Intelligent AGV forklift fork entry auxiliary method and device

Abstract

The invention discloses an intelligent AGV forklift fork entry auxiliary method and device. The device comprises a Hall proximity switch sensor module, a diffuse reflection type infrared photoelectricobstacle avoidance sensor module, a 77GHz millimeter wave radar module and a travel switch module which are sequentially installed at the tip end of a forklift insertion rod. The method comprises thesteps that in the inserting process, a diffuse reflection type infrared photoelectric obstacle avoidance sensor module detects whether an obstacle exists in front of a forklift inserting rod or not;the Hall proximity switch sensor module detects whether an obstacle exists above the forklift insertion rod or not; the 77GHz millimeter wave radar module detects the distance between the lower portion of the forklift insertion rod and an obstacle; the left-right travel switch detects whether the forklift inserting rod collides with the pallet left and right or not and adjusts the movement track of the forklift according to the detection result, so that the forklift inserting rod can be accurately inserted into the pallet hole. According to the invention, the AGV forklift is helped to keep theaccurate position of the insertion rod in the fork entering process, and the fork entering accuracy of the forklift is improved.

Description

technical field [0001] The invention belongs to the technology of intelligent AGV forklifts, in particular to a method and device for assisting fork entry of intelligent AGV forklifts. Background technique [0002] Forklifts play an important role in the warehousing and logistics of enterprises and are the main force in material handling equipment. At present, the trend of intelligent AGV forklifts with automatic identification technology, intelligent positioning technology, wireless transmission technology and other technologies to replace traditional manual forklifts is becoming more and more obvious. Usually the goods are loaded on the pallet, and there is a fork hole at the bottom of the pallet. When the intelligent AGV forklift is moving the goods, the fork hole of the pallet is recognized by means of camera recognition, so that the forklift can carry the goods. [0003] However, in the actual application of warehousing, the appearance of the pallet holes is different,...

AI Technical Summary

Problems solved by technology

[0003] However, in the actual application of warehousing, the appearance of the pallet holes is different, the stains are seriously damaged, etc., resulting in the inability to accurately identify the position of the pallet holes during identification; the placement of multi-layer pallets is not standard, and there are many pallets around Due to dense placement and other conditions, it is impossible to accurately insert the pallet hole when entering the fork, and even insert it into the pallet hole of the next row of goods, making it impossible for the smart AGV forklift to carry the goods

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