Control method for a forklift device, forklift device, storage medium, and processor

Abstract

Embodiments of the present application provide a control method for a forklift, the forklift, a storage medium and a processor. The forklift comprises forks, an arm support assembly and a rotating platform. The arm support assembly comprises a telescopic arm support, an image acquisition device and a radar device mounted on the telescopic arm support. The control method comprises: determining a first horizontal interval distance between the image acquisition device and a target pallet by the radar device; and acquiring an actual image position of the target pallet in a pallet stack image by the image acquisition device. Movement parameters of the arm support assembly and the rotating platform are determined according to a deviation value between the actual image position and a target image position. The arm support assembly and the rotating platform are controlled to execute the movement parameters, so that the forks and a hole of the target pallet are on the same horizontal line. The forklift operation can be performed according to the deviation value between the actual image position and the target image position, so as to improve the accuracy and efficiency of the forklift operation on the target pallet.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of intelligent warehousing, in particular to a control method for a fork loading device, the fork loading device, a storage medium and a processor. BACKGROUND

[0002] The telescopic arm forklift is a special equipment that transports goods to a certain height through a telescopic variable amplitude arm frame, and has comprehensive functions such as loading, lifting and transportation. In the prior art, due to the large blind area of the operation angle, the long distance of the goods and the large fork loading workload, the fork loading operation has very high requirements on the driver, and also needs to be coordinated with the command personnel. Therefore, when the driver performs the fork loading operation, not only the work efficiency of the fork loading operation is very low, but also there is a great operation risk to the surrounding environment and the telescopic arm forklift itself. SUMMARY

[0003] The purpose of the embodiments of the present application is to provide a control method for a fork loading device, the fork loading device, a storage medium and a processor.

[0004] In order to achieve the above-mentioned purpose, the first aspect of the present application provides a control method for a fork loading device, the fork loading device comprising a fork, an arm frame assembly and a rotating platform, the arm frame assembly comprising a telescopic arm frame, an image acquisition device and a radar device mounted on the telescopic arm frame, the control method comprising:

[0005] In the case that the fork loading device is at a position separated from the target carrier by a first preset distance, determining, by the radar device, that the first horizontal interval distance between the image acquisition device and the target carrier is a first value;

[0006] acquiring, by the image acquisition device, a carrier stacking image of the area where the target carrier is located;

[0007] determining the actual image position of the target carrier in the carrier stacking image;

[0008] determining the motion parameters of the arm frame assembly and the rotating platform according to the deviation value between the actual image position and a target image position, wherein the target image position corresponds to the first value, and the target image position refers to the target position of the target carrier in the carrier stacking image in the case that the fork and the hole of the target carrier are on the same horizontal line;

[0009] controlling the arm frame assembly and the rotating platform to execute the motion parameters, so that the fork and the hole of the target carrier are on the same horizontal line.

[0010] In the embodiments of the present application, the determining the motion parameters of the boom assembly and the slewing platform according to the deviation value between the actual image position and the target image position comprises: in the case that the deviation value is greater than a preset deviation threshold, determining first motion parameters of the boom assembly and the slewing platform according to the deviation value respectively; controlling the boom assembly and the slewing platform to perform the corresponding first motion parameters respectively so that the deviation value is less than or equal to the preset deviation threshold, and then determining that the fork and the hole of the target pallet are on the same horizontal line.

[0011] In the embodiments of the present application, the deviation value comprises a longitudinal deviation value and a transverse deviation value, the forklift device further comprises a slewing electromagnetic valve and a boom luffing electromagnetic valve, the slewing electromagnetic valve is installed on the slewing platform, and the boom luffing electromagnetic valve is installed on the boom assembly, and the determining the first motion parameters of the boom assembly and the slewing platform according to the deviation value respectively comprises: determining a first current value of the slewing electromagnetic valve and a second current value of the boom luffing electromagnetic valve according to the transverse deviation value and the longitudinal deviation value respectively; determining the first motion parameter of the slewing platform according to the first current value of the slewing electromagnetic valve, and determining the first motion parameter of the boom assembly according to the second current value of the boom luffing electromagnetic valve.

[0012] In the embodiments of the present application, the control method further comprises: in the case that the deviation value is less than or equal to the preset deviation threshold, controlling the slewing platform to stop slewing, and determining a second horizontal interval distance between the radar device and the hole of the target pallet; in the case that the second horizontal interval distance is greater than a second preset distance, determining a second motion parameter of the boom assembly according to the second horizontal interval distance; and controlling the boom assembly to perform the second motion parameter so that the fork moves along the horizontal line where the target pallet is located until the interval distance between the radar device and the hole of the target pallet is less than or equal to the second preset distance.

[0013] In the embodiments of the present application, the determining the second motion parameter of the boom assembly according to the second horizontal interval distance comprises: determining a single telescopic length of the boom assembly arm length when the boom assembly performs each motion cycle, wherein the motion cycle comprises a luffing operation of the boom assembly and / or a telescopic operation of the telescopic boom; determining a single luffing angle of the boom assembly according to the single telescopic length; determining a single horizontal movement distance of the fork when the boom assembly performs each motion cycle according to the single telescopic length and the single luffing angle; determining an execution number of the motion cycle performed by the boom assembly according to the second horizontal interval distance and the single horizontal movement distance; determining the second motion parameter of each boom assembly when it performs each motion cycle; and controlling the boom assembly to complete the second motion parameter of the execution number so that the fork moves along the horizontal line where the target pallet is located until the interval distance between the fork tip of the fork and the hole of the target pallet is less than or equal to the second preset distance.

[0014] In the embodiments of the present application, the forklift device further comprises an arm frame telescoping electromagnetic valve and an arm frame luffing electromagnetic valve, both of which are installed on the arm frame assembly; determining the second motion parameter of each arm frame assembly during each motion cycle comprises: determining a third current value of the arm frame luffing electromagnetic valve according to the single luffing angle; determining a fourth current value of the arm frame telescoping electromagnetic valve according to the single telescoping length; and determining the second motion parameter of the arm frame assembly during each motion cycle according to the third current value and the fourth current value.

[0015] In the embodiments of the present application, determining the single luffing angle of the arm frame assembly according to the single telescoping length comprises: determining an initial coordinate position of the image acquisition device at an initial time point of each motion cycle; and determining the single luffing angle of each motion cycle according to the initial coordinate position and the single telescoping length.

[0016] In the embodiments of the present application, the control method further comprises: when the forklift device is at a position separated from the target pallet by a first preset distance, acquiring, by the image acquisition device, a plurality of pallet stack images of the pallet stack; performing feature extraction on the pallet holes in each pallet stack image to obtain feature data corresponding to the pallet holes, the feature data at least including the size of the pallet holes and the spacing distance between the holes of the pallet holes; and determining the pallet corresponding to the feature data that is successfully matched with the target feature data as the target pallet.

[0017] In the embodiments of the present application, the control method further comprises: acquiring a historical image of a historical pallet stack, wherein the historical image is taken when the image acquisition device is separated from the historical pallet stack by a third preset distance; determining historical feature data of the holes of each historical pallet in the historical image; determining the type of the pallet corresponding to the holes of each historical pallet according to the historical feature data; and determining the historical feature data of the holes of the historical pallets of each pallet type as the target feature data of each pallet type.

[0018] The second aspect of the present application provides a forklift device, comprising:

[0019] a fork for performing a forklift operation on a target pallet;

[0020] an arm frame assembly connected with the fork, the arm frame assembly comprising a telescopic arm frame, an image acquisition device and a radar device installed on the telescopic arm frame, the image acquisition device being used to acquire a pallet stack image of a region where the target pallet is located, the position of the fork changing when the telescopic arm frame is in extension or contraction, and the radar device being used to determine a first horizontal interval distance between the image acquisition device and the target pallet;

[0021] a rotating platform connected with the arm frame assembly, the position of the fork changing when the rotating platform rotates; and

[0022] A processor configured to perform the control method for the forklift truck described above.

[0023] In the embodiments of the present application, a rotary electromagnetic valve is installed on the rotary platform, and the rotary electromagnetic valve controls the rotary operation of the rotary platform by adjusting a first current value; an arm frame luffing electromagnetic valve is installed on the arm frame assembly, and the arm frame luffing electromagnetic valve controls the luffing of the arm frame assembly by adjusting a second current value or a third current value; and an arm frame telescopic electromagnetic valve is installed on the arm frame assembly, and the arm frame telescopic electromagnetic valve controls the extension or contraction of the telescopic arm frame by adjusting a fourth current value.

[0024] The third aspect of the present application provides a machine readable storage medium, which stores instructions, and the instructions, when executed by a processor, cause the processor to be configured to perform the control method for the forklift truck described above.

[0025] The fourth aspect of the present application provides a processor configured to perform the control method for the forklift truck described above.

[0026] Through the above technical solution, the image acquisition device is installed on the telescopic arm frame of the forklift truck, so that the actual image position of the target pallet in the pallet stack image can be determined. The radar device installed on the telescopic arm frame can determine the first horizontal interval distance between the image acquisition device and the target pallet. The motion parameters of the arm frame assembly and the rotary platform are determined according to the deviation value between the actual image position and the target image position. The motion parameters of the arm frame assembly and the rotary platform are controlled to make the forks and the hole of the target pallet be in the same horizontal line. The forklift truck can perform the forklift operation according to the deviation value between the actual image position and the target image position, so as to improve the accuracy and efficiency of the forklift operation of the forks on the target pallet.

[0027] Other features and advantages of the embodiments of the present application will be described in detail in the following specific embodiments. BRIEF DESCRIPTION OF DRAWINGS

[0028] The accompanying drawings are included to provide a further understanding of the embodiments of the present application, and constitute a part of the specification, and are used to explain the embodiments of the present application together with the following specific embodiments, but do not constitute a limitation to the embodiments of the present application. In the drawings:

[0029] Figure 1 The flowchart of the control method for the forklift truck according to the embodiments of the present application is schematically shown;

[0030] Figure 2 The schematic diagram of the forklift truck according to the embodiments of the present application is schematically shown;

[0031] Figure 3 The schematic diagram of the pallet stack image according to the embodiments of the present application is schematically shown;

[0032] Figure 4 A schematic diagram of motion analysis of the arm assembly according to an embodiment of the present application in a motion cycle is shown;

[0033] Figure 5 A structural block diagram of the forklift according to an embodiment of the present application is shown;

[0034] Figure 6 A structural block diagram of the forklift according to another embodiment of the present application is shown;

[0035] Figure 7 An internal structural diagram of the computer device according to an embodiment of the present application is shown. DETAILED DESCRIPTION

[0036] To make the objectives, technical solutions and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be described clearly and completely below with reference to the drawings in the embodiments of the present application. It should be understood that the specific embodiments described herein are only used to explain and illustrate the embodiments of the present application and should not be used to limit the embodiments of the present application. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative work fall within the scope of protection of the present application.

[0037] Figure 1 A flowchart of a control method for the forklift according to an embodiment of the present application is shown. As shown in Figure 1 In an embodiment of the present application, a control method for a forklift is provided, the forklift comprising a fork, an arm assembly and a rotating platform, the arm assembly comprising a telescopic arm, an image acquisition device and a radar device mounted on the telescopic arm, the control method comprising the following steps:

[0038] Step 102, when the forklift is at a position with a first preset distance from the target pallet, determining, by the radar device, that a first horizontal interval distance between the image acquisition device and the target pallet is a first value.

[0039] Step 104, acquiring, by the image acquisition device, a pallet stack image of a region where the target pallet is located.

[0040] Step 106, determining an actual image position of the target pallet in the pallet stack image.

[0041] Step 108, determining the motion parameters of the boom assembly and the slewing platform according to the deviation value between the actual image position and the target image position, wherein the target image position corresponds to the first value, and the target image position refers to the case that the fork and the hole of the target pallet are in the same horizontal line, and the target position of the target pallet in the pallet stack image.

[0042] Step 110, controlling the boom assembly and the slewing platform to execute the motion parameters, so that the fork and the hole of the target pallet are in the same horizontal line.

[0043] The forklift device is a special device that can horizontally transport and vertically lift goods. It is commonly used for loading and unloading, stacking, unstacking, and short-distance moving of objects such as pieces, packages, pallets, or containers, etc. Figure 2 As shown in the figure, Figure 2 The schematic diagram of the forklift device according to the embodiment of the present application is schematically shown. The forklift device includes a fork 210, a boom assembly 220, and a slewing platform 230. The boom assembly 210 includes a telescopic boom 211, an image acquisition device 212 installed on the telescopic boom 211, and a radar device 213. The image acquisition device is any one of a camera, a video camera, a camera, a scanner, or other devices with a photographing function (mobile phones, tablets, etc.). The image acquisition device is installed directly above the fork and is used to acquire images in front of the fork of the forklift device. The fork tip is always in the center position in the image acquired by the image acquisition device. The forklift device can move to the vicinity of the pallet stack to perform a forklift operation on the target pallet. Then, the processor can determine the first horizontal interval distance between the image acquisition device and the target pallet as the first value when the forklift device is at a position separated from the target pallet by a first preset distance. The target pallet refers to the pallet corresponding to the forklift operation, and each pallet includes at least two holes for forklift. The first preset distance and the first horizontal interval distance can be measured by the radar device. The radar device 213 refers to a device that detects through wireless signals. The radar device 213 is installed on the telescopic boom and can be a laser radar. Its installation position is in the same vertical direction as the image acquisition device. The first preset distance refers to the distance between the position of the forklift device and the position of the target pallet. When the forklift device and the target pallet are at the first preset distance, the telescopic arm of the forklift device can be conveniently moved. The first horizontal interval distance refers to the interval distance between the image acquisition device and the target pallet in the horizontal direction. The processor can determine the first value of the first horizontal interval distance. It can be understood that the first value is less than the value of the first preset distance, and the first value is greater than or equal to the length of the fork.

[0044] Further, the processor can acquire a stack image of the stack of the target pallet by the image acquisition device. When the image acquisition device acquires the image corresponding to the target pallet, the image acquisition device usually also acquires a picture in which the plurality of pallets around the target pallet are stacked together. The stack image refers to an image of the stack formed by the plurality of pallets in the area where the target pallet is located. The processor can determine an actual image position of the target pallet in the stack image. The actual image position refers to an actual pixel position of the target pallet in the stack image when a first horizontal interval distance between the image acquisition device and the target pallet is a first value. The target image position corresponds to the first value, and the target image position refers to a target position of the target pallet in the stack image when the fork and the hole of the target pallet are on the same horizontal line. That is, when the first horizontal interval distance between the image acquisition device and the target pallet is the first value, and the fork and the hole of the target pallet are on the same horizontal line, a theoretical pixel position of the target pallet in the stack image is the target image position.

[0045] The processor can determine the motion parameters of the boom assembly and the slewing platform according to a deviation value between the actual image position and the target image position. The deviation value refers to a coordinate value between a pixel coordinate corresponding to the actual image position and a pixel coordinate of the target image position. The motion parameters refer to at least one of a telescopic length corresponding to a telescopic operation of the boom assembly, an angle of inclination corresponding to an operation of changing the angle of inclination, a telescopic length and an angle of inclination corresponding to a telescopic operation and an operation of changing the angle of inclination at the same time, and a slewing angle of the slewing platform. The processor can control the boom assembly and the slewing platform to perform the corresponding motion parameters, so that the fork and the hole of the target pallet are on the same horizontal line. At this time, based on image acquisition and distance measurement, the fork can perform an accurate forking action on the target pallet.

[0046] In one embodiment, with reference to Figure 3 The target image position can be described by a pixel coordinate of the target pallet in the stack image, and the pixel coordinate includes a target horizontal coordinate and a target vertical coordinate. The skilled person can set the installation of the image acquisition device on the telescopic boom assembly, so that the pixel coordinate of the fork tip is in the center position in the image. Then, when the fork tip and the hole of the target pallet are aligned and the distance therebetween is 0, the pixel coordinate of the target pallet acquired by the image acquisition device (point A) is in the center position of the stack image (for example, as shown in FIG. 6B). Figure 3The image captured by the image capturing device is changed with the extension of the telescopic arm support, but the shooting angle of the image capturing device is not changed. Then, when the fork prong and the hole of the target pallet are in the same horizontal line and the distance therebetween is not 0, the target horizontal coordinate of the target pallet is not changed, but the target vertical coordinate of the target pallet is changed according to the distance between the image capturing device (O point) and the target pallet. If the first horizontal interval distance between the image capturing device and the hole of the target pallet is a second value, the image captured by the image capturing device is a current pallet stack image (as shown in the lower right side of FIG. 8). Figure 3 The image captured by the image capturing device is changed with the extension of the telescopic arm support, but the shooting angle of the image capturing device is not changed. Then, when the fork prong and the hole of the target pallet are in the same horizontal line and the distance therebetween is not 0, the target horizontal coordinate of the target pallet is not changed, but the target vertical coordinate of the target pallet is changed according to the distance between the image capturing device (O point) and the target pallet. If the first horizontal interval distance between the image capturing device and the hole of the target pallet is a second value, the image captured by the image capturing device is a current pallet stack image (as shown in the lower right side of FIG. 8).

[0047] H1 = H0 x L1 / L0 (1);

[0048] H1 = H0 x L1 / L0 (1);

[0048] H1 = H0 x L1 / L0 (1);

[0048] H1 = H0 x L1 / L0 (1);

[0049] In one embodiment, determining the motion parameters of the arm support assembly and the slewing platform according to the deviation value between the actual image position and the target image position comprises: when the deviation value is greater than a preset deviation threshold, determining first motion parameters of the arm support assembly and the slewing platform according to the deviation value, respectively; and controlling the arm support assembly and the slewing platform to perform corresponding first motion parameters so that the deviation value is less than or equal to the preset deviation threshold, and then determining that the fork prong and the hole of the target pallet are in the same horizontal line.

[0050] The processor can determine the first motion parameters of the boom assembly and the slewing platform according to the deviation value when the deviation value is greater than the preset deviation threshold. Since errors are inevitable during the movement of the mechanical device, the working efficiency can be improved by reasonably setting the preset deviation threshold. The preset deviation threshold refers to the error coordinate value between the pixel coordinates corresponding to the actual image position and the pixel coordinates of the target image position. The first motion parameters refer to the luffing angle of the boom assembly performing the luffing operation and the slewing angle of the slewing platform performing the slewing operation. The processor can control the boom assembly and the slewing platform to perform the corresponding first motion parameters, so that the deviation value is less than or equal to the preset deviation threshold. At this time, the processor can determine that the fork and the hole of the target carriage are on the same horizontal line.

[0051] In one embodiment, the deviation value includes a longitudinal deviation value and a transverse deviation value, the forklift device further includes a slewing electromagnetic valve and a boom luffing electromagnetic valve, the slewing electromagnetic valve is installed on the slewing platform, and the boom luffing electromagnetic valve is installed on the boom assembly. According to the deviation value, the first motion parameters of the boom assembly and the slewing platform are determined, which includes: determining the first current value of the slewing electromagnetic valve and the second current value of the boom luffing electromagnetic valve according to the transverse deviation value and the longitudinal deviation value; determining the first motion parameters of the slewing platform according to the first current value of the slewing electromagnetic valve, and determining the first motion parameters of the boom assembly according to the second current value of the boom luffing electromagnetic valve.

[0052] The longitudinal deviation value refers to the longitudinal coordinate value between the pixel coordinates corresponding to the actual image position and the pixel coordinates of the target image position. The transverse deviation value refers to the transverse coordinate value between the pixel coordinates corresponding to the actual image position and the pixel coordinates of the target image position. The slewing electromagnetic valve refers to the electromagnetic valve for controlling the current of the slewing platform to perform the slewing operation. The boom luffing electromagnetic valve refers to the electromagnetic valve for controlling the current of the boom assembly to perform the luffing operation. The slewing electromagnetic valve is installed on the slewing platform, and the boom luffing electromagnetic valve is installed on the boom assembly. The processor can determine the first current value of the slewing electromagnetic valve according to the transverse deviation value, and can determine the first motion parameters of the slewing platform according to the first current value. The processor can determine the second current value of the boom luffing electromagnetic valve according to the longitudinal deviation value, and can determine the first motion parameters of the boom assembly according to the second current value. The first current value refers to the current value of the slewing electromagnetic valve when performing the slewing operation. The second current value refers to the current value of the boom luffing electromagnetic valve corresponding to the luffing operation when the fork is not on the same horizontal line as the hole of the target carriage.

[0053] For example, in a case that the actual image position of the target carriage is located at the right side of the target image position and the lateral deviation value Δx is greater than the preset deviation threshold, the processor can control the first current value of the slewing electromagnetic valve so that the slewing platform rotates counterclockwise until the Δx is less than the preset deviation threshold, and the processor can control the first current value of the slewing electromagnetic valve to be -50 mA so that the slewing platform stops moving. In a case that the actual image position of the target carriage is located at the left side of the target image position and the lateral deviation value Δx is greater than the preset deviation threshold, the processor can control the first current value of the slewing electromagnetic valve so that the slewing platform rotates clockwise until the Δx is less than the preset deviation threshold, and the processor can control the first current value of the slewing electromagnetic valve to be -50 mA so that the slewing platform stops moving. In a case that the actual image position of the target carriage is located above the target image position and the longitudinal deviation value Δy is greater than the preset deviation threshold, the processor can control the second current value of the jib luffing electromagnetic valve so that the luffing angle of the jib assembly decreases until the Δy is less than the preset deviation threshold, and the processor can control the second current value of the jib luffing electromagnetic valve to be -50 mA so that the jib assembly stops moving. In a case that the actual image position of the target carriage is located below the target image position and the longitudinal deviation value Δy is greater than the preset deviation threshold, the processor can control the second current value of the jib luffing electromagnetic valve so that the luffing angle of the jib assembly increases until the Δy is less than the preset deviation threshold, and the processor can control the second current value of the jib luffing electromagnetic valve to be -50 mA so that the jib assembly stops moving.

[0054] In one embodiment, the control method further comprises: in a case that the deviation value is less than or equal to the preset deviation threshold, controlling the slewing platform to stop slewing and determining a second horizontal interval distance between the radar device and the hole of the target carriage; in a case that the second horizontal interval distance is greater than a second preset distance, determining a second motion parameter of the jib assembly according to the second horizontal interval distance; controlling the jib assembly to perform the second motion parameter to move the forks along a horizontal line on which the target carriage is located until the interval distance between the radar device and the hole of the target carriage is less than or equal to the second preset distance.

[0055] In a case that the image acquisition device and the target carrier are at the first horizontal interval distance, and the longitudinal deviation value and the lateral deviation value are less than or equal to the preset deviation threshold, it can be considered that the forks and the target carrier are at the same horizontal line. At this time, the processor can control the slewing platform to stop slewing, and can determine a second horizontal interval distance between the radar device and the hole of the target carrier through the radar device. In a case that the second horizontal interval distance is greater than a second preset distance, it indicates that the forks have not entered or are not completely entered into the hole of the target carrier, and the processor can determine a second motion parameter of the arm assembly according to the second horizontal interval distance. The second preset distance refers to a preset safety distance for avoiding collision between the forks and the carrier after the forks enter the hole of the target carrier. For example, it can be 100 mm. The second motion parameter refers to a telescopic length and a luffing angle corresponding to a telescopic operation and a luffing operation of the arm assembly respectively when the forks move along the horizontal line where the target carrier is located. The processor can control the arm assembly to execute the second motion parameter to move the forks along the horizontal line where the target carrier is located, until the interval distance between the radar device and the hole of the target carrier is less than or equal to the second preset distance. At this time, the forks have completely entered the hole of the target carrier, and a corresponding loading and unloading operation can be performed on the goods.

[0056] In one embodiment, determining the second motion parameter of the arm assembly according to the second horizontal interval distance includes: determining a single telescopic length of the arm length of the arm assembly when the arm assembly executes each motion cycle, wherein the motion cycle includes a luffing operation of the arm assembly and / or a telescopic operation of the telescopic arm; determining a single luffing angle of the arm assembly according to the single telescopic length; determining a single horizontal movement distance of the forks when the arm assembly executes each motion cycle according to the single telescopic length and the single luffing angle; determining an execution number of the motion cycle executed by the arm assembly according to the second horizontal interval distance and the single horizontal movement distance; determining the second motion parameter of each arm assembly when executing each motion cycle; and controlling the arm assembly to complete the second motion parameter of the execution number, so as to move the forks along the horizontal line where the target carrier is located, until the interval distance between the prongs of the forks and the hole of the target carrier is less than or equal to the second preset distance.

[0057] In the second motion parameter determination of the arm assembly according to the second horizontal interval distance, the arm assembly simultaneously performs the length and angle corresponding to the telescopic operation and the luffing operation, so that the forks move along the horizontal line where the target pallet is located. In each movement cycle, the telescopic arm performs a telescopic operation, and then the arm assembly performs a corresponding luffing operation. The processor can determine the single telescopic length of the telescopic arm assembly arm length in each movement cycle. According to the single telescopic length and the single luffing angle, the processor can determine the single horizontal movement distance of the forks of the arm assembly in each movement cycle. The single horizontal movement distance refers to the distance of the forks moving along the horizontal line where the target pallet is located when the arm assembly simultaneously performs the telescopic operation and the luffing operation in each movement cycle. The processor can determine the execution times of the arm assembly performing the movement cycle according to the second horizontal interval distance and the single horizontal movement distance. For example, the second horizontal interval distance is 10m, and the single horizontal movement distance is 2m, and the execution times of the arm assembly performing the movement cycle is 5 times. The processor can control the arm assembly to complete the second motion parameter of the execution times, so that the forks move along the horizontal line where the target pallet is located until the interval distance between the fork tip of the forks and the hole of the target pallet is less than or equal to the second preset distance.

[0058] In an embodiment, the forklift device further comprises an arm telescopic electromagnetic valve and an arm luffing electromagnetic valve, both of which are installed on the arm assembly. The second motion parameter of each arm assembly in each movement cycle is determined by: determining a third current value of the arm luffing electromagnetic valve according to the single luffing angle; determining a fourth current value of the arm telescopic electromagnetic valve according to the single telescopic length; and determining the second motion parameter of the arm assembly in each movement cycle according to the third current value and the fourth current value.

[0059] The arm frame telescopic electromagnetic valve refers to an electromagnetic valve used to control the current of the telescopic arm frame during telescopic movement. When determining the second movement parameter of each arm frame assembly during each movement cycle, the processor can determine a third current value of the arm frame luffing electromagnetic valve according to the single luffing angle. The third current value refers to the current value of the corresponding arm frame luffing electromagnetic valve during the luffing operation in each movement cycle, when the forks are at the same horizontal line as the hole of the target carriage. When each arm frame assembly performs a single luffing operation in each movement cycle, the change angle of the arm frame assembly is the single luffing angle. When performing a single luffing operation, the processor can determine the third current value of the arm frame luffing electromagnetic valve according to the single luffing angle. When the telescopic arm frame performs a single telescopic operation in each movement cycle, the telescopic length of the telescopic arm frame is the single telescopic length. When performing a single telescopic operation, the processor can determine a fourth current value of the arm frame telescopic electromagnetic valve according to the single telescopic length. The fourth current value refers to the current value of the corresponding arm frame telescopic electromagnetic valve during the telescopic operation in each movement cycle. The processor can determine the second movement parameter of each arm frame assembly during each movement cycle according to the third current value and the fourth current value determined above.

[0060] In one embodiment, determining the single luffing angle of the arm frame assembly according to the single telescopic length includes: determining the initial coordinate position of the image acquisition device at the initial time point of each movement cycle; and determining the single luffing angle of each movement cycle according to the initial coordinate position and the single telescopic length.

[0061] The processor can determine the initial coordinate position of the image acquisition device at the initial time point of each movement cycle, and determine the single luffing angle of each movement cycle according to the initial coordinate position and the single telescopic length. The initial time point refers to the starting time corresponding to the second movement parameter of each movement cycle performed by the arm frame assembly. The initial coordinate position refers to the coordinate position of the image acquisition device at the initial time point. The origin of this coordinate position is the hinge point between the arm frame assembly and the chassis of the fork truck. For example, referring to Figure 4 , Figure 4A schematic diagram of motion analysis of the arm support assembly in a motion cycle according to an embodiment of the present application is shown. Assuming that the initial coordinate position of the image acquisition device at the initial time point is O1, the arm support length of the arm support assembly is b1, and the angle between the arm support assembly and the horizontal direction is a1, then the initial coordinate position O1 is (b1·cosa1, b1·sina1). The angle corresponding to the arm support assembly can be measured by an angle sensor, and the telescopic length of the telescopic arm support can be measured according to a tension wire sensor. O1E refers to the telescopic direction of the telescopic arm support, and the projection length of O1E on the Y axis of the telescopic arm support in each motion cycle is b2·sina1. When the arm support assembly performs luffing operation to descend, the single luffing angle of the arm support assembly in each motion cycle is a2. O1F refers to the luffing direction of the arm support assembly, and the projection length of O1F on the Y axis is In order to realize the linear motion effect of the arm support assembly performing the combined action of luffing and telescoping along the X axis direction, it is necessary to satisfy that the projection lengths of points E and F on the Y axis are equal. Then, the single luffing angle can be calculated according to the following formula (2):

[0062]

[0063] Wherein, a2 refers to the single luffing angle of the arm support assembly in each motion cycle, a1 refers to the angle between the arm support assembly and the horizontal direction at the initial time point, b1 refers to the arm support length of the arm support assembly, and b2 refers to the single telescopic length of the telescopic arm support in each motion cycle.

[0064] The third current value of the arm support luffing electromagnetic valve can determine the single luffing angle of the arm support assembly, and the fourth current value of the arm support telescoping electromagnetic valve can determine the single telescopic length of the telescopic arm support. If the fourth current value of the arm support telescoping electromagnetic valve is set to 800mA, then the third current value corresponding to the arm support luffing electromagnetic valve can be calculated according to the following formula (3):

[0065]

[0066] Wherein, z refers to the third current value of the arm support luffing electromagnetic valve, a2 refers to the single luffing angle of the arm support assembly in each motion cycle, and b2 refers to the single telescopic length of the telescopic arm support in each motion cycle.

[0067] In an embodiment, the control method further comprises: when the forklift device is at a position spaced apart from the target pallet by a first preset distance, collecting, by the image acquisition device, a plurality of pallet stack images of the pallet stack; performing feature extraction on the pallet holes in each pallet stack image to obtain feature data corresponding to the pallet holes, the feature data at least including the size of the pallet holes and the spacing distance between the holes of the pallet holes; and determining the pallet corresponding to the feature data that matches the target feature data as the target pallet.

[0068] When the forklift device is at a position spaced apart from the target pallet by a first preset distance, the processor can collect, by the image acquisition device, a plurality of pallet stack images of the pallet stack. For example, the image acquisition device can be controlled to periodically take pictures of the pallet stack at a position with a first preset distance of 20 m to obtain a plurality of pallet stack images. The processor can perform feature extraction on the pallet holes existing in the plurality of images collected above to obtain feature data corresponding to the pallet holes. The feature data refers to data describing the shape of the pallet holes and the relative spatial position between the two holes of the pallet. The feature data at least includes the size of the pallet holes and the spacing distance between the holes of the pallet holes. The processor can determine the pallet corresponding to the feature data that matches the target feature data as the target pallet. The target feature data refers to the feature data of the target pallet, and the feature data of the target pallet at least includes the size of the pallet holes of the target pallet and the spacing distance between the holes of the pallet holes. If the feature data of pallet a in pallet stack image A matches the target feature data, pallet a can be determined as the target pallet in pallet stack image A. If the feature data of all the pallets in pallet stack image A does not match the target feature data, the feature data of all the pallets in the next pallet stack image B can be matched with the target feature data to determine the target pallet. If the feature data of pallets a, b and c in pallet stack image A all match the target feature data, the pallet that is most centered in the image according to the pixel coordinates of pallets a, b and c in the image can be determined as the target pallet. After determining any target pallet, the processor can control the slewing platform and the boom assembly of the forklift device to perform corresponding motion parameters based on the deviation value between the actual image position of the target pallet collected by the image acquisition device and the target image position, so that the forks are in the same horizontal line as the holes of the target pallet. Further, the processor can also control the boom assembly to perform corresponding periodic motion of amplitude variation and telescopic combination according to the second horizontal spacing distance between the radar device and the target pallet, so that the forks enter the holes of the target pallet.

[0069] In an embodiment, the control method further comprises: collecting historical images of the historical pallet stack, wherein the historical images are taken when the image collection device is separated from the historical pallet stack by a third preset distance; determining historical feature data of the holes of each historical pallet in the historical images; determining the corresponding pallet type of the holes of each historical pallet according to the historical feature data; and determining the historical feature data of the holes of the historical pallets of each pallet type as the target feature data of each pallet type.

[0070] The historical pallet stack refers to a pallet stack that has undergone forklift loading and unloading operations in a historical time period, or a pallet stack used for image collection in a historical time period. The processor can collect historical images of the historical pallet stack. The historical images are taken when the image collection device is separated from the historical pallet stack by a third preset distance, and the historical images include at least one pallet stack image. The third preset distance refers to the horizontal distance between the image collection device and the historical pallet stack when the image collection device can collect the historical pallet stack, which can be detected by a radar device. For example, the third preset distance can be 2 m. It can be understood that the second preset distance < the third preset distance < the first preset distance. The processor can perform feature extraction on the holes of each historical pallet in the historical images to obtain historical feature data of the historical pallet holes. The historical feature data refers to the feature data of the pallet holes obtained in the historical time period, and the historical feature data includes at least the size of the pallet holes and the interval distance between the holes. The processor can determine the corresponding pallet type of the holes of each historical pallet according to the historical feature data. The pallet type is divided according to the size of the holes and the interval distance between the holes, and pallets with the same hole size and interval distance are determined as the same pallet type. The processor can determine the historical feature data of the holes of the historical pallets of each pallet type as the target feature data of each pallet type. That is, each pallet type includes the historical feature data of the corresponding historical pallets. When the processor determines that one of the pallet types is the target pallet, the historical feature data of this pallet type is the target feature data.

[0071] By the technical solution, the image acquisition device is installed on the telescopic boom of the forklift device, historical feature data of the historical pallets can be obtained by collecting historical images, and target feature data of each type of pallets can be determined. When the image acquisition device collects pallet stack images to determine the target pallet, the pallet corresponding to the feature data matched with the target feature data can be determined as the target pallet. Thus, the target pallet corresponding to the forklift operation can be accurately identified when the forklift device operates at a long distance. Further, the actual image position of the target pallet in the pallet stack images can be determined. By the radar device installed on the telescopic boom, the first horizontal interval distance between the image acquisition device and the target pallet can be determined. According to the deviation value between the actual image position and the target image position, the motion parameters of the boom assembly and the slewing platform can be determined respectively. The boom assembly and the slewing platform are controlled to execute the motion parameters, so that the forks are on the same horizontal line with the hole of the target pallet. Further, the current values of the slewing electromagnetic valve, the boom luffing electromagnetic valve and the boom telescoping electromagnetic valve are determined according to the lateral deviation value and the longitudinal deviation value, so that the slewing platform, the boom assembly and the telescopic boom execute corresponding motion parameters. In this way, the forks can move along the horizontal line where the target pallet is located until the interval distance between the prongs of the forks and the hole of the target pallet is less than or equal to the second preset distance. The actual image position of the target pallet in the image can be close to the target image position, and the prongs of the forks are controlled to move to the hole of the target pallet, thereby improving the accuracy and efficiency of the forklift operation on the target pallet.

[0072] Figure 1 A flowchart of a control method for a forklift device is shown in one embodiment. It should be understood that, although the steps in the flowchart are shown in a certain order according to the arrows, the steps are not necessarily executed in the order indicated by the arrows. Unless otherwise specified herein, the execution of the steps is not strictly limited in order, and the steps can be executed in other orders. Moreover, Figure 1 The steps in the flowchart are not necessarily executed in the order indicated by the arrows. Unless otherwise specified herein, the execution of the steps is not strictly limited in order, and the steps can be executed in other orders. Moreover, Figure 1 At least some of the steps in the flowchart can include multiple sub-steps or multiple stages, which are not necessarily executed at the same time, but can be executed at different times. The execution order of the sub-steps or stages is not necessarily sequential, but can be alternately or alternately executed with at least some of the other steps or sub-steps or stages of other steps.

[0073] In one embodiment, as shown in Figure 5 A forklift device is provided, comprising:

[0074] Forks 510 for forklift operation on a target pallet;

[0075] The boom assembly 520 is connected to the forks 510. The boom assembly 520 includes a telescopic boom 521, an image acquisition device 522 and a radar device 523 mounted on the telescopic boom 521. The image acquisition device 522 is used to acquire images of the pallet stacking in the area where the target pallet is located. The position of the forks changes accordingly when the telescopic boom 521 is extended or retracted. The radar device 523 is used to determine the first horizontal interval distance between the image acquisition device and the target pallet.

[0076] The slewing platform 530 is connected to the boom assembly 520, and the position of the forks 510 changes accordingly during slewing; and

[0077] The processor 540 is configured to execute the control method described above for forklift equipment.

[0078] The forks 510 of the forklift equipment are used for forklift operations on the target pallet. When the forklift equipment is positioned at a first preset distance from the target pallet, the processor 540 can determine, via the radar device 523, that the first horizontal distance between the image acquisition device 522 and the target pallet is a first value. Then, the processor 540 can acquire images of the pallet stack in the area where the target pallet is located via the image acquisition device 522 to determine the deviation between the actual image position of the target pallet in the pallet stack image and the target image position. Further, based on the deviation value, the processor 540 can determine the motion parameters of the boom assembly 520 and the slewing platform 530 respectively, and control the boom assembly 520 and the slewing platform 530 to execute the motion parameters so that the forks 510 and the openings of the target pallet are on the same horizontal line.

[0079] In one embodiment, such as Figure 6 As shown, a slewing solenoid valve 550 is installed on the slewing platform 530. The slewing solenoid valve 550 controls the slewing operation of the slewing platform 530 by adjusting a first current value; a boom luffing solenoid valve 560 is installed on the boom assembly 520. The boom luffing solenoid valve 560 controls the luffing of the boom assembly 520 by adjusting a second or third current value; a boom telescopic solenoid valve 570 is installed on the boom assembly 520. The boom telescopic solenoid valve 570 controls the extension or retraction of the telescopic boom 521 by adjusting a fourth current value.

[0080] In order to make the prongs of the forks 510 and the holes of the target pallets in the same horizontal line, and the interval distance between the prongs of the forks 510 and the holes of the target pallets less than or equal to the second preset distance, so as to perform accurate forking operation. The processor can determine the first current value of the slewing electromagnetic valve 550 and the second current value of the boom luffing electromagnetic valve 560 according to the lateral deviation value and the longitudinal deviation value, respectively. The processor can control the boom assembly 520 and the slewing platform 530 according to the first current value and the second current value to perform corresponding first motion parameters, respectively, so that the deviation value is less than or equal to the preset deviation threshold value, and then it is determined that the forks 510 and the holes of the target pallets are in the same horizontal line. Further, after the forks 510 and the holes of the target pallets are in the same horizontal line, the processor can control the radar device 523 to determine the second horizontal interval distance between the radar device 523 and the holes of the target pallets. If the second horizontal interval distance is greater than the second preset distance, the third current value of the boom luffing electromagnetic valve 560 and the fourth current value of the boom telescopic electromagnetic valve 570 can be controlled, so that the boom assembly 520 and the telescopic boom 521 perform corresponding second motion parameters of a corresponding number of motion cycles. In this way, the forks 510 can be moved along the horizontal line where the target pallets are located until the interval distance between the prongs of the forks 510 and the holes of the target pallets is less than or equal to the second preset distance.

[0081] The processor includes a core, and the core retrieves corresponding program units from the memory. The core can be one or more, and the control method for the forklift device is realized by adjusting the core parameters.

[0082] The memory can include a non-persistent memory in a computer readable medium, a random access memory (RAM) and / or a non-volatile memory such as a read-only memory (ROM) or a flash memory (flash RAM), and the memory includes at least one memory chip.

[0083] The embodiment of the application provides a storage medium, which stores a program, and the program is executed by a processor to realize the control method for the forklift device.

[0084] The embodiment of the application provides a processor, which is used to run a program, and the program is executed to realize the control method for the forklift device.

[0085] In one embodiment, a computer device, which can be a server, is provided, and an internal structure diagram of the computer device can be as shown in FIG. 1. Figure 7As shown in the figure. The computer device includes a processor A01, a network interface A02, a memory (not shown in the figure) and a database (not shown in the figure) connected through a system bus. Among them, the processor A01 of the computer device is used to provide computing and control capabilities. The memory of the computer device includes an internal memory A03 and a non-volatile storage medium A04. The non-volatile storage medium A04 stores an operating system B01, a computer program B02 and a database (not shown in the figure). The internal memory A03 provides an environment for the operating system B01 and the computer program B02 in the non-volatile storage medium A04 to run. The database of the computer device is used to store data for the control method of the fork-mounted device. The network interface A02 of the computer device is used to communicate with the external terminal through the network connection. The computer program B02 is executed by the processor A01 to implement a control method for a fork-mounted device.

[0086] Those skilled in the art can understand that, Figure 7 The structure shown in the figure is only a block diagram of part of the structure related to the scheme of the present application, and does not constitute a limitation on the computer device to which the scheme of the present application is applied. The specific computer device can include more or fewer components than those shown in the figure, or combine certain components, or have a different component arrangement.

[0087] The embodiment of the present application provides a device, which comprises a processor, a memory and a program stored in the memory and executable on the processor. When the processor executes the program, the following steps of the control method for the fork-mounted device are implemented.

[0088] The present application also provides a computer program product which, when executed on a data processing device, is adapted to execute a program initialized with the following steps of the control method for the fork-mounted device.

[0089] Those skilled in the art should understand that the embodiments of the present application can be provided as a method, a system or a computer program product. Therefore, the present application can take the form of a complete hardware embodiment, a complete software embodiment or an embodiment combining software and hardware aspects. Moreover, the present application can take the form of a computer program product implemented on one or more computer usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer usable program code.

[0090] The computer program instructions can also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer-implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart block or blocks. Figure 1 one or more flow or blocks Figure 1 means for functionally implementing the steps listed in the flowchart block or blocks.

[0091] These computer program instructions can also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instructions which implement the function specified in the flowchart block or blocks. Figure 1 one or more flow or blocks Figure 1 means for functionally implementing the steps listed in the flowchart block or blocks.

[0092] The computer program instructions can also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer-implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart block or blocks. Figure 1 one or more flow or blocks Figure 1 means for functionally implementing the steps listed in the flowchart block or blocks.

[0093] In one typical configuration, the computing device includes one or more processors (CPUs), input / output interfaces, network interfaces, and memory.

[0094] The memory can include non-persistent memory and / or volatile memory, such as random access memory (RAM) and / or cache memory, for storing instructions and data used and / or generated by the computing device. The memory can also include non-volatile memory, such as read-only memory (ROM), electrically programmable read-only memory (EPROM), electrically erasable programmable read-only memory (EEPROM), flash memory, or nonvolatile random access memory (RAM) (e.g., fault tolerant RAM), for storing instructions and data used and / or generated by the computing device. The memory is an example of computer-readable media.

[0095] Computer-readable media includes permanent and non-permanent, movable and non-movable media that can implement information storage by any method or technology. The information can be computer-readable instructions, data structures, program modules or other data. Examples of computer storage media include, but are not limited to, phase-change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory or other memory technologies, compact disc read-only memory (CD-ROM), digital versatile disc (DVD) or other optical storage, magnetic cassette, magnetic tape, magnetic disk storage or other magnetic storage devices, or any other non-transmission medium that can be used to store information accessible to a computing device. According to the definition herein, computer-readable media does not include transitory media such as modulated data signals and carriers.

[0096] It should also be noted that the terms "comprising", "containing", or any other variant thereof are intended to cover a non-exclusive inclusion, such that a process, method, article or apparatus that comprises a list of elements does not only include those elements, but can also include other elements not expressly listed or inherent to such process, method, article or apparatus. Without more limitations, the element defined by the statement "comprising a" does not exclude the presence of additional identical elements in the process, method, article or apparatus that includes the element.

[0097] The above is only an embodiment of the present application and is not intended to limit the present application. For those skilled in the art, the present application can have various modifications and changes. Any modification, equivalent replacement, improvement, etc. within the spirit and principle of the present application shall be included in the scope of claims of the present application.

Claims

1. A control method for a forklift device, characterized by, The forklift device comprises forks, an arm support assembly, and a slewing platform, the arm support assembly comprises a telescopic arm support, an image acquisition device, and a radar device mounted on the telescopic arm support, and the control method comprises: When the forklift device is at a position with a first preset distance from a target pallet, determining, by the radar device, that a first horizontal interval distance between the image acquisition device and the target pallet is a first value; acquiring, by the image acquisition device, a pallet stack image of an area where the target pallet is located; determining an actual image position of the target pallet in the pallet stack image; determining motion parameters of the arm support assembly and the slewing platform according to a deviation value between the actual image position and a target image position, wherein the target image position corresponds to the first value, and the target image position refers to a target position of the target pallet in the pallet stack image when the forks and a hole of the target pallet are on the same horizontal line; controlling the arm support assembly and the slewing platform to execute the motion parameters so that the forks and the hole of the target pallet are on the same horizontal line; wherein the determination of the motion parameters of the arm support assembly and the slewing platform according to the deviation value between the actual image position and the target image position comprises: when the deviation value is greater than a preset deviation threshold, determining first motion parameters of the arm support assembly and the slewing platform according to the deviation value; controlling the arm support assembly and the slewing platform to execute corresponding first motion parameters so that the deviation value is less than or equal to the preset deviation threshold, and then determining that the forks and the hole of the target pallet are on the same horizontal line; when the deviation value is less than or equal to the preset deviation threshold, controlling the slewing platform to stop slewing, and determining a second horizontal interval distance between the radar device and the hole of the target pallet; when the second horizontal interval distance is greater than a second preset distance, determining second motion parameters of the arm support assembly according to the second horizontal interval distance; controlling the arm support assembly to execute the second motion parameters so that the forks move along a horizontal line where the target pallet is located until the interval distance between the radar device and the hole of the target pallet is less than or equal to the second preset distance.

2. The control method for a fork mounting apparatus according to claim 1, characterized by, The deviation value comprises a longitudinal deviation value and a transverse deviation value, the forklift device further comprises a slewing electromagnetic valve and an arm support variable amplitude electromagnetic valve, the slewing electromagnetic valve is installed on the slewing platform, and the arm support variable amplitude electromagnetic valve is installed on the arm support assembly, and the determination of the first motion parameters of the arm support assembly and the slewing platform according to the deviation value comprises: determining a first current value of the slewing electromagnetic valve and a second current value of the arm support variable amplitude electromagnetic valve according to the transverse deviation value and the longitudinal deviation value, respectively; determining the first motion parameters of the slewing platform according to the first current value of the slewing electromagnetic valve, and determining the first motion parameters of the arm support assembly according to the second current value of the arm support variable amplitude electromagnetic valve.

3. The control method for a fork-lifting apparatus according to claim 1, characterized by, The determination of the second motion parameters of the arm support assembly according to the second horizontal interval distance comprises: determining a single telescopic length of the arm assembly in each movement cycle, wherein the movement cycle comprises a luffing operation of the arm assembly and / or a telescoping operation of the telescopic arm; determining a single luffing angle of the arm assembly according to the single telescopic length; determining a single horizontal moving distance of the forks in each movement cycle according to the single telescopic length and the single luffing angle; determining a number of execution times of the movement cycle of the arm assembly according to the second horizontal interval distance and the single horizontal moving distance; determining a second movement parameter of each arm assembly in each movement cycle; controlling the second movement parameter of the arm assembly for the number of execution times, so that the forks move along a horizontal line where the target pallet is located, until the interval distance between the prongs of the forks and the holes of the target pallet is less than or equal to a second preset distance.

4. The control method for a fork-lifting apparatus according to claim 3, characterized by, The forklift truck further comprises an arm telescoping electromagnetic valve and an arm luffing electromagnetic valve, both of which are installed on the arm assembly, and the determination of the second movement parameter of each arm assembly in each movement cycle comprises: determining a third current value of the arm luffing electromagnetic valve according to the single luffing angle; determining a fourth current value of the arm telescoping electromagnetic valve according to the single telescopic length; determining the second movement parameter of the arm assembly in each movement cycle according to the third current value and the fourth current value.

5. The control method for a fork-lifting apparatus according to claim 3, characterized by, The determination of the single luffing angle of the arm assembly according to the single telescopic length comprises: determining an initial coordinate position corresponding to an initial time point of each movement cycle by the image acquisition device; determining the single luffing angle of each movement cycle according to the initial coordinate position and the single telescopic length.

6. The control method for a fork-lifting apparatus according to claim 1, characterized by The control method further comprises: acquiring a plurality of pallet stack images of a pallet stack by the image acquisition device when the forklift truck is at a position spaced apart from the target pallet by a first preset distance; extracting features of the pallet holes in each pallet stack image to obtain feature data corresponding to the pallet holes, wherein the feature data at least includes the size of the pallet holes and the interval distance between the holes of the pallet holes; determining the target pallet corresponding to the feature data matched with the target feature data successfully.

7. The control method for a fork-lifting apparatus according to claim 6, characterized by The control method further comprises: acquiring a historical image of a historical pallet stack, wherein the historical image is taken when the image acquisition device is spaced apart from the historical pallet stack by a third preset distance; determining historical feature data of the holes of each historical pallet in the historical image; determining the type of each historical pallet corresponding to the holes of the historical pallet according to the historical feature data; determining the target feature data of each pallet type as the historical feature data corresponding to the holes of the historical pallet of each pallet type.

8. A processor, comprising: configured to perform the control method for a forklift truck according to any one of claims 1 to 7.

9. A forking apparatus, characterised in that, comprises: forks for performing a forklift operation on the target pallet; An arm assembly connected with the forks, the arm assembly comprising a telescopic arm, an image acquisition device and a radar device mounted on the telescopic arm, the image acquisition device being configured to acquire a pallet stack image of an area where the target pallet is located, the position of the forks corresponding to change when the telescopic arm is extended or retracted, the radar device being configured to determine a first horizontal interval distance between the image acquisition device and the target pallet; A slewing platform connected with the arm assembly, the position of the forks corresponding to change when the slewing platform slews; and The processor of claim 8.

10. The forklift apparatus according to claim 9, wherein Further comprising: A slewing electromagnetic valve installed on the slewing platform, the slewing electromagnetic valve being configured to control slewing operation of the slewing platform by adjusting a first current value; An arm luffing electromagnetic valve installed on the arm assembly, the arm luffing electromagnetic valve being configured to control luffing of the arm assembly by adjusting a second current value or a third current value; An arm telescoping electromagnetic valve installed on the arm assembly, the arm telescoping electromagnetic valve being configured to control extension or retraction of the telescopic arm by adjusting a fourth current value.

11. A machine-readable storage medium having instructions stored thereon, the instructions comprising: The instructions, when executed by a processor, cause the processor to be configured to perform the control method for a fork lift apparatus according to any one of claims 1 to 7.

Images