Automatic guide method for detecting and controlling driving direction and position based on all wheel speed and forklift system thereof

Abstract

The invention provides an automatic guide method for detecting and controlling the driving direction and position based on the all wheel speed and a forklift system thereof. The forklift system comprises a magnetic navigation sensor, a track measurement unit, a forklift main controller, a motor controller and an action motor; vehicle information measured by an encoder and a sensor in the track measurement unit is recorded in real time through the main controller, the driving wheel steering angle and the advancing wheel distance at the same time are recorded to form independent recorded points,and the recorded points are subjected to fitting to form an advancing track spline; the forklift main controller judges whether a forklift deviates from an originally-arranged rail or not according to the comparing result of a stored forklift regulated advancing path and a fitting advancing track, whether errors caused by signal interference exist or not is judged by comparing the forklift movement track read and judged by the magnetic navigation sensor with track points detected by the track measurement unit, accordingly, it is achieved that the position of a forklift is determined in real time, and it is ensured that the moving range of the forklift during deviation rectifying every time is small.

Description

technical field [0001] The invention relates to the technical field of forklift automatic guidance, in particular to an automatic guidance method and a forklift system for controlling the driving direction and position based on all-wheel speed detection. Background technique [0002] Traditional fully automatic and semi-automatic magnetic navigation forklifts need to detect the relative positional relationship between the magnetic conduction line and the vehicle body in real time during driving. Due to the lack of sensor accuracy and the delay of signal transmission, the forklift will constantly adjust the steering wheel angle during driving, which will cause the forklift body to swing slightly left and right. Due to the forklift's heavy weight and high speed, it is easy to cause the body swing to increase. As a result, the forklift derailed, collided with the shelf, and caused a safety accident. Therefore, the driving speed of a single magnetic navigation forklift is limit...

AI Technical Summary

Problems solved by technology

Due to the lack of sensor accuracy and the delay of signal transmission, the forklift will constantly adjust the steering wheel angle during driving, which will cause the forklift body to swing slightly from side to side. Due to the heavy weight of the forklift, the body swing will increase when the speed is high. As a result, the forklift derailed, collided with the shelf, and caused a safety accident.

Therefore, the driving speed of a single magnetic navigation forklift is limited; and because the magnetic navigation sensor is easily interfered by magnetic substances, safety accidents such as forklift derailment and collision with shelves occur; traditional automatic and semi-automatic magnetic navigation forklift automatic addressing is mostly landmark card calibration In this way, the forklift cannot continuously detect the distance between the forklift and the cargo space when driving between different cargo location landmarks. Within this distance, the forklift is in a state of blind driving, so the speed of the forklift should not be too high. Over the cargo space, resulting in inaccurate positioning. At the same time, after the forklift detects the landmark signal, it needs to adjust the position of the forklift several times to accurately locate the position of the forklift, so the operation efficiency is low.

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