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Forklift cargo storing and taking method and device based on obstacle avoidance sensor

An obstacle avoidance sensor and access method technology are applied in the field of forklift cargo access methods and devices based on obstacle avoidance sensors, which can solve the problem of inability to effectively and quickly identify the number of pallet layers, and achieve convenient debugging, strong versatility, and algorithms. simple effect

Active Publication Date: 2018-09-18
GUANGDONG JATEN ROBOT & AUTOMATION
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

[0004] In view of this, the purpose of the embodiment of the present invention is to provide a forklift cargo access method and device based on an obstacle avoidance sensor, so as to improve the problem that the existing forklift cannot effectively and quickly identify the number of pallet layers

Method used

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  • Forklift cargo storing and taking method and device based on obstacle avoidance sensor
  • Forklift cargo storing and taking method and device based on obstacle avoidance sensor
  • Forklift cargo storing and taking method and device based on obstacle avoidance sensor

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no. 1 example

[0042] This embodiment provides a method for accessing goods by a forklift based on an obstacle avoidance sensor, so as to improve the problem that the existing forklift cannot accurately and quickly identify the height of pallet layers. In order to obtain better flexibility when forking goods of different heights.

[0043] see figure 2 , figure 2 The forklift cargo access method based on the obstacle avoidance sensor provided in this embodiment is shown, and the forklift cargo access method based on the obstacle avoidance sensor includes steps S10 to S40.

[0044] Step S10: moving the forklift so that the forks of the forklift are at a preset distance from the pallet.

[0045] In this embodiment, the forklift, that is, the AGV with the fork, can transport the goods to the preset position and store them on the pallet shelf, or move to a specific pallet position, and store the goods on the pallet The goods are taken out. For different shelves, the number of pallet layers ...

no. 2 example

[0067] This embodiment provides a forklift cargo access device 200 based on an obstacle avoidance sensor, please refer to Figure 5 , Figure 5 A schematic diagram of the functional modules of the forklift cargo access device 200 based on the obstacle avoidance sensor provided in this embodiment is shown.

[0068] It should be noted that the obstacle avoidance sensor-based forklift cargo access device 200 provided in this embodiment can be used in the electronic device 100100 to implement the obstacle avoidance sensor-based forklift cargo access method provided in the first embodiment. The basic principles of the forklift cargo access device 200 based on the obstacle avoidance sensor provided in this embodiment and the forklift cargo access method based on the obstacle avoidance sensor provided in the first embodiment are roughly the same. Further details will be given. For details not described in this embodiment, please refer to relevant content in the first embodiment.

[0...

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Abstract

The invention provides a forklift cargo storing and taking method and device based on an obstacle avoidance sensor, and relates to the technical field of AGVs. The forklift cargo storing and taking method comprises the steps that height information of pallets for storing cargos is scanned and recognized sequentially; the height of each layer of pallet is calculated according to the scanned and recognized height information of the pallets; and a fork is moved to the height of the preset layer number of pallet for storing and taking the cargos. According to the forklift cargo storing and takingmethod and device, the heights of the pallets can be automatically recognized, the problem of measuring the heights of the pallets when a laser forklift forks the pallets with the different heights can be effectively solved, recognition is rapid and accurate, and the operation time for storing and taking the cargos in each time can be reduced; the algorithm is simple, debugging is convenient, anduniversality is high; the heights of the shelf pallets are scanned and recognized through the obstacle avoidance sensor, and the layer numbers of shelves can be rapidly recognized while the forklift cargo storing and taking method and device are suitable for the different shelves; and the cargo storing and taking process is simplified, the cargo storing and taking time is shortened, and the working efficiency is improved greatly.

Description

technical field [0001] The present invention relates to the field of AGV technology, in particular, to a method and device for accessing goods of a forklift based on an obstacle avoidance sensor. Background technique [0002] In recent years, with the rise of smart factories and unmanned warehouses and the transformation and upgrading of traditional manufacturing industries, laser forklifts based on laser autonomous navigation as an important AGV equipment have been widely used in many automated production lines. In practical applications, when a laser forklift transports materials from point A to point B, the materials are generally stored on pallets, roller lines or shelves with a fixed height and can be manually measured in advance. However, for the scenario where the material heights are different and the pallet materials are stacked continuously, when the laser forklift autonomously picks up the goods, it is necessary to provide a pallet layer identification method. Ho...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B66F9/075B66F9/24
CPCB66F9/075B66F9/24
Inventor 杨显洁
Owner GUANGDONG JATEN ROBOT & AUTOMATION
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