CN111017814A - AGV forklift and AGV forklift fork tooth position adjusting method and system - Google Patents
AGV forklift and AGV forklift fork tooth position adjusting method and system Download PDFInfo
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- CN111017814A CN111017814A CN201911420120.6A CN201911420120A CN111017814A CN 111017814 A CN111017814 A CN 111017814A CN 201911420120 A CN201911420120 A CN 201911420120A CN 111017814 A CN111017814 A CN 111017814A
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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
- B66F9/0755—Position control; Position detectors
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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
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- Forklifts And Lifting Vehicles (AREA)
Abstract
The invention discloses a method for adjusting positions of fork teeth of an AGV forklift, which comprises the steps of grabbing a three-dimensional image of a pallet fork hole by using a depth of field sensor, and acquiring the current coordinate position of the fork hole according to the three-dimensional image; then, acquiring the current coordinate position of the tooth tip of the fork tooth; finally, comparing whether a current included angle between the current coordinate position of the tooth tip and the current coordinate position of the fork hole is within a preset angle range, and if so, inserting the tooth tip into the fork hole; if not, the fork tooth position is adjusted relative to the fork hole until whether the current included angle is within the preset angle range or not. The arrangement of the depth-of-field sensor can realize automatic detection of the position of the fork hole, and the fork teeth can automatically adjust the position according to the position of the fork hole, so that the fork teeth are automatically matched with the fork hole, the degree of automation is high, the degree of manual participation is high, the degree of intelligence is high, and the working efficiency is high. The invention also discloses an AGV forklift fork tooth position adjusting system and an AGV forklift comprising the AGV forklift fork tooth position adjusting system.
Description
Technical Field
The invention relates to the technical field of forklifts, in particular to a method and a system for adjusting positions of fork teeth of an AGV forklift. The invention also relates to an AGV forklift comprising the AGV forklift fork tooth position adjusting system.
Background
In recent years, in order to meet the development demands for intellectualization and high speed in the fields of industry, logistics, and the like, the requirements for intellectualization and reliability of a forklift are increasing.
Due to the fact that the degree of automation of the existing forklift is limited due to the fact that the fork teeth of the forklift and the fork holes of the tray are high in automatic alignment difficulty, most functions of the forklift still need to be achieved through manual operation of related buttons. For example, a driver manually operates a forklift to move the forklift between the cargo and the warehouse. When the fork tines move to the target material, which is typically placed on the pallet, the driver manually operates the forklift to lift the fork tines along the mast, thereby adjusting the height of the fork tines until the fork tines are aligned in a horizontal plane with the fork holes of the pallet; then manually operating the forklift to enable the fork teeth to move forwards relative to the tray until the fork teeth are drilled into the fork holes; and finally, manually operating the forklift to enable the fork tines to support the target material through the tray, and transferring the target material to a target warehouse.
Therefore, the fork tooth position of the existing forklift is adjusted manually, the manual participation degree is high, the operation difficulty is high, the intelligent degree is low, and the working efficiency of the forklift is influenced.
Disclosure of Invention
In view of the above, the present invention provides a method and a system for adjusting positions of fork tines of an AGV forklift, where a depth-of-field sensor can automatically detect positions of fork holes, so that the fork tines automatically adjust their positions according to the positions of the fork holes, and the method and the system have high automation degree and high working efficiency. It is another object of the present invention to provide an AGV fork truck that includes an AGV fork truck tine position adjustment system.
The AGV forklift fork tooth position adjusting system and the AGV forklift comprising the AGV forklift fork tooth position adjusting system have the same beneficial effects.
The specific scheme is as follows:
the invention provides an AGV forklift fork tooth position adjusting method, which comprises the following steps:
a depth of field sensor is used for capturing a three-dimensional image of a pallet fork hole, and the current coordinate position of the fork hole is obtained according to the three-dimensional image;
acquiring the current coordinate position of the tooth tip of the fork tooth;
comparing whether a current included angle between the current coordinate position of the tooth tip and the current coordinate position of the fork hole is within a preset angle range, if so, inserting the tooth tip into the fork hole; if not, the fork tooth position is adjusted relative to the fork hole until whether the current included angle is within the preset angle range or not.
Preferably, before the capturing the stereoscopic image of the pallet fork hole by the depth sensor, the method further comprises:
acquiring the current relative distance between the fork teeth and the tray;
judging whether the current relative distance is within the detection range of the depth sensor, if so, grabbing the three-dimensional image of the pallet fork hole by using the depth sensor; if not, the tine positions are continuously adjusted until the current relative distance is within the detection range of the depth sensor.
Preferably, after the fork tine is inserted into the fork hole, the fork further comprises:
acquiring the current inclination angle of a tray arranged on the fork teeth by using an angle sensor;
judging whether the current inclination angle is larger than or equal to a preset inclination angle or not, and if so, controlling the forklift to stop; if not, controlling the forklift to transfer the pallet to the target position according to the planned path.
Preferably, the current coordinate position of the tooth tip is acquired by a position sensor provided on the tooth tip.
Preferably, the current relative distance is acquired in particular with an ultrasonic sensor provided at the tooth tip.
Preferably, the current angle of inclination is obtained in particular by means of an angle sensor provided on the fork tines.
The invention also provides an AGV forklift fork tooth position adjusting system, which comprises:
the fork hole coordinate acquisition module is used for grabbing a three-dimensional image of a pallet fork hole by using the depth of field sensor and acquiring the current coordinate position of the fork hole according to the three-dimensional image;
the tooth tip coordinate acquisition module is used for acquiring the current coordinate position of the tooth tip of the fork tooth;
the included angle judgment and selection module is used for comparing whether a current included angle between the current coordinate position of the tooth tip and the current coordinate position of the fork hole is within a preset angle range or not, and if yes, inserting the tooth tip into the fork hole; if not, the fork tooth position is adjusted relative to the fork hole until whether the current included angle is within the preset angle range or not.
Preferably, the method further comprises the following steps:
the relative distance acquisition module is used for acquiring the current relative distance between the fork teeth and the tray;
the detection range judging module is used for judging whether the current relative distance is within the detection range of the depth sensor or not, and if so, the depth sensor is used for capturing the three-dimensional image of the pallet fork hole; if not, the tine positions are continuously adjusted until the current relative distance is within the detection range of the depth sensor.
Preferably, the method further comprises the following steps:
the inclination angle acquisition module is used for acquiring the current inclination angle of the tray arranged on the fork teeth by using the angle sensor;
the inclination angle judging module is used for judging whether the current inclination angle is larger than or equal to a preset inclination angle or not, and controlling the forklift to stop if the current inclination angle is larger than or equal to the preset inclination angle; if not, controlling the forklift to transfer the pallet to the target position according to the planned path.
The invention further provides the AGV forklift, and the AGV forklift comprises the AGV forklift prong position adjusting system.
Compared with the background technology, the AGV forklift fork tooth position adjusting method provided by the invention comprises the steps of firstly, grabbing a three-dimensional image of a pallet fork hole by using a depth of field sensor, and acquiring the current coordinate position of the fork hole according to the three-dimensional image; then, acquiring the current coordinate position of the tooth tip of the fork tooth; finally, comparing whether a current included angle between the current coordinate position of the tooth tip and the current coordinate position of the fork hole is within a preset angle range, and if so, inserting the tooth tip into the fork hole; if not, the fork tooth position is adjusted relative to the fork hole until whether the current included angle is within the preset angle range or not.
The arrangement of the depth-of-field sensor can realize automatic detection of the position of the fork hole, and the fork teeth can automatically adjust the position according to the position of the fork hole, so that the fork teeth are automatically matched with the fork hole, the degree of automation is high, the degree of manual participation is high, the degree of intelligence is high, and the working efficiency is high.
The AGV forklift fork tooth position adjusting system and the AGV forklift comprising the AGV forklift fork tooth position adjusting system have the same beneficial effects.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the provided drawings without creative efforts.
FIG. 1 is a primary operational flow diagram of a method for adjusting the position of AGV fork tines in accordance with an embodiment of the present invention;
FIG. 2 is an overall work flow diagram of a method for adjusting the position of the tines of an AGV fork truck according to an embodiment of the present invention.
Fig. 3 is a block diagram of an AGV forklift according to an embodiment of the present invention.
The reference numbers are as follows:
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
In order that those skilled in the art will better understand the disclosure, the invention will be described in further detail with reference to the accompanying drawings and specific examples.
Referring to fig. 1 and 2, fig. 1 is a main work flow chart of a method for adjusting positions of fork tines of an AGV forklift according to an embodiment of the present invention; FIG. 2 is an overall work flow diagram of a method for adjusting the position of the tines of an AGV fork truck according to an embodiment of the present invention.
The embodiment of the invention discloses a method for adjusting positions of AGV forklift fork teeth 1, which comprises the following steps:
the first step is as follows: the depth of field sensor 2 is used for capturing a three-dimensional image of the pallet fork hole, and the current coordinate position of the fork hole is obtained according to the three-dimensional image;
the depth of field sensor 2 can be specifically arranged on the tooth tip of the fork tooth 1, the depth of field sensor 2 sends the captured three-dimensional image to the controller, and after the three-dimensional image is analyzed and processed by the controller, the controller acquires the current coordinate position of the fork hole based on a reference coordinate system. The tray usually has two fork holes, and the controller simultaneously obtains two fork hole current coordinate positions, and the fork hole current coordinate position comprises the coordinate value on three coordinate axes of X axle, Y axle and Z axle.
The second step is that: acquiring the current coordinate position of the tooth tip of the fork tooth 1;
in this embodiment, the current coordinate position of the tooth tip is obtained by using a position sensor disposed on the tooth tip, the position sensor detects the position of the tooth tip in real time, and sends the detected position information to the controller, and the controller generates a tooth tip current coordinate value based on a reference coordinate system after analysis and processing by the controller, wherein the tooth tip current coordinate value is also composed of coordinate values on three coordinate axes, namely an X axis, a Y axis and a Z axis.
The third step: comparing whether a current included angle between the current coordinate position of the tooth tip and the current coordinate position of the fork hole is within a preset angle range, and if so, inserting the fork tooth 1 into the fork hole; if not, adjusting the position of the fork tooth 1 relative to the fork hole until whether the current included angle is within the preset angle range or not;
the preset angle range is an included angle range between the current coordinate position of the tooth tip and the current coordinate position of the fork hole when the fork tooth 1 can be inserted into the jack. The current inclination angle is obtained by specifically utilizing an angle sensor arranged on the fork tooth 1, the angle sensor is connected with the controller, the angle sensor can detect an included angle between the current coordinate position of the tooth tip and the current coordinate position of the fork hole, the angle sensor sends detected angle information to the controller, and after control, analysis and calculation, the controller controls the forklift to execute corresponding actions according to a judgment result.
Before the first step, in order to improve the working reliability of the depth of field sensor 2, the method for adjusting the position of the AGV fork 1 further comprises the steps of obtaining the current relative distance between the fork 1 and the tray, judging whether the current relative distance is within the detection range of the depth of field sensor 2, and if so, grabbing a three-dimensional image of a fork hole of the tray by using the depth of field sensor 2; if not, the positions of the fork tines 1 are continuously adjusted until the current relative distance is within the detection range of the depth sensor 2, so that the depth sensor 2 is ensured to accurately acquire the three-dimensional image of the fork hole within the allowable detection range, the detection precision is high, and the detection result is reliable.
In this embodiment, the current relative distance is obtained by using an ultrasonic sensor disposed at the tooth tip, and the ultrasonic sensor sends a distance signal detected in real time to the controller, so that the controller accurately receives an accurate stereoscopic image sent by the depth sensor 2.
After the fork teeth 1 are inserted into the fork holes, in order to improve safety, the method for adjusting the positions of the fork teeth 1 of the AGV forklift further comprises the steps of acquiring the current inclination angle of a tray arranged on the fork teeth 1 by using an angle sensor, judging whether the current inclination angle is larger than or equal to a preset inclination angle, and if so, controlling the forklift to stop; if not, the forklift is controlled to transfer the pallet to the target position according to the planned path, and the target position and the planned path can be input into the controller in advance. Therefore, when the pallet turns over, the controller controls the forklift to realize emergency stop, the forklift is prevented from colliding with the rollover pallet, and the safety is high.
In conclusion, the arrangement of the depth-of-field sensor 2 can realize automatic detection of the position of the fork hole, and the fork teeth 1 can automatically adjust the position according to the position of the fork hole, so that the fork teeth 1 are automatically matched with the fork hole, the automation degree is high, the manual participation degree is high, the intelligent degree is high, and the working efficiency is high.
The invention also provides a position adjusting system for the AGV forklift fork teeth 1, which comprises a fork hole coordinate acquiring module, a tooth tip coordinate acquiring module and an included angle judging and selecting module, wherein the fork hole coordinate acquiring module is used for acquiring the three-dimensional image of the pallet fork holes by using the depth of field sensor 2 and acquiring the current coordinate positions of the fork holes according to the three-dimensional image. And the tooth tip coordinate acquisition module is used for acquiring the current coordinate position of the tooth tip of the fork tooth 1. The included angle judging and selecting module is used for comparing whether a current included angle between the current coordinate position of the tooth tip and the current coordinate position of the fork hole is within a preset angle range or not, and if yes, inserting the fork tooth 1 into the fork hole; if not, the position of the fork tooth 1 is adjusted relative to the fork hole until the current included angle is within the preset angle range.
The AGV forklift fork tooth 1 position adjusting system further comprises a relative distance obtaining module and a detection range judging module, wherein the relative distance obtaining module is used for obtaining the current relative distance between the fork tooth 1 and the tray. The detection range judging module is used for judging whether the current relative distance is within the detection range of the depth sensor 2, and if so, the depth sensor 2 is used for capturing the three-dimensional image of the pallet fork hole; if not, the tine 1 position continues to be adjusted until the current relative distance is within the detection range of the depth sensor 2.
The AGV forklift fork tooth 1 position adjusting system further comprises an inclination angle acquiring module and an inclination angle judging module, wherein the inclination angle acquiring module is used for acquiring the current inclination angle of a tray placed on the fork tooth 1 by using an angle sensor. The inclination angle judging module is used for judging whether the current inclination angle is larger than or equal to a preset inclination angle or not, and controlling the forklift to stop if the current inclination angle is larger than or equal to the preset inclination angle; if not, controlling the forklift to transfer the pallet to the target position according to the planned path.
The AGV forklift fork tooth 1 position adjusting system provided by the invention has the same technical scheme as the AGV forklift fork tooth 1 position adjusting method provided by the invention, and has the same beneficial effects.
The invention also provides an AGV forklift, which comprises the AGV forklift fork tooth 1 position adjusting system and has the same beneficial effects.
The AGV forklift, the method and the system for adjusting the position of the fork tine 1 of the AGV forklift provided by the present invention are described in detail, and a specific example is applied in the description to explain the principle and the implementation of the present invention, and the description of the above embodiment is only used to help understanding the method and the core idea of the present invention; meanwhile, for a person skilled in the art, according to the idea of the present invention, there may be variations in the specific embodiments and the application scope, and in summary, the content of the present specification should not be construed as a limitation to the present invention.
Claims (10)
1. A method for adjusting positions of fork teeth of an AGV forklift is characterized by comprising the following steps:
a depth of field sensor is utilized to capture a three-dimensional image of a pallet fork hole, and the current coordinate position of the fork hole is obtained according to the three-dimensional image;
acquiring the current coordinate position of the tooth tip of the fork tooth;
comparing whether a current included angle between the current coordinate position of the tooth tip and the current coordinate position of the fork hole is within a preset angle range, if so, inserting the tooth tip into the fork hole; if not, adjusting the position of the fork tooth relative to the fork hole until the current included angle is within the preset angle range.
2. The AGV fork tine position adjustment method of claim 1, further comprising, prior to said capturing a stereoscopic image of tray fork holes with a depth of field sensor:
acquiring the current relative distance between the fork teeth and the tray;
judging whether the current relative distance is within the detection range of the depth sensor, if so, grabbing a three-dimensional image of a pallet fork hole by using the depth sensor; if not, the tine position continues to be adjusted until the current relative distance is within the detection range of the depth sensor.
3. The method of adjusting the position of AGV fork tines in claim 2, further comprising, after insertion of the tines into the fork apertures:
acquiring the current inclination angle of a tray arranged on the fork teeth by using an angle sensor;
judging whether the current inclination angle is larger than or equal to a preset inclination angle or not, and if so, controlling the forklift to stop; if not, controlling the forklift to transfer the pallet to the target position according to the planned path.
4. The AGV fork tine position adjustment method of claim 1, wherein said current coordinate position of the tine point is obtained using a position sensor located on the tine point.
5. The AGV fork tine position adjustment method of claim 2, wherein said current relative distance is obtained using an ultrasonic sensor located at the tine tip.
6. The AGV fork truck tine position adjustment method of claim 3, wherein said current tilt angle is obtained using an angle sensor provided on the tines.
7. An AGV fork tine position adjustment system, comprising:
the fork hole coordinate acquisition module is used for grabbing a three-dimensional image of a pallet fork hole by using the depth of field sensor and acquiring the current coordinate position of the fork hole according to the three-dimensional image;
the tooth tip coordinate acquisition module is used for acquiring the current coordinate position of the tooth tip of the fork tooth;
the included angle judgment and selection module is used for comparing whether a current included angle between the current coordinate position of the tooth tip and the current coordinate position of the fork hole is within a preset angle range or not, and if yes, inserting the tooth tip into the fork hole; if not, adjusting the position of the fork tooth relative to the fork hole until the current included angle is within the preset angle range.
8. The AGV fork tine position adjustment system of claim 7, further comprising:
the relative distance acquisition module is used for acquiring the current relative distance between the fork teeth and the tray;
the detection range judging module is used for judging whether the current relative distance is within the detection range of the depth sensor, and if so, the depth sensor is used for capturing a three-dimensional image of the pallet fork hole; if not, the tine position continues to be adjusted until the current relative distance is within the detection range of the depth sensor.
9. The AGV fork tine position adjustment system of claim 8, further comprising:
the inclination angle acquisition module is used for acquiring the current inclination angle of the tray arranged on the fork teeth by using the angle sensor;
the inclination angle judging module is used for judging whether the current inclination angle is larger than or equal to a preset inclination angle or not, and controlling the forklift to stop if the current inclination angle is larger than or equal to the preset inclination angle; if not, controlling the forklift to transfer the pallet to the target position according to the planned path.
10. An AGV forklift comprising the AGV forklift tine position adjustment system of any one of claims 7 to 9.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911420120.6A CN111017814A (en) | 2019-12-31 | 2019-12-31 | AGV forklift and AGV forklift fork tooth position adjusting method and system |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911420120.6A CN111017814A (en) | 2019-12-31 | 2019-12-31 | AGV forklift and AGV forklift fork tooth position adjusting method and system |
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| CN201911420120.6A Pending CN111017814A (en) | 2019-12-31 | 2019-12-31 | AGV forklift and AGV forklift fork tooth position adjusting method and system |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN114634133A (en) * | 2022-05-17 | 2022-06-17 | 江苏智库智能科技有限公司 | Narrow roadway omnidirectional AGV forklift and control method thereof |
| CN115676698A (en) * | 2022-10-14 | 2023-02-03 | 哈尔滨科锐同创机模制造有限公司 | Tray positioning method, system, device and medium based on mobile terminal equipment |
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Application publication date: 20200417 |