TW202248783A - Forklift and control method thereof - Google Patents
Forklift and control method thereof Download PDFInfo
- Publication number
- TW202248783A TW202248783A TW110120134A TW110120134A TW202248783A TW 202248783 A TW202248783 A TW 202248783A TW 110120134 A TW110120134 A TW 110120134A TW 110120134 A TW110120134 A TW 110120134A TW 202248783 A TW202248783 A TW 202248783A
- Authority
- TW
- Taiwan
- Prior art keywords
- distance
- forklift
- processor
- distance sensor
- vehicle body
- Prior art date
Links
Images
Landscapes
- Forklifts And Lifting Vehicles (AREA)
Abstract
Description
本發明是有關一種運輸裝置,尤其是一種堆高機與用於堆高機的控制方法。The invention relates to a transportation device, in particular to a stacker and a control method for the stacker.
堆高機能夠搬運、堆疊較重的貨物,因此已廣泛運用在倉儲系統中。然而,由於堆高機本身的重量較重,導致其撞擊的衝擊力也較大。若因操作不慎而撞到貨架或貨物,輕則造成貨架倒塌、貨物損壞等財物損失,嚴重甚至會造成附近的人員傷亡。Stackers can carry and stack heavy goods, so they have been widely used in storage systems. However, due to the heavy weight of the forklift itself, the impact force of its impact is also relatively large. If it hits the shelf or goods due to careless operation, it will cause the collapse of the shelf, damage to the goods and other property losses, and even cause casualties in the vicinity.
為防止上述意外發生,習知的堆高機會在前端配置攝影機,操作人員則可透過攝影機擷取的畫面判斷堆高機與貨架之間距離。然而,當堆高機很靠近貨架時,攝影機便會因為光線不足而無法提供清晰的畫面,因而影響操作人員的判斷。此外,人為判斷本身便容易出現誤差,因此習知的堆高機仍無法有效地防止碰撞發生。In order to prevent the above-mentioned accidents from happening, the conventional forklift machine is equipped with a camera at the front end, and the operator can judge the distance between the forklift machine and the shelf through the images captured by the camera. However, when the forklift is very close to the shelf, the camera cannot provide a clear picture due to insufficient light, thus affecting the judgment of the operator. In addition, human judgment itself is prone to errors, so conventional forklifts still cannot effectively prevent collisions.
本「先前技術」段落只是用來幫助瞭解本發明內容,因此在「先前技術」中所揭露的內容可能包含一些沒有構成所屬技術領域中具有通常知識者所知道的習知技術。此外,在「先前技術」中所揭露的內容並不代表該內容或者本發明一個或多個實施例所要解決的問題,也不代表在本發明申請前已被所屬技術領域中具有通常知識者所知曉或認知。This "Prior Art" section is only used to help understand the content of the present invention, so the content disclosed in the "Prior Art" may contain some prior art that does not constitute the prior art known to those with ordinary skill in the art. In addition, the content disclosed in the "prior art" does not represent the content or the problems to be solved by one or more embodiments of the present invention, nor does it represent that it has been known by those with ordinary knowledge in the technical field before the application of the present invention know or know.
本發明提供一種堆高機,以在堆高機前進時準確偵測堆高機與前方物體之間的距離。The invention provides a forklift for accurately detecting the distance between the forklift and the object in front when the forklift is advancing.
本發明提供一種用於堆高機的控制方法,以防止堆高機在前進時防止與前方的物體發生碰撞。The invention provides a control method for a forklift to prevent the forklift from colliding with objects in front when it advances.
本發明的其他目的和優點可以從本發明所揭露的技術特徵中得到進一步的了解。Other purposes and advantages of the present invention can be further understood from the technical features disclosed in the present invention.
為達上述之一或部分或全部目的或是其他目的,本發明所提供的堆高機包括車體、桅桿件、載貨件、距離感測器以及處理器。桅桿件具有底端與頂端。底端固定於車體,且頂端與底端相對。載貨件具有升降部與載貨部。升降部可移動地設置於桅桿件上,載貨部則連接升降部並沿著延伸方向延伸。距離感測器設置於升降部上,並位於載貨部和底端之間。距離感測器用以感測載貨部的延伸方向上的物體的距離。處理器電性連接距離感測器,並用以判斷距離是否小於警示範圍。To achieve one or part or all of the above objectives or other objectives, the forklift provided by the present invention includes a car body, a mast, a cargo, a distance sensor and a processor. The mast piece has a bottom end and a top end. The bottom end is fixed on the vehicle body, and the top end is opposite to the bottom end. The loading part has a lifting part and a loading part. The lifting part is movably arranged on the mast part, and the loading part is connected with the lifting part and extends along the extending direction. The distance sensor is arranged on the lifting part and is located between the loading part and the bottom end. The distance sensor is used for sensing the distance of the object in the extending direction of the cargo carrying part. The processor is electrically connected to the distance sensor and used for judging whether the distance is less than the warning range.
在本發明的一實施例中,上述之堆高機還包括車輪驅動元件。 車輪驅動元件設置於車體內並電性連接處理器。處理器用以控制車輪驅動元件驅使車體移動,且處理器用以在距離小於警示範圍時,控制車輪驅動元件停止移動車體。 In an embodiment of the present invention, the above-mentioned forklift machine further includes a wheel driving element. The wheel drive element is arranged in the vehicle body and electrically connected to the processor. The processor is used to control the wheel driving element to drive the vehicle body to move, and the processor is used to control the wheel driving element to stop moving the vehicle body when the distance is less than the warning range.
在本發明的一實施例中,上述之堆高機還包括定位裝置。 定位裝置設置於桅桿件的頂端,並用以定位堆高機的座標位置。處理器藉由座標位置計算堆高機與目標物件之間的目標距離。 In an embodiment of the present invention, the above-mentioned forklift further includes a positioning device. The positioning device is arranged on the top of the mast and is used to locate the coordinate position of the forklift. The processor calculates the target distance between the forklift and the target object according to the coordinate position.
在本發明的一實施例中,當上述之目標距離小於或等於警示範圍時,處理器關閉距離感測器。In an embodiment of the present invention, when the above-mentioned target distance is less than or equal to the warning range, the processor turns off the distance sensor.
在本發明的一實施例中,上述之距離感測器包括多個感測元件,排列於升降部上。In an embodiment of the present invention, the above-mentioned distance sensor includes a plurality of sensing elements arranged on the lifting portion.
在本發明的一實施例中,上述之距離感測器為光學距離感測元件。In an embodiment of the present invention, the aforementioned distance sensor is an optical distance sensing element.
為達上述之一或部分或全部目的或是其他目的,本發明所提供的用於堆高機的控制方法能防止堆高機發生碰撞。所述的堆高機包括上述特徵,而所述的控制方法包括以下步驟。透過距離感測器,感測載貨部的延伸方向上的物體的距離。透過處理器,控制升降部沿著桅桿件移動至預定位置。透過處理器,判斷距離是否小於警示範圍。當距離大於或等於警示範圍時,控制車體朝向目標物件移動。當距離小於警示範圍時,控制車體停止移動。In order to achieve one or part or all of the above purposes or other purposes, the control method for the forklift provided by the present invention can prevent the forklift from colliding. The forklift described above includes the above features, and the control method includes the following steps. Through the distance sensor, the distance of the object in the extending direction of the cargo loading part is sensed. Through the processor, the lifting part is controlled to move to a predetermined position along the mast. Through the processor, it is judged whether the distance is less than the warning range. When the distance is greater than or equal to the warning range, the vehicle body is controlled to move towards the target object. When the distance is less than the warning range, the vehicle body is controlled to stop moving.
在本發明的一實施例中,在距離小於警示範圍時,控制車體停止移動之後,上述之用於堆高機的控制方法還包括:透過處理器,關閉距離感測器。In an embodiment of the present invention, after the vehicle body is controlled to stop moving when the distance is less than the warning range, the above-mentioned control method for the forklift further includes: turning off the distance sensor through the processor.
在本發明的一實施例中,在距離小於警示範圍時,控制車體停止移動的方法包括:透過處理器,控制車輪驅動元件停止移動車體。In an embodiment of the present invention, when the distance is less than the warning range, the method for controlling the vehicle body to stop moving includes: controlling the wheel driving elements to stop moving the vehicle body through a processor.
在本發明的一實施例中,在透過距離感測器,感測載貨部的延伸方向上的物體的距離之前,上述之用於堆高機的控制方法還包括以下步驟。透過定位裝置,定位堆高機的座標位置。透過處理器,藉由座標位置計算堆高機與目標物件之間的目標距離。In an embodiment of the present invention, before the distance sensor is used to sense the distance of the object in the extending direction of the loading part, the above-mentioned control method for the forklift further includes the following steps. Through the positioning device, locate the coordinate position of the stacker. Through the processor, the target distance between the forklift and the target object is calculated according to the coordinate position.
在本發明的一實施例中,在透過處理器,藉由座標位置計算堆高機與該目標物件之間的該目標距離之後,上述之用於堆高機的控制方法還包括以下步驟。透過處理器,判斷目標距離是否小於或等於警示範圍。當目標距離小於或等於警示範圍時,處理器關閉距離感測器。In an embodiment of the present invention, after the processor calculates the target distance between the forklift and the target object according to the coordinate position, the above-mentioned control method for the forklift further includes the following steps. Through the processor, it is judged whether the target distance is less than or equal to the warning range. When the target distance is less than or equal to the warning range, the processor turns off the distance sensor.
在本發明的一實施例中,上述之距離感測器包括前述的多個感測元件。In an embodiment of the present invention, the aforementioned distance sensor includes the aforementioned plurality of sensing elements.
在本發明的一實施例中,上述之距離感測器為前述的光學距離感測元件。In an embodiment of the present invention, the aforementioned distance sensor is the aforementioned optical distance sensing element.
本發明的堆高機採用了距離感測器,且距離感測器是設置於堆高機的升降部。當堆高機準備開始從貨架上取貨或卸貨之前,升降部會先沿著桅桿件移動至對應貨架層板的高度,使位於升降部上距離感測器也一併移動至對應貨架層板的高度。如此,當堆高機前進時,距離感測器便能偵測自身與前方物體(例如貨架)之間的距離,進而防止因人為判斷誤差而發生的碰撞。另一方面,本發明之用於堆高機的控制方法能在前述的距離小於警示範圍時,控制堆高機的車體停止移動,所以能在堆高機前進時防止與前方的物體發生碰撞。The forklift of the present invention adopts a distance sensor, and the distance sensor is arranged on the lifting part of the forklift. Before the stacker is ready to pick up or unload goods from the shelf, the lifting part will first move along the mast to the height of the corresponding shelf, so that the distance sensor on the lifting part will also move to the corresponding shelf the height of. In this way, when the forklift is moving forward, the distance sensor can detect the distance between itself and the object in front (such as a shelf), thereby preventing collisions due to human judgment errors. On the other hand, the control method for the forklift of the present invention can control the car body of the forklift to stop moving when the aforementioned distance is less than the warning range, so it can prevent the forklift from colliding with objects in front when the forklift is advancing .
為讓本發明之上述和其他目的、特徵和優點能更明顯易懂,下文特舉較佳實施例,並配合所附圖式,作詳細說明如下。In order to make the above and other objects, features and advantages of the present invention more comprehensible, preferred embodiments will be described in detail below together with the attached drawings.
有關本發明之前述及其他技術內容、特點與功效,在以下配合參考圖式之一較佳實施例的詳細說明中,將可清楚的呈現。以下實施例中所提到的方向用語,例如:上、下、左、右、前或後等,僅是參考附加圖式的方向。因此,使用的方向用語是用來說明並非用來限制本發明。The aforementioned and other technical contents, features and effects of the present invention will be clearly presented in the following detailed description of a preferred embodiment with reference to the drawings. The directional terms mentioned in the following embodiments, such as: up, down, left, right, front or back, etc., are only directions referring to the attached drawings. Accordingly, the directional terms are used to illustrate and not to limit the invention.
圖1是本發明一實施例之堆高機朝目標物件移動的示意圖。圖2是圖1之堆高機的方塊示意圖。請參考圖1和圖2,堆高機100包括車體110、桅桿件120、載貨件130、距離感測器140以及處理器150。桅桿件120具有底端B與頂端T。底端B固定於車體110,且頂端T與底端B相對。載貨件130具有升降部131與載貨部132。升降部131可移動地設置於桅桿件120上,載貨部132則連接升降部131並沿著延伸方向E延伸。距離感測器140設置於升降部131上,並位於載貨部132和底端B之間。距離感測器140設置為朝向延伸方向E並能感測載貨部132的延伸方向E上的物體O的距離D,而此處的物體O例如為貨架的層板或是路徑上的障礙物。處理器150電性連接距離感測器140,並能判斷距離D是否小於警示範圍。Fig. 1 is a schematic diagram of a forklift moving towards a target object according to an embodiment of the present invention. Fig. 2 is a schematic block diagram of the forklift in Fig. 1 . Referring to FIG. 1 and FIG. 2 , the
請繼續參考圖1,載貨件130能沿著桅桿件120移動至適合取貨或卸貨的高度。本實施例的載貨部132例如為牙叉(貨叉)。具體來說,載貨件130可具有相對的兩末端E1及E2,末端E1連接至升降部131,而延伸方向E例如是從末端E1指向末端E2。更進一步來說,延伸方向E例如是實質平行於車體110朝向物體O移動時的前進方向,但本發明不限於此。Please continue to refer to FIG. 1 , the
本實施例的距離感測器140可為光學距離感測元件,以透過高指向性的特徵提升偵測精準度。所述的光學距離感測元件例如包括雷射式距離感測器、紅外線距離感測器、使用LED做為光源的光電感測器或其他包含光學元件的距離感測器,但本實施例不限於此。為進一步提升偵測的精準度,本發明的距離感測器140可包括多個感測元件。例如,請參考圖3與圖4的堆高機100a,距離感測器140a可包括感測元件141a、142a及143a,排列於升降部131上,以提供更大的偵測範圍。舉例來說,感測元件142a及143a可較感測元件141a靠近桅桿件120的底端B,如此感測元件141a能偵測與物體O(例如為貨架的層板)之間的距離D,感測元件142a及143a則能偵測與物體O1(例如為棧板或貨物)之間的距離D1,其中物體O1在貨架上的高度可異於物體O在貨架上的高度。能理解的是,感測元件141a、142a及143a的排列方式並不限於圖式所示。例如,圖3與圖4的感測元件141a、142a及143a可以Y方向排列,以偵測不同高度的物體O及O1。在一實施例中,例如為圖5的堆高機100b,距離感測器140b的各感測元件141b則可以Z方向排列,以提供不同於圖4的偵測範圍。在另一實施例中,感測元件141a、142a及143a(或感測元件141b)也可排列成矩陣或其他平面形狀,而具體排列方式可依實際需求而定,本發明不對此多做限制。The
類似於圖3的實施例,圖6的堆高機100c的距離感測器140c可包括感測元件141c、142c及143c,且感測元件141c、142c及143c可具有收發訊號的功能。詳言之,感測元件141c發出訊號G1的角度是異於感測元件142c及143c發出訊號G2及G3的角度,以進一步擴大偵測範圍。例如,感測元件142c及143c可沿著延伸方向E發出訊號G2及G3以偵測與物體O(例如為貨架的層板)之間的距離D,感測元件141c則可朝向地面發出訊號G1,以偵測與物體O2(例如為地面上的雜物)之間的距離D2。附帶一提,圖6的感測元件141c、142c及143c的排列方向僅為示意,而非用以限制本實施例。另外,各實施例之感測元件141a、142a、143a、141b、141c、142c及143c的數量皆能依實際需求而更改,本發明不對此多做限制。Similar to the embodiment in FIG. 3 , the
請一併參考圖1和圖2,本實施例的處理器150可包括微控制器(microcontroller unit,MCU),但本發明不限於此。處理器150可控制載貨件130、距離感測器140和其他元件的運作,詳細特徵將於下文中說明。Please refer to FIG. 1 and FIG. 2 together. The
車體110可以人為操控或處理器150操控的方式移動,例如自動駕駛,其中本實施例的車體110例如是以處理器150操控的方式移動,但其他實施例不限於此。詳言之,本實施例的堆高機100還可包括車輪驅動元件160。車輪驅動元件160設置於車體110內並電性連接處理器150。處理器150能控制車輪驅動元件160驅使車體110移動,且處理器150能在距離D小於警示範圍時,控制車輪驅動元件160停止移動車體110,以進一步防止堆高機100和物體O發生碰撞。在本實施例中,車輪驅動元件160例如包括車輪驅動馬達,但本發明不限於此。The
本實施例的堆高機100還可包括定位裝置170。定位裝置170設置於桅桿件120的頂端T,並能定位堆高機100的座標位置。處理器150藉由上述的座標位置計算堆高機100與目標物件TO之間的目標距離TD。詳細而言,上述的座標位置例如是堆高機100在倉儲環境中的位置,並會隨著堆高機100的移動而變化。目標物件TO例如是堆高機100預設前往取貨或卸貨的貨架,且處理器150能藉由上述的座標位置控制車體110朝目標物件TO移動,以便執行取貨或卸貨等動作。在本實施例中,定位裝置170可包括二維或三維的光學雷達(LiDAR)。在另一實施例中,定位裝置170則可包括慣性測量單元(inertial measurement unit,IMU),但本發明不限於此。The
相較於習知技術,本實施例的堆高機100採用了距離感測器140,且距離感測器140是設置於堆高機100的升降部131。當堆高機100準備開始從貨架上取貨或卸貨之前,升降部131會先沿著桅桿件120移動至對應貨架層板的高度,使位於升降部131上距離感測器140也一併移動至對應貨架層板的高度。如此,當堆高機100前進時,距離感測器140便能偵測自身與前方物體O(例如貨架的層板)之間的距離D,進而防止因人為判斷誤差而發生的碰撞。Compared with the conventional technology, the
圖7是本發明一實施例之用於堆高機的控制方法的流程圖。請一併參考圖1、圖2與圖7,本實施例之用於堆高機的控制方法能防止堆高機100發生碰撞。堆高機100包括上述的特徵,而用於堆高機的控制方法則包括以下步驟。請參考步驟S1:透過距離感測器140,感測載貨部132的延伸方向E上的物體O的距離D。延伸方向E例如是實質平行於車體110朝向物體O移動時的前進方向,但不限於此。Fig. 7 is a flowchart of a control method for a forklift according to an embodiment of the present invention. Please refer to FIG. 1 , FIG. 2 and FIG. 7 , the control method for the forklift in this embodiment can prevent the
接著,請參考步驟S2:透過處理器150,控制升降部131沿著桅桿件120移動至預定位置;其中所述的預定位置可對應待取貨(或卸貨)的棧板的高度。附帶一提,本實施例的距離感測器140在升降部131沿著桅桿件120移動時可持續運作,但本發明不限於此。Next, please refer to step S2: through the
在升降部131沿著桅桿件120移動至預定位置之後,進行步驟S3:透過處理器150,判斷距離D是否小於警示範圍。所述的警示範圍可依據堆高機100和貨物的重量而定,例如介於數公分至數十公分之間,但本發明不對此多做限制。After the
請參考步驟S4,當距離D大於或等於警示範圍時,控制車體110朝向目標物件TO移動。換言之,當距離D大於或等於警示範圍時,處理器150判斷車體110尚未有碰撞的風險,因此控制車體110繼續朝向目標物件TO移動。Please refer to step S4, when the distance D is greater than or equal to the warning range, the
請參考步驟S5,當距離D小於警示範圍時,控制車體110停止移動,以防止堆高機100和物體O發生碰撞。舉例來說,可以透過處理器150控制車輪驅動元件160停止移動車體110。車輪驅動元件160可包括車輪驅動馬達,但其他實施例不限於此。附帶一提,當距離D小於警示範圍時,載貨件130的載貨部132已伸入貨架的層板上方,因此載貨件130可開始執行取貨或卸貨等動作,但本發明不對具體的後續操作多做限制。此外,載貨件130可由處理器150操控,但本發明不限於此。Please refer to step S5, when the distance D is less than the warning range, the
圖8是本發明另一實施例之用於堆高機的控制方法的流程圖。請參考圖1、圖2與圖8,在步驟S5之後,用於堆高機的控制方法還可包括步驟S6:透過處理器150,關閉距離感測器140。詳言之,距離感測器140在很靠近目標物件TO時,容易偵測到部分不會導致碰撞意外的雜物,例如為灰塵或線材,或是將貨物的線材當作障礙物,因此,處理器150在判斷距離D小於警示範圍之後可關閉距離感測器140,以防止因誤偵測上述之雜物而造成車體110停止移動。附帶一提,處理器150可在關閉距離感測器140後開始控制載貨件130執行取貨或卸貨的動作,並在載貨件130完成取貨或卸貨後控制車體110離開目標物件TO。Fig. 8 is a flowchart of a control method for a forklift according to another embodiment of the present invention. Please refer to FIG. 1 , FIG. 2 and FIG. 8 , after step S5 , the control method for the forklift may further include step S6 : through the
在進行步驟S1之前,用於堆高機的控制方法還可包括步驟S0:透過定位裝置170,定位堆高機100的座標位置。定位裝置170與上述座標位置的詳細特徵已在前文中說明,故相關描述在此省略。Before performing step S1 , the control method for the forklift may further include step S0 : locating the coordinate position of the
在定位堆高機100的座標位置之後,用於堆高機的控制方法還可包括步驟S7:透過處理器150,藉由座標位置計算堆高機100與目標物件TO之間的目標距離TD。詳言之,目標物件TO可為待取貨或卸貨的貨架,而處理器150能依據目標距離TD判斷堆高機100是否已抵達目標物件TO的前方。在堆高機100抵達目標物件TO的前方之前,處理器150可關閉距離感測器140,以防止距離感測器140在堆高機100尚未靠近目標物件TO之前因誤偵測其他物件而停止移動。此外,定位裝置170在倉儲環境有大幅度變動(例如變更多個貨架的位置)時,恐會無法準確定位堆高機100的座標位置。在此情形下,處理器150可開啟距離感測器140並判斷距離D是否小於警示範圍,以防止堆高機100在朝目標物件TO移動的過程中發生碰撞。After the coordinate position of the
在步驟S7之後,用於堆高機的控制方法還可包括步驟S8:透過處理器150,判斷目標距離TD是否小於或等於警示範圍。當目標距離TD小於或等於警示範圍時,可先進行上述步驟S5,再進行上述步驟S6。當目標距離TD大於警示範圍時,進行上述步驟S4。附帶一提,本實施例之步驟S7及S8可與步驟S1、S2及S3同時進行,例如,在距離感測器140偵測並判斷距離D是否小於警示範圍時,定位裝置170可同時偵測並判斷目標距離TD是否小於或等於警示範圍,但其他實施例不限於此。After step S7, the control method for the forklift may further include step S8: through the
相較於習知技術,由於本實施例之用於堆高機的控制方法能在堆高機100與物體O之間的距離D小於警示範圍時,控制車體110停止移動,所以能在堆高機100前進時防止與前方的物體O發生碰撞。此外,本實施例之用於堆高機的控制方法也能應用在堆高機100a、100b及100c。Compared with the conventional technology, since the control method for the stacker in this embodiment can control the
綜上所述,本發明的堆高機採用了距離感測器,且距離感測器是設置於堆高機的升降部。當堆高機準備開始從貨架上取貨或卸貨之前,升降部會先沿著桅桿件移動至對應貨架層板的高度,使位於升降部上距離感測器也一併移動至對應貨架層板的高度。如此,當堆高機前進時,距離感測器便能偵測自身與前方物體(例如貨架)之間的距離,進而防止因人為判斷誤差而發生的碰撞。另一方面,本發明之用於堆高機的控制方法能在前述的距離小於警示範圍時,控制堆高機的車體停止移動,所以能在堆高機前進時防止與前方的物體發生碰撞。To sum up, the forklift of the present invention adopts a distance sensor, and the distance sensor is arranged on the lifting part of the forklift. Before the stacker is ready to pick up or unload goods from the shelf, the lifting part will first move along the mast to the height of the corresponding shelf, so that the distance sensor on the lifting part will also move to the corresponding shelf the height of. In this way, when the forklift is moving forward, the distance sensor can detect the distance between itself and the object in front (such as a shelf), thereby preventing collisions due to human judgment errors. On the other hand, the control method for the forklift of the present invention can control the car body of the forklift to stop moving when the aforementioned distance is less than the warning range, so it can prevent the forklift from colliding with objects in front when the forklift is advancing .
惟以上所述者,僅為本發明之較佳實施例而已,當不能以此限定本發明實施之範圍,即大凡依本發明申請專利範圍及發明說明內容所作之簡單的等效變化與修飾,皆仍屬本發明專利涵蓋之範圍內。另外,本發明的任一實施例或申請專利範圍不須達成本發明所揭露之全部目的或優點或特點。此外,摘要部分和標題僅是用來輔助專利文件搜尋之用,並非用來限制本發明之權利範圍。But what is described above is only a preferred embodiment of the present invention, and should not limit the scope of implementation of the present invention with this, that is, all simple equivalent changes and modifications made according to the patent scope of the present invention and the content of the description of the invention, All still belong to the scope covered by the patent of the present invention. In addition, any embodiment or scope of claims of the present invention does not necessarily achieve all the objectives or advantages or features disclosed in the present invention. In addition, the abstract and the title are only used to assist the search of patent documents, and are not used to limit the scope of rights of the present invention.
100、100a、100b、100c:堆高機
110:車體
120:桅桿件
130:載貨件
131:升降部
132:載貨部
140、140a、140b、140c:距離感測器
141a、141b、141c、142a、143a、142c、143c:感測元件
150:處理器
160:車輪驅動元件
170:定位裝置
X、Y、Z:方向
B:底端
D、D1、D2:距離
E:延伸方向
E1、E2:末端
G1、G2、G3:訊號
O、O1、O2:物體
S0、S1、S2、S3、S4、S5、S6、S7、S8:步驟
T:頂端
TD:目標距離
TO:目標物件。
100, 100a, 100b, 100c: Stacker
110: car body
120: mast piece
130: cargo
131: Lifting Department
132:
圖1是本發明一實施例之堆高機朝目標物件移動的示意圖。 圖2是圖1之堆高機的方塊示意圖。 圖3是本發明另一實施例之堆高機朝目標物件移動的示意圖。 圖4是圖3的堆高機的感測元件的排列示意圖。 圖5是本發明另一實施例之堆高機的感測元件的排列示意圖。 圖6是本發明另一實施例之堆高機朝目標物件移動的示意圖。 圖7是本發明一實施例之用於堆高機的控制方法的流程圖。 圖8是本發明另一實施例之用於堆高機的控制方法的流程圖。 Fig. 1 is a schematic diagram of a forklift moving towards a target object according to an embodiment of the present invention. Fig. 2 is a schematic block diagram of the forklift in Fig. 1 . Fig. 3 is a schematic diagram of a forklift moving towards a target object according to another embodiment of the present invention. Fig. 4 is a schematic diagram of arrangement of sensing elements of the forklift in Fig. 3 . Fig. 5 is a schematic diagram of the arrangement of sensing elements of a forklift according to another embodiment of the present invention. Fig. 6 is a schematic diagram of a forklift moving towards a target object according to another embodiment of the present invention. Fig. 7 is a flowchart of a control method for a forklift according to an embodiment of the present invention. Fig. 8 is a flowchart of a control method for a forklift according to another embodiment of the present invention.
100:堆高機 100: Stacker
110:車體 110: car body
120:桅桿件 120: mast piece
130:載貨件 130: cargo
131:升降部 131: Lifting Department
132:載貨部 132: Cargo Department
140:距離感測器 140: distance sensor
150:處理器 150: Processor
160:車輪驅動元件 160: wheel drive element
170:定位裝置 170: positioning device
B:底端 B: Bottom
D:距離 D: distance
E:延伸方向 E: Extension direction
E1、E2:末端 E1, E2: end
O:物體 O: object
T:頂端 T: top
TD:目標距離 TD: target distance
TO:目標物件 TO: target object
Claims (14)
Priority Applications (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
TW110120134A TWI823100B (en) | 2021-06-03 | 2021-06-03 | Forklift and control method thereof |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
TW110120134A TWI823100B (en) | 2021-06-03 | 2021-06-03 | Forklift and control method thereof |
Publications (2)
Publication Number | Publication Date |
---|---|
TW202248783A true TW202248783A (en) | 2022-12-16 |
TWI823100B TWI823100B (en) | 2023-11-21 |
Family
ID=85793544
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
TW110120134A TWI823100B (en) | 2021-06-03 | 2021-06-03 | Forklift and control method thereof |
Country Status (1)
Country | Link |
---|---|
TW (1) | TWI823100B (en) |
Family Cites Families (7)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US10202267B2 (en) * | 2015-10-29 | 2019-02-12 | The Raymond Corporation | Systems and methods for sensing a load carried by a material handling vehicle |
US9715232B1 (en) * | 2016-09-19 | 2017-07-25 | X Development Llc | Using planar sensors for pallet detection |
CN111170216A (en) * | 2018-11-13 | 2020-05-19 | 湖北杜德起重机械有限公司 | Lifting forklift |
CN109573906A (en) * | 2019-01-25 | 2019-04-05 | 江苏达力叉车有限公司 | A kind of fork truck safety anticollision system |
CN109650292B (en) * | 2019-02-02 | 2019-11-05 | 北京极智嘉科技有限公司 | The location regulation method and medium of a kind of intelligent forklift and intelligent forklift |
US11345577B2 (en) * | 2019-11-01 | 2022-05-31 | Teradyne, Inc. | Mobile automated guided vehicle pallet stacker and destacker system and method therefor |
CN111071127A (en) * | 2019-12-31 | 2020-04-28 | 广州逻得智能科技有限公司 | Cargo loading and unloading system and cargo loading and unloading method |
-
2021
- 2021-06-03 TW TW110120134A patent/TWI823100B/en active
Also Published As
Publication number | Publication date |
---|---|
TWI823100B (en) | 2023-11-21 |
Similar Documents
Publication | Publication Date | Title |
---|---|---|
CN108793013B (en) | Forklift system and control method thereof | |
EP3000772B1 (en) | Fork-lift truck and method for operating a fork-lift truck | |
US11851310B2 (en) | Autonomous forklift truck | |
JP7103077B2 (en) | Remote control system for forklifts | |
US20210087031A1 (en) | Autonomous material transport vehicles, and systems and methods of operating thereof | |
AU2016250454B2 (en) | Systems and methods for sensing a load carried by a material handling vehicle | |
KR102389494B1 (en) | Autonomous Forklift Truck | |
KR20210135589A (en) | weight estimation system | |
US10061310B2 (en) | Method for the control of an industrial truck during order picking | |
KR102300596B1 (en) | Method for narrow lane driving of autonomous forklift and apparatus for the same | |
KR20180028575A (en) | Operation Safety Motion Base with Sensor at the AGV and Control Method Thereof | |
JP2007269452A (en) | Safety device for unmanned fork lift | |
KR102438943B1 (en) | Container crane comprising reference marker | |
EP3656702A1 (en) | Mobile industrial robot with security system for pallet docketing | |
TWI823100B (en) | Forklift and control method thereof | |
US20230324913A1 (en) | Obstacle detection device and traveling control device | |
CN216863543U (en) | Autonomous mobile transport vehicle | |
JP2003073093A (en) | Automated forklift | |
TWI820538B (en) | Handling assembly collision processing method and apparatus, robot, computer device, computer readable storage medium, and computer program product | |
CN115432646A (en) | Stacking machine and control method thereof | |
SE542067C2 (en) | System and method for determining a first steering angle of a forklift truck | |
US12038754B2 (en) | Movable body, movement control system, method for controlling movable body, and program | |
US20230202817A1 (en) | Control method for mobile object, mobile object, and computer-readable storage medium | |
KR102542238B1 (en) | Automated guided vehicle and cargo management system including the same | |
JP7287329B2 (en) | forklift |