CN117602538B - Control method and system for steering dead zone of double-drive four-pivot AGV forklift - Google Patents

Control method and system for steering dead zone of double-drive four-pivot AGV forklift Download PDF

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Publication number
CN117602538B
CN117602538B CN202410091882.0A CN202410091882A CN117602538B CN 117602538 B CN117602538 B CN 117602538B CN 202410091882 A CN202410091882 A CN 202410091882A CN 117602538 B CN117602538 B CN 117602538B
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China
Prior art keywords
steering
wheel
center
wheels
steering angle
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CN202410091882.0A
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CN117602538A (en
Inventor
梁飞
付晓霞
王健
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Banyitong Science & Technology Developing Co ltd
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Banyitong Science & Technology Developing Co ltd
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Classifications

    • 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
    • B66F9/07568—Steering arrangements
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D7/00—Steering linkage; Stub axles or their mountings
    • B62D7/06—Steering linkage; Stub axles or their mountings for individually-pivoted wheels, e.g. on king-pins
    • B62D7/14—Steering linkage; Stub axles or their mountings for individually-pivoted wheels, e.g. on king-pins the pivotal axes being situated in more than one plane transverse to the longitudinal centre line of the vehicle, e.g. all-wheel steering
    • B62D7/15—Steering linkage; Stub axles or their mountings for individually-pivoted wheels, e.g. on king-pins the pivotal axes being situated in more than one plane transverse to the longitudinal centre line of the vehicle, e.g. all-wheel steering characterised by means varying the ratio between the steering angles of the steered wheels
    • B62D7/1581—Steering linkage; Stub axles or their mountings for individually-pivoted wheels, e.g. on king-pins the pivotal axes being situated in more than one plane transverse to the longitudinal centre line of the vehicle, e.g. all-wheel steering characterised by means varying the ratio between the steering angles of the steered wheels characterised by comprising an electrical interconnecting system between the steering control means of the different axles
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D7/00—Steering linkage; Stub axles or their mountings
    • B62D7/06—Steering linkage; Stub axles or their mountings for individually-pivoted wheels, e.g. on king-pins
    • B62D7/14—Steering linkage; Stub axles or their mountings for individually-pivoted wheels, e.g. on king-pins the pivotal axes being situated in more than one plane transverse to the longitudinal centre line of the vehicle, e.g. all-wheel steering
    • B62D7/15—Steering linkage; Stub axles or their mountings for individually-pivoted wheels, e.g. on king-pins the pivotal axes being situated in more than one plane transverse to the longitudinal centre line of the vehicle, e.g. all-wheel steering characterised by means varying the ratio between the steering angles of the steered wheels
    • B62D7/159—Steering linkage; Stub axles or their mountings for individually-pivoted wheels, e.g. on king-pins the pivotal axes being situated in more than one plane transverse to the longitudinal centre line of the vehicle, e.g. all-wheel steering characterised by means varying the ratio between the steering angles of the steered wheels characterised by computing methods or stabilisation processes or systems, e.g. responding to yaw rate, lateral wind, load, road condition
    • 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
    • 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
    • B66F9/07504—Accessories, e.g. for towing, charging, locking
    • 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
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T10/00—Road transport of goods or passengers
    • Y02T10/60—Other road transportation technologies with climate change mitigation effect
    • Y02T10/72—Electric energy management in electromobility

Abstract

The invention provides a control method and a control system for a steering dead zone of a double-drive four-pivot AGV forklift, which relate to the technical field of forklift control.

Description

Control method and system for steering dead zone of double-drive four-pivot AGV forklift
Technical Field
The invention relates to the technical field of forklift control, in particular to a control method and a control system for steering dead zones of a double-drive four-pivot AGV forklift.
Background
An AGV forklift is a special type of automatic guided vehicle, and has a forklift function, and can automatically carry out cargo handling, stacking and carrying operation, and a steering dead zone of the AGV forklift refers to an idle angle between a steering mechanism of the forklift actually responds and wheels start rotating when a steering signal starts to be sent, in which a tiny movement of a steering wheel and other rotating devices does not cause corresponding rotation of the wheels of the forklift, and in forklift operation, the steering dead zone affects operation accuracy, particularly when the forklift needs to be accurately controlled to carry out loading and unloading or works in a narrow space, a large steering dead zone may cause the forklift to excessively adjust the steering mechanism, which may cause unstable operation and increase safety risks.
To solve the risk of such an operation, a general solution is to periodically inspect and overhaul the steering system and the hydraulic system of the forklift, ensure that the steering system of the forklift has no excessive clearance and ensure that the hydraulic system responds correctly, and the solution of the steering dead zone in the prior art is generally focused on the calculation and determination of the steering dead zone value, for example, a vehicle steering processing method, device, equipment, storage medium and vehicle provided by publication number CN 116353698a, which determines a left steering dead zone target value and a right steering dead zone target value by using a desired maximization algorithm based on the observed value and the estimated value of the front wheel steering angle at the same time, but lacks a method for controlling the steering dead zone of the forklift to perform specific steering and performing accurate steering on the forklift in the prior art.
The above information disclosed in the background section is only for enhancement of understanding of the background of the disclosure and therefore it may include information that does not form the prior art that is already known to a person of ordinary skill in the art.
Disclosure of Invention
The invention aims to provide a control method and a system for steering dead zone of a double-drive four-pivot AGV forklift, which are used for solving the problems in the background technology.
In order to achieve the above purpose, the present invention provides the following technical solutions:
The control method is suitable for an AGV forklift body with two front wheels serving as driving wheels and two rear wheels serving as steering wheels, and specifically comprises the following steps:
dividing working areas of the forklift in a steering dead zone, and setting a steering mode for each working area;
setting a steering angle and a rotation center parameter of the steering wheel according to the set steering mode and parameters of the wheel tread of the driving wheel, the wheel tread of the steering wheel and the wheel tread of the forklift truck;
parameters of a forklift control unit are collected in real time, a steering mode which needs to be executed by the forklift in real time is determined, and a steering executing module is controlled to control steering of steering wheels according to the set steering angle and the set rotation center parameters.
In one embodiment, the steering modes are divided into four steering modes of in-situ rotation, center rotation of a driving wheel, steering and small turning radius steering.
In one embodiment, the centers of rotation of all of the steering modes are on the same axis of the two front drive wheels.
In one embodiment, the pivot includes a counterclockwise pivot and a clockwise pivot, the center of rotation of the counterclockwise pivot and the clockwise pivot being located at a midpoint of a line connecting centers of the two front drive wheels, the pivot steering angle parameters being:
The steering angle θ yn b of the right steering wheel and the steering angle θ yn a of the left steering wheel when the steering wheel rotates counterclockwise in situ are respectively:
the steering angle θ ys a of the left steering wheel and the steering angle θ ys b of the right steering wheel when the steering wheel is turned clockwise in situ are respectively:
Where d 2 represents the wheel base between the two rear wheels and d 3 represents the wheel base between the front and rear wheels.
In one embodiment, the rotation of the center of the driving wheel includes rotation of the center of the left driving wheel and rotation of the center of the right driving wheel, the center of rotation is located at the center of the left front wheel when the center of the left driving wheel rotates, the center of rotation is located at the center of the right front wheel when the center of the right driving wheel rotates, and the steering angle parameter is:
The steering angle theta xz a of the left steering wheel and the steering angle theta xz b of the right steering wheel when the center of the left driving wheel rotates are respectively as follows:
The steering angle theta xy a of the left steering wheel and the steering angle theta xy b of the right steering wheel when the center of the right driving wheel rotates are respectively as follows:
Where d 1 denotes a wheel base between two front wheels, d 2 denotes a wheel base between two rear wheels, and d 3 denotes a wheel base between the front wheels and the rear wheels.
In one embodiment, the steering includes a left turn and a right turn, a center of rotation is located on the left side of the left front wheel when the left turn, a distance between the center of rotation and the left front wheel is R z1, the center of rotation is located on the right side of the right front wheel when the right turn, a distance between the center of rotation and the right front wheel is R z2, and the steering angle parameters of the steering are:
The steering angle θ zz a of the left steering wheel and the steering angle θ zz b of the right steering wheel at the time of left turning are respectively:
The steering angle θ zy a of the left-side steering wheel and the steering angle θ zy b of the right-side steering wheel at the time of right turning are respectively:
Where d 2 represents the wheel base between the two rear wheels, d 3 represents the wheel base between the front wheels and the rear wheels, and R z1＝Rz2>d1,d1 represents the wheel base between the two front wheels.
In one embodiment, the small turning radius steering includes a small turning radius left turning steering and a small turning radius right turning steering, and when the small turning radius left turning steering, the turning center is located between the midpoint of the connecting line of the centers of the two front driving wheels and the center of the left front driving wheel, and the small turning radius left turning steering includes three sets of steering angle parameters, which are respectively:
The first set of small turning radius left turning steering parameters, the steering angle θ bz1 a of the left side steering wheel and the steering angle θ bz1 b of the right side steering wheel are respectively:
the second set of small turning radius left turning steering parameters, the steering angle θ bz2 a of the left side steering wheel and the steering angle θ bz2 b of the right side steering wheel are respectively:
the third set of small turning radius left turning steering parameters, the steering angle θ bz3 a of the left side steering wheel and the steering angle θ bz3 b of the right side steering wheel are respectively:
Where d 2 denotes a wheel base between the two rear wheels, d 3 denotes a wheel base between the front wheels and the rear wheels, and R b1 denotes a distance from the center of the left front driving wheel to the midpoint of the center line of the two front driving wheels.
In one embodiment, when the small turning radius right turning steering is performed, the turning center is located between the midpoint of the connecting line of the centers of the two front driving wheels and the center of the right front driving wheel, and the small turning radius right turning steering comprises three sets of steering angle parameters, which are respectively:
The first set of small turning radius right turning steering parameters, the steering angle θ by1 a of the left side steering wheel and the steering angle θ by1 b of the right side steering wheel are respectively:
The second set of small turning radius right turning steering parameters, the steering angle θ by2 a of the left side steering wheel and the steering angle θ by2 b of the right side steering wheel are respectively:
The third set of small turning radius right steering parameters, the steering angle θ by3 a of the left steering wheel and the steering angle θ by3 b of the right steering wheel are respectively:
Wherein R b2 represents the distance of the center of the right front drive wheel from the midpoint of the two front drive wheel center lines.
The invention further provides a control system of the steering dead zone of the double-drive four-pivot AGV forklift, which is used for executing the control method and comprises a forklift control unit, a main controller and a steering execution module;
the main controller is used for dividing working areas of the forklift in a steering dead zone, setting a steering mode for each working area, and setting and storing steering angles and rotation center parameters of the steering wheels according to the set steering modes and parameters of wheel distances of the driving wheels, wheel distances of the steering wheels and wheel bases of the forklift;
The forklift control unit is electrically connected with the main controller and is used for sending out signals for executing specific steering modes in real time and determining the steering modes which need to be executed by the forklift in real time;
the steering execution module comprises a steering controller and a steering motor for controlling the steering wheels to rotate, the main controller is electrically connected with the steering controller and is used for sending the steering angle and the rotation center parameter of the steering wheels corresponding to the steering mode to the steering controller, and the steering controller controls the steering execution module to control the steering of the steering wheels according to the set steering angle and rotation center parameter of the steering wheels.
Compared with the prior art, the invention has the beneficial effects that:
According to the invention, the working areas of the forklift in the steering dead zone are divided, a steering mode is set in each working area, the steering angle and the rotation center parameter of the steering wheel are preset according to the steering mode, and after the steering dead zone is entered, specific steering operation is judged according to signals of the forklift control unit, the steering execution module is directly controlled to execute the corresponding steering angle and rotation center instructions, the forklift control unit such as a main controller is not required to frequently operate and control the forklift to steer, only the preset steering mode is required to steer, the optimal control steering of the AGV forklift in the steering dead zone part can be realized, the coverage of the steering dead zone is realized by the steering control of the AGV forklift, and the steering performance of the vehicle is improved.
Drawings
FIG. 1 is a schematic flow chart of the overall method of the present invention;
FIG. 2 is a schematic illustration of the operation of the in-situ rotary motion of the present invention;
FIG. 3 is a schematic diagram illustrating the operation of the center rotation of the driving wheel according to the present invention;
FIG. 4 is a schematic diagram illustrating the steering rotation mode of the present invention;
FIG. 5 is a schematic diagram illustrating the operation of a small turning radius left turn steering in accordance with the present invention;
FIG. 6 is a schematic diagram of the operation of a small turn radius right turn steering of the present invention;
FIG. 7 is a schematic diagram of the system of the present invention.
Detailed Description
The present invention will be further described in detail with reference to specific embodiments in order to make the objects, technical solutions and advantages of the present invention more apparent.
It is to be noted that unless otherwise defined, technical or scientific terms used herein should be taken in a general sense as understood by one of ordinary skill in the art to which the present invention belongs. The terms "first," "second," and the like, as used herein, do not denote any order, quantity, or importance, but rather are used to distinguish one element from another. The word "comprising" or "comprises", and the like, means that elements or items preceding the word are included in the element or item listed after the word and equivalents thereof, but does not exclude other elements or items. The terms "connected" or "connected," and the like, are not limited to physical or mechanical connections, but may include electrical connections, whether direct or indirect. "up", "down", "left", "right" and the like are used only to indicate a relative positional relationship, and when the absolute position of the object to be described is changed, the relative positional relationship may be changed accordingly.
Examples:
Referring to fig. 1-6, the present invention provides a technical solution:
The control method is suitable for an AGV forklift body with two front wheels serving as driving wheels and two rear wheels serving as steering wheels, wherein the wheel distance of the two front wheels is larger than that of the two rear wheels and is symmetrically arranged, and the control method specifically comprises the following steps:
step 1: dividing working areas of the forklift in a steering dead zone, and setting a steering mode for each working area;
In this embodiment, the steering modes include four steering modes including in-situ rotation, center rotation of a driving wheel, steering and small turning radius steering, and in the control process of the steering dead zone of the forklift, different working sections are provided, each section may need a different steering mode, and each steering mode corresponds to a different working section.
When the forklift rotates in situ, the two driving wheels keep the same speed and rotate in opposite directions, the two steering wheels are utilized to rotate in the direction, so that the whole forklift rotates in situ, the applied working area is used when the forklift is required to steer in a narrow space or rotate in a narrow passage, the circle center rotation of the driving wheels is realized by taking one driving wheel as a center point of the forklift, the speed difference of the driving wheels is usually controlled through a differential mechanism, the applied working area is steering in a relatively narrow but still wide area, such as a warehouse, a goods stacking area and the like, the steering is steering of the steering wheels, the advancing direction of the forklift is changed, the working area applied in a steering mode is a basic steering mode of the forklift in normal running, and the forklift is applicable to most cases.
Small turning radius steering refers to steering of a forklift in a relatively small area, typically through a large steering angle and a small turning radius, and is applied in a working area where the forklift is required to steer in a limited space, such as in a narrow aisle, or in an environment where precise steering is required.
Further, all the turning centers of the turning modes are on the coaxial lines of the two front driving wheels, under the condition that the turning modes are different, the turning centers always move on the coaxial lines of the two front driving wheels, the turning radius and the turning direction of the vehicle body are adjusted accordingly, the relation between the driving wheels and the turning centers is tighter, the forklift can achieve smaller turning radius, this means that the forklift can complete turning in a smaller space, the flexibility, the operability and the adaptability of the forklift can be improved, the forklift is more suitable for operation in a small space, the working efficiency is improved, and the safety is improved.
Step 2: according to the set steering mode, setting the steering angle and the rotation center parameters of the steering wheel according to the parameters of the wheel distance of the driving wheel, the wheel distance of the steering wheel and the forklift wheel distance.
In this embodiment, the steering angle and the rotation center parameter of the steering wheel mainly include the steering angle and the rotation center parameter of four steering modes including in-situ rotation, center rotation of the driving wheel, steering and small turning radius steering.
Wherein, the pivot in place includes anticlockwise pivot in place and clockwise pivot in place, the pivot center of anticlockwise pivot in place and clockwise pivot in place is located the midpoint of two front driving wheel center line, and the steering angle parameter of pivot in place is:
The steering angle θ yn b of the right steering wheel and the steering angle θ yn a of the left steering wheel when the steering wheel rotates counterclockwise in situ are respectively:
the steering angle θ ys a of the left steering wheel and the steering angle θ ys b of the right steering wheel when the steering wheel is turned clockwise in situ are respectively:
Where d 2 represents the wheel base between the two rear wheels and d 3 represents the wheel base between the front and rear wheels.
The center rotation of the driving wheel comprises center rotation of the left driving wheel and center rotation of the right driving wheel, the center of rotation is positioned at the center of the left front wheel when the center rotation of the left driving wheel, the center of rotation is positioned at the center of the right front wheel when the center rotation of the right driving wheel, and the steering angle parameters are as follows:
The steering angle theta xz a of the left steering wheel and the steering angle theta xz b of the right steering wheel when the center of the left driving wheel rotates are respectively as follows:
The steering angle theta xy a of the left steering wheel and the steering angle theta xy b of the right steering wheel when the center of the right driving wheel rotates are respectively as follows:
Where d 1 denotes a wheel base between two front wheels, d 2 denotes a wheel base between two rear wheels, and d 3 denotes a wheel base between the front wheels and the rear wheels.
The steering comprises left turning and right turning, wherein the rotation center is positioned at the left side of the left front wheel during left turning, the distance between the rotation center and the left front wheel is R z1, the rotation center is positioned at the right side of the right front wheel during right turning, the distance between the rotation center and the right front wheel is R z2, and the steering angle parameters of the steering are as follows:
The steering angle θ zz a of the left steering wheel and the steering angle θ zz b of the right steering wheel at the time of left turning are respectively:
The steering angle θ zy a of the left-side steering wheel and the steering angle θ zy b of the right-side steering wheel at the time of right turning are respectively:
Where d 2 represents the wheel base between the two rear wheels, d 3 represents the wheel base between the front wheels and the rear wheels, and R z1＝Rz2>d1,d1 represents the wheel base between the two front wheels.
The small turning radius steering comprises small turning radius left turning steering and small turning radius right turning steering, when the small turning radius left turning steering is performed, the turning center is positioned between the midpoint of the connecting line of the centers of the two front driving wheels and the center of the left front driving wheel, and the small turning radius left turning steering comprises three groups of steering angle parameters which are respectively as follows:
The first set of small turning radius left turning steering parameters, the steering angle θ bz1 a of the left side steering wheel and the steering angle θ bz1 b of the right side steering wheel are respectively:
the second set of small turning radius left turning steering parameters, the steering angle θ bz2 a of the left side steering wheel and the steering angle θ bz2 b of the right side steering wheel are respectively:
the third set of small turning radius left turning steering parameters, the steering angle θ bz3 a of the left side steering wheel and the steering angle θ bz3 b of the right side steering wheel are respectively:
Where d 2 denotes a wheel base between the two rear wheels, d 3 denotes a wheel base between the front wheels and the rear wheels, and R b1 denotes a distance from the center of the left front driving wheel to the midpoint of the center line of the two front driving wheels.
In this embodiment, the small turning radius left-turn steering parameters are three sets of parameters that are independent of each other, and conditions for executing the three sets of parameters are also relatively independent, so that one of the three sets of parameters can be selected to perform the small turning radius left-turn when performing the small turning radius left-turn according to the requirements.
When the small turning radius right turning steering is performed, the turning center is positioned between the midpoint of the connecting line of the centers of the two front driving wheels and the center of the right front driving wheel, and the small turning radius right turning steering comprises three groups of steering angle parameters which are respectively as follows:
The first set of small turning radius right turning steering parameters, the steering angle θ by1 a of the left side steering wheel and the steering angle θ by1 b of the right side steering wheel are respectively:
The second set of small turning radius right turning steering parameters, the steering angle θ by2 a of the left side steering wheel and the steering angle θ by2 b of the right side steering wheel are respectively:
The third set of small turning radius right steering parameters, the steering angle θ by3 a of the left steering wheel and the steering angle θ by3 b of the right steering wheel are respectively:
Wherein R b2 represents the distance of the center of the right front drive wheel from the midpoint of the two front drive wheel center lines.
In this embodiment, the small turning radius right-turn steering parameters are three sets of parameters that are independent of each other, and conditions for executing the three sets of parameters are also relatively independent, so that one of the three sets of parameters can be selected to perform the small turning radius right-turn when performing the small turning radius right-turn according to the requirements.
Step 3: parameters of a forklift control unit are collected in real time, a steering mode which needs to be executed by the forklift in real time is determined, and a steering executing module is controlled to control steering of steering wheels according to the set steering angle and the set rotation center parameters.
In this embodiment, the steering angle and the rotation center parameter of each steering mode are stored in the main controller, the parameters of the forklift control unit are starting data for starting the corresponding steering mode, other instruction components such as a steering wheel component and a button are selected, when the steering wheel component rotates to a corresponding angle or presses a corresponding operation button, the main controller receives a corresponding starting signal, selects the corresponding steering mode, controls the steering execution module to control the steering of the steering wheel according to the steering angle and the rotation center parameter of the corresponding steering mode, the steering execution module comprises a steering controller and a steering motor for controlling the steering of the steering wheel, the main controller is electrically connected with the steering controller and is used for transmitting the steering angle and the rotation center parameter of the steering wheel corresponding to the steering mode to the steering controller, and the steering controller controls the steering execution module to control the steering of the steering wheel according to the set steering angle and rotation center parameter of the steering wheel.
Referring to fig. 7, the present invention further provides a control system for steering dead zone of a dual-drive four-pivot AGV forklift, where the control system is used for executing the control method described above, and includes a forklift control unit, a main controller and a steering execution module;
the main controller is used for dividing working areas of the forklift in a steering dead zone, setting a steering mode for each working area, and setting and storing steering angles and rotation center parameters of the steering wheels according to the set steering modes and parameters of wheel distances of the driving wheels, wheel distances of the steering wheels and wheel bases of the forklift;
The forklift control unit is electrically connected with the main controller and is used for sending out signals for executing specific steering modes in real time and determining the steering modes which need to be executed by the forklift in real time;
the steering execution module comprises a steering controller and a steering motor for controlling the steering wheels to rotate, the main controller is electrically connected with the steering controller and is used for sending the steering angle and the rotation center parameter of the steering wheels corresponding to the steering mode to the steering controller, and the steering controller controls the steering execution module to control the steering of the steering wheels according to the set steering angle and rotation center parameter of the steering wheels.
In this embodiment, the steering motor transmits power to the drive wheels through a steering gear mechanism that employs a reduction gear to increase the steering torque.
The above formulas are all formulas with dimensions removed and numerical values calculated, the formulas are formulas with a large amount of data collected for software simulation to obtain the latest real situation, and preset parameters in the formulas are set by those skilled in the art according to the actual situation.
The above embodiments may be implemented in whole or in part by software, hardware, firmware, or any other combination. When implemented in software, the above-described embodiments may be implemented in whole or in part in the form of a computer program product. Those of skill in the art will appreciate that the various illustrative elements and algorithm steps described in connection with the embodiments disclosed herein can be implemented as electronic hardware, or combinations of computer software and electronic hardware. Whether such functionality is implemented as hardware or software depends upon the particular application and design constraints imposed on the solution.
The units described as separate units may or may not be physically separate, and units shown as units may or may not be physical units, may be located in one place, or may be distributed over a plurality of network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.
The foregoing is merely illustrative of the present application, and the present application is not limited thereto, and any person skilled in the art will readily recognize that variations or substitutions are within the scope of the present application.

Claims (9)

1. The control method is suitable for an AGV forklift body with two front wheels serving as driving wheels and two rear wheels serving as steering wheels, and specifically comprises the following steps:
dividing working areas of the forklift in a steering dead zone, and setting a steering mode for each working area;
setting a steering angle and a rotation center parameter of the steering wheel according to the set steering mode and parameters of the wheel tread of the driving wheel, the wheel tread of the steering wheel and the wheel tread of the forklift truck;
parameters of a forklift control unit are collected in real time, a steering mode which needs to be executed by the forklift in real time is determined, and a steering executing module is controlled to control steering of steering wheels according to the set steering angle and the set rotation center parameters.
2. The control method of the steering dead zone of the double-drive four-pivot AGV forklift is characterized by comprising the following steps: the steering modes are divided into four steering modes of in-situ rotation, center rotation of a driving wheel, steering and small turning radius steering.
3. The control method of the steering dead zone of the double-drive four-pivot AGV forklift is characterized by comprising the following steps of: the rotation centers of all the steering modes are on the coaxial line of the two front driving wheels.
4. The control method of the steering dead zone of the double-drive four-pivot AGV forklift according to claim 3, wherein the control method comprises the following steps: the in-situ revolution comprises a counterclockwise in-situ revolution and a clockwise in-situ revolution, wherein the revolution centers of the counterclockwise in-situ revolution and the clockwise in-situ revolution are positioned at the midpoint of the connecting line of the centers of the two front driving wheels, and the steering angle parameters of the in-situ revolution are as follows:
the steering angle θ yn b of the right steering wheel and the steering angle θ yn α of the left steering wheel during the counterclockwise in-situ turning are respectively: θynɑ＝π-θynb；
The steering angle θ ys a of the left steering wheel and the steering angle θ ys b of the right steering wheel when the steering wheel rotates clockwise in situ are respectively: θysb＝-π-θysɑ；
Where d 2 represents the wheel base between the two rear wheels and d 3 represents the wheel base between the front and rear wheels.
5. The control method of the steering dead zone of the double-drive four-pivot AGV forklift according to claim 3, wherein the control method comprises the following steps: the center rotation of the driving wheel comprises center rotation of the left driving wheel and center rotation of the right driving wheel, the center of rotation is positioned at the center of the left front wheel when the center rotation of the left driving wheel, the center of rotation is positioned at the center of the right front wheel when the center rotation of the right driving wheel, and the steering angle parameters are as follows:
the steering angle theta xz alpha of the left steering wheel and the steering angle theta xz b of the right steering wheel when the center of the left driving wheel rotates are respectively as follows:
the steering angle theta xy alpha of the left steering wheel and the steering angle theta xy b of the right steering wheel when the center of the right driving wheel rotates are respectively as follows:
Where d 1 denotes a wheel base between two front wheels, d 2 denotes a wheel base between two rear wheels, and d 3 denotes a wheel base between the front wheels and the rear wheels.
6. The control method of the steering dead zone of the double-drive four-pivot AGV forklift according to claim 3, wherein the control method comprises the following steps: the steering comprises left turning and right turning, wherein the rotation center is positioned at the left side of the left front wheel during left turning, the distance between the rotation center and the left front wheel is R z1, the rotation center is positioned at the right side of the right front wheel during right turning, the distance between the rotation center and the right front wheel is R z2, and the steering angle parameters of the steering are as follows:
The steering angle θ zz α of the left steering wheel and the steering angle θ zz b of the right steering wheel during left steering are respectively:
The steering angle θ zy α of the left steering wheel and the steering angle θ zy b of the right steering wheel during right turning are respectively:
Where d 2 represents the wheel base between the two rear wheels, d 3 represents the wheel base between the front wheels and the rear wheels, and R z1＝Rz2>d1,d1 represents the wheel base between the two front wheels.
7. The control method of the steering dead zone of the double-drive four-pivot AGV forklift according to claim 3, wherein the control method comprises the following steps: the small turning radius steering comprises small turning radius left turning steering and small turning radius right turning steering, when the small turning radius left turning steering is performed, the turning center is positioned between the midpoint of the connecting line of the centers of the two front driving wheels and the center of the left front driving wheel, and the small turning radius left turning steering comprises three groups of steering angle parameters which are respectively as follows:
The first set of small turning radius left turning steering parameters, the steering angle θ bz1 a of the left steering wheel and the steering angle θ bz1 b of the right steering wheel are respectively:
the second set of small turning radius left turning steering parameters, the steering angle θ bz2 a of the left steering wheel and the steering angle θ bz2 b of the right steering wheel are respectively:
the third set of small turning radius left turning steering parameters, the steering angle θ bz3 a of the left steering wheel and the steering angle θ bz3 b of the right steering wheel are respectively:
Where d 2 denotes a wheel base between the two rear wheels, d 3 denotes a wheel base between the front wheels and the rear wheels, and R b1 denotes a distance from the center of the left front driving wheel to the midpoint of the center line of the two front driving wheels.
8. The control method for the steering dead zone of the double-drive four-pivot AGV forklift truck according to claim 7 is characterized by comprising the following steps: when the small turning radius right turning steering is performed, the turning center is positioned between the midpoint of the connecting line of the centers of the two front driving wheels and the center of the right front driving wheel, and the small turning radius right turning steering comprises three groups of steering angle parameters which are respectively as follows:
the first set of small turning radius right turning steering parameters, the steering angle θ by1 a of the left steering wheel and the steering angle θ by1 b of the right steering wheel are respectively:
The second set of small turning radius right turning steering parameters, the steering angle θ by2 a of the left steering wheel and the steering angle θ by2 b of the right steering wheel are respectively:
The third set of small turning radius right steering parameters, the steering angle θ by3 a of the left steering wheel and the steering angle θ by3 b of the right steering wheel are respectively:
Wherein R b2 represents the distance of the center of the right front drive wheel from the midpoint of the two front drive wheel center lines.
9. Control system of four fulcrum AGV fork truck steering dead zone is driven to two, its characterized in that: the control system is used for executing the control method of any one of claims 1-8, and comprises a forklift control unit, a main controller and a steering execution module;
the main controller is used for dividing working areas of the forklift in a steering dead zone, setting a steering mode for each working area, and setting and storing steering angles and rotation center parameters of the steering wheels according to the set steering modes and parameters of wheel distances of the driving wheels, wheel distances of the steering wheels and wheel bases of the forklift;
The forklift control unit is electrically connected with the main controller and is used for sending out signals for executing specific steering modes in real time and determining the steering modes which need to be executed by the forklift in real time;
the steering execution module comprises a steering controller and a steering motor for controlling the steering wheels to rotate, the main controller is electrically connected with the steering controller and is used for sending the steering angle and the rotation center parameter of the steering wheels corresponding to the steering mode to the steering controller, and the steering controller controls the steering execution module to control the steering of the steering wheels according to the set steering angle and rotation center parameter of the steering wheels.
CN202410091882.0A 2024-01-23 2024-01-23 Control method and system for steering dead zone of double-drive four-pivot AGV forklift Active CN117602538B (en)

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