CN107577232A - A kind of intelligent forklift system and its control method - Google Patents
A kind of intelligent forklift system and its control method Download PDFInfo
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- CN107577232A CN107577232A CN201710846511.9A CN201710846511A CN107577232A CN 107577232 A CN107577232 A CN 107577232A CN 201710846511 A CN201710846511 A CN 201710846511A CN 107577232 A CN107577232 A CN 107577232A
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Abstract
The invention discloses a kind of intelligent forklift system and its control method, including：Fork truck, fork truck include forking module and walking module；Processor, processor are arranged on fork truck, and processor is connected with server, the control instruction for processing server；Information acquisition device, information acquisition device are connected with processor, for gathering goods two-dimensional code data information；Controller, controller are connected with processor, for controlling the walking motion of walking module and fork module fork action.By wireless transport module, server is connected with the processor on fork truck, sends an instruction to processor, and the action for realizing fork truck by controller exports, and acquisition module can identify that the 2 D code information of goods, and traffic information are uploaded onto the server by processor.
Description
Technical field
The invention belongs to fork truck system regions, more particularly, to a kind of intelligent forklift system and its control method.
Background technology
Fork truck is a kind of industrial transportation vehicle, refers to load and unload member pallet cargo, stacking and short distance transport are made
The various wheeled carrying vehicles of industry, be widely used in harbour, station, airport, goods yard, factory floor, warehouse, Transfer center and
Home-delivery center etc., and cabin can be entered, handling, the transport operation of pallet cargo are carried out in compartment and container, be palletized transport,
The essential equipment of Container Transport.
The transport of goods at present is mainly by manual operation fork truck, because the increase of cost of labor, it is necessary to manually operate in shifts,
Therefore need to improve security reliability with continual operation, cut operating costs within one day with independent navigation fork truck.
Therefore, it is necessary to provide it is a kind of being capable of intelligent navigation, the intelligent forklift system and its controlling party of accurate delivery picking
Method.
The content of the invention
It is an object of the invention to provide a kind of intelligent forklift system and its control method, manual hand manipulation can not needed
Fork truck, and delivery picking can be carried out with Intelligent Recognition goods information.
To achieve these goals, the present invention proposes a kind of intelligent forklift system and its control method, including：
Fork truck, the fork truck include forking module and walking module；
Processor, the processor are arranged on fork truck, and the processor is connected with server, for processing server
Control instruction；
Information acquisition device, described information collector are connected with the processor, for gathering goods two-dimensional code data information；
Controller, the controller are connected with the processor, for controlling walking motion and the institute of the walking module
State fork module fork action.
Preferably, the processor also includes wireless transport module, and the processor passes through the nothing with the server
Line transport module radio communication connects, and realizes the transmitted in both directions of data.
Preferably, described information collector includes camera, and the camera is used to shoot in the intelligent forklift operation
Real time information identification goods 2 D code information, and transfer information to the server.
Preferably, the walking module is provided with distance measuring sensor, and the distance measuring sensor is used to provide identification and avoidance letter
Cease to the processor.
Preferably, the distance measuring sensor is laser range sensor, meagre radar range finding sensor, ultrasonic ranging biography
Sensor.
Preferably, in addition to d GPS locating module, the d GPS locating module are connected with the server communication, the GPS
Locating module is used for the track route for planning the walking module.
Preferably, the control method of described intelligent forklift system, comprises the following steps：
Cargo location information and 2 D code information are transferred to the processor by the server by wireless communication module,
The d GPS locating module obtains current location information, and the processor believes the current location information and the cargo location
Breath association, and programme path；
The controller controls the walking module to be travelled according to the programme path；
Described information collector is matched with the 2 D code information of the goods, after the match is successful, the controller control
Module is forked described in system and forks the goods；
The controller controls the walking module to return to starting point by former route.
The beneficial effects of the present invention are：By wireless transport module, server is connected with the processor on fork truck, will be referred to
Order is sent to processor, and the action for realizing fork truck by controller exports, and acquisition module can identify the 2 D code information of goods,
And traffic information is uploaded onto the server by processor；Current location information is obtained by d GPS locating module, processor ought
Prelocalization information and cargo location information association, and programme path；By distance measuring sensor fork truck during traveling
Barrier can be actively avoided, so as to realize the intelligent picking delivery of fork truck.
Other features and advantages of the present invention will be described in detail in subsequent specific embodiment part.
Brief description of the drawings
Exemplary embodiment of the invention is described in more detail in conjunction with the accompanying drawings, it is of the invention above-mentioned and its
Its purpose, feature and advantage will be apparent, wherein, in exemplary embodiment of the invention, identical reference number
Typically represent same parts.
Fig. 1 shows the control method flow chart of intelligent forklift system according to an embodiment of the invention.
Embodiment
The preferred embodiment of the present invention is described in more detail below.Although the following describe being preferable to carry out for the present invention
Mode, however, it is to be appreciated that may be realized in various forms the present invention without should be limited by embodiments set forth herein.Phase
Instead, there is provided these embodiments be in order that the present invention is more thorough and complete, and can be by the scope of the present invention intactly
It is communicated to those skilled in the art.
According to a kind of the intelligent forklift system and its control method of the present invention, including：
Fork truck, fork truck include forking module and walking module；Processor, processor are arranged on fork truck, processor and clothes
Business device connection, the control instruction for processing server；Information acquisition device, information acquisition device are connected with processor, for gathering
Goods two-dimensional code data information；Controller, controller are connected with processor, for controlling the walking motion of walking module and forking
Module forks action.
It is connected by the processor on fork truck with server, realizes the transmission of information command；Pass through controller and processing
Device connects, and controls the walking motion of fork truck and forks action；Information acquisition device can gather the two-dimensional code data information of goods, with
And traffic information.
Preferably, processor also includes wireless transport module, and processor passes through wireless transport module with server
Radio communication connects, and realizes the transmitted in both directions of data.
Specifically, wireless transport module includes bluetooth, WIFI, mobile network etc..
Preferably, information acquisition device includes camera, and camera is operating in real time for shooting intelligent forklift
Information and identification goods 2 D code information, and transfer information to server.
Specifically, information acquisition device is arranged at the top of fork truck, can gather real time information and identification in forklift-walking
Goods 2 D code information, and be connected with server.
Preferably, walking module is provided with distance measuring sensor, distance measuring sensor be used to providing identification avoidance information to
Processor.Distance measuring sensor realizes the avoidance barrier action of fork truck in the process of walking.
Preferably, distance measuring sensor is laser range sensor, meagre radar range finding sensor, ultrasonic ranging
Sensor.
Preferably, in addition to d GPS locating module, d GPS locating module are connected with server communication, GPS location mould
Block is used for the track route for planning walking module so that fork truck travels according to the routing instruction of server.
Preferably, the control method of intelligent forklift system, comprises the following steps：
Cargo location information and 2 D code information are transferred to processor, GPS location by server by wireless communication module
Module obtains current location information, and processor is by current location information and cargo location information association, and programme path；Controller
Control walking module travels according to programme path；Information acquisition device is matched with the 2 D code information of goods, after the match is successful,
Controller control forks module and forks goods；Controller control walking module returns to starting point by former route.
Embodiment
Fig. 1 shows the control method flow chart of intelligent forklift system according to an embodiment of the invention.
As shown in figure 1, embodiment provides a kind of intelligent forklift system and its control method, comprise the following steps：
Cargo location information and 2 D code information are transferred to processor, GPS location by server by wireless communication module
Module obtains current location information, and processor is by current location information and cargo location information association, and programme path；Controller
Control walking module travels according to programme path；Information acquisition device is matched with the 2 D code information of goods, after the match is successful,
Controller control forks module and forks goods；Controller control walking module returns to starting point by former route.
It is described above various embodiments of the present invention, described above is exemplary, and non-exclusive, and
It is not limited to disclosed each embodiment.In the case of without departing from the scope and spirit of illustrated each embodiment, for this skill
Many modifications and changes will be apparent from for the those of ordinary skill in art field.
Claims (7)
- A kind of 1. intelligent forklift system, it is characterised in that including：Fork truck, the fork truck include forking module and walking module；Processor, the processor are arranged on fork truck, and the processor is connected with server, the control for processing server Instruction；Information acquisition device, described information collector are connected with the processor, for gathering goods two-dimensional code data information；Controller, the controller are connected with the processor, for the walking motion for controlling the walking module and the fork Modulus block forks action.
- 2. intelligent forklift system according to claim 1, wherein, the processor also includes wireless transport module, described Processor is connected with the server by the wireless transport module radio communication, realizes the transmitted in both directions of data.
- 3. intelligent forklift system according to claim 1, wherein, described information collector includes camera, the shooting Head is used to shoot the operating real time information of the intelligent forklift and identification goods 2 D code information, and transfers information to described Server.
- 4. intelligent forklift system according to claim 1, wherein, the walking module is provided with distance measuring sensor, the survey It is used to provide identification avoidance information to the processor away from sensor.
- 5. intelligent forklift system according to claim 4, wherein, the distance measuring sensor is laser range sensor, micro- Thin radar range finding sensor, ultrasonic distance-measuring sensor.
- 6. intelligent forklift system according to claim 1, wherein, in addition to d GPS locating module, the d GPS locating module It is connected with the server communication, the d GPS locating module is used for the track route for planning the walking module.
- 7. the control method of the intelligent forklift system according to claim 1-6, wherein, comprise the following steps：Cargo location information and 2 D code information are transferred to the processor by the server by wireless communication module, described D GPS locating module obtains current location information, and the processor closes the current location information and the cargo location information Connection, and programme path；The controller controls the walking module to be travelled according to the programme path；Described information collector is matched with the 2 D code information of the goods, and after the match is successful, the controller controls institute State and fork module and fork the goods；The controller controls the walking module to return to starting point by former route.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN201710846511.9A CN107577232A (en) | 2017-09-19 | 2017-09-19 | A kind of intelligent forklift system and its control method |
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| CN201710846511.9A CN107577232A (en) | 2017-09-19 | 2017-09-19 | A kind of intelligent forklift system and its control method |
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Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108821184A (en) * | 2018-06-13 | 2018-11-16 | 芜湖金智王机械设备有限公司 | A kind of method and device that control fork truck automatically turns on |
| CN109160451A (en) * | 2018-08-01 | 2019-01-08 | 顺丰科技有限公司 | Independent navigation unmanned fork lift, system and control method |
| CN109678055A (en) * | 2018-11-07 | 2019-04-26 | 上海图森未来人工智能科技有限公司 | Mobile hanging device control system and method, server, mobile hanging device |
| CN109809334A (en) * | 2019-03-01 | 2019-05-28 | 航天通用技术(北京)有限公司 | A method of for transferring fork truck operation and lifting |
| CN109844674A (en) * | 2018-10-15 | 2019-06-04 | 灵动科技（北京）有限公司 | Merchandising machine people and operation method with controllable video camera and indicator |
| CN111221330A (en) * | 2019-12-26 | 2020-06-02 | 未来机器人（深圳）有限公司 | Unmanned forklift motion control method and unmanned forklift assembly motion control method |
| US11435749B2 (en) | 2019-10-28 | 2022-09-06 | The Raymond Corporation | Systems and methods for transferring routes between material handling vehicles |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN108821184A (en) * | 2018-06-13 | 2018-11-16 | 芜湖金智王机械设备有限公司 | A kind of method and device that control fork truck automatically turns on |
| CN109160451A (en) * | 2018-08-01 | 2019-01-08 | 顺丰科技有限公司 | Independent navigation unmanned fork lift, system and control method |
| CN109844674A (en) * | 2018-10-15 | 2019-06-04 | 灵动科技（北京）有限公司 | Merchandising machine people and operation method with controllable video camera and indicator |
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| CN109809334B (en) * | 2019-03-01 | 2020-12-04 | 航天通用技术(北京)有限公司 | Method for moving forklift to operate and lift |
| US11435749B2 (en) | 2019-10-28 | 2022-09-06 | The Raymond Corporation | Systems and methods for transferring routes between material handling vehicles |
| CN111221330A (en) * | 2019-12-26 | 2020-06-02 | 未来机器人（深圳）有限公司 | Unmanned forklift motion control method and unmanned forklift assembly motion control method |
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Application publication date: 20180112 |