CN112325847A - Forklift inclination angle measuring method, device, storage medium and device - Google Patents
Forklift inclination angle measuring method, device, storage medium and device Download PDFInfo
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- CN112325847A CN112325847A CN202011151887.6A CN202011151887A CN112325847A CN 112325847 A CN112325847 A CN 112325847A CN 202011151887 A CN202011151887 A CN 202011151887A CN 112325847 A CN112325847 A CN 112325847A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C9/00—Measuring inclination, e.g. by clinometers, by levels
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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
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- B66F9/07504—Accessories, e.g. for towing, charging, locking
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Abstract
The invention discloses a method, equipment, a storage medium and a device for measuring the inclination angle of a forklift, which are used for determining the current angle information of a forklift fork according to the acceleration information and the angular velocity information of the fork by acquiring the acceleration information and the angular velocity information of the fork of the forklift, acquiring the portal acceleration information and the angular velocity information of the forklift, determining the current angle information of a forklift portal according to the portal acceleration information and the portal angular velocity information, and determining the relative inclination angle between the fork and the portal according to the current angle information of the forklift fork and the current angle information of the forklift portal. The method and the device have the advantages that the relative inclination angle between the fork and the portal frame is determined according to the current angle information of the fork of the forklift and the current angle information of the portal frame, and compared with the prior art that the inclination angle of the fork of the forklift is manually operated, the goods are prone to being turned over due to misoperation, so that the forklift is prone to toppling over.
Description
Technical Field
The invention relates to the technical field of unmanned forklifts, in particular to a method, equipment, a storage medium and a device for measuring the inclination angle of a forklift.
Background
At present, a body of an unmanned forklift mainly comprises a chassis, a portal frame and a pallet fork. When the fork is used for taking goods, the portal frame can perform front-back translation motion relative to the truck body, and the fork can perform left-right translation, up-down displacement and forward-leaning and backward-leaning motion relative to the portal frame. As the prior art manually adjusts the fork angle, the angle is inaccurate due to manual operation, and the goods tip over.
The above is only for the purpose of assisting understanding of the technical aspects of the present invention, and does not represent an admission that the above is prior art.
Disclosure of Invention
The invention mainly aims to provide a method, equipment, a storage medium and a device for measuring the inclination angle of a forklift, and aims to solve the technical problem that the inclination angle of a fork and a portal of the forklift is inaccurate to measure in the prior art, so that the forklift tips over.
In order to achieve the above object, the present invention provides a method for measuring a tilt angle of a forklift, comprising the steps of:
acquiring fork acceleration information and fork angular velocity information of a forklift;
determining current angle information of the fork of the forklift according to the acceleration information of the fork and the angular velocity information of the fork;
acquiring gantry acceleration information and gantry angular velocity information of a forklift;
determining current angle information of the forklift gantry according to the gantry acceleration information and the gantry angular velocity information;
and determining the relative inclination angle between the fork and the portal according to the current angle information of the fork of the forklift and the current angle information of the portal of the forklift.
Preferably, the step of determining current angle information of the forklift forks according to the fork acceleration information and the fork angular velocity information comprises:
determining a fork angular velocity error compensation value through an integral algorithm according to the preset acceleration information of the fork and the actual acceleration information of the fork;
and determining the current angle information of the fork of the forklift according to the angular speed error compensation value of the fork and the angular speed information of the fork.
Preferably, the step of determining current angle information of the forklift mast according to the mast acceleration information and the mast angular velocity information includes:
determining a gantry angular velocity error compensation value through an integral algorithm according to gantry preset acceleration information and the gantry actual acceleration information;
and determining the current angle information of the forklift gantry according to the gantry angular speed error compensation value and the gantry angular speed information.
Preferably, the step of determining the relative inclination angle between the forks and the mast according to the current angle information of the forklift forks and the current angle information of the forklift mast comprises:
determining the radial angle information of the fork according to the current angle information of the fork of the forklift;
determining angle information of the gantry in the vertical direction according to the current angle information of the forklift gantry;
and determining a relative inclination angle between the fork and the portal according to the radial angle information of the fork and the vertical angle information of the portal.
Preferably, after the step of determining the relative inclination angle between the fork and the mast according to the current angle information of the fork of the forklift and the current angle information of the mast of the forklift, the method further comprises:
acquiring a target forward-leaning angle and a target backward-leaning angle of the pallet fork;
determining the current forward inclination angle and the current backward inclination angle of the pallet fork according to the relative inclination angle;
adjusting the current forward inclination angle of the pallet fork according to the target forward inclination angle of the pallet fork, and determining first relative rotation angle information required for controlling the pallet fork to a target position;
and adjusting the current backward bending angle of the pallet fork according to the target backward bending angle of the pallet fork, and determining second relative rotation angle information required for controlling the pallet fork to a target position.
And controlling the pallet fork to a target position according to the first relative rotation angle information and the second relative rotation angle information.
Preferably, before the step of obtaining the target forward-leaning angle and the target backward-leaning angle of the fork, the method further comprises:
acquiring weight information of goods to be transported;
determining the maximum forward inclination angle or the maximum backward inclination angle of the pallet fork according to the weight information;
determining a target forward-leaning angle of the pallet fork according to the maximum forward-leaning angle of the pallet fork;
and determining a target backward bending angle of the pallet fork according to the maximum backward bending angle of the pallet fork.
Preferably, before the step of determining the relative inclination angle between the fork and the mast according to the current angle information of the fork of the forklift and the current angle information of the mast of the forklift, the method further comprises:
judging whether the goods to be carried have tipping risks or not according to the current angle information of the forklift fork and the current angle information of the forklift mast;
when the risk of overturning exists, a forklift early warning signal is sent out.
In addition, in order to achieve the above object, the present invention further provides a forklift tilt angle measuring apparatus, which includes a memory, a processor, and a forklift tilt angle measuring program stored in the memory and operable on the processor, wherein the forklift tilt angle measuring program is configured to implement the steps of forklift tilt angle measurement as described above.
In addition, in order to achieve the above object, the present invention further provides a storage medium, wherein the storage medium stores a forklift tilt angle measurement program, and the forklift tilt angle measurement program, when executed by a processor, implements the steps of the forklift tilt angle measurement method as described above.
In addition, in order to achieve the above object, the present invention further provides a forklift tilt angle measuring apparatus, including:
the information acquisition module is used for acquiring fork acceleration information and fork angular velocity information of the forklift;
the information determining module is used for determining the current angle information of the fork of the forklift according to the acceleration information of the fork and the angular speed information of the fork;
the information acquisition module is also used for acquiring gantry acceleration information and gantry angular velocity information of the forklift;
the information determining module is further used for determining the current angle information of the forklift gantry according to the gantry acceleration information and the gantry angular velocity information;
the angle determining module is used for determining the relative inclination angle between the fork and the portal according to the current angle information of the fork of the forklift and the current angle information of the portal of the forklift.
According to the method, the current angle information of the fork of the forklift is determined according to the acceleration information and the angular velocity information of the fork, the portal acceleration information and the portal angular velocity information of the forklift are obtained, the current angle information of the portal of the forklift is determined according to the portal acceleration information and the portal angular velocity information, and the relative inclination angle between the fork and the portal is determined according to the current angle information of the fork of the forklift and the current angle information of the portal of the forklift. Compared with the prior art that the goods are prone to toppling over due to misoperation when the fork angle of the forklift is manually operated, the forklift truck inclination angle measuring device has the advantages that the measurement of the inclination angle of the forklift truck is accurate, and the goods can be automatically taken and placed.
Drawings
Fig. 1 is a schematic structural diagram of a forklift tilt angle measuring device in a hardware operating environment according to an embodiment of the invention;
FIG. 2 is a schematic flow chart of a method for measuring a tilt angle of a forklift according to a first embodiment of the present invention;
FIG. 3 is a schematic flow chart of a method for measuring the tilt angle of a forklift according to a second embodiment of the present invention;
FIG. 4 is a schematic flow chart illustrating a method for measuring a tilt angle of a forklift according to a third embodiment of the present invention;
fig. 5 is a block diagram showing the structure of the forklift tilt angle measuring apparatus according to the first embodiment of the present invention.
The implementation, functional features and advantages of the objects of the present invention will be further explained with reference to the accompanying drawings.
Detailed Description
It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
Referring to fig. 1, fig. 1 is a schematic structural diagram of a forklift tilt angle measurement device in a hardware operating environment according to an embodiment of the present invention.
As shown in fig. 1, the forklift tilt angle measuring apparatus may include: a processor 1001, such as a Central Processing Unit (CPU), a communication bus 1002, a user interface 1003, a network interface 1004, and a memory 1005. Wherein a communication bus 1002 is used to enable connective communication between these components. The user interface 1003 may include a Display screen (Display), and the optional user interface 1003 may further include a standard wired interface and a wireless interface, and the wired interface for the user interface 1003 may be a USB interface in the present invention. The network interface 1004 may optionally include a standard wired interface, a WIreless interface (e.g., a WIreless-FIdelity (WI-FI) interface). The Memory 1005 may be a Random Access Memory (RAM) Memory or a Non-volatile Memory (NVM), such as a disk Memory. The memory 1005 may alternatively be a storage device separate from the processor 1001.
Those skilled in the art will appreciate that the configuration shown in fig. 1 does not constitute a limitation of the fork lift tilt angle measuring apparatus and may include more or fewer components than shown, or some components in combination, or a different arrangement of components.
As shown in fig. 1, a memory 1005, identified as one type of computer storage medium, may include an operating system, a network communication module, a user interface module, and a forklift tilt angle measurement program.
In the device for measuring the tilt angle of the forklift shown in fig. 1, the network interface 1004 is mainly used for connecting a background server and performing data communication with the background server; the user interface 1003 is mainly used for connecting user equipment; the forklift tilt angle measurement device calls a forklift tilt angle measurement program stored in a memory 1005 through a processor 1001, and executes the forklift tilt angle measurement method provided by the embodiment of the invention.
Based on the hardware structure, the embodiment of the forklift inclination angle measuring method is provided.
Referring to fig. 2, fig. 2 is a schematic flow chart of a method for measuring a tilt angle of a forklift according to a first embodiment of the present invention.
In this embodiment, the method for measuring the inclination angle of the forklift includes the following steps:
step S10: and acquiring fork acceleration information and fork angular speed information of the forklift.
It should be noted that the execution main body in this embodiment may be an in-vehicle computer. The vehicle-mounted computer may have functions of visual reversing, fault detection, route planning, and the like, and may also be other devices that can achieve the same or similar functions.
It should be understood that the fork acceleration information may be information containing acceleration of the forks in the longitudinal, transverse, and vertical directions. The longitudinal acceleration may refer to acceleration in the direction of the forklift truck head, the lateral acceleration may refer to acceleration in the direction perpendicular to the forklift truck head in the horizontal plane, and the vertical acceleration may refer to acceleration in the vertical direction.
It will be appreciated that the fork angular velocity information may be information including the change in angular velocity of the forks as they are being transported.
In the specific implementation, the vehicle-mounted computer can acquire fork acceleration information and fork angular velocity information of the forklift according to an inertial measurement unit installed on the fork, and the inertial navigation unit can be equipment comprising a gyroscope and an accelerometer. The gyroscope is an angular motion detection device which uses a momentum moment sensitive shell of a high-speed revolving body to rotate around one or two axes orthogonal to a rotation axis relative to an inertia space, and can be used for providing accurate signals of azimuth, level, position, speed, acceleration and the like so as to enable a vehicle-mounted computer to more accurately control the driving direction of the forklift and the inclination angle of a forklift fork when goods are transported. For example: the vehicle-mounted computer can obtain the angular velocity of the fork rotating around the three axes of the reference coordinate system according to the gyroscope fixedly connected with the fork. The vehicle-mounted computer can acquire the acceleration information of the fork according to the acceleration sensor in the gyroscope.
Step S20: and determining the current angle information of the fork of the forklift according to the acceleration information of the fork and the angular velocity information of the fork.
It should be noted that the current angle information of the fork of the forklift may be information including an angle change of the fork when the fork carries a load. Or may include information on the angle change when the forks are manually operated.
In the concrete implementation, the vehicle-mounted computer can determine the current angle information of the fork of the forklift according to the acceleration information and the angular velocity information of the fork, for example: the vehicle-mounted computer obtains the acceleration and the angular velocity of the fork during operation through a high-precision gyroscope installed below the fork of the forklift, and the real-time inclination angle of the fork is obtained through calculation.
Step S30: and acquiring the acceleration information and the angular speed information of the gantry of the forklift.
It should be noted that the gantry acceleration information may be information including accelerations in the longitudinal direction, the lateral direction, and the vertical direction of the gantry. The longitudinal acceleration may refer to acceleration in the direction of the forklift truck head, the lateral acceleration may refer to acceleration in the direction perpendicular to the forklift truck head in the horizontal plane, and the vertical acceleration may refer to acceleration in the vertical direction.
It will be appreciated that the gantry angular velocity information may be information including the angular velocity change of the gantry while it is being transported.
In the concrete implementation, the vehicle-mounted computer can acquire the gantry acceleration information and the gantry angular velocity information of the forklift through a gyroscope installed on the gantry. When the portal frame inclines, the gyroscope inclines along with the portal frame, and the gyroscope can measure the included angle between the portal frame and the vertical direction, the horizontal and longitudinal inclination angle of the portal frame along the vehicle body and the angular speed of shaking of the portal frame in real time.
Step S40: and determining the current angle information of the forklift gantry according to the acceleration information of the gantry and the angular velocity information of the gantry.
It should be noted that the current angle information of the forklift mast may be information of the inclination angle of the forklift mast.
In the concrete realization, on-vehicle computer can confirm the current angle information of fork truck portal according to portal acceleration information and portal angular velocity information, for example: the vehicle-mounted computer can obtain the acceleration and the angular speed of the portal frame during operation by installing a high-precision gyroscope at one side of the top end of the last-stage portal frame, and the real-time inclination angle of the portal frame is obtained through calculation.
Step S50: and determining the relative inclination angle between the fork and the portal according to the current angle information of the fork of the forklift and the current angle information of the portal of the forklift.
It should be noted that the relative angle of inclination between the forks and the mast may be the difference between the longitudinal angle of inclination of the forks and the longitudinal angle of inclination of the mast.
In the concrete realization, the relative inclination angle between fork and the portal can be confirmed according to the real-time inclination angle of fork and the real-time inclination angle of portal to on-vehicle computer, and on-vehicle computer can control fork truck fork according to the relative inclination angle between fork and the portal and lean forward the required angle of heeling when getting and putting the goods.
According to the embodiment, the current angle information of the fork of the forklift is determined according to the fork acceleration information and the fork angular velocity information, the portal acceleration information and the portal angular velocity information of the forklift are acquired, the current angle information of the portal of the forklift is determined according to the portal acceleration information and the portal angular velocity information, and the relative inclination angle between the fork and the portal is determined according to the current angle information of the fork of the forklift and the current angle information of the portal of the forklift. Because be the basis current angle information of fork and the relative inclination between fork and the portal is confirmed to current angle information of fork door frame, thereby this embodiment leads to fork truck to tumble because of misoperation easily leads to the goods to overturn for prior art through manual operation fork angle, and this embodiment has realized that fork truck inclination measures more accurately, can prevent when fork truck gets to put goods automatically that fork truck from tumbling and lead to the goods to damage.
Referring to fig. 3, fig. 3 is a schematic flow chart of a method for measuring a tilt angle of a forklift according to a second embodiment of the present invention, and the method for measuring a tilt angle of a forklift according to the second embodiment of the present invention is provided based on the first embodiment shown in fig. 2.
In this embodiment, the step S20 includes:
step S201: and determining an angular velocity error compensation value of the pallet fork through an integral algorithm according to the preset acceleration information of the pallet fork and the actual acceleration information of the pallet fork.
It should be noted that the preset acceleration information of the fork may be an acceleration calibrated by the fork, or an acceleration in an initial state of the fork.
It will be appreciated that the fork angular velocity error compensation value can be controlled in magnitude by constructing a PI controller.
It should be understood that the PI controller is a linear controller, and controls the gyroscope by forming a control deviation from a given value and an actual output value, and by linearly combining the proportion and integral of the deviation to form a control amount.
In specific implementation, the vehicle-mounted computer can express errors through vector outer products and then construct a PI controller to control the size of a compensation value.
The error compensation value calculation formula is as follows:
GyroError＝Kp·error+KI·∫error
wherein, KpA proportional term is represented for controlling the "confidence" of the sensor; kIAn integral term is represented for eliminating static errors. KpThe larger, i.e. the more significant the compensation corresponding to the error obtained by the accelerometer.
Step S202: and determining the current angle information of the fork of the forklift according to the angular speed error compensation value of the fork and the angular speed information of the fork.
In specific implementation, the vehicle-mounted computer can control the magnitude of the compensation value by constructing a PI controller, for example: assuming that the initial attitude angle of the pallet fork is [ theta, 0, 0], calculating a theoretical acceleration vector of the pallet fork in a coordinate system and unitizing the theoretical acceleration vector; unitizing an actual acceleration vector acquired by an accelerometer; taking the outer product of the theoretical acceleration and the actual acceleration as the input of a PI controller, and taking the output of the PI controller as the error compensation of the fork angular speed; superposing and integrating the angular velocity acquired by the gyroscope and the error compensation, and iteratively acquiring an attitude quaternion of the pallet fork according to a first-order Runge Kutta method; and converting the quaternion into an Euler angle, namely the attitude angle information of the pallet fork in a geographic coordinate system.
In this embodiment, the step S40 includes: determining a gantry angular velocity error compensation value through an integral algorithm according to gantry preset acceleration information and the gantry actual acceleration information; and determining the current angle information of the forklift gantry according to the gantry angular speed error compensation value and the gantry angular speed information.
It should be noted that the preset acceleration information of the gantry may be an acceleration calibrated by the fork, or an acceleration in an initial state of the gantry.
It can be understood that the gantry angular velocity error compensation value can control the magnitude of the compensation value by constructing a PI controller.
In specific implementation, the vehicle-mounted computer can express errors through vector outer products and then construct a PI controller to control the size of a compensation value.
The step S50 includes: determining the radial angle information of the fork according to the current angle information of the fork of the forklift; determining angle information of the gantry in the vertical direction according to the current angle information of the forklift gantry; and determining a relative inclination angle between the fork and the portal according to the radial angle information of the fork and the vertical angle information of the portal.
It should be noted that the fork radial angle information may be angle information of the fork in the horizontal direction
It is understood that the vertical direction angle information of the gantry may include the angle information of the gantry to the vertical direction.
In the concrete implementation, the vehicle-mounted computer can determine the relative inclination angle between the fork and the portal according to the radial angle information of the fork and the vertical angle information of the portal.
In the embodiment, the fork acceleration information and the fork angular velocity information of the forklift are acquired, the fork angular velocity error compensation value is determined through an integral algorithm according to the preset acceleration information of the fork and the actual acceleration information of the fork, and the current angle information of the fork of the forklift is determined according to the fork angular velocity error compensation value and the fork angular velocity information. Acquiring gantry acceleration information and gantry angular velocity information of a forklift; determining current angle information of the forklift gantry according to the gantry acceleration information and the gantry angular velocity information; and determining the relative inclination angle between the fork and the portal according to the current angle information of the fork of the forklift and the current angle information of the portal of the forklift. Because be the basis current angle information of fork and the relative inclination between fork and the portal is confirmed to current angle information of fork door frame, thereby this embodiment leads to fork truck to tumble because of misoperation easily leads to the goods to overturn for prior art through manual operation fork angle, and this embodiment has realized that fork truck inclination measures more accurately, can prevent when fork truck gets to put goods automatically that fork truck from tumbling and lead to the goods to damage.
Referring to fig. 4, fig. 4 is a schematic flow chart of a method for measuring a tilt angle of a forklift according to a third embodiment of the present invention, and the third embodiment of the method for measuring a tilt angle of a forklift according to the present invention is provided based on the first embodiment shown in fig. 2.
In this embodiment, after the step S50, the method further includes:
step S60: and acquiring a target forward-leaning angle and a target backward-leaning angle of the pallet fork.
Note that the target forward-tilt angle may refer to an angle adjusted for the forward-tilt angle of the fork. The target recline angle may refer to an angle of adjustment of the fork recline angle.
Step S70: and determining the current forward inclination angle and the current backward inclination angle of the pallet fork according to the relative inclination angle.
It should be noted that the current forward tilt angle of the forklift may be a forward tilt angle of a fork on which a to-be-transported cargo is just placed, or may be a forward tilt angle of a fork in an initial state of the fork. The current pitch angle of the forklift may be a pitch angle when the forklift fork is not carrying goods in an initial state.
Step S80: and adjusting the current forward inclination angle of the fork according to the target forward inclination angle of the fork, and determining first relative rotation angle information required for controlling the fork to a target position.
It should be noted that the first relative rotational angle information may be difference information between the target forward-inclination angle and the current forward-inclination angle.
Step S90: and adjusting the current backward bending angle of the pallet fork according to the target backward bending angle of the pallet fork, and determining second relative rotation angle information required for controlling the pallet fork to a target position.
It should be noted that the second relative inclination angle information may be difference information between the target inclination angle and the current inclination angle.
Step S100: and controlling the pallet fork to a target position according to the first relative rotation angle information and the second relative rotation angle information.
In the specific implementation, the vehicle-mounted computer determines the current forward inclination angle and the current backward inclination angle of the pallet fork according to the relative inclination angle; and adjusting the current forward inclination angle of the pallet fork according to the target forward inclination angle of the pallet fork, determining relative corner information required for controlling the pallet fork to a target position, adjusting the current backward inclination angle of the pallet fork according to the target backward inclination angle of the pallet fork, and determining the relative corner information required for controlling the pallet fork to the target position. For example: when the vehicle-mounted computer obtains that the target backward bending angle is 80 degrees, the current fork angle is 90 degrees, namely the vehicle-mounted computer controls the fork to bend backward by 10 degrees.
Further, before the step of obtaining the target forward-leaning angle and the target backward-leaning angle of the fork, the method further comprises the following steps: acquiring weight information of goods to be transported; determining the maximum forward inclination angle or the maximum backward inclination angle of the pallet fork according to the weight information; determining a target forward-leaning angle of the pallet fork according to the maximum forward-leaning angle of the pallet fork; and determining a target backward bending angle of the pallet fork according to the maximum backward bending angle of the pallet fork.
It should be noted that the weight information may include parameter information such as weight, size, volume, etc. of the cargo to be handled. The goods to be transported can be placed in different areas according to the parameter information such as weight, size, volume and the like when being put in storage. The weight information of the goods to be transported can be issued to the forklift through the warehouse management system when the goods are put in and out of the warehouse. When the forklift carries goods, the vehicle-mounted computer can acquire the weight information of the goods to be carried through the warehouse management system, and also can acquire the weight information of the goods to be carried according to the forklift weighing system when the goods are put in storage. For example: when goods are put in a warehouse, the weight of the goods is transmitted to the weighing sensor through the force transmission mechanism, the gravity signal output by the sensor is amplified and filtered, the gravity signal is transmitted to the A/D converter and converted into a digital signal, the digital signal is transmitted to the vehicle-mounted computer, and the vehicle-mounted computer can count the weight information of the goods according to the digital signal.
It will be appreciated that the maximum fork rake angle may be determined from the weight information of the load to be handled, for example: when the weight information of the goods to be transported is acquired, the front inclination angle corresponding to the weight information of the current goods to be transported of the forklift during goods taking can be determined according to the historical storage data, and the maximum front inclination angle of the current fork is determined. The maximum lean angle may be an angle at which the forklift leans back in order to prevent the cargo from falling, and the angle may be determined according to the weight information of the cargo to be carried. The vehicle-mounted computer can determine the maximum forward-leaning angle or the maximum backward-leaning angle of the fork according to the cargo weight information, such as: when the forklift carries goods, the vehicle-mounted computer can determine the maximum forward-leaning angle of the forklift when the goods are taken according to the weight information of the goods to be carried, and the maximum backward-leaning angle of the forklift can be determined according to the weight information of the goods in the process of transporting the goods so as to prevent the goods from falling.
It should be understood that the target rake angle may be the rake angle of the forks of the fork truck during the pickup process for faster pickup. The vehicle-mounted computer can determine the forward inclination angle of the fork during goods taking according to the weight information of the goods. The target recline angle may be an angle at which the forklift forks need to recline in order to prevent the cargo from falling during the transportation of the cargo. Because the weight information of waiting to carry the goods is different, fork truck is transporting the goods in-process, and the angle of heeling can be confirmed according to goods weight information to on-vehicle computer, for example: when the forklift transports lighter goods, in order to prevent the goods caused by the shaking of the forklift during the transportation process from falling, the vehicle-mounted computer can determine the required backward-bending angle of the goods transported by the current forklift according to the maximum backward-bending angle of the forklift.
Further, before the step of determining the relative inclination angle between the fork and the mast according to the current angle information of the fork of the forklift and the current angle information of the mast of the forklift, the method further comprises the following steps: judging whether the goods to be carried have tipping risks or not according to the current angle information of the forklift fork and the current angle information of the forklift mast; when the risk of overturning exists, a forklift early warning signal is sent out.
In specifically realizing, on-vehicle computer judges according to the current angle information of fork truck fork and the current angle information of fork truck portal whether waiting to carry the goods and having the risk of tumbling, for example: the preset relative inclination angle between the fork and the door frame is 90 degrees, but the actual vehicle-mounted computer recognizes that the preset relative inclination angle between the fork and the door frame is 95 degrees, namely the fork is forwards tilted, namely the overweight risk of goods exists, so that the forklift is tilted, and the vehicle-mounted computer controls the alarm system to give an alarm.
In the embodiment, the current angle information of the fork of the forklift is determined according to the fork acceleration information and the fork angular velocity information by acquiring the fork acceleration information and the fork angular velocity information of the forklift, the portal acceleration information and the portal angular velocity information of the forklift are acquired, the current angle information of the portal of the forklift is determined according to the portal acceleration information and the portal angular velocity information, and the relative inclination angle between the fork and the portal is determined according to the current angle information of the fork of the forklift and the current angle information of the portal of the forklift. Acquiring weight information of a cargo to be carried, and determining the maximum forward-leaning angle or the maximum backward-leaning angle of the pallet fork according to the weight information; determining a target forward-leaning angle of the pallet fork according to the maximum forward-leaning angle of the pallet fork; and determining a target backward bending angle of the pallet fork according to the maximum backward bending angle of the pallet fork. The maximum forward-leaning angle or the maximum backward-leaning angle of the pallet fork is determined according to the weight information; determining a target forward-leaning angle of the pallet fork according to the maximum forward-leaning angle of the pallet fork; and determining a target backward bending angle of the pallet fork according to the maximum backward bending angle of the pallet fork. This embodiment directly carries the goods for prior art, leads to the fork of fork truck to damage the speed and accelerate easily to lead to the goods to drop, the fork leans forward or the angle of pitching backward when this embodiment has realized confirming fork truck transport goods according to goods weight information, thereby realizes faster more accurate transport goods, prevents that the goods from dropping.
In addition, an embodiment of the present invention further provides a storage medium, where a forklift tilt angle measurement program is stored on the storage medium, and when the forklift tilt angle measurement program is executed by a processor, the steps of the forklift tilt angle measurement method described above are implemented.
Referring to fig. 5, fig. 5 is a block diagram illustrating a structure of the device for measuring a tilt angle of a forklift according to the first embodiment of the present invention.
As shown in fig. 5, the device for measuring the tilt angle of a forklift according to the embodiment of the present invention includes:
the information acquisition module 10 is used for acquiring fork acceleration information and fork angular velocity information of the forklift;
the information determining module 20 is configured to determine current angle information of the forklift fork according to the fork acceleration information and the fork angular velocity information;
the information acquisition module 10 is further configured to acquire gantry acceleration information and gantry angular velocity information of the forklift;
the information determining module 20 is further configured to determine current angle information of the forklift gantry according to the gantry acceleration information and the gantry angular velocity information;
and the angle determining module 30 is used for determining the relative inclination angle between the fork and the portal according to the current angle information of the fork of the forklift and the current angle information of the portal of the forklift.
According to the embodiment, the current angle information of the fork of the forklift is determined according to the fork acceleration information and the fork angular velocity information, the portal acceleration information and the portal angular velocity information of the forklift are acquired, the current angle information of the portal of the forklift is determined according to the portal acceleration information and the portal angular velocity information, and the relative inclination angle between the fork and the portal is determined according to the current angle information of the fork of the forklift and the current angle information of the portal of the forklift. Because be the basis current angle information of fork and the relative inclination between fork and the portal is confirmed to current angle information of fork door frame, thereby this embodiment leads to fork truck to tumble because of misoperation easily leads to the goods to overturn for prior art through manual operation fork angle, and this embodiment has realized that fork truck inclination measures more accurately, can prevent when fork truck gets to put goods automatically that fork truck from tumbling and lead to the goods to damage.
Further, the information determining module 20 is further configured to determine a fork angular velocity error compensation value through an integral algorithm according to the preset fork acceleration information and the fork acceleration information; and determining the current angle information of the fork of the forklift according to the angular speed error compensation value of the fork and the angular speed information of the fork.
Further, the information determining module 20 is further configured to determine a gantry angular velocity error compensation value through an integral algorithm according to gantry preset acceleration information and the gantry acceleration information; and determining the current angle information of the forklift gantry according to the gantry angular speed error compensation value and the gantry angular speed information.
Further, the angle determining module 30 is further configured to determine radial angle information of the fork according to the current angle information of the fork of the forklift; determining angle information of the gantry in the vertical direction according to the current angle information of the forklift gantry; and determining a relative inclination angle between the fork and the portal according to the radial angle information of the fork and the vertical angle information of the portal.
Further, the angle determination module 30 is further configured to obtain a target forward-leaning angle and a target backward-leaning angle of the pallet fork; determining the current forward inclination angle and the current backward inclination angle of the pallet fork according to the relative inclination angle; adjusting the current forward inclination angle of the pallet fork according to the target forward inclination angle of the pallet fork, and determining first relative rotation angle information required for controlling the pallet fork to a target position; adjusting the current backward bending angle of the pallet fork according to the target backward bending angle of the pallet fork, and determining second relative rotation angle information required for controlling the pallet fork to a target position; and controlling the pallet fork to a target position according to the first rotating angle information and the second relative rotating angle information.
Further, the angle determining module 30 is further configured to obtain weight information of the cargo to be handled; determining the maximum forward inclination angle or the maximum backward inclination angle of the pallet fork according to the weight information; determining a target forward-leaning angle of the pallet fork according to the maximum forward-leaning angle of the pallet fork; and determining a target backward bending angle of the pallet fork according to the maximum backward bending angle of the pallet fork.
Further, the forklift tilt angle measuring device further comprises: the early warning module is used for judging whether the goods to be carried have tipping risks or not according to the current angle information of the forklift fork and the current angle information of the forklift gantry; when the risk of overturning exists, a forklift early warning signal is sent out.
In addition, an embodiment of the present invention further provides a storage medium, where a forklift tilt angle measurement program is stored on the storage medium, and when the forklift tilt angle measurement program is executed by a processor, the steps of the forklift tilt angle measurement method described above are implemented.
It should be understood that the above is only an example, and the technical solution of the present invention is not limited in any way, and in a specific application, a person skilled in the art may set the technical solution as needed, and the present invention is not limited thereto.
It should be noted that the above-described work flows are only exemplary, and do not limit the scope of the present invention, and in practical applications, a person skilled in the art may select some or all of them to achieve the purpose of the solution of the embodiment according to actual needs, and the present invention is not limited herein.
In addition, the technical details that are not elaborated in this embodiment may refer to the method for measuring the tilt angle of the forklift provided in any embodiment of the present invention, and are not described herein again.
It should be noted that, in this document, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or system that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or system. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other like elements in a process, method, article, or system that comprises the element.
The above-mentioned serial numbers of the embodiments of the present invention are merely for description and do not represent the merits of the embodiments. In the unit claims enumerating several means, several of these means may be embodied by one and the same item of hardware. The use of the words first, second, third, etc. do not denote any order, but rather the words first, second, third, etc. are to be interpreted as names.
Through the above description of the embodiments, those skilled in the art will clearly understand that the method of the above embodiments can be implemented by software plus a necessary general hardware platform, and certainly can also be implemented by hardware, but in many cases, the former is a better implementation manner. Based on such understanding, the technical solutions of the present invention or portions thereof that contribute to the prior art may be embodied in the form of a software product, where the computer software product is stored in a storage medium (e.g., a Read Only Memory (ROM)/Random Access Memory (RAM), a magnetic disk, an optical disk), and includes several instructions for enabling a terminal device (e.g., a mobile phone, a computer, a server, an air conditioner, or a network device) to execute the method according to the embodiments of the present invention.
The above description is only a preferred embodiment of the present invention, and not intended to limit the scope of the present invention, and all modifications of equivalent structures and equivalent processes, which are made by using the contents of the present specification and the accompanying drawings, or directly or indirectly applied to other related technical fields, are included in the scope of the present invention.
Claims (10)
1. The method for measuring the inclination angle of the forklift is characterized by comprising the following steps of:
acquiring fork acceleration information and fork angular velocity information of a forklift;
determining current angle information of the fork of the forklift according to the acceleration information of the fork and the angular velocity information of the fork;
acquiring gantry acceleration information and gantry angular velocity information of a forklift;
determining current angle information of the forklift gantry according to the gantry acceleration information and the gantry angular velocity information;
and determining the relative inclination angle between the fork and the portal according to the current angle information of the fork of the forklift and the current angle information of the portal of the forklift.
2. The method of claim 1, wherein the step of determining current angular information of the forklift forks from the fork acceleration information and the fork angular velocity information comprises:
determining a fork angular velocity error compensation value through an integral algorithm according to the preset acceleration information of the fork and the actual acceleration information of the fork;
and determining the current angle information of the fork of the forklift according to the angular speed error compensation value of the fork and the angular speed information of the fork.
3. The method of claim 1, wherein the step of determining current angular information of the forklift mast based on the mast acceleration information and the mast angular velocity information comprises:
determining a gantry angular velocity error compensation value through an integral algorithm according to gantry preset acceleration information and the gantry actual acceleration information;
and determining the current angle information of the forklift gantry according to the gantry angular speed error compensation value and the gantry angular speed information.
4. The method of claim 1, wherein the step of determining the relative tilt angle between the forks and the mast based on the current angle information of the forks of the forklift and the current angle information of the mast of the forklift comprises:
determining the radial angle information of the fork according to the current angle information of the fork of the forklift;
determining angle information of the gantry in the vertical direction according to the current angle information of the forklift gantry;
and determining a relative inclination angle between the fork and the portal according to the radial angle information of the fork and the vertical angle information of the portal.
5. The method of claim 1, wherein after the step of determining the relative tilt angle between the forks and the mast based on the current angle information of the forks of the forklift and the current angle information of the mast of the forklift, further comprising:
acquiring a target forward-leaning angle and a target backward-leaning angle of the pallet fork;
determining the current forward inclination angle and the current backward inclination angle of the pallet fork according to the relative inclination angle;
adjusting the current forward inclination angle of the pallet fork according to the target forward inclination angle of the pallet fork, and determining first relative rotation angle information required for controlling the pallet fork to a target position;
and adjusting the current backward bending angle of the pallet fork according to the target backward bending angle of the pallet fork, and determining second relative rotation angle information required for controlling the pallet fork to a target position.
And controlling the pallet fork to a target position according to the first relative rotation angle information and the second relative rotation angle information.
6. The method of claim 5, wherein the step of obtaining the target forward lean angle and the target backward lean angle of the fork is preceded by the step of:
acquiring weight information of goods to be transported;
determining the maximum forward inclination angle or the maximum backward inclination angle of the pallet fork according to the weight information;
determining a target forward-leaning angle of the pallet fork according to the maximum forward-leaning angle of the pallet fork;
and determining a target backward bending angle of the pallet fork according to the maximum backward bending angle of the pallet fork.
7. The method of claim 6, wherein the step of determining the relative tilt angle between the forks and the mast based on the current angle information of the forks of the forklift and the current angle information of the mast of the forklift is preceded by the step of:
judging whether the goods to be carried have tipping risks or not according to the current angle information of the forklift fork and the current angle information of the forklift mast;
when the risk of overturning exists, a forklift early warning signal is sent out.
8. The utility model provides a fork truck inclination angle measuring equipment which characterized in that, fork truck inclination angle measuring equipment includes: a memory, a processor and a forklift tilt angle measurement program stored on the memory and executable on the processor, the forklift tilt angle measurement program when executed by the processor implementing the steps of the forklift tilt angle measurement method according to any one of claims 1 to 7.
9. A storage medium having a forklift tilt angle measurement program stored thereon, the forklift tilt angle measurement program when executed by a processor implementing the steps of the forklift tilt angle measurement method according to any one of claims 1 to 7.
10. The utility model provides a fork truck inclination angle measuring device which characterized in that, fork truck inclination angle measuring device includes:
the information acquisition module is used for acquiring fork acceleration information and fork angular velocity information of the forklift;
the information determining module is used for determining the current angle information of the fork of the forklift according to the acceleration information of the fork and the angular speed information of the fork;
the information acquisition module is also used for acquiring gantry acceleration information and gantry angular velocity information of the forklift;
the information determining module is further used for determining the current angle information of the forklift gantry according to the gantry acceleration information and the gantry angular velocity information;
the angle determining module is used for determining the relative inclination angle between the fork and the portal according to the current angle information of the fork of the forklift and the current angle information of the portal of the forklift.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011151887.6A CN112325847A (en) | 2020-10-23 | 2020-10-23 | Forklift inclination angle measuring method, device, storage medium and device |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011151887.6A CN112325847A (en) | 2020-10-23 | 2020-10-23 | Forklift inclination angle measuring method, device, storage medium and device |
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| CN112325847A true CN112325847A (en) | 2021-02-05 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN202011151887.6A Withdrawn CN112325847A (en) | 2020-10-23 | 2020-10-23 | Forklift inclination angle measuring method, device, storage medium and device |
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| CN (1) | CN112325847A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115406405A (en) * | 2022-04-15 | 2022-11-29 | 汉博来自控科技(上海)有限公司 | Solution for level sensor of forklift truck |
| CN116757350A (en) * | 2023-08-11 | 2023-09-15 | 稳石机器人(深圳)有限公司 | Unmanned forklift cluster scheduling processing system |
-
2020
- 2020-10-23 CN CN202011151887.6A patent/CN112325847A/en not_active Withdrawn
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115406405A (en) * | 2022-04-15 | 2022-11-29 | 汉博来自控科技(上海)有限公司 | Solution for level sensor of forklift truck |
| CN116757350A (en) * | 2023-08-11 | 2023-09-15 | 稳石机器人(深圳)有限公司 | Unmanned forklift cluster scheduling processing system |
| CN116757350B (en) * | 2023-08-11 | 2024-04-26 | 稳石机器人(深圳)有限公司 | Unmanned forklift cluster scheduling processing system |
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Application publication date: 20210205 |