Storage location detection method

Abstract

The present invention provides a storage location detection method, comprising: an intelligent forklift moving to a storage location station and stopping; the intelligent forklift's fork is raised to a specified height according to the height of the designated storage location and then stops; a 2D sensor is activated for detection, and a side shift mechanism is operated to drive the 2D sensor to move, the 2D sensor detects the internal conditions of the storage location and generates storage location information; the intelligent forklift adjusts the position of the fork relative to the storage location entrance based on the collected storage location information; the intelligent forklift moves into the storage location station and moves the fork into the storage location to load and unload goods. The storage location detection method of the present invention only requires a 2D sensor to be installed on the side shift mechanism of the intelligent forklift's fork to complete the storage location information collection, and is low-cost.

Description

Technical Field

[0001] The present invention relates to the technical field of AGV storage location detection, and in particular to a storage location detection method. Background Art

[0002] Smart warehouse is a modern cargo management system that uses many smart forklifts to complete cargo transportation. In order to improve the storage capacity of smart warehouses, a large number of high-bay shelves are set up in existing smart warehouses to place cargo. The location of the high-bay shelves is called the storage site, and the area on the high-bay shelves used to place cargo is called the storage location. In the case of high-bay shelves, smart forklifts are required to accurately collect storage location information and cargo information in the storage location to locate the storage location, so as to carry out high-level loading and unloading. If the storage location is located incorrectly, it will cause collision accidents when the cargo is placed in the storage location due to the cargo not being in the correct storage location, and the cargo will be placed in the wrong location. Deviations in the placement position will affect the subsequent loading and unloading of goods. Therefore, in order to ensure that the smart forklift can accurately locate the storage location and the goods in the storage location, the height data of different storage locations on the high-level shelves will be entered into the smart forklift. At the same time, a number of visual recognition devices will be set on the smart forklift to detect and identify the goods in the storage location, as well as the empty and full conditions and depth of the storage location. When the smart forklift is working, the fork will be lifted to the specified height corresponding to a storage location, and then the visual recognition device will be used to detect the storage location and the goods in the storage location. However, the equipment cost of setting up a visual recognition device on the smart forklift to accurately locate the storage location and the goods in the storage location is relatively high. Summary of the Invention

[0003] The purpose of the present invention is to overcome the shortcomings of the prior art and provide a storage location detection method, which only requires a 2D sensor to be set on the side shift mechanism of the fork of the intelligent forklift to complete the collection of storage location information, and is low in cost.

[0004] In order to achieve the above object, the present invention adopts the following technical solutions:

[0005] Storage location detection methods, including:

[0006] A 2D sensor is installed on the side shift mechanism of the fork of the intelligent forklift, and the 2D sensor can move horizontally left and right along with the side shift mechanism;

[0007] The side shift mechanism drives the 2D sensor to move left and right. When the 2D sensor moves left and right, its scanning range forms a scanning detection area.

[0008] The intelligent forklift moves to the storage location and stops;

[0009] The fork of the intelligent forklift is lifted to the specified height and stops according to the height of the designated storage location;

[0010] The 2D sensor starts to detect, and the side shift mechanism drives the 2D sensor to move. The 2D sensor detects the internal situation of the storage location and generates storage location information;

[0011] The intelligent forklift adjusts the position of the fork relative to the warehouse entrance based on the collected warehouse location information;

[0012] The intelligent forklift moves into the storage location and moves the fork into the storage location to pick up and unload goods.

[0013] Compared with the prior art, the storage location detection method of the present invention has the following beneficial effects:

[0014] (1) The present invention provides a 2D sensor that can move left and right relative to the storage location. The 2D sensor is used to perform multi-area detection close to a specific area to detect the internal conditions of the storage location (the depth of the storage location, the empty or full situation of the storage location). The intelligent forklift can adjust the posture of the fork according to the collected storage location information to clamp the goods and control the position of the goods. Compared with the existing storage location detection method that detects the storage location through a visual recognition device, the hardware cost is relatively low and the maintenance cost can be reduced.

[0015] (2) The present invention uses a 2D sensor to detect the internal situation of the storage location. Compared with visual recognition devices and photoelectric sensors, the 2D sensor has a lower difficulty in adjusting the scanning area. It can move left and right in conjunction with the side shift mechanism of the fork. The size, length and width of the sensor scanning area can be adjusted according to actual needs (the sensor scanning area is set according to the size of the storage location), thereby realizing the detection of dynamic areas and realizing comprehensive detection of the situation in the storage location (storage location occupancy detection, storage location edge detection). In addition, by dividing the scanning area of ​​the 2D sensor into areas of different specifications, the placement distance between the goods and the frame of the high-level shelf can be adjusted.

[0016] (3) The existing storage location detection method detects the storage location through a visual recognition device, and the related algorithms for recognition and positioning involved in the visual recognition device are complex and difficult to write and maintain. In the present invention, the storage location is detected by setting a 2D sensor that can move left and right relative to the storage location. It is highly practical and the technical threshold for writing and maintaining the related algorithms is low.

[0017] Furthermore, when the side shift mechanism drives the 2D sensor to move left and right, the intelligent forklift sets the standard range for the side shift mechanism to drive the 2D sensor to move left and right according to the storage location type, where the storage location type and the storage location width data form a type-width mapping set, and the intelligent forklift obtains the storage location width data according to the storage location type and the type-width mapping set.

[0018] By setting the type-width mapping set, the intelligent forklift can query the type-width mapping set to quickly set the standard range of left and right movement of the 2D sensor for different types of storage locations, thereby improving detection speed.

[0019] Furthermore, if it is an unloading operation, when the side shift mechanism works and drives the 2D sensor to move, the side shift mechanism moves the 2D sensor to the middle area of ​​the storage location to detect whether there is any cargo in the storage location. The middle area is the center of the storage location and extends A mm to the left and right sides, where 2A ≥ cargo width.

[0020] If there is no goods stored in the storage location, the center space in the storage location is determined to meet the space required for placing the goods, and the fork position is accurately adjusted; otherwise, if it is determined that the center space in the storage location does not meet the space required for placing the goods, the remaining space in the storage location is checked to see if the goods can be stored.

[0021] By setting up a middle area, the 2D sensor can prioritize detecting whether there is any occupied goods in the middle area of ​​the storage location, thereby avoiding collisions between the goods to be unloaded and the goods in the storage location during unloading operations, thereby improving the safety of operations; in addition, there is a large safety distance between the middle area and the edges of the left and right sides of the storage location, so setting priority detection of the middle area of ​​the storage location can increase the speed of operation.

[0022] Furthermore, the process of detecting whether the remaining space in the storage location can store the goods includes:

[0023] The side shift mechanism drives the 2D sensor to move to one side of the storage location until it detects the high-bay shelf and stops; the side shift mechanism drives the 2D sensor to move to the other side of the storage location;

[0024] If the side shift mechanism drives the 2D sensor to move to the other side of the storage location, and the 2D sensor continuously detects goods, it is determined that the storage location is fully occupied and does not meet the storage requirements, and the smart forklift stops unloading;

[0025] If the side shift mechanism drives the 2D sensor to move to the other side of the storage location, and the 2D sensor detects that there is an area in the storage location where no goods are placed, the 2D sensor will locate the area where no goods are placed, and determine whether the area where no goods are placed meets the space required for placing the goods. If the area where no goods are placed meets the space required for placing the goods, the fork will be accurately adjusted in position; otherwise, the intelligent forklift will stop unloading.

[0026] If the 2D sensor continuously detects goods, it means that the storage space is filled with one product or several products arranged side by side and at intervals, and the smart forklift stops unloading directly; since the middle area of ​​the storage space is already occupied by goods, it is necessary to determine whether there is any remaining area for goods to be placed. If not, the smart forklift stops unloading. Otherwise, the next step is to determine whether the remaining area of ​​the storage space can still accommodate the goods to be unloaded. If so, the fork position is adjusted to place the materials. Otherwise, the smart forklift stops unloading. This setting method can make full use of the space in the storage space to stack goods, improve the utilization rate of the storage space, and improve the storage capacity of the smart warehouse. At the same time, it is convenient to take out the goods from the storage space later.

[0027] Furthermore, if the smart forklift stops unloading, the smart forklift will sound an alarm.

[0028] The intelligent forklift will sound an alarm to remind manual handling and avoid collisions between the subsequent intelligent forklift and existing goods in the warehouse when loading and unloading goods.

[0029] Furthermore, the process of precise adjustment of the fork position includes:

[0030] The side shift mechanism drives the 2D sensor to switch to a position B mm to the left of the middle area, or the side shift mechanism drives the 2D sensor to switch to a position B mm to the right of the middle area, where 2B ≥ cargo width;

[0031] Determine whether the high shelf is detected;

[0032] If the high shelf is detected, the 2D sensor is judged to be outside the storage location, and the side shift mechanism drives the 2D sensor to move to the other side until the high shelf is no longer detected, and the side shift mechanism stops moving;

[0033] If the high shelf is not detected, the 2D sensor is judged to be located within the storage location, and the side shift mechanism drives the 2D sensor to move to the same side until the high shelf is detected, and the side shift mechanism stops moving;

[0034] After the side shift mechanism stops moving, the fork starts to pick up and unload the cargo.

[0035] The above setting method can accurately detect the edge of the storage location and adjust the gap between the goods and the frame of the high-rise shelf, thereby accurately locating the placement of the goods and reducing the error rate of operations.

[0036] Furthermore, when the side shift mechanism stops moving, a gap of 20-50 mm is left between the fork and the side of the high-rise shelf.

[0037] There is a safe distance of 20-50mm between the fork and the side of the high-rise shelf to avoid collision between the fork and the high-rise shelf during unloading and picking up.

[0038] Furthermore, if it is an unloading operation, after the intelligent forklift moves into the storage location, the intelligent forklift stops moving and the forks are located in the storage location;

[0039] The fork drops to a specified height to place the goods in the storage location.

[0040] Furthermore, if the goods are unloaded to a location close to the entrance of the storage location, the goods are placed 20-80 mm away from the edge of the shelf entrance.

[0041] The above setting method keeps the goods near the storage entrance at a safe distance from the shelf entrance, avoiding the risk of goods falling after the high shelf is hit.

[0042] Furthermore, if it is a picking operation, after the intelligent forklift moves into the storage location, the intelligent forklift stops moving, and the forks are located in the storage location and under the goods to be picked up;

[0043] The fork rises to a specified height to move the goods away from the storage surface. BRIEF DESCRIPTION OF THE DRAWINGS

[0044] Figure 1 is a schematic diagram of the intelligent forklift of the present invention;

[0045] Figure 2 It is a flow chart of the unloading process of the present invention;

[0046] Figure 3 It is a flow chart of the pickup process of the present invention.

[0047] Description of labels:

[0048] Smart forklift 1, fork 2, side shift mechanism 3, 2D sensor 4. DETAILED DESCRIPTION

[0049] The following describes the embodiments of the present invention with reference to the accompanying drawings:

[0050] See also Figure 1 The storage location detection method of this embodiment is applicable to the following intelligent forklift 1, in which a 2D sensor 4 is provided on the side shift mechanism 3 of the fork 2 of the intelligent forklift 1, and the 2D sensor 4 can move horizontally left and right with the side shift mechanism 3; there are two 2D sensors 4, and the two 2D sensors 4 are relatively arranged on both sides of the side shift mechanism.

[0051] The side shift mechanism 3 drives the 2D sensor 4 to move left and right. When the 2D sensor 4 moves left and right, its scanning range forms a scanning detection area.

[0052] See also Figures 1 to 2 or Figure 1 and Figure 3 The storage location detection method of this embodiment includes:

[0053] The intelligent forklift moves to the storage location and stops;

[0054] The forks of the intelligent forklift are lifted to the designated height and stop according to the height of the designated storage location. The designated height is preset in advance by the staff according to the storage location type.

[0055] The 2D sensor starts to detect, and the side shift mechanism drives the 2D sensor to move. The 2D sensor detects the internal situation of the storage location and generates storage location information;

[0056] The intelligent forklift adjusts the position of the fork relative to the warehouse entrance based on the collected warehouse location information;

[0057] The intelligent forklift moves into the storage location and moves the fork into the storage location to pick up and unload goods.

[0058] When the side shift mechanism drives the 2D sensor to move left and right, the intelligent forklift sets the standard range for the side shift mechanism to drive the 2D sensor to move left and right according to the storage location type. The storage location type and storage location width data form a type-width mapping set. The intelligent forklift obtains the storage location width data based on the storage location type and the type-width mapping set.

[0059] By setting the type-width mapping set, the intelligent forklift can query the type-width mapping set to quickly set the standard range of left and right movement of the 2D sensor for different types of storage locations, thereby improving detection speed.

[0060] See also Figures 1 to 2 , if the intelligent forklift performs unloading operation, the further steps include:

[0061] When the side shift mechanism works and drives the 2D sensor to move, the side shift mechanism moves the 2D sensor to the middle area of ​​the storage location to detect whether there are goods stored in the storage location. The middle area is the center of the storage location and extends A mm to the left and right sides, where 2A ≥ the width of the goods.

[0062] If there is no goods stored in the storage location, the center space in the storage location is determined to meet the space required for placing the goods, and the fork position is accurately adjusted; otherwise, if it is determined that the center space in the storage location does not meet the space required for placing the goods, the remaining space in the storage location is checked to see if the goods can be stored.

[0063] By setting up a middle area, the 2D sensor can prioritize detecting whether there is any occupied goods in the middle area of ​​the storage location, thereby avoiding collisions between the goods to be unloaded and the goods in the storage location during unloading operations, thereby improving the safety of operations; in addition, there is a large safety distance between the middle area and the edges of the left and right sides of the storage location, so setting priority detection of the middle area of ​​the storage location can increase the speed of operation.

[0064] The process of checking whether the remaining space in the storage location can store goods includes:

[0065] The side shift mechanism drives the 2D sensor to move to one side of the storage location until it detects the high-bay shelf and stops; the side shift mechanism drives the 2D sensor to move to the other side of the storage location;

[0066] If the side shift mechanism drives the 2D sensor to move to the other side of the storage location, and the 2D sensor continuously detects goods, it is determined that the storage location is fully occupied and does not meet the storage requirements, and the smart forklift stops unloading;

[0067] If the side shift mechanism drives the 2D sensor to move to the other side of the storage location, and the 2D sensor detects that there is an area in the storage location where no goods are placed, the 2D sensor will locate the area where no goods are placed, and determine whether the area where no goods are placed meets the space required for placing the goods. If the area where no goods are placed meets the space required for placing the goods, the fork will be accurately adjusted in position; otherwise, the intelligent forklift will stop unloading.

[0068] Specifically, the step of judging whether the area without goods placed meets the space required for goods placement is to move the 2D sensor horizontally by Cmm (Cmm is the width of the goods) to detect whether there are goods in the warehouse. If the 2D sensor does not detect goods after moving horizontally by Cmm, it is judged that the area without goods placed meets the space required for goods placement.

[0069] If the 2D sensor continuously detects goods, it means that the storage space is filled with one product or several products arranged side by side and at intervals, and the smart forklift stops unloading directly; since the middle area of ​​the storage space is already occupied by goods, it is necessary to determine whether there is any remaining area for goods to be placed. If not, the smart forklift stops unloading. Otherwise, the next step is to determine whether the remaining area of ​​the storage space can still accommodate the goods to be unloaded. If so, the fork position is adjusted to place the materials. Otherwise, the smart forklift stops unloading. This setting method can make full use of the space in the storage space to stack goods, improve the utilization rate of the storage space, and improve the storage capacity of the smart warehouse. At the same time, it is convenient to take out the goods from the storage space later.

[0070] If the smart forklift stops unloading, the smart forklift will alarm.

[0071] The intelligent forklift will sound an alarm to remind manual handling and avoid collisions between the subsequent intelligent forklift and existing goods in the warehouse when loading and unloading goods.

[0072] The process of precise adjustment of the fork position includes:

[0073] The side shift mechanism drives the 2D sensor to switch to a position B mm to the left of the middle area, or the side shift mechanism drives the 2D sensor to switch to a position B mm to the right of the middle area, where 2B ≥ cargo width;

[0074] Determine whether the high shelf is detected;

[0075] If the high shelf is detected, the 2D sensor is judged to be outside the storage location, and the side shift mechanism drives the 2D sensor to move to the other side until the high shelf is no longer detected, and the side shift mechanism stops moving;

[0076] If the high shelf is not detected, the 2D sensor is judged to be located within the storage location, and the side shift mechanism drives the 2D sensor to move to the same side until the high shelf is detected, and the side shift mechanism stops moving;

[0077] After the side shift mechanism stops moving, the fork starts to pick up and unload the cargo.

[0078] The above setting method can accurately detect the edge of the storage location and adjust the gap between the goods and the frame of the high-rise shelf, thereby accurately locating the placement of the goods and reducing the error rate of operations.

[0079] When the side shift mechanism stops moving, there is a 20-50mm gap between the fork and the side of the high-rise shelf.

[0080] There is a safe distance of 20-50mm between the fork and the side of the high-rise shelf to avoid collision between the fork and the high-rise shelf during unloading and picking up.

[0081] After the intelligent forklift moves into the storage location, it stops moving and the forks are located inside the storage location; the forks are lowered to a specified height to place the goods inside the storage location.

[0082] If the goods are unloaded near the entrance of the storage location, the goods should be placed 20-80mm away from the edge of the shelf entrance.

[0083] The above setting method keeps the goods near the storage entrance at a safe distance from the shelf entrance, avoiding the risk of goods falling after the high shelf is hit.

[0084] After the intelligent forklift unloads the goods, it exits the storage location and the forks are reset.

[0085] See also Figure 1 and Figure 3 , if the intelligent forklift performs the picking operation, the further steps include:

[0086] When the side shift mechanism drives the 2D sensor to move, the side shift mechanism moves to its leftmost or rightmost set position (the set position is less than the lateral limit position of the side shift mechanism), so that the 2D sensor moves to one side of the storage location, and the 2D sensor performs the detection task;

[0087] If the high shelf is detected, the 2D sensor is judged to be outside the storage location, and the side shift mechanism drives the 2D sensor to move to the other side until the high shelf is no longer detected, and the side shift mechanism stops moving;

[0088] If the high shelf is not detected, the 2D sensor is judged to be located within the storage location, and the side shift mechanism drives the 2D sensor to move to the same side until the high shelf is detected, and the side shift mechanism stops moving;

[0089] The 2D sensor detects whether there is any goods at the current location in the storage area. If so, the goods are to be taken out. If not, the side shift mechanism drives the 2D sensor to move to the other side of the high-bay shelf until the goods are detected.

[0090] The above setting method enables the 2D sensor to detect the position of goods starting from the leftmost or rightmost edge of the storage location.

[0091] After the intelligent forklift moves into the storage location, it stops moving, and the forks are located in the storage location and under the goods to be taken out; the forks rise to a specified height to make the goods leave the storage location's placement surface.

[0092] The intelligent forklift contacts the goods to be taken out and lifts them, then exits the storage location and resets the forks.

[0093] Compared with the prior art, the storage location detection method of the present invention has the following beneficial effects:

[0094] (1) The present invention provides a 2D sensor that can move left and right relative to the storage location. The 2D sensor is used to perform multi-area detection close to a specific area to detect the internal conditions of the storage location (the depth of the storage location, the empty or full situation of the storage location). The intelligent forklift can adjust the posture of the fork according to the collected storage location information to clamp the goods and control the position of the goods. Compared with the existing storage location detection method that detects the storage location through a visual recognition device, the hardware cost is relatively low and the maintenance cost can be reduced.

[0095] (2) The present invention uses a 2D sensor to detect the internal situation of the storage location. Compared with visual recognition devices and photoelectric sensors, the 2D sensor has a lower difficulty in adjusting the scanning area. It can move left and right in conjunction with the side shift mechanism of the fork. The size, length and width of the sensor scanning area can be adjusted according to actual needs (the sensor scanning area is set according to the size of the storage location), thereby realizing the detection of dynamic areas and realizing comprehensive detection of the situation in the storage location (storage location occupancy detection, storage location edge detection). In addition, by dividing the scanning area of ​​the 2D sensor into areas of different specifications, the placement distance between the goods and the frame of the high-level shelf can be adjusted.

[0096] (3) The existing storage location detection method detects the storage location through a visual recognition device, and the related algorithms for recognition and positioning involved in the visual recognition device are complex and difficult to write and maintain. In the present invention, the storage location is detected by setting a 2D sensor that can move left and right relative to the storage location. It is highly practical and the technical threshold for writing and maintaining the related algorithms is low.

[0097] Based on the disclosure and teachings of the above description, those skilled in the art may also make changes and modifications to the above embodiments. Therefore, the present invention is not limited to the specific embodiments disclosed and described above, and modifications and variations of the present invention should also fall within the scope of protection of the claims of the present invention. In addition, although certain specific terms are used in this description, these terms are only for convenience of description and do not constitute any limitation to the present invention.

Claims

1. A storage location detection method, characterized in that: include: A 2D sensor is installed on the side shift mechanism of the fork of the intelligent forklift, and the 2D sensor can move horizontally left and right along with the side shift mechanism; The side shift mechanism drives the 2D sensor to move left and right. When the 2D sensor moves left and right, its scanning range forms a scanning detection area. The intelligent forklift moves to the storage location and stops; The fork of the intelligent forklift is lifted to the specified height and stops according to the height of the designated storage location; The 2D sensor starts to detect, and the side shift mechanism drives the 2D sensor to move. The 2D sensor detects the internal situation of the storage location and generates storage location information; The intelligent forklift adjusts the position of the fork relative to the warehouse entrance based on the collected warehouse location information; The intelligent forklift moves into the storage location and moves the fork into the storage location to load and unload goods; If it is an unloading operation, when the side shift mechanism works and drives the 2D sensor to move, the side shift mechanism moves the 2D sensor to the middle area of ​​the storage location to detect whether there is any goods stored in the storage location. The middle area is the center of the storage location and extends Amm to the left and right sides, where 2A ≥ the width of the goods; If there is no goods stored in the storage location, the center space in the storage location is determined to meet the space required for placing the goods, and the fork position is accurately adjusted; otherwise, if it is determined that the center space in the storage location does not meet the space required for placing the goods, the remaining space in the storage location is checked to see if the goods can be stored.

2. The storage location detection method according to claim 1, characterized in that: When the side shift mechanism drives the 2D sensor to move left and right, the intelligent forklift sets the standard range for the side shift mechanism to drive the 2D sensor to move left and right according to the storage location type. The storage location type and storage location width data form a type-width mapping set. The intelligent forklift obtains the storage location width data based on the storage location type and the type-width mapping set.

3. The storage location detection method according to claim 1, characterized in that: The process of checking whether the remaining space in the storage location can store goods includes: The side shift mechanism drives the 2D sensor to move to one side of the storage location until it detects the high-bay shelf and stops; the side shift mechanism drives the 2D sensor to move to the other side of the storage location; If the side shift mechanism drives the 2D sensor to move to the other side of the storage location, and the 2D sensor continuously detects goods, it is determined that the storage location is fully occupied and does not meet the storage requirements, and the smart forklift stops unloading; If the side shift mechanism drives the 2D sensor to move to the other side of the storage location, and the 2D sensor detects that there is an area in the storage location where no goods are placed, the 2D sensor will locate the area where no goods are placed, and determine whether the area where no goods are placed meets the space required for placing the goods. If the area where no goods are placed meets the space required for placing the goods, the fork will be accurately adjusted in position; otherwise, the intelligent forklift will stop unloading.

4. The storage location detection method according to claim 3, characterized in that: If the smart forklift stops unloading, the smart forklift will alarm.

5. The storage location detection method according to claim 1, characterized in that: The process of precise adjustment of the fork position includes: The side shift mechanism drives the 2D sensor to switch to a position B mm to the left of the middle area, or the side shift mechanism drives the 2D sensor to switch to a position B mm to the right of the middle area, where 2B ≥ cargo width; Determine whether the high shelf is detected; If the high shelf is detected, the 2D sensor is judged to be outside the storage location, and the side shift mechanism drives the 2D sensor to move to the other side until the high shelf is no longer detected, and the side shift mechanism stops moving; If the high shelf is not detected, the 2D sensor is judged to be located within the storage location, and the side shift mechanism drives the 2D sensor to move to the same side until the high shelf is detected, and the side shift mechanism stops moving; After the side shift mechanism stops moving, the fork starts to pick up and unload the cargo.

6. The storage location detection method according to claim 5, characterized in that: When the side shift mechanism stops moving, there is a 20-50mm gap between the fork and the side of the high-rise shelf.

7. The storage location detection method according to claim 1, characterized in that: If it is an unloading operation, the intelligent forklift will stop moving after entering the storage location, and the forks will be located in the storage location; The fork drops to a specified height to place the goods in the storage location.

8. The storage location detection method according to claim 1, characterized in that: If the goods are unloaded near the entrance of the storage location, the goods should be placed 20-80mm away from the edge of the shelf entrance.

9. The storage location detection method according to claim 1, characterized in that: If it is a pickup operation, the intelligent forklift moves into the storage location and stops moving, with the forks positioned within the storage location and under the goods to be picked up; The fork rises to a specified height to move the goods away from the storage surface.

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