A flexible object stacking method and storage medium

Abstract

The invention provides a flexible object stacking method and a storage medium, which uses a laser sensor to identify the height h1 of the material pile at the designated site for unloading, and the laser forklift lifts the fork arm to a height h2 greater than h1, thereby avoiding the difference between loading and unloading when the material is placed. The collision of the material pile at the designated station will affect the delivery work. By setting the non-contact sensor to detect the contact state between the upper end surface of the fork arm and the pallet jack, when the fork arm of the laser forklift drives the pallet down to the material pile, the stacker will The weight of the objects on the board causes the flexible objects on the material pile to be compressed by pressure. When the flexible objects are compressed to the limit, the pallet will no longer drop, and the yoke of the laser forklift will continue to drop to separate the upper end surface of the yoke from the socket. The non-contact sensor disconnects the contact signal, thereby judging that the object is placed in place. Compared with the prior art, the stacking method of the present invention can detect whether the flexible objects are placed in place, and the detection method is simple and direct, which can effectively improve the stacking efficiency of the flexible objects.

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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