Control method for preventing shelf from collapsing by goods during emergency stop and locking of Forklift AGV

A control method and shelf technology, applied in the direction of hoisting devices, lifting equipment safety devices, etc., can solve the problems of cargo dumping and no technical application, etc., and achieve the effect of improving stability and robustness

Active Publication Date: 2020-11-24
ZHEJIANG UNIV +1
View PDF18 Cites 0 Cited by
  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

In order to ensure the good and complete characteristics of the goods during transportation, the goods carried cannot be dumped during the slipping stage. At present, there is no relevant technical application

Method used

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
View more

Image

Smart Image Click on the blue labels to locate them in the text.
Viewing Examples
Smart Image
  • Control method for preventing shelf from collapsing by goods during emergency stop and locking of Forklift AGV
  • Control method for preventing shelf from collapsing by goods during emergency stop and locking of Forklift AGV
  • Control method for preventing shelf from collapsing by goods during emergency stop and locking of Forklift AGV

Examples

Experimental program
Comparison scheme
Effect test

Embodiment Construction

[0027] The present invention will be further described below in conjunction with the accompanying drawings and specific embodiments.

[0028] Such as Figure 1-4 In the example shown, the

[0029] A control method for preventing goods from dumping on shelves when Forklift AVG is locked in an emergency stop, comprising the following steps:

[0030] Step 1: When the Forklift AGV encounters an obstacle or failure, the main program enters an emergency stop interruption, and detects whether there is a relative speed between the goods and the shelf through the relative speed sensor on the shelf, and obtains a relative speed curve; the relative speed sensor is the displacement sensor The expression form of difference operation is as follows according to the interpolation operation formula:

[0031] f(t)=a 1 f[n 1 ]+a 2 f[n 2 ]+…+a n f[n n ]

[0032] Among them, n is the relative displacement of the goods and the shelf. The displacement interpolation at each moment can be obt...

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to view more

PUM

No PUM Login to view more

Abstract

The invention aims to overcome the problem that the goods slip to collapse when an existing Forklift AGV suddenly stops and locks during goods handling, provides a control method for preventing a shelf from collapsing by goods during emergency stop and locking of a Forklift AGV, and at the same time, improves reliability and work efficiency of the Forklift AGV. In order to achieve the purpose, thetechnical scheme is adopted: when the Forklift AGV suddenly stops, a relative speed sensor on the shelf detects a relative speed between the goods and the shelf to obtain a relative speed curve; therelative speed curve is performed an interpolation analysis, if the relative speed is detected, the shelf and the goods are controlled to move in the same direction and continue to traverse the relative speed; when the relative speed is zero, a motor starts to brake and traverse the shelf speed curve; when a return interpolation value is zero, a motor of the shelf is controlled to rotate reverselyat a rated speed; and when feedback displacement is interpolated to a preset position, the motor is braked at a rated acceleration, and the shelf returns when the speed is zero.

Description

technical field [0001] The invention relates to the field of intelligent vehicles, in particular to a control method for preventing goods from dumping on shelves when Forklift AVG is locked in an emergency stop. Background technique [0002] The development of computer-related technologies has led to the improvement of industrial technology. In order to reduce the cost of hiring labor, many factories and container warehouses have begun to use Forklift AGV (automatic cruise forklift) for sorting, handling and classification of goods. How to use this intelligent forklift system to carry out the "Great Revolution" of the industrial age, thereby reducing production costs, improving the efficiency of warehouse work and the accuracy of sorting goods, and reducing the loss rate of goods has become an urgent problem to be solved. [0003] Forklift AGV is a remarkable mechanism in automatic handling equipment and has obvious advantages. The working process of AGV consists of three p...

Claims

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to view more

Application Information

Patent Timeline
no application Login to view more
IPC IPC(8): B66F9/06B66F9/075B66F17/00
CPCB66F9/063B66F9/07559B66F17/003
Inventor 童水光蒋耀兴童哲铭
Owner ZHEJIANG UNIV
Who we serve
  • R&D Engineer
  • R&D Manager
  • IP Professional
Why Eureka
  • Industry Leading Data Capabilities
  • Powerful AI technology
  • Patent DNA Extraction
Social media
Try Eureka
PatSnap group products

Browse by: Latest US Patents, China's latest patents, Technical Efficacy Thesaurus, Application Domain, Technology Topic.

© 2024 PatSnap. All rights reserved.Legal|Privacy policy|Modern Slavery Act Transparency Statement|Sitemap