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High-lift forklift, calibration method for returning storage container and storage medium

A container and forklift technology, applied in the direction of lifting devices, etc., can solve the problems of failure to return inventory containers, falling of high-level goods, damaged inventory containers, etc., and achieve the effect of improving return efficiency and accurate return

Active Publication Date: 2019-07-09
BEIJING JIZHIJIA TECH CO LTD
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

However, the environment of the warehouse site is complex. If the ground is uneven, or there are obstacles on the ground (such as dropped goods), the two wheels of the forklift will be uneven, which will easily lead to failure to return the inventory container, or even damage the inventory container, high-level cargo falling, etc. ACCIDENT

Method used

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  • High-lift forklift, calibration method for returning storage container and storage medium
  • High-lift forklift, calibration method for returning storage container and storage medium
  • High-lift forklift, calibration method for returning storage container and storage medium

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Embodiment 1

[0033] image 3 It is a schematic structural diagram of a high-position forklift provided in Embodiment 1 of the present invention, including a fork 1, an image collector 2, a distance sensor 3 and a processing module 4, wherein the processing control module 4 is connected with the fork 1, the image collector 2, The distance sensor 3 is electrically connected; further, the processing control module 4 is connected with the fork 1 through a driving mechanism, and controls the movement of the fork 1 through the driving mechanism, and the driving mechanism includes a driving motor, gears and other components. It should be noted here that the high-position forklift in other embodiments of the present invention (such as Figure 4 and Figure 5a ) The drive mechanism in the present embodiment has the same composition and function as the drive mechanism in this embodiment.

[0034] The pallet fork 1 includes a first pallet fork 11 and a second pallet fork 12 for carrying storage con...

Embodiment 2

[0043] Figure 4 It is a schematic structural diagram of a high-position forklift provided in this implementation. This embodiment is optimized on the basis of the above-mentioned embodiments. The processing control module 4 includes:

[0044] The target position adjustment unit is used to control the fork to move to the target position by moving left and right or up and down according to the position of the collected positioning mark in the image taken by the image collector, wherein, at the target position, the positioning mark corresponds to The projected image of is located at a preset standard position within the image captured by the image grabber.

[0045] Wherein, the preset standard position is exemplarily the center position of the image captured by the image collector. Due to the flatness of the ground or the control accuracy of the high-level forklift itself, when the fork lifts the storage container to the same height as the target layer of the target storage con...

Embodiment 3

[0051] Figure 5a It is a schematic structural diagram of a high-position forklift provided in this implementation. This embodiment is optimized on the basis of the above-mentioned embodiments. The processing control module 4 includes:

[0052] A judging unit, configured to judge the collected positioning mark according to the position of the collected positioning mark in the image captured by the image collector before the vertical moving unit moves the fork vertically upward from the target position by a preset distance Whether the angle deviation in the horizontal direction is greater than the preset angle threshold.

[0053] Due to the influence of the flatness of the warehouse floor, the fork will have a certain inclination, so it is necessary to determine whether the inclination of the current fork will affect the return of the storage container. Specifically, it may be determined by judging whether the angle deviation of the collected positioning marks in the horizonta...

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Abstract

The embodiment of the invention discloses a High-lift forklift, a calibration method for returning a storage container and a storage medium. The high-lift forklift comprises a fork. The fork is provided with an image collector and a distance sensor. The image collector is used for collecting locating mark on a target inventory container to obtain image data capable of representing the position relationship between the projected images of the fork and the locating mark on a designated plane. The distance sensor is used for measuring the distance between the fork and the target inventory container and obtaining the distance data. The calibration method for returning the storage container comprises the steps that after the fork lifts the storage container to be placed to the same height of atarget layer of the target inventory container, and according to the image data, the position relationship between the projected images of the fork and the locating mark on the designated plane is adjusted; according to the distance data, the distance between the fork and the target inventory container is adjusted. In this way, through adjustment of the position of the fork relative to the inventory container, the storage container is accurately returned, and the returning efficiency of the storage container is improved.

Description

technical field [0001] The embodiment of the present invention relates to the technical field of unmanned forklift equipment, and in particular to a high-position forklift, a calibration method for returning a storage container, and a storage medium. Background technique [0002] With the rapid development of my country's logistics industry, safe and efficient operating procedures have become a necessary means for various logistics companies to enhance their market competitiveness. In many logistics warehouses, in order to save space, the height of storage racks is usually increased, and Design corresponding storage and retrieval equipment, and for larger or heavier items, high-position forklifts have become flexible, efficient and fast storage and retrieval tools in logistics warehouses. Moreover, usually after the high-position forklift has taken the items, the storage container (such as a pallet) containing the items needs to be returned to the corresponding storage contai...

Claims

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Application Information

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IPC IPC(8): B66F9/06B66F9/075
CPCB66F9/06B66F9/0755
Inventor 纪彬
Owner BEIJING JIZHIJIA TECH CO LTD
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