CN115432634B - Fork truck digital twin construction method based on flight control system - Google Patents
Fork truck digital twin construction method based on flight control system Download PDFInfo
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- CN115432634B CN115432634B CN202211164080.5A CN202211164080A CN115432634B CN 115432634 B CN115432634 B CN 115432634B CN 202211164080 A CN202211164080 A CN 202211164080A CN 115432634 B CN115432634 B CN 115432634B
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- RZVHIXYEVGDQDX-UHFFFAOYSA-N 9,10-anthraquinone Chemical compound C1=CC=C2C(=O)C3=CC=CC=C3C(=O)C2=C1 RZVHIXYEVGDQDX-UHFFFAOYSA-N 0.000 title claims abstract description 58
- 238000010276 construction Methods 0.000 title claims abstract description 13
- 238000011156 evaluation Methods 0.000 claims abstract description 11
- 238000006073 displacement reaction Methods 0.000 claims description 17
- 238000000034 method Methods 0.000 claims description 14
- 230000001133 acceleration Effects 0.000 claims description 11
- 230000008676 import Effects 0.000 claims 2
- 238000004088 simulation Methods 0.000 description 4
- 238000004519 manufacturing process Methods 0.000 description 2
- 206010063385 Intellectualisation Diseases 0.000 description 1
- 238000004422 calculation algorithm Methods 0.000 description 1
- 238000004364 calculation method Methods 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000009472 formulation Methods 0.000 description 1
- 230000004927 fusion Effects 0.000 description 1
- 238000013507 mapping Methods 0.000 description 1
- 239000000203 mixture Substances 0.000 description 1
- 238000012544 monitoring process Methods 0.000 description 1
- 238000005457 optimization Methods 0.000 description 1
- 210000004258 portal system Anatomy 0.000 description 1
- 230000001737 promoting effect Effects 0.000 description 1
Classifications
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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
-
- 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
-
- 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
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F30/00—Computer-aided design [CAD]
- G06F30/10—Geometric CAD
- G06F30/15—Vehicle, aircraft or watercraft design
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F30/00—Computer-aided design [CAD]
- G06F30/20—Design optimisation, verification or simulation
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- Physics & Mathematics (AREA)
- Structural Engineering (AREA)
- Geometry (AREA)
- Transportation (AREA)
- Theoretical Computer Science (AREA)
- General Physics & Mathematics (AREA)
- Life Sciences & Earth Sciences (AREA)
- Geology (AREA)
- Mechanical Engineering (AREA)
- Civil Engineering (AREA)
- General Engineering & Computer Science (AREA)
- Computer Hardware Design (AREA)
- Evolutionary Computation (AREA)
- Automation & Control Theory (AREA)
- Aviation & Aerospace Engineering (AREA)
- Computational Mathematics (AREA)
- Mathematical Analysis (AREA)
- Mathematical Optimization (AREA)
- Pure & Applied Mathematics (AREA)
- Forklifts And Lifting Vehicles (AREA)
Abstract
The invention relates to a forklift digital twin construction method based on a flight control system, which comprises the following steps of importing a three-dimensional model, an electric appliance model and a hydraulic model into simulation software to establish a forklift digital twin body, obtaining operation data of a forklift through the flight control system and a plurality of sensors, exporting the simulation software from the forklift digital twin body to generate a digital twin body application program, writing real-time operation data of the forklift into a parameter file of the digital twin body through a ground station of the flight control system, operating the digital twin body application program, loading the parameter file to generate a result file, and obtaining a driving speed recommended value of the existing lifting weight of the forklift according to an evaluation report and the result file. According to the invention, the digital twin body of the forklift is constructed, the digital twin body application program is operated, the result file is generated, the driving speed recommended value of the existing lifting capacity of the forklift is obtained according to the evaluation report and the result file, the overturning is predicted, the dangerous accident is prevented, and the transportation efficiency of the forklift is not reduced.
Description
Technical Field
The invention belongs to the technical field of forklift equipment, and particularly relates to a forklift digital twin construction method based on a flight control system.
Background
Digital twin is used as a general purpose technology for promoting the fourth industrial revolution, and by means of deep fusion of physical world and digital space and combination of intelligent algorithm, data-driven operation monitoring and optimization can be realized, so that the manufacturing industry is greatly promoted to develop towards higher-level automation, informatization and intellectualization. Digital twinning is a simulation process integrating multiple disciplines, multiple physical quantities, multiple scales and multiple probabilities, and mapping is completed in a virtual space, so that the full life cycle process of corresponding entity equipment is reflected.
In recent years, the scale of the logistics industry is rapidly increased, the service capability is obviously improved, the technical equipment conditions are obviously improved, the logistics equipment presents several large trends of large volume, complicated functions, high efficiency capability and the like, wherein a forklift has the functions of carrying and transporting the automobile and can realize the transport vehicle for mechanical loading and unloading, the forklift has the characteristics of practicability, high efficiency and the like, plays a role of playing a role in the logistics industry, but the forklift is improperly used, such as the safety accident caused by too high speed of the automobile, and serious casualties and serious economic loss are caused.
Disclosure of Invention
The invention aims to provide a fork truck digital twin construction method based on a flight control system, which can provide a recommended value of running speed, so that the speed of a vehicle is under the recommended speed, and the safety of a driver is ensured;
In order to achieve the above purpose, the invention adopts the following technical scheme:
A fork truck digital twin construction method based on a flight control system comprises the following steps:
Constructing a three-dimensional model of a forklift part, importing the three-dimensional model, an electric appliance model and a hydraulic model into simulation software, and constructing a forklift digital twin body;
Acquiring operation data of the forklift through the flight control system and a plurality of sensors, and storing the operation data as historical data;
adding acceleration in the historical data as inertia force into a fork truck digital twin body through simulation software;
the method comprises the steps of (1) exporting simulation software from a digital twin body of a forklift, generating a digital twin body application program and a parameter file, and importing the digital twin body application program and the parameter file into an onboard computer of the forklift;
The real-time operation data of the forklift are written into a parameter file of the digital twin body through a ground station of the flight control system;
running a digital twin application program, loading a parameter file and generating a result file;
And obtaining a driving speed recommended value of the existing lifting capacity of the forklift according to the evaluation report and a result file.
Preferably, the method further comprises the following steps:
the rotating speed of the forklift motor is controlled by the forklift controller, the forklift speed is controlled within the recommended speed, and the recommended speed is broadcast by the voice prompt device.
Preferably, the method further comprises the following steps:
And predicting whether the forklift overturns or not according to the evaluation report and the result file, and carrying out overturning early warning on a driver through the voice prompt device.
Preferably, the fork truck digital twin body comprises a fork truck lifting mechanism, a steering mechanism, a portal system, a hydraulic system and an electric model which are constructed by three-dimensional drawing software.
Preferably, the flight control system is an unmanned aerial vehicle flight control system, the flight control system comprises a gyroscope, an accelerometer and a GPS, the gyroscope is used for detecting the inclined angle of a forklift body, the accelerometer is used for obtaining the speed of the body and the impact acceleration of the body, and the GPS is used for positioning the position of the forklift.
Preferably, the plurality of sensors comprise a lifting oil cylinder displacement sensor, an inclined oil cylinder displacement sensor and a weight sensor, wherein the lifting oil cylinder displacement sensor and the inclined oil cylinder displacement sensor are respectively used for detecting the extending distances of the lifting oil cylinder and the inclined oil cylinder, and the weight sensor is used for detecting the weight of a heavy object on the fork frame.
Preferably, the display screen of the onboard computer dynamically displays real-time three-dimensional posture and operation data of the forklift.
Preferably, the flight control system is any one of an APM flight control system, a PX4 flight control system or a PIX flight control system.
Preferably, the ground station is an open source ground station matched with the flight control system, and is one of mission planner ground stations or QgroundControl ground stations.
According to the invention, a digital twin body of the forklift is constructed through three-dimensional software and simulation software, the operation data of the forklift is acquired through a flight control system and a plurality of sensors, a digital twin body application program is operated, a result file is generated, the recommended value of the existing lifting capacity of the forklift is obtained according to an evaluation report and the result file, the capsizing is predicted, and the maximum running speed of the forklift is under the recommended running speed through a controller, so that dangerous accidents are prevented, and the transportation efficiency of the forklift is not reduced.
Drawings
FIG. 1 is a schematic view of a fork truck according to the present invention;
Fig. 2 is a schematic flow structure diagram of a fork truck digital twin construction method based on a flight control system.
Detailed Description
The invention is further described below with reference to the drawings and specific examples.
The invention discloses a fork truck digital twin construction method based on a flight control system, which is used for constructing fork truck digital twin so as to obtain a fork truck running speed recommended value;
The forklift comprises a flight control system 1, an inclined oil cylinder displacement sensor 2, a weight sensor 3, a lifting oil cylinder displacement sensor 4 and an onboard computer 5, wherein the flight control system 1 is horizontally arranged below a chassis of the forklift, the inclined oil cylinder displacement sensor 2 is arranged on an inclined oil cylinder of the forklift and is used for measuring the extending length of the inclined oil cylinder so as to conveniently detect the inclined degree of a fork of the forklift, the weight sensor 3 is arranged in a forklift portal, the weight sensor 3 detects the weight of a heavy object on the fork by detecting the pulling force of a forklift chain, the lifting oil cylinder displacement sensor 4 is arranged on the forklift portal and is used for detecting the extending length of the lifting oil cylinder so as to conveniently detect the height of the fork of the forklift, the onboard computer 5 is arranged in a cab of the forklift and is opposite to a driving position and is used for collecting data measured by various detection devices, then stability judgment calculation is carried out, and a real-time dynamic picture of the posture of the forklift is displayed through a digital twin body, and the onboard computer 5 is electrically connected with the flight control system 1, the inclined oil cylinder sensor 3 and the lifting oil cylinder displacement sensor 4, wherein the flight control system 1 can be connected with the onboard computer through the USB;
as shown in fig. 2, the specific construction method of the fork truck digital twin comprises the following steps:
s1, constructing a three-dimensional model of a forklift part, importing the three-dimensional model, an electric appliance model and a hydraulic model into simulation software, and constructing a forklift digital twin body;
The hydraulic model is used for establishing a hydraulic element model comprising an inclined oil cylinder and a lifting oil cylinder which are matched with a real object, and a digital twin body of a forklift hydraulic system is constructed;
Specifically, a three-dimensional model, an electric appliance model and a hydraulic model are imported into Simulation software of the Simulation X multidisciplinary, and a fork truck digital twin body is built.
S2, acquiring operation data of the forklift through the flight control system 1 and a plurality of sensors, and storing the operation data as historical data;
The system comprises a flight control system 1, a GPS and a GPS, wherein the flight control system 1 is an unmanned aerial vehicle flight control system, the flight control system 1 is any one of an APM flight control system, a PX4 flight control system and a PIX flight control system, the flight control system 1 comprises a gyroscope, an accelerometer and a GPS, the gyroscope is used for detecting the inclination angle of a forklift body, the accelerometer is used for acquiring the speed of the body and the impact acceleration of the body, and the impact acceleration of the body is the impact acceleration caused by the inclination angle, turning or bumping of the forklift body;
The flight control system 1 is in the prior art and is an open source system, the manufacturing cost is low, acceleration, inclination angle and positioning are detected in an integrated mode, and a fork truck digital twin body is convenient to construct;
The plurality of sensors comprise a lifting oil cylinder displacement sensor 4, an inclined oil cylinder displacement sensor 2 and a weight sensor 3, wherein the lifting oil cylinder displacement sensor 4 and the inclined oil cylinder displacement sensor 2 are respectively used for detecting the extending distance of the lifting oil cylinder and the inclined oil cylinder, and the weight sensor 3 is used for detecting the weight of a heavy object on a fork frame;
The historical data is data obtained through the flight control system 1 and a plurality of sensors after the forklift runs for a period of time;
S3, adding acceleration in the historical data as inertia force into a fork truck digital twin body through simulation software;
Specifically, acceleration in the historical data is used as inertia force and added into a fork truck digital twin body through the Simulation software of the Simulation X of the formulation;
s4, exporting simulation software from the digital twin body of the forklift, generating a digital twin body application program and a parameter file, and importing the digital twin body application program and the parameter file into an onboard computer 5 of the forklift;
Specifically, exporting the digital twin body of the forklift to the Simulation software of the Simulation X, exporting the Simulation software to form a digital twin body of an exe type and a parameter file, and importing the digital twin body of the forklift to an onboard computer 5 of the forklift;
S5, writing real-time operation data of the forklift into a parameter file of the digital twin body through a ground station of the flight control system 1;
the ground station development software is installed in the onboard computer 5, and the ground station obtains real-time operation data of the forklift through the flight control system 1 and the plurality of sensors and writes the real-time operation data into the parameter file obtained in the step S4;
The ground station is an open source ground station matched with the flight control system 1, and is one of mission planner ground stations or Qgroun dControl ground stations;
s6, running a digital twin application program, loading a parameter file and generating a result file;
Specifically, the digital twin application program is operated through the onboard computer 5, the parameter file obtained in the step S5 is automatically loaded after operation, digital twin is carried out, a result file is generated after completion, and the generated result file is the real-time operation condition of the forklift;
And S7, evaluating turning, braking operation habits and road surface conditions of a driver according to the historical data to obtain an evaluation report, and obtaining a driving speed recommended value of the existing lifting capacity of the forklift according to the evaluation report and a result file.
The method comprises the steps that most forklift trucks reciprocate to transport goods back and forth, the running track is repeated for a plurality of times, the history data is used for evaluating actions in the next running process by referring to the history running record, if the maximum impact acceleration occurs at one position in the history record, and when the forklift trucks arrive at the position again, the running speed is reduced;
And calculating the optimal running speed of the forklift under the weight of the weight on the fork of the forklift according to the evaluation report and the result file by using the onboard computer 5, and continuously adjusting the recommended running speed value when the driver turns and the road surface condition changes.
In this embodiment, the method further includes the following steps:
S8, controlling the rotating speed of a forklift motor through a forklift controller, controlling the forklift speed within a recommended speed, and broadcasting the recommended speed through a voice prompt device;
Specifically, the on-board computer 5 is electrically connected with the forklift controller, the on-board computer 5 transmits a recommended running speed signal to the forklift controller, the forklift controller controls the rotating speed of the forklift motor and controls the forklift speed within the recommended speed, and the on-board computer 5 is also electrically connected with the voice prompt device and reports the current road condition and the recommended speed under the current weight to a driver through the voice prompt device.
In this embodiment, the method further includes the following steps:
s9, predicting whether the forklift overturns according to the evaluation report and the result file, and carrying out overturning early warning on a driver through a voice prompt device;
Specifically, the next time of running, for example, the weight of the heavy object on the fork of the forklift is 1 ton, the vehicle runs at 15m, and when the weight of the heavy object on the fork of the forklift is 2 tons or more, the vehicle-mounted computer 5 carries out the early warning of the overturning to the driver through the voice prompt device.
In this embodiment, the display screen of the onboard computer 5 dynamically displays real-time three-dimensional posture and operation data of the forklift, so that a driver can observe and adjust the running speed in real time, and accidents are prevented.
Claims (9)
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211164080.5A CN115432634B (en) | 2022-09-23 | 2022-09-23 | Fork truck digital twin construction method based on flight control system |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211164080.5A CN115432634B (en) | 2022-09-23 | 2022-09-23 | Fork truck digital twin construction method based on flight control system |
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| CN115432634A CN115432634A (en) | 2022-12-06 |
| CN115432634B true CN115432634B (en) | 2025-01-17 |
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Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103448727A (en) * | 2012-05-29 | 2013-12-18 | 许四毛 | System and method for monitoring and distinguishing evaluation of vehicle driving habits |
| CN113515098A (en) * | 2021-07-30 | 2021-10-19 | 青岛海尔工业智能研究院有限公司 | Digital twin system of logistics robot |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US11734300B2 (en) * | 2019-09-19 | 2023-08-22 | International Business Machines Corporation | Archival of digital twin based on IoT sensor activity |
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Patent Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103448727A (en) * | 2012-05-29 | 2013-12-18 | 许四毛 | System and method for monitoring and distinguishing evaluation of vehicle driving habits |
| CN113515098A (en) * | 2021-07-30 | 2021-10-19 | 青岛海尔工业智能研究院有限公司 | Digital twin system of logistics robot |
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