CN107311080B - A kind of goods sorting method based on fork truck detection center of gravity of goods - Google Patents
A kind of goods sorting method based on fork truck detection center of gravity of goods Download PDFInfo
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- CN107311080B CN107311080B CN201710731284.5A CN201710731284A CN107311080B CN 107311080 B CN107311080 B CN 107311080B CN 201710731284 A CN201710731284 A CN 201710731284A CN 107311080 B CN107311080 B CN 107311080B
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- 230000005484 gravity Effects 0.000 title claims abstract description 57
- 238000000034 method Methods 0.000 title claims abstract description 21
- 238000005303 weighing Methods 0.000 claims abstract description 33
- 229910000831 Steel Inorganic materials 0.000 claims description 3
- XAGFODPZIPBFFR-UHFFFAOYSA-N aluminium Chemical compound [Al] XAGFODPZIPBFFR-UHFFFAOYSA-N 0.000 claims description 3
- 229910052782 aluminium Inorganic materials 0.000 claims description 3
- 239000004411 aluminium Substances 0.000 claims description 3
- 239000000463 material Substances 0.000 claims description 3
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- 239000010959 steel Substances 0.000 claims description 3
- 238000010586 diagram Methods 0.000 description 5
- 206010039203 Road traffic accident Diseases 0.000 description 4
- 238000005259 measurement Methods 0.000 description 3
- 238000005516 engineering process Methods 0.000 description 2
- 125000006850 spacer group Chemical group 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000002474 experimental method Methods 0.000 description 1
- 230000010354 integration Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000032258 transport Effects 0.000 description 1
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
- B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
- B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
- B66F9/075—Constructional features or details
- B66F9/12—Platforms; Forks; Other load supporting or gripping members
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
- B66F17/00—Safety devices, e.g. for limiting or indicating lifting force
- B66F17/003—Safety devices, e.g. for limiting or indicating lifting force for fork-lift trucks
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- Engineering & Computer Science (AREA)
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- Life Sciences & Earth Sciences (AREA)
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- Pallets (AREA)
Abstract
The invention discloses a kind of goods sorting methods based on fork truck detection center of gravity of goods, it is related to logistics field, the described method includes: first, the first fork truck in response to carrying the first cargo is in load condition, the first weighing value of the first left side pallet fork of the first fork truck is acquired, the second weighing value of the second right side pallet fork of the first fork truck is acquired；Secondly, solving first or so barycentre offsets according to the first weighing value and the second weighing value；Finally, first cargo to be placed in the cargo storage position to match on logistics device according to the first or so barycentre offset.The present invention passes through the left and right pallet fork weighing value of fork truck, solve first or so barycentre offsets, convenient for judging cargo, whether center of gravity is unbalance, and cargo is sorted according to barycentre offset, and it is stored in the corresponding position of logistics device again, the symmetery degree that cargo in cargo instrument is effectively improved using the technical solution avoids cargo from causing overturning or shipwreck in turning driving, reduces accident rate.
Description
Technical field
The present invention relates to logistics fields, more particularly to a kind of goods sorting method based on fork truck detection center of gravity of goods.
Background technique
In the prior art, logistics transportation cargo is put more arbitrarily, lorry or steamer two sides of the Chang Zhao at delivery cargo
Weight is unbalanced, traffic accident or the perils of the sea is be easy to cause, especially in traveling of turning round.
Summary of the invention
In view of the above drawbacks of the prior art, technical problem to be solved by the invention is to provide one kind is examined based on fork truck
Survey the goods sorting method of center of gravity of goods, it is intended to center of gravity measurement is just carried out according to cargo or so weight value in goods sorting, and
Cargo is put according to center of gravity situation, the center of gravity for improving shipping is harmonious, reduces traffic accident incidence.
To achieve the above object, the present invention provides it is a kind of based on fork truck detection center of gravity of goods goods sorting method,
It is characterized in that, which comprises
Step S1, be in load condition in response to carrying the first fork truck of the first cargo, the of acquisition first fork truck
First weighing value of one left side pallet fork acquires the second weighing value of the second right side pallet fork of first fork truck；
Step S2, according to the first weighing value and the second weighing value, first or so barycentre offsets are solved；
Step S3, first or so the barycentre offset and preset first threshold section relationship are compared, if described first
Left and right barycentre offset is satisfied with the first threshold section, then the center of gravity of first goods sorting to sorting subregion is uniform
Area；If first or so the barycentre offset is not content with first threshold section, according to first or so the barycentre offset
First goods sorting at least the one of the sorting subregion is based on center of gravity off-sorting station；
Step S4, according to the sorting subregion, first cargo is placed on logistics device and is divided with the sorting
The cargo storage position that area matches；
Wherein, the step S2 includes:
Obtain the first weighing value M1With the second weighing value M2；
Obtain the first center space D between first left side pallet fork and second right side pallet forkmid_HC；
Solve first or so barycentre offset E；It is describedThe E meets:
In the technical scheme, by the left and right pallet fork weighing value of fork truck, first or so barycentre offsets are solved, convenient for sentencing
Running out of goods, whether center of gravity is unbalance for object, and is sorted according to barycentre offset to cargo, and be stored in the corresponding positions of logistics device again
It sets, the symmetery degree of cargo in cargo instrument is effectively improved using the technical solution, cargo is avoided to cause in turning driving
Overturning or shipwreck reduce accident rate.In the technical scheme, by between the weighing value to left and right pallet fork and the center of pallet fork
Away from, carry out barycentre offset solution, convenient for judge cargo whether centre-of gravity shift, achieve the purpose that reduce traffic accident, reduce friendship
Interpreter's event degree of danger.
Furthermore, the step S1 further include:
Obtain the first tension scale weight values and the second right side raising for being set to the first left side raising chain of the fork truck
Second tension scale weight values of chain；Wherein, the fork truck includes truck main body, and first left side pallet fork is left by described first
Side raising chain is connect with the truck main body, and second right side pallet fork passes through the second right side raising chain and the fork
Vehicle main body connection.
In the technical scheme, to measure structure by pulling force simple, simultaneously as it is just that fork truck itself, which transports goods,
It needs to pull, to meet the original topology requirement of fork truck with tension measurement.
Optionally, the first pulling force weighing device be connected to the first left side raising chain and first left side pallet fork it
Between；Second pulling force weighing device is connected between the second right side raising chain and second right side pallet fork.
Optionally, weighing value measurement is carried out by carrying weighing.
In one embodiment, in the step S3, the first threshold section is preset value.It is gained through experience
Preset value carry out the setting of first threshold section, it is fast to execute speed, and is bonded actual scene demand.
In one embodiment, in the step S3, the first threshold section is to solve to obtain；First threshold
The solution procedure in value section includes:
Obtain the first center space D of the pallet forkmid_HC；
Obtain the second center space D of the wooden block prop hole of the cargomid_MT；
Judge first center space Dmid_HCWith second center space Dmid_MTSize；
If the Dmid_HCWith the Dmid_MTMeet: Dmid_HC≥Dmid_MT, then it is described set the first threshold section as
If the Dmid_HCWith the Dmid_MTMeet: Dmid_HC< Dmid_MT, then it is described set the first threshold section as
The Dmax_MTFor the wooden block prop hole maximum spacing of the cargo, the Dmin_MTFor the cargo wooden block prop hole most
Small spacing；The Dmax_HCFor the pallet fork maximum spacing of the fork truck, the Dmin_HCFor the pallet fork minimum spacing of the fork truck.
In the technical scheme, by setting tolerance, be conducive to determine the accuracy that centre-of gravity shift solves, avoid due to fork
Vehicle itself inserts the interference that the fluctuation of picking object movement causes centre-of gravity shift to solve, and improves the accuracy that centre-of gravity shift solves.
In one embodiment, it is described according to first or so the barycentre offset by first goods sorting to institute
State sorting subregion at least one is based on center of gravity off-sorting station further include:
According to the containment relationship of first or so the barycentre offset and an at least threshold interval, extremely by the goods sorting
The center of gravity off-sorting station to match with the threshold interval.
In one embodiment, described according to first or so the barycentre offset and an at least second threshold section
Containment relationship, by the goods sorting to the center of gravity off-sorting station to match with the threshold interval, further includes:
By first or so the barycentre offset compared with second threshold section, if the first or so barycentre offset category
In the second threshold section, by the goods sorting to the center of gravity off-sorting station to match with the second threshold section；It is described
Second threshold section includes: [- kDrx,kDrx]；The k is nonnegative integer；The DrxFor center of gravity offset tolerance, the DrxMeet:
The Dmax_MTFor the wooden block prop hole maximum spacing of the cargo, the Dmin_MTFor the cargo wooden block prop hole most
Small spacing；The Dmax_HCFor the pallet fork maximum spacing of the fork truck, the Dmin_HCFor the pallet fork minimum spacing of the fork truck.
In the technical scheme, by setting multiple sections, sort operation is carried out according to actual needs convenient for user, simultaneously
Each section is also to be chosen according to tolerance, is conducive to improve the accuracy that centre-of gravity shift solves.
In one embodiment, the material of the wooden block includes timber, plastics, aluminium, steel.
The beneficial effects of the present invention are: the present invention passes through the left and right pallet fork weighing value of fork truck, it is inclined to solve first or so centers of gravity
Shifting amount, convenient for judging cargo, whether center of gravity is unbalance, and is sorted according to barycentre offset to cargo, is had using the technical solution
Effect improves the symmetery degree of cargo in cargo instrument, and cargo is avoided to cause overturning or shipwreck in turning driving, reduces accident
Incidence.
Detailed description of the invention
Fig. 1 is a kind of stream of goods sorting method based on fork truck detection center of gravity of goods of the embodiment of the invention
Journey schematic diagram；
Fig. 2 is the pallet fork of the embodiment of the invention and the orientation schematic diagram of wooden block；
Fig. 3 is the embodiment of the invention when the orientation of pallet fork and wooden block under pallet fork and the equidistant situation in wooden block hole
Schematic diagram；
Fig. 4 is the embodiment of the invention when pallet fork center spacing is less than the pallet fork under the spacer conditions of prop hole center
With wooden block orientation schematic diagram；
Fig. 5 is the embodiment of the invention when pallet fork center spacing is greater than the pallet fork under the spacer conditions of prop hole center
With wooden block orientation schematic diagram.
Specific embodiment
Present invention will be further explained below with reference to the attached drawings and examples:
As shown in Figs. 1-5, in the first example of the invention, a kind of goods sorting based on fork truck detection center of gravity of goods is provided
Method, which comprises
Step S1, be in load condition in response to carrying the first fork truck of the first cargo, the of acquisition first fork truck
First weighing value of one left side pallet fork acquires the second weighing value of the second right side pallet fork of first fork truck；
Step S2, according to the first weighing value and the second weighing value, first or so barycentre offsets are solved；
Step S3, first or so the barycentre offset and preset first threshold section relationship are compared, if described first
Left and right barycentre offset is satisfied with the first threshold section, then the center of gravity of first goods sorting to sorting subregion is uniform
Area；If first or so the barycentre offset is not content with first threshold section, according to first or so the barycentre offset
First goods sorting at least the one of the sorting subregion is based on center of gravity off-sorting station；
Step S4, according to the sorting subregion, first cargo is placed on logistics device and is divided with the sorting
The cargo storage position that area matches；
Wherein, the step S2 includes:
Obtain the first weighing value M1With the second weighing value M2；
Obtain the first center space D between first left side pallet fork and second right side pallet forkmid_HC；
Solve first or so barycentre offset E；It is describedThe E meets:
In the present embodiment, the step S1 further include:
Obtain the first tension scale weight values and the second right side raising for being set to the first left side raising chain of the fork truck
Second tension scale weight values of chain；Wherein, the fork truck includes truck main body, and first left side pallet fork is left by described first
Side raising chain is connect with the truck main body, and second right side pallet fork passes through the second right side raising chain and the fork
Vehicle main body connection.
Optionally, the first pulling force weighing device be connected to the first left side raising chain and first left side pallet fork it
Between；Second pulling force weighing device is connected between the second right side raising chain and second right side pallet fork.
In an optional embodiment, in the step S3, the first threshold section is preset value.
Preferably, in the present embodiment, in the step S3, the first threshold section is to solve to obtain；Described
The solution procedure of one threshold interval includes:
Obtain the first center space D of the pallet forkmid_HC；
Obtain the second center space D of the wooden block prop hole of the cargomid_MT；
Judge first center space Dmid_HCWith second center space Dmid_MTSize；
If the Dmid_HCWith the Dmid_MTMeet: Dmid_HC≥Dmid_MT, then it is described set the first threshold section as
If the Dmid_HCWith the Dmid_MTMeet: Dmid_HC< Dmid_MT, then it is described set the first threshold section as
The Dmax_MTFor the wooden block prop hole maximum spacing of the cargo, the Dmin_MTFor the cargo wooden block prop hole most
Small spacing；The Dmax_HCFor the pallet fork maximum spacing of the fork truck, the Dmin_HCFor the pallet fork minimum spacing of the fork truck.
In the present embodiment, it is described according to first or so the barycentre offset by first goods sorting to described point
Pick subregion at least one is based on center of gravity off-sorting station further include:
According to the containment relationship of first or so the barycentre offset and an at least threshold interval, extremely by the goods sorting
The center of gravity off-sorting station to match with the threshold interval.
In the present embodiment, the containing according to first or so the barycentre offset and an at least second threshold section
Relationship, by the goods sorting to the center of gravity off-sorting station to match with the threshold interval, further includes:
By first or so the barycentre offset compared with second threshold section, if the first or so barycentre offset category
In the second threshold section, by the goods sorting to the center of gravity off-sorting station to match with the second threshold section；It is described
Second threshold section includes: [- kDrx,kDrx]；The k is nonnegative integer；The DrxFor center of gravity offset tolerance, the DrxMeet:
As shown in Fig. 2, the Dmax_MTFor the 100 prop hole maximum spacing of wooden block of the cargo, the Dmin_MTFor the goods
The 100 prop hole minimum spacing of wooden block of object；The Dmax_HCFor 200 maximum spacing of the fork truck, the Dmin_HCFor the fork truck
200 minimum spacings.
As shown in figure 3, working as Dmid_HC=Dmid_MTWhen, when moving left and right 200,200 can touch the two sides support of wooden block 100
The inner side and outer side in hole,And as shown in figure 4,
Work as Dmid_HC< Dmid_MTWhen, when moving left and right 200,200 are only capable of touching 100 inside of wooden block,As shown in figure 5, working as Dmid_HC> Dmid_MTWhen, when moving left and right 200,200 are only capable of connecing
Contact 100 outside of wooden block,
It is noted that the material of the wooden block 100 includes but is not limited to timber, plastics, aluminium, steel.
Present invention seek to address that in the prior art, not carrying out center of gravity assessment to cargo, cause cargo instrument center of gravity asymmetric,
It is be easy to cause traffic accident or fire, in view of this, in carrying fork truck cargo, left and right center of gravity equilibrium cargo is summarized, will be weighed
The unbalanced cargo of the heart is classified, and uniform cargo can be transported directly, cargo non-uniform for left and right center of gravity, then
Cargo arrangement should be readjusted, or is combined by multiple cargos to correct center of gravity.Based on the invention thought, the present invention is provided
A kind of goods sorting method based on fork truck detection center of gravity of goods, judges cargo by the weighing data of the left and right 200 of fork truck
Center of gravity, and fully consider tolerance, in range of tolerable variance, cargo can be determined that center of gravity equilibrium, meanwhile, in a preferred embodiment,
It is unbalance to center of gravity of goods to be classified, so as to the integration of subsequent cargo, achieve the purpose that center of gravity of goods equilibrium.
The preferred embodiment of the present invention has been described in detail above.It should be appreciated that those skilled in the art without
It needs creative work according to the present invention can conceive and makes many modifications and variations.Therefore, all technologies in the art
Personnel are available by logical analysis, reasoning, or a limited experiment on the basis of existing technology under this invention's idea
Technical solution, all should be within the scope of protection determined by the claims.
Claims (6)
1. a kind of goods sorting method based on fork truck detection center of gravity of goods, which is characterized in that the described method includes:
Step S1, it is in load condition in response to carrying the first fork truck of the first cargo, acquire first fork truck first is left
First weighing value of side pallet fork acquires the second weighing value of the second right side pallet fork of first fork truck；
Step S2, according to the first weighing value and the second weighing value, first or so barycentre offsets are solved；
Step S3, first or so the barycentre offset and preset first threshold section relationship are compared, if described first or so
Barycentre offset is satisfied with the first threshold section, then by first goods sorting to the center of gravity homogeneity range for sorting subregion；
If first or so the barycentre offset is not content with first threshold section, according to first or so the barycentre offset by institute
The first goods sorting is stated at least the one of the sorting subregion based on center of gravity off-sorting station；
Step S4, according to the sorting subregion, by first cargo be placed on logistics device and with the sorting subregion phase
Matched cargo storage position；
Wherein, the step S2 includes:
Obtain the first weighing value M1With the second weighing value M2；
Obtain the first center space D between first left side pallet fork and second right side pallet forkmid_HC；
Solve first or so barycentre offset E；It is describedThe E meets:
Wherein, in the step S3, the first threshold section is to solve to obtain；The solution procedure in the first threshold section
Include:
Obtain the first center space D of the pallet forkmid_HC；
Obtain the second center space D of the wooden block prop hole of the cargomid_MT；
Judge first center space Dmid_HCWith second center space Dmid_MTSize；
If the Dmid_HCWith the Dmid_MTMeet: Dmid_HC≥Dmid_MT, then set the first threshold section as
If the Dmid_HCWith the Dmid_MTMeet: Dmid_HC< Dmid_MT, then set the first threshold section as
The Dmax_MTFor the wooden block prop hole maximum spacing of the cargo, the Dmin_MTBetween the wooden block prop hole minimum of the cargo
Away from；The Dmax_HCFor the pallet fork maximum spacing of the fork truck, the Dmin_HCFor the pallet fork minimum spacing of the fork truck.
2. a kind of goods sorting method based on fork truck detection center of gravity of goods as described in claim 1, which is characterized in that described
Step S1 further include:
Obtain the first tension scale weight values and the second right side raising chain for being set to the first left side raising chain of the fork truck
The second tension scale weight values；Wherein, the fork truck includes truck main body, and first left side pallet fork is risen by first left side
It rises chain to connect with the truck main body, second right side pallet fork passes through the second right side raising chain and the fork truck master
Body connection.
3. a kind of goods sorting method based on fork truck detection center of gravity of goods as described in claim 1, which is characterized in that in institute
It states in step S3, the first threshold section is preset value.
4. a kind of goods sorting method based on fork truck detection center of gravity of goods as described in claim 1, which is characterized in that described
According to first or so the barycentre offset by least the one of first goods sorting to the sorting subregion based on center of gravity point
Sorting zone further include:
According to the containment relationship of first or so the barycentre offset and an at least threshold interval, by the goods sorting to institute
State the center of gravity off-sorting station that threshold interval matches.
5. a kind of goods sorting method based on fork truck detection center of gravity of goods as claimed in claim 4, which is characterized in that described
According to the containment relationship of first or so the barycentre offset and an at least second threshold section, by the goods sorting to institute
State the center of gravity off-sorting station that threshold interval matches, further includes:
By first or so the barycentre offset compared with second threshold section, if first or so the barycentre offset belongs to institute
Second threshold section is stated, by the goods sorting to the center of gravity off-sorting station to match with the second threshold section；Described second
Threshold interval includes: [- kDrx,kDrx]；The k is nonnegative integer；The DrxFor center of gravity offset tolerance, the DrxMeet:
The Dmax_MTFor the wooden block prop hole maximum spacing of the cargo, the Dmin_MTBetween the wooden block prop hole minimum of the cargo
Away from；The Dmax_HCFor the pallet fork maximum spacing of the fork truck, the Dmin_HCFor the pallet fork minimum spacing of the fork truck.
6. a kind of goods sorting method based on fork truck detection center of gravity of goods as described in claim 1, which is characterized in that described
The material of wooden block includes timber, plastics, aluminium, steel.
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| CN111056493B (en) * | 2019-12-16 | 2021-04-30 | 广东瑞仕格科技有限公司 | Stacker and fork positioning method thereof |
| CN111825023B (en) * | 2020-07-07 | 2021-11-05 | 河南理工大学 | Method for judging gravity center of goods and safely transferring goods by using forklift |
| CN111825024B (en) * | 2020-07-07 | 2021-11-02 | 柳州酸王泵制造股份有限公司 | Forklift transfer safety device |
| CN112093671B (en) * | 2020-09-24 | 2022-05-24 | 闽江学院 | Cooperative control method and device for double-door crane and computer equipment |
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| CN102214321B (en) * | 2011-07-14 | 2014-09-03 | 大连海事大学 | Method and system for optimizing loading layout of three-dimensional containers |
| CN103171996A (en) * | 2011-12-20 | 2013-06-26 | 曾卫东 | Tension weighing forklift |
| JP2016050076A (en) * | 2014-08-29 | 2016-04-11 | 日本パレットレンタル株式会社 | Fork lift |
| CN104891390B (en) * | 2015-05-27 | 2017-02-22 | 青岛理工大学 | Forklift unbalance loading detecting method |
| CN205204765U (en) * | 2015-09-07 | 2016-05-04 | 金东纸业（江苏）股份有限公司 | Fork truck weighs |
| CN105174139B (en) * | 2015-09-17 | 2017-12-29 | 国网山东省电力公司日照供电公司 | A kind of fork truck imbalance warning device and method |
| CN106096792A (en) * | 2016-06-24 | 2016-11-09 | 张铮 | A kind of aircraft prestowage balance and the method and system optimized |
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