CN113816303B - Method for safely moving goods by intelligent AGV high-position forklift - Google Patents
Method for safely moving goods by intelligent AGV high-position forklift Download PDFInfo
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- CN113816303B CN113816303B CN202111241162.0A CN202111241162A CN113816303B CN 113816303 B CN113816303 B CN 113816303B CN 202111241162 A CN202111241162 A CN 202111241162A CN 113816303 B CN113816303 B CN 113816303B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
- B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
- B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
- B66F9/063—Automatically guided
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
- B66F17/00—Safety devices, e.g. for limiting or indicating lifting force
- B66F17/003—Safety devices, e.g. for limiting or indicating lifting force for fork-lift trucks
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
- B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
- B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
- B66F9/075—Constructional features or details
- B66F9/0755—Position control; Position detectors
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
- B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
- B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
- B66F9/075—Constructional features or details
- B66F9/20—Means for actuating or controlling masts, platforms, or forks
Abstract
The invention discloses a method for safely moving goods by an intelligent AGV high-position forklift, and relates to the technical field of logistics equipment. The method comprises the steps that through a tray ranging sensor and a shelf ranging sensor which are arranged on a fork frame, and by means of a laser ranging technology, in the working process, whether the shaking amplitude of a door frame is within an allowable range or not can be determined by detecting the variation of the difference value of the distance between the door frame and a shelf beam; determining whether the tray can be placed on the shelf by comparing whether the difference between the distance between the door frame and the tray and the distance between the door frame and the shelf beam is within a threshold value; whether the deviation of the distance through detecting portal and tray and the AGV high-order fork truck actual displacement volume is normal, judge whether there is the phenomenon of pushing away or pulling the tray to ensure the security of getting and putting goods.
Description
Technical Field
The invention relates to the technical field of logistics equipment, in particular to a method for safely moving goods by an intelligent AGV high-position forklift.
Background
Fork truck also obtains wide application in the commodity circulation field as important handling tool, because the commodity circulation field has its particularity, and the height of general goods shelves is higher, therefore often uses high-order fork truck in the commodity circulation field, and present high-order fork truck mainly has following several aspects's problem:
first, high-order fork truck is too high when stretching out because the portal, when the automobile body removed or the portal removed, can take place to rock unavoidably. When putting goods, if the portal is still rocking, the position of putting goods skew just can appear to lead to the tray can't put on goods shelves, the risk that the goods dropped.
Secondly, most AGV forklifts record the position and height of each goods position of a goods shelf, and then the AGV travels to the specified position of the goods position to take and place the goods. In the process of taking goods, the AGV has no detection on the tray, and only directly takes goods after reaching the target position. After the problems of ground settlement, goods shelf deformation, AGV portal abrasion verticality change and the like occur, deviation occurs in the position where the AGV takes and puts goods. Possibly resulting in a knock against the tray when the goods are taken.
Thirdly, the AGV can not accomplish the detection to the tray quality in getting the goods in-process. There are a number of pallet quality problems in actual field use, such as pallet collapse, nonstandard size, leg slippage, loss, etc. The goods taking and placing device can drag and push goods when the goods are taken and placed, and finally the goods are taken and placed in failure and fall accidents occur.
Disclosure of Invention
In order to solve the problems, the invention provides a method for safely moving goods by an intelligent AGV high-position forklift, which can detect the shaking condition of a portal frame and the accuracy of a goods placing position by matching a tray distance measuring sensor and a goods shelf distance measuring sensor, and can prevent a pallet from being pushed or pulled when the pallet is separated from the pallet, thereby ensuring the safety of goods taking and placing.
The technical scheme adopted by the invention for solving the technical problems is as follows:
a method for safely moving goods by an intelligent AGV high-position forklift comprises the following steps that 1.1, the AGV high-position forklift moves to an appointed position;
1.2 the fork is lifted to a specified height;
1.3, the pallet fork moves forward, and the pallet with goods is sent into the goods shelf;
1.4, detecting the shaking condition of the portal frame through a shelf ranging sensor;
1.4.1 the shelf ranging sensor continuously detects the distance A between the shelf ranging sensor and the shelf at a certain frequency;
1.4.2 maximum A of the distances measured in T1 secondsmaxAnd a minimum value AminAnd the difference is made to obtain a difference value delta A;
1.4.3 comparing Δ a with a set value a';
1.4.3.1 when the difference delta A is smaller than a set value A', carrying out the next operation;
1.4.3.2 when the difference delta A is larger than the set value A', stopping the AGV high-level forklift, waiting for T2 seconds, and repeating the operation of the step 1.4.1-1.4.3;
1.5, descending the pallet fork, and placing the pallet with the goods on the goods position;
1.6 the fork moves back to the original position.
Further, in step 1.5, before the pallet with the goods is placed on the goods space, the goods placement offset position detection is performed by the shelf ranging sensor and the pallet ranging sensor, and the goods placement offset position detection comprises the following steps,
1.5.1 the tray ranging sensor detects the distance B1 between the tray ranging sensor and the tray, and the shelf ranging sensor detects the distance B2 between the shelf ranging sensor and the shelf;
1.5.2 subtracting the distance B1 from the distance B2 to obtain a difference value delta B;
1.5.3 comparing the difference delta B obtained in the step 1.5.2 with a set range;
1.5.3.1 when the difference value Delta B is in the set range, continuing the next step;
1.5.3.2 when the difference value delta B is out of the set range, stopping the machine to alarm and waiting for manual treatment;
further, in step 1.6, drag detection is performed during the backward movement and return of the fork, and the drag detection includes the following steps,
1.6.1 the tray ranging sensor detects the distance between the tray ranging sensor and the tray to obtain a distance C1;
1.6.2 after the fork moves backwards for T4 seconds, the tray ranging sensor detects the distance between the tray ranging sensor and the tray again to obtain a distance C2;
1.6.3 differencing the distances C1 and C2 to a difference Δ C;
1.6.4 comparing the difference Δ C to the distance D1 traveled by the forks;
1.6.4.1 when the difference value deltaC is less than the moving distance D1 of the fork, stopping the machine to alarm and waiting for manual treatment;
1.6.4.2 when the difference deltac is larger than or equal to the distance D1 for moving the fork, the fork continues to move backwards;
1.6.5, repeating the steps 1.6.2-1.6.4 until the forks are completely disengaged from the pallet, completing the entire put operation.
Further, the method also comprises a goods taking process, wherein the goods taking process comprises the following steps,
2.1 moving the AGV high-position forklift to a designated position;
2.2 lifting the pallet fork to a specified height;
2.3, the fork moves forwards to take goods, and ejection detection is carried out in the process of moving forwards;
2.3.1 the tray ranging sensor detects the distance between the tray ranging sensor and the tray to obtain a distance E1;
2.3.2 after T5 seconds, the tray ranging sensor again detects the distance between the tray ranging sensor and the tray to obtain a distance E2, the distances E1 and E2 are differenced to obtain a difference value delta E1, and then the difference value delta E1 is compared with the distance F1 that the fork moves in the same time period;
2.3.2.1 when the delta E1 is smaller than F1, stopping the machine to alarm, and waiting for manual processing;
2.3.2.2 when Δ E1 is equal to or greater than F1, the fork continues to move forward;
2.3.3 repeating the operation of step 2.3.2 until the forks of the AGV high-level forklift are fully inserted into the insertion holes of the pallet.
2.4 the fork is promoted, removes the goods, accomplishes and gets the goods task.
Further, the method also comprises a goods taking process, wherein the goods taking process comprises the following steps,
2.1 moving the AGV high-position forklift to a designated position;
2.2 lifting the pallet fork to a specified height;
2.3, the fork moves forwards to take goods, and ejection detection is carried out in the process of moving forwards;
2.3.1 the tray ranging sensor detects the distance between the tray ranging sensor and the tray to obtain a distance E1;
2.3.2 after the interval of T5 seconds, the tray ranging sensor detects the distance between the tray ranging sensor and the tray again to obtain a distance E2;
2.3.3 differencing the distances E1 and E2 to give a difference Δ E1;
2.3.4 comparing the difference Δ E1 with the distance F1 the forks moved during the same time period;
2.3.4.1 when the delta E1 is smaller than F1, stopping the machine to alarm, and waiting for manual processing;
2.3.4.2 when Δ E1 equals F1, after an interval of T6 seconds, the operations of steps 2.3.1 to 2.3.4 are repeated until the forks of the AGV high lift truck are fully inserted into the receptacles of the pallet.
2.4 the fork is lifted, the goods are moved away, and the goods taking task is completed.
A method for safely moving goods by an intelligent AGV high-position forklift comprises the following steps that 2.1 when goods are taken, the AGV high-position forklift moves to an appointed position;
2.2 lifting the pallet fork to a specified height;
2.3, the fork moves forwards to take goods, and ejection detection is carried out in the process of moving forwards;
2.3.1 the tray ranging sensor detects the distance between the tray ranging sensor and the tray to obtain a distance E1;
2.3.2 after T5 seconds, the tray ranging sensor again detects the distance between the tray ranging sensor and the tray to obtain a distance E2, the distances E1 and E2 are differenced to obtain a difference value delta E1, and then the difference value delta E1 is compared with the distance F1 that the fork moves in the same time period;
2.3.2.1 when the delta E1 is smaller than F1, stopping the machine to alarm and waiting for manual processing;
2.3.2.2 when Δ E1 is equal to or greater than F1, the fork continues to move forward;
2.3.3 repeating the operation of step 2.3.2 until the forks of the AGV high-level forklift are fully inserted into the insertion holes of the pallet.
2.4 the fork is lifted, the goods are moved away, and the goods taking task is completed.
Further, in step 2.3, before the fork moves forward to pick up the goods, the shaking detection is carried out, and comprises the following steps,
firstly, a shelf ranging sensor continuously detects the distance A between the shelf ranging sensor and a shelf at a certain frequency;
second, take the maximum A of the distance measured in T1 secondsmaxAnd a minimum value AminObtaining a difference value delta A by difference;
thirdly, comparing the delta A with a set value A';
when the difference value delta A is smaller than a set value A', the next operation is carried out;
and when the difference value delta A is larger than the set value A', stopping the AGV high-position forklift, waiting for T2 seconds, and repeating the operation from the first step to the third step.
Further, the method also comprises a goods putting process, wherein the goods putting process comprises the following steps,
1.1 moving an AGV high-position forklift to a specified position;
1.2 the fork is lifted to a specified height;
1.3, the pallet fork moves forward, and the pallet with goods is sent into the goods shelf;
1.4, detecting the shaking condition of the portal frame through a shelf ranging sensor;
1.4.1 the shelf ranging sensor continuously detects the distance A between the shelf ranging sensor and the shelf at a certain frequency;
1.4.2 maximum A of the distances measured in T1 secondsmaxAnd a minimum value AminAnd the difference is made to obtain a difference value delta A;
1.4.3 comparing Δ A with a set value A';
1.4.3.1 when the difference delta A is smaller than a set value A', carrying out the next operation;
1.4.3.2 when the difference value delta A is larger than the set value A', stopping the AGV high-level forklift, waiting for T2 seconds, and repeating the operation of the step 1.4.1-1.4.3;
1.5, descending the pallet fork, and placing the pallet with the goods on the goods position;
1.6 the fork moves back to the original position.
Further, in step 1.5, before the pallet with the goods is placed on the goods space, the goods placement offset position detection is performed by the shelf ranging sensor and the pallet ranging sensor, and the goods placement offset position detection comprises the following steps,
1.5.1 the tray ranging sensor detects the distance B1 between the tray ranging sensor and the tray, and the shelf ranging sensor detects the distance B2 between the shelf ranging sensor and the shelf;
1.5.2 subtracting the distance B1 from the distance B2 to obtain a difference value delta B;
1.5.3 comparing the difference delta B obtained in the step 1.5.2 with a set range;
1.5.3.1 when the difference value Delta B is in the set range, continuing the next step;
1.5.3.2 when the difference value delta B is out of the set range, stopping the machine to alarm and waiting for manual treatment;
further, in step 1.6, drag detection is performed during the backward movement and return of the fork, and the drag detection includes the following steps,
1.6.1 the tray ranging sensor detects the distance between the tray ranging sensor and the tray to obtain a distance C1;
1.6.2 after the fork moves backwards for T4 seconds, the tray ranging sensor detects the distance between the tray ranging sensor and the tray again to obtain a distance C2;
1.6.3 differencing the distances C1 and C2 to a difference value Δ C;
1.6.4 comparing the difference Δ C to the distance D1 traveled by the forks;
1.6.4.1 when the difference value deltaC is less than the moving distance D1 of the fork, stopping the machine to alarm and waiting for manual treatment;
1.6.4.2 when the difference deltac is larger than or equal to the distance D1 for moving the fork, the fork continues to move backwards;
1.6.5, repeating the steps 1.6.2-1.6.4 until the forks are completely disengaged from the pallet, completing the entire put operation.
The invention has the beneficial effects that:
1. according to the method, the tray ranging sensor and the shelf ranging sensor are matched, laser ranging is utilized, the door frame can be rocked, the goods placement offset position and the pushing and pulling tray are detected under four abnormal conditions, the tray can be effectively prevented from being offset, falling and the like in comparison with a traditional blind fetching mode, and the safety in the goods fetching and placing process is improved.
2. This high-order fork truck's goods shelves range sensor sets up on the second mounting panel to confirm goods shelves range sensor's lower limit position through installing the limiting plate on the portal, like this, under the unchangeable prerequisite of lower limit position of guaranteeing the fork, can also make goods shelves range sensor automatic descending to tray range sensor's below at work, thereby detect the distance of goods shelves.
Drawings
FIG. 1 is a first schematic perspective view of the high lift truck;
FIG. 2 is an enlarged schematic view of portion A of FIG. 1;
FIG. 3 is a schematic view of the installation structure of the shelf ranging sensor and the tray ranging sensor;
FIG. 4 is a schematic perspective view of the second embodiment of the present high lift truck;
FIG. 5 is an enlarged schematic view of portion B of FIG. 4;
FIG. 6 is a schematic diagram of the shake detection principle;
FIG. 7 is a schematic view of the principle of detecting the stocking offset position;
FIG. 8 is a schematic view of a drag tray detection principle;
fig. 9 is a schematic diagram of the test principle of the ejection tray.
In the figure: the automatic ranging device comprises a base 1, a vehicle body 2, a door frame 3, a fork frame 4, a fork 41, a sensor mounting plate 5, a mounting leg 51, a first mounting plate 52, a long circular hole 521, a second mounting plate 53, a stop block 54, a tray ranging sensor 6, a shelf ranging sensor 7 and a limiting plate 8.
Detailed Description
Example one
For convenience of description, a coordinate system is defined as shown in fig. 1, and the left-right direction is taken as a transverse direction, the front-back direction is taken as a longitudinal direction, and the up-down direction is taken as a vertical direction.
As shown in FIGS. 1 and 4, the high-order fork truck of intelligence AGV includes base 1, base 1 on from back forward set gradually automobile body 2 and portal 3, portal 3 with base 1 sliding connection, portal 3 and automobile body 2 between be provided with and be used for the drive portal 3 back-and-forth movement's a drive arrangement. The door frame 3 can be stretched and contracted in three levels, the door frame 3 is provided with a fork 41 frame 4 which is used for lifting goods to a high position of the goods shelf in a matching way, and the bottom of the door frame 3 is provided with a second driving device which drives the fork 41 frame 4 to move up and down along the door frame 3. The fork 41 is fixedly arranged on the fork 41 frame 4.
The base 1, the vehicle body 2, the door frame 3, the fork 41 and the frame 4, the first driving device, the second driving device and their connection relation are all the prior art, and will not be described herein again.
As shown in fig. 2 and 3, a sensor mounting plate 5 is fixedly disposed between two forks 41 on the fork 41 frame 4, as a specific embodiment, two L-shaped mounting legs 51 are respectively disposed on the left and right sides of the sensor mounting plate 5 in this embodiment, and the mounting legs 51 are fixedly connected to the fork 41 frame 4 through screws.
Further, the lower end of the sensor mounting plate 5 is fixedly provided with a first mounting plate 52 extending downwards along the vertical direction, and the tray ranging sensor 6 is fixedly arranged at the lower end of the first mounting plate 52.
Further, in order to facilitate adjustment of the installation position of the tray distance measuring sensor 6, as shown in fig. 3, the first installation plate 52 is fixedly connected to the sensor installation plate 5 through a fixing bolt (not shown), and the first installation plate 52 is provided with an installation hole for accommodating the fixing bolt, wherein the installation hole is an elongated hole 521 extending in the vertical direction.
Further, as shown in fig. 3, a second mounting plate 53 is vertically disposed on the sensor mounting plate 5, and the second mounting plate 53 is slidably connected to the sensor mounting plate 5 through a sliding assembly. As a specific implementation manner, in this embodiment, the second mounting plate 53 is fixedly connected to the sensor mounting plate 5 through a linear guide, the guide is fixedly disposed on the sensor mounting plate 5, and a slider matched with the guide is fixedly disposed on the second mounting plate 53. The shelf distance measuring sensor 7 is fixedly arranged at the lower end of the second mounting plate 53 and used for measuring the distance between the shelf and the shelf. A limiting plate 8 is arranged at the lower end of the door frame 3 or on the base 1, and the limiting plate 8 is positioned under the second mounting plate 53. Preferably, in order to enable the fork 41 to move back and forth with the mast 3 when the frame 4 is located at the lower limit position, the limiting plate 8 is arranged at the lower end of the mast 3.
The reason for this is that when the forks 41 are raised, the second mounting plate 53 is extended by its own weight and the shelf distance measuring sensor 7 is extended. The lower extreme of portal 3 is installed the limiting plate 8, just limiting plate 8 be located under the second mounting plate 53, when fork 41 frame 4 is located portal 3 low level, the lower extreme of second mounting plate 53 support and lean on limiting plate 8 to prevent it to stretch out and ground contact.
Further, a stopper 54 for preventing the slider from coming off the guide rail is provided on the sensor mounting plate 5 directly above the second mounting plate 53.
A method for safely moving goods by an intelligent AGV high-position forklift comprises the following steps of:
1.1, moving an AGV high-position forklift to a specified position of the goods to be placed according to the recorded goods position of the goods to be placed;
1.2 according to the recorded height of the cargo position of the cargo to be placed, lifting the cargo fork 41 of the AGV high-level forklift to a specified height;
1.3, the fork of the AGV high-position forklift moves forward to a designated position, and the tray with goods is sent into a goods shelf;
here, the fork may be advanced in three ways:
firstly, the fork moves along with the movement of the AGV high-position forklift, and at the moment, the distance moved by the fork is equal to the distance moved by the AGV high-position forklift.
Second, the forks move with the movement of the mast, where the distance that the forks move is equal to the distance that the mast moves.
And thirdly, the truck moves under the action of the AGV high-position forklift and the portal frame, and at the moment, the moving distance of the pallet fork is equal to the sum of the moving distance of the AGV high-position forklift and the moving distance of the portal frame.
As a specific implementation manner, in the present embodiment, the forks are moved in a first manner and a third manner, that is, the AGV high-position forklift moves forward first until the AGV high-position forklift moves forward to the limit position. The gantry is then moved forward until the pallets with the goods are loaded into the racks.
1.4, detecting the shaking condition of the portal 3 through a shelf ranging sensor 7;
1.4.1 as shown in fig. 6, the shelf distance measuring sensor 7 continuously detects the distance a from the shelf distance measuring sensor 7 to the shelf at a certain frequency and records the distance a in real time;
preferably, the shelf distance measuring sensor 7 detects the distance a between the shelf distance measuring sensor 7 and the shelf at a frequency of a plurality of times per second. For example, the shelf distance measuring sensor 7 detects the distance a between the shelf distance measuring sensor 7 and the shelf at a frequency of 2 to 3 times per second.
1.4.2 maximum A of the distances measured in T1 secondsmaxAnd a minimum value AminWill obtain the maximum value AmaxAnd a minimum value AminMaking a difference to obtain a maximum value AmaxAnd a minimum value AminThe difference Δ a therebetween;
preferably, the time T1 is 2 seconds;
1.4.3 comparing the difference value delta A obtained in the step 1.4.2 with a set value A';
1.4.3.1, when the difference delta A is smaller than a set value A', the shaking degree of the gantry 3 is in an allowable range, the shaking condition is met, and the next operation can be carried out;
1.4.3.2 when the difference delta A is larger than a set value A', the shaking degree of the portal frame 3 exceeds an allowable range, the shaking condition is not met, and the next operation cannot be performed, at the moment, the AGV high-position forklift stops acting, and the operation of the step 1.4.1-1.4.3 is repeated after T2 seconds;
preferably, the set value A' is 10mm, and the time T2 is 1-5 seconds;
1.5 descending the fork 41 of the AGV high-position forklift, and placing a tray with goods on a goods position;
further, in order to ensure that the pallet can be accurately placed on the shelf, before the pallet with goods is placed on the goods position, the goods placement offset position detection is performed, that is, whether the goods can be placed on the shelf is judged by comparing whether the distance difference between the shelf ranging sensor 7 and the pallet ranging sensor 6 is within the set range, specifically, the following operations are performed,
1.5.1 as shown in fig. 7, the tray ranging sensor 6 detects a distance B1 from the tray ranging sensor 6 to the tray, and the distance B1 is fixed once the fork 41 lifts the goods, and at the same time, the shelf ranging sensor 7 detects a distance B2 from the shelf ranging sensor 7 to the shelf;
1.5.2 subtracting the distance B1 from the distance B2 to obtain a difference value delta B;
1.5.3 comparing the difference delta B obtained in the step 1.5.2 with a set range;
1.5.3.1 when the difference value Delta B is in the set range, it indicates that the tray is already in place, and the next step can be carried out;
1.5.3.2 when the difference value delta B is out of the set range, it indicates that the tray does not reach the position for placing goods, the machine is shut down to alarm, and the handling is carried out manually;
here, the obtained difference Δ B is actually the sum of the distance L1 and the distance L2, and since the distance L1 between the tray ranging sensor 6 and the rack ranging sensor 7 is a fixed value, only the distance L2 changes along with the movement of the forklift when the forklift moves forward to deliver the goods, the difference Δ B can be used as a representative quantity or an index of the change of the distance L2; the size of the set range is related to the size of the tray and is adjusted according to the size of the tray.
1.6 after the AGV high-order forklift finishes the goods put, the fork 41 moves backwards, so that the tray is separated from the fork 41. In the process, if the cross brace of the pallet collapses or goods are not placed on the goods shelf, the pallet fork 41 cannot be completely separated from the pallet, and the pallet is dragged, so that dragging detection is needed, and the dragging detection comprises the following steps:
1.6.1 as shown in fig. 8, the tray ranging sensor 6 detects the distance between the tray ranging sensor 6 and the tray to obtain a distance C1;
1.6.2 after the fork 41 moves backwards for T4 seconds, the tray ranging sensor 6 detects the distance between the tray ranging sensor 6 and the tray again to obtain a distance C2;
1.6.3 making the difference between the distances C1 and C2 obtained in the step 1.6.1 and the step 1.6.2 to obtain a difference value delta C;
1.6.4 comparing the difference Δ C obtained in step 1.6.3 with the distance D1 traveled by the fork 41;
1.6.4.1 when the difference value deltaC is less than the distance D1 of the pallet fork 41, it indicates that the pallet is dragged, the machine is stopped to alarm, and the process is carried out manually;
1.6.4.2 when the difference Δ C is greater than or equal to the distance D1 that the pallet is moved, it means that the pallet is not dragged, and then the pallet fork 41 continues to move backwards;
1.6.5, the operations of steps 1.6.2-1.6.4 are repeated until the forks 41 are completely disengaged from the pallet, completing the entire put operation.
Preferably, the time T4 is 2 seconds.
Here, the fork may be moved backward in three ways:
firstly, the fork moves along with the movement of the AGV high-position forklift, and at the moment, the distance moved by the fork is equal to the distance moved by the AGV high-position forklift.
Second, the forks move with the movement of the mast, where the distance that the forks move is equal to the distance that the mast moves.
And thirdly, the truck moves under the action of the AGV high-position forklift and the portal frame, and at the moment, the moving distance of the pallet fork is equal to the sum of the moving distance of the AGV high-position forklift and the moving distance of the portal frame.
As a specific implementation manner, in the present embodiment, the fork is moved in the second manner and the first manner, that is, the gantry is moved backward first until the gantry moves backward to the limit position, and in this process, the fork is moved by a distance equal to the distance that the gantry moves. Then, the AGV forklift moves backward until the fork 41 of the AGV forklift completely disengages from the tray, and in this process, as shown in fig. 8, the distance D1 that the fork moves is equal to the distance D2 that the AGV forklift moves.
A method for safely moving cargos by an intelligent AGV high-position forklift comprises the following steps of:
2.1 according to the recorded goods position of the goods to be taken, the AGV high-position forklift moves to the specified position of the goods to be taken;
2.2 according to the recorded height of the cargo position of the object to be picked, lifting the fork 41 of the AGV high-level forklift to a specified height;
2.3 as shown in fig. 9, when the fork moves forward to pick up goods, if the fork 41 is not aligned with the jack of the pallet or the pallet itself has the problem of collapse of the cross brace, the pallet may be pushed by the fork 41, so that the pushing detection needs to be performed during the fork moving forward to pick up goods;
2.3.1 the tray ranging sensor 6 detects the distance between the tray ranging sensor 6 and the tray to obtain a distance E1;
2.3.2 after T5 seconds, the tray ranging sensor 6 again detects the distance between the tray ranging sensor 6 and the tray to obtain a distance E2, the distances E1 and E2 are differed to obtain a difference value delta E1, and then the difference value delta E1 is compared with the distance F1 that the fork moves in the same time period;
2.3.2.1 when the difference delta E1 is smaller than the distance F1 of fork movement, it indicates that the tray is pushed, and the machine is shut down and alarms, and the processing is carried out manually;
2.3.2.2 when the difference Δ E1 is greater than or equal to the distance F1 traveled by the forks, it indicates that the pallet is not being ejected and the forks continue to move forward;
2.3.3 the operation of step 2.3.2 is repeated until the forks 41 of the AGV high lift truck are fully inserted into the receptacles of the pallet.
Preferably, the time T5 is 2 seconds.
Here, the fork may be advanced in three ways:
firstly, the fork moves along with the movement of the AGV high-position forklift, and at the moment, the distance moved by the fork is equal to the distance moved by the AGV high-position forklift.
Second, the forks move with the movement of the mast, where the distance that the forks move is equal to the distance that the mast moves.
And thirdly, the fork moves under the action of the AGV high-position forklift and the portal frame, and the moving distance of the fork is equal to the sum of the moving distance of the AGV high-position forklift and the moving distance of the portal frame.
As a specific implementation manner, in the present embodiment, the forks are moved in a first manner and a second manner, that is, the AGV high-level forklift moves forward first until the AGV high-level forklift moves forward to the limit position, in this process, as shown in fig. 9, the distance F1 that the forks move is equal to the distance G that the AGV high-level forklift moves. The gantry is then moved forward until the forks 41 of the AGV high lift truck are fully inserted into the receptacles of the pallet, in which process the distance the forks are moved is equal to the distance the gantry is moved.
2.4 the fork 41 of the AGV high-order forklift is lifted to remove the goods, and the goods taking task is completed.
Further, in order to avoid pushing the tray due to shaking of the gantry 3 in the goods taking process, in step 2.3, before the fork moves forward to take the goods, shaking detection is performed first, and the shaking detection process is the same as the operation in step 1.4 in the goods placing process, and is not described again here.
Example two
A method for safely moving cargos by an intelligent AGV high-position forklift comprises the following steps of:
2.1 according to the recorded goods position of the goods to be taken, the AGV high-position forklift moves to the specified position of the goods to be taken;
2.2 according to the recorded height of the goods to be taken, lifting the goods fork 41 of the AGV high-order forklift to a specified height;
2.3, moving the fork forward to take the goods, and carrying out ejection detection in the process of moving the fork forward to take the goods;
2.3.1 the tray ranging sensor 6 detects the distance between the tray ranging sensor 6 and the tray to obtain a distance E1;
2.3.2 after T5 seconds, the tray ranging sensor 6 detects the distance between the tray ranging sensor 6 and the tray again to obtain a distance E2;
2.3.3 subtracting the distances E1 and E2 obtained in the steps 2.3.1 and 2.3.2 to obtain a difference value delta E1;
2.3.4 comparing the difference Δ E1 obtained in step 2.3.3 with the distance F1 the forks travel in the same time period;
2.3.4.1 when the difference delta E1 is smaller than the distance F1 of fork movement, it indicates that the tray is pushed, and the machine is shut down and alarms, and the processing is carried out manually;
2.3.4.2 when the difference Δ E1 equals the distance F1 the forks travel, indicating that the pallet is not being pushed, then after a time interval T6 seconds, the steps 2.3.1 to 2.3.4 are repeated until the forks of the AGV high-level forklift are fully inserted into the receptacles of the pallet.
Preferably, the time T5 is 2 seconds; the time T6 is 2-3 seconds.
2.4 the fork 41 of the AGV high-order forklift is lifted to remove the goods, and the goods taking task is completed.
The rest of the embodiments are the same as those of the first embodiment, and are not described herein again.
Claims (11)
1. The utility model provides a method for intelligence AGV high-order fork truck removes goods safely which characterized in that: when the goods are put, the method comprises the following steps,
1.1 moving an AGV high-level forklift to a specified position;
1.2 the fork is lifted to a specified height;
1.3, the pallet fork moves forward, and the pallet with goods is sent into the goods shelf;
1.4, detecting the shaking condition of the portal frame through a shelf ranging sensor;
1.4.1 the shelf ranging sensor continuously detects the distance A between the shelf ranging sensor and the shelf at a certain frequency;
1.4.2 maximum A of the distances measured in T1 secondsmaxAnd a minimum value AminAnd the difference is made to obtain a difference value delta A;
1.4.3 comparing Δ a with a set value a';
1.4.3.1 when the difference delta A is smaller than a set value A', carrying out the next operation;
1.4.3.2 when the difference delta A is larger than the set value A', stopping the AGV high-level forklift, waiting for T2 seconds, and repeating the operation of the step 1.4.1-1.4.3;
1.5, descending the pallet fork, and placing the pallet with the goods on the goods position;
1.6 the fork moves back to the position.
2. The method of claim 1, wherein the method comprises the following steps: in step 1.5, before the pallet with goods is placed on the goods position, the goods placement offset position detection is carried out by a goods shelf distance measuring sensor and a pallet distance measuring sensor, and the goods placement offset position detection comprises the following steps,
1.5.1 the tray ranging sensor detects the distance B1 between the tray ranging sensor and the tray, and the shelf ranging sensor detects the distance B2 between the shelf ranging sensor and the shelf;
1.5.2 subtracting the distance B1 from the distance B2 to obtain a difference value delta B;
1.5.3 comparing the difference delta B obtained in the step 1.5.2 with a set range;
1.5.3.1 when the difference value Delta B is in the set range, continuing the next step;
1.5.3.2 when the difference value delta B is out of the set range, stopping the machine to alarm, and waiting for manual treatment.
3. The method of claim 1, wherein the method comprises the following steps: in step 1.6, drag detection is carried out in the process of backward moving and returning of the pallet fork, and the drag detection comprises the following steps,
1.6.1 the tray ranging sensor detects the distance between the tray ranging sensor and the tray to obtain a distance C1;
1.6.2 after the fork moves backwards for T4 seconds, the tray ranging sensor detects the distance between the tray ranging sensor and the tray again to obtain a distance C2;
1.6.3 obtaining a difference value deltaC by subtracting the distances C1 and C2;
1.6.4 comparing the difference Δ C to the distance D1 traveled by the forks;
1.6.4.1 when the difference value deltaC is less than the moving distance D1 of the fork, stopping the machine to alarm and waiting for manual treatment;
1.6.4.2 when the difference deltac is larger than or equal to the distance D1 for moving the fork, the fork continues to move backwards;
1.6.5, repeating the steps 1.6.2-1.6.4 until the forks are completely disengaged from the pallet, completing the entire put operation.
4. The method of claim 1, wherein the method comprises the following steps: also comprises a goods taking process, the goods taking process comprises the following steps,
2.1 moving the AGV high-position forklift to a designated position;
2.2 lifting the pallet fork to a specified height;
2.3, the fork moves forwards to take goods, and ejection detection is carried out in the process of moving forwards;
2.3.1 the tray ranging sensor detects the distance between the tray ranging sensor and the tray to obtain a distance E1;
2.3.2 after T5 seconds, the tray ranging sensor again detects the distance between the tray ranging sensor and the tray to obtain a distance E2, the distances E1 and E2 are differenced to obtain a difference value delta E1, and then the difference value delta E1 is compared with the distance F1 that the fork moves in the same time period;
2.3.2.1 when the delta E1 is smaller than F1, stopping the machine to alarm, and waiting for manual processing;
2.3.2.2 when Δ E1 is equal to or greater than F1, the fork continues to move forward;
2.3.3, repeating the operation of the step 2.3.2 until the forks of the AGV high-position forklift are completely inserted into the insertion holes of the tray;
2.4 the fork is lifted, the goods are moved away, and the goods taking task is completed.
5. The method of claim 1, wherein the method comprises the following steps: also comprises a goods taking process, the goods taking process comprises the following steps,
2.1 moving the AGV high-position forklift to a designated position;
2.2 lifting the pallet fork to a specified height;
2.3, the fork moves forwards to take goods, and ejection detection is carried out in the process of moving forwards;
2.3.1 detecting the distance between the tray ranging sensor and the tray by the tray ranging sensor to obtain a distance E1;
2.3.2 after the interval of T5 seconds, the tray ranging sensor detects the distance between the tray ranging sensor and the tray again to obtain a distance E2;
2.3.3 differencing the distances E1 and E2 to give a difference Δ E1;
2.3.4 comparing the difference Δ E1 with the distance F1 the forks moved during the same time period;
2.3.4.1 when the delta E1 is smaller than F1, stopping the machine to alarm and waiting for manual processing;
2.3.4.2 when Δ E1 equals F1, after an interval of T6 seconds, repeating the operations of steps 2.3.1 to 2.3.4 until the forks of the AGV high-level forklift are fully inserted into the insertion holes of the tray;
2.4 the fork is lifted, the goods are moved away, and the goods taking task is completed.
6. The utility model provides a method for intelligence AGV high-order fork truck removes goods safely which characterized in that: when the goods are taken, the method comprises the following steps,
2.1 moving the AGV high-position forklift to a designated position;
2.2 lifting the pallet fork to a specified height;
2.3, the fork moves forwards to take goods, and ejection detection is carried out in the process of moving forwards;
2.3.1 the tray ranging sensor detects the distance between the tray ranging sensor and the tray to obtain a distance E1;
2.3.2 after T5 seconds, the tray ranging sensor again detects the distance between the tray ranging sensor and the tray to obtain a distance E2, the distances E1 and E2 are differenced to obtain a difference value delta E1, and then the difference value delta E1 is compared with the distance F1 that the fork moves in the same time period;
2.3.2.1 when the delta E1 is smaller than F1, stopping the machine to alarm and waiting for manual processing;
2.3.2.2 when Δ E1 is equal to or greater than F1, the fork continues to move forward;
2.3.3, repeating the operation of the step 2.3.2 until the forks of the AGV high-position forklift are completely inserted into the insertion holes of the tray;
2.4 the fork is lifted, the goods are moved away, and the goods taking task is completed.
7. The method of claim 6, wherein the method comprises the following steps: in step 2.3, before the fork moves forwards to pick the goods, the shaking detection is carried out, and comprises the following steps,
firstly, a shelf ranging sensor continuously detects the distance A between the shelf ranging sensor and a shelf at a certain frequency;
second, take the maximum A of the distance measured in T1 secondsmaxAnd a minimum value AminObtaining a difference value delta A by difference;
thirdly, comparing the delta A with a set value A';
when the difference value delta A is smaller than a set value A', the next operation is carried out;
and when the difference value delta A is larger than the set value A', stopping the AGV high-position forklift, waiting for T2 seconds, and repeating the operation from the first step to the third step.
8. The method of claim 7, wherein the method comprises the following steps: also comprises a putting process, the putting process comprises the following steps,
1.1 moving an AGV high-position forklift to a specified position;
1.2 the fork is lifted to a specified height;
1.3, the pallet fork moves forward, and the pallet with goods is sent into the goods shelf;
1.4, detecting the shaking condition of the portal frame through a shelf ranging sensor;
1.4.1 the shelf ranging sensor continuously detects the distance A between the shelf ranging sensor and the shelf at a certain frequency;
1.4.2 maximum A of the distances measured in T1 secondsmaxAnd a minimum value AminAnd the difference is made to obtain a difference value delta A;
1.4.3 comparing Δ a with a set value a';
1.4.3.1 when the difference delta A is smaller than a set value A', carrying out the next operation;
1.4.3.2 when the difference delta A is larger than the set value A', stopping the AGV high-level forklift, waiting for T2 seconds, and repeating the operation of the step 1.4.1-1.4.3;
1.5, descending a pallet fork, and placing a pallet with goods on a goods position;
1.6 the fork moves back to the original position.
9. The method of claim 8, wherein the method comprises the following steps: in step 1.5, before the pallet with goods is placed on the goods position, the goods placement offset position detection is carried out by a goods shelf distance measuring sensor and a pallet distance measuring sensor, and the goods placement offset position detection comprises the following steps,
1.5.1 the tray ranging sensor detects the distance B1 between the tray ranging sensor and the tray, and the shelf ranging sensor detects the distance B2 between the shelf ranging sensor and the shelf;
1.5.2 subtracting the distance B1 from the distance B2 to obtain a difference value delta B;
1.5.3 comparing the difference Delta B obtained in the step 1.5.2 with a set range;
1.5.3.1 when the difference value Delta B is in the set range, continuing the next step;
1.5.3.2 when the difference value Delta B is out of the set range, stopping the machine to alarm and waiting for manual treatment.
10. The method of claim 8, wherein the method comprises the following steps: in step 1.6, carrying out dragging detection in the process of backward moving and returning of the fork, wherein the dragging detection comprises the following steps,
1.6.1 the tray ranging sensor detects the distance between the tray ranging sensor and the tray to obtain a distance C1;
1.6.2 after the fork moves backwards for T4 seconds, the tray ranging sensor detects the distance between the tray ranging sensor and the tray again to obtain a distance C2;
1.6.3 obtaining a difference value deltaC by subtracting the distances C1 and C2;
1.6.4 comparing the difference Δ C to the distance D1 traveled by the forks;
1.6.4.1 when the difference value deltaC is less than the moving distance D1 of the fork, stopping the machine to alarm and waiting for manual treatment;
1.6.4.2 when the difference deltac is larger than or equal to the distance D1 for moving the fork, the fork continues to move backwards;
1.6.5, repeating the steps 1.6.2-1.6.4 until the forks are completely disengaged from the pallet, completing the entire put operation.
11. An intelligent AGV high-position forklift, which is characterized in that the intelligent AGV high-position forklift uses the method for safely moving the goods according to any one of claims 1 to 10 to pick and place the goods.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111241162.0A CN113816303B (en) | 2021-10-25 | 2021-10-25 | Method for safely moving goods by intelligent AGV high-position forklift |
| PCT/CN2021/127008 WO2023070432A1 (en) | 2021-10-25 | 2021-10-28 | Method for safely moving goods by intelligent agv high-position forklift |
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| CN202111241162.0A CN113816303B (en) | 2021-10-25 | 2021-10-25 | Method for safely moving goods by intelligent AGV high-position forklift |
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| JP2004059190A (en) * | 2002-07-26 | 2004-02-26 | Daifuku Co Ltd | Article carrying facilities |
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| US5297916A (en) * | 1989-01-26 | 1994-03-29 | Komatsu Forklift Kabushiki Kaisha | Cargo handling vehicle having push-pull unit |
| JPH09175798A (en) * | 1995-12-25 | 1997-07-08 | Nichiha Corp | Forklift with fork insertion amount detection function |
| JP4030046B2 (en) * | 2002-03-15 | 2008-01-09 | 日本輸送機株式会社 | forklift |
| JP2006298638A (en) * | 2005-04-25 | 2006-11-02 | Asahi Breweries Ltd | Fork lift |
| CN106044645B (en) * | 2016-08-02 | 2018-07-17 | 诺力机械股份有限公司 | A kind of cargo pallet access system and its access method based on Quick Response Code positioning |
| CN208327296U (en) * | 2018-06-29 | 2019-01-04 | 湖南三一港口设备有限公司 | The anti-extension case safety guard of one kind, container handling device |
| CN109443271A (en) * | 2018-10-30 | 2019-03-08 | 安徽合力股份有限公司 | A kind of door frame shaking detection method suitable for reach truck |
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| JP2004059190A (en) * | 2002-07-26 | 2004-02-26 | Daifuku Co Ltd | Article carrying facilities |
| JP2010167802A (en) * | 2009-01-20 | 2010-08-05 | Jtekt Corp | Vehicular steering device |
| CN202643238U (en) * | 2012-06-07 | 2013-01-02 | 无锡中鼎物流设备有限公司 | Variable cross-section roadway stacker |
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| WO2023070432A1 (en) | 2023-05-04 |
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