support the goods. Other structures of the attachment can be referred to in the prior art, and will not be described in detail here.

[0054] The three-way forklift attachment position calibration control method includes: automatically identifying the first extreme position and obtaining the first electrical signal value output by the sensor when the attachment moves to the first extreme position; automatically identifying the second extreme position and obtaining the second electrical signal value output by the sensor when the attachment moves to the second extreme position; and calculating the third electrical signal value when the attachment moves to the intermediate position between the first and second extreme positions based on the first and second electrical signal values.

[0055] A sensor for outputting electrical signal values ​​is installed on the three-way forklift attachment. When the attachment is driven to move to the first extreme position, the first electrical signal value output by the sensor is acquired, completing the calibration action for the first extreme position. When the attachment is driven to move to the second extreme position, the second electrical signal value output by the sensor is acquired, completing the calibration action for the second extreme position. The third electrical signal value output by the sensor at the intermediate position between the first and second extreme positions can be calculated from the first and second electrical signal values. By automatically identifying the first and second extreme positions, the calibration actions for the first, second, and intermediate positions can be completed without checking the electrical signals while operating the attachment to move to the first and second extreme positions, or without driving the attachment to move again. A unified control procedure can achieve accurate calibration of each position, effectively reducing the workload of workers. Furthermore, by reducing the number of attachment movements, the efficiency of calibrating each position of the attachment can be improved.

[0056] The movement of the attachment is divided into lateral movement of the attachment (horizontal translation of the bridge 10) and rotation of the attachment (horizontal rotation of the forks 11). The sensors are divided into a first sensor 3 for detecting the lateral movement position of the attachment and a second sensor 8 for detecting the rotation of the attachment.

[0057] Regarding the lateral movement process of the attachment, the first extreme position is when the attachment moves to one end of the first fixed frame, the second extreme position is when the attachment moves to the other end of the first fixed frame, and the middle position is the midpoint of the line connecting the two ends of the first fixed frame. During the lateral movement process of the attachment, the first sensor 3 outputs the first lateral movement electrical signal value when the attachment moves to the first extreme position and the second lateral movement electrical signal value when the attachment moves to the second extreme position. The third lateral movement electrical signal value when the attachment moves to the middle position is calculated using the first lateral movement electrical signal value and the second lateral movement electrical signal value.

[0058] Regarding the rotation process of the attachment, the first limit position is the limit position of the rotation axis in the positive direction, and the second limit position is the limit position of the rotation axis in the negative direction. When the positive direction is clockwise rotation, the negative direction is counterclockwise rotation; when the positive direction is counterclockwise rotation, the negative direction is clockwise rotation. The intermediate position is the middle position between the two limit positions, that is, the intermediate position requires the same rotation angle to reach the limit position. During the rotation process of the attachment, the second sensor 8 outputs a first electrical signal value of rotation when the rotation axis reaches the first limit position and a second electrical signal value of rotation when the rotation axis reaches the second limit position. The third electrical signal value of rotation when the attachment reaches the intermediate position is calculated using these first and second electrical signal values.

[0059] Please see Figure 2 and Figure 6In addition, this embodiment also includes an instrument panel 1, a vehicle control unit 2, an operating handle 9, and a lateral movement controller 4 and a rotation controller 5, all located on the forklift. The magnified view of the vehicle control unit 2 is the X-axis view. The lateral movement controller 4 drives the lateral movement motor 6 in the attachment and sends the operating status of the first sensor 3 and the lateral movement motor 6 to the vehicle control unit 2 in message form. The rotation controller 5 drives the rotation motor 7 in the attachment and sends the operating status of the second sensor 8 and the rotation motor 7 to the vehicle control unit 2 in message form. By operating the buttons on the instrument panel 1, an automatic calibration command for starting the position can be sent to the vehicle control unit 2, and the current attachment position status can be displayed. The operating handle 9 is the command handle for attachment actions. The vehicle control unit 2 is the core unit of the control system. Based on the received current attachment position feedback signal, it outputs and controls the rotation and lateral movement of the attachment, and records and saves the final attachment position information.

[0060] Specifically, the automatic identification process involves the instrument panel 1 issuing an automatic calibration command to the vehicle control unit 2. Upon receiving the command handle 9 for the attachment's movement, the vehicle control unit 2 automatically and in real-time acquires information from the lateral shift controller 4 and the rotation controller 5. The information from the lateral shift controller 4 includes the electrical signal value emitted by the first sensor 3 (used to detect the lateral shift position of the attachment), the operating current of the lateral shift motor 6, and the operating time. The information from the rotation controller 5 includes the electrical signal emitted by the second sensor 8 (used to detect the rotation of the attachment), the operating current of the rotation motor 7, and the operating time. The vehicle control unit 2 automatically identifies the first and second limit positions during the lateral shift process based on the operating current and operating time of the lateral shift motor 6. Similarly, the vehicle control unit 2 automatically identifies the first and second limit positions during the rotation process based on the operating current and operating time of the rotation motor 7. This eliminates the need to simultaneously monitor the electrical signals and operate the attachment to the first and second limit positions, thus achieving automatic identification.

[0061] In one possible implementation, before the step of automatically identifying the first extreme position and obtaining the first electrical signal value output by the sensor when the attachment moves to the first extreme position, the method further includes: controlling the attachment to move toward the first extreme position. Specifically, before the step of controlling the attachment to move toward the first extreme position, the method further includes: obtaining the real-time position of the attachment; and determining the position of the end closest to the attachment as the first extreme position.

[0062] Regarding the lateral movement of the attachment, after receiving the attachment position automatic calibration command from the instrument 1, the vehicle control unit 2 automatically issues a lateral movement command based on the current lateral movement position of the attachment and the electrical signal of the operating handle 9. While the lateral movement controller 4 drives the lateral movement motor 6, it sends the current real-time lateral movement status (including lateral movement position, motor current, and duration) to the vehicle control unit 2. Specifically, the vehicle control unit 2 can obtain the real-time position of the attachment; determine the end position closest to the attachment as the first limit position, and then issue a command to the lateral movement controller 4 to drive the lateral movement motor 6 to move the attachment toward the first limit position.

[0063] Regarding the rotation process of the attachment, after receiving the attachment position automatic calibration command from the instrument 1, the vehicle control unit 2 automatically issues the attachment rotation action command based on the current rotation position of the attachment and the electrical signal of the operating handle 9. While the rotation controller 5 drives the rotation motor 7 to work, it sends the current real-time rotation status (including rotation position, motor current, and duration) to the vehicle control unit 2. Specifically, the vehicle control unit 2 can obtain the real-time position of the attachment; determine the rotation limit position closest to the attachment as the first limit position, and then issue a command to the rotation controller 5 to drive the rotation motor 7 to rotate the attachment toward the first limit position.

[0064] In one possible implementation, the step of controlling the attachment to move toward the first extreme position specifically involves: when the distance between the attachment and the first extreme position is greater than L1, controlling the attachment to run at a first speed; when the distance between the attachment and the first extreme position is less than L2, controlling the attachment to run at a second speed; and when the distance between the attachment and the first extreme position is less than or equal to L1 and greater than or equal to L2, controlling the attachment to run at a third speed; wherein the first speed is greater than the third speed, and the third speed is greater than the second speed.

[0065] Regarding the lateral movement of the attachment, the lateral travel is divided into multiple segments, allowing for multi-level speed limiting at different positions. This reduces the speed to a second speed as the attachment approaches its first limit position, effectively mitigating or even preventing impacts when the attachment reaches its first limit position. Similarly, regarding the rotational movement of the attachment, the rotational travel is divided into multiple segments, allowing for multi-level speed limiting at different positions. This reduces the speed to a second speed as the attachment approaches its first limit position, effectively mitigating or even preventing impacts when the attachment rotates to its first limit position.

[0066] In one possible implementation, the step of automatically identifying the first extreme position and obtaining the first electrical signal value output by the sensor when the attachment moves to the first extreme position specifically involves: detecting that the motor used to drive the attachment to move stops rotating when it is running at a current not lower than a preset current; controlling the motor to be powered off after detecting that the motor has stopped rotating for a period of time not lower than a preset time; and obtaining the first electrical signal value output by the sensor when the motor is powered off.

[0067] Regarding the lateral movement of the attachment, the vehicle control unit 2 can automatically identify the first extreme position during the lateral movement process by measuring the operating current and operating time of the lateral movement motor 6. Specifically, when the vehicle control unit 2 detects that the lateral movement motor 6 has been running within a specified position area with a specified current (greater than or equal to I0) for a specified time (greater than or equal to t0), it intelligently determines that the attachment has laterally moved to the first extreme position. At this time, the lateral movement motor 6 is automatically stopped, and the current electrical signal of the first sensor 3 (the lateral movement first electrical signal value) is recorded and saved as the corresponding position parameter value d. 10 .

[0068] Regarding the rotation process of the attachment, the vehicle control unit 2 can automatically identify the first extreme position during the rotation process by measuring the operating current and operating time of the rotary motor 7. Specifically, when the vehicle control unit 2 detects that the rotary motor 7 has been running within a specified position area with a specified current (greater than or equal to I1) for a specified time (greater than or equal to t1), it intelligently determines that the attachment has rotated to the first extreme position. At this time, the rotary motor 7 is automatically stopped, and the current electrical signal (rotation first electrical signal value) of the second sensor 8 is recorded and saved as the corresponding position parameter value d. 20 .

[0069] In one possible implementation, the step of automatically identifying the second limit position and obtaining the second electrical signal value output by the sensor when the attachment moves to the second limit position specifically includes: controlling the attachment to move from the first limit position toward the second limit position; detecting that the motor used to drive the attachment to move is running at a current not lower than a preset current and stopping the motor; detecting that the motor has stopped rotating for a period of time not less than a preset time and then controlling the motor to be powered off; and obtaining the second electrical signal value output by the sensor when the motor is powered off.

[0070] Regarding the lateral movement of the attachment, the vehicle control unit 2 can automatically identify the second extreme position during the lateral movement process by measuring the operating current and operating time of the lateral movement motor 6. Specifically, after calibration at the first extreme position, the attachment is controlled to move from the first extreme position towards the second extreme position. When the vehicle control unit 2 detects that the lateral movement motor 6 has been running within the specified position area with a specified current (greater than or equal to I0) for a specified time (greater than or equal to t0), it intelligently determines that the attachment has laterally moved to the second extreme position. At this time, the lateral movement motor 6 is automatically stopped, and the current electrical signal of the first sensor 3 (the second electrical signal value of the lateral movement) is recorded and saved as the corresponding position parameter value d. 11.

[0071] Regarding the rotation process of the attachment, the vehicle control unit 2 can automatically identify the second limit position during the rotation process by using the operating current and operating time of the rotary motor 7. Specifically, after calibration at the first limit position, the attachment is controlled to rotate from the first limit position towards the second limit position. When the vehicle control unit 2 detects that the rotary motor 7 has been running within the specified position area with a specified current (greater than or equal to I1) for a specified time (greater than or equal to t1), it intelligently determines that the attachment has rotated to the second limit position. At this time, the rotary motor 7 is automatically stopped, and the current electrical signal (rotation second electrical signal value) of the second sensor 8 is recorded and saved as the corresponding position parameter value d. 21 .

[0072] Specifically, the step of controlling the attachment to move from the first extreme position to the second extreme position is as follows: when the distance between the attachment and the second extreme position is greater than L1, the attachment is controlled to run at a first speed; when the distance between the attachment and the second extreme position is less than L2, the attachment is controlled to run at a second speed; when the distance between the attachment and the second extreme position is less than or equal to L1 and greater than or equal to L2, the attachment is controlled to run at a third speed; wherein the first speed is greater than the third speed, and the third speed is greater than the second speed.

[0073] Regarding the lateral movement of the attachment, the lateral travel is divided into multiple segments, allowing for multi-level speed limiting at different positions. This reduces the speed to a second speed as the attachment approaches its second limit position, effectively mitigating or even preventing impacts when the attachment reaches that limit. Similarly, regarding the rotational movement of the attachment, the rotational travel is divided into multiple segments, allowing for multi-level speed limiting at different positions. This reduces the speed to a second speed as the attachment approaches its second limit position, effectively mitigating or even preventing impacts when the attachment rotates to that limit.

[0074] In one possible implementation, the sensors are linear displacement sensors, specifically, both the first sensor 3 and the second sensor 8 are linear displacement sensors. The electrical signal value output by the first sensor 3 is linearly related to each position point during the lateral movement of the attachment; the electrical signal value output by the second sensor 8 is linearly related to each position point during the rotation of the attachment. The step of calculating the third electrical signal value when the attachment moves to the intermediate position between the first and second limit positions based on the first and second electrical signal values ​​specifically involves: calculating the average value of the first and second electrical signal values; and marking the position of the attachment when the sensor outputs a third electrical signal value equal to the average value as the intermediate position.

[0075] For the lateral movement of the attachment, the vehicle control unit 2 will store the aforementioned position parameters d. 10 Position parameter d 11After summing and averaging, the value is saved as the lateral displacement intermediate position parameter d. 12 Regarding the rotation process of the attachment, the vehicle control unit 2 will store the aforementioned position parameter d. 20 Position parameter d 21 After summing and averaging, the value is saved as the lateral displacement intermediate position parameter d. 22 All positional parameters d 10 d 11 d 12 d 20 d 21 d 22 The calibration process will automatically exit after calibration is complete.

[0076] To distinguish between the attachment lateral movement process and the attachment rotation process, during the attachment lateral movement towards the first extreme position, the region where the distance from the first extreme position is greater than L1 is divided into the extreme position range P. 10 The region whose distance from the first extreme position is less than or equal to L1 and greater than or equal to L2 is divided into the extreme position range P. 11 The region whose distance from the first extreme position is less than L2 is divided into extreme position ranges P. 12 P 10 P 11 P 12 As the device approaches the first extreme position, and the corresponding attachment moves laterally toward that position, within the extreme position range P... 10 Internal velocity V 10 Lateral displacement, within the extreme position range P 11 Internal velocity V 11 In the extreme position range P 12 Internal velocity V 12 Speed ​​V 10 V 11 V 12 The position is lowered sequentially; during the lateral movement of the attachment towards the second extreme position, the area where the distance from the second extreme position is greater than L1 is divided into the extreme position range P. 20 The region whose distance from the second extreme position is less than or equal to L1 and greater than or equal to L2 is divided into the extreme position range P. 21 The region whose distance from the second extreme position is less than L2 is divided into extreme position ranges P. 22 P 20 P 21 P 22 As the device approaches the second extreme position, and the corresponding attachment moves laterally towards that position, within the extreme position range P... 20 Internal velocity V 20 Lateral displacement, within the extreme position range P 21 Internal velocity V 21 In the extreme position range P22 Internal velocity V 22 Speed ​​V 20 V 21 V 22 Decreasing sequentially. V 10 Can be used with V 20 Equal, V 11 Can be used with V 21 Equal, V 12 Can be used with V 22 equal.

[0077] During the rotation of the attachment toward the first extreme position, the region at a distance greater than L1 from the first extreme position is designated as the extreme position range P0, and the region at a distance less than or equal to L1 and greater than or equal to L2 from the first extreme position is designated as the extreme position range P. 31 The region whose distance from the first extreme position is less than L2 is divided into extreme position ranges P. 32 P 30 P 31 P 32 As the device approaches the first extreme position, the corresponding attachment rotates towards that position within the extreme position range P. 30 Internal velocity V 30 Rotation, within the extreme position range P 31 Internal velocity V 31 In the extreme position range P 32 Internal velocity V 32 Speed ​​V 30 V 31 V 32 The position is lowered sequentially; as the attachment rotates toward the second extreme position, the area where the distance from the second extreme position is greater than L1 is divided into the extreme position range P. 40 The region whose distance from the second extreme position is less than or equal to L1 and greater than or equal to L2 is divided into the extreme position range P. 41 The region whose distance from the second extreme position is less than L2 is divided into extreme position ranges P. 42 P 40 P 41 P 42 As the device approaches the second extreme position, and the corresponding attachment rotates towards that position, within the extreme position range P... 20 Internal velocity V 40 Rotation, within the extreme position range P 41 Internal velocity V 41 In the extreme position range P 42 Internal velocity V 42 Speed ​​V 40 V 41 V 42 Decreasing sequentially. V30 Can be used with V 40 Equal, V 31 Can be used with V 41 Equal, V 32 Can be used with V 42 equal.

[0078] Please see Figure 3 , Figure 4 , Figure 5 and Figure 7 During the attachment lateral displacement position calibration process, the attachment is first driven to move towards the first extreme position. Specifically, the attachment is driven at a speed V. 10 Within the extreme position range P 10 Internal movement, driving the attachment at speed V 11 Within the extreme position range P 11 Internal movement, driving the attachment at speed V 12 Within the extreme position range P 12 The vehicle moves inward until the vehicle control unit 2 detects that the current of the side-shift motor 6 is greater than or equal to I0 and the duration is greater than or equal to t0. The vehicle control unit 2 then automatically records and saves the current position data d. 10 Then the drive attachment moves toward the second extreme position, specifically, the drive attachment moves at a speed V. 20 Within the extreme position range P 20 Internal movement, driving the attachment at speed V 21 Within the extreme position range P 21 Internal movement, driving the attachment at speed V 22 Within the extreme position range P 22 The vehicle moves inward until the vehicle control unit 2 detects that the current of the side-shift motor 6 is greater than or equal to I0 and the duration is greater than or equal to t0. The vehicle control unit 2 then automatically records and saves the current position data d. 11 ; Set the position parameter d 10 Position parameter d 11 After summing and averaging, the value is saved as the lateral displacement intermediate position parameter d. 12 Complete the attachment lateral displacement position calibration. During the attachment rotation position calibration process, first drive the attachment towards the first extreme position, specifically, drive the attachment at a speed V. 30 Within the extreme position range P 30 Internal rotation drives the attachment at a speed V 31 Within the extreme position range P 31 Internal rotation drives the attachment at a speed V 32 Within the extreme position range P 32 The rotation continues until the vehicle control unit 2 detects that the current of the rotary motor 7 is greater than or equal to I1 and the duration is greater than or equal to t1. At this point, the vehicle control unit 2 automatically records and saves the current position data d. 20Then, drive the attachment to rotate toward the second extreme position, specifically, drive the attachment at a speed of V. 40 Within the extreme position range P 40 Internal rotation drives the attachment at a speed V 41 Within the extreme position range P 41 Internal rotation drives the attachment at a speed V 42 Within the extreme position range P 42 The rotation continues until the vehicle control unit 2 detects that the current of the rotary motor 7 is greater than or equal to I1 and the duration is greater than or equal to t1. At this point, the vehicle control unit 2 automatically records and saves the current position data d. 21 ; Set the position parameter d 20 Position parameter d 21 After summing and averaging, save the result as the rotation intermediate position parameter value d. 22 The attachment rotation position is calibrated. This completes the position calibration, enabling the cable tray 10 to move to the left end and the forks 11 to rotate to the right limit position, placing the attachment in the first safe position; the cable tray 10 to move to the middle position and the forks 11 to rotate to the middle position, placing the attachment in the second safe position; and the cable tray 10 to move to the right end and the forks 11 to rotate to the left limit position, placing the attachment in the third safe position. This improves the turnover efficiency and safety of goods on both sides of the rack.

[0079] Based on the above, this application also provides a forklift, including a memory and a processor. The memory stores a computer program, and when the processor calls the computer program in the memory, it implements the steps of the three-way forklift attachment position calibration control method as described in the above embodiments. Other components of the forklift can be found in the prior art, and will not be elaborated here.

[0080] It should be noted that in this specification, relational terms such as first and second are used only to distinguish one entity from several other entities, and do not necessarily require or imply any such actual relationship or order between these entities.

[0081] The various embodiments in this specification are described in a progressive manner, with each embodiment focusing on the differences from other embodiments. The same or similar parts between the various embodiments can be referred to each other.

[0082] This article uses specific examples to illustrate the principles and implementation methods of the present invention. The descriptions of the above embodiments are only for the purpose of helping to understand the method and core ideas of the present invention. It should be noted that those skilled in the art can make several improvements and modifications to the present invention without departing from the principles of the present invention, and these improvements and modifications also fall within the protection scope of the present invention.

Claims

1. A method for position calibration and control of a three-way forklift attachment, characterized in that, include: Automatically identify the first extreme position and obtain the first electrical signal value output by the sensor when the attachment moves to the first extreme position; Automatically identify the second extreme position and obtain the second electrical signal value output by the sensor when the attachment moves to the second extreme position; Calculate a third electrical signal value based on the first and second electrical signal values ​​when the attachment moves to the midpoint between the first and second extreme positions.

2. The three-way forklift attachment position calibration and control method according to claim 1, characterized in that, Before the step of automatically identifying the first extreme position and obtaining the first electrical signal value output by the sensor when the attachment moves to the first extreme position, the method further includes: Control the attachment to move toward the first extreme position.

3. The three-way forklift attachment position calibration and control method according to claim 2, characterized in that, Prior to the step of moving the control attachment toward the first extreme position, the following steps are also included: Obtain the real-time position of the attachment; The position of the end closest to the attachment is determined as the first extreme position.

4. The three-way forklift attachment position calibration and control method according to claim 2, characterized in that, The specific steps for moving the control attachment toward the first extreme position are as follows: When the attachment is at a distance greater than L1 from the first extreme position, the attachment is controlled to run at a first speed; When the attachment is less than L2 from the first extreme position, the attachment is controlled to run at the second speed; When the attachment is less than or equal to L1 and greater than or equal to L2 from the first extreme position, the attachment is controlled to run at a third speed; The first speed is greater than the third speed, and the third speed is greater than the second speed.

5. The three-way forklift attachment position calibration and control method according to any one of claims 1 to 4, characterized in that, The specific steps of automatically identifying the first extreme position and obtaining the first electrical signal value output by the sensor when the attachment moves to the first extreme position are as follows: The motor used to drive the attachment to move stops rotating when it is detected that the motor is operating at a current not lower than a preset current. After detecting that the motor has stopped rotating for at least a preset time, the power to the motor is cut off. The sensor outputs a first electrical signal value when the motor is powered off.

6. The three-way forklift attachment position calibration and control method according to any one of claims 1 to 5, characterized in that, The specific steps of automatically identifying the second extreme position and obtaining the second electrical signal value output by the sensor when the attachment moves to the second extreme position are as follows: Control the attachment to move from the first extreme position toward the second extreme position; The motor used to drive the attachment to move stops rotating when it is detected that the motor is operating at a current not lower than a preset current. After detecting that the motor has stopped rotating for at least a preset time, the power to the motor is cut off. The second electrical signal value output by the sensor when the motor is powered off is obtained.

7. The three-way forklift attachment position calibration and control method according to claim 6, characterized in that, The specific steps of controlling the attachment to move from the first extreme position toward the second extreme position are as follows: When the attachment is at a distance greater than L1 from the second extreme position, the attachment is controlled to run at a first speed; When the attachment is less than L2 from the second limit position, the attachment is controlled to run at the second speed; When the attachment is less than or equal to L1 and greater than or equal to L2 from the second limit position, the attachment is controlled to run at the third speed; The first speed is greater than the third speed, and the third speed is greater than the second speed.

8. The three-way forklift attachment position calibration and control method according to any one of claims 1 to 7, characterized in that, The sensor is a linear displacement sensor, and the step of calculating the third electrical signal value when the attachment moves to the intermediate position between the first limit position and the second limit position based on the first electrical signal value and the second electrical signal value is as follows: Calculate the average value of the first electrical signal and the second electrical signal; The position of the attachment is marked as the middle position when the sensor outputs the third electrical signal value that is equal to the average value.

9. A forklift, characterized in that, The method includes a memory and a processor, wherein the memory stores a computer program, and the processor, when calling the computer program in the memory, implements the steps of the three-way forklift attachment position calibration control method as described in any one of claims 1 to 8.

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