CN106044645A - Cargo pallet accessing system capable of positioning based on QR code and cargo pallet accessing method capable of positioning based on QR code - Google Patents
Cargo pallet accessing system capable of positioning based on QR code and cargo pallet accessing method capable of positioning based on QR code Download PDFInfo
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- CN106044645A CN106044645A CN201610620160.5A CN201610620160A CN106044645A CN 106044645 A CN106044645 A CN 106044645A CN 201610620160 A CN201610620160 A CN 201610620160A CN 106044645 A CN106044645 A CN 106044645A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
- B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
- B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
- B66F9/075—Constructional features or details
- B66F9/0755—Position control; Position detectors
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06K—GRAPHICAL DATA READING; PRESENTATION OF DATA; RECORD CARRIERS; HANDLING RECORD CARRIERS
- G06K7/00—Methods or arrangements for sensing record carriers, e.g. for reading patterns
- G06K7/10—Methods or arrangements for sensing record carriers, e.g. for reading patterns by electromagnetic radiation, e.g. optical sensing; by corpuscular radiation
- G06K7/10544—Methods or arrangements for sensing record carriers, e.g. for reading patterns by electromagnetic radiation, e.g. optical sensing; by corpuscular radiation by scanning of the records by radiation in the optical part of the electromagnetic spectrum
- G06K7/10712—Fixed beam scanning
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06K—GRAPHICAL DATA READING; PRESENTATION OF DATA; RECORD CARRIERS; HANDLING RECORD CARRIERS
- G06K7/00—Methods or arrangements for sensing record carriers, e.g. for reading patterns
- G06K7/10—Methods or arrangements for sensing record carriers, e.g. for reading patterns by electromagnetic radiation, e.g. optical sensing; by corpuscular radiation
- G06K7/14—Methods or arrangements for sensing record carriers, e.g. for reading patterns by electromagnetic radiation, e.g. optical sensing; by corpuscular radiation using light without selection of wavelength, e.g. sensing reflected white light
- G06K7/1404—Methods for optical code recognition
- G06K7/1408—Methods for optical code recognition the method being specifically adapted for the type of code
- G06K7/1417—2D bar codes
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06K—GRAPHICAL DATA READING; PRESENTATION OF DATA; RECORD CARRIERS; HANDLING RECORD CARRIERS
- G06K7/00—Methods or arrangements for sensing record carriers, e.g. for reading patterns
- G06K7/10—Methods or arrangements for sensing record carriers, e.g. for reading patterns by electromagnetic radiation, e.g. optical sensing; by corpuscular radiation
- G06K7/14—Methods or arrangements for sensing record carriers, e.g. for reading patterns by electromagnetic radiation, e.g. optical sensing; by corpuscular radiation using light without selection of wavelength, e.g. sensing reflected white light
- G06K7/1404—Methods for optical code recognition
- G06K7/1439—Methods for optical code recognition including a method step for retrieval of the optical code
- G06K7/1456—Methods for optical code recognition including a method step for retrieval of the optical code determining the orientation of the optical code with respect to the reader and correcting therefore
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- General Physics & Mathematics (AREA)
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- Health & Medical Sciences (AREA)
- General Health & Medical Sciences (AREA)
- Structural Engineering (AREA)
- Transportation (AREA)
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- Life Sciences & Earth Sciences (AREA)
- Mechanical Engineering (AREA)
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Abstract
The invention relates to the field of an industrial robot, an AGV and pallet detection, in particular to a registration method of a forklift and a forklift arm, a cargo pallet accessing system capable of positioning based on a QR code and a cargo pallet accessing method capable of positioning based on the QR code. The relative position between the current forklift arm and a cargo pallet and the relative position between the forklift arm and a cargo shelf are judged by positioning and recognizing a QR code label arranged at the left side of the cargo pallet or a pallet placing part, the QR code label arranged in the centre of the cargo pallet or the pallet placing part and the QR code label arranged on the right side of the cargo pallet or the pallet placing part, so that the forklift arm can be adjusted in time for accessing the cargo pallet accurately. Compared with the prior art, the system and the method have the advantages of being low in cost, high in efficiency and high in safety factor.
Description
Technical field
The present invention relates to industrial robot, AGV, pallet detection field, particularly relate to a kind of fork truck, fork truck arm registration side
The pallet access system of method and Quick Response Code location and access method.
Background technology
High-level shelf is a kind of Large Copacity storage rack common in modern warehouse, taller and bigger compared with common shelf,
Its carrying fork truck passage is the narrowest.Due to high-level shelf height substantially more than 5 meters, when fork truck arm operates aloft
Because its deadweight can occur deformation to a certain extent, thus can cause: when carrying out goods fork extract operation, fork truck arm and goods torr
Bigger error will be there is between dish and cannot registrate；When carrying out cargo storage, deposit between fork truck arm and target shelf location
Cannot accurate arrangement of goods in bigger error.
Publication No. is CN104036212A, and date of publication is that the patent of invention of on 09 10th, 2014 discloses a kind of based on two
The lift AGV automated guided vehicle system of dimension code location.By identifying that 2 D code information guides lift in this system
AGV, but do not account for AGV fork truck arm, with pallet rest portion relative pose, goods is pitched the impact taking or depositing.Authorize public affairs
Announcement CN104142683, the authorized announcement date patent of invention of on 06 08th, 2016 discloses a kind of based on Quick Response Code location
Automatic guide vehicle air navigation aid.By judging that the relative pose of automatic guide vehicle and ground two-dimensional code plans automatic guide vehicle road
Footpath, but relate merely to the relative pose relation on one-dimensional plane, between fork truck arm and pallet, fork truck arm and shelf
Registration helps little.It addition, carry out the method for registration between fork truck arm and pallet by supplementary meanss such as laser radars, significantly carry
High fork truck cost.
Summary of the invention
The present invention proposes a kind of cargo pallet access system based on Quick Response Code location and access method thereof.By location also
Identification is located on the left of cargo pallet or pallet rest portion, the central and two-dimension code label on right side, it is judged that current fork truck arm and goods
Relative position between thing pallet, fork truck arm and shelf location, in order to adjust fork truck arm in time and can complete goods like clockwork
Picking and placeing of thing pallet.Compared with prior art, the present invention has that price is low, efficiency is high, safety coefficient advantages of higher.
A kind of cargo pallet access system based on Quick Response Code location, including location Quick Response Code and pallet detecting system,
It is characterized in that: described location Quick Response Code includes at least two goods alignment code being arranged on cargo pallet, and is arranged on
At least two shelf alignment code in the pallet rest portion of described shelf；Described pallet detecting system is arranged on described fork truck also
And electrically connect with the controller of described fork truck；Described pallet detecting system detects at least two goods location of described cargo pallet
Code, described controller calculates the fork truck arm of described fork truck and the relative position of described cargo pallet, and according to described relative position
Adjust described fork truck arm to be directed at described cargo pallet；At least two shelf that described pallet detecting system detects described shelf are fixed
Bit code, described controller calculates the fork truck arm of described fork truck and the relative position of described shelf, and adjusts according to described relative position
Whole described fork truck arm is directed at described shelf location.
As preferably, described cargo pallet includes that fork truck arm connecting portion, described goods location Quick Response Code include being arranged on institute
State the first goods alignment code and the second goods alignment code at the two ends of fork truck arm connecting portion；The detection of described pallet detecting system is described
First goods alignment code of cargo pallet and the second goods alignment code, described controller calculates the fork truck arm of described fork truck with described
The relative position of cargo pallet, and be directed at described cargo pallet according to fork truck arm described in described relative position adjustment.
As preferably, described fork truck arm connecting portion includes left jack and right jack, and described first goods alignment code is near institute
Stating left jack to arrange, described second goods alignment code is arranged near described right jack.
As preferably, the first shelf alignment code that described shelf alignment code includes being arranged on described pallet rest portion two ends and
Second shelf alignment code, described pallet detecting system detects described first shelf alignment code and the second shelf alignment code, described control
Device processed calculates the fork truck arm of described fork truck and the relative position of described shelf location, and pitches according to described in described relative position adjustment
Car arm is directed at described cargo location.
As preferably, described first shelf alignment code is arranged on the left part of described pallet rest portion, and described second shelf are fixed
Bit code is arranged on the right part of described pallet rest portion.
As preferably, also include that information Quick Response Code, described information Quick Response Code include the goods being arranged on described cargo pallet
Thing information code；Described pallet detecting system detects described goods information code, it is judged that be provided with the cargo pallet of described goods information code
Whether it is target pallet.
As preferably, described goods information code is arranged on the middle part of described cargo pallet.
As preferably, described information Quick Response Code includes the shelf information code being arranged in described pallet rest portion；Described torr
Dish detecting system detects described shelf information code, it is judged that whether the shelf being provided with described shelf information code are target shelf.
As preferably, described shelf information code is arranged on the middle part of described pallet rest portion.
A kind of cargo pallet access method based on Quick Response Code location, it is adaptable to include being positioned by the goods of cargo pallet
The goods torr of the pallet detecting system composition of code, goods information code, the shelf alignment code of shelf, shelf information code, and fork truck
Take inventory the system of taking；It is characterized in that: in the deposit operation and taking-up operation of cargo pallet: examined by described pallet detecting system
Survey the goods alignment code of cargo pallet, and according to described goods alignment code, fork truck arm is registrated with described cargo pallet；By institute
State the shelf alignment code of pallet detecting system detection shelf, and according to described shelf alignment code by fork truck arm and described shelf location
Registration.
As preferably, described pallet detecting system detects at least two goods alignment code of described cargo pallet, fork truck
Controller calculates the relative position of fork truck arm and described cargo pallet, and according to fork truck arm and institute described in described relative position adjustment
State cargo pallet alignment；Described pallet detecting system detects at least two shelf alignment code of described shelf, the controller of fork truck
Calculate the fork truck arm of described fork truck and the relative position of described shelf, and according to fork truck arm and institute described in described relative position adjustment
State shelf location alignment.
As preferably, fork truck arm includes with the relative position of cargo pallet: between fork truck arm center and cargo pallet center
Horizontal range L1, vertical dimension W1, and vertical distance H1, angle a between fork truck arm plane and described shelf1；Fork truck arm
Include with the relative position of shelf location: horizontal range L between fork truck arm center and pallet rest portion center2, vertical dimension
W2, and vertical distance H2, angle a between fork truck arm plane and described shelf2。
As preferably, described controller calculates the first of the described fork truck arm the first goods alignment code with described cargo pallet
Relatively position, and the second relative position of described fork truck arm and the second goods alignment code of described cargo pallet, and according to institute
State the relative position of the first relative position and fork truck arm described in described second relative position calculation with described cargo pallet.
As preferably, described controller calculates the of the described fork truck arm the first shelf alignment code with described pallet rest portion
Three-phase is to position, and the 4th relative position of described fork truck arm and the second shelf alignment code of described pallet rest portion, and root
According to the described third phase relative position to position with fork truck arm described in described 4th pair of position calculation with described shelf location.
As preferably, described cargo pallet deposit operation includes: the target that described pallet detecting system inputs according to user
The coding information of cargo pallet, searches for target goods pallet；Described pallet detecting system detects determining of described target goods pallet
Position Quick Response Code；The controller of fork truck calculates the relative position of fork truck arm and described target goods pallet, and according to described phase para-position
Put the described fork truck arm of adjustment to registrate with described target goods pallet；Described controller controls described fork truck arm fork and takes described target goods
Thing pallet；Described controller controls described fork truck and moves near target shelf location；Described pallet detecting system is according to user
The coding information of the target shelf location of input, searches for target shelf location；Described pallet detecting system detects described target goods
The location Quick Response Code of frame；The controller of fork truck calculates the relative position of fork truck arm and described target shelf, and described controller root
Registrate with described target shelf location according to fork truck arm described in described relative position adjustment；Described controller controls described fork truck arm will
Described target goods pallet is placed on described target shelf location.
As preferably, the taking-up operation of described cargo pallet includes: the mesh that described pallet detecting system inputs according to user
The coding information of mark shelf location, searches for target shelf location；Described pallet detecting system detects the location of described target shelf
Quick Response Code；The controller of fork truck calculates the relative position of fork truck arm and described target shelf, and according to described relative position adjustment
Described fork truck arm registrates with described target shelf location；The target goods pallet that described pallet detecting system inputs according to user
Coding information, searches for target goods pallet；Described pallet detecting system detects the location Quick Response Code of described target goods pallet；Fork
The controller of car calculates the relative position of fork truck arm and described target goods pallet, and pitches according to described in described relative position adjustment
Car arm registrates with described target goods pallet；Described controller controls described fork truck arm fork and takes described target goods pallet.
The pallet access system based on Quick Response Code location of the present invention, mainly has a following characteristics:
1. low cost, sensor is few, and layout is simplified, and is suitable for all kinds of high-level shelf scenes；
2. safety is high, highly sensitive, can effectively reduce fork lift operators's personal injury occurrence probability；
3. principle is advanced, and real-time is good, has promotional value.
Accompanying drawing explanation
The pallet access system schematic that Fig. 1 positions based on Quick Response Code.
Fig. 2 fork truck and target pallet relative position relation schematic diagram.
Fig. 3 fork truck and target pallet rest portion relative position relation schematic diagram.
Fig. 4 fork truck arm registrates flow chart with target pallet.
Detailed description of the invention
Below in conjunction with accompanying drawing, embodiments of the present invention are described in detail.A kind of by location Quick Response Code, information two
Cargo pallet based on the Quick Response Code access system of dimension code and pallet detecting system composition.Wherein, location Quick Response Code includes gluing
The goods alignment code being attached on cargo pallet and the shelf alignment code being pasted onto in the pallet rest portion of shelf.Information Quick Response Code bag
Include the goods information code being pasted onto on cargo pallet and the shelf information code being pasted onto on shelf.
Cargo pallet 1 includes left jack 131 and the right jack 132 inserted for fork truck arm, viscous in the left side of left jack 131
Posting the first goods alignment code 111, the right side of right jack 132 is pasted with the second goods alignment code 112, viscous between left and right jack
Post goods information code 121.In first and second goods alignment code and goods information code be generally aligned in the same plane, goods information code is
Be pasted onto well between the first goods alignment code and the second goods alignment code, the center of cargo pallet.The goods letter of cargo pallet
Breath code is for distinguishing different cargo pallets, and the first goods alignment code of cargo pallet and the second goods alignment code are for goods
Pallet positions.
Shelf 2 include vertical direction be arranged on support body and be arranged in parallel from the bottom to top multiple for arrangement of goods pallet
The pallet rest portion 21 of 1.The left end of pallet rest portion 21 is pasted with the first shelf alignment code 221, and the right-hand member of pallet rest portion glues
Post the second shelf alignment code 222.It is pasted with shelf information between first shelf alignment code 221 and the second shelf alignment code 222
Code 231.Shelf information code 231 is preferably pasted onto between the first shelf alignment code 221 and the second shelf alignment code 222, is positioned at torr
The middle part of dish rest portion.In first shelf alignment code and the second shelf alignment code are generally aligned in the same plane with shelf information code.Pallet
The shelf information code of rest portion is used for distinguishing different pallet rest portion, the first shelf alignment code of pallet rest portion and the second goods
Frame alignment code is for carrying out the shelf location (being positioned at the space for arrangement of goods pallet above pallet rest portion) of shelf
Location.
Pallet detecting system includes the camera head 3 being arranged on fork truck, the controller 4 of this camera head 3 and fork truck it
Between connected by wired mode.
In the present invention, Quick Response Code is white background square Quick Response Code, is mainly made up of positioning area and data field two parts, its
Middle positioning area is made up of 3 three-back-shaped anchor points constituting isosceles right triangle, and data field is made up of black and white color lump.Wherein, letter
The data field of breath Quick Response Code uses determinant arrangement black and white color lump to carry out data encoding, and the size of color lump and quantity are according to goods torr
Dish is relevant with the data of pallet rest portion；In the two dimension code division of location: the first goods alignment code: data field upper white under black, represent
On the left of cargo pallet；Second goods alignment code: white under the upper black patch of data field, represents on the right side of cargo pallet；First shelf location
Code: data field is completely black, represents on the left of pallet rest portion；Second shelf alignment code: data field is entirely white, represents that pallet rest portion is right
Side.
In the present invention, operational approach relates to fork truck and cargo pallet is deposited and taken out two kinds of operations.Depositing of cargo pallet
Put, refer to target goods pallet is put into by fork truck arm (i.e. target shelf position in the target pallet rest portion of target shelf
Put)；The taking-up of cargo pallet, refer to by fork truck arm by target goods pallet from the target pallet rest portion of target shelf
(i.e. target shelf location) takes out.
Wherein, cargo storage is mainly included following step by fork truck when specifying on shelf:
1. opening pallet detecting system, input is loaded with the target goods pallet of goods and specifies the target shelf of target shelf respectively
The number information of position；
2. being adjusted by fork truck near target goods pallet, target goods pallet is being carried out by pallet detecting system within sweep of the eye
Identify and location, obtain the relative position between fork truck arm with target goods pallet and (mainly include current fork truck arm center and mesh
Horizontal range L between mark cargo pallet central point1, vertical dimension W1 , vertical distance H1, fork truck arm plane and cargo pallet
Between angle a1, as shown in Figure 2)；
3. fork truck arm is adjusted accordingly by fork truck controller according to relative position, it is achieved between fork truck arm and target goods pallet
Registration so that the left arm of fork truck arm and right arm insert the left jack of target goods pallet and right jack respectively, to target goods
Pallet carries out fork and takes；
4. being adjusted near target shelf location by the fork truck being loaded with cargo pallet, target shelf are being entered by system within sweep of the eye
Row identifies and location, obtains the relative position between fork truck arm with target shelf and (mainly includes current fork truck arm center and target
Horizontal range L between pallet rest portion central point2 , vertical dimension W2 , vertical distance H2, fork truck arm plane and target shelf
Between angle a2, as shown in Figure 3)；
5. fork truck arm is adjusted accordingly by fork truck controller according to relative position, it is achieved between fork truck arm and target shelf location
Registration, target goods pallet is placed on target shelf location.
Wherein, fork truck is pitched from the pallet rest portion specifying shelf and is mainly included following step when taking cargo pallet:
1. open pallet detecting system, respectively input target goods pallet and the number information of appointment target shelf location；
2. being adjusted near target shelf location by the fork truck being loaded with cargo pallet, pallet detecting system is within sweep of the eye to mesh
Mark shelf are identified and position；
3. target goods pallet is being identified and is positioning by pallet detecting system within sweep of the eye, obtains fork truck arm and target goods
Relative position between thing pallet (mainly includes horizontal range L between current fork truck arm center and cargo pallet central point1、
Vertical dimension W1, vertical distance H1 , angle a between fork truck arm plane and shelf1 , as shown in Figure 2)；
4. fork truck arm is adjusted accordingly by fork truck controller according to relative position, it is achieved between fork truck arm and target goods pallet
Registration, and pitch take target goods pallet.
More specifically, the present invention relates between fork truck arm and target goods pallet, fork truck arm and target shelf location
Registration, mainly include following step (such as Fig. 4):
1. pallet detecting system is searching for information Quick Response Code within sweep of the eye, i.e. pallet detecting system sets in search within sweep of the eye
Put the goods information code (or shelf information code) in cargo pallet (or pallet rest portion) central authorities；
2. information Quick Response Code is decoded by pallet detecting system, i.e. pallet detecting system to goods information code (or shelf letter
Breath code) be decoded, it is judged that this goods information code (or shelf information code) arrange object be whether target goods pallet (or
Person's target shelf):
If judging, the object that arranges of this goods information code (shelf information code) is not target goods pallet (or target shelf), torr
Dish detecting system sends the instruction that reports an error, and fork truck controller adjusts fork truck, and goes to step 1；
If judging, the object that arranges of this goods information code (or shelf information code) is target goods pallet (or target shelf),
Then enter step 3；
3. pallet detecting system judges the most whether comprise search location Quick Response Code:
If pallet detecting system the most only comprise information Quick Response Code, fork truck controller adjusts fork truck away from information
The direction of Quick Response Code is moved, and re-executes step 2；
If pallet detecting system the most only comprise complete the first goods alignment code (or first shelf alignment code),
Or comprise complete the first goods alignment code (or first shelf alignment code) and goods information code (or shelf information code),
Then fork truck controller sends adjustment instruction, makes fork truck direction to the right adjust, re-executes step 2；
If pallet detecting system the most only comprise complete the second goods alignment code (or second shelf alignment code),
Or comprise complete the second goods alignment code (or second shelf alignment code) and goods information code (or shelf information code),
Then controller outwardly sends adjustment instruction, makes fork truck direction to the left be adjusted to position, and goes to step 2；
If pallet detecting system comprise complete the first goods alignment code (or first shelf alignment code), goods within sweep of the eye
Thing information code (or shelf information code), the second goods alignment code (or second shelf alignment code), then go to step 3；
3. controller is to when (or the first shelf location of the first goods alignment code in the present image that pallet detecting system shoots
Code) and the second goods alignment code (or second goods alignment code) position respectively, by inverse perspective mapping, determine fork truck arm respectively
With the relative position between target goods pallet (or target shelf), take two groups of statistical average as current fork truck arm and mesh
Relative position between mark cargo pallet (or target shelf), and according to described relative position adjustment fork truck and target goods torr
Dish (or target shelf location) registrates.
Although being described in conjunction with the accompanying embodiments of the present invention, but those of ordinary skill in the art can be in appended power
Profit makes various deformation or amendment in the range of requiring.
Claims (16)
1. a cargo pallet access system based on Quick Response Code location, including location Quick Response Code and pallet detecting system, its
It is characterised by: described location Quick Response Code includes at least two goods alignment code being arranged on cargo pallet, and is arranged on institute
State at least two shelf alignment code in the pallet rest portion of shelf；Described pallet detecting system be arranged on described fork truck and
Electrically connect with the controller of described fork truck；Described pallet detecting system detects at least two goods location of described cargo pallet
Code, described controller calculates the fork truck arm of described fork truck and the relative position of described cargo pallet, and according to described relative position
Adjust described fork truck arm to be directed at described cargo pallet；At least two shelf that described pallet detecting system detects described shelf are fixed
Bit code, described controller calculates the fork truck arm of described fork truck and the relative position of described shelf, and adjusts according to described relative position
Whole described fork truck arm is directed at the shelf location of described shelf.
A kind of cargo pallet access system based on Quick Response Code location the most according to claim 1, it is characterised in that: described
Cargo pallet includes that fork truck arm connecting portion, described goods location Quick Response Code include being arranged on the two ends of described fork truck arm connecting portion
First goods alignment code and the second goods alignment code；Described pallet detecting system detects the first goods location of described cargo pallet
Code and the second goods alignment code, described controller calculates the fork truck arm of described fork truck and the relative position of described cargo pallet, and
It is directed at described cargo pallet according to fork truck arm described in described relative position adjustment.
A kind of cargo pallet access system based on Quick Response Code location the most according to claim 2, it is characterised in that: described
Fork truck arm connecting portion includes that left jack and right jack, described first goods alignment code are arranged near described left jack, described second
Goods alignment code is arranged near described right jack.
A kind of cargo pallet access system based on Quick Response Code location the most according to claim 3, it is characterised in that: described
Shelf alignment code includes the first shelf alignment code and the second shelf alignment code, the described torr being arranged on described pallet rest portion two ends
Dish detecting system detects described first shelf alignment code and the second shelf alignment code, and described controller calculates the fork truck of described fork truck
The relative position of arm and described shelf, and according to the shelf location pair of fork truck arm described in described relative position adjustment Yu described shelf
Accurate.
A kind of cargo pallet access system based on Quick Response Code location the most according to claim 4, it is characterised in that: described
First shelf alignment code is arranged on the left part of described pallet rest portion, and described second shelf alignment code is arranged on described pallet and shelves
The right part in portion.
A kind of cargo pallet access system based on Quick Response Code location the most according to claim 1, it is characterised in that: also wrap
Including information Quick Response Code, described information Quick Response Code includes the goods information code being arranged on described cargo pallet；Described pallet detects
System detects described goods information code, it is judged that whether the cargo pallet being provided with described goods information code is target pallet.
A kind of cargo pallet access system based on Quick Response Code location the most according to claim 6, it is characterised in that: described
Goods information code is arranged on the middle part of described cargo pallet.
A kind of cargo pallet access system based on Quick Response Code location the most according to claim 6, it is characterised in that: described
Information Quick Response Code includes the shelf information code being arranged in described pallet rest portion；Described pallet detecting system detects described shelf
Information code, it is judged that whether the shelf being provided with described shelf information code are target shelf.
A kind of cargo pallet access system based on Quick Response Code location the most according to claim 8, it is characterised in that: described
Shelf information code is arranged on the middle part of described pallet rest portion.
10. one kind based on Quick Response Code location cargo pallet access method, it is adaptable to include by the goods alignment code of cargo pallet,
The cargo pallet of the pallet detecting system composition of goods information code, the shelf alignment code of shelf, shelf information code, and fork truck is deposited
Take system；It is characterized in that: in the deposit operation and taking-up operation of cargo pallet: detect goods by described pallet detecting system
The goods alignment code of thing pallet, and according to described goods alignment code, fork truck arm is registrated with described cargo pallet；By described torr
The shelf alignment code of dish detecting system detection pallet rest portion, and according to described shelf alignment code by fork truck arm and described shelf
Shelf location registrates.
11. a kind of cargo pallet access methods based on Quick Response Code location according to claim 10, it is characterised in that: institute
Stating pallet detecting system and detect at least two goods alignment code of described cargo pallet, the controller of fork truck calculates fork truck arm and institute
State the relative position of cargo pallet, and be directed at described cargo pallet according to fork truck arm described in described relative position adjustment；Described
Pallet detecting system detects at least two shelf alignment code of described shelf, and the controller of fork truck calculates the fork truck arm of described fork truck
With the relative position of described shelf, and according to the shelf location pair of fork truck arm described in described relative position adjustment Yu described shelf
Accurate.
12. a kind of cargo pallet access methods based on Quick Response Code location according to claim 11, it is characterised in that: fork
Car arm includes with the relative position of cargo pallet: horizontal range L between fork truck arm center and cargo pallet center1, vertically away from
From W1, and vertical distance H1, angle a between fork truck arm plane and described shelf1；Fork truck arm position relative with shelf is wrapped
Include: horizontal range L between fork truck arm center and pallet rest portion center2, vertical dimension W2, and vertical distance H2, fork truck arm
Angle a between plane and described shelf2。
13. a kind of cargo pallet access methods based on Quick Response Code location according to claim 11, it is characterised in that:
Described controller calculates the first relative position of described fork truck arm and the first goods alignment code of described cargo pallet, and described
Second relative position of fork truck arm and the second goods alignment code of described cargo pallet, and according to the described first relative position and institute
State the relative position of fork truck arm described in the second relative position calculation and described cargo pallet.
14. a kind of cargo pallet access methods based on Quick Response Code location according to claim 11, it is characterised in that:
Described controller calculates the described fork truck arm third phase with the first shelf alignment code of described pallet rest portion to position, Yi Jisuo
State the 4th relative position of fork truck arm and the second shelf alignment code of described pallet rest portion, and according to described third phase to position
Relative position with fork truck arm described in described 4th pair of position calculation with described shelf.
15. according to a kind of based on Quick Response Code location the cargo pallet access side described in claim 10 or 11 or 12 or 13 or 14
Method, it is characterised in that: described cargo pallet deposit operation includes:
The coding information of the target goods pallet that described pallet detecting system inputs according to user, searches for target goods pallet；
Described pallet detecting system detects the location Quick Response Code of described target goods pallet；
The controller of fork truck calculates the relative position of fork truck arm and described target goods pallet, and according to described relative position adjustment
Described fork truck arm registrates with described target goods pallet；
Described controller controls described fork truck arm fork and takes described target goods pallet；
Described controller controls described fork truck and moves near target shelf location；
The coding information of the target shelf location that described pallet detecting system inputs according to user, searches for target shelf；
Described pallet detecting system detects the location Quick Response Code of described target shelf；
The controller of fork truck calculates the relative position of fork truck arm and described target shelf, and according to described in described relative position adjustment
Fork truck arm registrates with described target shelf location；
Described controller controls described fork truck arm and is placed on described target shelf location by described target goods pallet.
16. according to a kind of based on Quick Response Code location the cargo pallet access side described in claim 10 or 11 or 12 or 13 or 14
Method, it is characterised in that: the taking-up operation of described cargo pallet includes:
The coding information of the target shelf location that described pallet detecting system inputs according to user, searches for target shelf；
Described pallet detecting system detects the location Quick Response Code of described target shelf；
The controller of fork truck calculates the relative position of fork truck arm and described target shelf, and according to described in described relative position adjustment
Fork truck arm registrates with described target shelf location；
The coding information of the target goods pallet that described pallet detecting system inputs according to user, searches for target goods pallet；
Described pallet detecting system detects the location Quick Response Code of described target goods pallet；
The controller of fork truck calculates the relative position of fork truck arm and described target goods pallet, and according to described relative position adjustment
Described fork truck arm registrates with described target goods pallet；
Described controller controls described fork truck arm fork and takes described target goods pallet.
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