CN115849248B - Intelligent control method and system for electric forklift - Google Patents
Intelligent control method and system for electric forklift Download PDFInfo
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Abstract
The invention relates to the technical field of electric forklifts, and particularly discloses an intelligent control method and system of an electric forklifts. The invention plans the forklift driving route; establishing cooperative communication connection with a plurality of cooperative forklifts to acquire a front working position; obtaining target three-dimensional data transmitted remotely, measuring and shooting a current target, and generating target space data; analyzing the target space data, identifying a fork arm working point of the forklift, planning carrying travel data, and carrying a current target; carrying and running according to a forklift running route, planning placement travel data, and placing a current target according to the placement travel data. The intelligent unmanned carrying and picking and placing operation control device can be cooperatively connected with a plurality of cooperative forklifts in a communication manner, acquires front working positions, measures and shoots when approaching, synthesizes target three-dimensional data, identifies fork arm working points of the forklifts, plans to carry travel data and place travel data, carries out carrying and placing, and achieves intelligent unmanned carrying and picking and placing operation control of the electric forklifts.
Description
Technical Field
The invention belongs to the technical field of electric forklifts, and particularly relates to an intelligent control method and system of an electric forklifts.
Background
Fork trucks are industrial transportation vehicles, and are various wheeled transportation vehicles that perform handling, stacking, and short-distance transportation operations on pallet goods. The electric forklift is simple and convenient to operate and control, and is flexible, the operation intensity of operators is much lighter than that of the internal combustion forklift, the electric steering system, the acceleration control system, the hydraulic control system and the brake system are controlled by electric signals, so that the labor intensity of the operators is greatly reduced, the work efficiency and the working accuracy of the electric forklift are greatly improved, and compared with the internal combustion forklift, the electric forklift has the advantages of low noise and no tail gas emission, and the electric forklift is approved by a plurality of users.
Along with the intelligent demand of electric fork truck, electric fork truck's unmanned technique has obtained rapid development, and current unmanned technique only uses in electric fork truck's transportation generally, need not the manual transportation operation of carrying of navigating mate, however to fork truck's transport get a and put a process, still need the navigating mate to carry out manual control, can't carry out intelligent unmanned transport and get a and put a operation.
Disclosure of Invention
The embodiment of the invention aims to provide an intelligent control method and system for an electric forklift, and aims to solve the problems in the background art.
In order to achieve the above object, the embodiment of the present invention provides the following technical solutions:
an intelligent control method of an electric forklift specifically comprises the following steps:
acquiring a target carrying position and a target placing position which are remotely transmitted, and planning a forklift driving route according to the target carrying position and the target placing position;
establishing cooperative communication connection with a plurality of cooperative forklifts, and acquiring front working positions of the cooperative forklifts for front conveying;
acquiring target three-dimensional data transmitted remotely, and measuring and shooting a current target when the target three-dimensional data is close to the front working position to generate target space data;
analyzing the target space data, identifying a fork arm working point of a forklift, planning carrying travel data, and carrying a current target at the fork arm working point according to the carrying travel data;
carrying and driving according to the forklift driving route, planning placement travel data, and placing a current target according to the placement travel data.
As a further limitation of the technical solution of the embodiment of the present invention, the obtaining the target carrying position and the target placing position of the remote transmission, and planning the forklift driving route according to the target carrying position and the target placing position specifically includes the following steps:
acquiring a target carrying position and a target placing position of remote transmission;
planning a basic driving route according to the target carrying position and the target placing position;
performing obstacle identification marking according to the basic driving route to obtain obstacle information;
and correcting the basic driving route according to the obstacle information to generate a forklift driving route.
As a further limitation of the technical solution of the embodiment of the present invention, the establishing of the cooperative communication connection with the plurality of cooperative forklifts, and the obtaining of the front working position of the cooperative forklifts for front transportation specifically includes the following steps:
establishing cooperative communication connection with a plurality of cooperative forklifts;
acquiring driving position data of a plurality of cooperative forklifts;
marking a front forklift for front transportation according to the plurality of driving position data;
and acquiring the front working position of the front forklift.
As a further limitation of the technical solution of the embodiment of the present invention, the obtaining the remotely transmitted three-dimensional data of the target, and when the target is close to the front working position, measuring and shooting the current target, and generating the target space data specifically includes the following steps:
acquiring target three-dimensional data transmitted remotely;
when the front working position is close to the front working position, measuring the current target to generate measurement data;
shooting a current target when the current target is close to the front working position, and generating shooting data;
and integrating the three-dimensional data of the target, the measurement data and the shooting data to generate target space data of the current target.
As a further limitation of the technical solution of the embodiment of the present invention, the analyzing the target space data, identifying a fork arm working point of a forklift, planning carrying travel data, and carrying a current target at the fork arm working point according to the carrying travel data specifically includes the following steps:
analyzing the target space data, and identifying a fork arm working point of the forklift;
judging whether carrying can be performed or not according to the fork arm working point;
when the carrying-out is enabled, carrying-out route planning is carried out according to the fork arm working point, and carrying-out route data are generated;
and carrying out the current target at the fork arm working point according to the carrying travel data.
As further defined by the technical solution of the embodiment of the present invention, the carrying and driving according to the driving route of the forklift, planning placement travel data, and placing the current target according to the placement travel data specifically includes the following steps:
carrying out carrying running according to the forklift running route;
identifying a placement space position when approaching the target placement position;
planning placement travel data according to the placement space position;
and placing the current target at the placement space position according to the placement travel data.
An intelligent control system of an electric forklift, the system comprises a driving route planning unit, a cooperative communication connection unit, a target measurement shooting unit, a target carrying control unit and a target transportation placing unit, wherein:
the system comprises a driving route planning unit, a forklift driving route planning unit and a control unit, wherein the driving route planning unit is used for acquiring a target carrying position and a target placing position which are remotely transmitted and planning a forklift driving route according to the target carrying position and the target placing position;
the cooperative communication connection unit is used for establishing cooperative communication connection with a plurality of cooperative forklifts and acquiring front working positions of the cooperative forklifts for front conveying;
the target measurement shooting unit is used for acquiring target three-dimensional data transmitted remotely, and measuring and shooting a current target when the target three-dimensional data is close to the front working position, so as to generate target space data;
the target carrying control unit is used for analyzing the target space data, identifying a fork arm working point of the forklift, planning carrying travel data, and carrying a current target at the fork arm working point according to the carrying travel data;
and the target transportation and placement unit is used for carrying and driving according to the forklift driving route, planning placement travel data and placing the current target according to the placement travel data.
As a further limitation of the technical solution of the embodiment of the present invention, the cooperative communication connection unit specifically includes:
the cooperative communication module is used for establishing cooperative communication connection with a plurality of cooperative forklifts;
the data acquisition module is used for acquiring the driving position data of the plurality of cooperative forklifts;
the forklift marking module is used for marking a front forklift for front transportation according to the plurality of driving position data;
the position acquisition module is used for acquiring the front working position of the front forklift.
As a further limitation of the technical solution of the embodiment of the present invention, the target measurement shooting unit specifically includes:
the three-dimensional acquisition module is used for acquiring target three-dimensional data transmitted remotely;
the target measuring module is used for measuring the current target when the current target is close to the front working position and generating measurement data;
the target shooting module is used for shooting a current target when the current target is close to the front working position, and generating shooting data;
and the data processing module is used for synthesizing the three-dimensional data of the target, the measurement data and the shooting data and generating target space data of the current target.
As a further limitation of the technical solution of the embodiment of the present invention, the target handling control unit specifically includes:
the working point identification module is used for analyzing the target space data and identifying fork arm working points of the forklift;
the carrying judging module is used for judging whether carrying can be performed or not according to the fork arm working point;
the travel planning module is used for carrying out travel planning according to the fork arm working point when carrying is enabled, and carrying travel data are generated;
and the target carrying module is used for carrying the current target at the fork arm working point according to the carrying travel data.
Compared with the prior art, the invention has the beneficial effects that:
the embodiment of the invention plans the forklift driving route; establishing cooperative communication connection with a plurality of cooperative forklifts to acquire a front working position; obtaining target three-dimensional data transmitted remotely, measuring and shooting a current target, and generating target space data; analyzing the target space data, identifying a fork arm working point of the forklift, planning carrying travel data, and carrying a current target; carrying and running according to a forklift running route, planning placement travel data, and placing a current target according to the placement travel data. The intelligent unmanned carrying and picking and placing operation control device can be cooperatively connected with a plurality of cooperative forklifts in a communication manner, acquires front working positions, measures and shoots when approaching, synthesizes target three-dimensional data, identifies fork arm working points of the forklifts, plans to carry travel data and place travel data, carries out carrying and placing, and achieves intelligent unmanned carrying and picking and placing operation control of the electric forklifts.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the following description will briefly introduce the drawings that are needed in the embodiments or the description of the prior art, and it is obvious that the drawings in the following description are only some embodiments of the present invention.
FIG. 1 shows a flow chart of a method provided by an embodiment of the present invention;
fig. 2 shows a flowchart of planning a forklift driving route in the method provided by the embodiment of the invention;
FIG. 3 shows a flowchart of a method for acquiring a front working position according to an embodiment of the present invention;
FIG. 4 shows a flowchart of generating target spatial data in a method provided by an embodiment of the present invention;
FIG. 5 shows a flow chart of planning pick-up trip data in a method provided by an embodiment of the present invention;
FIG. 6 shows a flow chart of planning placement travel data in a method provided by an embodiment of the present invention;
FIG. 7 shows an application architecture diagram of a system provided by an embodiment of the present invention;
fig. 8 is a block diagram showing a configuration of a cooperative communication connection unit in the system according to the embodiment of the present invention;
fig. 9 is a block diagram showing the structure of a target measurement shooting unit in the system according to the embodiment of the present invention;
fig. 10 is a block diagram showing the structure of a target handling control unit in the system according to the embodiment of the present invention.
Detailed Description
The present invention will be described in further detail with reference to the drawings and examples, in order to make the objects, technical solutions and advantages of the present invention more apparent. It should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the scope of the invention.
It can be appreciated that in the prior art, along with the intelligent requirement of the electric forklift, the unmanned technology of the electric forklift is rapidly developed, but the existing unmanned technology is generally only applied to the transportation process of the electric forklift, and is not required to be manually transported and operated by a driver, but is required to be manually operated by the driver in the process of carrying and picking and placing the part of the forklift, and the intelligent unmanned carrying and picking and placing operation cannot be performed.
In order to solve the problems, the embodiment of the invention plans a forklift driving route by acquiring a target carrying position and a target placing position which are remotely transmitted; establishing cooperative communication connection with a plurality of cooperative forklifts to acquire a front working position; obtaining target three-dimensional data transmitted remotely, measuring and shooting a current target, and generating target space data; analyzing the target space data, identifying a fork arm working point of the forklift, planning carrying travel data, and carrying a current target; carrying and running according to a forklift running route, planning placement travel data, and placing a current target according to the placement travel data. The intelligent unmanned carrying and picking and placing operation control device can be cooperatively connected with a plurality of cooperative forklifts in a communication manner, acquires front working positions, measures and shoots when approaching, synthesizes target three-dimensional data, identifies fork arm working points of the forklifts, plans to carry travel data and place travel data, carries out carrying and placing, and achieves intelligent unmanned carrying and picking and placing operation control of the electric forklifts.
Fig. 1 shows a flowchart of a method provided by an embodiment of the present invention.
Specifically, an intelligent control method of an electric forklift, the method specifically comprises the following steps:
step S101, obtaining a target carrying position and a target placing position which are remotely transmitted, and planning a forklift driving route according to the target carrying position and the target placing position.
In the embodiment of the invention, when the electric forklift is required to carry target cargoes, a worker can remotely send target carrying positions and target placing positions related to the target cargoes, and carry out transportation route planning according to the target carrying positions and the target placing positions by receiving the target carrying positions and the target placing positions which are remotely transmitted, so as to generate a basic driving route, and carry out obstacle recognition analysis on the monitoring video by acquiring the monitoring video corresponding to the basic driving route, mark a plurality of obstacles existing on the basic driving route to obtain obstacle information, and carry out obstacle detouring correction on the basic driving route according to the obstacle information so as to generate a forklift driving route, thereby avoiding collision possibility with the obstacles when the electric forklift automatically drives according to the forklift driving route.
Specifically, fig. 2 shows a flowchart of planning a forklift driving route in the method provided by the embodiment of the invention.
In the preferred embodiment of the present invention, the acquiring the remotely transmitted target carrying position and target placing position, and planning the forklift driving route according to the target carrying position and the target placing position specifically includes the following steps:
in step S1011, the target conveyance position and the target placement position of the remote transmission are acquired.
Step S1012, planning a basic driving route according to the target carrying position and the target placing position.
Step S1013, performing obstacle identification marking according to the basic travel route, and obtaining obstacle information.
Step S1014, correcting the basic travel route according to the obstacle information, and generating a forklift travel route.
Further, the intelligent control method of the electric forklift further comprises the following steps:
step S102, establishing cooperative communication connection with a plurality of cooperative forklifts, and acquiring a front working position of the cooperative forklifts for front conveying.
In the embodiment of the invention, in planning for carrying target cargoes, a plurality of electric forklifts are generally used for carrying stacked target cargoes in a circulating manner, the driving position data of a plurality of cooperative forklifts are acquired in real time according to a communication connection channel between the forklift and the plurality of cooperative forklifts by establishing cooperative communication connection between the forklift and the plurality of cooperative forklifts, the cooperative forklifts for carrying the target cargoes before the forklift are determined by analyzing the plurality of driving position data, the cooperative forklifts are marked as front forklifts, the position where the front forklifts stop in a period of time is determined by analyzing the driving position data of the front forklifts, and the position is marked as a front working position.
It will be appreciated that the position of the front fork truck is required to remain unchanged for a period of time during the process of carrying out a target load, and therefore, the position of the front fork truck, which is unchanged for a period of time, can be determined as the position for carrying the target load, and the position can be marked as the front working position.
Specifically, fig. 3 shows a flowchart of acquiring a front working position in the method provided by the embodiment of the invention.
In the preferred embodiment provided by the invention, the establishment of the cooperative communication connection with the plurality of cooperative forklifts, and the acquisition of the front working position of the cooperative forklifts for front transportation specifically comprise the following steps:
step S1021, establishing a cooperative communication connection with a plurality of cooperative forklifts.
Step S1022, acquiring driving position data of a plurality of cooperative forklifts.
Step S1023, marking the front forklift for front transportation according to a plurality of the driving position data.
Step S1024, the front working position of the front forklift is obtained.
Further, the intelligent control method of the electric forklift further comprises the following steps:
step S103, obtaining target three-dimensional data transmitted remotely, and measuring and shooting a current target when the target three-dimensional data is close to the front working position, so as to generate target space data.
In the embodiment of the invention, a worker remotely transmits target three-dimensional data of target goods (specifically, when the bottom of the target goods is provided with the forklift plate, the target three-dimensional data is three-dimensional image data comprising the target goods and the forklift plate at the bottom), and when the forklift approaches to a front working position, the stacked plurality of target goods are measured and shot to generate measurement data and shooting data, and further, the target goods suitable for carrying are selected from the stacked plurality of target goods by integrating the target three-dimensional data, the measurement data and the shooting data, and are marked as current targets, and target space data of the current targets are generated.
Specifically, fig. 4 shows a flowchart of generating target spatial data in the method provided by the embodiment of the present invention.
In the preferred embodiment of the present invention, the method for acquiring the remotely transmitted target three-dimensional data, and measuring and shooting the current target when the target three-dimensional data is close to the front working position, and generating the target space data specifically includes the following steps:
in step S1031, target three-dimensional data for remote transmission is acquired.
Step S1032, when the current target is close to the previous working position, measuring the current target to generate measurement data.
Step S1033, when the current target is close to the previous working position, shooting the current target to generate shooting data.
Step S1034, integrating the three-dimensional data of the target, the measurement data and the shooting data, and generating target space data of the current target.
Further, the intelligent control method of the electric forklift further comprises the following steps:
step S104, analyzing the target space data, identifying a fork arm working point of the forklift, planning carrying travel data, and carrying a current target at the fork arm working point according to the carrying travel data.
In the embodiment of the invention, through analyzing the target space data, the fork arm working point which can carry out forklift transportation on the current target is identified, whether the fork arm working stroke of the forklift can reach the height of the fork arm working point is judged according to the space position of the fork arm working point, when the fork arm working stroke can reach the height of the fork arm working point, working stroke planning of fork arm lifting and front-back movement is carried out according to the space position of the fork arm working point, carrying stroke data is generated, and then the fork arm of the forklift is controlled to be inserted into the fork arm working point according to the carrying stroke data, and then the current target is carried and supported.
Specifically, fig. 5 shows a flowchart of planning the carrying route data in the method according to the embodiment of the present invention.
In a preferred embodiment of the present invention, the analyzing the target space data, identifying a fork arm working point of a forklift, planning carrying travel data, and carrying a current target at the fork arm working point according to the carrying travel data specifically includes the following steps:
step S1041, analyzing the target space data, and identifying a fork arm working point of the forklift.
Step S1042, determining whether the carrying is possible according to the fork arm working point.
In step S1043, when the carrying is enabled, carrying route planning is performed according to the fork arm operating point, and carrying route data is generated.
Step S1044, carrying out the current target at the fork arm working point according to the carrying travel data.
Further, the intelligent control method of the electric forklift further comprises the following steps:
In the embodiment of the invention, after the current target is carried and supported, the forklift is controlled to carry and drive according to the forklift driving route, measurement and shooting are carried out at the position close to the target placing position, the placing space position at the target placing position is identified, further, working stroke planning is carried out on lifting and forward and backward movement of the fork arm according to the placing space position, placing stroke data are generated, the fork arm of the forklift is controlled to drive the current target to be placed at the placing space position according to the placing stroke data, and no-load extraction of the fork arm is controlled after the placement of the current target is completed.
Specifically, fig. 6 shows a flowchart of planning placement travel data in the method provided by the embodiment of the present invention.
In the preferred embodiment provided by the invention, the carrying and driving are carried out according to the forklift driving route, the placement travel data are planned, and the current target is placed according to the placement travel data, specifically comprising the following steps:
step S1051, carrying and traveling according to the forklift travel route.
Step S1052, when approaching the target placement position, identifying a placement space position.
Step S1053, planning placement travel data according to the placement space position.
Step S1054, placing the current target at the placement space according to the placement travel data.
Further, fig. 7 shows an application architecture diagram of the system provided by the embodiment of the present invention.
In another preferred embodiment of the present invention, an intelligent control system of an electric forklift includes:
and the driving route planning unit 101 is configured to obtain a target carrying position and a target placement position that are remotely transmitted, and plan a forklift driving route according to the target carrying position and the target placement position.
In the embodiment of the invention, when an electric forklift is required to carry target cargoes, a worker can remotely send target carrying positions and target placement positions related to the target cargoes, and the driving route planning unit 101 carries out transportation route planning according to the target carrying positions and the target placement positions by receiving the target carrying positions and the target placement positions which are remotely transmitted, so as to generate a basic driving route, and carries out obstacle recognition analysis on the monitoring video by acquiring the monitoring video corresponding to the basic driving route, marks a plurality of obstacles existing on the basic driving route to obtain obstacle information, and carries out obstacle detouring correction on the basic driving route according to the obstacle information so as to generate a forklift driving route, thereby avoiding collision possibility with the obstacles when the electric forklift automatically drives according to the forklift driving route.
The cooperative communication connection unit 102 is configured to establish cooperative communication connection with a plurality of cooperative forklifts, and acquire a front working position of the cooperative forklifts for front conveyance.
In the embodiment of the present invention, in planning for carrying target cargoes, there are usually a plurality of electric forklifts for carrying stacked target cargoes in a circulating manner, the cooperative communication connection unit 102 acquires driving position data of a plurality of cooperative forklifts in real time according to a communication connection channel between the present forklift and the plurality of cooperative forklifts by establishing cooperative communication connection between the present forklift and the plurality of cooperative forklifts, determines a cooperative forklift for carrying a target cargo before the present forklift by analyzing the plurality of driving position data, marks the cooperative forklift as a front forklift, and further determines a position where the front forklift stops for a period of time by analyzing the driving position data of the front forklift, and marks the position as a front working position.
Specifically, fig. 8 shows a block diagram of the cooperative communication connection unit 102 in the system according to the embodiment of the present invention.
In a preferred embodiment of the present invention, the cooperative communication connection unit 102 specifically includes:
and the cooperative communication module 1021 is used for establishing cooperative communication connection with a plurality of cooperative forklifts.
The data acquisition module 1022 is configured to acquire driving location data of a plurality of cooperative forklifts.
And a forklift marking module 1023 for marking a front forklift for front transportation according to a plurality of the travel position data.
The position obtaining module 1024 is configured to obtain a front working position of the front forklift.
Further, the intelligent control system of the electric forklift further comprises:
and the target measurement shooting unit 103 is used for acquiring the remotely transmitted target three-dimensional data, and measuring and shooting the current target when the target measurement shooting unit is close to the front working position, so as to generate target space data.
In the embodiment of the present invention, the target measurement shooting unit 103 obtains target three-dimensional data of target cargoes remotely transmitted by a worker, and when the forklift approaches to a front working position, measures and shoots a plurality of stacked target cargoes to generate measurement data and shooting data, and further selects target cargoes suitable for carrying from the plurality of stacked target cargoes by integrating the target three-dimensional data, the measurement data and the shooting data, marks the target cargoes as a current target, and generates target space data of the current target.
Specifically, fig. 9 shows a block diagram of the structure of the target measurement shooting unit 103 in the system according to the embodiment of the present invention.
In a preferred embodiment of the present invention, the target measurement photographing unit 103 specifically includes:
the three-dimensional acquisition module 1031 is configured to acquire target three-dimensional data that is remotely transmitted.
And the target measuring module 1032 is used for measuring the current target when the current target is close to the front working position and generating measurement data.
And a target shooting module 1033, configured to shoot a current target when approaching the front working position, and generate shooting data.
The data processing module 1034 is configured to synthesize the target three-dimensional data, the measurement data, and the shooting data, and generate target space data of the current target.
Further, the intelligent control system of the electric forklift further comprises:
and the target carrying control unit 104 is used for analyzing the target space data, identifying the fork arm working point of the forklift, planning carrying travel data, and carrying the current target at the fork arm working point according to the carrying travel data.
In the embodiment of the present invention, the target carrying control unit 104 analyzes the target space data to identify a fork arm working point at which a forklift can carry on a current target, further, according to the space position of the fork arm working point, determines whether the fork arm working stroke of the forklift can reach the height of the fork arm working point, and when the height of the fork arm working point can be reached, performs working stroke planning of lifting and forward and backward movement of the fork arm according to the space position of the fork arm working point, generates carrying stroke data, further, according to the carrying stroke data, controls the fork arm of the forklift to be inserted into the fork arm working point, and carries out carrying support on the current target.
Specifically, fig. 10 shows a block diagram of the target handling control unit 104 in the system according to the embodiment of the present invention.
In a preferred embodiment of the present invention, the target handling control unit 104 specifically includes:
the working point identifying module 1041 is configured to analyze the target space data and identify a fork arm working point of the forklift.
And a carrying judgment module 1042 for judging whether carrying can be performed according to the fork arm working point.
And a trip planning module 1043, configured to, when the carrying is enabled, perform carrying trip planning according to the fork arm working point, and generate carrying trip data.
And a target handling module 1044, configured to handle the current target at the yoke operating point according to the handling travel data.
Further, the intelligent control system of the electric forklift further comprises:
and the target transportation and placement unit 105 is used for carrying and driving according to the forklift driving route, planning placement travel data and placing the current target according to the placement travel data.
In the embodiment of the present invention, after completing the carrying and supporting of the current target, the target transporting and placing unit 105 controls the forklift to carry and travel according to the travel route of the forklift, measures and shoots the forklift near the target placing position, identifies the placing space position at the target placing position, further performs working stroke planning on the lifting and the forward and backward movement of the fork arm according to the placing space position, generates placing stroke data, controls the fork arm of the forklift to drive the current target to be placed at the placing space position according to the placing stroke data, and controls the fork arm to draw out no load after completing the placing of the current target.
It should be understood that, although the steps in the flowcharts of the embodiments of the present invention are shown in order as indicated by the arrows, these steps are not necessarily performed in order as indicated by the arrows. The steps are not strictly limited to the order of execution unless explicitly recited herein, and the steps may be executed in other orders. Moreover, at least some of the steps in various embodiments may include multiple sub-steps or stages that are not necessarily performed at the same time, but may be performed at different times, nor do the order in which the sub-steps or stages are performed necessarily performed in sequence, but may be performed alternately or alternately with at least a portion of the sub-steps or stages of other steps or other steps.
Those skilled in the art will appreciate that all or part of the processes in the methods of the above embodiments may be implemented by a computer program for instructing relevant hardware, where the program may be stored in a non-volatile computer readable storage medium, and where the program, when executed, may include processes in the embodiments of the methods described above. Any reference to memory, storage, database, or other medium used in the various embodiments provided herein may include non-volatile and/or volatile memory. The nonvolatile 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), memory bus direct RAM (RDRAM), direct memory bus dynamic RAM (DRDRAM), and memory bus dynamic RAM (RDRAM), among others.
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 foregoing examples illustrate only a few embodiments of the invention and are described in detail herein without thereby limiting the scope of the invention. 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 invention, which are all within the scope of the invention. Accordingly, the scope of protection of the present invention is to be determined by the appended claims.
The foregoing description of the preferred embodiments of the invention is not intended to be limiting, but rather is intended to cover all modifications, equivalents, and alternatives falling within the spirit and principles of the invention.
Claims (8)
1. The intelligent control method of the electric forklift is characterized by comprising the following steps of:
acquiring a target carrying position and a target placing position which are remotely transmitted, and planning a forklift driving route according to the target carrying position and the target placing position;
establishing cooperative communication connection with a plurality of cooperative forklifts, and acquiring front working positions of the cooperative forklifts for front conveying;
specifically, in the planning of carrying the target goods, a plurality of electric forklifts are provided for carrying the piled target goods in a circulating manner, the driving position data of a plurality of cooperative forklifts are acquired in real time according to the communication connection channels between the forklift and the plurality of cooperative forklifts by establishing cooperative communication connection between the forklift and the plurality of cooperative forklifts, the cooperative forklifts for carrying the target goods before the forklift are determined by analyzing the plurality of driving position data, the cooperative forklifts are marked as front forklifts, the position where the front forklifts stop within a period of time is determined by analyzing the driving position data of the front forklifts, and the position is marked as front working position;
acquiring target three-dimensional data transmitted remotely, and measuring and shooting a current target when the target three-dimensional data is close to the front working position to generate target space data;
analyzing the target space data, identifying a fork arm working point of a forklift, planning carrying travel data, and carrying a current target at the fork arm working point according to the carrying travel data;
carrying out carrying running according to the forklift running route, planning placement travel data, and placing a current target according to the placement travel data;
the method for establishing the cooperative communication connection with the plurality of cooperative forklifts to obtain the front working position of the cooperative forklifts for front transportation specifically comprises the following steps:
establishing cooperative communication connection with a plurality of cooperative forklifts;
acquiring driving position data of a plurality of cooperative forklifts;
marking a front forklift for front transportation according to the plurality of driving position data;
acquiring a front working position of a front forklift;
the method for obtaining the target three-dimensional data transmitted remotely, measuring and shooting the current target when the target three-dimensional data is close to the front working position, and generating target space data specifically comprises the following steps:
acquiring target three-dimensional data transmitted remotely;
when the front working position is close to the front working position, measuring the current target to generate measurement data;
shooting a current target when the current target is close to the front working position, and generating shooting data;
and integrating the three-dimensional data of the target, the measurement data and the shooting data to generate target space data of the current target.
2. The intelligent control method of an electric forklift according to claim 1, wherein the acquiring the remotely transmitted target carrying position and target placement position, and planning the forklift driving route according to the target carrying position and the target placement position specifically comprises the following steps:
acquiring a target carrying position and a target placing position of remote transmission;
planning a basic driving route according to the target carrying position and the target placing position;
performing obstacle identification marking according to the basic driving route to obtain obstacle information;
and correcting the basic driving route according to the obstacle information to generate a forklift driving route.
3. The intelligent control method of an electric forklift according to claim 1, wherein the analyzing the target space data, identifying a fork arm working point of the forklift, planning a carrying travel data, and carrying a current target at the fork arm working point according to the carrying travel data specifically comprises the following steps:
analyzing the target space data, and identifying a fork arm working point of the forklift;
judging whether carrying can be performed or not according to the fork arm working point;
when the carrying-out is enabled, carrying-out route planning is carried out according to the fork arm working point, and carrying-out route data are generated;
and carrying out the current target at the fork arm working point according to the carrying travel data.
4. The intelligent control method of an electric forklift according to claim 1, wherein the steps of carrying out the carrying travel according to the forklift travel route, planning the placement travel data, and placing the current target according to the placement travel data specifically include the steps of:
carrying out carrying running according to the forklift running route;
identifying a placement space position when approaching the target placement position;
planning placement travel data according to the placement space position;
and placing the current target at the placement space position according to the placement travel data.
5. An intelligent control system of an electric forklift is characterized by comprising a driving route planning unit, a cooperative communication connection unit, a target measurement shooting unit, a target carrying control unit and a target transportation placing unit, wherein:
the system comprises a driving route planning unit, a forklift driving route planning unit and a control unit, wherein the driving route planning unit is used for acquiring a target carrying position and a target placing position which are remotely transmitted and planning a forklift driving route according to the target carrying position and the target placing position;
the cooperative communication connection unit is used for establishing cooperative communication connection with a plurality of cooperative forklifts and acquiring front working positions of the cooperative forklifts for front conveying;
specifically, in the planning of carrying the target goods, a plurality of electric forklifts are provided for carrying the piled target goods in a circulating way, the cooperative communication connection unit is used for acquiring the driving position data of a plurality of cooperative forklifts in real time according to the communication connection channel between the forklift and the plurality of cooperative forklifts by establishing cooperative communication connection between the forklift and the plurality of cooperative forklifts, determining the cooperative forklift for carrying the target goods before the forklift by analyzing the plurality of driving position data, marking the cooperative forklift as a front forklift, further determining the stopping position of the front forklift in a period of time by analyzing the driving position data of the front forklift, and marking the position as a front working position;
the target measurement shooting unit is used for acquiring target three-dimensional data transmitted remotely, and measuring and shooting a current target when the target three-dimensional data is close to the front working position, so as to generate target space data;
the target carrying control unit is used for analyzing the target space data, identifying a fork arm working point of the forklift, planning carrying travel data, and carrying a current target at the fork arm working point according to the carrying travel data;
and the target transportation and placement unit is used for carrying and driving according to the forklift driving route, planning placement travel data and placing the current target according to the placement travel data.
6. The intelligent control system of an electric forklift as claimed in claim 5, wherein the cooperative communication connection unit specifically comprises:
the cooperative communication module is used for establishing cooperative communication connection with a plurality of cooperative forklifts;
the data acquisition module is used for acquiring the driving position data of the plurality of cooperative forklifts;
the forklift marking module is used for marking a front forklift for front transportation according to the plurality of driving position data;
the position acquisition module is used for acquiring the front working position of the front forklift.
7. The intelligent control system of an electric forklift according to claim 5, wherein the target measurement shooting unit specifically comprises:
the three-dimensional acquisition module is used for acquiring target three-dimensional data transmitted remotely;
the target measuring module is used for measuring the current target when the current target is close to the front working position and generating measurement data;
the target shooting module is used for shooting a current target when the current target is close to the front working position, and generating shooting data;
and the data processing module is used for synthesizing the three-dimensional data of the target, the measurement data and the shooting data and generating target space data of the current target.
8. The intelligent control system of an electric forklift according to claim 5, wherein the target handling control unit specifically includes:
the working point identification module is used for analyzing the target space data and identifying fork arm working points of the forklift;
the carrying judging module is used for judging whether carrying can be performed or not according to the fork arm working point;
the travel planning module is used for carrying out travel planning according to the fork arm working point when carrying is enabled, and carrying travel data are generated;
and the target carrying module is used for carrying the current target at the fork arm working point according to the carrying travel data.
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| CN117151584A (en) * | 2023-08-29 | 2023-12-01 | 安徽三禾一信息科技有限公司 | A remote management warehouse control method and system |
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| CN109160451B (en) * | 2018-08-01 | 2024-07-30 | 顺丰科技有限公司 | Autonomous navigation unmanned forklift, system and control method |
| CN109809334B (en) * | 2019-03-01 | 2020-12-04 | 航天通用技术(北京)有限公司 | Method for moving forklift to operate and lift |
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