Forklift pallet fork adjusting and controlling system

Abstract

The utility model relates to the technical field of automation, in particular to a forklift pallet fork adjusting and controlling system which comprises a forklift and two pallet fork bodies installed on the forklift, and an ultrasonic radar auxiliary positioning system used for measuring the actual distance interval between goods and the pallet fork bodies is installed on the forklift. The two pallet fork bodies are further provided with pallet fork adjusting systems used for adjusting the distance between the left pallet fork body and the right pallet fork body. According to the utility model, the visual detection and ultrasonic radar technologies are integrated, the accurate identification of the positions of the goods and the fork is realized, the visual detection system can accurately master the relative position between the goods and the fork through real-time photographing feature extraction, and the ultrasonic radar auxiliary positioning system can quickly calculate the distance information by utilizing the reflection of ultrasonic waves, so that the positioning accuracy of the goods and the fork is improved. And after data fusion of the two, comprehensive and accurate positioning data are provided for the controller, so that the forking and carrying accuracy is greatly improved, and the working efficiency is greatly improved.

Description

Technical Field

[0001] The utility model relates to the technical field of automation, in particular to a forklift fork adjustment and control system. Background Art

[0002] A forklift is an important industrial handling vehicle, mainly used for loading and unloading, stacking and short-distance transportation of palletized cargo. It is a general-purpose equipment with a wide range of downstream applications, mainly in manufacturing and logistics. It is used in various types of machinery manufacturing, construction, textiles, food production and processing, energy, metals, chemicals and other fields. Especially in warehousing logistics and manufacturing, forklifts are indispensable handling equipment.

[0003] However, in the actual production process, due to the uncertainty of cargo volume, the adapted cargo pallets are not always uniform, and the width between forklift forks is usually fixed, which makes the forklift forks unable to adapt to pallets of different sizes. At present, the more common solution is to select an adapted cargo pallet according to the size of the cargo, and then select a suitable forklift mast and the corresponding type of forklift for adjustment according to the size of the cargo pallet. However, this method is more cumbersome to operate and greatly affects production efficiency. Utility Model Content

[0004] The purpose of the utility model is to provide a forklift fork adjustment and control system to solve the problems raised in the above background technology.

[0005] In order to achieve the above purpose, the utility model provides the following technical solutions:

[0006] A forklift fork adjustment and control system, comprising a forklift and two fork bodies mounted on the forklift, wherein the forklift is equipped with an ultrasonic radar auxiliary positioning system for measuring the actual distance between the cargo and the fork body, and the two fork bodies are also provided with a fork adjustment system for adjusting the distance between the left and right fork bodies;

[0007] The forklift is also equipped with a controller for integrating ultrasonic radar data and a back-end interface control system for coping with complex working conditions.

[0008] Preferably, the ultrasonic radar assisted positioning system is installed on the top of the front end of the forklift, and the ultrasonic radar assisted positioning system is connected to the controller via a serial port signal line.

[0009] Preferably: the ultrasonic radar assisted positioning system includes an ultrasonic transmitter and an ultrasonic receiver, the ultrasonic transmitter and the ultrasonic receiver are connected to an FPGA signal processing module via a signal line, the ultrasonic receiver is connected to an APD detector via a signal line, and the APD detector and the FPGA signal processing module are connected via a signal line.

[0010] Preferably, the ultrasonic radar assisted positioning system further comprises a constant ratio timing output module, the constant ratio timing output module is connected to the ultrasonic transmitter via a signal line, and the ultrasonic transmitter emits ultrasonic signals at regular intervals under the timing control of the constant ratio timing output module.

[0011] Preferably: the fork adjustment system includes two hydraulic oil pumps, the output ends of the two hydraulic oil pumps are respectively fixed to adjacent fork bodies, an oil pipeline is also installed in the forklift, the oil outlet ends of the oil pipeline are respectively connected to the two hydraulic oil pumps, an oil pressure regulating solenoid valve is also provided on the oil pipeline, and the oil pressure regulating solenoid valve is connected to the controller through a signal line.

[0012] Preferably: the back-end interface control system includes a display screen and a warning light installed in the forklift, the display screen and the warning light are connected to the controller via a connecting line, and a fork control button and an automatic manual adjustment conversion button are also provided on the operating table of the forklift.

[0013] Compared with the prior art, the beneficial effects of the utility model are:

[0014] 1. The utility model integrates advanced visual detection and ultrasonic radar technology to achieve dual accurate recognition of the position of goods and forks. The visual detection system ensures the accurate grasp of the relative position between the goods and forks through real-time photography and feature extraction, while the ultrasonic radar auxiliary positioning system uses the reflection principle of ultrasonic waves to quickly calculate the distance information. After the data of the two are fused, comprehensive and accurate positioning data is provided to the controller, thereby greatly improving the accuracy of cargo fork picking and handling, and greatly improving work efficiency.

[0015] 2. The utility model sets up a back-end interface control system. When it is detected that the fork body does not match the position of the cargo, the fork control system can quickly adjust the position of the fork body. The operation is simple and convenient. At the same time, the device also has an intelligent automatic adjustment function. When it is found that the cargo size does not match the initial setting of the fork, the fork adjustment system can be automatically started. The oil pressure regulating solenoid valve and the hydraulic oil pump are used to accurately adjust the fork spacing to adapt to cargoes of different specifications. This automatic adjustment process is not only efficient and fast, but also significantly reduces manual intervention, reduces the difficulty of operation and labor intensity.

[0016] 3. The built-in safety warning mechanism in the utility model provides a solid guarantee for the operation process. When interference or abnormality occurs during the fork adjustment process, the warning light immediately sends out a warning signal and displays the front-end working conditions in real time through the display screen, so that the driver can respond quickly. At the same time, the system supports flexible switching between automatic and manual modes. In manual mode, the driver can observe the operation details through the display screen and use the fork control button to fine-tune the fork position, ensuring the safety and stability of the operation process. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 It is a structural schematic diagram of the utility model;

[0018] Figure 2 This is the automatic adjustment feedback flow chart of the utility model.

[0019] In the figure: 1. Controller; 2. Back-end interface control system; 21. Display screen; 22. Warning light; 23. Fork control button; 24. Automatic manual adjustment conversion button; 3. Ultrasonic radar assisted positioning system; 31. Ultrasonic transmitter; 32. Ultrasonic receiver; 33. APD detector; 34. FPGA signal processing module; 35. Constant ratio timing output module; 4. Fork body; 41. Hydraulic oil pump; 42. Oil pressure regulating solenoid valve. DETAILED DESCRIPTION

[0020] The following will be combined with the drawings in the embodiments of the utility model to clearly and completely describe the technical solutions in the embodiments of the utility model. Obviously, the described embodiments are only part of the embodiments of the utility model, not all of the embodiments. Based on the embodiments in the utility model, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the utility model. Embodiment 1:

[0021] See also Figure 1-2 , a forklift fork adjustment and control system, comprising a forklift and two fork bodies 4 installed on the forklift, the forklift is equipped with an ultrasonic radar auxiliary positioning system 3 for measuring the actual distance between the cargo and the fork body 4, and the two fork bodies 4 are also provided with a fork adjustment system for adjusting the distance between the left and right fork bodies 4, the forklift is also equipped with a controller 1 for integrating ultrasonic radar data and a back-end interface control system 2 for coping with complex working conditions, the back-end interface control system 2 includes a display screen 21 and a warning light 22 installed in the forklift, the display screen 21 and the warning light 22 are connected to the controller 1 through a connecting line, and a fork control button 23 and an automatic manual adjustment conversion button 24 are also provided on the operating table of the forklift;

[0022] When in use, after the fork body 4 moves to the location of the cargo, the ultrasonic radar auxiliary positioning system 3 is started, and the location and size of the cargo and the location of the fork body 4 are located by the ultrasonic radar auxiliary positioning system 3, and the collected information is analyzed and processed by the controller 1. When the ultrasonic radar auxiliary positioning system 3 detects that the size of the cargo does not match that of the fork body 4, the fork adjustment system on the fork body 4 is controlled by the fork control button 23 to adjust the distance between the two fork bodies 4 to accommodate cargo of different sizes;

[0023] At the same time, through the back-end interface control system 2, when the fork interferes with the cargo or anomalies occur during the adjustment process, the warning light 22 will issue an early warning and display the front-end working conditions through the display screen 21. The driver can switch between automatic and manual modes through the automatic-manual adjustment conversion button 24. In the manual mode, the front-end fork cargo operation details can be observed through the display screen 21 and the position of the fork body 4 can be fine-tuned through the fork control button 23 to ensure safety and stability during use;

[0024] The ultrasonic radar assisted positioning system 3 is installed on the top of the front end of the forklift, and the ultrasonic radar assisted positioning system 3 is connected to the controller 1 through a serial port signal line. The ultrasonic radar assisted positioning system 3 includes an ultrasonic transmitter 31 and an ultrasonic receiver 32. The ultrasonic transmitter 31 and the ultrasonic receiver 32 are connected to an FPGA signal processing module 34 through a signal line. The ultrasonic receiver 32 is connected to an APD detector 33 through a signal line, and the APD detector 33 is connected to the FPGA signal processing module 34 through a signal line. The ultrasonic radar assisted positioning system 3 also includes a constant The constant ratio timing output module 35 is connected to the ultrasonic transmitter 31 through a signal line. The ultrasonic transmitter 31 sends ultrasonic signals at a fixed time under the timing control of the constant ratio timing output module 35. The fork adjustment system includes two hydraulic oil pumps 41. The output ends of the two hydraulic oil pumps 41 are respectively fixed to the adjacent fork bodies 4. An oil pipeline is also installed in the forklift. The oil outlet ends of the oil pipeline are respectively connected to the two hydraulic oil pumps 41. An oil pressure regulating solenoid valve 42 is also provided on the oil pipeline. The oil pressure regulating solenoid valve 42 is connected to the controller 1 through a signal line.

[0025] When adjusting the fork body 4, the controller 1 first issues a control instruction to the oil pressure regulating solenoid valve 42 of the fork regulating system according to the current working condition, opens the oil pressure regulating solenoid valve 42 to adjust the distance between the two fork bodies 4 through the hydraulic oil pump 41, and during the adjustment process, the ultrasonic radar auxiliary positioning system 3 records the key point data of the fork of the fork adjusting system in real time and repeats the above operation in a cycle to achieve the effect of feedback adjustment; Embodiment 2:

[0026] For further information, see Figure 1-2 The forklift is also equipped with a visual inspection system, which includes a, b, c, d and e. a is a camera, and the camera model can be CA-9880. Camera a is installed at both ends of the forklift door frame. b is an image preprocessing module. The image preprocessing module is generally completed by a chip with a denoising function, for example, an ASIC chip can be selected. Camera a is connected to the image preprocessing module b through a signal line. c and d are respectively a cargo feature extraction module and a fork feature extraction module. The signal output end of the image preprocessing module b is connected to the cargo feature extraction module c and the fork feature extraction module d through a signal line. The cargo feature extraction module c and the fork feature extraction module d are both installed on the side of the forklift close to the controller 1. e is a data fusion module. The signal output ends of the cargo feature extraction module c and the fork feature extraction module d are connected to the data fusion module e through a signal line. The data fusion module e is connected to the controller 1. In this application, the controller can use an imported Parker controller, model MC43FS.

[0027] When in use, after the fork body 4 is moved into position, the camera a is first turned on, and the position of the cargo and the fork body 4 is photographed through the camera a, and the photographed photo is transmitted to the cargo feature extraction module c and the fork feature extraction module d through the signal line to extract the feature points, and the features extracted by the cargo feature extraction module c and the fork feature extraction module d are integrated and analyzed through the data fusion module e, and the obtained data is transmitted to the controller 1;

[0028] In the present application, the model of the ultrasonic radar assisted positioning system 3 is CT3068-xS-Ny, where x represents the number of probes and y represents the test distance. The ultrasonic radar assisted positioning system 3 includes an ultrasonic transmitter 31, an ultrasonic receiver 32, an APD detector 33 and an FPGA signal processing module 34; when the visual inspection system inspects the goods and the fork body 4, the ultrasonic transmitter 31 sends ultrasonic waves under the timing of the constant ratio timing output module 35, and the ultrasonic waves reflected back by the ultrasonic receiver 32 are generated in the APD detector 33 and transmitted to the FPGA signal processing module 34 for integration and comparison, and the corresponding distance data information is calculated and then transmitted to the controller 1;

[0029] The controller 1 receives data from the visual inspection system and the ultrasonic radar assisted positioning system 3, estimates the specific position of the specific key data point by matching the same feature points in different images and triangulation, and compares it with the position of the key data point of the fork extracted from the ultrasonic radar assisted positioning system 3. If the data do not match, it means that a data deviation occurs in the three-dimensional modeling process. The three-dimensional modeling process is repeated until the key point data of the fork matches. The key point data of the cargo is compared. If the data error is greater than 5%, the key point data is invalid. The next key point information is selected. Until all key point data meet the error requirements, the controller 1 issues a control instruction to the oil pressure regulating solenoid valve 42 of the fork adjustment system to adjust the fork body 4 according to the current working conditions.

[0030] Working principle: When in use, after the fork body 4 moves to the position of the goods, the ultrasonic radar auxiliary positioning system 3 is started, and the position and size of the goods and the position of the fork body 4 are located by the ultrasonic radar auxiliary positioning system 3. When the ultrasonic radar auxiliary positioning system 3 detects that the size of the goods does not match that of the fork body 4, the fork control button 23 controls the fork adjustment system on the fork body 4 to adjust the distance between the two fork bodies 4 to accommodate goods of different sizes;

[0031] At the same time, when the ultrasonic radar assisted positioning system 3 is started, the camera a is turned on, and the position of the cargo and the fork body 4 is photographed through the camera a, and the photographed photo is transmitted to the cargo feature extraction module c and the fork feature extraction module d through the signal line to extract the feature points, and the data fusion module e and the FPGA signal processing module 34 transmit the integrated data of the ultrasonic radar assisted positioning system 3 and the visual detection system to the controller 1. The controller 1 receives the data for comparison. If the data does not match, the controller 1 controls the fork adjustment system on the fork body 4 to start, and opens the oil pressure regulating solenoid valve 42 to adjust the distance between the two fork bodies 4 through the hydraulic oil pump 41 to adapt to cargo of different sizes. At the same time, during the adjustment process, the visual detection system and the ultrasonic radar assisted positioning system 3 record the fork key point data of the fork adjustment system in real time and repeat the above operation in a cycle to achieve the effect of feedback adjustment;

[0032] When the fork interferes with the cargo or an abnormality occurs during the adjustment process, the warning light 22 will sound an early warning and display the front working condition on the display screen 21. The driver can switch between automatic and manual modes through the automatic-manual adjustment conversion button 24. In manual mode, the driver can observe the front fork cargo operation details through the display screen 21 and fine-tune the position of the fork body 4 through the fork control button 23 to ensure safety and stability during use.

[0033] It should be noted that the various devices in this application are common devices in the market, and can be selected according to specific needs during specific use. The circuit connection relationship of each device belongs to a simple series and parallel connection circuit. There is no innovation in the circuit connection part. Those skilled in the art can implement it relatively easily. It belongs to the existing technology and will not be elaborated on.

[0034] Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. A forklift fork adjustment and control system, characterized in that: The invention comprises a forklift, two fork bodies (4) mounted on the forklift, and two hydraulic oil pumps (41); the forklift is mounted with an ultrasonic radar auxiliary positioning system (3) for measuring the actual distance between the cargo and the fork bodies (4); and the two fork bodies (4) are also each provided with a fork adjustment system for adjusting the distance between the left and right fork bodies (4); The forklift is also equipped with a controller (1) and a back-end interface control system (2); The ultrasonic radar assisted positioning system (3) is installed on the top of the front end of the forklift, and the ultrasonic radar assisted positioning system (3) is connected to the controller (1) via a serial port signal line; The ultrasonic radar assisted positioning system (3) comprises an ultrasonic transmitter (31) and an ultrasonic receiver (32), wherein the ultrasonic transmitter (31) and the ultrasonic receiver (32) are connected to an FPGA signal processing module (34) via a signal line, and the ultrasonic receiver (32) is connected to an APD detector (33) via a signal line, and the APD detector (33) and the FPGA signal processing module (34) are connected via a signal line; The output ends of the two hydraulic oil pumps (41) are respectively fixed to adjacent fork bodies (4), and an oil pipeline is also installed in the forklift, and the oil outlet ends of the oil pipeline are respectively connected to the two hydraulic oil pumps (41).

2. A forklift fork adjustment and control system according to claim 1, characterized in that: The ultrasonic radar assisted positioning system (3) further comprises a constant ratio timing output module (35), wherein the constant ratio timing output module (35) is connected to the ultrasonic transmitter (31) via a signal line, and the ultrasonic transmitter (31) emits an ultrasonic signal at a fixed time under the timing control of the constant ratio timing output module (35).

3. A forklift fork adjustment and control system according to claim 1, characterized in that: The oil pipeline is also provided with an oil pressure regulating solenoid valve (42), and the oil pressure regulating solenoid valve (42) is connected to the controller (1) via a signal line.

4. A forklift fork adjustment and control system according to claim 1, characterized in that: The back-end interface control system (2) comprises a display screen (21) and a warning light (22) installed in the forklift, wherein the display screen (21) and the warning light (22) are connected to the controller (1) via a connecting line, and a fork control button (23) and an automatic-manual adjustment conversion button (24) are also arranged on the operating table of the forklift.

Images