CN111977565B - Control method for preventing goods from toppling over goods shelf during sudden stopping and locking of Forklift AGV - Google Patents
Control method for preventing goods from toppling over goods shelf during sudden stopping and locking of Forklift AGV Download PDFInfo
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- CN111977565B CN111977565B CN202010608902.9A CN202010608902A CN111977565B CN 111977565 B CN111977565 B CN 111977565B CN 202010608902 A CN202010608902 A CN 202010608902A CN 111977565 B CN111977565 B CN 111977565B
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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
- B66F9/063—Automatically guided
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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
- B66F17/00—Safety devices, e.g. for limiting or indicating lifting force
- B66F17/003—Safety devices, e.g. for limiting or indicating lifting force for fork-lift trucks
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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
- B66F9/07559—Stabilizing means
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- Engineering & Computer Science (AREA)
- Structural Engineering (AREA)
- Transportation (AREA)
- Life Sciences & Earth Sciences (AREA)
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- Mechanical Engineering (AREA)
- Civil Engineering (AREA)
- Forklifts And Lifting Vehicles (AREA)
- Warehouses Or Storage Devices (AREA)
Abstract
本发明是为了克服现有的Forklift AGV在进行货物搬运突然急停抱死，而货物出现滑移至倾倒的问题，提供一种关于Forklift AGV急停抱死时防止货物倾倒货架的控制方法，解决上述问题同时提高Forklift AGV的可靠性及工作效率。为了实现上述目的，采用以下技术方案：Forklift AGV出现急停时，货架上的相对速度传感器检测货物与货架间的相对速度，得到相对速度曲线；对相对速度曲线进行插值分析，发现存在相对速度时，控制货架与货物做同一方向的运动，并继续遍历相对速度，遍历到相对速度为零的时间点时，电机开始制动，并进行货架速度的曲线遍历，得到返回插值为0时，控制货架的电机以额定转速进行反转，当回馈的位移插值为既定位移时，电机以额定加速度制动，转速为零时货架归位。
The present invention is to overcome the problem that the existing Forklift AGV suddenly stops and locks when carrying goods, and the goods slip and fall, and provides a control method for preventing the goods from falling to the shelf when the Forklift AGV is stopped and locked. The above problems also improve the reliability and work efficiency of Forklift AGV. In order to achieve the above purpose, the following technical solutions are adopted: when the Forklift AGV has an emergency stop, the relative speed sensor on the shelf detects the relative speed between the goods and the shelf to obtain a relative speed curve; the relative speed curve is interpolated and analyzed, and it is found that when there is a relative speed , control the shelf and the goods to move in the same direction, and continue to traverse the relative speed. When the traversal reaches the time point when the relative speed is zero, the motor starts to brake, and the curve of the shelf speed is traversed. When the return interpolation value is 0, control the shelf. The motor is reversed at the rated speed. When the displacement interpolation of the feedback is a predetermined displacement, the motor is braked at the rated acceleration, and the shelf returns when the speed is zero.
Description
Technical Field
The invention relates to the field of intelligent vehicles, in particular to a control method for preventing goods from toppling over a goods shelf when a Forklift AGV suddenly stops and locks.
Background
The development of the related technology of computers has driven the improvement of the industrial technology level, and in order to reduce the cost caused by employing human labor, a lot of factories and container warehouses begin to adopt forklifts AGVs (automatic cruise forklifts) to sort, transport and classify goods. How to utilize this intelligent fork truck system to carry out the "big revolution" of industrial era, and then reduce manufacturing cost, improve the work efficiency in warehouse and the rate of accuracy of letter sorting commodity, reduce the rate of loss of commodity and become the problem that awaits a urgent need to solve.
Forklift AGV is an obvious mechanism in automatic handling equipment, and has obvious advantages. The AGV works by three parts to obtain command, execute command and complete standby. After the task is completed or before the task is received, automatic charging is carried out at a standby point. In the command execution phase, three research fields are divided: respectively, path planning, scheduling research and cargo identification.
When Forklift AGVs carry goods, the primary objective is to ensure the integrity of the goods and avoid unnecessary loss due to the characteristics of the mechanism. When the automatic cruise forklift is in scram, goods on the forklift have two stages of conversion: a slipping phase and a resting phase. In order to ensure good and complete characteristics of the goods during transportation, the goods cannot be toppled in the slippage stage, and the related technical application is not available at present.
Disclosure of Invention
The invention aims to overcome the defect that in the prior art, when the Forklift AGV stops suddenly in goods transportation, a method for keeping the relative position of goods and a goods shelf only adopts a physical method for keeping friction force, adds a closed-loop control algorithm for improving the robustness of a mechanism, provides a control method for preventing goods from toppling over the goods shelf when the Forklift AGV stops suddenly and locks, is a control method for providing buffering based on inertia protection and keeping the relative speed of the goods and the goods shelf to be zero overall, and fully ensures the safety and stability of the goods transportation.
In order to achieve the purpose, the invention adopts the following technical scheme:
a control method for preventing goods from dumping a goods shelf when a Forklift AGV suddenly stops and locks is characterized by comprising the following steps:
the method comprises the following steps: when the Forklift AGV encounters an obstacle or a fault, the main program enters an emergency stop interruption, and whether the relative speed exists between the goods and the goods shelf is detected through a relative speed sensor on the goods shelf, so that a relative speed curve is obtained;
step two: in the shelf acceleration stage, interpolation analysis is carried out on the relative speed curve obtained in the step one, and when the relative speed is found, the motor in the advancing direction of the shelf is controlled to operate and accelerate, so that the speed of the shelf is accelerated to move in the same direction as the goods, and the relative speed is continuously traversed;
step three: in the shelf and goods deceleration stage, traversing the relative speed curve in the step two, starting braking by the motor when traversing to a time point when the relative speed is zero, and traversing the speed curve of the shelf;
step four: in the shelf recovery stage, traversing the motor rotating speed curve in the third step to obtain a returned interpolation value of 0, controlling the motor of the shelf to reverse at a rated rotating speed, traversing by using a displacement sensor of the shelf, controlling the motor of the shelf to brake at a rated acceleration when the fed-back displacement interpolation value is a set displacement, and returning the shelf when the rotating speed is zero;
step five: and in a Forklift AGV standby stage, when the rotating speed of the motor is zero, the interruption is finished, and a standby program is entered.
Preferably, the first specific method of the step is as follows: the relative speed sensor is in a differential operation expression form of the displacement sensor, and the relative speed sensor is as follows according to an interpolation operation formula:
f(t)＝a1f[t1]+a2f[t2]+…+anf[tn]
wherein, a1、a2...anRepresenting an interpolation function f [ t ]]Is generally set to 1, t1、t2…tnThe tth interpolation point representing the interpolation function;
the displacement interpolation at each moment can be obtained by the above formula, and the relationship between the displacement and the speed is as follows:
v1[n1]＝{f1[n1]-f2[n2]}/n2-n1
wherein n is1，n2Indicating a certain pair of adjacent time instants, v, at which the sensor is sampling1The speed interpolation value can be obtained through the above formula and a speed curve can be obtained.
Preferably, the acceleration of the speed increase of the goods shelf in the second step is calculated according to the friction factor between the goods and the goods shelf, and a is less than or equal to μ g theoretically, wherein a is the acceleration, μ is the dynamic friction factor, and g is the gravity acceleration.
Preferably, the specific method of the third step is as follows: controlling the acceleration a of the goods shelf to be less than or equal to mu g, so that the goods shelf does not move relatively to the goods, and does deceleration movement with the same acceleration and speed, and recording the speed curve of the goods shelf and the rotating speed curve of the motor, wherein the rotating speed of the motor is in direct proportion to the speed of the goods shelf, and the rotating speed of the motor is l2Then speed v of the rack2＝kl2A speed curve for the rack is obtained, where k is a constant representing a linear relationship between the rack speed and the motor.
Therefore, the invention has the following beneficial effects: (1) the problem that goods topple over due to inertia when the automatic cruise forklift stops suddenly is effectively solved; (2) the stability and the robustness of the automatic cruise forklift are effectively improved, and the safety of goods is guaranteed.
Drawings
FIG. 1 is a schematic diagram of an emergency stop model for a Forklift AGV according to the present invention.
FIG. 2 is a schematic view of a Forklift AGV buffer anti-tipping model of the present invention.
FIG. 3 is a schematic diagram of a Forklift AGV rack retrieval model of the present invention.
Fig. 4 is a block diagram of the process of the present invention.
In the figure: 1. goods; 2. a shelf; 3. an auto-cruise forklift.
Detailed Description
The invention is further described with reference to the following detailed description and accompanying drawings.
As in the embodiment shown in figures 1-4,
a control method for preventing goods from dumping a goods shelf when a Forklift AGV suddenly stops and locks comprises the following steps:
the method comprises the following steps: when the Forklift AGV encounters an obstacle or a fault, the main program enters an emergency stop interruption, and whether the relative speed exists between the goods and the goods shelf is detected through a relative speed sensor on the goods shelf, so that a relative speed curve is obtained; the relative speed sensor is in a differential operation expression form of the displacement sensor, and an interpolation operation formula is as follows:
f(t)＝a1f[t1]+a2f[t2]+…+anf[tn]
wherein, a1、a2...anRepresenting an interpolation function f [ t ]]Is generally set to 1, t1、t2…tnThe tth interpolation point representing the interpolation function; the displacement interpolation at each moment can be obtained by the above formula, and n is set1，n2The relationship between displacement and speed is as follows, which represents a certain pair of adjacent time points when the sensor performs sampling:
v1[n1]＝{f1[n1]-f2[n2]}/n2-n1
wherein v is1The speed interpolation value can be obtained through the above formula and a speed curve can be obtained.
Step two: in the shelf acceleration stage, interpolation analysis is carried out on the relative speed curve obtained in the step one, and when the relative speed is found, the motor in the advancing direction of the shelf is controlled to operate and accelerate, so that the speed of the shelf is accelerated to move in the same direction as the goods, and the relative speed is continuously traversed; the acceleration of the speed increase of the goods shelf is calculated according to the friction factor between the goods and the goods shelf, and theoretically a is less than or equal to mu g, wherein a is the acceleration, mu is the dynamic friction factor, and g is the gravity acceleration.
Step three: in the shelf and goods deceleration stage, traversing the relative speed curve in the step two, starting braking by the motor when traversing to a time point when the relative speed is zero, and traversing the speed curve of the shelf; controlling the acceleration a of the goods shelf to be less than or equal to mu g, so that the goods shelf does not move relatively to the goods, and does deceleration movement with the same acceleration and speed, and recording the speed curve of the goods shelf and the rotating speed curve of the motor, wherein the rotating speed of the motor is in direct proportion to the speed of the goods shelf, and the rotating speed of the motor is l2Then speed v of the rack2＝kl2Obtaining a speed curve of the goods shelf;
step four: in the shelf recovery stage, traversing the motor rotating speed curve in the third step to obtain a returned interpolation value of 0, controlling the motor of the shelf to reverse at a rated rotating speed, traversing by using a displacement sensor of the shelf, controlling the motor of the shelf to brake at a rated acceleration when the fed-back displacement interpolation value is a set displacement, and returning the shelf when the rotating speed is zero;
step five: and in a Forklift AGV standby stage, when the rotating speed of the motor is zero, the interruption is finished, and a standby program is entered.
As shown in FIGS. 1-4, the absolute velocity of the cargo 1 is set to V1The absolute speed of the goods shelf 2 is V2The magnitude of the relative velocity can be V1-V2And (4) calculating. In the first stage, the automatic cruise forklift 3 suddenly stops, the speed of the goods shelf 2 is consistent with that of the forklift body and is 0, and the absolute speed of the goods 1 is V before the automatic cruise forklift 3 suddenly stopsdAt this time, there is a relative displacement and a relative speed between the load 1 and the rack 2. In the second stage, the goods shelf 2 is accelerated to make the goods 1 and the goods shelf 2 reach the maximum speed VmaxAt this time, there is no relative movement between the goods 1 and the goods shelf 2, the front acceleration stage of the buffering is completed, and the goods 1 have no relative movement to cause potential dumping danger. In the third stage, the goods 1 and the goods shelf 2 are subjected to the recovery action without relative displacement and relative speed, wherein the speed and the acceleration are the same, at the moment, the dynamic buffering stage of the goods 1 is completed, and the goods 1 are recovered along with the goods shelf to avoid dumping.
The above embodiments are only used to illustrate the technical solution of the present invention, and not to limit the same; while the invention has been described in detail and with reference to the foregoing embodiments, it will be understood by those skilled in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some or all of the technical features may be equivalently replaced; and the modifications or the substitutions do not make the essence of the corresponding technical solutions depart from the scope of the technical solutions of the embodiments of the present invention.
Claims (4)
1. A control method for preventing goods from dumping a goods shelf when a Forklift AGV suddenly stops and locks is characterized by comprising the following steps:
the method comprises the following steps: when the Forklift AGV encounters an obstacle or a fault, the main program enters an emergency stop interruption, and whether the relative speed exists between the goods and the goods shelf is detected through a relative speed sensor on the goods shelf, so that a relative speed curve is obtained;
step two: in the shelf acceleration stage, interpolation analysis is carried out on the relative speed curve obtained in the step one, and when the relative speed is found, the motor in the advancing direction of the shelf is controlled to operate and accelerate, so that the speed of the shelf is accelerated to move in the same direction as the goods, and the relative speed is continuously traversed;
step three: in the shelf and goods deceleration stage, traversing the relative speed curve in the step two, starting braking by the motor when traversing to a time point when the relative speed is zero, and traversing the speed curve of the shelf;
step four: in the shelf recovery stage, traversing the motor rotating speed curve in the third step to obtain a returned interpolation value of 0, controlling the motor of the shelf to reverse at a rated rotating speed, traversing by using a displacement sensor of the shelf, controlling the motor of the shelf to brake at a rated acceleration when the fed-back displacement interpolation value is a set displacement, and returning the shelf when the rotating speed is zero;
step five: and in a Forklift AGV standby stage, when the rotating speed of the motor is zero, the interruption is finished, and a standby program is entered.
2. The method for controlling the Forklift AGV scram and preventing the goods from dumping the goods shelf as claimed in claim 1, wherein the first specific step is as follows: the relative speed sensor is in a differential operation expression form of the displacement sensor, and the relative speed sensor is as follows according to an interpolation operation formula:
f(t)＝a1f[t1]+a2f[t2]+…+anf[tn]
wherein, a1、a2...anRepresenting an interpolation function f [ t ]]Is generally set to 1, t1、t2…tnThe tth interpolation point representing the interpolation function;
the displacement interpolation at each moment can be obtained by the above formula, and the relationship between the displacement and the speed is as follows:
v1[n1]＝{f1[n1]-f2[n2]}/n2-n1
wherein n is1，n2Indicating a certain pair of adjacent time instants, v, at which the sensor is sampling1The speed interpolation value can be obtained through the above formula and a speed curve can be obtained.
3. The method as claimed in claim 1, wherein the acceleration of the second step of the speed increase of the rack is calculated according to the friction factor between the goods and the rack, and theoretically a is less than or equal to μ g, where a is the acceleration, μ is the dynamic friction factor, and g is the acceleration of gravity.
4. The method for controlling the Forklift AGV scram and preventing the goods from dumping the goods shelf as claimed in claim 3, wherein the third step is specifically: controlling the acceleration a of the goods shelf to be less than or equal to mu g, so that the goods shelf does not move relatively to the goods, and does deceleration movement with the same acceleration and speed, and recording the speed curve of the goods shelf and the rotating speed curve of the motor, wherein the rotating speed of the motor is in direct proportion to the speed of the goods shelf, and the rotating speed of the motor is l2Then speed v of the rack2＝kl2A speed curve for the rack is obtained, where k is a constant representing a linear relationship between the rack speed and the motor.
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