CN-121973781-A - Operation safety control method and system for warehouse vehicle

CN121973781ACN 121973781 ACN121973781 ACN 121973781ACN-121973781-A

Abstract

The embodiment of the invention provides a method and a system for controlling operation safety of a warehouse vehicle, and belongs to the technical field of warehouse vehicle safety. The method comprises the steps of supplying power to a storage vehicle by a whole vehicle power supply to unlock an electromagnetic valve, obtaining the running state of the storage vehicle, obtaining the real-time running speed of the storage vehicle under the condition that the storage vehicle normally runs, judging whether the real-time running speed is larger than a first preset threshold value, obtaining the absolute value of a driving wheel angle under the condition that the real-time running speed is larger than the first preset threshold value, determining a first angle protection area according to the maximum steering angle range of the storage vehicle, judging whether the absolute value of the driving wheel angle is in the first angle protection area, and outputting a locking electromagnetic valve by a whole vehicle controller under the condition that the absolute value of the driving wheel angle is in the first angle protection area. According to the invention, the electromagnetic valve is controlled by collecting three key parameters of the rotation angle of the driving wheel, the height value of the portal frame and the real-time running speed, so that the side turning risk of the storage vehicle is obviously reduced.

Inventors

ZHANG YU
GAO QIANCHENG
ZHAO WEIGUO
ZHANG KEJUN
SHENG HUAJIAN
LIU XIAOLU
JIANG YING
XU LILI
ZHOU JUN
LIU CHAOHUI

Assignees

安徽合力股份有限公司

Dates

Publication Date: 20260505
Application Date: 20260306

Claims (9)

1. The operation safety control method for the warehouse vehicle is characterized by comprising the following steps of: the whole vehicle power supply supplies power to the storage vehicle to unlock the electromagnetic valve; acquiring the running state of the warehouse vehicle; Under the condition that the storage vehicle normally runs, acquiring the real-time running speed of the storage vehicle; judging whether the real-time running speed is greater than a first preset threshold value or not; under the condition that the real-time running speed is larger than a first preset threshold value, acquiring an absolute value of the angle of the driving wheel; Determining a first angle protection zone according to the maximum steering angle range of the warehouse vehicle; Judging whether the absolute value of the driving wheel angle is in a first angle protection area or not; and under the condition that the absolute value of the driving wheel angle is judged to be in the first angle protection zone, the whole vehicle controller outputs a locking electromagnetic valve and adjusts the real-time running speed according to a first adjusting factor.
2. The control method according to claim 1, characterized in that the control method further comprises: determining a second angle protection zone according to the maximum steering angle range of the warehouse vehicle; judging whether the absolute value of the driving wheel angle is in a second angle protection area or not; And under the condition that the absolute value of the driving wheel angle is judged to be in a second angle protection zone, adjusting the real-time running speed according to a second adjusting factor.
3. The control method according to claim 1, wherein acquiring the running state of the warehouse car includes: Acquiring domain control time; Judging whether the domain control time is greater than a first preset time or not; judging whether a switching signal is detected or not under the condition that the domain control time is larger than a first preset time; Under the condition that the switch signal is not detected, the whole vehicle controller outputs a locking electromagnetic valve; Acquiring a signal value of the switching signal under the condition that the switching signal is detected; And judging the running state of the warehouse vehicle according to the signal value and correspondingly adjusting the electromagnetic valve.
4. A control method according to claim 3, wherein determining the operating state of the warehouse car and adjusting the solenoid valve accordingly based on the signal value comprises: Under the condition that only one signal value is 1 in the signal values of the forward switch signal and the backward switch signal, judging that the storage vehicle normally runs and executing the steps to obtain the real-time running speed of the storage vehicle; under the condition that the signal values of the forward switch signal and the backward switch signal are 0, judging that the whole vehicle is in neutral position, and enabling the whole vehicle controller to not output a locking electromagnetic valve instruction; and under the condition that the signal values of the forward switch signal and the backward switch signal are 1, judging the failure of the whole vehicle, and outputting a locking electromagnetic valve by the whole vehicle controller.
5. The control method according to claim 1, characterized in that the control method further comprises: Acquiring the load weight of the storage vehicle; judging whether the warehouse vehicle is empty according to the load weight; judging whether the real-time running speed is greater than a preset speed value of the whole vehicle under the condition that the warehouse vehicle is no-load; and under the condition that the real-time running speed is larger than the preset speed value of the whole vehicle, the whole vehicle controller outputs a locking electromagnetic valve.
6. The control method according to claim 5, characterized in that the control method further comprises: Under the condition that the warehouse vehicle is not empty, determining the maximum running speed according to the load weight of the warehouse vehicle; judging whether the real-time running speed is greater than the maximum running speed; and under the condition that the real-time running speed is judged to be greater than the maximum running speed, the whole vehicle controller outputs a locking electromagnetic valve.
7. The control method according to claim 6, wherein determining a maximum travel speed from a load weight of the warehouse car comprises: The maximum travel speed is determined according to formula (1), ,(1) Wherein, the At the time of the maximum traveling speed of the vehicle, The vehicle speed value is preset for the whole vehicle, The weight of the whole car is loaded.
8. The control method according to claim 1, characterized in that the control method further comprises: acquiring a door frame height signal; judging whether the portal is in a lifting state according to the portal height signal; Under the condition that the portal frame is in a lifting state, acquiring a height value of the portal frame; judging whether the height value is larger than a first height threshold value or not; and under the condition that the height value is larger than the first height threshold value, outputting a locking electromagnetic valve by the whole vehicle controller.
9. A warehouse vehicle operation safety control system, characterized in that the system comprises a vehicle controller for executing the control method according to any one of claims 1 to 8.

Description

Operation safety control method and system for warehouse vehicle Technical Field The invention relates to the technical field of storage vehicle safety, in particular to a storage vehicle operation safety control method and system. Background With the rapid development of the modern logistics industry, the warehousing system is used as a core link of a supply chain, and the operation efficiency and the safety of the warehousing system are very important. The warehouse vehicle is core equipment for carrying materials in the warehouse, and is continuously developing to the directions of high lifting height of the portal frame, small turning radius and high running speed in order to meet the requirements of high-density storage and quick turnover. These performance improvements rely on the co-operation of steering systems, mast systems, transmission systems, and running gear such as drive wheels, equalizer wheels, etc. However, while high efficiency is pursued, stability of vehicle operation faces serious challenges. Specifically, when the vehicle runs under any one or composite working conditions such as high-speed running, high-position lifting of a portal frame, large-angle turning and the like, the gravity center change and dynamic load of the whole vehicle are aggravated, and the situation that a driving wheel and an equalizing wheel are not grounded on one side is easily caused. Once the situation occurs, the vehicle support stability is seriously weakened, rollover accidents are extremely easy to occur, equipment and goods are damaged, and safety of operators is threatened. Disclosure of Invention The embodiment of the invention aims to provide a method and a system for controlling operation safety of a storage vehicle, which solve the problem that the storage vehicle is easy to turn over in the operation process. In order to achieve the above object, an embodiment of the present invention provides a method for controlling operation safety of a warehouse vehicle, the method comprising: the whole vehicle power supply supplies power to the storage vehicle to unlock the electromagnetic valve; acquiring the running state of the warehouse vehicle; Under the condition that the storage vehicle normally runs, acquiring the real-time running speed of the storage vehicle; judging whether the real-time running speed is greater than a first preset threshold value or not; under the condition that the real-time running speed is larger than a first preset threshold value, acquiring an absolute value of the angle of the driving wheel; Determining a first angle protection zone according to the maximum steering angle range of the warehouse vehicle; Judging whether the absolute value of the driving wheel angle is in a first angle protection area or not; and under the condition that the absolute value of the driving wheel angle is judged to be in the first angle protection zone, the whole vehicle controller outputs a locking electromagnetic valve and adjusts the real-time running speed according to a first adjusting factor. Optionally, the control method further includes: determining a second angle protection zone according to the maximum steering angle range of the warehouse vehicle; judging whether the absolute value of the driving wheel angle is in a second angle protection area or not; And under the condition that the absolute value of the driving wheel angle is judged to be in a second angle protection zone, adjusting the real-time running speed according to a second adjusting factor. Optionally, acquiring the running state of the warehouse vehicle includes: Acquiring domain control time; Judging whether the domain control time is greater than a first preset time or not; judging whether a switching signal is detected or not under the condition that the domain control time is larger than a first preset time; Under the condition that the switch signal is not detected, the whole vehicle controller outputs a locking electromagnetic valve; Acquiring a signal value of the switching signal under the condition that the switching signal is detected; And judging the running state of the warehouse vehicle according to the signal value and correspondingly adjusting the electromagnetic valve. Optionally, judging the running state of the warehouse vehicle according to the signal value and correspondingly adjusting the electromagnetic valve, including: Under the condition that only one signal value is 1 in the signal values of the forward switch signal and the backward switch signal, judging that the storage vehicle normally runs and executing the steps to obtain the real-time running speed of the storage vehicle; under the condition that the signal values of the forward switch signal and the backward switch signal are 0, judging that the whole vehicle is in neutral position, and enabling the whole vehicle controller to not output a locking electromagnetic valve instruction; and under the condition that the signal values of the forw