Forklift motion control method and device
A motion control and motion direction technology, applied in the field of mobile robots, can solve problems such as posture deviation, difficulty in ensuring that forklifts or pallets do not deviate from the designated position, and difficulty in picking up accurately by unmanned forklifts, so as to improve flexibility and accuracy Effect
Active Publication Date: 2020-09-25
NANJING SHIBANG INTELLIGENT TECH CO LTD
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Problems solved by technology
[0003] It can be seen that this scheme in the related art can tolerate very little error, and it is difficult to ensure that the forklift or the pallet does not deviate from the designated position due to various factors such as the accumulation of operational errors and sudden operation accidents (tray instability and slippage).
And if one of the two deviates from the calibrated position, or the pallet is at the specified point but the pose has too large a deviation, it will make it difficult for the unmanned forklift to pick up the pallet accurately
Method used
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[0040] Example embodiments will now be described more fully with reference to the accompanying drawings. Example embodiments may, however, be embodied in many forms and should not be construed as limited to the examples set forth herein; rather, these embodiments are provided so that this disclosure will be thorough and complete and fully convey the concept of example embodiments to those skilled in the art.
[0041] Furthermore, the described features, structures, or characteristics may be combined in any suitable manner in one or more embodiments. In the following description, numerous specific details are provided in order to give a thorough understanding of embodiments of the invention. However, those skilled in the art will appreciate that the technical solutions of the present invention may be practiced without one or more of the specific details, or other methods, components, means, steps, etc. may be employed. In other instances, well-known methods, apparatus, implem...
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Disclosed are a forklift (6) motion control method and device (800), the forklift (6) is provided with a measuring unit (7) used for detecting of a tray (1). The forklift (6) motion control method comprises: obtaining tray (1) information detected by the measuring unit (7); determining, according to the tray (1) information detected by the measuring unit (7), a fork entering surface (2) of the tray (1), and the distances (L1, L2) and angles (θ1,θ2) between edges of the measuring unit (7) and the fork entering surface (2); adjusting, on the basis of the distances (L1, L2) and angles (θ1,θ2) between edges of the measuring unit (7) and the fork entering surface (2) as well as the real time motion direction of the forklift (6), the forklift body direction angle of the forklift (6) such that a pallet fork (8) of the forklift (6) enters into a fork entering hole (5) site on the fork entering surface (2).
Description
technical field [0001] The invention relates to the technical field of mobile robots, in particular to a method and device for controlling motion of a forklift. Background technique [0002] The use of unmanned forklifts can save increasingly expensive labor costs and improve the efficiency of logistics and warehousing systems. Unmanned forklifts must be able to know the position and orientation of pallets in order to accurately pick up goods during work. In order to achieve this goal, most unmanned forklifts in related technologies need to pre-calibrate the body orientation when parking to pick up goods. This solution requires The unmanned forklift runs to the calibration point accurately every time, and the pallet must also be placed at the corresponding point determined in advance. [0003] It can be seen that this solution in the related art can tolerate very little error, and it is difficult to ensure that the forklift or the pallet does not deviate from the designated...
Claims
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IPC IPC(8): B66F9/075
CPCB66F9/075
Inventor 王炜安凯
Owner NANJING SHIBANG INTELLIGENT TECH CO LTD