CN112721951A - Forklift control method and unmanned forklift - Google Patents
Forklift control method and unmanned forklift Download PDFInfo
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- CN112721951A CN112721951A CN202110055893.XA CN202110055893A CN112721951A CN 112721951 A CN112721951 A CN 112721951A CN 202110055893 A CN202110055893 A CN 202110055893A CN 112721951 A CN112721951 A CN 112721951A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W60/00—Drive control systems specially adapted for autonomous road vehicles
- B60W60/001—Planning or execution of driving tasks
- B60W60/0011—Planning or execution of driving tasks involving control alternatives for a single driving scenario, e.g. planning several paths to avoid obstacles
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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
- 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
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2552/00—Input parameters relating to infrastructure
- B60W2552/50—Barriers
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- Automation & Control Theory (AREA)
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- Forklifts And Lifting Vehicles (AREA)
Abstract
The application discloses a forklift control method and an unmanned forklift, a forklift driving route is determined based on a forklift starting instruction, and forklift steering wheel angle information and accelerator opening information at each road section are determined based on the forklift starting instruction and the forklift driving route, wherein each road section is at least one part of the forklift driving route; and controlling a steering wheel and an accelerator of the forklift based on the angle information of the steering wheel of the forklift and the opening information of the accelerator so as to enable the forklift to run based on the running route of the forklift. According to the scheme, the driving route of the forklift is determined, and the angle information of the steering wheel and the opening degree information of the accelerator of the forklift are determined based on the driving route of the forklift, so that unmanned control over the forklift is achieved based on the determined information, a driver is not required to drive the forklift, and user experience is improved.
Description
Technical Field
The application relates to the field of unmanned driving, in particular to a forklift control method and an unmanned forklift.
Background
Various components are generally transported on an industrial park by a forklift. Fork truck belongs to the industrial apparatus, is controlled by the manual work usually, but because industrial environment is comparatively complicated, this just leads to the fork truck driver to work under environment such as high temperature, many dirt, loud noise often, works under this kind of environment for a long time, can cause the influence to fork truck driver's healthy.
Disclosure of Invention
In view of this, the present application provides a forklift control method and an unmanned forklift, and the specific scheme is as follows:
a forklift control method, comprising:
determining a forklift driving route based on a forklift starting instruction;
determining forklift steering wheel angle information and accelerator opening information of each road section based on the forklift starting instruction and the forklift running route, wherein each road section is at least one part of the forklift running route;
and controlling a steering wheel and an accelerator of the forklift based on the forklift steering wheel angle information and the accelerator opening information so that the forklift runs based on the forklift running route.
Further, the method also comprises the following steps:
detecting a current running road section of the forklift through a laser radar on the forklift, and determining obstacle information of the current running road section, wherein the current running road section is at least one part of a running route of the forklift;
determining whether to adjust the forklift travel route based on the obstacle information.
Further, the determining whether to adjust the forklift driving route based on the obstacle information includes:
and if the obstacle is determined to exist in the current driving road section, switching the current driving road section on the driving route of the forklift on the basis of the related information of the obstacle, or adjusting the steering wheel angle information of the forklift on the basis of the related information of the obstacle so that the forklift avoids the obstacle in the current driving road section.
Further, the method also comprises the following steps:
the method comprises the steps of constructing a map model of a preset activity area of the forklift in advance so that when a forklift starting instruction is received, a forklift driving route can be determined based on the map model.
Further, the method also comprises the following steps:
and in the running process of the forklift, determining three-axis attitude angles and acceleration of the forklift, and determining the attitude of the object so as to adjust the angle information of the steering wheel of the forklift based on the attitude of the object.
Further, detect the current highway section of traveling of fork truck through the last laser radar of fork truck, include:
detecting a current driving road section of the forklift through a first type of laser radar on the forklift;
and detecting the area which cannot be detected by the first type of laser radar through a second type of laser radar on the forklift.
An unmanned forklift comprising:
the forklift comprises a forklift body, a control device and a control device, wherein the forklift body is provided with an executing part for executing forklift actions;
the controller is used for determining a forklift driving route based on a forklift starting instruction, determining forklift steering wheel angle information and accelerator opening information on each road section based on the forklift starting instruction and the forklift driving route, wherein each road section is at least one part of the forklift driving route, and controlling a steering wheel and an accelerator of the forklift based on the forklift steering wheel angle information and the accelerator opening information so that the forklift drives based on the forklift driving route.
Further, the method also comprises the following steps:
the laser radar is used for detecting a current driving road section of the forklift to enable the controller to determine obstacle information of the current driving road section, wherein the current driving road section is at least one part of the driving road section of the forklift, so that whether the driving route of the forklift is adjusted or not is determined based on the obstacle information.
Further, in the above-mentioned case,
the lidar includes at least: first type lidar and second type lidar, wherein:
the first type of laser radar is arranged at the top of the unmanned forklift and used for detecting the current driving road section of the forklift;
the second type of laser radar at least comprises two laser radars, and the two second type of laser radars are arranged at the lower left corner and the lower right corner of the tail of the unmanned forklift respectively and are used for detecting the area which cannot be detected by the first type of laser radar.
Further, the method also comprises the following steps:
and the display is used for displaying the unmanned information of the unmanned forklift and receiving the control information of the unmanned forklift by the user.
According to the technical scheme, the forklift control method and the unmanned forklift are characterized in that a forklift driving route is determined based on a forklift starting instruction, and the forklift steering wheel angle information and the accelerator opening degree information of each road section are determined based on the forklift starting instruction and the forklift driving route, wherein each road section is at least one part of the forklift driving route; and controlling a steering wheel and an accelerator of the forklift based on the angle information of the steering wheel of the forklift and the opening information of the accelerator so as to enable the forklift to run based on the running route of the forklift. According to the scheme, the driving route of the forklift is determined, and the angle information of the steering wheel and the opening degree information of the accelerator of the forklift are determined based on the driving route of the forklift, so that unmanned control over the forklift is achieved based on the determined information, a driver is not required to drive the forklift, and user experience is improved.
Drawings
In order to more clearly illustrate the embodiments of the present application 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 some embodiments of the present application, and for those skilled in the art, other drawings can be obtained according to the drawings without creative efforts.
Fig. 1 is a flowchart of a forklift control method disclosed in an embodiment of the present application;
fig. 2 is a flowchart of a forklift control method disclosed in an embodiment of the present application;
fig. 3 is a schematic structural diagram of an unmanned forklift disclosed in an embodiment of the present application;
fig. 4 is a schematic structural diagram of an unmanned forklift disclosed in an embodiment of the present application.
Detailed Description
The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are only a part of the embodiments of the present application, 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 application.
The application discloses fork truck control method, its flowchart is shown as figure 1, includes:
step S11, determining a forklift driving route based on a forklift starting instruction;
step S12, determining the angle information of the steering wheel and the accelerator opening degree of the forklift on each road section based on the starting instruction of the forklift and the driving route of the forklift, wherein each road section is at least one part of the driving route of the forklift;
and step S13, controlling the steering wheel and the accelerator of the forklift on the basis of the angle information of the steering wheel of the forklift and the opening degree information of the accelerator so that the forklift runs on the basis of the running route of the forklift.
At present, fork truck all needs manual operation just can realize going of vehicle, and this embodiment then carries out unmanned transformation to fork truck to as the basis of guaranteeing that fork truck can carry out unmanned operation.
Firstly, carry out unmanned transformation to traditional fork truck chassis, include: the unmanned transformation of a steering system, the unmanned transformation of a braking system and the unmanned transformation of an accelerator are realized, and the original mechanical or hydraulic power-assisted system is transformed into a linear control system.
And secondly, arranging sensors on the forklift main body, namely a vehicle-mounted industrial control unit and an HMI (human machine interface). The HMI human-computer interaction interface is realized through a display, and the display is used for displaying the unmanned information of the unmanned forklift and receiving the control information of a user on the unmanned forklift.
Wherein the unmanned information includes: the method comprises the following steps of (1) carrying out forklift driving route, steering wheel angle information, accelerator opening information and front image or data information of a forklift driving road section; receiving control information of a user on the unmanned forklift may include: and controlling the turning position, the route adjustment information and the like of the unmanned forklift.
Specifically, in the unmanned forklift, if the controller receives a forklift starting instruction, the controller analyzes the forklift starting instruction.
Wherein, include at least in the fork truck start-up instruction: a starting position and an end position. Planning a driving route based on the starting position and the end position, and finally determining a forklift driving route. If only one driving route is arranged from the initial position to the final position, the driving route is the finally determined driving route of the forklift; and if a plurality of driving routes are available from the starting position to the end position, determining one driving route as a finally determined forklift driving route based on preset conditions. The preset conditions may be: shortest driving distance, shortest driving time, the most smooth driving route and the like.
The forklift starting instruction can also comprise: starting the forklift, and if the forklift starting time is not included in the forklift starting instruction, defaulting that the current moment is the forklift starting time, starting the forklift, and reaching the end point position from the initial position through unmanned driving;
if the forklift starting instruction comprises forklift starting time, and the forklift starting time is that the forklift is started when the forklift starting instruction is received, acquiring the forklift starting instruction, analyzing the forklift starting instruction to determine the forklift starting time, and then starting the forklift; and if the starting time of the forklift is a certain preset time after the current time, after the starting time of the forklift is determined, waiting is needed until the starting time of the forklift is reached, and the forklift is started.
If the starting time of the forklift is a certain preset time after the current time, in a time period waiting for starting of the forklift, a running route of the forklift can be determined firstly, so that when the starting time of the forklift is reached, the forklift is started and can be immediately driven according to the running route of the forklift; the following steps can be also included: when reaching the first moment before the moment of starting the forklift truck, the driving route of the forklift truck is analyzed based on the current road condition information so as to determine the driving route of the forklift truck which accords with the current moment, wherein the first moment is the moment separated from the moment of starting the forklift truck by a first time interval, and the first time interval is a shorter time period, such as: 1 minute, 30 seconds, etc.; the method can also comprise the following steps: when the starting time of the forklift is reached, the current road condition is analyzed while the forklift is started so as to determine the driving route of the forklift.
Or the forklift start instruction comprises the forklift arrival time, namely the forklift start instruction does not limit the forklift start time, only the forklift arrival time is limited, and the forklift arrives at the end position at the forklift arrival time, and starts from the start position whenever the forklift starts; the following steps can be also included: the forklift starting instruction comprises the forklift starting time and the forklift arrival time.
In addition, the forklift start command may include: the road sections needing to be avoided in the driving process, such as: a certain road section is uneven, so that a forklift is bumpy, and articles on the forklift are easily affected. If the forklift starting instruction comprises the road sections needing to be avoided, when the forklift driving route is determined, the road sections needing to be avoided are used as a condition for determining the forklift driving road sections, and only the route meeting the condition can be determined as the forklift driving route.
Of course, other parameters may also be included in the forklift start command, such as: the running speed, etc., will not be described one by one here.
Confirm fork truck steering wheel angle information and throttle opening information at each highway section based on fork truck start-up instruction and fork truck route of traveling, it is specific:
during the starting and driving process of the forklift, the information of the steering wheel angle and the information of the accelerator opening of the forklift on the road section need to be determined based on the relevant information of the road section where the forklift is started, such as: whether a vehicle exists in front of the current position, whether a vehicle exists behind the current position, if the vehicle exists, the speed of the vehicle, which lane is located, the distance between the vehicle and the current position, speed limit information of the current road section and the like.
And determining the angle information of the forklift steering wheel and the accelerator opening degree information on the road section based on the related information of the current road section so as to control the forklift based on the angle information of the forklift steering wheel and the accelerator opening degree information, so that the forklift runs on the basis of the angle information of the forklift steering wheel and the accelerator opening degree information.
The same steering wheel angle information and/or accelerator opening degree information may be available at different positions of the same road section, or different steering wheel angle information and/or accelerator opening degree information may be available, and the steering wheel angle information and the accelerator opening degree information are adjusted in real time based on the road section information.
The forklift control method disclosed in the embodiment determines a forklift driving route based on a forklift starting instruction, and determines forklift steering wheel angle information and accelerator opening information on each road section based on the forklift starting instruction and the forklift driving route, wherein each road section is at least one part of the forklift driving route; and controlling a steering wheel and an accelerator of the forklift based on the angle information of the steering wheel of the forklift and the opening information of the accelerator so as to enable the forklift to run based on the running route of the forklift. According to the scheme, the driving route of the forklift is determined, and the angle information of the steering wheel and the opening degree information of the accelerator of the forklift are determined based on the driving route of the forklift, so that unmanned control over the forklift is achieved based on the determined information, a driver is not required to drive the forklift, and user experience is improved.
The embodiment discloses a forklift control method, a flowchart of which is shown in fig. 2, and the method comprises the following steps:
step S21, determining a forklift driving route based on a forklift starting instruction;
step S22, determining the angle information of the steering wheel and the accelerator opening degree of the forklift on each road section based on the starting instruction of the forklift and the driving route of the forklift, wherein each road section is at least one part of the driving route of the forklift;
step S23, controlling a steering wheel and an accelerator of the forklift on the basis of the angle information of the steering wheel of the forklift and the opening information of the accelerator, so that the forklift runs on the basis of a running route of the forklift;
step S24, detecting a current driving road section of the forklift through a laser radar on the forklift, and determining obstacle information of the current driving road section, wherein the current driving road section is at least one part of a driving route of the forklift;
and step S25, determining whether to adjust the forklift driving route based on the obstacle information.
In the running process of the forklift, obstacle information is detected through the laser radar to complete sensing and navigation functions for use in behavior decision, a feasible path is planned by the behavior decision according to a result obtained by calculation in sensing high-altitude navigation, a steering wheel rotating angle and an accelerator opening degree are calculated by the controller according to the path generated in the decision planning aspect, the forklift is guaranteed to arrive at a preset position, namely a terminal position on time, loading or unloading of goods is completed, and unmanned driving of the forklift is achieved.
Wherein, laser radar includes at least: a first type of lidar and a second type of lidar.
The first type of laser radar is used for detecting the current running road section of the forklift; the second type of laser radar is used for detecting the area which cannot be detected by the first type of laser radar, namely the first type of laser radar is used for drawing and positioning, and the second type of laser radar is used for blind-repairing of the first type of laser radar.
The first type of laser radar can be one and is arranged at the top of the unmanned forklift, the second type of laser radar at least comprises two laser radars, one laser radar is arranged at the lower left corner of the tail of the unmanned forklift, and the other laser radar is arranged at the lower right corner of the tail of the unmanned forklift.
Because first type of laser radar and second type of laser radar set up the position differently, and first type of laser radar sets up at the top, second type of laser radar sets up in the bottom, this results in using first type of laser radar to carry out road detection time, the road condition that has in the specific angle can't be obtained, this second type of laser radar that just needs to set up in different positions, the road condition in this specific angle can be monitored to second type of laser radar, so that the road condition that first type of laser radar detected and the road condition combination that second type of laser radar detected, can obtain the road condition of this complete highway section in the current highway section of traveling, avoid leading to the road condition to detect incompletely because the problem of laser radar angle, and the condition of accident appears.
As shown in fig. 3, is a schematic structural diagram of an unmanned forklift, and includes: first type lidar 31 and second type lidar 32, wherein, there are at least two second type lidar 32.
In addition, still can set up the display on unmanned fork truck, this display can specifically be human-computer interaction equipment, can set up the intermediate position at fork truck, perhaps, sets up it on the structure that can adjust from top to bottom to guarantee that the driver can adjust the position of this display according to its use habit.
The first type of laser radar can be a 32-line laser radar, and the second type of laser radar can be a single-line laser radar.
Further, whether to adjust the driving route of the forklift is determined based on the obstacle information, and the method comprises the following steps:
and if the obstacle is determined to exist in the current driving road section, switching the current driving road section on the driving route of the forklift on the basis of the related information of the obstacle, or adjusting the steering wheel angle information of the forklift on the basis of the related information of the obstacle so that the forklift avoids the obstacle in the current driving road section.
Specifically, if an obstacle appears on the current driving road section, or the current driving road section is blocked, or a road section in front of the current driving road section is blocked, at this time, it can be determined that the driving route of the forklift needs to be adjusted.
If the current driving road section or the road section in front of the current driving road section is blocked, route planning can be carried out based on the current position and the end point position, if other routes exist, the route can be switched, and if other routes do not exist, only one route of the current used forklift driving route exists, and driving is continued according to the forklift driving route.
If the obstacle appears in the current driving road section, determining relevant information of the obstacle, such as: the size of the obstacle, its proportion to the current road, etc.
If the obstacle is determined to cause the current road to be broken and unable to pass through the analysis of the obstacle, the route planning is carried out again, and other routes are switched to run; if the obstacle is determined to be on the current road, so that the forklift can not pass smoothly, re-planning a route; if the obstacle is determined to be small and only occupies one or a plurality of lanes of the current road, but the lanes still can pass, determining whether the lane occupied by the obstacle is the same as the lane currently driven by the forklift, if so, switching the lane currently driven by the forklift into the lane capable of passing in the current driving road section, continuing driving, and if the lane occupied by the obstacle is different from the lane currently driven by the forklift, continuing driving along the current lane, and only determining whether the accelerator opening degree needs to be adjusted based on the current road condition information.
Further, the method can also comprise the following steps:
the method comprises the steps of constructing a map model of a preset activity area of the forklift in advance so that when a forklift starting instruction is received, a forklift driving route can be determined based on the map model.
Specifically, in the positioning mode, a map model does not need to be constructed, wherein in the positioning mode, namely in the forklift driving process, the forklift only needs to drive according to a planned route according to a pre-constructed map; in the map building mode, a map needs to be built in real time.
Wherein, the map construction mode is that fork truck is in the non-process of traveling, can be: the preset activity area is changed to fork truck, and at this moment, need carry out map model's construction to the preset activity area after changing, change the activity area can be for: whether the forklift is still in the original preset activity area or not is determined based on the positioning information of the forklift, if the preset activity area is not changed, the map model does not need to be built, and if the preset activity area is changed, the map model needs to be built.
Further, the method can also comprise the following steps:
and in the running process of the forklift, determining three-axis attitude angles and acceleration of the forklift, and determining the attitude of the object so as to adjust the angle information of the steering wheel of the forklift based on the attitude of the object.
The method specifically comprises the steps of measuring three-axis attitude angles (or angular rates) and accelerations of an object of the forklift by using an inertial measurement unit, specifically measuring the angular speeds and the accelerations of the forklift in a three-dimensional space by using three-axis gyroscopes and three-direction accelerometers, so as to determine the current attitude of the forklift, and further generate a smooth path according to the current attitude of the forklift and control the movement track of the forklift.
Wherein, the inertia measurement unit can be arranged at the position of the center of gravity of the forklift.
In addition, in the forklift control method disclosed in this embodiment, the transmission of each signal may adopt CAN communication, so as to improve the data communication efficiency.
The forklift control method disclosed in the embodiment determines a forklift driving route based on a forklift starting instruction, and determines forklift steering wheel angle information and accelerator opening information on each road section based on the forklift starting instruction and the forklift driving route, wherein each road section is at least one part of the forklift driving route; and controlling a steering wheel and an accelerator of the forklift based on the angle information of the steering wheel of the forklift and the opening information of the accelerator so as to enable the forklift to run based on the running route of the forklift. According to the scheme, the driving route of the forklift is determined, and the angle information of the steering wheel and the opening degree information of the accelerator of the forklift are determined based on the driving route of the forklift, so that unmanned control over the forklift is achieved based on the determined information, a driver is not required to drive the forklift, and user experience is improved.
The embodiment discloses unmanned fork truck, its schematic structure diagram is shown in fig. 4, includes:
a forklift body 41 and a controller 42.
The forklift body is provided with an executing component for executing forklift actions;
the controller is used for determining a forklift driving route based on the forklift starting instruction, determining forklift steering wheel angle information and accelerator opening information on each road section based on the forklift starting instruction and the forklift driving route, wherein each road section is at least one part of the forklift driving route, and controlling a steering wheel and an accelerator of the forklift based on the forklift steering wheel angle information and the accelerator opening information so that the forklift drives based on the forklift driving route.
At present, fork truck all needs manual operation just can realize going of vehicle, and this embodiment then carries out unmanned transformation to fork truck to as the basis of guaranteeing that fork truck can carry out unmanned operation.
Firstly, carry out unmanned transformation to traditional fork truck chassis, include: the unmanned transformation of a steering system, the unmanned transformation of a braking system and the unmanned transformation of an accelerator are realized, and the original mechanical or hydraulic power-assisted system is transformed into a linear control system.
And secondly, arranging sensors on the forklift main body, namely a vehicle-mounted industrial control unit and an HMI (human machine interface). The HMI human-computer interaction interface is realized through a display, and the display is used for displaying the unmanned information of the unmanned forklift and receiving the control information of a user on the unmanned forklift.
Wherein the unmanned information includes: the method comprises the following steps of (1) carrying out forklift driving route, steering wheel angle information, accelerator opening information and front image or data information of a forklift driving road section; receiving control information of a user on the unmanned forklift may include: and controlling the turning position, the route adjustment information and the like of the unmanned forklift.
Specifically, in the unmanned forklift, if the controller receives a forklift starting instruction, the controller analyzes the forklift starting instruction.
Wherein, include at least in the fork truck start-up instruction: a starting position and an end position. Planning a driving route based on the starting position and the end position, and finally determining a forklift driving route. If only one driving route is arranged from the initial position to the final position, the driving route is the finally determined driving route of the forklift; and if a plurality of driving routes are available from the starting position to the end position, determining one driving route as a finally determined forklift driving route based on preset conditions. The preset conditions may be: shortest driving distance, shortest driving time, the most smooth driving route and the like.
The forklift starting instruction can also comprise: starting the forklift, and if the forklift starting time is not included in the forklift starting instruction, defaulting that the current moment is the forklift starting time, starting the forklift, and reaching the end point position from the initial position through unmanned driving;
if the forklift starting instruction comprises forklift starting time, and the forklift starting time is that the forklift is started when the forklift starting instruction is received, acquiring the forklift starting instruction, analyzing the forklift starting instruction to determine the forklift starting time, and then starting the forklift; and if the starting time of the forklift is a certain preset time after the current time, after the starting time of the forklift is determined, waiting is needed until the starting time of the forklift is reached, and the forklift is started.
If the starting time of the forklift is a certain preset time after the current time, in a time period waiting for starting of the forklift, a running route of the forklift can be determined firstly, so that when the starting time of the forklift is reached, the forklift is started and can be immediately driven according to the running route of the forklift; the following steps can be also included: when reaching the first moment before the moment of starting the forklift truck, the driving route of the forklift truck is analyzed based on the current road condition information so as to determine the driving route of the forklift truck which accords with the current moment, wherein the first moment is the moment separated from the moment of starting the forklift truck by a first time interval, and the first time interval is a shorter time period, such as: 1 minute, 30 seconds, etc.; the method can also comprise the following steps: when the starting time of the forklift is reached, the current road condition is analyzed while the forklift is started so as to determine the driving route of the forklift.
Or the forklift start instruction comprises the forklift arrival time, namely the forklift start instruction does not limit the forklift start time, only the forklift arrival time is limited, and the forklift arrives at the end position at the forklift arrival time, and starts from the start position whenever the forklift starts; the following steps can be also included: the forklift starting instruction comprises the forklift starting time and the forklift arrival time.
In addition, the forklift start command may include: the road sections needing to be avoided in the driving process, such as: a certain road section is uneven, so that a forklift is bumpy, and articles on the forklift are easily affected. If the forklift starting instruction comprises the road sections needing to be avoided, when the forklift driving route is determined, the road sections needing to be avoided are used as a condition for determining the forklift driving road sections, and only the route meeting the condition can be determined as the forklift driving route.
Of course, other parameters may also be included in the forklift start command, such as: the running speed, etc., will not be described one by one here.
Confirm fork truck steering wheel angle information and throttle opening information at each highway section based on fork truck start-up instruction and fork truck route of traveling, it is specific:
during the starting and driving process of the forklift, the information of the steering wheel angle and the information of the accelerator opening of the forklift on the road section need to be determined based on the relevant information of the road section where the forklift is started, such as: whether a vehicle exists in front of the current position, whether a vehicle exists behind the current position, if the vehicle exists, the speed of the vehicle, which lane is located, the distance between the vehicle and the current position, speed limit information of the current road section and the like.
And determining the angle information of the forklift steering wheel and the accelerator opening degree information on the road section based on the related information of the current road section so as to control the forklift based on the angle information of the forklift steering wheel and the accelerator opening degree information, so that the forklift runs on the basis of the angle information of the forklift steering wheel and the accelerator opening degree information.
The same steering wheel angle information and/or accelerator opening degree information may be available at different positions of the same road section, or different steering wheel angle information and/or accelerator opening degree information may be available, and the steering wheel angle information and the accelerator opening degree information are adjusted in real time based on the road section information.
Further, the controller is further configured to: the method comprises the steps of detecting a current running road section of the forklift through a laser radar on the forklift, determining obstacle information of the current running road section, wherein the current running road section is at least one part of a running route of the forklift, and determining whether to adjust the running route of the forklift or not based on the obstacle information.
In the running process of the forklift, obstacle information is detected through the laser radar to complete sensing and navigation functions for use in behavior decision, a feasible path is planned by the behavior decision according to a result obtained by calculation in sensing high-altitude navigation, a steering wheel rotating angle and an accelerator opening degree are calculated by the controller according to the path generated in the decision planning aspect, the forklift is guaranteed to arrive at a preset position, namely a terminal position on time, loading or unloading of goods is completed, and unmanned driving of the forklift is achieved.
Wherein, laser radar includes at least: a first type of lidar and a second type of lidar.
The first type of laser radar is used for detecting the current running road section of the forklift; the second type of laser radar is used for detecting the area which cannot be detected by the first type of laser radar, namely the first type of laser radar is used for drawing and positioning, and the second type of laser radar is used for blind-repairing of the first type of laser radar.
The first type of laser radar can be one and is arranged at the top of the unmanned forklift, the second type of laser radar at least comprises two laser radars, one laser radar is arranged at the lower left corner of the tail of the unmanned forklift, and the other laser radar is arranged at the lower right corner of the tail of the unmanned forklift.
Because first type of laser radar and second type of laser radar set up the position differently, and first type of laser radar sets up at the top, second type of laser radar sets up in the bottom, this results in using first type of laser radar to carry out road detection time, the road condition that has in the specific angle can't be obtained, this second type of laser radar that just needs to set up in different positions, the road condition in this specific angle can be monitored to second type of laser radar, so that the road condition that first type of laser radar detected and the road condition combination that second type of laser radar detected, can obtain the road condition of this complete highway section in the current highway section of traveling, avoid leading to the road condition to detect incompletely because the problem of laser radar angle, and the condition of accident appears.
As shown in fig. 3, is a schematic structural diagram of an unmanned forklift, and includes: first type lidar 31 and second type lidar 32, wherein, there are at least two second type lidar 32.
In addition, still can set up the display on unmanned fork truck, this display can specifically be human-computer interaction equipment, can set up the intermediate position at fork truck, perhaps, sets up it on the structure that can adjust from top to bottom to guarantee that the driver can adjust the position of this display according to its use habit.
The first type of laser radar can be a 32-line laser radar, and the second type of laser radar can be a single-line laser radar.
Further, whether to adjust the driving route of the forklift is determined based on the obstacle information, and the method comprises the following steps:
and if the obstacle is determined to exist in the current driving road section, switching the current driving road section on the driving route of the forklift on the basis of the related information of the obstacle, or adjusting the steering wheel angle information of the forklift on the basis of the related information of the obstacle so that the forklift avoids the obstacle in the current driving road section.
Specifically, if an obstacle appears on the current driving road section, or the current driving road section is blocked, or a road section in front of the current driving road section is blocked, at this time, it can be determined that the driving route of the forklift needs to be adjusted.
If the current driving road section or the road section in front of the current driving road section is blocked, route planning can be carried out based on the current position and the end point position, if other routes exist, the route can be switched, and if other routes do not exist, only one route of the current used forklift driving route exists, and driving is continued according to the forklift driving route.
If the obstacle appears in the current driving road section, determining relevant information of the obstacle, such as: the size of the obstacle, its proportion to the current road, etc.
If the obstacle is determined to cause the current road to be broken and unable to pass through the analysis of the obstacle, the route planning is carried out again, and other routes are switched to run; if the obstacle is determined to be on the current road, so that the forklift can not pass smoothly, re-planning a route; if the obstacle is determined to be small and only occupies one or a plurality of lanes of the current road, but the lanes still can pass, determining whether the lane occupied by the obstacle is the same as the lane currently driven by the forklift, if so, switching the lane currently driven by the forklift into the lane capable of passing in the current driving road section, continuing driving, and if the lane occupied by the obstacle is different from the lane currently driven by the forklift, continuing driving along the current lane, and only determining whether the accelerator opening degree needs to be adjusted based on the current road condition information.
Further, the method can also comprise the following steps:
the method comprises the steps of constructing a map model of a preset activity area of the forklift in advance so that when a forklift starting instruction is received, a forklift driving route can be determined based on the map model.
Specifically, in the positioning mode, a map model does not need to be constructed, wherein in the positioning mode, namely in the forklift driving process, the forklift only needs to drive according to a planned route according to a pre-constructed map; in the map building mode, a map needs to be built in real time.
Wherein, the map construction mode is that fork truck is in the non-process of traveling, can be: the preset activity area is changed to fork truck, and at this moment, need carry out map model's construction to the preset activity area after changing, change the activity area can be for: whether the forklift is still in the original preset activity area or not is determined based on the positioning information of the forklift, if the preset activity area is not changed, the map model does not need to be built, and if the preset activity area is changed, the map model needs to be built.
Further, the method can also comprise the following steps:
and in the running process of the forklift, determining three-axis attitude angles and acceleration of the forklift, and determining the attitude of the object so as to adjust the angle information of the steering wheel of the forklift based on the attitude of the object.
The method specifically comprises the steps of measuring three-axis attitude angles (or angular rates) and accelerations of an object of the forklift by using an inertial measurement unit, specifically measuring the angular speeds and the accelerations of the forklift in a three-dimensional space by using three-axis gyroscopes and three-direction accelerometers, so as to determine the current attitude of the forklift, and further generate a smooth path according to the current attitude of the forklift and control the movement track of the forklift.
Wherein, the inertia measurement unit can be arranged at the position of the center of gravity of the forklift.
In addition, in the forklift control method disclosed in this embodiment, the transmission of each signal may adopt CAN communication, so as to improve the data communication efficiency.
The unmanned forklift disclosed in this embodiment determines a forklift running route based on a forklift starting instruction, and determines forklift steering wheel angle information and accelerator opening information at each road section based on the forklift starting instruction and the forklift running route, wherein each road section is at least one part of the forklift running route; and controlling a steering wheel and an accelerator of the forklift based on the angle information of the steering wheel of the forklift and the opening information of the accelerator so as to enable the forklift to run based on the running route of the forklift. According to the scheme, the driving route of the forklift is determined, and the angle information of the steering wheel and the opening degree information of the accelerator of the forklift are determined based on the driving route of the forklift, so that unmanned control over the forklift is achieved based on the determined information, a driver is not required to drive the forklift, and user experience is improved.
The embodiments in the present description are described in a progressive manner, each embodiment focuses on differences from other embodiments, and the same and similar parts among the embodiments are referred to each other. The device disclosed by the embodiment corresponds to the method disclosed by the embodiment, so that the description is simple, and the relevant points can be referred to the method part for description.
Those of skill would further appreciate that the various illustrative elements and algorithm steps described in connection with the embodiments disclosed herein may be implemented as electronic hardware, computer software, or combinations of both, and that the various illustrative components and steps have been described above generally in terms of their functionality in order to clearly illustrate this interchangeability of hardware and software. Whether such functionality is implemented as hardware or software depends upon the particular application and design constraints imposed on the implementation. Skilled artisans may implement the described functionality in varying ways for each particular application, but such implementation decisions should not be interpreted as causing a departure from the scope of the present application.
The steps of a method or algorithm described in connection with the embodiments disclosed herein may be embodied directly in hardware, in a software module executed by a processor, or in a combination of the two. A software module may reside in Random Access Memory (RAM), memory, Read Only Memory (ROM), electrically programmable ROM, electrically erasable programmable ROM, registers, hard disk, a removable disk, a CD-ROM, or any other form of storage medium known in the art.
The previous description of the disclosed embodiments is provided to enable any person skilled in the art to make or use the present application. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the application. Thus, the present application is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.
Claims (10)
1. A forklift control method is characterized by comprising the following steps:
determining a forklift driving route based on a forklift starting instruction;
determining forklift steering wheel angle information and accelerator opening information of each road section based on the forklift starting instruction and the forklift running route, wherein each road section is at least one part of the forklift running route;
and controlling a steering wheel and an accelerator of the forklift based on the forklift steering wheel angle information and the accelerator opening information so that the forklift runs based on the forklift running route.
2. The method of claim 1, further comprising:
detecting a current running road section of the forklift through a laser radar on the forklift, and determining obstacle information of the current running road section, wherein the current running road section is at least one part of a running route of the forklift;
determining whether to adjust the forklift travel route based on the obstacle information.
3. The method of claim 2, wherein the determining whether to adjust the forklift travel route based on the obstacle information comprises:
and if the obstacle is determined to exist in the current driving road section, switching the current driving road section on the driving route of the forklift on the basis of the related information of the obstacle, or adjusting the steering wheel angle information of the forklift on the basis of the related information of the obstacle so that the forklift avoids the obstacle in the current driving road section.
4. The method of claim 1, further comprising:
the method comprises the steps of constructing a map model of a preset activity area of the forklift in advance so that when a forklift starting instruction is received, a forklift driving route can be determined based on the map model.
5. The method of claim 1, further comprising:
and in the running process of the forklift, determining three-axis attitude angles and acceleration of the forklift, and determining the attitude of the object so as to adjust the angle information of the steering wheel of the forklift based on the attitude of the object.
6. The method according to the law of claim 2, wherein the detection of the current driving section of the forklift through the laser radar on the forklift comprises the following steps:
detecting a current driving road section of the forklift through a first type of laser radar on the forklift;
and detecting the area which cannot be detected by the first type of laser radar through a second type of laser radar on the forklift.
7. An unmanned forklift, comprising:
the forklift comprises a forklift body, a control device and a control device, wherein the forklift body is provided with an executing part for executing forklift actions;
the controller is used for determining a forklift driving route based on a forklift starting instruction, determining forklift steering wheel angle information and accelerator opening information on each road section based on the forklift starting instruction and the forklift driving route, wherein each road section is at least one part of the forklift driving route, and controlling a steering wheel and an accelerator of the forklift based on the forklift steering wheel angle information and the accelerator opening information so that the forklift drives based on the forklift driving route.
8. The unmanned forklift of claim 7, further comprising:
the laser radar is used for detecting a current driving road section of the forklift to enable the controller to determine obstacle information of the current driving road section, wherein the current driving road section is at least one part of the driving road section of the forklift, so that whether the driving route of the forklift is adjusted or not is determined based on the obstacle information.
9. The unmanned forklift of claim 8,
the lidar includes at least: first type lidar and second type lidar, wherein:
the first type of laser radar is arranged at the top of the unmanned forklift and used for detecting the current driving road section of the forklift;
the second type of laser radar at least comprises two laser radars, and the two second type of laser radars are arranged at the lower left corner and the lower right corner of the tail of the unmanned forklift respectively and are used for detecting the area which cannot be detected by the first type of laser radar.
10. The unmanned forklift of claim 7, further comprising:
and the display is used for displaying the unmanned information of the unmanned forklift and receiving the control information of the unmanned forklift by the user.
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