Method and device for recognizing clamping plate furcal hole through intelligent forklift

A technology of intelligent forklift and identification card, applied in the direction of lifting device, etc., can solve the problems of low precision of fork goods, inability to automatically guide the intelligent forklift to enter the fork action, etc., and achieve the effect of improving the precision of fork entry.

Active Publication Date: 2016-07-20
GUANGZHOU FEIRUI ROBOTS TECH CO LTD
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  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

[0003] The technical problem to be solved by the present invention is to provide a smart forklift that can improve the precision of fork entry and can automatically Method and device for guiding intelligent forklift to complete fork-in action using intelligent forklift to identify pallet fork hole

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  • Method and device for recognizing clamping plate furcal hole through intelligent forklift
  • Method and device for recognizing clamping plate furcal hole through intelligent forklift
  • Method and device for recognizing clamping plate furcal hole through intelligent forklift

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Embodiment Construction

[0029] The following will clearly and completely describe the technical solutions in the embodiments of the present invention with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only some, not all, embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by persons of ordinary skill in the art without making creative efforts belong to the protection scope of the present invention.

[0030] In the embodiment of the method and device for identifying pallet fork holes using an intelligent forklift in the present invention, figure 1 It is a flow chart of the method for using an intelligent forklift to identify pallet fork holes in this embodiment; figure 2 It is a schematic diagram of the position of the intelligent forklift and the pallet in this embodiment; image 3 It is a structural schematic diagram of the pallet in this embodiment; ...

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Abstract

The invention discloses a method for recognizing a clamping plate furcal hole through an intelligent forklift. The method comprises the steps that a laser scanner acquires the data of the surrounding environment of a fork arm, and passes the environment data back to a software program in the intelligent forklift in real time; the software program analyzes the received environment data, extracts relevant characteristic values of a clamping plate, carries out wave filtering on consecutive points, and filters discrete points; interference point clusters in point clusters generated after the consecutive points are subjected to wave filtering according to the relevant characteristic values of the clamping plate are filtered, cargo pier sets are found, and the positional relationship among the cargo pier sets is analyzed; and the position of the furcal hole of the clamping plate is found and tracked, and the intelligent forklift is guided to complete the furcal hole entering action. The invention further relates to a device for achieving the method. The method and the device for recognizing the clamping plate furcal hole through the intelligent forklift have the beneficial effects that the furcal hole entering accuracy of the intelligent forklift can be improved, and the intelligent forklift can be automatically guided to complete the furcal hole entering action.

Description

technical field [0001] The invention relates to the field of intelligent forklifts, in particular to a method and device for identifying fork holes of pallets using an intelligent forklift. Background technique [0002] Most of the existing smart forklifts do not have the function of precise fork insertion. When the pallets are placed irregularly, they are easy to insert and push the pallets to move, which poses a great safety hazard. In order to solve this problem, a small number of intelligent forklifts A contact sensor is installed on the pallet. When the pallet is placed irregularly and the angle of the fork deviates from the center line is large, the fork tip contacts the pallet, and the contact sensor feeds back a signal to the intelligent forklift. The former did not judge the position of the clamping plate during the fork entry process. The latter cannot provide external environmental data to the robot (intelligent forklift) when the fork tip sensor does not touch t...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B66F9/075
CPCB66F9/07504
Inventor 张徐
Owner GUANGZHOU FEIRUI ROBOTS TECH CO LTD
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