AGV forklift attachment control system
By integrating tilt sensors, proximity switches, pressure sensors, and other sensors into AGV forklifts, combined with DC-DC modules and solenoid valves, real-time monitoring and control of attachment movements are achieved, solving the problem of lacking systematic control logic in existing technologies and improving the working accuracy and efficiency of AGV forklifts.
Patent Information
- Application Number
- CN202520505555.5
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- Filing Date
- 2025-03-21
- Publication Date
- 2026-02-10
- Estimated Expiration
- 2035-03-21
AI Technical Summary
Existing AGV forklift systems cannot perform closed-loop control of complex attachment movements and lack systematic working control logic for rotary flat clamp attachments, resulting in insufficient accuracy of sensor installation and logic judgment.
By employing a combination of sensors such as tilt sensors, proximity switches, pressure sensors, and rangefinders, along with a DC-DC module and solenoid valves, the system enables real-time monitoring and control of the attachment's tilting, back tilting, clamping, loosening, and rotation movements. The system then uses a vehicle controller to make logical judgments and execute commands.
This achieves closed-loop control of AGV forklift attachments, improving the accuracy and efficiency of actions and reducing the risk of system failures.
Smart Images
Figure CN223892387U_ABST
Abstract
Description
Technical Field
[0001] This utility model relates to the field of AGV forklift technology, and in particular to an AGV forklift attachment control system. Background Technology
[0002] AGV (Automated Guided Vehicle Forklift) is an unmanned intelligent equipment that uses automatic navigation technology to handle materials. It is widely used in manufacturing, warehousing and logistics, pharmaceuticals, e-commerce and other fields. Its core features are autonomous navigation, precise positioning and intelligent scheduling. It can replace traditional manual forklifts, greatly improve work efficiency and reduce operating costs.
[0003] Currently, most existing AGV forklifts are only equipped with forks, or at most, forks with side shifters. Therefore, current AGV forklifts only provide basic control over the lifting height and tilting motion of the forks on the mast, and cannot perform closed-loop control of complex attachments. Furthermore, there is no complete system in place for AGV forklifts to systematically operate with rotary flat clamp attachments, leaving a gap in the control logic for rotary flat clamp attachments during the overall vehicle operation. AGV forklifts are designed as a systemic solution; each action requires confirmation from relevant sensor signals before proceeding to the next step. When handling and placing goods, it is necessary to detect whether the goods are in place, whether the attachments are clamped, whether the attachments are tilted correctly, whether the attachments are rotated correctly, whether the attachments are released, and whether they are extended. All of these require relevant sensors to detect before proceeding to the next step. Therefore, the installation of sensors and the accuracy of logical judgments are crucial. Utility Model Content
[0004] Based on this, it is necessary to address the technical problem that current AGV forklifts only provide simple control over the lifting height and tilting motion of the forks on the mast, and cannot perform closed-loop control over complex attachment movements. This utility model provides an AGV forklift attachment control system.
[0005] To achieve the above objectives, the present invention adopts the following technical solution:
[0006] This utility model first provides an AGV forklift attachment control system, which includes a vehicle controller and a tilt sensor for detecting the tilt angle of the attachment. The tilt sensor is installed on the AGV forklift and connected to the vehicle controller.
[0007] The AGV forklift attachment control system of this utility model, by setting up a tilt angle sensor, can monitor the tilt angle of the attachment in real time when the attachment tilts forward, backward and returns to horizontal, providing a basis for closed-loop control of the tilt of the AGV forklift attachment.
[0008] As a further improvement to the above-mentioned solution of this utility model, the AGV forklift attachment control system also includes a proximity switch. The proximity switch is installed on the attachment and is used to detect whether there is cargo between the left and right gripping arms of the attachment. The proximity switch is connected to the vehicle controller.
[0009] As a further improvement of the above-mentioned solution of this utility model, the AGV forklift attachment control system further includes a pressure sensor. The pressure sensor is installed on the left or right clamping arm of the attachment and is used to detect the pressure value of the left or right clamping arm of the attachment. The pressure sensor is connected to the vehicle controller.
[0010] As a further improvement to the above-mentioned solution of this utility model, the AGV forklift attachment control system further includes a distance measuring device, which is installed on the attachment and used to detect the distance between the left and right clamping arms of the attachment. The distance measuring device is connected to the vehicle controller.
[0011] As a further improvement of the above-mentioned solution of this utility model, the rangefinder includes a left laser rangefinder sensor and a right laser rangefinder sensor. The left laser rangefinder sensor and the right laser rangefinder sensor are respectively installed in the middle position of the guard rack of the attachment. The left laser rangefinder sensor and the right laser rangefinder sensor are both connected to the vehicle controller. Laser reflectors are installed on opposite sides of the left clamp arm and the right clamp arm of the attachment. The two laser reflectors correspond to the left laser rangefinder sensor and the right laser rangefinder sensor, respectively.
[0012] As a further improvement to the above-mentioned solution of this utility model, the AGV forklift attachment control system further includes a DC-DC module, a driver, an oil pump motor, a forward tilt solenoid valve, and a backward tilt solenoid valve; the input end of the driver is connected to the DC-DC module and its output is connected to the oil pump motor; both ends of the forward tilt solenoid valve and the backward tilt solenoid valve are respectively connected to the DC-DC module and the vehicle controller.
[0013] As a further improvement to the above-mentioned solution of this utility model, the AGV forklift attachment control system also includes a distance adjustment solenoid valve. The two ends of the distance adjustment solenoid valve are respectively connected to the DC-DC module and the vehicle controller. When the vehicle controller controls the distance adjustment solenoid valve to open, the driver controls the oil pump motor to perform a clamping action. When the distance measuring device detects that the distance between the left and right clamping arms of the attachment is less than A, the vehicle controller controls the oil pump motor to stop the clamping action within a predetermined time. Where A = cargo width + A1, 20cm ≤ A1 ≤ 30cm.
[0014] As a further improvement to the above-mentioned solution of this utility model, the AGV forklift attachment control system also includes a left rotary solenoid valve, a right rotary solenoid valve and an angle sensor, with the two ends of the left rotary solenoid valve and the right rotary solenoid valve respectively connected to the DC-DC module and the vehicle controller.
[0015] As a further improvement to the above-mentioned solution of this utility model, the vehicle controller also outputs a fault indicator light.
[0016] Compared with the prior art, the present invention has the following beneficial effects:
[0017] 1. The AGV forklift attachment control system of this utility model, by setting up a tilt angle sensor, can monitor the tilt angle of the attachment in real time when the attachment tilts forward, backward and returns to horizontal position, providing a basis for closed-loop control of the tilting action of the AGV forklift attachment.
[0018] 2. The AGV forklift attachment control system of this utility model is also equipped with proximity switches, pressure sensors, rangefinders, etc., which provide a basis for closed-loop control of the clamping, loosening, and rotating actions of the AGV forklift attachment. Attached Figure Description
[0019] Figure 1 This is an electrical schematic diagram of an AGV forklift attachment control system proposed in this utility model;
[0020] Figure 2 This is a schematic diagram of the rotary flat clamp attachment mentioned in this utility model.
[0021] Reference numerals: 1. Vehicle controller one; 2. Vehicle controller two; 3. Driver; 4. Oil pump motor; 5. Tilt sensor; 6. Proximity switch; 7. Pressure sensor; 8. Angle sensor; 9. DC-DC module; 10. Forward tilt solenoid valve; 11. Backward tilt solenoid valve; 12. Adjustable distance solenoid valve; 13. Left rotary solenoid valve; 14. Right rotary solenoid valve; 15. Left laser rangefinder sensor; 16. Right laser rangefinder sensor; 17. Lithium battery module; 18. Fault indicator light; 19. Adjustable distance solenoid valve two. Detailed Implementation
[0022] To facilitate understanding of this invention, a more comprehensive description of the invention will be provided below with reference to specific embodiments. However, this invention can be implemented in many different forms and is not limited to the embodiments described herein. Rather, these embodiments are provided to enable a more thorough and complete understanding of the disclosure of this invention.
[0023] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention pertains. The terminology used in this specification is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention.
[0024] Reference Figure 1This embodiment proposes an AGV forklift attachment control system, which includes a vehicle controller and a tilt sensor 5. It may also include a proximity switch 6, a pressure sensor 7, a rangefinder, an angle sensor 8, a DC-DC module 9, a driver 3, an oil pump motor 4, a forward tilt solenoid valve 10, a backward tilt solenoid valve 11, a distance adjustment solenoid valve one 12, a distance adjustment solenoid valve two 19, a left rotary solenoid valve 13, and a right rotary solenoid valve 14. The rangefinder includes a left laser distance sensor 15 and a right laser distance sensor 16. This embodiment uses two vehicle controllers, denoted as vehicle controller one 1 and vehicle controller two 2.
[0025] The input terminal of the DCDC module 9 is connected to the lithium battery module 17 of the AGV forklift via a discharge relay. The output terminal of the DCDC module 9 is connected to one end of the forward tilt solenoid valve 10, the backward tilt solenoid valve 11, the pitch adjustment solenoid valve 12, the pitch adjustment solenoid valve 19, the left rotary solenoid valve 13, and the right rotary solenoid valve 14.
[0026] The vehicle controller 1 input is connected to the DC-DC module 9 and the proximity switch 6, so that... Figure 2Taking the rotary flat clamp attachment shown as an example, proximity switch 6 is installed on the rotary flat clamp attachment to detect whether there is cargo on it. If there is cargo, proximity switch 6 closes and outputs a signal of 1; otherwise, the output signal is 0. Vehicle controller 1 outputs to tilt sensor 5 and fault indicator light 18. Tilt sensor 5 is installed on the attachment, and fault indicator light 18 is installed on the AGV forklift. Tilt sensor 5 is used to detect the tilt angle of the attachment. Vehicle controller 2 outputs to the other ends of the forward tilt solenoid valve 10, backward tilt solenoid valve 11, distance adjustment solenoid valve 12, distance adjustment solenoid valve 2 19, left rotary solenoid valve 13, and right rotary solenoid valve 14, and inputs to pressure sensor 7, angle sensor 8, left laser rangefinder sensor 15, and right laser rangefinder sensor 16. Pressure sensor 7 is installed on the left or right clamp arm of the attachment and is used to detect the pressure value on the left or right clamp arm. Angle sensor 8 is installed on the AGV forklift and is used to detect the rotation angle of the attachment when it rotates. The left laser rangefinder 15 and the right laser rangefinder 16 are both installed in the middle of the attachment's backrest. Laser reflectors are installed on opposite sides of the left and right clamping arms of the attachment, corresponding to the left laser rangefinder 15 and the right laser rangefinder 16, respectively. The distance N1 between the left clamping arm and the middle of the backrest can be detected by the left laser rangefinder 15, and the distance N2 between the right clamping arm and the middle of the backrest can be detected by the right laser rangefinder 16. The distance N between the left and right clamping arms of the attachment is N = N1 + N2 (theoretically, N1 = N2 during the clamping / closing process). Based on the detection results of the left laser rangefinder 15 and the right laser rangefinder 16, the relative and absolute positions (i.e., relative to the middle of the attachment's backrest) of the left and right clamping arms can be obtained.
[0027] The input terminal of the driver 3 is connected to the lithium battery module 17 of the AGV forklift via a main contactor and a discharge relay. The output of the driver 3 is connected to the oil pump motor 4, which drives the oil pump motor 4 to perform actions such as tilting forward, tilting backward, clamping, releasing, and rotating. The vehicle controller issues execution commands based on the detection results of the proximity switch 6, pressure sensor 7, angle sensor 8, left laser rangefinder 15, and right laser rangefinder 16, thereby controlling the driver 3 to drive the oil pump motor 4.
[0028] Next, combined Figure 1 The working principle of this embodiment will be explained.
[0029] When vehicle controller 1 receives a leveling command from VCU, vehicle controller 2 controls the tilt solenoid valve 10 to open, and driver 3 drives oil pump motor 4 to control the attachment to return to level. During this process, tilt sensor 5 collects the tilt angle of the attachment in real time. Vehicle controller 2 calculates the deviation between the current tilt angle of the attachment and the target tilt angle based on the output voltage of tilt sensor 5. Based on the magnitude and direction of the deviation, it controls and adjusts the speed of oil pump motor 4 and the valve switch until the attachment returns to level, and oil pump motor 4 stops working.
[0030] When vehicle controller 1 receives a tilt command from VCU, vehicle controller 2 controls the tilt solenoid valve 11 to open, and driver 3 drives oil pump motor 4 to control the attachment to tilt backward. During this process, tilt sensor 5 collects the tilt angle of the attachment in real time. Vehicle controller 2 calculates the deviation between the current tilt angle of the attachment and the target tilt angle based on the output voltage of tilt sensor 5. Based on the magnitude and direction of the deviation, it controls and adjusts the speed of oil pump motor 4 and the valve switch until the attachment reaches the tilt position, and oil pump motor 4 stops working.
[0031] When vehicle controller 1 receives a cargo clamping command from VCU, vehicle controller 1 first checks whether the proximity switch 6 is closed. If the proximity switch 6 signal is 1, vehicle controller 2 controls the adjustment solenoid valve 12 to open, and driver 3 controls oil pump motor 4 to drive the attachment to perform cargo clamping action. Until vehicle controller 2 detects that the pressure value P detected by pressure sensor 7 reaches the pressure threshold P1, and calculates that the distance N between the left clamping arm and the right clamping arm is less than the value A (A = cargo width + A1, 20cm ≤ A1 ≤ 30cm) based on the detection results of left laser rangefinder 15 and right laser rangefinder 16, the clamping action stops. In the picking and clamping step, a suitable clamp spacing range is preset to facilitate the handling of goods. This is because if the distance between the left and right clamp arms meets the requirements, but the opening distance of the two clamp arms deviates too much from the center position, the goods may be pushed over. If the deviation is set too large, too much space must be reserved between the goods, wasting warehouse space. This embodiment completely solves the risk of pushing over the goods and the problem of wasting space due to the clamp arms opening too large, and improves the system's working efficiency.
[0032] After the goods are delivered to the pallet or fixed position, a release action is required. When vehicle controller 1 receives the cargo release command from VCU, vehicle controller 2 controls the opening of the distance adjustment solenoid valve 19, and driver 3 controls the oil pump motor 4 to drive the attachment to perform the cargo release action. The release action stops when vehicle controller 2 detects that the signal of proximity switch 6 is 0, and N1 > 1 / 2A and N2 > 1 / 2A. At this time, the AGV forklift can leave.
[0033] When vehicle controller 1 receives the no-cargo clamping command from VCU, vehicle controller 2 controls the opening of the distance adjustment solenoid valve 12, and driver 3 controls the oil pump motor 4 to drive the attachment to perform the no-cargo clamping action; until vehicle controller 2 detects that the pressure value P detected by pressure sensor 7 is greater than P1, and calculates that the distance N between the left clamping arm and the right clamping arm is equal to W1 (W1 is the minimum distance when the left clamping arm and the right clamping arm are closed) based on the detection results of the left laser rangefinder sensor 15 and the right laser rangefinder sensor 16, the no-cargo clamping action stops.
[0034] When vehicle controller 1 receives a no-cargo release command from VCU, vehicle controller 2 controls the opening of the distance adjustment solenoid valve 19, and driver 3 controls the oil pump motor 4 to drive the attachment to perform the no-cargo release action; when the distance N between the left and right clamping arms is calculated to be equal to W2 (W2 is the maximum distance when the left and right clamping arms are extended) based on the detection results of the left laser rangefinder 15 and the right laser rangefinder 16, the release action stops.
[0035] When vehicle controller 1 receives a left rotation command from VCU, vehicle controller 2 controls the left rotation solenoid valve 13 to open, and driver 3 drives oil pump motor 4 to control the attachment to rotate to the left. During this process, angle sensor 8 collects the left rotation angle of the attachment in real time. Vehicle controller 2 calculates the deviation between the current left rotation angle of the attachment and the target left rotation angle based on the output voltage of angle sensor 8. Based on the magnitude of the deviation, it controls and adjusts the speed of oil pump motor 4 and the valve switch until the attachment reaches the left rotation position, and oil pump motor 4 stops working.
[0036] When vehicle controller 1 receives a right rotation command from VCU, vehicle controller 2 controls the right rotation solenoid valve 14 to open, and driver 3 drives oil pump motor 4 to control the attachment to rotate to the right. During this process, angle sensor 8 collects the right rotation angle of the attachment in real time. Vehicle controller 2 calculates the deviation between the current right rotation angle of the attachment and the target right rotation angle based on the output voltage of angle sensor 8. Based on the magnitude of the deviation, it controls and adjusts the speed of oil pump motor 4 and the valve switch until the attachment reaches the right rotation position, and oil pump motor 4 stops working.
[0037] If a fault occurs at any stage of the above operation process, the vehicle controller 1 will control the fault indicator light 18 to illuminate, indicating the fault.
[0038] Finally, it should be noted that the control logic of the vehicle controller and other components involved in this embodiment adopts mature technologies in the field and is not the inventive point of this utility model.
[0039] It should be noted that when a component is said to be "installed on" another component, it can be directly on the other component or it may be in a component that is centered on it. When a component is said to be "set on" another component, it can be directly set on the other component or it may also be in a component that is centered on it. When a component is said to be "fixed to" another component, it can be directly fixed to the other component or it may also be in a component that is centered on it.
[0040] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention pertains. The terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. The term "or / and" as used herein includes any and all combinations of one or more of the associated listed items.
[0041] The technical features of the above embodiments can be combined in any way. For the sake of brevity, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.
[0042] The embodiments described above are merely illustrative of several implementations of this utility model, and while the descriptions are relatively specific and detailed, they should not be construed as limiting the scope of the utility model patent. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of this utility model, and these all fall within the protection scope of this utility model. Therefore, the protection scope of this utility model patent should be determined by the appended claims.
Claims
1. An AGV forklift attachment control system, comprising a vehicle controller, characterized in that, It also includes a tilt sensor for detecting the tilt angle of the attachment, the tilt sensor being mounted on the AGV forklift and connected to the vehicle controller; the AGV forklift attachment control system also includes a proximity switch, the proximity switch being mounted on the attachment and used to detect whether there is cargo between the left and right clamping arms of the attachment, the proximity switch being connected to the vehicle controller; the AGV forklift attachment control system also includes a pressure sensor, the pressure sensor being mounted on the left or right clamping arm of the attachment and used to detect the pressure value on the left or right clamping arm of the attachment, the pressure sensor being connected to the vehicle controller; the AGV forklift attachment control system also includes a distance measuring device, the distance measuring device being mounted on the attachment and used to detect the distance between the left and right clamping arms of the attachment, the distance measuring device being connected to the vehicle controller.
2. The AGV forklift attachment control system according to claim 1, characterized in that, The rangefinder includes a left laser rangefinder and a right laser rangefinder. The left and right laser rangefinders are respectively installed in the middle of the guardrail of the attachment. Both the left and right laser rangefinders are connected to the vehicle controller. Laser reflectors are installed on opposite sides of the left and right clamping arms of the attachment, and the two laser reflectors correspond to the left and right laser rangefinders, respectively.
3. The AGV forklift attachment control system according to claim 1, characterized in that, The AGV forklift attachment control system also includes a DC-DC module, a driver, an oil pump motor, a forward tilt solenoid valve, and a backward tilt solenoid valve; the input of the driver is connected to the DC-DC module and its output is connected to the oil pump motor; both ends of the forward tilt solenoid valve and the backward tilt solenoid valve are connected to the DC-DC module and the vehicle controller, respectively.
4. The AGV forklift attachment control system according to claim 3, characterized in that, The AGV forklift attachment control system also includes a distance adjustment solenoid valve, the two ends of which are connected to the DC-DC module and the vehicle controller, respectively. When the vehicle controller controls the distance adjustment solenoid valve to open, the driver controls the oil pump motor to perform a clamping action. When the distance measuring device detects that the distance between the left and right clamping arms of the attachment is less than A, the vehicle controller controls the oil pump motor to stop the clamping action within a predetermined time. Where A = cargo width + A1, 20cm ≤ A1 ≤ 30cm.
5. The AGV forklift attachment control system according to claim 2, characterized in that, The AGV forklift attachment control system also includes a left-hand rotary solenoid valve, a right-hand rotary solenoid valve, and an angle sensor. The two ends of the left-hand rotary solenoid valve and the right-hand rotary solenoid valve are respectively connected to the DC-DC module and the vehicle controller.
6. The AGV forklift attachment control system according to claim 1, characterized in that, The vehicle controller also has a fault indicator light output.