CN112591677B - AGV fork truck loading control method, device, system, equipment and medium - Google Patents
AGV fork truck loading control method, device, system, equipment and medium Download PDFInfo
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- CN112591677B CN112591677B CN202011461735.6A CN202011461735A CN112591677B CN 112591677 B CN112591677 B CN 112591677B CN 202011461735 A CN202011461735 A CN 202011461735A CN 112591677 B CN112591677 B CN 112591677B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
- B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
- B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
- B66F9/075—Constructional features or details
- B66F9/0755—Position control; Position detectors
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
- B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
- B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
- B66F9/075—Constructional features or details
- B66F9/07504—Accessories, e.g. for towing, charging, locking
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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
- B66F9/0759—Details of operating station, e.g. seats, levers, operator platforms, cabin suspension
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- Forklifts And Lifting Vehicles (AREA)
Abstract
The invention relates to a method, a device, a system, equipment and a medium for controlling loading of an AGV fork truck, wherein the method comprises the steps of judging whether a goods placing signal of a sensing switch is received or not after a target AGV fork truck transports a target goods to a target storage position, wherein the goods placing signal is triggered when the spring abutting force of the sensing switch at the front end of the target AGV fork truck reaches a preset goods placing threshold value; if the goods placing signal of the sensing switch is not received, controlling the target AGV to continue to advance; and if receiving the goods placing signal of the sensing switch, controlling the target AGV forklift to place goods. The invention can automatically detect whether goods are tightly discharged or not in the loading process, thereby improving the utilization rate of the loading space.
Description
Technical Field
The invention relates to the technical field of AGV intelligent loading, in particular to a method, a device, a system, equipment and a medium for controlling loading of an AGV forklift.
Background
Along with the development of industrial automation, AGV intelligence fork truck also appears in people's the field of vision, and fork truck carrying capacity is strong, can directly fork the thing material tray and transport, can replace the manual work to do some monotony, frequently, intensity of labour is big and repeated long-time operation in industrial production.
At present, AGV fork truck is also more extensive in the application of automatic loading field, utilize AGV fork truck to transport the goods to the warehouse or transport the goods to the freight train on, but when AGV fork truck transported the goods to the destination, say that delivery truck or container, because reach the destination after, do not accurately detect the position that the goods will be placed, lead to having the clearance easily between every row of goods for last row of goods is not put down, the inner space utilization of carrier loader or container is not high, consequently needs further improvement.
Disclosure of Invention
In order to overcome the defects of the prior art, the application provides an AGV forklift loading control method, device, system, equipment and medium, whether goods are tightly discharged or not can be automatically detected in the loading process, and the loading space utilization rate is improved.
According to the first aspect, the AGV forklift loading control method provided by the application adopts the following technical scheme:
the utility model provides a AGV fork truck loading control method, installs the perception switch that is used for detecting AGV fork truck front end butt strength size on this AGV fork truck, the method includes:
after the target AGV fork truck transports the target goods to the target storage position, judging whether a goods placing signal of a sensing switch is received or not, wherein the goods placing signal is triggered when the spring abutting force of the sensing switch reaches a preset goods placing threshold value;
if the goods placing signal of the sensing switch is not received, controlling the target AGV to continue to advance;
and if receiving the goods placing signal of the sensing switch, controlling the target AGV forklift to place goods.
By adopting the technical scheme, after the AGV fork truck transports the target goods to the interior of the target carriage,
whether the target AGV forklift is controlled to put goods is determined by judging whether a goods putting signal of the sensing switch is received or not, wherein the goods putting signal of the sensing switch is triggered when the spring abutting force of the sensing switch at the front end of the target AGV forklift reaches a preset goods putting threshold value, so that whether the target goods are transported to the front wall of a target carriage or not by the AGV forklift is judged in real time, whether the target goods are transported to be closely adjacent to front-row goods or not is judged in real time, the possibility of gaps among the goods is reduced, and the space utilization rate of a target storage position is improved.
Optionally, before the target AGV forklift transports the target cargo to the target storage location, the method further includes:
when a target AGV forklift forks a target cargo, judging whether a cargo taking signal of a sensing switch is received or not, wherein the cargo taking signal is triggered when a spring abutting force of the sensing switch reaches a preset cargo taking threshold value, and the preset cargo taking threshold value is smaller than a preset cargo placing threshold value;
if the goods taking signal of the sensing switch is not received, controlling the target AGV forklift to continue to advance to fork the target goods;
and if receiving the goods taking signal of the sensing switch, controlling the target AGV to retreat to take out the target goods.
By adopting the technical scheme, when the target AGV forklift forks the target goods, if the goods taking signal of the sensing switch is triggered, the situation that the fork arms of the target AGV forklift fork arms fork the goods in place is explained, then the controller receives the goods taking signal of the sensing switch, and therefore the target AGV forklift is controlled to retreat to take out the target goods.
Optionally, after controlling the target AGV to retreat to take out the target cargo, the method further includes:
and acquiring distance information of the target goods and the target storage position, planning a transportation path of the target AGV forklift, and controlling the target AGV forklift to transfer the target goods according to the transportation path.
Through adopting above-mentioned technical scheme, based on the distance information of target goods and target storage position, independently plan the transportation route to make AGV fork truck independently under unmanned guide according to the transportation route of planning, with target goods transportation inside the target carriage, replace manual operation transportation, reduce the human cost.
Optionally, after the target AGV transports the target cargo to the target storage location, the method further includes:
judging whether a goods placing adjusting signal of a sensing switch is received or not, wherein the goods placing adjusting signal is triggered when the abutting force of a spring of the sensing switch reaches a preset adjusting threshold value, and the preset adjusting threshold value is larger than the preset goods placing threshold value;
and if receiving the goods placing adjusting signal of the sensing switch, controlling the target AGV forklift to adjust the goods placing position.
By adopting the technical scheme, after the target AGV forklift transports the target goods to the target storage position, when the AGV forklift is close to the front row of goods, if the extrusion force of the AGV forklift to the front row of goods is too large, the spring abutting force of the sensing switch reaches the preset adjusting threshold value, the sensing switch is triggered to send the goods release adjusting signal, and the situation that the AGV forklift needs to adjust the goods release area at present is shown.
Optionally, controlling the target AGV to adjust the stock placing position includes:
controlling the target AGV to retreat;
and if receiving the goods placing signal of the sensing switch, controlling the target AGV forklift to place goods.
Through adopting above-mentioned technical scheme, retreat through control target AGV fork truck, if receive the signal of putting goods of perception switch, explain that present putting goods position can make target freight closely adjacent with the front row goods, but be unlikely to overcrowded production dislocation, then control target AGV fork truck put goods this moment to make target AGV fork truck accomplish self-checking adjustment and put goods position, improve intelligent level of putting goods.
The second aspect, the application provides an AGV fork truck loading controlling means adopts following technical scheme:
an AGV fork truck loading control apparatus, the apparatus comprising:
the goods release judging module is used for judging whether a goods release signal of the sensing switch is received or not after the target AGV forklift transports the target goods to the target storage position, and the goods release signal is triggered when the spring abutting force of the sensing switch reaches a preset goods release threshold value;
the goods placing forward module is used for controlling the target AGV forklift to continue to move forward if the goods placing signal of the sensing switch is not received;
and the goods placing module is used for controlling the target AGV forklift to place goods if receiving the goods placing signal of the sensing switch.
By adopting the technical scheme, after the AGV fork truck transports the target goods to the interior of the target carriage,
whether the target AGV forklift is controlled to put goods is determined by judging whether a goods putting signal of the sensing switch is received or not, wherein the goods putting signal of the sensing switch is triggered when the spring abutting force of the sensing switch at the front end of the target AGV forklift reaches a preset goods putting threshold value, so that whether the target goods are transported to the front wall of a target carriage or not by the AGV forklift is judged in real time, whether the target goods are transported to be closely adjacent to front-row goods or not is judged in real time, the possibility of gaps among the goods is reduced, and the space utilization rate of a target storage position is improved.
Optionally, the apparatus further comprises:
the adjustment judging module is used for judging whether a goods placing adjustment signal of the sensing switch is received or not, wherein the goods placing adjustment signal is triggered when the abutting force of a spring of the sensing switch reaches a preset adjustment threshold value, and the preset adjustment threshold value is larger than the preset goods placing threshold value;
and the adjusting module is used for controlling the target AGV forklift to adjust the goods placing position if receiving the goods placing adjusting signal of the sensing switch.
By adopting the technical scheme, after the target AGV forklift transports the target goods to the target storage position, when the AGV forklift is close to the front row of goods, if the extrusion force of the AGV forklift to the front row of goods is too large, the spring abutting force of the sensing switch reaches the preset adjusting threshold value, the sensing switch is triggered to send the goods placing adjusting signal, and the situation that the AGV forklift needs to adjust the goods placing area at present is shown.
The third aspect, AGV fork truck loading control system that this application provided adopts following technical scheme:
an AGV forklift loading control system, the system comprising: the AGV forklift comprises an AGV forklift body, a controller and a sensing switch, wherein the sensing switch is mounted at the front end of a fork arm of the AGV forklift body and comprises a spring piece;
the sensing switch is used for sensing the abutting force of the front end of the AGV forklift by utilizing the spring piece and triggering the sensing switch based on the magnitude of the abutting force;
the controller is used for executing the AGV forklift loading control method and sending a control instruction to the AGV forklift body;
the AGV fork truck body is used for receiving the control command of the controller to take out the target goods and transport to the target storage position for goods putting.
Through adopting above-mentioned technical scheme, whether fork goods target in place is detected AGV fork truck body through the perception switch to and when storing up the position with the target with freight, the position that the goods need be placed is detected to the spring butt atress compression condition through the perception switch, thereby close adjacent emission around the packing cupboard carriage is packed into with the goods to the trigger control ware control AGV fork truck body, reduces the possibility in space, improves loading space utilization.
In a fourth aspect, the present application provides a computer device, which adopts the following technical solution:
a computer apparatus comprising a memory, a processor and a computer program stored in said memory and executable on said processor, said processor implementing the steps of said AGV forklift loading control method when executing said computer program.
In a fifth aspect, the present application provides a computer-readable storage medium, which adopts the following technical solutions:
a computer-readable storage medium storing a computer program which, when executed by a processor, implements the steps of the AGV forklift loading control method.
Drawings
FIG. 1 is a flowchart illustrating an implementation of an AGV fork loading control method according to an embodiment of the present application;
FIG. 2 is a flowchart of an AGV fork loading control method according to an embodiment of the present application before step S11;
FIG. 3 is a flowchart of another implementation after step S11 of the AGV forklift loading control method according to the embodiment of the present application;
FIG. 4 is a flowchart illustrating an implementation of step S22 of an AGV forklift loading control method according to an embodiment of the present application;
FIG. 5 is a functional block diagram of an AGV fork truck loading control apparatus according to an embodiment of the present application;
FIG. 6 is a functional block diagram of a computer device according to an embodiment of the present application.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings.
Example (b):
in this embodiment, as shown in fig. 1, the present application discloses an AGV forklift loading control method, where the AGV forklift is equipped with a sense switch for detecting the magnitude of the front end abutting force of the AGV forklift, and the method includes:
s11: after the target AGV fork truck transports the target goods to the target storage position, whether goods placing signals of the sensing switch are received or not is judged, and the goods placing signals are triggered when the spring abutting force of the sensing switch at the front end of the target AGV fork truck reaches a preset goods placing threshold value.
In this embodiment, the target AGV forklift is an unmanned smart forklift at a container terminal for transporting goods into the container; the target storage position is the next row position of the goods in the freight container to be transported by the target AGV forklift, in this embodiment, the target storage position may be the next row position of the goods in the target container, and in other embodiments, the target storage position may also be the next row position of the goods in a warehouse or a freight car, and the like; the goods placing signal is a signal sent by the inductive switch and used for placing goods by the target AGV forklift; the spring abutting force refers to the force generated by abutting and extruding the spring piece on the sensing switch; the preset goods release threshold value is a force threshold value which is preset for the sensing switch and is used for judging whether the spring abutting force reaches the abutting front row goods or the abutting front wall of the container. In this embodiment, the width of the target container is 2.4m, and the width is the width of two target cargos, so that the target AGV forklift can transport two target cargos together into the target container at a time and place the two target cargos in the same row.
Specifically, after the target AGV transports the target cargo into the target container cargo container, whether the sensing switch sends a cargo release signal is detected in real time, in this embodiment, the sensing switch is installed at the front end of the yoke of the target AGV, the target AGV transports the end of the cargo container, when the sensing switch at the front end of the target AGV abuts against the front wall of the target container cargo container or the current outermost row of cargo of the target container cargo container, the spring piece on the sensing switch is pressed to generate a spring abutting force, and when the spring abutting force reaches a preset cargo release threshold value, the sensing switch is triggered to be turned on, and the cargo release signal is sent to the controller.
S12: and if the goods placing signal of the sensing switch is not received, controlling the target AGV to continue to advance.
Specifically, if the controller does not receive the goods placing signal of the sensing switch, it is indicated that the target AGV forklift does not transport to the front wall of the container or the current outermost row of goods of the container, and the sensing switch is not pressed, the controller controls the target AGV forklift to continue to advance for transportation.
S13: and if receiving the goods placing signal of the sensing switch, controlling the target AGV forklift to place goods.
Specifically, a sensing switch at the front end of the target AGV forklift abuts against the front wall of the target container or the current outermost row of goods of the target container, a spring piece on the sensing switch is pressed to generate a spring abutting force, when the spring abutting force reaches a preset goods release threshold value, the sensing switch is triggered to be turned on, a goods release signal is sent to a controller, the controller receives the goods release signal sent by the sensing switch and controls the target AGV forklift to release the target goods at the current transportation position, and at the moment, the target goods are closely adjacent to the front wall of the container or the target goods are closely adjacent to the front row of goods.
In an embodiment, as shown in fig. 2, before step S11, that is, before the target AGV forklift transports the target cargo to the target storage location, the AGV forklift loading control method of this embodiment further includes:
s101: when the target AGV forklift forks the target goods, whether a goods taking signal of the sensing switch is received or not is judged, the goods taking signal is triggered when the spring abutting force of the sensing switch reaches a preset goods taking threshold value, and the preset goods taking threshold value is smaller than a preset goods placing threshold value.
In this embodiment, the pickup signal is a signal that the target AGV fork truck can move backward and pick up the load, which is sent by the sensing switch; the preset goods taking threshold is used for judging whether the spring abutting force of the sensing switch reaches a force threshold that the fork arm can take goods, so that whether the fork arm forks the goods in place can be judged.
S102: and if the goods taking signal of the sensing switch is not received, controlling the target AGV forklift to continue to advance to fork the target goods.
Specifically, when the target AGV forklift is still in the fork stage and the target goods are not completely forked on the fork arm, the sensing switch cannot be triggered to be started, the controller cannot receive the goods-taking signal of the sensing switch, and the controller still continues to control the target AGV forklift to fork the goods forward.
S103: and if receiving the goods taking signal of the sensing switch, controlling the target AGV to retreat to take out the target goods.
Specifically, when the target AGV forklift completely forks the target goods, the front end of the fork arm of the target AGV forklift abuts against other goods, and due to the fact that the forking process is slow, the spring piece on the sensing switch can generate small abutting force to trigger the sensing switch to be turned on, the goods taking signal is sent to the controller, the controller receives the goods taking signal, and the target AGV forklift is controlled to retreat to take out the target goods.
In an embodiment, after step S103, that is, after controlling the target AGV to retreat and take out the target cargo, the AGV forklift loading control method of this embodiment further includes:
and acquiring distance information of the target goods and the target storage position, planning a transportation path of the target AGV forklift, and controlling the target AGV forklift to transfer the target goods according to the transportation path.
In this embodiment, the distance information refers to distance information between the target cargo and the target storage location;
specifically, the distance information between the target cargo and the target storage location is collected, and in this embodiment, the existing laser radar technology may be adopted to collect the distance information between the target cargo and the target storage location.
Furthermore, based on the distance information, the transportation path is planned by using an optimization algorithm, and when the target AGV forklift enters the target container, the target AGV forklift enters from the central axis of the target container.
And further, the controller controls the target AGV forklift to transfer the target goods under the laser radar navigation according to the planned transportation path.
In an embodiment, as shown in fig. 3, after step S11, that is, after the target AGV forklift transports the target cargo to the target storage location, the AGV forklift loading control method of this embodiment further includes:
s21: and judging whether a goods placing adjusting signal of the sensing switch is received or not, wherein the goods placing adjusting signal is triggered when the abutting force of a spring of the sensing switch reaches a preset adjusting threshold value, and the preset adjusting threshold value is larger than the preset goods placing threshold value.
In this embodiment, the put-goods adjustment signal is a signal that the front end of the target AGV forklift needs to be adjusted due to too large abutting force sent by the inductive switch; the preset adjusting threshold is a force threshold used for judging whether the spring abutting force of the front end sensing switch of the target AGV forklift is too large.
Specifically, when a sensing switch at the front end of the target AGV forklift abuts against the front wall of the target container or the current outermost row of goods of the target container, a spring piece on the sensing switch is pressed to generate a spring abutting force, whether the spring abutting force is larger than a preset goods placing adjustment threshold value or not is judged, and if the spring abutting force is larger than the preset goods placing adjustment threshold value, the sensing switch is triggered and a goods placing adjustment signal is sent to the controller.
S22: and if receiving the goods placing adjusting signal of the sensing switch, controlling the target AGV forklift to adjust the goods placing position.
Specifically, if the controller receives the put adjustment signal of the sensing switch, the target AGV forklift is controlled to adjust the position of the put, as shown in fig. 4, the process of controlling the target AGV forklift to adjust the put includes:
s221: and controlling the target AGV to retreat.
Specifically, since the front end of the target AGV forklift is too far against the front row of goods, the controller controls the target AGV forklift to move backward.
S222: and if receiving the goods placing signal of the sensing switch, controlling the target AGV forklift to place goods.
Specifically, in the process that the target AGV forklift moves backwards, if a goods placing signal of the sensing switch is received, it is indicated that the abutting force of the front end of the target AGV forklift is right, the current target goods are right closely adjacent to the front row goods, and the controller controls the target AGV forklift to place down the target goods.
It should be understood that, the sequence numbers of the steps in the foregoing embodiments do not imply an execution sequence, and the execution sequence of each process should be determined by its function and inherent logic, and should not constitute any limitation to the implementation process of the embodiments of the present invention.
The embodiment also provides an AGV forklift loading control device, and the AGV forklift loading control device corresponds to the AGV forklift loading control method in the embodiment one to one. As shown in fig. 5, the AGV forklift loading control device includes a put determination module, a put forward module, and a put module. The functional modules are explained in detail as follows:
the goods release judging module is used for judging whether a goods release signal of the sensing switch is received or not after the target AGV forklift transports the target goods to the target storage position, and the goods release signal is triggered when the spring abutting force of the sensing switch reaches a preset goods release threshold value;
the goods placing forward module is used for controlling the target AGV forklift to continue to move forward if the goods placing signal of the sensing switch is not received;
and the goods placing module is used for controlling the target AGV forklift to place goods if receiving the goods placing signal of the sensing switch.
Optionally, the apparatus of this embodiment further includes:
the goods taking judgment module is used for judging whether a goods taking signal of the sensing switch is received or not when the target AGV forklift forks the target goods, the goods taking signal is triggered when the spring abutting force of the sensing switch reaches a preset goods taking threshold value, and the preset goods taking threshold value is smaller than a preset goods placing threshold value;
the goods taking advancing module is used for controlling the target AGV forklift to advance continuously to fork the target goods if the goods taking signal of the sensing switch is not received;
and the goods taking module is used for controlling the target AGV forklift to retreat to take out the target goods if receiving the goods taking signal of the sensing switch.
Optionally, the apparatus of this embodiment further includes:
and the path planning module is used for acquiring distance information of the target goods and the target storage positions, planning the transportation path of the target AGV forklift, and controlling the target AGV forklift to transport the target goods according to the transportation path.
Optionally, the apparatus of this embodiment further includes:
the adjusting and judging module is used for judging whether a goods placing adjusting signal of the sensing switch is received or not, the goods placing adjusting signal is triggered when the abutting force of a spring of the sensing switch reaches a preset adjusting threshold value, and the preset adjusting threshold value is larger than the preset goods placing threshold value;
and the adjusting module is used for controlling the target AGV forklift to adjust the goods placing position if receiving the goods placing adjusting signal of the sensing switch.
Optionally, the adjusting module includes:
the backing unit is used for controlling the target AGV to back;
and the goods placing unit is used for controlling the target AGV forklift to place goods if receiving the goods placing signal of the sensing switch.
For specific limitations of the AGV forklift loading control device, reference may be made to the above limitations of the AGV forklift loading control method, which are not described herein again. All modules in the AGV forklift loading control device can be completely or partially realized through software, hardware and a combination of the software and the hardware. The modules can be embedded in a hardware form or independent from a processor in the computer device, and can also be stored in a memory in the computer device in a software form, so that the processor can call and execute operations corresponding to the modules.
This embodiment provides an AGV fork truck loading control system, and this system includes: the AGV forklift comprises an AGV forklift body, a controller and a sensing switch, wherein the sensing switch is installed at the front end of a fork arm of the AGV forklift body and comprises a spring piece, in the embodiment, the sensing switch can be a position switch or a travel switch, and the controller can adopt a PLC-200 model.
The sensing switch is used for sensing the abutting force of the front end of the AGV forklift by utilizing the spring piece, and the spring abutting force generated after the spring piece is compressed triggers the sensing switch;
the controller is used for executing the AGV forklift loading control method and sending a control instruction to the AGV forklift body;
the AGV forklift body is used for receiving a control instruction of the controller to take out target goods and transport the target goods to a target storage position for goods placement.
The embodiment provides a computer device, which may be a server, and the internal structure diagram of the computer device may be as shown in fig. 6. The computer device includes a processor, a memory, a network interface, and a database connected by a system bus. Wherein the processor of the computer device is configured to provide computing and control capabilities. The memory of the computer device comprises a nonvolatile storage medium and an internal memory. The non-volatile storage medium stores an operating system, a computer program, and a database. The internal memory provides an environment for the operation of an operating system and computer programs in the non-volatile storage medium. The database of the computer device is used for storing spring abutment force information, distance information, and the like. The network interface of the computer device is used for communicating with an external terminal through a network connection. When being executed by a processor, the computer program realizes the loading control method of the AGV forklift, and when the processor executes the computer program, the processor realizes the following steps:
s11: after the target AGV fork truck transports the target goods to the target storage position, whether goods placing signals of the sensing switch are received or not is judged, and the goods placing signals are triggered when the spring abutting force of the sensing switch at the front end of the target AGV fork truck reaches a preset goods placing threshold value.
S12: and if the goods placing signal of the sensing switch is not received, controlling the target AGV to continue to advance.
S13: and if receiving the goods placing signal of the sensing switch, controlling the target AGV forklift to place goods.
The present embodiments also provide a computer-readable storage medium having stored thereon a computer program which, when executed by a processor, performs the steps of:
s11: after the target AGV fork truck transports the target goods to the target storage position, whether goods placing signals of the sensing switch are received or not is judged, and the goods placing signals are triggered when the spring abutting force of the sensing switch at the front end of the target AGV fork truck reaches a preset goods placing threshold value.
S12: and if the goods placing signal of the sensing switch is not received, controlling the target AGV to continue to advance.
S13: and if receiving the goods placing signal of the sensing switch, controlling the target AGV forklift to place goods.
It will be understood by those skilled in the art that all or part of the processes of the methods of the embodiments described above can be implemented by hardware instructions of a computer program, which can be stored in a non-volatile computer-readable storage medium, and when executed, can include the processes of the embodiments of the methods described above. Any reference to memory, storage, database, or other medium used in the embodiments provided herein may include non-volatile and/or volatile memory, among others. Non-volatile memory can include read-only memory (ROM), Programmable ROM (PROM), Electrically Programmable ROM (EPROM), Electrically Erasable Programmable ROM (EEPROM), or flash memory. Volatile memory can include Random Access Memory (RAM) or external cache memory. By way of illustration and not limitation, RAM is available in a variety of forms such as Static RAM (SRAM), Dynamic RAM (DRAM), Synchronous DRAM (SDRAM), Double Data Rate SDRAM (DDRSDRAM), Enhanced SDRAM (ESDRAM), Synchronous Link DRAM (SLDRAM), Rambus Direct RAM (RDRAM), direct bus dynamic RAM (DRDRAM), and memory bus dynamic RAM (RDRAM).
It will be apparent to those skilled in the art that, for convenience and brevity of description, only the above-mentioned division of the functional units and modules is illustrated, and in practical applications, the above-mentioned function distribution may be performed by different functional units and modules according to needs, that is, the internal structure of the apparatus is divided into different functional units or modules to perform all or part of the above-mentioned functions.
The above-mentioned embodiments are only used for illustrating the technical solutions of the present invention, and not for limiting the same; although the present invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; such modifications and substitutions do not substantially depart from the spirit and scope of the embodiments of the present invention, and are intended to be included within the scope of the present invention.
Claims (10)
1. The utility model provides a AGV fork truck loading control method which characterized in that installs the perception switch that is used for detecting AGV fork truck front end butt power size on this AGV fork truck, the method includes:
after the target AGV forklift transports the target goods to the target storage position, judging whether a goods putting signal of a sensing switch is received or not, wherein the goods putting signal is triggered when the spring abutting force of the sensing switch at the front end of a fork arm of a target AGV forklift body reaches a preset goods putting threshold value;
if the goods placing signal of the sensing switch is not received, controlling the target AGV to continue to advance;
and if receiving the goods placing signal of the sensing switch, controlling the target AGV forklift to place goods.
2. The AGV fork truck loading control method of claim 1, wherein before the target AGV fork truck transports the target cargo to the target storage bay, the method further comprises:
when a target AGV forklift forks a target cargo, judging whether a cargo taking signal of a sensing switch is received or not, wherein the cargo taking signal is triggered when a spring abutting force of the sensing switch reaches a preset cargo taking threshold value, and the preset cargo taking threshold value is smaller than a preset cargo placing threshold value;
if the goods taking signal of the sensing switch is not received, controlling the target AGV forklift to continue to advance to fork the target goods;
and if receiving the goods taking signal of the sensing switch, controlling the target AGV to retreat to take out the target goods.
3. The AGV forklift loading control method according to claim 2, wherein after controlling the target AGV forklift to retreat to pick up the target cargo, the method further comprises:
and acquiring distance information of the target goods and the target storage position, planning a transportation path of the target AGV forklift, and controlling the target AGV forklift to transfer the target goods according to the transportation path.
4. The AGV forklift loading control method of claim 3, wherein after the target AGV forklift transports the target cargo to the target storage location, the method further comprises:
judging whether a goods placing adjusting signal of a sensing switch is received or not, wherein the goods placing adjusting signal is triggered when the abutting force of a spring of the sensing switch reaches a preset adjusting threshold value, and the preset adjusting threshold value is larger than the preset goods placing threshold value;
and if receiving the goods placing adjusting signal of the sensing switch, controlling the target AGV forklift to adjust the goods placing position.
5. The AGV forklift loading control method according to claim 4, wherein controlling the target AGV forklift to adjust the put position includes:
controlling the target AGV to retreat;
and if receiving the goods placing signal of the sensing switch, controlling the target AGV forklift to place goods.
6. An AGV forklift loading control device, characterized in that, the device includes:
the goods release judging module is used for judging whether a goods release signal of the sensing switch is received or not after the target AGV forklift transports the target goods to the target storage position, wherein the goods release signal is triggered when the spring abutting force of the sensing switch arranged at the front end of the fork arm of the target AGV forklift body reaches a preset goods release threshold value;
the goods placing forward module is used for controlling the target AGV forklift to continue to move forward if the goods placing signal of the sensing switch is not received;
and the goods placing module is used for controlling the target AGV forklift to place goods if receiving the goods placing signal of the sensing switch.
7. The AGV forklift loading control device of claim 6, further comprising:
the adjustment judging module is used for judging whether a goods placing adjustment signal of the sensing switch is received or not, wherein the goods placing adjustment signal is triggered when the abutting force of a spring of the sensing switch reaches a preset adjustment threshold value, and the preset adjustment threshold value is larger than the preset goods placing threshold value;
and the adjusting module is used for controlling the target AGV forklift to adjust the goods placing position if receiving the goods placing adjusting signal of the sensing switch.
8. An AGV fork truck loading control system, characterized in that, the system includes: the AGV forklift comprises an AGV forklift body, a controller and a sensing switch, wherein the sensing switch is mounted at the front end of a fork arm of the AGV forklift body and comprises a spring piece;
the sensing switch is used for sensing the abutting force of the front end of the AGV forklift by utilizing the spring piece and triggering the sensing switch based on the magnitude of the abutting force;
the controller is used for executing the AGV forklift loading control method according to any one of claims 1 to 5 and sending a control instruction to the AGV forklift body;
the AGV fork truck body is used for receiving the control command of the controller to take out the target goods and transport to the target storage position for goods putting.
9. A computer arrangement comprising a memory, a processor and a computer program stored in said memory and executable on said processor, characterized in that said processor when executing said computer program performs the steps of the AGV forklift loading control method according to any one of claims 1 to 5.
10. A computer-readable storage medium storing a computer program, wherein the computer program when executed by a processor implements the steps of the AGV forklift loading control method according to any one of claims 1 to 5.
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