CN111977565A - Control method for preventing goods from toppling over goods shelf during Forklift AVG sudden stop and locking - Google Patents
Control method for preventing goods from toppling over goods shelf during Forklift AVG sudden stop and locking Download PDFInfo
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- CN111977565A CN111977565A CN202010608902.9A CN202010608902A CN111977565A CN 111977565 A CN111977565 A CN 111977565A CN 202010608902 A CN202010608902 A CN 202010608902A CN 111977565 A CN111977565 A CN 111977565A
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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
- B66F9/063—Automatically guided
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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
- 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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- 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
- B66F9/07559—Stabilizing means
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- Engineering & Computer Science (AREA)
- Structural Engineering (AREA)
- Transportation (AREA)
- Life Sciences & Earth Sciences (AREA)
- Geology (AREA)
- Mechanical Engineering (AREA)
- Civil Engineering (AREA)
- Forklifts And Lifting Vehicles (AREA)
- Warehouses Or Storage Devices (AREA)
Abstract
The invention provides a control method for preventing goods from toppling over a goods shelf when Forklift AVG suddenly stops and locks, aiming at overcoming the problem that goods are suddenly and suddenly stopped and locked and the goods slide to topple in the conventional Forklift AGV during carrying, solving the problem and simultaneously improving the reliability and the working efficiency of the Forklift AVG. In order to realize the purpose, the following technical scheme is adopted: when Forklift AGV stops suddenly, a relative speed sensor on a goods shelf detects the relative speed between goods and the goods shelf to obtain a relative speed curve; and carrying out interpolation analysis on the relative speed curve, controlling the goods shelf and the goods to move in the same direction when the relative speed exists, continuously traversing the relative speed, starting braking by the motor when the relative speed is zero, traversing the curve of the speed of the goods shelf, and controlling the motor of the goods shelf to rotate reversely at a rated rotating speed when the returned interpolation value is 0, and when the fed-back displacement interpolation value is set displacement, braking by the motor at a rated acceleration and returning the goods shelf when the rotating speed is zero.
Description
Technical Field
The invention relates to the field of intelligent vehicles, in particular to a control method for preventing goods from toppling over a goods shelf when Forklift AVG is suddenly stopped and locked.
Background
The development of the related technology of computers has driven the improvement of the industrial technology level, and in order to reduce the cost caused by employing human labor, a lot of factories and container warehouses begin to adopt forklifts AGVs (automatic cruise forklifts) to sort, transport and classify goods. How to utilize this intelligent fork truck system to carry out the "big revolution" of industrial era, and then reduce manufacturing cost, improve the work efficiency in warehouse and the rate of accuracy of letter sorting commodity, reduce the rate of loss of commodity and become the problem that awaits a urgent need to solve.
Forklift AGV is an obvious mechanism in automatic handling equipment, and has obvious advantages. The AGV works by three parts to obtain command, execute command and complete standby. After the task is completed or before the task is received, automatic charging is carried out at a standby point. In the command execution phase, three research fields are divided: respectively, path planning, scheduling research and cargo identification.
When Forklift AGVs carry goods, the primary objective is to ensure the integrity of the goods and avoid unnecessary loss due to the characteristics of the mechanism. When the automatic cruise forklift is in scram, goods on the forklift have two stages of conversion: a slipping phase and a resting phase. In order to ensure good and complete characteristics of the goods during transportation, the goods cannot be toppled in the slippage stage, and the related technical application is not available at present.
Disclosure of Invention
The invention aims to overcome the defect that in the prior art, when Forklift AGV stops suddenly in goods transportation, a method for keeping the relative position of goods and a goods shelf only adopts a physical method for keeping friction force, adds a closed-loop control algorithm for improving the robustness of a mechanism, provides a control method for preventing goods from toppling over the goods shelf when Forklift AVG is stopped suddenly and is a control method for providing buffering and keeping the relative speed of the goods and the goods shelf to be totally zero based on inertia protection, and fully ensures the safety and stability of goods transportation.
In order to achieve the purpose, the invention adopts the following technical scheme:
a control method for preventing goods from toppling over a goods shelf when Forklift AVG is suddenly stopped and locked is characterized by comprising the following steps:
the method comprises the following steps: when the Forklift AGV encounters an obstacle or a fault, the main program enters an emergency stop interruption, and whether the relative speed exists between the goods and the goods shelf is detected through a relative speed sensor on the goods shelf, so that a relative speed curve is obtained;
step two: in the shelf acceleration stage, interpolation analysis is carried out on the relative speed curve obtained in the step one, and when the relative speed is found, the shelf controls a motor in the advancing direction to operate and accelerate, so that the displacement speed of the shelf is accelerated to move in the same direction as the goods, and the relative speed is continuously traversed;
step three: in the shelf and goods deceleration stage, traversing the relative speed curve in the step two, starting braking by the motor when traversing to a time point when the relative speed is zero, and traversing the speed curve of the shelf;
step four: in the shelf recovery stage, traversing the motor rotating speed curve in the third step to obtain a returned interpolation value of 0, controlling the motor of the shelf to reverse at a rated rotating speed, traversing by using a displacement sensor of the shelf, controlling the motor of the shelf to brake at a rated acceleration when the fed-back displacement interpolation value is a set displacement, and returning the shelf when the rotating speed is zero;
step five: and in a Forklift AGV standby stage, when the rotating speed of the motor is zero, the interruption is finished, and a standby program is entered.
Preferably, the first specific method of the step is as follows: the relative speed sensor is in a differential operation expression form of the displacement sensor, and the relative speed sensor is as follows according to an interpolation operation formula:
f(t)＝a1f[n1]+a2f[n2]+…+anf[nn]
wherein a is1、a2...anEqual for the interpolation function f [ n ]]Is generally set to 1, n1、n2…nnWaiting for the nth interpolation point representing the interpolation function;
the displacement interpolation at each moment can be obtained by the above formula, and the relationship between the displacement and the speed is as follows:
v1[n1]＝{f1[n1]-f2[n2]}/n2-n1
wherein n is1，n2Indicating a certain pair of adjacent time instants, v, at which the sensor is sampling1The speed interpolation value can be obtained through the above formula and a speed curve can be obtained.
Preferably, the acceleration of the displacement speed increase of the goods shelf in the second step is calculated according to the friction factor between the goods and the goods shelf, and a is less than or equal to μ g theoretically, wherein a is the acceleration, and μ is the dynamic friction factor g and is the gravity acceleration.
Preferably, the specific method of the third step is as follows: controlling the acceleration a of the goods shelf to be less than or equal to mu g, enabling the goods shelf to have no relative motion with the goods, making deceleration motion with the same acceleration and speed, recording the speed curve of the goods shelf and the rotating speed curve of the motor, wherein the rotating speed of the motor is in direct proportion to the speed of the goods shelf, and the rotating speed of the motor is n2，The displacement velocity v of the goods shelf2＝kn2A speed curve for the pallet is obtained, where k is a constant representing a linear relationship between the displacement speed of the pallet and the motor.
Therefore, the invention has the following beneficial effects: (1) the problem that goods topple over due to inertia when the automatic cruise forklift stops suddenly is effectively solved; (2) the stability and the robustness of the automatic cruise forklift are effectively improved, and the safety of goods is guaranteed.
Drawings
FIG. 1 is a schematic diagram of an emergency stop model for a Forklift AGV according to the present invention.
FIG. 2 is a schematic view of a Forklift AGV buffer anti-tipping model of the present invention.
FIG. 3 is a schematic diagram of a Forklift AGV rack retrieval model of the present invention.
Fig. 4 is a block diagram of the process of the present invention.
In the figure: 1. goods; 2. a shelf; 3. an auto-cruise forklift.
Detailed Description
The invention is further described with reference to the following detailed description and accompanying drawings.
As in the embodiment shown in figures 1-4,
a control method for preventing goods from toppling over a goods shelf when Forklift AVG is suddenly stopped and locked comprises the following steps:
the method comprises the following steps: when the Forklift AGV encounters an obstacle or a fault, the main program enters an emergency stop interruption, and whether the relative speed exists between the goods and the goods shelf is detected through a relative speed sensor on the goods shelf, so that a relative speed curve is obtained; the relative speed sensor is in a differential operation expression form of the displacement sensor, and the relative speed sensor is as follows according to an interpolation operation formula:
f(t)＝a1f[n1]+a2f[n2]+…+anf[nn]
wherein n is the relative displacement of goods and goods shelves, can obtain the displacement interpolation of every moment through the above formula, again according to the relation of displacement and speed as follows:
v1[n1]＝{f1[n1]-f2[n2]}/n2-n1
wherein v is1The speed interpolation value can be obtained through the above formula and a speed curve can be obtained.
Step two: in the shelf acceleration stage, interpolation analysis is carried out on the relative speed curve obtained in the step one, and when the relative speed is found, the shelf controls a motor in the advancing direction to operate and accelerate, so that the displacement speed of the shelf is accelerated to move in the same direction as the goods, and the relative speed is continuously traversed; the acceleration of the displacement speed increase of the goods shelf is calculated according to the friction factor between the goods and the goods shelf, and a is not more than mu g theoretically, wherein a is the acceleration, and mu is the dynamic friction factor g and is the gravity acceleration.
Step three: in the shelf and goods deceleration stage, traversing the relative speed curve in the step two, starting braking by the motor when traversing to a time point when the relative speed is zero, and traversing the speed curve of the shelf; controlling the acceleration a of the goods shelf to be less than or equal to mu g so as to ensure that the goods shelf is enabledNo relative motion with the goods and the deceleration motion with the same acceleration and speed are carried out, the speed curve of the goods shelf and the rotating speed curve of the motor are recorded, the rotating speed of the motor is in direct proportion to the speed of the goods shelf, and the rotating speed of the motor is n2，The displacement velocity v of the goods shelf2＝kn2Obtaining a speed curve of the goods shelf;
step four: in the shelf recovery stage, traversing the motor rotating speed curve in the third step to obtain a returned interpolation value of 0, controlling the motor of the shelf to reverse at a rated rotating speed, traversing by using a displacement sensor of the shelf, controlling the motor of the shelf to brake at a rated acceleration when the fed-back displacement interpolation value is a set displacement, and returning the shelf when the rotating speed is zero;
step five: and in a Forklift AGV standby stage, when the rotating speed of the motor is zero, the interruption is finished, and a standby program is entered.
As shown in FIGS. 1-4, the absolute velocity of the cargo 1 is set to V1The absolute speed of the goods shelf 2 is V2The magnitude of the relative velocity can be V1-V2And (4) calculating. In the first stage, the automatic cruise forklift 3 suddenly stops, the speed of the goods shelf 2 is consistent with that of the forklift body and is 0, and the absolute speed of the goods 1 is V before the automatic cruise forklift 3 suddenly stopsdAt this time, there is a relative displacement and a relative speed between the load 1 and the rack 2. In the second stage, the goods shelf 2 is accelerated to make the goods 1 and the goods shelf 2 reach the maximum speed VmaxAt this time, there is no relative movement between the goods 1 and the goods shelf 2, the front acceleration stage of the buffering is completed, and the goods 1 have no relative movement to cause potential dumping danger. In the third stage, the goods 1 and the goods shelf 2 are subjected to the recovery action without relative displacement and relative speed, wherein the speed and the acceleration are the same, at the moment, the dynamic buffering stage of the goods 1 is completed, and the goods 1 are recovered along with the goods shelf to avoid dumping.
The above embodiments are only used to illustrate the technical solution of the present invention, and not to limit the same; while the invention has been described in detail and with reference to the foregoing embodiments, it will be understood by those skilled in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some or all of the technical features may be equivalently replaced; and the modifications or the substitutions do not make the essence of the corresponding technical solutions depart from the scope of the technical solutions of the embodiments of the present invention.
Claims (4)
1. A control method for preventing goods from toppling over a goods shelf when Forklift AVG is suddenly stopped and locked is characterized by comprising the following steps:
the method comprises the following steps: when the Forklift AGV encounters an obstacle or a fault, the main program enters an emergency stop interruption, and whether the relative speed exists between the goods and the goods shelf is detected through a relative speed sensor on the goods shelf, so that a relative speed curve is obtained;
step two: in the shelf acceleration stage, interpolation analysis is carried out on the relative speed curve obtained in the step one, and when the relative speed is found, the shelf controls a motor in the advancing direction to operate and accelerate, so that the displacement speed of the shelf is accelerated to move in the same direction as the goods, and the relative speed is continuously traversed;
step three: in the shelf and goods deceleration stage, traversing the relative speed curve in the step two, starting braking by the motor when traversing to a time point when the relative speed is zero, and traversing the speed curve of the shelf;
step four: in the shelf recovery stage, traversing the motor rotating speed curve in the third step to obtain a returned interpolation value of 0, controlling the motor of the shelf to reverse at a rated rotating speed, traversing by using a displacement sensor of the shelf, controlling the motor of the shelf to brake at a rated acceleration when the fed-back displacement interpolation value is a set displacement, and returning the shelf when the rotating speed is zero;
step five: and in a Forklift AGV standby stage, when the rotating speed of the motor is zero, the interruption is finished, and a standby program is entered.
2. The control method for preventing goods from toppling over the goods shelf during Forklift AVG scram according to claim 1, wherein the first specific method in the step is as follows: the relative speed sensor is in a differential operation expression form of the displacement sensor, and the relative speed sensor is as follows according to an interpolation operation formula:
f(t)＝a1f[n1]+a2f[n2]+…+anf[nn]
wherein a is1、a2...anEqual for the interpolation function f [ n ]]Is generally set to 1, n1、n2…nnWaiting for the nth interpolation point representing the interpolation function;
the displacement interpolation at each moment can be obtained by the above formula, and the relationship between the displacement and the speed is as follows:
v1[n1]＝{f1[n1]-f2[n2]}/n2-n1
wherein n is1，n2Indicating a certain pair of adjacent time instants, v, at which the sensor is sampling1The speed interpolation value can be obtained through the above formula and a speed curve can be obtained.
3. The method as claimed in claim 1, wherein the acceleration of the displacement speed of the shelves in the second step is calculated according to the friction factor between the goods and the shelves, and is theoretically a ≤ μ g, where a is the acceleration and μ is the dynamic friction factor g, and g is the gravity acceleration.
4. The control method for preventing goods from toppling over the goods shelf during Forklift AVG scram according to claim 3, wherein the specific method in the third step is as follows: controlling the acceleration a of the goods shelf to be less than or equal to mu g, so that the goods shelf does not move relatively to the goods, and does deceleration movement with the same acceleration and speed, and recording the speed curve of the goods shelf and the rotating speed curve of the motor, wherein the rotating speed of the motor is in direct proportion to the speed of the goods shelf, and the rotating speed of the motor is l2The displacement velocity v of the goods shelf2＝kl2A speed curve for the pallet is obtained, where k is a constant representing a linear relationship between the displacement speed of the pallet and the motor.
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