12092results about "Lifting devices" patented technology

The invention relates to the technical field of intelligent warehousing and logistics automation, in particular to a forklift dynamic path planning method based on deep reinforcement learning, and the method comprises the steps: deploying multi-view vision, geomagnetism and other multi-source sensors, achieving data calibration and fusion through employing an insect compound eye-imitating vision model, and constructing a high-dimensional state space vector; heuristic models such as migrant bird navigation and biological stress response are adopted, deep reinforcement learning is combined, decision instructions are generated from the three aspects of path planning, dynamic obstacle avoidance and energy efficiency management, actions are executed through a control system, and deviation is fed back; a reward function is used for evaluating the decision effect, rewards are formed by weighting path efficiency, obstacle avoidance success and energy consumption penalty, the weight can be updated in a self-adaptive mode, and therefore the deep reinforcement learning model is optimized. According to the method, the accuracy, safety and efficiency of forklift path planning are effectively improved, the method can adapt to complex dynamic environments, and the requirements of intelligent logistics and industrial automation for forklift intelligent operation are met.

A transport robot may include a body, a lifting assembly arranged on the body, and a first climbing assembly arranged on the lifting assembly and located on only one side of the body in a horizontal direction. The lifting assembly is configured to drive the first climbing assembly to ascend or descend. The first climbing assembly is configured to be docked with a second climbing assembly of a rack after being driven to ascend, and to climb along the second climbing assembly in a vertical direction.

A system includes a camera, a robot, and a management system. The camera is configured to capture one or more images of a material handling environment. The material handling environment normally includes one or more items. The robot is at least in part configured to move along a travel path relative to the items, and the robot is configured to pick the items. The management system is configured to monitor the material handling environment through the images from the camera. The management system is configured to determine dynamically multiple picking solutions for the items in real-time while the robot moves along the travel path.

A solar panel installation system comprising a solar panel presentation system comprising a solar panel dispensing hopper having a hopper enclosure; and a solar panel installation vehicle operable with the solar panel presentation system, and operable to support the solar panel dispensing hopper, and to maneuver about a solar panel support assembly comprising one or more solar panel retention systems which can be oriented transverse to a torque tube of the solar panel support assembly, wherein the installation vehicle is operable to position the solar panel dispensing hopper in an overhead position relative to the one or more solar panel retention systems, and to facilitate installation of a lead solar panel in an installed position in one of the one or more panel retention systems from the overhead position.

The invention discloses an electric forklift multi-mode driving switching method and system based on multivariable cooperation, and relates to the technical field of industrial vehicle intelligent control. The method is used for solving the problems of one-sided working condition sensing, switching oscillation and safety fault tolerance deficiency in multi-mode driving. The method comprises the following steps: firstly, generating a dynamically weighted working condition feature vector through multi-source sensing data fusion, and quantifying a stability risk, an energy consumption constraint and a power demand; secondly, based on a stability risk trigger steering safety envelope, arbitrating a multi-mode priority and correcting a torque upper limit in combination with a fuzzy rule to form an anti-conflict execution sequence; then, torque distribution and a steering angle acceleration instruction are optimized in a rolling mode in the safe envelope boundary, center-of-gravity shift is synchronously restrained, the track precision is improved, and energy consumption is reduced; finally, the control authority is transferred adaptively according to the operation intensity of a driver, when the decision is abnormal, the load-ramp rule base is degraded, an instruction is transferred through an S-shaped curve, and a torque balancing strategy is executed at the high position of a pallet fork to maintain stable.

The invention discloses an automatic loading method for a truck based on deep learning and stereoscopic vision. The automatic loading method comprises the following steps that S1, goods location pixel coordinates are obtained and converted into an AGV forklift coordinate system; s2, a driving track is calculated, a front station is generated, and the AGV forklift is guided to move; s3, collecting point cloud data, denoising, extracting features by adopting an improved Transform point cloud registration network, calculating three-dimensional feature points of goods locations and trays, and converting coordinates; s4, calculating a rotation adjustment amount and a displacement compensation parameter, optimizing a driving track and correcting a butt joint deviation; s5, adopting a self-adaptive local attention weighting strategy to match the target goods allocation with the tray slot, and correcting the pose; s6, the cargo stacking posture is adjusted, gravity center distribution is optimized, and the AGV forklift is controlled to complete cargo loading; and S7, exiting the loading area along the optimized track, recording data and optimizing a loading strategy. The goods allocation identification precision is improved, the loading path is optimized, manual intervention is reduced, the loading efficiency, stability and adaptability are improved, and the logistics automation level is enhanced.

The utility model discloses a telescopic fork with smooth guidance. The telescopic fork includes a lower fork member, a middle fork member, an upper fork member, a driving member, a linking member and a conducting member. The linking member connects the lower fork member and the middle fork member and the middle fork member and the upper fork member. The driving member drives the middle fork member to extend and retract relative to the lower fork member. The driving member drives the upper fork member to extend and retract relative to the middle fork member. The conducting member is arranged between the middle fork member and the lower fork member and between the upper fork member and the middle fork member. The conducting member includes a guide wheel and a guide block arranged along the extension direction; wherein the guide block is a needle roller guide block. Through the needle roller guide block, the friction coefficient of the middle fork member and the upper fork member when sliding is small, so that the transmission is smooth and the extension and retraction are smooth, thereby improving the accuracy and efficiency of the telescopic fork.

Provided is a path planning method of a handling device, a handling device, and an electronic device. The method includes: based on position information of a target goods placement area in a truck bed and an initial position, determining a handling path corresponding to the target goods placement area, where the handling path includes a first handling path including a turn-around position and a loading-unloading position corresponding to the target goods placement area; sending the handling path to a target handling device such that the target handling device, based on the first handling path, travels to the turn-around position in a forward mode, and rotates at the turn-around position to enable a bearing assembly of the rotated target handling device to face toward the target goods placement area, and then travels, in a backward mode, to the loading-unloading position to perform goods loading or unloading operations.

The invention discloses a material weighing and conveying control method and system, and relates to the technical field of self-adaptive control systems. The method comprises the following steps: setting a visual positioning identifier in an unloading area, and configuring an identification code for a material; establishing an information management database, associating the identification codes of the materials with material attributes, and generating a material association attribute table; collecting an identification code of the material, and calling a material association attribute table based on the identification code; and based on the information management database, obtaining a production line state table of each production line and a warehouse state table of the current warehouse, generating a candidate transportation list, determining a comprehensive priority score of each candidate transportation target point, and selecting the candidate transportation target point with the highest score as a final transportation target point. Compared with the prior art in which fixed rules are used for scheduling, the material transportation targets can be dynamically distributed according to real-time production requirements, manual intervention is avoided, the logistics efficiency is improved, high-requirement materials are preferentially distributed, and production interruption caused by material shortage is prevented.

An automated storage and retrieval system includes an automated storage and retrieval grid and a delivery system. The automated storage and retrieval grid includes a container handling vehicle rail system and a delivery column. The container handling vehicle rail system is for guiding a plurality of container handling vehicles. The delivery column is adapted for transport of a storage container from a container handling vehicle to a delivery port situated at a lower end of the delivery column, and further adapted for transport of a storage container from the delivery port to the container handling vehicle. The storage container is configured to be stored in a stack of storage containers beneath the container handling vehicle rail system. The delivery system includes a remotely operated delivery vehicle, which includes a container carrier adapted to support the storage container. The delivery vehicle is further adapted to transport the storage container between a delivery port and a second location for handling of the storage container by at least one of a robotic operator and a human operator.

This application provides a robot and a warehousing system. The robot is configured to take or place a goods container which includes a robot body and a fork apparatus. The fork apparatus is arranged on the robot body which includes a telescopic mechanism and a goods retrieval mechanism. The telescopic mechanism includes a base plate and a transmission assembly. The goods retrieval mechanism is connected to the transmission assembly to move along a length direction of the base plate under the drive of the transmission assembly. The goods retrieval mechanism includes a rotating unit, a connecting base, and a goods retrieval unit. The goods retrieval unit is arranged on the connecting base. The rotating unit is configured to drive the connecting base to rotate relative to the telescopic mechanism, so that the goods retrieval unit can take or place the goods container in a different direction of the fork apparatus.

A method for retrieving an inventory item based on a handling robot, where the handling robot includes: a storage frame; and a material handling device installed on the storage frame, and including a telescopic arm and a manipulator installed to the telescopic arm; and the method for retrieving an inventory item includes: driving, by the telescopic arm, the manipulator to extend to a preset position of warehouse shelf along a preset horizontal reference line; loading, by the manipulator that is remained on the reference line, the inventory item located in the preset position; driving, by the telescopic arm, the manipulator loaded with the inventory item to move to the storage frame along the reference line; and unloading, by the manipulator that is remained on the reference line, the inventory item to the storage frame.

A container accessing station which has been configured to offer multiple access points where access to each access point may be permitted through an upper working surface of the container accessing station to an underlying container that has been delivered to the access point. The working surface is provided by one or more working surface sections, each working surface section having a common attachment configuration to allow either an access panel or a blanking-off panel to be fitted as part of the container accessing station at any of the multiple access points.

System for packing and sorting comprises: a server comprising a memory, a processor, and a sortation engine, an automated packaging device, and a packaging sorting system. The automated packaging device is configured to: receive one or more sorted articles through an opening of a repository of the automated packaging device, and seal the repository to form a package. The package sorting system configured to: direct a package computer controlled vehicle to move to a receiving position about the automated packaging device for receiving the package from the automated packaging device, and direct the package computer controlled vehicle to transport and deposit the received package into a package receptacle.

The invention discloses a tray forking method and system, a storage medium and a program product, and relates to the field of general control or adjustment systems.The method comprises the steps that tray area images are collected, and tray position coordinates and cargo distribution data are obtained; carrying out gravity center calculation to obtain a cargo plane gravity center predicted value, calculating a stress compensation coefficient of a scissor fork module, and determining an initial stress value; determining motion track parameters of the robot, and generating a motion control instruction for controlling a pallet fork of the robot to move to a preset position; an initial lifting instruction is generated and used for controlling a scissor fork module of the robot to conduct lifting motion; acquiring real-time stress data of the scissor fork module, determining a horizontal attitude deviation value of the tray, and generating a lifting compensation instruction for adjusting the real-time stress data so that the target tray is adjusted to a horizontal state; and generating a truck body forward moving instruction and a module homing instruction, and controlling the target tray to be placed on the truck body. According to the invention, the tray forking and moving stability of the robot can be improved.

The embodiment of the invention discloses a tray forking control method and device of an unmanned forklift and a medium, and relates to the technical field of path planning, and the method comprises the steps that multi-mode environment data in a target forking environment is collected in real time through a multi-mode sensor, and based on the multi-mode environment data, region segmentation is conducted on the target forking environment, and the target forking environment is obtained; constructing a dynamic risk map, wherein the dynamic risk map comprises a static obstacle, a dynamic obstacle and a tray target position; according to the dynamic risk map, an improved adaptive sampling search algorithm and a preset node expansion constraint condition are adopted to generate a global forklift path; b spline curve fitting is carried out on the global forklift path, a multi-source error compensation item is introduced into the track control point through a pre-obtained multi-source quantization error, a fitted forklift path is determined, and the target tray is forked through the fitted forklift path.

A transport robot may include a body, a lifting assembly arranged on the body, and a first climbing assembly arranged on the lifting assembly and located on only one side of the body in a horizontal direction. The lifting assembly is configured to drive the first climbing assembly to ascend or descend. The first climbing assembly is configured to be docked with a second climbing assembly of a rack after being driven to ascend, and to climb along the second climbing assembly in a vertical direction.

The invention discloses a system for enhancing the damping and aseismic capacities of an underground integrated pipe rack. It includes a pipe fixing assembly installed on the inner walls of the underground space on both sides. The assembly comprises multiple lifting frames arranged vertically and a lifting mechanism. The telescopic end of the lifting mechanism is fixedly connected to the lowermost lifting frame. One side of the lifting frame is slidingly connected to the inner wall of the underground space and features a recess for placing the pipe. A pipe holder inside the recess secures the pipe. During vibrations, the lifting frame slides on the inner wall, causing relative movement between adjacent pipe holders. The vibration is absorbed by the telescopic spring, preventing hard contact between the pipe and the vibration source. This reduces vibration and protects the pipe, thereby enhancing the aseismic capacity of the underground pipe rack.

The invention discloses a large workpiece strain measuring point auxiliary positioning system and method, and the system comprises a professional software and automatic control system, and an industrial photogrammetry system, a car lifting system, a laser projection system and a three-dimensional scanning quantitative analysis system which are connected with the professional software and automatic control system. And a positioning target is arranged on the surface of the large workpiece product. According to the system, strain contact auxiliary lineation and laser guide assembly work of a large workpiece and quantitative analysis work of strain gauge pasting are achieved, the system takes a target arranged on a product as a positioning reference, the outline of a product model is extracted in a photogrammetry mode, the product model and a real object are matched and unified to the same coordinate system, and the product model and the real object are obtained. The position contour of the strain gauge needing to be pasted and auxiliary information are projected to the surface of a product through the laser projection technology, the current pasting position information can be efficiently and accurately reflected, and high-efficiency and high-precision assembly of the strain gauge is facilitated.

A method implemented at an autonomous mobile robot equipped with a fork to carry a pallet. The robot transitions between a first and second piecewise flat floor segments with differing geometries. The robot uses sensor data from sensors such as LIDAR, stereo cameras, GPS, and ultrasound sensors to determine the transition between the first and second piecewise flat floor segments. The fork operates based on parameters that meet reference constraints. When the robot detects that a second floor geometry would cause these parameters to no longer meet the reference constraints, the robot determines new parameters that will satisfy the reference constraints. Control signals are then sent to adjust the fork's operation as the robot transitions to the second floor segment.

The invention discloses a roundness supporting device for a large tubular structure and a roundness adjusting method.The roundness supporting device comprises the roundness supporting device body, the roundness supporting device body comprises a circular base and a plurality of supporting columns, and the supporting columns are distributed on the circumferential face of the circular base in a circumferential array mode; the end, away from the circular base, of each supporting column can abut against the inner wall of the circular steel pipe. The device further comprises a rotating column, the rotating column is coaxially installed on the circular base, and a hydraulic expansion piece is vertically connected to the rotating column. The end of the telescopic part of the hydraulic telescopic device is connected with a contour wheel, and the hydraulic telescopic device stretches out to enable the contour wheel to be in rolling fit with the inner wall of the circular steel pipe. The device further comprises a distance sensor, and the distance sensor can detect the change of the distance between the profiling wheel support and the axis of the rotating column in real time. According to the tubular steel roundness adjusting device, the roundness of tubular steel can be accurately adjusted, the machining requirements of large tubular steel with different pipe diameters can be met, accidents such as eccentricity of the tubular steel in the machining process can be avoided, and therefore the finished product quality and operation safety are improved.

Embodiments of a solar table mobile transport with collapsible manipulators are described. The collapsible manipulators may be scissor lifts, direct lifts, or pivot lifts, that couple to a torque tube of the solar table and provide at least vertical movement of the solar table. Once the mobile transport approaches an installation spot between installation piles, the mobile transport lifts the solar table by unfolding the collapsible manipulators such that that solar table may cross the pile line and the mobile transport can maneuver between the installation piles. The compactness of the mobile transport, especially when the collapsible manipulators are vertically installed, greatly enhances the maneuverability of the mobile transport within the limited space between the piles. Such a capability of mobile transport maneuverability in combination of solar table alignment facilitates an installation efficiency of the solar table.

By providing a 3D laser radar and a camera on a fork assembly of the handling device, the 3D laser radar and the camera can move relative to a device body of the handling device along with the fork assembly. When the 3D laser radar and the camera move along with the fork assembly to a position corresponding to an object, the 3D laser radar collects 3D point cloud data of the object and the camera collects image data of the object, and a controller of the handling device can determine, based on the 3D point cloud data, pose information of the object, and determine, based on the image data, a fork insertion position of the object, and control, based on the pose information and the fork insertion position, the fork assembly to align with the fork insertion position of the object to pick up the object.

The invention provides a carrying robot for warehousing. Relates to the technical field of transportation or storage devices. A truss is fixedly arranged at the top of the base, the lifting mechanism comprises a top plate fixedly arranged at the top of the truss, a horizontally-arranged rotating rod is rotationally connected to the interior of the top plate, and a lifting motor is installed on the portion, located on one side of the rotating rod, of the upper surface of the top plate. The movable plates on the two sides are driven to clamp and position cargoes on the conveying belt, it can be guaranteed that the cargoes of different sizes are clamped and positioned, meanwhile, if the cargoes on the conveying belt incline, the movable plates can conduct automatic correction, and then for light cargoes, the tray can be freely lifted and suspended to place the cargoes; the movable plates can be adjusted to the maximum state, light cargoes can be placed in a suspended mode, efficient carrying and stacking are guaranteed, and the movable plates on the two sides of the conveying belt can play a good protection role.

Loading a pallet into a trailer using an autonomous mobile robot. The robot determines a pose of the trailer based on sensor data and navigates to a first goal position inside the trailer, determined based on the pose of the trailer. The robot then side-shifts the fork toward the trailer's side wall until sensors detect contact between the pallet and the side wall, with the pallet positioned above a lip on the trailer wall. The robot retracts the fork by a distance corresponding to the lip's width to prevent the pallet and the side wall of the trailer from scraping each other. The robot then navigates in a straight line forward to a second goal position, which is within a predetermined threshold distance from the drop position. The robot releases the pallet at the second goal position.

The utility model provides a multifunctional adjustable telescopic pallet fork which comprises a rotating assembly, a lifting assembly and a telescopic fork assembly, the lifting assembly and the rotating assembly are installed in a combined mode, and the telescopic fork assembly and the lifting assembly are installed in a combined mode. The lifting assembly and the telescopic fork assembly are driven by the rotating assembly to rotate on the horizontal plane, and the telescopic fork assembly is driven by the lifting assembly to change the height. According to the multifunctional adjustable telescopic pallet fork, height adjustment and rotation adjustment can be achieved, the single telescopic pallet fork can achieve the functions of various existing devices, operation is more convenient, work is more efficient, and the occupied area is smaller.

Architectures and techniques are provided for improved vibration compensation for a boom lift-robot-mounted (BLMR) system, which can result in improved BLMR operating precision and safety at a reduced cost. Boom lifts typically contain extendable large-scale, variable-stiffness structures, subject to complex nonlinear static deformation and dynamic motion / gust-induced vibrations. Said vibrations can be compensated for at an end effector of a robot via a Jacobian-based vibration compensation via IMU (JVCI) procedure. The output of the JVCI procedure can rely on IMU feedback and can be combined with other vibration-mitigation techniques, including various feedforward techniques.

The invention relates to the technical field of intelligent control of heavy equipment, in particular to a hydraulic synchronous intelligent control system for segmented turnover of an overweight steel structure, and discloses the hydraulic synchronous intelligent control system for segmented turnover of the overweight steel structure. According to the system, full-field strain data of a structure surface is acquired by deploying a flexible grid sensor array, and a deformation gradient topological graph is constructed to identify an instability risk area. And a dynamic fluid network model of the hydraulic system is established, fluid-solid coupling simulation is carried out in combination with deformation characteristics, and pressure pulsation transmission paths under different control instructions are predicted. And the system dynamically optimizes a data sampling strategy and network model parameters according to a prediction path, generates a hydraulic cylinder coordination action instruction subjected to pressure balance verification, and finally drives an execution mechanism to complete turnover operation. According to the scheme, full-field real-time sensing of structural deformation and dynamic coupling prediction control of hydraulic fluid are achieved, and the safety and control precision of the overweight component in the turnover process are improved.

The utility model discloses a photovoltaic module installation robot, and relates to the technical field of automation, the photovoltaic module installation robot comprises an overturning positioning unit, a grabbing installation unit and an identification positioning unit, the overturning positioning unit comprises an overturning mechanism and a bearing part, and the overturning mechanism is used for driving the bearing part to overturn. And the grabbing and mounting unit is used for grabbing the photovoltaic panel and transferring the photovoltaic panel to a specified mounting position on the photovoltaic bracket. The identifying and positioning unit comprises a first identifying part and a second identifying part, the first identifying part is arranged on the moving unit and used for identifying the connecting hole site in the photovoltaic panel grabbed by the grabbing and mounting unit and obtaining first position information, and the second identifying part is arranged on the grabbing and mounting unit and used for identifying the connecting hole site in the photovoltaic panel grabbed by the grabbing and mounting unit and obtaining second position information; and the grabbing and mounting unit is used for identifying the mounting hole site in the photovoltaic support and obtaining second position information, and the grabbing and mounting unit adjusts the mounting position of the photovoltaic panel on the photovoltaic support according to the first position information and the second position information. According to the invention, high-precision and automatic installation of the photovoltaic panel on the photovoltaic support is realized, and the production efficiency is improved.

Systems, methods, and computer-readable media are disclosed for package sorting systems that facilitate efficient package sorting for delivery. The package sorting system may be a multi-level or single-level fulfillment or sortation center. The package sorting system may include a receiving area for receiving a large volume of packages and placing the packages into containers. The containers may be transported to an unloading area, which may be on a second story. At the unloading area, the packages may be unloaded from containers and placed into destination bins, each package in a destination bin destined for delivery within close proximity to one another. The destination container may be transported to a delivery area. At the delivery area the packages may be loaded into delivery vehicles for distributing the packages. The package sorting system may include drive units and package drive units for transporting containers and / or packages.