CN109368549A - A kind of magnetic stripe navigation fork truck system and its control method - Google Patents
A kind of magnetic stripe navigation fork truck system and its control method Download PDFInfo
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- CN109368549A CN109368549A CN201811612135.8A CN201811612135A CN109368549A CN 109368549 A CN109368549 A CN 109368549A CN 201811612135 A CN201811612135 A CN 201811612135A CN 109368549 A CN109368549 A CN 109368549A
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- 238000000034 method Methods 0.000 title claims abstract description 30
- 238000001514 detection method Methods 0.000 claims abstract description 68
- 238000010586 diagram Methods 0.000 description 18
- 238000007689 inspection Methods 0.000 description 2
- 230000005540 biological transmission Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000005259 measurement Methods 0.000 description 1
- 238000011112 process operation Methods 0.000 description 1
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
- B66F9/063—Automatically guided
-
- 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
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0259—Control of position or course in two dimensions specially adapted to land vehicles using magnetic or electromagnetic means
- G05D1/0263—Control of position or course in two dimensions specially adapted to land vehicles using magnetic or electromagnetic means using magnetic strips
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- Engineering & Computer Science (AREA)
- Transportation (AREA)
- Structural Engineering (AREA)
- Civil Engineering (AREA)
- Life Sciences & Earth Sciences (AREA)
- Geology (AREA)
- Mechanical Engineering (AREA)
- Physics & Mathematics (AREA)
- Electromagnetism (AREA)
- Aviation & Aerospace Engineering (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
- Forklifts And Lifting Vehicles (AREA)
Abstract
The invention discloses a kind of magnetic stripe navigation fork truck system and its control methods.Magnetic stripe navigation fork truck system includes: car body；Wireless-identification device, including the first magnetic stripe sensor and the second magnetic stripe sensor, the first magnetic stripe sensor and the second magnetic stripe sensor are set to outside car body, and the distance of the first magnetic stripe sensor and second magnetic stripe sensor distance car body a side differs；ID of trace route path, including the first magnetic stripe and the second magnetic stripe, the distance between the first magnetic stripe and the second magnetic stripe, with the first magnetic stripe sensor and the second magnetic stripe sensor matching；Wherein, controller is run according to the first detection information and the second detection information control car body along the first magnetic stripe and the second magnetic stripe.The present invention improves the navigation accuracy of magnetic stripe navigation fork truck.Especially when car body fall back picks and places cargo, angular deviation when picking and placing cargo is reduced, adjustment angle and distance needed for position when reducing car body fall back, to be conducive to be promoted the speed of service and operational efficiency of magnetic stripe navigation fork truck.
Description
Technical field
The present embodiments relate to automatic guided vehicle technical field more particularly to a kind of magnetic stripe navigation fork truck system and its controls
Method processed.
Background technique
Magnetic stripe navigation fork truck is a kind of automatic guided vehicle (Automated Guided Vehicle, AGV), is equipped with magnetic
Homing guidance device, being not required to driver's control can run along defined magnetic stripe guide path.It is commonly used with material conveying
Other equipment compare, the zone of action of magnetic stripe navigation fork truck without being laid with the fixed device such as track, support saddle frame, not by place,
The limitation of road and space.Therefore, it is widely used in automatic Material Handling System.
However, the navigation accuracy of existing magnetic stripe navigation fork truck system is lower, in order to avoid magnetic stripe navigation fork truck retreats fortune
Row deviates the distance of magnetic stripe farther out during picking and placing cargo, so that the position of magnetic stripe navigation fork truck stopping and angle changing rate essence
Really, so as to safely and accurately pick and place cargo, the speed of service of magnetic stripe navigation fork truck is generally lower.Therefore, existing magnetic stripe
Navigation fork truck has that navigation accuracy is low low with the speed of service.
Summary of the invention
The present invention provides a kind of magnetic stripe navigation fork truck system and its control method, to promote the navigation essence of magnetic stripe navigation fork truck
Degree and the speed of service.
In a first aspect, the embodiment of the invention provides a kind of magnetic stripe navigation fork truck system, the magnetic stripe navigation fork truck system
Include:
Car body is provided with controller in the car body；
Wireless-identification device, including the first magnetic stripe sensor and the second magnetic stripe sensor, the first magnetic stripe sensor and
The second magnetic stripe sensor is electrically connected with the controller respectively, the first magnetic stripe sensor and second magnetic stripe sensing
Device is set to outside the car body, and car body side described in the first magnetic stripe sensor and the second magnetic stripe sensor distance
The distance on side differs；
ID of trace route path, including the first magnetic stripe and the second magnetic stripe, first magnetic stripe and second magnetic stripe are arranged in parallel, and
The distance between first magnetic stripe and second magnetic stripe, with the first magnetic stripe sensor and the second magnetic stripe sensor
Matching；
Wherein, the first magnetic stripe sensor detects first magnetic stripe, and sends the first detection letter to the controller
Breath, the second magnetic stripe sensor detects second magnetic stripe, and sends the second detection information to the controller；The control
Device is used to control the car body according to first detection information and second detection information along first magnetic stripe and described
The operation of second magnetic stripe.
Optionally, the car body includes headstock and pallet fork；
The first magnetic stripe sensor is set to the headstock front end；
The second magnetic stripe sensor is set to the bottom of the pallet fork.
Optionally, the car body further includes driven wheel, and the driven wheel is set to the bottom of the pallet fork；
The second magnetic stripe sensor is set to the shaft core position of the driven wheel；
The car body further includes steering engine wheel, and the steering engine wheel is set to the bottom of the headstock；
The first magnetic stripe sensor and distance of the steering engine wheel apart from described car body a side differ.
Optionally, the ID of trace route path further includes third magnetic stripe, the third magnetic stripe and the first magnetic stripe square crossing,
Form crosspoint；
The ID of trace route path further includes the first stopping mark, and described first, which stops mark, is set to the one of the third magnetic stripe
Side, and the length apart from the crosspoint is less than the length of the car body；
The wireless-identification device further includes stopping identification device, and the stopping identification device being set to outside the car body
Portion is electrically connected with the controller, and the stopping identification device identification described first stops mark, and sends to the controller
First Stop message；
The first magnetic stripe sensor detects the third magnetic stripe, and sends third detection information to the controller；Institute
It states controller to run for controlling the car body according to the third detection information along the third magnetic stripe, and according to described first
Stop message is controlled after the car body stops and is rotated by 90 ° in the intersection.
Optionally, the ID of trace route path further includes the second stopping mark, and described second, which stops mark, is set to described first
The side of magnetic stripe；
The stopping identification device identification described second stops mark, and sends the second Stop message to the controller；
The controller, which is used to control the car body according to second Stop message, to be stopped, and picks and places cargo.
Optionally, described first stops identifying including third magnetic stripe sensor, and the stopping identification device includes the 4th magnetic
Item；
Alternatively, described first stops identifying including HF RPID tags, the stopping identification device includes that high-frequency RF ID is read
Write device.
Optionally, the ID of trace route path further includes command id, and the command id is set to the one of the third magnetic stripe
Side；
Wireless-identification device further includes command recognition unit, and the command recognition unit is set to the car body front end, is used
Command information is sent in the detection command id, and to the controller；The controller is used for according to the command information
Control the operating path of the car body.
Second aspect, the embodiment of the invention also provides a kind of control method of magnetic stripe navigation fork truck system, the magnetic stripes
The control method of navigation fork truck system includes: that controller receives the first detection information that the first magnetic stripe sensor is sent；It connects
Receive the second detection information that the second magnetic stripe sensor is sent；
Controller controls the car body along first magnetic according to first detection information and second detection information
Item and second magnetic stripe operation.
Optionally, the control car body is run along first magnetic stripe and second magnetic stripe, comprising:
The car body is controlled along first magnetic stripe and the second magnetic stripe fall back.
Optionally, according to first detection information and second detection information, the car body is controlled along described
Before one magnetic stripe and second magnetic stripe operation, further includes:
If the first magnetic stripe sensor deviates first magnetic stripe, and the second magnetic stripe sensor is located at described second
The middle position of magnetic stripe, controller control the car body and rotates to first magnetic stripe, until the traffic direction of the car body and
First magnetic stripe is parallel.
Optionally, the first detection information that the first magnetic stripe sensor is sent is received in the controller；Described in reception
Before the second detection information that second magnetic stripe sensor is sent, further includes:
Receive the third detection information that the first magnetic stripe sensor is sent；
According to the third detection information, controls the car body and run along the third magnetic stripe；
Receive the first Stop message that the stopping identification device being sent；
According to first Stop message, controls the car body and stop；
The car body is controlled to be rotated by 90 ° in the intersection.
The embodiment of the present invention by setting the first magnetic stripe sensor and second magnetic stripe sensor distance car body a side away from
From differing, the first magnetic stripe and the second magnetic stripe are arranged in parallel, and the distance between the first magnetic stripe and the second magnetic stripe, are passed with the first magnetic stripe
Sensor and the second magnetic stripe sensor matching, compared with the prior art carries out straight line path navigation using a magnetic stripe, using two
Magnetic stripe carries out straight line path navigation, is conducive to detect whether car body the case where skew route occurs in time, thus in time to vehicle
The operation angle of body and position are adjusted, and improve the navigation accuracy of magnetic stripe navigation fork truck.Especially in car body fall back
Adjustment angle and position when picking and placing cargo, reducing angular deviation when picking and placing cargo, and reducing car body fall back
Required distance, to be conducive to be promoted the speed of service and operational efficiency of magnetic stripe navigation fork truck.
Detailed description of the invention
Fig. 1 is a kind of structural schematic diagram of magnetic stripe navigation fork truck system provided in an embodiment of the present invention；
Fig. 2 is a kind of structural schematic diagram of the magnetic stripe navigation fork truck provided in an embodiment of the present invention during retreating adjustment；
Fig. 3 is the structural schematic diagram of another magnetic stripe navigation fork truck system provided in an embodiment of the present invention；
Fig. 4-Fig. 6 is a kind of structural schematic diagram of magnetic stripe navigation fork truck provided in an embodiment of the present invention during the turn；
Fig. 7 is the structural schematic diagram of another magnetic stripe provided in an embodiment of the present invention navigation fork truck system；
Fig. 8 is the structural schematic diagram of another magnetic stripe provided in an embodiment of the present invention navigation fork truck system；
Fig. 9 is a kind of flow diagram of the control method of magnetic stripe navigation fork truck system provided in an embodiment of the present invention；
Figure 10 is the flow diagram of the control method of another magnetic stripe navigation fork truck system provided in an embodiment of the present invention；
Figure 11 is the flow diagram of the control method of another magnetic stripe provided in an embodiment of the present invention navigation fork truck system.
Specific embodiment
The present invention is described in further detail with reference to the accompanying drawings and examples.It is understood that this place is retouched
The specific embodiment stated is used only for explaining the present invention rather than limiting the invention.It also should be noted that in order to just
Only the parts related to the present invention are shown in description, attached drawing rather than entire infrastructure.
As described in background, existing magnetic stripe navigation fork truck has that navigation accuracy is low low with the speed of service.
Through inventor the study found that the reason of problem occur is, the prior art carries out straight line path navigation using a magnetic stripe, so
And the car body of magnetic stripe navigation fork truck is generally longer, a magnetic stripe cannot accurately identify the deviation of car body, for example, when car body front end exists
When running on magnetic stripe, body rear end may be larger with the range deviation of magnetic stripe, therefore navigation accuracy is lower.Based on this, by
It is larger in the range deviation of body rear end and magnetic stripe, so that the adjustment difficulty of car body operation is larger, adjust car body angles and positions
Required distance is longer.In addition, magnetic stripe navigation fork truck includes driving wheel and driven wheel, when car body fall back, driven wheel is being transported
The front of line direction, driving wheel is at the rear portion of traffic direction, to further increase the adjustment difficulty of car body operation.In order to drop
The speed of service of the difficulty of low car body adjustment, existing magnetic stripe navigation fork truck is generally lower, to avoid the angles and positions of car body
There is biggish deviation.To sum up, the prior art has that navigation accuracy is low low with the speed of service.
In view of this, the embodiment of the invention provides a kind of magnetic stripe navigation fork truck systems.Fig. 1 provides for the embodiment of the present invention
A kind of magnetic stripe navigation fork truck system structural schematic diagram.Referring to Fig. 1, magnetic stripe navigation fork truck system includes: car body 100, nothing
Line identification device 200 and ID of trace route path 300.Controller (not shown in figure 1) is provided in car body 100.Wireless-identification device 200
Including the first magnetic stripe sensor 210 and the second magnetic stripe sensor 220, the first magnetic stripe sensor 210 and the second magnetic stripe sensor 220
It being electrically connected with the controller respectively, the first magnetic stripe sensor 210 and the second magnetic stripe sensor 220 are set to outside car body 100, and the
The distance of one magnetic stripe sensor 210 and the second magnetic stripe sensor 220 apart from 100 a side of car body differs.ID of trace route path 300 includes
First magnetic stripe 310 and the second magnetic stripe 320, the first magnetic stripe 310 and the second magnetic stripe 320 are arranged in parallel, and the first magnetic stripe 310 and second
The distance between magnetic stripe 320 is matched with the first magnetic stripe sensor 210 and the second magnetic stripe sensor 220.Wherein, the first magnetic stripe passes
Sensor 210 detects the first magnetic stripe 310, and sends the first detection information to controller, and the second magnetic stripe sensor 220 detects the second magnetic
Item 320, and the second detection information is sent to controller；Controller is used to be controlled according to the first detection information and the second detection information
Car body 100 is run along the first magnetic stripe 310 and the second magnetic stripe 320.
Wherein, the distance of the first magnetic stripe sensor 210 and the second magnetic stripe sensor 220 apart from 100 a side of car body differs
Refer to, d1 is unequal with d2, i.e. the first magnetic stripe sensor 210 is sensed along the center line of 100 linear running of car body and the second magnetic stripe
Device 220 along 100 linear running of car body center line not point-blank so that the first magnetic stripe sensor 210 and the first magnetic stripe
310 matchings, the second magnetic stripe sensor 220 are matched with the second magnetic stripe 320.For example, the first magnetic stripe sensor 210 is set to car body
100 right fronts, the second magnetic stripe sensor 220 are set to 100 right side rear portion of car body or the setting of the first magnetic stripe sensor 210
In 100 left side front of car body, the second magnetic stripe sensor 220 is set to 100 left back of car body.Two magnetic stripe sensor devices can be with
The both sides of car body 100 are arbitrarily distributed in, the second magnetic stripe sensor 220 is mounted on the lower section of any pallet fork, the first magnetic stripe sensing
Device 210 is mounted on the front of car body 100, avoids the position of driving wheel and driven wheel track.First magnetic stripe sensor 210 detection the
One magnetic stripe 310 refers to the relative position of detection the first magnetic stripe 310 and the first magnetic stripe sensor 210, the inspection of the second magnetic stripe sensor 220
Survey the relative position that the second magnetic stripe 320 refers to detection the second magnetic stripe 320 and the second magnetic stripe sensor 220.Illustratively, the magnetic stripe
The control method of navigation fork truck system includes that controller receives the first detection information that the first magnetic stripe sensor 210 is sent；It receives
The second detection information that second magnetic stripe sensor 220 is sent；Controller is according to the first detection information and the second detection information, control
Car body 100 is run along the first magnetic stripe 310 and the second magnetic stripe 320.If the first magnetic stripe 310 is located in the first magnetic stripe sensor 210
Between position, and the second magnetic stripe 320 is located at the middle position of the second magnetic stripe sensor 220, then the direction that car body 100 is run is accurate.
The operation it should be noted that car body 100 can advance along the first magnetic stripe 310 and the second magnetic stripe 320, can also edge
320 fall back of the first magnetic stripe 310 and the second magnetic stripe, and the embodiment of the present invention is particularly suitable for car body 100 along the first magnetic
The case where item 310 and the second 320 fall back of magnetic stripe.Specifically, the operation of car body 100 includes at least following control mode: 1.
For car body 100 during fall back, the first magnetic stripe sensor 210 of control detects the first magnetic stripe 310, the second magnetic stripe sensor
220 the second magnetic stripes 320 of detection, for car body 100 during advancing operation, the first magnetic stripe sensor 210 of control detects the first magnetic
Item 310, the second magnetic stripe sensor 220 do not work；2. car body 100 during fall back, controls the first magnetic stripe sensor
210 the first magnetic stripes 310 of detection, the second magnetic stripe sensor 220 detect the second magnetic stripe 320, and car body 100 is in the process of operation of advancing
In, the first magnetic stripe sensor 210 of control detects the first magnetic stripe 310, and the second magnetic stripe sensor 220 detects the second magnetic stripe 220.
Fig. 2 is a kind of structural schematic diagram of the magnetic stripe navigation fork truck provided in an embodiment of the present invention during retreating adjustment.
Illustratively, below with reference to Fig. 2, illustrate the control process of adjustment 100 traffic direction of car body of magnetic stripe navigation fork truck system, if
The first magnetic stripe of first magnetic stripe sensor 210 deviation 310 (such as the distance of the first magnetic stripe sensor 210 the first magnetic stripe 310 of deviation is big
In threshold value), and the second magnetic stripe sensor 220 is located at the middle position of the second magnetic stripe 320 (such as the second magnetic stripe sensor 220 is partially
It is less than or equal to threshold value with a distance from the second magnetic stripe 320), controller control car body 100 rotates clockwise, until the first magnetic stripe 310
Positioned at the middle position of the first magnetic stripe sensor 210, keep the traffic direction of car body 100 parallel with the first magnetic stripe 310.Optionally,
The length of second magnetic stripe 320 less than the first magnetic stripe 310 length, above in relation in Fig. 2 and Fig. 3 car body 100 carry out adjustment it is outstanding
It can be used for adjustment of the car body 100 after turning, to complete car body 100 before headstock 110 reaches the second magnetic stripe 320
Position adjustment.
The embodiment of the present invention is by the first magnetic stripe sensor 210 of setting and the second magnetic stripe sensor 220 apart from car body 100 1
The distance of side differs, and the first magnetic stripe 310 and the second magnetic stripe 320 are arranged in parallel, and the first magnetic stripe 310 and the second magnetic stripe 320 it
Between distance, matched with the first magnetic stripe sensor 210 and the second magnetic stripe sensor 220, with the prior art using magnetic stripe into
The navigation of row straight line path is compared, and is carried out straight line path navigation using two magnetic stripes, is conducive to detect whether car body 100 goes out in time
The case where existing skew route, improves magnetic stripe navigation fork truck to be adjusted in time to the operation angle and position of car body 100
Navigation accuracy.Especially when 100 fall back of car body picks and places cargo, angular deviation when picking and placing cargo is reduced, and
Adjustment angle and distance needed for position when reducing 100 fall back of car body, to be conducive to promote magnetic stripe navigation fork truck
The speed of service and operational efficiency.
With continued reference to Fig. 1, on the basis of the various embodiments described above, optionally, car body 100 includes headstock 110 and pallet fork
120.First magnetic stripe sensor 210 is set to 110 front end of headstock, and the second magnetic stripe sensor 220 is set to the bottom of pallet fork 120.
Wherein, pallet fork 120 includes the first pallet fork and the second pallet fork, and the second magnetic stripe sensor 220 can be set in the bottom of the first pallet fork,
Also it can be set in the bottom of the second pallet fork.First magnetic stripe sensor 210 can detect in time headstock 110 traffic direction whether
Offset, whether the traffic direction that the second magnetic stripe sensor 220 can detect pallet fork 120 in time deviates, in this way, further mentioning
The navigation accuracy of magnetic stripe navigation fork truck is risen.And the second magnetic stripe sensor 220 is set to the bottom of pallet fork 120, so that goods
The second magnetic stripe sensor 220 and the height on ground are constant when 120 movement of fork, and detection accuracy is unaffected, and does not influence pallet fork 120
Fork the raised Standard pallet of bottom center.
With continued reference to Fig. 1, on the basis of the various embodiments described above, optionally, car body 100 further includes driven wheel 410, driven
Wheel 410 is set to the bottom of pallet fork 120, and the second magnetic stripe sensor 220 is set to the shaft core position of driven wheel 410.Car body 100 is also
Including steering engine wheel 420, steering engine wheel 420 is set to the bottom of headstock 110, and the first magnetic stripe sensor 210 is with steering engine wheel 420 apart from institute
The distance for stating 100 a side of car body differs.
Wherein, steering engine wheel 420 is also known as driving wheel, and the operation for car body 100 provides power.First magnetic stripe sensor 210
Distance with steering engine wheel 420 apart from described 100 a side of car body differs, and refers to the first magnetic stripe sensor 210 along 100 straight line of car body
The center line and steering engine wheel 420 of operation along 100 linear running of car body center line not point-blank so that steering engine wheel 420
Running track can avoid the first magnetic stripe 310, prevent the first magnetic stripe 310 from being rolled and damage by steering engine wheel 420.Driven wheel
410 can be mounted on the axle center of driven wheel 410 of pallet fork 120 by bracket, so that the second magnetic stripe sensor 220 is not with pallet fork
Lifting move up and down.
On the basis of the various embodiments described above, optionally, the second magnetic stripe 320 is embedded in ground in advance；ID of trace route path 300 can also wrap
Protection band is included, protection band covers second magnetic stripe 320, to protect the second magnetic stripe 320 to be rolled not rapid wear by driven wheel 410
It is bad.
Fig. 3 is the structural schematic diagram of another magnetic stripe navigation fork truck system provided in an embodiment of the present invention.Referring to Fig. 3,
On the basis of the various embodiments described above, optionally, ID of trace route path 300 further includes third magnetic stripe 330, third magnetic stripe 330 and the first magnetic
310 square crossing of item forms crosspoint.ID of trace route path 300 further includes the first stopping mark 340, and first stops 340 setting of mark
In the side of third magnetic stripe 330, and the length apart from crosspoint is less than the length of car body 100.Wireless-identification device 200 further includes
Stop identification device 230, stops identification device 230 and be set to outside car body 100, be electrically connected with the controller, stop identification device
230 identifications first stop mark 340, and send the first Stop message to controller.First magnetic stripe sensor 210 detects third magnetic
Item 330, and third detection information is sent to controller；Controller is used to control car body 100 along third according to third detection information
Magnetic stripe 330 is run, and is controlled according to the first Stop message and be rotated by 90 ° after car body 100 stops in intersection.
Wherein, first stops mark and 340 for example can be the 4th magnetic stripe, and accordingly, stopping identification device 230 for example can be with
It is third magnetic stripe sensor.Alternatively, the first stopping mark 340 for example can be HF RPID tags, accordingly, stop identification dress
Setting 230 for example can be high frequency RFID reader.RFID is Radio Frequency Identification Technology (Radio Frequency
Identification abbreviation), high frequency RFID reader can be identified HF RPID tags by radio signals and read phase
Information is closed, is had the characteristics that efficient and convenient.First stops the length that length of the mark 340 apart from crosspoint is less than car body 100, has
It is rotated conducive to car body 100 in intersection.Magnetic stripe navigation fork truck is rotated by 90 ° in intersection may be implemented right-angled bend.
Fig. 4-Fig. 6 is a kind of structural schematic diagram of magnetic stripe navigation fork truck provided in an embodiment of the present invention during the turn.
Illustratively, below with reference to Fig. 4-7, illustrate the control process that the car body 100 of magnetic stripe navigation fork truck system is turned, referring to fig. 4,
When the first magnetic stripe sensor 210 detects that the first magnetic stripe 310, controller receive the 4th inspection that the first magnetic stripe sensor 210 is sent
Measurement information, when detecting that the width of the first magnetic stripe 310 is greater than threshold value, car body 100 reduces speed now.Referring to Fig. 5, filled when stopping identification
Set 230 detect the first stopping mark 340 when, controller receive stop identification device 230 send the first Stop message, according to
First Stop message, control car body 100 stop.Further, the position that controller can also adjust car body 100 makes first to stop
Only mark 340 is in the middle position for stopping identification device 230, so that car body 100 accurately stops.Referring to Fig. 6, controller controls vehicle
Body 100 is rotated by 90 ° in intersection (for example, specified angle is rotated by control flaps wheel 420, so that the rotation fortune of car body 100
Row) so that the first magnetic stripe sensor 210 stops on the first magnetic stripe 310, the second magnetic stripe sensor 220 stops at the second magnetic stripe
On 320.Further, controller can also control the position of car body 100, so that the first magnetic stripe 310 is in the first magnetic stripe sensor
210 middle position, the second magnetic stripe 320 of control is in the middle position of the second magnetic stripe sensor 220, so that after car body 100 rotates
Position it is more accurate.Then controller control flaps wheel 420 returns just, and car body 100 is along the first magnetic stripe 310 and the second magnetic stripe 320
Fall back.
The embodiment of the present invention stops mark by the first magnetic stripe 310 of setting, the second magnetic stripe 320, third magnetic stripe 330 and first
340, accordingly, it is additionally provided with the first magnetic stripe sensor 210, the second magnetic stripe sensor 220, stops identification device 230, realize
The mode of multiple magnetic stripe sensors and the cooperation control of a plurality of magnetic stripe, improves the stopping accuracy and rotating operation of magnetic stripe navigation fork truck
Precision.
It should be noted that in the above embodiments, detecting the first magnetic stripe 310 with the first magnetic stripe sensor 210
When width is greater than threshold value, car body 100 is illustrated for reducing speed now, not limitation of the invention, in other embodiments,
Car body 100 can not execute the deceleration steps, directly execute according to the first Stop message, control the step of car body 100 stops,
It can according to need and set in practical application.
On the basis of the various embodiments described above, optionally, stop the headstock side that identification device 230 is set to car body 100,
And headstock side is the side in the direction rotated far from car body 100.For example, when car body 100 is when intersection rotates counterclockwise,
Stop identification device 230 and is set to 110 right edge of headstock；When car body 100 is when intersection rotates clockwise, stopping identification being filled
It sets 230 and is set to 110 left side of headstock, so as to stop the running track that identification device 230 avoids steering engine wheel 420, prevent in vehicle
In 100 rotation process of body, stops identification device 230 and rolled and damage by steering engine wheel 420.
Fig. 7 is the structural schematic diagram of another magnetic stripe provided in an embodiment of the present invention navigation fork truck system.Referring to Fig. 7,
On the basis of the various embodiments described above, optionally, ID of trace route path 300 further includes the second stopping mark 350, and second stops mark 350
It is set to the side of the first magnetic stripe 310.Stop the identification of identification device 230 second and stop mark 350, and sends second to controller
Stop message；Controller, which is used to control car body 100 according to the second Stop message, to be stopped, and picks and places cargo.
Wherein, the second stopping mark 350 for example can be the 5th magnetic stripe or HF RPID tags.Illustratively, the magnetic stripe
The control method that the car body 100 of navigation fork truck system picks and places cargo includes detecting the second stopping mark when stopping identification device 230
When knowing 350, controller, which receives, stops the first Stop message that identification device 230 is sent, and according to the first Stop message, controls car body
After 100 stop, starting to pick and place cargo.Further, the position that controller can also adjust car body 100 identifies the second stopping
350 in the middle position for stopping identification device 230, so as to start to pick and place cargo after car body 100 accurately stops.The present invention is implemented
Example is in this way, further improve the precision for picking and placing cargo.
Fig. 8 is the structural schematic diagram of another magnetic stripe provided in an embodiment of the present invention navigation fork truck system.Referring to Fig. 8,
On the basis of the various embodiments described above, optionally, ID of trace route path 300 further includes command id 240, and command id 240 is set to
The side of three magnetic stripes 330.Wireless-identification device 200 further includes command recognition unit 360, and command recognition unit 360 is set to vehicle
100 front end of body sends command information for sense command mark 240, and to controller；Controller is used for according to command information control
The operating path of car body 100 processed.
Wherein, command recognition unit 360 for example can be set in the front end of the first magnetic stripe sensor 210.Command id 240
Such as can be HF RPID tags, accordingly, command recognition unit 360 for example can be high frequency RFID reader, use height
Frequency RFID tag and high frequency RFID reader increase the distance that reader reads label, are conducive to car body 100 with speed faster
Degree operation.
With continued reference to Fig. 8, illustratively, the control method of reception command information of magnetic stripe navigation fork truck system includes,
High frequency RFID reader detects HF RPID tags, and sends command information to controller.If command information is, car body 100 revolves
Turn to retreat, then controller controls car body 100 according to the command information and runs slowly, rotating operation when reaching predeterminated position；If life
Enabling information is that car body 100 continues linear running, then controller controls car body 100 according to the command information and continues with present speed
Linear running.
It should be noted that in the above-described embodiments, the partial content of command information is schematically illustrated, not to this
The restriction of invention, in other embodiments, command information can also include the content of magnetic stripe navigation fork truck whole process operation, for example,
The command information can also include that car body 100 runs slowly, stops, rotating, retreat, stops and pick and place the orders such as cargo letter
Breath.
The embodiment of the invention also provides a kind of control methods of magnetic stripe navigation fork truck system, can be applied to this present invention
The magnetic stripe navigation fork truck system that any embodiment provides.Fig. 9 is a kind of magnetic stripe navigation fork truck system provided in an embodiment of the present invention
Control method flow diagram.Referring to Fig. 9, on the basis of the various embodiments described above, the control of magnetic stripe navigation fork truck system
Method processed the following steps are included:
S110, controller receive the first detection information that the first magnetic stripe sensor is sent；Receive the second magnetic stripe sensor hair
The second detection information sent.
S120, controller control car body along the first magnetic stripe and the second magnetic according to the first detection information and the second detection information
Item operation.
The operation it should be noted that car body can advance along the first magnetic stripe and the second magnetic stripe, can also be along the first magnetic
Item and the second magnetic stripe fall back, and the embodiment of the present invention is particularly suitable for car body and retreats fortune along the first magnetic stripe and the second magnetic stripe
Capable situation.
The embodiment of the present invention, according to the first detection information and the second detection information, controls car body along the first magnetic by controller
Item and the operation of the second magnetic stripe are carried out compared with the prior art carries out straight line path navigation using a magnetic stripe using two magnetic stripes
Straight line path navigation, is conducive to detect whether car body the case where skew route occurs in time, thus in time to the operation of car body
Angles and positions are adjusted, and improve the navigation accuracy of magnetic stripe navigation fork truck.Especially cargo is picked and placed in car body fall back
When, adjusted the angle when reducing angular deviation when picking and placing cargo, and reducing car body fall back and position needed for away from
From to be conducive to be promoted the speed of service and operational efficiency of magnetic stripe navigation fork truck.
On the basis of the various embodiments described above, optionally, control car body is run along the first magnetic stripe and the second magnetic stripe, comprising:
Car body is controlled along the first magnetic stripe and the second magnetic stripe fall back.
Figure 10 is the flow diagram of the control method of another magnetic stripe navigation fork truck system provided in an embodiment of the present invention.
Referring to Figure 10, on the basis of the various embodiments described above, the control method of magnetic stripe navigation fork truck system can also include following step
It is rapid:
S210, controller receive the first detection information that the first magnetic stripe sensor is sent；Receive the second magnetic stripe sensor hair
The second detection information sent.
If S220, the first magnetic stripe sensor deviate the first magnetic stripe, and the second magnetic stripe sensor is located at the centre of the second magnetic stripe
Position, controller control car body is rotated to the first magnetic stripe, until the traffic direction of car body is parallel with the first magnetic stripe.
S230, controller control car body along the first magnetic stripe and the second magnetic according to the first detection information and the second detection information
Item operation.
It should be noted that in the above-described embodiments, schematically illustrating, S220 is executed before S230, not pair
Restriction of the invention.In other embodiments, it can also be arranged in the implementation procedure of S230, execute S220 in real time；It can also be with
It sets the threshold value that the first magnetic stripe sensor deviates the first magnetic stripe and executes S220, in practical applications if deviateing is more than the threshold value
It can according to need and set.
Figure 11 is the flow diagram of the control method of another magnetic stripe provided in an embodiment of the present invention navigation fork truck system.
Referring to Figure 11, on the basis of the various embodiments described above, the control method of magnetic stripe navigation fork truck system can also include following step
It is rapid:
S310, the third detection information that the first magnetic stripe sensor is sent is received.
S320, according to third detection information, control car body and run along third magnetic stripe.
S330, the first Stop message for stopping identification device transmission is received.
S340, according to the first Stop message, control car body and stop.
S350, control car body are rotated by 90 ° in intersection.
S360, controller receive the first detection information that the first magnetic stripe sensor is sent；Receive the second magnetic stripe sensor hair
The second detection information sent.
S370, controller control car body along the first magnetic stripe and the second magnetic according to the first detection information and the second detection information
Item operation.
The embodiment of the present invention realizes the mode of multiple magnetic stripe sensors and the cooperation control of a plurality of magnetic stripe, improves magnetic stripe and leads
The stopping accuracy of fork truck of navigating and the precision of rotating operation.
Note that the above is only a better embodiment of the present invention and the applied technical principle.It will be appreciated by those skilled in the art that
The invention is not limited to the specific embodiments described herein, be able to carry out for a person skilled in the art it is various it is apparent variation,
It readjusts and substitutes without departing from protection scope of the present invention.Therefore, although being carried out by above embodiments to the present invention
It is described in further detail, but the present invention is not limited to the above embodiments only, without departing from the inventive concept, also
It may include more other equivalent embodiments, and the scope of the invention is determined by the scope of the appended claims.
Claims (11)
- The fork truck system 1. a kind of magnetic stripe navigates characterized by comprisingCar body is provided with controller in the car body；Wireless-identification device, including the first magnetic stripe sensor and the second magnetic stripe sensor, the first magnetic stripe sensor and described Second magnetic stripe sensor is electrically connected with the controller respectively, and the first magnetic stripe sensor and the second magnetic stripe sensor are set It is placed in outside the car body, and car body a side described in the first magnetic stripe sensor and the second magnetic stripe sensor distance Distance differs；ID of trace route path, including the first magnetic stripe and the second magnetic stripe, first magnetic stripe and second magnetic stripe are arranged in parallel, and described The distance between first magnetic stripe and second magnetic stripe, with the first magnetic stripe sensor and the second magnetic stripe sensor Match；Wherein, the first magnetic stripe sensor detects first magnetic stripe, and sends the first detection information, institute to the controller It states the second magnetic stripe sensor and detects second magnetic stripe, and send the second detection information to the controller；The controller is used In controlling the car body along first magnetic stripe and described second according to first detection information and second detection information Magnetic stripe operation.
- 2. system according to claim 1, which is characterized in that the car body includes headstock and pallet fork；The first magnetic stripe sensor is set to the headstock front end；The second magnetic stripe sensor is set to the bottom of the pallet fork.
- 3. system according to claim 2, which is characterized in that the car body further includes driven wheel, the driven wheel setting In the bottom of the pallet fork；The second magnetic stripe sensor is set to the shaft core position of the driven wheel；The car body further includes steering engine wheel, and the steering engine wheel is set to the bottom of the headstock；The first magnetic stripe sensor and distance of the steering engine wheel apart from described car body a side differ.
- 4. system according to claim 1-3, which is characterized in that the ID of trace route path further includes third magnetic stripe, The third magnetic stripe and the first magnetic stripe square crossing form crosspoint；The ID of trace route path further includes the first stopping mark, and described first stops the side that mark is set to the third magnetic stripe, And the length apart from the crosspoint is less than the length of the car body；The wireless-identification device further includes stopping identification device, and the stopping identification device being set to outside the car body, with The controller electrical connection, the stopping identification device identification described first stops mark, and sends first to the controller Stop message；The first magnetic stripe sensor detects the third magnetic stripe, and sends third detection information to the controller；The control Device processed is used to control the car body according to the third detection information and run along the third magnetic stripe, and stops according to described first Information is controlled after the car body stops and is rotated by 90 ° in the intersection.
- 5. system according to claim 4, which is characterized in that the ID of trace route path further includes the second stopping mark, described Second stops the side that mark is set to first magnetic stripe；The stopping identification device identification described second stops mark, and sends the second Stop message to the controller；It is described Controller, which is used to control the car body according to second Stop message, to be stopped, and picks and places cargo.
- 6. system according to claim 4, which is characterized in that described first, which stops mark, includes third magnetic stripe sensor, The stopping identification device includes the 4th magnetic stripe；Alternatively, described first stops identifying including HF RPID tags, the stopping identification device includes high frequency RFID reader.
- 7. system according to claim 4, which is characterized in that the ID of trace route path further includes command id, the order Mark is set to the side of the third magnetic stripe；Wireless-identification device further includes command recognition unit, and the command recognition unit is set to the car body front end, for examining The command id is surveyed, and sends command information to the controller；The controller is used to be controlled according to the command information The operating path of the car body.
- 8. a kind of control method of magnetic stripe navigation fork truck system characterized by comprising car body is provided with control in the car body Device processed；Wireless-identification device, including the first magnetic stripe sensor and the second magnetic stripe sensor, the first magnetic stripe sensor and described Second magnetic stripe sensor is electrically connected with the controller respectively, and the first magnetic stripe sensor and the second magnetic stripe sensor are set It is placed in outside the car body, and car body a side described in the first magnetic stripe sensor and the second magnetic stripe sensor distance Distance differs；ID of trace route path, including the first magnetic stripe and the second magnetic stripe, first magnetic stripe and second magnetic stripe are arranged in parallel, And the distance between first magnetic stripe and second magnetic stripe, it is sensed with the first magnetic stripe sensor and second magnetic stripe Device matching；Controller receives the first detection information that the first magnetic stripe sensor is sent；The second magnetic stripe sensor is received to send The second detection information；Controller according to first detection information and second detection information, control the car body along first magnetic stripe and The second magnetic stripe operation.
- 9. the control method of magnetic stripe navigation fork truck system according to claim 8, which is characterized in that the control vehicle Body is run along first magnetic stripe and second magnetic stripe, comprising:The car body is controlled along first magnetic stripe and the second magnetic stripe fall back.
- 10. the control method of magnetic stripe navigation fork truck system according to claim 8 or claim 9, which is characterized in that according to First detection information and second detection information control the car body along first magnetic stripe and second magnetic stripe and run it Before, further includes:If the first magnetic stripe sensor deviates first magnetic stripe, and the second magnetic stripe sensor is located at second magnetic stripe Middle position, controller controls the car body and rotate to first magnetic stripe, up to the car body traffic direction with it is described First magnetic stripe is parallel.
- 11. the control method of magnetic stripe navigation fork truck system according to claim 8 or claim 9, which is characterized in that the path mark Knowledge further includes third magnetic stripe, and the third magnetic stripe and the first magnetic stripe square crossing form crosspoint；The ID of trace route path is also Stop mark including first, described first stops the side that mark is set to the third magnetic stripe, and apart from the crosspoint Length is less than the length of the car body；The wireless-identification device further includes stopping identification device, and the stopping identification device being set It being placed in outside the car body, is electrically connected with the controller, the stopping identification device identification described first stops identifying, and to The controller sends the first Stop message；The first magnetic stripe sensor detects the third magnetic stripe, and to the controller Send third detection information；The first detection information that the first magnetic stripe sensor is sent is received in the controller；Receive the second magnetic stripe sensing Before the second detection information that device is sent, further includes:Receive the third detection information that the first magnetic stripe sensor is sent；According to the third detection information, controls the car body and run along the third magnetic stripe；Receive the first Stop message that the stopping identification device being sent；According to first Stop message, controls the car body and stop；The car body is controlled to be rotated by 90 ° in the intersection.
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| CN201811612135.8A CN109368549B (en) | 2018-12-27 | 2018-12-27 | Magnetic stripe navigation forklift system and control method thereof |
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| CN201811612135.8A CN109368549B (en) | 2018-12-27 | 2018-12-27 | Magnetic stripe navigation forklift system and control method thereof |
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