Automatic alignment control method and device for hydraulic pallet fork

Abstract

The invention discloses an automatic alignment control method for a hydraulic pallet fork. The automatic alignment control method comprises the following steps that S1, after a pallet fork of a forklift forks a pallet, the target position and the target course angle of the pallet to be stacked are obtained, and the target position comprises the target height; S2, the distance between a forklift body and the left side of the forked pallet and the distance between the forklift body and the right side of the forked pallet are obtained; S3, the course and the target position of the forklift are compensated according to the forking state of the pallet; S4, the current height of the pallet fork is obtained, and the height of the pallet fork is adjusted to be within the preset deviation range ofthe target height; and S5, the forklift is moved to the compensated target position, and the pallet is placed. According to the control method, the target position and the target course angle of the forklift can be compensated based on the forking state of the pallet, and therefore automatic alignment of the pallet fork is achieved, the stacking precision is improved, and accumulative errors are eliminated. The invention further discloses an automatic alignment control device for the hydraulic pallet fork.

Description

technical field [0001] The invention relates to an automatic alignment control method of a hydraulic fork and an automatic alignment control device for a hydraulic fork, belonging to the technical field of automatic control. Background technique [0002] At present, unmanned warehouses have become the mainstream development trend. There are two types of goods stacked in the unmanned warehouse, one is placed on the shelf; the other is in the form of ground palletizing. The access to goods in the unmanned warehouse is a fully autonomous guided stacker truck (Automated Guided Veh i c l e, AGV), also known as a forklift. During the use of forklifts, especially in the process of forking and stacking goods, there is a problem of fork alignment. [0003] High-level pick-and-place goods, especially in the case of pallets without shelves, especially heavy-duty pallets, have high safety requirements and high requirements for palletizing accuracy. When using forklifts for palletizing...

AI Technical Summary

Problems solved by technology

The independent hydraulic lifting system is equipped with a displacement sensor, so that the fork can start and stop at any position, but the accuracy is poor

In addition, stacker AGV generally relies on absolute navigation systems such as magnetic stripe navigation and laser navigation, lacks high-precision relative pose measurement of the pallet, and cannot correct the relative deviation between the fork and the pallet when the fork is picked up. The pallets can be forked at the best position, and the repetition accuracy cannot be guaranteed, resulting in the accumulation of pallet stacking deviations without shelves. For heavy-duty goods, there is a risk of dumping

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