AGV forklift and prong position adjusting method and system of AGV forklift

Abstract

The invention discloses a prong position adjusting method of an AGV forklift. The prong position adjusting method of the AGV forklift comprises the following steps that firstly, three-dimensional images of pallet forking holes are captured through a field depth sensor, and according to the three-dimensional images, the current coordinate positions of the forking holes are obtained; then, the current coordinate positions of the prong points of the prongs are obtained; finally, whether the current included angle between the current coordinate position of each prong point and the current coordinate position of the corresponding forking hole is within a preset angle range or not is judged, if yes, the prongs are inserted into the forking holes, and if not, the prong positions are adjusted relative to the forking holes until the current included angle is within the preset angle range. The arranged field depth sensor can automatically detect the positions of the forking holes, the prongs are made to automatically adjust the positions according to the positions of the forking holes, and then the prongs are automatically matched with the forking holes; and in this way, the automation degree is high, the manual participation degree is low, the intelligence degree is high, and the work efficiency is high. The invention further discloses a prong position adjusting system of the AGV forklift and the AGV forklift comprising the prong position adjusting system.

Description

technical field [0001] The invention relates to the technical field of forklifts, in particular to an AGV forklift fork tine position adjustment method and system. The invention also relates to an AGV forklift comprising an AGV forklift tine position adjustment system. Background technique [0002] In recent years, in order to meet the needs of intelligent and high-speed development in the industrial field and logistics field, the requirements for the intelligence and reliability of forklifts have been continuously improved. [0003] In view of the high difficulty of automatic alignment between the tines of the forklift and the fork holes of the pallet, the intelligence of existing forklifts is limited, and most of the functions of the forklift still need to be realized by manually operating the relevant buttons. For example, the driver manually manipulates the forklift to make the forklift run between the goods and the warehouse. When the tines move to the target material...

AI Technical Summary

Problems solved by technology

[0004] It can be seen that the existing forklifts mostly rely on manual adjustment of the position of the fork teeth, which has a high degree of manual participation, high difficulty in operation, and low degree of intelligence, which affects the working efficiency of the forklift.

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