Positioning method of pallet fork

Abstract

The invention discloses a positioning method of a pallet fork, and belongs to the field of logistic device control methods. According to the positioning method, at least one linear positioning device is arranged on a forklift, the bottom of a tray is positioned through linear waves emitted by the linear positioning devices, and therefore the position and the posture of the tray relative to the forklift are determined. By means of the positioning method, fork holes can be rapidly positioned, misoperation can be effectively eliminated, and the safety of the tray lifting process and the tray transport process can be improved.

Description

technical field [0001] The invention relates to the field of logistics equipment control methods, in particular to a positioning method for cargo forks. Background technique [0002] The general handling AGV judges whether the fork can enter the pallet smoothly through the mechanical touch switches installed on the two fork heads. When the touch switch on either side collides with the pallet and triggers its action, it is judged that it cannot be entered, and the AGV vehicle stops running. At the same time, the touch switch can be used as a safety switch for the direction of the fork. When an obstacle is encountered during operation, the AGV will automatically stop; the touch switch will automatically return to the neutral position when it is not restrained. However, this traditional obstacle avoidance method has the following defects: First, when there is an accumulated error in the automatic control process, or when there is a certain displacement between the pallet posit...

AI Technical Summary

Problems solved by technology

However, this traditional obstacle avoidance method has the following defects: First, when there is an accumulated error in the automatic control process, or when there is a certain displacement between the pallet position and the initial position in other cases, the touch switch can only be used as a passive judgment. The probability of triggering the touch switch when forking the pallet is relatively high, resulting in failure of the action; human intervention is required to adjust the position of the pallet; second, due to the cumulative error in the automatic control process, the vehicle may overshoot when entering the pallet. Collision with the pallet; third, due to the limitation of the overall size of the vehicle, the length of the touch switch is short, resulting in a shorter safety distance in the direction of the fork, and the safety of the AGV vehicle in the direction of the fork is not high; there are also some products that greatly reduce the Speed ​​in the direction of the fork to improve safety, but it will also lead to a decrease in overall efficiency