CN110789606A - Automatic guiding method for controlling driving direction and position based on all-wheel speed detection and forklift system thereof - Google Patents
Automatic guiding method for controlling driving direction and position based on all-wheel speed detection and forklift system thereof Download PDFInfo
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- CN110789606A CN110789606A CN201910984343.9A CN201910984343A CN110789606A CN 110789606 A CN110789606 A CN 110789606A CN 201910984343 A CN201910984343 A CN 201910984343A CN 110789606 A CN110789606 A CN 110789606A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D5/00—Power-assisted or power-driven steering
- B62D5/04—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear
- B62D5/0457—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear characterised by control features of the drive means as such
- B62D5/046—Controlling the motor
- B62D5/0463—Controlling the motor calculating assisting torque from the motor based on driver input
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L15/00—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles
- B60L15/20—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles for control of the vehicle or its driving motor to achieve a desired performance, e.g. speed, torque, programmed variation of speed
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
- B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
- B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
- B66F9/075—Constructional features or details
- B66F9/07504—Accessories, e.g. for towing, charging, locking
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L2240/00—Control parameters of input or output; Target parameters
- B60L2240/40—Drive Train control parameters
- B60L2240/42—Drive Train control parameters related to electric machines
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- 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
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- 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
- Y02T90/00—Enabling technologies or technologies with a potential or indirect contribution to GHG emissions mitigation
- Y02T90/10—Technologies relating to charging of electric vehicles
- Y02T90/16—Information or communication technologies improving the operation of electric vehicles
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- Engineering & Computer Science (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Structural Engineering (AREA)
- Civil Engineering (AREA)
- Life Sciences & Earth Sciences (AREA)
- Geology (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Power Engineering (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
- Forklifts And Lifting Vehicles (AREA)
Abstract
The invention provides an automatic guiding method for controlling the running direction and position based on all-wheel speed detection and a forklift system thereof, which comprises a magnetic navigation sensor, a track measuring unit, a forklift main controller, a motor controller and an action motor, the main controller records the vehicle information measured by the encoder and the sensor in the track measuring unit in real time, and recording the steering angle and the distance of the driving wheels at the same moment to form a single recording point, and fitting the recorded points to a running track sample line, comparing the running route of the forklift with the fitted running track stored in the forklift main controller to judge whether the running track deviates from the original track, and comparing the forklift movement track read and judged by the magnetic navigation sensor with the track points detected by the track measuring unit to judge whether an error exists due to signal interference, and then realized real-time definite fork truck position and guaranteed that the range that fork truck removed is less when rectifying at every turn.
Description
Technical Field
The invention relates to the technical field of automatic guiding of forklifts, in particular to an automatic guiding method for controlling the driving direction and position based on all-wheel speed detection and a forklift system thereof.
Background
The traditional full-automatic and semi-automatic magnetic navigation forklift needs to detect the relative position relation of the magnetic conductive line and the forklift body in real time in the driving process. Due to insufficient precision of the sensor and delay of signal transmission, the angle of a steering wheel of the forklift can be continuously adjusted in the driving process, so that the forklift body swings left and right in a small range, and the forklift is high in self weight and high in speed, so that the swing amplitude of the forklift body is increased easily, the forklift is derailed, a goods shelf is collided, and safety accidents are caused. The travel speed of the magnetic navigation forklift alone is limited; and because the magnetic navigation sensor is easily interfered by magnetic substances, safety accidents such as derailment of a forklift and collision of a goods shelf are caused; traditional full-automatic and semi-automatic magnetic navigation fork truck automatic addressing is mostly landmark card marking mode, fork truck traveles the distance of unable continuous detection fork truck and goods position between the goods position landmark of difference, the fork truck is in the blind-open state in this section distance, so fork truck speed of traveling can not be too high, it is too high, easily because of fork truck inertia greatly dashes the goods position, cause the location inaccurate, fork truck needs many times to adjust fork truck position after detecting landmark signal simultaneously and just can pinpoint the fork truck position, so the operating efficiency is low.
Disclosure of Invention
The invention aims to provide an automatic guiding method for controlling a driving direction and a driving position based on all-wheel speed detection and a forklift system thereof, so as to solve the problems in the background technology.
In order to achieve the purpose, the invention provides the following technical scheme:
an automatic guiding method for controlling the driving direction and position based on all-wheel speed detection comprises the following steps:
s1, reading frequency information of the magnetic conduction line through the magnetic navigation sensor, judging whether the forklift deviates from the magnetic conduction line, transmitting the obtained information to a forklift main controller, and recording in real time by the forklift main controller;
s2, detecting the rotation angle of the steering wheel and the rotation distance of each traveling wheel in real time through the track measuring unit, and transmitting the recorded forklift information data to the forklift main controller;
s3, recording vehicle information measured by a track measuring unit in real time through a forklift main controller, recording a driving wheel steering angle and a traveling wheel distance at the same moment to form an independent recording point, fitting the recorded point into a traveling track sample line, judging whether the original track is deviated or not by the forklift main controller according to comparison between an internally stored forklift specified traveling route and the fitted traveling track, comparing the forklift moving track read and judged by a magnetic navigation sensor with a track point detected by the track measuring unit, and judging whether an error exists due to signal interference or not;
s4, transmitting control signals through the steering motor controller and the walking motor controller to realize the actions of the steering motor and the walking motor;
and S5, feeding back the action signals of the steering motor and the walking motor to the magnetic navigation sensor and the track measuring unit in real time.
Preferably, the step S2 is to detect the rotation angle of the steering wheel in real time through a driving wheel steering angle encoder in the track measuring unit, and detect the rotation distance of each traveling wheel in real time through a left front wheel encoder, a right front wheel encoder and a driving wheel encoder in the track measuring unit.
Preferably, the S5 is that the motion signals of the steering motor and the traveling motor are fed back to the driving wheel steering angle encoder, the left front wheel encoder, the right front wheel encoder, and the driving wheel encoder in the magnetic navigation sensor and the track measuring unit in real time.
An automatic guided forklift system for controlling a traveling direction and position based on all-wheel speed detection, comprising:
the magnetic navigation sensor is used for reading frequency information of a magnetic conductive line laid on the ground and judging whether the forklift deviates from the magnetic conductive line;
the track measuring unit is used for detecting the rotation angle of the steering wheel and the rotation distance of the advancing wheel;
the forklift main controller is electrically connected with the magnetic navigation sensor and the track measuring unit and used for receiving detection information of the track measuring unit, the forklift main controller is used for recording vehicle information measured by the encoder and the sensor in the track measuring unit in real time, recording a steering angle and a traveling wheel distance of a driving wheel at the same moment to form an independent recording point, fitting the recorded point into a traveling track sample line, judging whether the original track deviates or not according to comparison between a specified traveling route of the forklift stored in the forklift main controller and the fitted traveling track, comparing the forklift moving track read and judged by the magnetic navigation sensor with track points detected by the track measuring unit, and judging whether an error exists due to signal interference or not;
the steering motor controller is used for receiving a control signal sent by the forklift main controller and transmitting the control signal to the steering motor;
the walking motor controller is used for receiving a control signal sent by the forklift main controller and transmitting the control signal to the walking motor; and
the steering motor and the walking motor are respectively electrically connected with the magnetic navigation sensor and the track measuring unit and used for feeding back real-time dynamics of the walking wheel and the steering wheel in real time to form closed-loop signal feedback.
Preferably, the track measuring unit includes a driving wheel steering angle encoder, a left front wheel encoder, a right front wheel encoder, and a driving wheel encoder, wherein the driving wheel steering angle encoder is used to detect a steering wheel rotation angle, and the left front wheel encoder, the right front wheel encoder, and the driving wheel encoder are respectively used to detect a rotation distance of each traveling wheel.
Preferably, the steering motor and the traveling motor are electrically connected with a driving wheel steering angle encoder, a left front wheel encoder, a right front wheel encoder and a driving wheel encoder in the magnetic navigation sensor and the track measuring unit respectively.
Compared with the prior art, the invention has the beneficial effects that:
the invention records the vehicle information measured by the encoder and the sensor in the track measuring unit in real time through the main controller, records the steering angle of the driving wheel and the distance of the traveling wheel at the same moment to form an independent recording point, fits the recorded point into a track sample line, judges whether the forklift moves away from the original track or not according to the comparison between the specified traveling route of the forklift stored in the forklift and the fitted traveling track, compares the forklift moving track read and judged by the magnetic navigation sensor with the track point detected by the track measuring unit, judges whether an error exists due to signal interference or not, further realizes the real-time determination of the position of the forklift, ensures that the moving amplitude of the forklift is smaller during each deviation correction, and ensures the stability of the deviation correction of the forklift.
Drawings
FIG. 1 is a flow chart of a steering method provided by the present invention;
FIG. 2 is a block diagram of a guidance system provided by the present invention;
fig. 3 is a schematic view of the guidance system provided by the present invention when installed on a forklift.
In the figure: 1 left front wheel encoder, 2 front magnetic navigation sensors, 3 right front wheel encoders, 4 back magnetic navigation sensors, 5 magnetic circuits, 6 drive wheel encoders, 7 steering motors, 8 drive wheel steering angle encoders, 9 walking motors, 10 forklift main controllers.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Example (b):
the invention provides a technical scheme that:
referring to fig. 1 and 2, an automatic guiding method for controlling a driving direction and position based on all wheel speed detection includes the steps of:
s1, reading frequency information of magnetic conduction lines laid on the ground through magnetic navigation sensors arranged on the front side and the rear side of the forklift, if one of the front magnetic navigation sensor and the rear magnetic navigation sensor cannot receive the frequency information of the magnetic conduction lines, obtaining that the forklift deviates, judging whether the forklift deviates from the magnetic conduction lines, transmitting the obtained information to a forklift main controller, and recording in real time by the forklift main controller;
s2, detecting the rotation angle of the steering wheel in real time through a driving wheel steering angle encoder in the track measuring unit, wherein when a steering mechanism of the forklift deflects, the driving wheel steering angle encoder is driven to move so as to achieve the effect of judging whether the front wheel of the forklift deflects, and the left front wheel encoder, the right front wheel encoder and the driving wheel encoder in the track measuring unit detect the rotating distance of each driving wheel in real time, and when each wheel rotates, the encoders arranged on the wheels are driven to move, so that the driving distance of the wheels can be directly calculated, and the recorded forklift information data are transmitted to a forklift main controller;
s3, recording vehicle information measured in real time by a track measuring unit through a forklift main controller, recording a driving wheel steering angle and a traveling wheel distance at the same moment to form an independent recording point, fitting the recorded point into a traveling track sample line, judging whether the original track is deviated or not by the forklift main controller according to comparison between an internally stored forklift specified traveling route and the fitted traveling track, issuing control signals of a steering motor and a traveling motor by the forklift main controller when the forklift deviates from the preset track, further realizing real-time deviation correction, comparing the forklift motion track read and judged by a magnetic navigation sensor with track points detected by the track measuring unit, and judging whether errors exist due to signal interference or not, so that the self-adaptive deviation correction can be carried out in real time;
s4, transmitting control signals issued by the forklift main controller through the steering motor controller and the walking motor controller, realizing the actions of the steering motor and the walking motor, and realizing the correction;
s5, the action signals of the steering motor and the walking motor are fed back to the driving wheel steering angle encoder, the left front wheel encoder, the right front wheel encoder and the driving wheel encoder in the magnetic navigation sensor and the track measuring unit in real time, so that closed-loop control is realized, the position point of the forklift can be recorded immediately after the steering motor and the walking motor act, and the error of the forklift during deviation correction is reduced.
Referring to fig. 2 and 3, an automatic guided forklift system for controlling a driving direction and position based on all-wheel speed detection includes:
the magnetic navigation sensors are divided into a front magnetic navigation sensor and a rear magnetic navigation sensor, the front magnetic navigation sensor and the rear magnetic navigation sensor are arranged at the front end part and the rear end part of the forklift and are used for reading frequency information of magnetic conductive lines laid on the ground, and if one of the front magnetic navigation sensor and the rear magnetic navigation sensor cannot receive the frequency information of the magnetic conductive lines, whether the forklift deviates from the magnetic conductive lines can be judged;
the track measuring unit comprises a driving wheel steering angle encoder, a left front wheel encoder, a right front wheel encoder and a driving wheel encoder, wherein the driving wheel steering angle encoder is arranged on a forklift steering mechanism and used for detecting the steering angle of a steering wheel, the left front wheel encoder, the right front wheel encoder and the driving wheel encoder are respectively arranged on the left front wheel, the right front wheel and the driving wheel of the forklift and used for detecting the rotating distance of each advancing wheel, and then the track measuring unit can detect the steering angle of the steering wheel and the rotating distance of the advancing wheel;
the forklift main controller is electrically connected with the magnetic navigation sensor and the track measuring unit and used for receiving detection information of the track measuring unit, the forklift main controller is used for recording vehicle information measured by the encoder and the sensor in the track measuring unit in real time, recording a steering angle and a traveling wheel distance of a driving wheel at the same moment to form an independent recording point, fitting the recorded point into a traveling track sample line, judging whether the original track deviates or not according to comparison between a specified traveling route of the forklift stored in the forklift main controller and the fitted traveling track, comparing the forklift moving track read and judged by the magnetic navigation sensor with track points detected by the track measuring unit, and judging whether an error exists due to signal interference or not;
the steering motor controller is used for receiving a control signal sent by the forklift main controller and transmitting the control signal to the steering motor;
the walking motor controller is used for receiving a control signal sent by the forklift main controller and transmitting the control signal to the walking motor;
the steering motor and the walking motor are respectively arranged on a steering mechanism and a driving wheel of the forklift and are electrically connected with a driving wheel steering angle encoder, a left front wheel encoder, a right front wheel encoder and a driving wheel encoder in the magnetic navigation sensor and the track measuring unit, and the steering motor and the walking motor are used for feeding back real-time dynamic states of the walking wheel and the steering wheel to form closed-loop signal feedback.
Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that changes, modifications, substitutions and alterations can be made in these embodiments without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.
Claims (6)
1. An automatic guiding method for controlling the driving direction and position based on all-wheel speed detection is characterized by comprising the following steps:
s1, reading frequency information of the magnetic conduction line through the magnetic navigation sensor, judging whether the forklift deviates from the magnetic conduction line, transmitting the obtained information to a forklift main controller, and recording in real time by the forklift main controller;
s2, detecting the rotation angle of the steering wheel and the rotation distance of each traveling wheel in real time through the track measuring unit, and transmitting the recorded forklift information data to the forklift main controller;
s3, recording vehicle information measured by a track measuring unit in real time through a forklift main controller, recording a driving wheel steering angle and a traveling wheel distance at the same moment to form an independent recording point, fitting the recorded point into a traveling track sample line, judging whether the original track is deviated or not by the forklift main controller according to comparison between an internally stored forklift specified traveling route and the fitted traveling track, comparing the forklift moving track read and judged by a magnetic navigation sensor with a track point detected by the track measuring unit, and judging whether an error exists due to signal interference or not;
s4, transmitting control signals through the steering motor controller and the walking motor controller to realize the actions of the steering motor and the walking motor;
and S5, feeding back the action signals of the steering motor and the walking motor to the magnetic navigation sensor and the track measuring unit in real time.
2. The automatic guiding method for controlling driving direction and position based on all-wheel speed detection as claimed in claim 1, wherein: and S2 is that the turning angle of the turning wheel is detected in real time through a driving wheel turning angle encoder in the track measuring unit, and the turning distance of each traveling wheel is detected in real time through a left front wheel encoder, a right front wheel encoder and a driving wheel encoder in the track measuring unit.
3. The automatic guiding method for controlling driving direction and position based on all-wheel speed detection as claimed in claim 1, wherein: and S5 is that the action signals of the steering motor and the walking motor are fed back to the magnetic navigation sensor and the driving wheel steering angle encoder, the left front wheel encoder, the right front wheel encoder and the driving wheel encoder in the track measuring unit in real time.
4. The utility model provides an automatic direction fork truck system based on all round speed detection control direction of travel and position which characterized in that includes:
the magnetic navigation sensor is used for reading frequency information of a magnetic conductive line laid on the ground and judging whether the forklift deviates from the magnetic conductive line;
the track measuring unit is used for detecting the rotation angle of the steering wheel and the rotation distance of the advancing wheel;
the forklift main controller is electrically connected with the magnetic navigation sensor and the track measuring unit and used for receiving detection information of the track measuring unit, the forklift main controller is used for recording vehicle information measured by the encoder and the sensor in the track measuring unit in real time, recording a steering angle and a traveling wheel distance of a driving wheel at the same moment to form an independent recording point, fitting the recorded point into a traveling track sample line, judging whether the original track deviates or not according to comparison between a specified traveling route of the forklift stored in the forklift main controller and the fitted traveling track, comparing the forklift moving track read and judged by the magnetic navigation sensor with track points detected by the track measuring unit, and judging whether an error exists due to signal interference or not;
the steering motor controller is used for receiving a control signal sent by the forklift main controller and transmitting the control signal to the steering motor;
the walking motor controller is used for receiving a control signal sent by the forklift main controller and transmitting the control signal to the walking motor; and
the steering motor and the walking motor are respectively electrically connected with the magnetic navigation sensor and the track measuring unit and used for feeding back real-time dynamics of the walking wheel and the steering wheel in real time to form closed-loop signal feedback.
5. The system of claim 4, wherein the system is configured to control the direction and position of travel based on all-wheel speed sensing, and further comprising: the track measuring unit comprises a driving wheel steering angle encoder, a left front wheel encoder, a right front wheel encoder and a driving wheel encoder, wherein the driving wheel steering angle encoder is used for detecting the steering angle of the steering wheel, and the left front wheel encoder, the right front wheel encoder and the driving wheel encoder are respectively used for detecting the rotating distance of each traveling wheel.
6. The system of claim 4, wherein the system is configured to control the direction and position of travel based on all-wheel speed sensing, and further comprising: the steering motor and the walking motor are respectively electrically connected with the magnetic navigation sensor and the driving wheel steering angle encoder, the left front wheel encoder, the right front wheel encoder and the driving wheel encoder in the track measuring unit.
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| CN201910984343.9A CN110789606A (en) | 2019-10-16 | 2019-10-16 | Automatic guiding method for controlling driving direction and position based on all-wheel speed detection and forklift system thereof |
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| CN201910984343.9A CN110789606A (en) | 2019-10-16 | 2019-10-16 | Automatic guiding method for controlling driving direction and position based on all-wheel speed detection and forklift system thereof |
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Cited By (4)
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| CN111361639A (en) * | 2020-04-01 | 2020-07-03 | 苏州先锋物流装备科技有限公司 | Automatic navigation system and method for forklift |
| CN112286204A (en) * | 2020-11-11 | 2021-01-29 | 珠海格力智能装备有限公司 | Control method and device of automatic guiding device, processor and electronic equipment |
| CN115014693A (en) * | 2022-08-08 | 2022-09-06 | 中国航空工业集团公司沈阳空气动力研究所 | Wheel control method for large wind tunnel test section |
| CN115321434A (en) * | 2022-08-05 | 2022-11-11 | 浙江华睿科技股份有限公司 | Forklift steering control method and device |
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| CN115321434B (en) * | 2022-08-05 | 2023-12-26 | 浙江华睿科技股份有限公司 | Steering control method and device for forklift |
| CN115014693A (en) * | 2022-08-08 | 2022-09-06 | 中国航空工业集团公司沈阳空气动力研究所 | Wheel control method for large wind tunnel test section |
| CN115014693B (en) * | 2022-08-08 | 2022-11-01 | 中国航空工业集团公司沈阳空气动力研究所 | Wheel control method for large wind tunnel test section |
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Application publication date: 20200214 |