The invention discloses a forklift lifting appliance track and posture control method, a forklift and a medium. The track control method comprises the following steps that the initial movable arm inclination angle and the movable arm length of a movable arm are obtained; in response to the vertical pitching-up control instruction, the movable arm is controlled to pitch up, the real-time movable arm inclination angle of the movable arm is obtained, and the vehicle body is controlled to advance according to the initial movable arm inclination angle, the movable arm length, the real-time movable arm inclination angle and the preset length range, so that the lifting appliance vertically ascends in the movable arm pitching-up process; and in response to the vertical downward-bending control instruction, controlling downward bending of the movable arm, obtaining a real-time movable arm inclination angle of the movable arm, and controlling the vehicle body to retreat according to the initial movable arm inclination angle, the movable arm length, the real-time movable arm inclination angle and a preset length range, so that the lifting appliance vertically descends in the downward bending process of the movable arm. According to the track control method for the lifting appliance of the forklift loader, container obstacle avoidance can be automatically carried out, the reliability is high, the manual operation intensity is reduced, and the operation efficiency is high.

    本发明公开了一种叉装车吊具轨迹、姿态控制方法、叉装车及介质,轨迹控制方法包括以下步骤:获取动臂的初始动臂倾角和动臂长度;响应于垂直上仰控制指令,控制动臂上仰并获取动臂的实时动臂倾角,并根据初始动臂倾角、动臂长度、实时动臂倾角和预设长度范围控制车体前进,以使得吊具在动臂上仰过程中垂直上升;响应于垂直下俯控制指令,控制动臂下俯并获取动臂的实时动臂倾角,并根据初始动臂倾角、动臂长度、实时动臂倾角和预设长度范围控制车体后退,以使得吊具在动臂下俯过程中垂直下降。本发明实施例的叉装车吊具轨迹控制方法,能够自动进行集装箱避障,可靠性高,降低了人工操作强度,作业效率高。


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    Title :

    Lifting appliance track and posture control method of forklift loader, forklift loader and medium


    Additional title:

    一种叉装车吊具轨迹、姿态控制方法、叉装车及介质


    Contributors:
    LIU DAOSHOU (author) / GAO JUN (author) / ZHOU ZHIHONG (author)

    Publication date :

    2023-07-07


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    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 , Hub-, Verhol- oder Schubvorrichtungen, soweit nicht anderweitig vorgesehen, z.B. Vorrichtungen mit unmittelbarer Krafteinwirkung auf die Last / B66C Krane , CRANES



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