Flexible object stacking method and storage medium

Abstract

The invention provides a flexible object stacking method and a storage medium. According to the flexible object stacking method, the material stack height h 1 of an unloading designated site is identified through a laser sensor, a laser forklift raises a fork arm to a height h 2 that is greater than h 1, so that the situation that when the material is dispensed, the material collides with the material stack at the unloading designated site, and therefore the putting work is affected is avoided; through arranging an non-contact sensor to detect the contact state of the upper end face of the fork arm and a pallet jack, when the fork arm of the laser forklift drives the pallet to descend to the material stack, the weight of the object on the pallet enables the flexible object on the materialstack to be compressed by pressure; and when the flexible object is compressed to the limit, the pallet no longer descends, and the fork arm of the laser forklift continues to descend, so that the upper end face of the fork arm is separated from the jack, the contact signal is disconnected through the non-contact sensor, and therefore the object is judged to be put into place. Compared with the prior art, the stacking method can detect whether the flexible object is put in place or not, the detection mode is simple and direct, and the stacking efficiency of the flexible object can be effectively improved.

Description

technical field [0001] The invention relates to the field of object positioning, in particular to a flexible object stacking method and a storage medium. Background technique [0002] With the development of intelligent manufacturing, manual forklifts are slowly being replaced by AGVs. Therefore, many places that were originally judged and controlled by humans need to be replaced by a set of safe intelligent control solutions to improve automated production efficiency and save time and manpower. cost. In the process of handling flexible objects using AGV, after the objects reach the designated stacking point, the flexible objects need to be stacked to save space. During the stacking process, the height of the objects will increase after each layer is stacked, but due to Flexible objects have elasticity or plasticity, and the weight of the stacked goods is different, the degree of compression of the lower objects is different, and the maximum height after pushing is also dif...

AI Technical Summary

Problems solved by technology

In the process of handling flexible objects using AGV, after the objects reach the designated stacking point, the flexible objects need to be stacked to save space. During the stacking process, the height of the objects will increase after each layer is stacked, but due to Flexible objects have elasticity or plasticity, and the weight of the stacked goods is different, the degree of compression of the lower objects is different, and the maximum height after pushing is also different. Therefore, it is impossible to judge whether the material is stacked in place by absolute value, and only manual judgment can be used. Whether the material is pushed in place, therefore, it is impossible to realize fully automatic handling and delivery of goods, which reduces the efficiency of flexible object transportation and is not conducive to the promotion and application of AGV

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