CN221055779U - Fork truck magnetic stripe navigation and three-dimensional fork truck based on gyroscope - Google Patents
Fork truck magnetic stripe navigation and three-dimensional fork truck based on gyroscope Download PDFInfo
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- CN221055779U CN221055779U CN202323036186.XU CN202323036186U CN221055779U CN 221055779 U CN221055779 U CN 221055779U CN 202323036186 U CN202323036186 U CN 202323036186U CN 221055779 U CN221055779 U CN 221055779U
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- 239000002390 adhesive tape Substances 0.000 claims description 6
- 238000005299 abrasion Methods 0.000 description 1
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- 238000010586 diagram Methods 0.000 description 1
- 230000003116 impacting effect Effects 0.000 description 1
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Abstract
The utility model provides a forklift magnetic stripe navigation system based on a gyroscope and a three-way forklift, and relates to the technical field of forklift magnetic stripe navigation systems. According to the utility model, the three-way forklift can move according to the preset route in a magnetic stripe navigation mode by arranging the navigation module and the gyroscope, meanwhile, the swing angle and the swing amplitude of the car body when the three-way forklift moves can be measured by the gyroscope, whether the swing amplitude of the three-way forklift is in the threshold range or not is judged, when the swing amplitude of the three-way forklift exceeds the threshold range, the three-way forklift is controlled to stop moving and give an alarm, the situation that the swing amplitude of the car body is too large to strike a shelf when the three-way forklift carries out magnetic stripe navigation due to the interference of an external magnetic field is avoided, and the safety of equipment is improved.
Description
Technical Field
The utility model relates to the technical field of forklift magnetic stripe navigation systems, in particular to a gyroscope-based forklift magnetic stripe navigation system and a three-way forklift.
Background
In the prior art, a forklift gradually starts to develop towards an intelligent and unmanned direction, a magnetic stripe navigation technology is generally used for guiding the forklift, the deflection angle and the deflection distance between the forklift and the magnetic stripe are calculated through data acquired by a magnetic navigation sensor, and then the movement direction of the forklift is directly corrected, so that the forklift moves along the direction of the magnetic stripe.
However, this way has certain drawbacks, when receiving external magnetic field interference, the magnetic stripe navigation to fork truck is very easy to cause the influence for the off-angle offset between fork truck and the magnetic stripe increases, if the direct control fork truck turns to or moves this moment, can lead to fork truck to follow wrong direction motion, the swing range of automobile body also becomes big when fork truck moves along the magnetic stripe this moment, if fork truck enters the both sides and piles the narrow tunnel that has the goods, the automobile body swing range is too big has the risk of striking goods shelves, and fork truck in the present market all is the motion of direct through magnetic field intensity and magnetic field direction control fork truck, do not possess the ability of protecting this kind of risk, consequently, it is very necessary to provide a fork truck magnetic stripe navigation system that can resist the influence of surrounding magnetic field.
Disclosure of utility model
The utility model aims to provide a gyroscope-based forklift magnetic stripe navigation system and a three-way forklift, which are used for solving the problems in the background technology.
In order to achieve the above purpose, the present utility model provides the following technical solutions:
The utility model provides a fork truck magnetic stripe navigation based on gyroscope, navigation is applicable to three-way fork truck, navigation includes navigation module, detection module, control module, motion module and alarm module:
The navigation module comprises a magnetic marking unit and a sensing unit, wherein the magnetic marking unit is arranged along the movement route of the three-way forklift, and the sensing unit is arranged on the three-way forklift and is used for detecting the magnetic field intensity and the magnetic field direction of the magnetic marking unit and sending measured data to the control module;
the detection module is fixed on the three-way forklift, and is used for measuring the swing angle and the swing amplitude of the car body when the three-way forklift moves and sending the measured data to the control module;
The control module is electrically connected with the sensing unit and the detection module, and is used for receiving the magnetic field intensity and the magnetic field direction data measured by the sensing unit and the swing angle and swing amplitude data of the vehicle body measured by the detection module, and sending a control instruction to the motion module for steering;
The motion module is electrically connected with the control module, the motion module performs motion steering according to the control instruction, and the control module is electrically connected with the alarm module and used for driving the alarm module to work.
Preferably, the magnetic marking unit adopts a magnetic coil, and the sensing unit adopts a magnetic navigation sensor.
Preferably, the magnetic coil is embedded below the floor, the magnetic navigation sensor is installed at the bottom of the three-way forklift, and the magnetic navigation sensor is located right above the magnetic coil.
Preferably, a navigation adhesive tape is further arranged right above the magnetic coil, and the navigation adhesive tape is stuck above the floor.
Preferably, the control module comprises a data processing unit and a PID control unit, the PID control unit is electrically connected with the data processing unit, the PID control unit is used for receiving the magnetic field intensity and magnetic field direction data detected by the sensing unit and issuing a control instruction for controlling the steering of the motion module to the data processing unit, the data processing unit is electrically connected with the detection module and used for receiving the swing angle and swing amplitude data of the car body when the three-way forklift is in motion, and the data processing unit is electrically connected with the alarm module and used for driving the alarm module to work.
Preferably, the motion module comprises a motion motor, a steering motor and a motor driver, wherein the motion motor and the steering motor are electrically connected with the motor driver, and the motor driver is electrically connected with the data processing unit and is used for receiving a control instruction to drive the motion motor and the steering motor to work.
Preferably, the alarm module comprises an alarm lamp and a buzzer, wherein the buzzer and the alarm lamp are electrically connected with the data processing unit and are used for sending out alarm sound and light signals under the control of the data processing unit.
Preferably, the data processing unit is further electrically connected with a relay module, and contacts of the relay module are connected in series to a connection circuit of the motor driver, the motion motor and the steering motor, and a control end of the relay module is electrically connected with the data processing unit and used for being opened and closed under the control of the data processing unit.
Preferably, the detection module adopts a gyroscope built in the magnetic navigation sensor.
The three-way forklift comprises a forklift body and a navigation device, wherein the navigation device adopts the navigation system.
Compared with the prior art, the utility model has the beneficial effects that: according to the utility model, the three-way forklift can move according to the preset route in a magnetic stripe navigation mode by arranging the navigation module and the gyroscope, meanwhile, the swing angle and the swing amplitude of the car body when the three-way forklift moves can be measured by the gyroscope, whether the swing amplitude of the three-way forklift is in the threshold range or not is judged, when the swing amplitude of the three-way forklift exceeds the threshold range, the three-way forklift is controlled to stop moving and give an alarm, the situation that the swing amplitude of the car body is too large to strike a shelf when the three-way forklift carries out magnetic stripe navigation due to the interference of an external magnetic field is avoided, and the safety of equipment is improved.
Drawings
FIG. 1 is a schematic diagram of the overall system module of the present utility model.
Detailed Description
The present utility model will be further described in detail with reference to specific embodiments in order to make the objects, technical solutions and advantages of the present utility model more apparent.
It is to be noted that unless otherwise defined, technical or scientific terms used herein should be taken in a general sense as understood by one of ordinary skill in the art to which the present utility model belongs. The terms "first," "third," and the like, as used herein, do not denote any order, quantity, or importance, but rather are used to distinguish one element from another. The word "comprising" or "comprises", and the like, means that elements or items preceding the word are included in the element or item listed after the word and equivalents thereof, but does not exclude other elements or items. The terms "connected" or "connected," and the like, are not limited to physical or mechanical connections, but may include electrical connections, whether direct or indirect. "up", "down", "left", "right" and the like are used only to indicate a relative positional relationship, and when the absolute position of the object to be described is changed, the relative positional relationship may be changed accordingly.
Examples:
referring to fig. 1, the present utility model provides a technical solution:
The utility model provides a fork truck magnetic stripe navigation based on gyroscope, navigation is applicable to three-way fork truck, navigation includes navigation module, detection module, control module, motion module and alarm module:
The navigation module comprises a magnetic marking unit and a sensing unit, wherein the magnetic marking unit is embedded with a magnetic coil below the floor and is arranged along the movement route of the three-way forklift, and when the navigation module is used in a factory, the magnetic coil can be buried below the plastic ground, so that the navigation module is more convenient to lay. The black navigation adhesive tape is stuck above the floor, and the black navigation adhesive tape is arranged right above the magnetic coil and is used for facilitating the visual observation of the movement route of the three-way forklift by a user, and the magnetic coil is embedded below the floor and the display route is brought by the black navigation adhesive tape, so that the abrasion of the magnetic strip caused by the three-way forklift in the use process can be avoided, and the service life of the equipment is prolonged. The sensing unit adopts a magnetic navigation sensor with the model number of MLSE-0200A2NP0, is arranged at the bottom of the three-way forklift and is positioned right above the magnetic coil for detecting the magnetic field intensity and the magnetic field direction, and sends the measured data to the control module, and a gyroscope is arranged in the sensor for serving as the detection equipment of the utility model.
The gyroscope is used for measuring swing angle and swing amplitude data of the vehicle body when the three-way forklift moves, detected data are sent to the control module, the gyroscope can resist strong magnetic interference, the movement track of the three-way forklift is detected, and the phenomenon that the three-way forklift breaks away from a preset track to strike a goods shelf when the magnetic coil and the magnetic navigation sensor are interfered by a magnetic field is avoided.
The control module comprises a data processing unit and a PID control unit, the PID control unit is electrically connected with the data processing unit, the PID control unit is used for receiving the magnetic field intensity and magnetic field direction data detected by the sensing unit, issuing a control instruction for controlling the steering of the motion module to the data processing unit and adjusting the motion track of the three-way forklift, the PID control unit is a programmable controller adopting a proportional-integral-derivative algorithm, the data processing unit adopts a STM32F429 series controller chip, a threshold range of swing amplitude is preset in the data processing unit, the data processing unit is electrically connected with the gyroscope and is used for receiving the swing angle and swing amplitude data of the body of the three-way forklift when the three-way forklift moves, judging whether the swing amplitude of the body of the three-way forklift is in the threshold range, and the data processing unit is electrically connected with the alarm module and is used for driving the alarm module to work.
The motion module comprises a motion motor, a steering motor and a motor driver, wherein the motion motor and the steering motor are electrically connected with the motor driver, the motor driver is electrically connected with the data processing unit and is used for receiving a control instruction to drive the motion motor and the steering motor to work, the motion motor is used for providing motion power for a three-way forklift, the steering motor is used for adjusting the motion direction and the motion angle of the three-way forklift, the car body of the three-way forklift is convenient to adjust, the alarm module comprises an alarm lamp and a buzzer, and the alarm lamp and the buzzer are electrically connected with the data processing unit and are used for sending out alarm sound and light signals under the control of the data processing unit so as to remind a user.
The data processing unit is also electrically connected with a relay module, and contacts of the relay module are connected in series on a motor driver, a moving motor and a connecting circuit of a steering motor, and a control end of the relay module is electrically connected with the data processing unit and used for being opened and closed under the control of the data processing unit. If the swing amplitude of the three-way forklift body is within a preset threshold range, the data processing unit sends a control instruction issued by the PID control unit to the motion module, the motion module adjusts the motion track of the forklift body according to the received control instruction, so that the forklift body continues to move according to a preset route, if the swing amplitude of the three-way forklift body exceeds the preset threshold, the data processing unit does not send the control instruction issued by the PID control unit to the motion module, but controls the relay module to be closed, so that the three-way forklift stops moving, and meanwhile controls the alarm module to start, and sends an alarm acousto-optic signal to remind a user, so that accidents such as impacting a shelf are avoided.
The utility model also provides a three-way forklift, which comprises a forklift body and a navigation device, wherein the navigation device adopts the navigation system.
The technical features of the above-described embodiments may be arbitrarily combined, and all possible combinations of the technical features in the above-described embodiments are not described for brevity of description, however, as long as there is no contradiction between the combinations of the technical features, they should be considered as the scope of the description.
The above examples illustrate only a few embodiments of the utility model, which are described in detail and are not to be construed as limiting the scope of the utility model. It should be noted that it will be apparent to those skilled in the art that several variations and modifications can be made without departing from the spirit of the utility model, which are all within the scope of the utility model. Accordingly, the scope of protection of the present utility model is to be determined by the appended claims.
Claims (10)
1. The utility model provides a fork truck magnetic stripe navigation based on gyroscope, its characterized in that, navigation is applicable to three-way fork truck, navigation includes navigation module, detection module, control module, motion module and alarm module:
The navigation module comprises a magnetic marking unit and a sensing unit, wherein the magnetic marking unit is arranged along the movement route of the three-way forklift, and the sensing unit is arranged on the three-way forklift and is used for detecting the magnetic field intensity and the magnetic field direction of the magnetic marking unit and sending measured data to the control module;
the detection module is fixed on the three-way forklift, and is used for measuring the swing angle and the swing amplitude of the car body when the three-way forklift moves and sending the measured data to the control module;
The control module is electrically connected with the sensing unit and the detection module, and is used for receiving the magnetic field intensity and the magnetic field direction data measured by the sensing unit and the swing angle and swing amplitude data of the vehicle body measured by the detection module, and sending a control instruction to the motion module for steering;
The motion module is electrically connected with the control module, the motion module performs motion steering according to the control instruction, and the control module is electrically connected with the alarm module and used for driving the alarm module to work.
2. The gyroscope-based forklift magnetic stripe navigation system of claim 1, wherein: the magnetic marking unit adopts a magnetic coil, and the sensing unit adopts a magnetic navigation sensor.
3. The gyroscope-based forklift magnetic stripe navigation system of claim 2, wherein: the magnetic coil is embedded below the floor, the magnetic navigation sensor is arranged at the bottom of the three-way forklift, and the magnetic navigation sensor is located right above the magnetic coil.
4. A gyroscope-based forklift magnetic stripe navigation system according to claim 3, wherein: and a navigation adhesive tape is further arranged right above the magnetic coil and is stuck above the floor.
5. The gyroscope-based forklift magnetic stripe navigation system of claim 1, wherein: the control module comprises a data processing unit and a PID control unit, the PID control unit is electrically connected with the data processing unit, the PID control unit is used for receiving the magnetic field intensity and magnetic field direction data detected by the sensing unit and issuing a control instruction for controlling the steering of the motion module to the data processing unit, the data processing unit is electrically connected with the detection module and used for receiving the swing angle and swing amplitude data of the car body when the three-way forklift is in motion, and the data processing unit is electrically connected with the alarm module and used for driving the alarm module to work.
6. The gyroscope-based forklift magnetic stripe navigation system of claim 5, wherein: the motion module comprises a motion motor, a steering motor and a motor driver, wherein the motion motor and the steering motor are electrically connected with the motor driver, and the motor driver is electrically connected with the data processing unit and is used for receiving a control instruction to drive the motion motor and the steering motor to work.
7. The gyroscope-based forklift magnetic stripe navigation system of claim 5, wherein: the alarm module comprises an alarm lamp and a buzzer, wherein the buzzer and the alarm lamp are electrically connected with the data processing unit and used for sending out alarm sound and light signals under the control of the data processing unit.
8. The gyroscope-based forklift magnetic stripe navigation system of claim 5, wherein: the data processing unit is also electrically connected with a relay module, and contacts of the relay module are connected in series on a motor driver, a moving motor and a connecting circuit of a steering motor, and a control end of the relay module is electrically connected with the data processing unit and used for being opened and closed under the control of the data processing unit.
9. A gyroscope-based forklift magnetic stripe navigation system according to any of claims 1-8, wherein: and the detection module adopts a gyroscope arranged in the magnetic navigation sensor.
10. A three-way forklift, characterized in that: the three-way forklift comprises a forklift body and a navigation device, wherein the navigation device adopts the navigation system as claimed in any one of claims 1 to 8.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202323036186.XU CN221055779U (en) | 2023-11-10 | 2023-11-10 | Fork truck magnetic stripe navigation and three-dimensional fork truck based on gyroscope |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202323036186.XU CN221055779U (en) | 2023-11-10 | 2023-11-10 | Fork truck magnetic stripe navigation and three-dimensional fork truck based on gyroscope |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN221055779U true CN221055779U (en) | 2024-05-31 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202323036186.XU Active CN221055779U (en) | 2023-11-10 | 2023-11-10 | Fork truck magnetic stripe navigation and three-dimensional fork truck based on gyroscope |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN221055779U (en) |
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2023
- 2023-11-10 CN CN202323036186.XU patent/CN221055779U/en active Active
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