CN106044645B - A kind of cargo pallet access system and its access method based on Quick Response Code positioning - Google Patents
A kind of cargo pallet access system and its access method based on Quick Response Code positioning Download PDFInfo
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- CN106044645B CN106044645B CN201610620160.5A CN201610620160A CN106044645B CN 106044645 B CN106044645 B CN 106044645B CN 201610620160 A CN201610620160 A CN 201610620160A CN 106044645 B CN106044645 B CN 106044645B
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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
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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
- G06K7/1439—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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Abstract
The present invention relates to industrial robot, AGV, the pallet access systems and access method that a kind of pallet detection field more particularly to fork truck, fork truck arm method for registering and Quick Response Code position.By positioning and identifying the two-dimension code label set on cargo pallet or pallet rest portion left side, center and right side, judge the relative position between current fork truck arm and cargo pallet, fork truck arm and shelf location, picking and placeing for cargo pallet can be completed like clockwork to adjust fork truck arm in time.Compared with prior art, the present invention has many advantages, such as that price is low, efficient, safety coefficient is high.
Description
Technical field
The present invention relates to industrial robot, AGV, pallet detection field more particularly to a kind of fork truck, fork truck arm registration sides
Method and the pallet access system and access method of Quick Response Code positioning.
Background technology
High-level shelf is a kind of large capacity storage rack common in modern warehouse, taller and bigger compared with common shelf,
Its carrying fork truck channel is also more narrow.Since high-level shelf height is substantially at 5 meters or more, when fork truck arm is aloft operated
Because deformation to a certain extent can occur for its dead weight, to cause：When progress cargo forks operation, fork truck arm and cargo support
There will be large error between disk and can not be registrated；When carrying out cargo storage, deposited between fork truck arm and target shelf location
Large error can not accurate arrangement of goods.
Publication No. is CN104036212A, and date of publication is that on 09 10th, 2014 patents of invention disclose one kind based on two
Tie up the lift AGV automated guided vehicle systems of code positioning.By identifying that 2 D code information guides lift in the system
AGV, but do not account for the influence that AGV fork truck arms fork cargo or store with pallet rest portion relative pose.It authorizes public
Announcement CN104142683, authorized announcement date on 06 08th, 2016 patent of invention discloses a kind of to be positioned based on Quick Response Code
Automatic guide vehicle air navigation aid.Automatic guide vehicle road is planned by judging the relative pose of automatic guide vehicle and ground two-dimensional code
Diameter, but the relative pose relationship on one-dimensional plane is related merely to, between fork truck arm and pallet, fork truck arm and shelf
Registration helps little.In addition, the method for by supplementary means such as laser radars be registrated between fork truck arm and pallet, carries significantly
High fork truck cost.
Invention content
The present invention proposes a kind of cargo pallet access system and its access method positioned based on Quick Response Code.By positioning simultaneously
Identification judges current fork truck arm and goods on the left of cargo pallet or pallet rest portion, the two-dimension code label in center and right side
Relative position between object pallet, fork truck arm and shelf location can complete goods like clockwork to adjust fork truck arm in time
Object pallet picks and places.Compared with prior art, the present invention has many advantages, such as that price is low, efficient, safety coefficient is high.
A kind of cargo pallet access system based on Quick Response Code positioning, including positioning Quick Response Code and pallet detecting system,
It is characterized in that：The positioning Quick Response Code includes at least two cargo alignment codes being arranged on cargo pallet, and setting exists
At least two shelf alignment codes in the pallet rest portion of the shelf；The pallet detecting system is arranged on the fork truck simultaneously
And it is electrically connected with the controller of the fork truck；The pallet detecting system detects at least two cargos positioning of the cargo pallet
Code, the controller calculate the relative position of the fork truck arm and the cargo pallet of the fork truck, and according to the relative position
The fork truck arm is adjusted to be aligned with the cargo pallet；At least two shelf that the pallet detecting system detects the shelf are fixed
Position code, the controller calculate the relative position of the fork truck arm and the shelf of the fork truck, and according to the relative position tune
The whole fork truck arm is aligned with the shelf location.
Preferably, the cargo pallet includes fork truck arm interconnecting piece, the cargo positioning Quick Response Code includes being arranged in institute
State the first cargo alignment code and the second cargo alignment code at the both ends of fork truck arm interconnecting piece；Described in the pallet detecting system detection
The the first cargo alignment code and the second cargo alignment code of cargo pallet, the controller calculate the fork truck arm of the fork truck with it is described
The relative position of cargo pallet, and the fork truck arm is adjusted according to the relative position and is aligned with the cargo pallet.
Preferably, the fork truck arm interconnecting piece includes left jack and right jack, the first cargo alignment code is close to institute
Left jack setting is stated, the second cargo alignment code is arranged close to the right jack.
Preferably, the shelf alignment code include be arranged pallet rest portion both ends the first shelf alignment code and
Second shelf alignment code, the pallet detecting system detect the first shelf alignment code and the second shelf alignment code, the control
Device processed calculates the relative position of the fork truck arm and the shelf location of the fork truck, and adjusts the fork according to the relative position
Vehicle arm is aligned with the cargo location.
Preferably, the left part in the pallet rest portion is arranged in the first shelf alignment code, second shelf are fixed
The right part in the pallet rest portion is arranged in position code.
Preferably, further including information Quick Response Code, described information Quick Response Code includes the goods being arranged on the cargo pallet
Object information code；The pallet detecting system detects the goods information code, judges the cargo pallet equipped with the goods information code
Whether it is target pallet.
Preferably, the goods information code is arranged at the middle part of the cargo pallet.
Preferably, described information Quick Response Code includes the shelf information code being arranged in the pallet rest portion；The support
Disk detecting system detects the shelf information code, judges whether the shelf equipped with the shelf information code are target shelf.
Preferably, the shelf information code is arranged at the middle part of the pallet rest portion.
A kind of cargo pallet access method based on Quick Response Code positioning, suitable for including being positioned by the cargo of cargo pallet
Code, goods information code, the cargo support of the pallet detecting system composition of the shelf alignment codes of shelf, shelf information code and fork truck
It takes inventory and takes system；It is characterized in that：In the deposit operation and taking-up operation of cargo pallet：It is examined by the pallet detecting system
The cargo alignment code of cargo pallet is surveyed, and is registrated fork truck arm with the cargo pallet according to the cargo alignment code；Pass through institute
The shelf alignment code of pallet detecting system detection shelf is stated, and according to the shelf alignment code by fork truck arm and the shelf location
Registration.
Preferably, the pallet detecting system detects at least two cargo alignment codes of the cargo pallet, fork truck
Controller calculates the relative position of fork truck arm and the cargo pallet, and adjusts the fork truck arm and institute according to the relative position
State cargo pallet alignment；The pallet detecting system detects at least two shelf alignment codes of the shelf, the controller of fork truck
The relative position of the fork truck arm and the shelf of the fork truck is calculated, and the fork truck arm and institute are adjusted according to the relative position
State shelf location alignment.
Preferably, fork truck arm and the relative position of cargo pallet include：Between fork truck arm center and cargo pallet center
Horizontal distance L1, vertical range W1And vertical distance H1, the angle a between fork truck arm plane and the shelf1；Fork truck arm
Relative position with shelf location includes：Horizontal distance L between fork truck arm center and pallet rest portion center2, vertical range
W2And vertical distance H2, the angle a between fork truck arm plane and the shelf2。
Preferably, the controller calculates the first of the fork truck arm and the first cargo alignment code of the cargo pallet
Second relative position of relative position and the fork truck arm and the second cargo alignment code of the cargo pallet, and according to institute
It states the first relative position and second relative position calculates the relative position of the fork truck arm and the cargo pallet.
Preferably, the controller calculates the of the first shelf alignment code of the fork truck arm and the pallet rest portion
4th relative position of three relative positions and the fork truck arm and the second shelf alignment code of the pallet rest portion, and root
The relative position of the fork truck arm and the shelf location is calculated according to the third relative position and the 4th pair of position.
Preferably, the cargo pallet deposit operation includes：The pallet detecting system is according to target input by user
The coding information of cargo pallet searches for target goods pallet；The pallet detecting system detects determining for the target goods pallet
Position Quick Response Code；The controller of fork truck calculates the relative position of fork truck arm and the target goods pallet, and according to the opposite position
The adjustment fork truck arm is set to be registrated with the target goods pallet；The controller controls the fork truck arm and forks the target goods
Object pallet；The controller controls the fork truck and is moved near target shelf location；The pallet detecting system is according to user
The coding information of the target shelf location of input searches for target shelf location；The pallet detecting system detects the target goods
The positioning Quick Response Code of frame；The controller of fork truck calculates the relative position of fork truck arm and the target shelf, and the controller root
The fork truck arm is adjusted according to the relative position to be registrated with the target shelf location；The controller controls the fork truck arm will
The target goods pallet is placed on the target shelf location.
Preferably, the taking-up operation of the cargo pallet includes：The pallet detecting system is according to mesh input by user
The coding information of shelf location is marked, target shelf location is searched for；The pallet detecting system detects the positioning of the target shelf
Quick Response Code；The controller of fork truck calculates the relative position of fork truck arm and the target shelf, and is adjusted according to the relative position
The fork truck arm is registrated with the target shelf location；The pallet detecting system is according to target goods pallet input by user
Coding information searches for target goods pallet；The pallet detecting system detects the positioning Quick Response Code of the target goods pallet；Fork
The controller of vehicle calculates the relative position of fork truck arm and the target goods pallet, and adjusts the fork according to the relative position
Vehicle arm is registrated with the target goods pallet；The controller controls the fork truck arm and forks the target goods pallet.
The pallet based on Quick Response Code positioning of the present invention accesses system, mainly there is following characteristics：
1. at low cost, sensor is few, and layout is simplified, and is suitble to all kinds of high-level shelf scenes；
2. safe, high sensitivity can effectively reduce fork lift operators' personal injury occurrence probability；
3. principle is advanced, real-time is good, has promotional value.
Description of the drawings
Fig. 1 accesses system schematic based on the pallet that Quick Response Code positions.
Fig. 2 fork trucks and target pallet relative position relation schematic diagram.
Fig. 3 fork trucks and target pallet rest portion relative position relation schematic diagram.
Fig. 4 fork truck arms are registrated flow chart with target pallet.
Specific implementation mode
Embodiments of the present invention are described in detail below in conjunction with attached drawing.One kind is by positioning Quick Response Code, information two
The cargo pallet based on Quick Response Code for tieing up code and pallet detecting system composition accesses system.Wherein, positioning Quick Response Code includes viscous
The cargo 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 packet
The shelf information code for including the goods information code being pasted onto on cargo pallet and being pasted onto on shelf.
Cargo pallet 1 includes the left jack 131 being inserted into for fork truck arm and right jack 132, is glued in the left side of left jack 131
The first cargo alignment code 111 is posted, the right side of right jack 132 is pasted with the second cargo alignment code 112, is glued between left and right jack
Post goods information code 121.In first and second cargo alignment code and goods information code are generally aligned in the same plane, goods information code is most
It is pasted onto well between the first cargo alignment code and the second cargo alignment code, the center of cargo pallet.The cargo of cargo pallet is believed
Breath code is used for for distinguishing different cargo pallets, the first cargo alignment code and the second cargo alignment code of cargo pallet to cargo
Pallet is positioned.
Shelf 2 include that vertical direction setting is in frame body and disposed in parallel from the bottom to top multiple for arrangement of goods pallet
1 pallet rest portion 21.The left end of pallet rest portion 21 is pasted with the first shelf alignment code 221, and the right end of pallet rest portion is viscous
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 located at support
The middle part of disk rest portion.First shelf alignment code and the second shelf alignment code are generally aligned in the same plane interior with shelf information code.Pallet
The shelf information code of rest portion is for distinguishing different pallet rest portions, the first shelf alignment code of pallet rest portion and the second goods
Frame alignment code is used for the shelf location to shelf（The space for arrangement of goods pallet above pallet rest portion）It carries out
Positioning.
Pallet detecting system includes the photographic device 3 being mounted on fork truck, the controller 4 of the photographic device 3 and fork truck it
Between connected by wired mode.
Quick Response Code is white background square Quick Response Code in the present invention, is mainly made of positioning area and data field two parts,
The rectangular-ambulatory-plane anchor point that middle positioning area constitutes isosceles right triangle by 3 is constituted, and data field is made of black and white color lump.Wherein, believe
The data field for ceasing Quick Response Code carries out data encoding using determinant arrangement black and white color lump, and the size and quantity of color lump are according to cargo support
Disk is related to the data of pallet rest portion；It positions in Quick Response Code point：First cargo alignment code：Data field it is upper it is white under it is black, indicate
On the left of cargo pallet；Second cargo alignment code：It is white under the upper black patch of data field, it indicates on the right side of cargo pallet；First shelf position
Code：Data field is completely black, indicates on the left of pallet rest portion；Second shelf alignment code：Data field is entirely white, indicates that pallet rest portion is right
Side.
In the present invention, operating method is related to fork truck to the storage of cargo pallet and takes out two kinds of operations.Cargo pallet is deposited
It puts, refers to that target goods pallet is put into the target pallet rest portion of target shelf by fork truck arm（That is target shelf position
It sets）；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
（That is target shelf location）It takes out.
Wherein, cargo storage when on specified shelf is included mainly following steps by fork truck：
1. opening pallet detecting system, input respectively is loaded with the target of the target goods pallet and specified target shelf of cargo
The number information of shelf location；
2. adjusting fork truck to target goods pallet, pallet detecting system is within sweep of the eye to target goods pallet
It is identified and positions, obtain the relative position between fork truck arm and target goods pallet（It include mainly current fork truck arm center
With the horizontal distance L between target goods tray center point1, vertical range W1 , vertical distance H1, fork truck arm plane and cargo
Angle a between pallet1, as shown in Figure 2）；
3. fork truck controller adjusts accordingly fork truck arm according to relative position, fork truck arm and target goods pallet are realized
Between registration so that the left arm and right arm of fork truck arm are inserted into the left jack of target goods pallet and right jack respectively, to target
Cargo pallet is forked；
4. adjusting the fork truck for being loaded with cargo pallet to target shelf location, system is within sweep of the eye to target goods
Frame is identified and positions, and obtains the relative position between fork truck arm and target shelf（Mainly include current fork truck arm center with
Horizontal distance L between target pallet rest portion central point2 , vertical range W2 , vertical distance H2, fork truck arm plane and target goods
Angle a between frame2, as shown in Figure 3）；
5. fork truck controller adjusts accordingly fork truck arm according to relative position, fork truck arm and target shelf location are realized
Between registration, target goods pallet is placed on target shelf location.
Wherein, include mainly following steps when fork truck forks cargo pallet from the pallet rest portion of specified shelf：
1. opening pallet detecting system, the number information of target goods pallet and specified target shelf location is inputted respectively；
2. adjusting the fork truck for being loaded with cargo pallet to target shelf location, pallet detecting system is within sweep of the eye
Target shelf are identified and are positioned；
3. pallet detecting system is being identified and is positioning to target goods pallet within sweep of the eye, fork truck arm and mesh are obtained
Mark the relative position between cargo pallet（It include mainly the horizontal distance between current fork truck arm center and cargo pallet central point
L1, vertical range W1, vertical distance H1 , angle a between fork truck arm plane and shelf1 , as shown in Figure 2）；
4. fork truck controller adjusts accordingly fork truck arm according to relative position, fork truck arm and target goods pallet are realized
Between registration, and fork target goods pallet.
More specifically, between fork truck arm and target goods pallet, fork truck arm and target shelf location involved in the present invention
Registration, mainly include following steps（Such as Fig. 4）：
1. pallet detecting system is being searched within sweep of the eye in search information Quick Response Code, i.e. pallet detecting system within sweep of the eye
Rope is arranged in cargo pallet（Or pallet rest portion）The goods information code in center（Or shelf information code）；
2. pallet detecting system is decoded information Quick Response Code, i.e., pallet detecting system is to goods information code（Or goods
Frame information code）It is decoded, judges the goods information code（Or shelf information code）Setting object whether be target goods support
Disk（Or target shelf）：
If judging the goods information code（Shelf information code）Setting object be not target goods pallet（Or target goods
Frame）, pallet detecting system sends out the instruction that reports an error, fork truck controller adjustment fork truck, and goes to step 1；
If judging the goods information code（Or shelf information code）Setting object be target goods pallet（Or target goods
Frame）, then 3 are entered step；
3. whether pallet detecting system judges within sweep of the eye comprising search positioning Quick Response Code：
If pallet detecting system within sweep of the eye only include information Quick Response Code, fork truck controller adjust fork truck away from
The direction of information Quick Response Code is moved, and step 2 is re-executed；
If pallet detecting system only includes complete first cargo alignment code within sweep of the eye（Or first shelf positioning
Code）, or include complete first cargo alignment code（Or the first shelf alignment code）With goods information code（Or shelf information
Code）, then fork truck controller send out adjust instruction, make fork truck to the right side direction adjust, re-execute step 2；
If pallet detecting system only includes complete second cargo alignment code within sweep of the eye（Or second shelf positioning
Code）, or include complete second cargo alignment code（Or the second shelf alignment code）With goods information code（Or shelf information
Code）, then controller outwardly send out adjust instruction, making fork truck, side direction is adjusted to position to the left, and goes to step 2；
If pallet detecting system includes complete first cargo alignment code within sweep of the eye（Or first shelf positioning
Code）, goods information code（Or shelf information code）, the second cargo alignment code（Or the second shelf alignment code）, then 4 are gone to step；
4. controller is to when the first cargo alignment code in the present image that pallet detecting system is shot（Or first shelf it is fixed
Position code）With the second cargo alignment code（Or the second cargo alignment code）It positions respectively, by inverse perspective mapping, determines fork truck respectively
Arm and target goods pallet（Or target shelf）Between relative position, take two groups of statistical averages as current fork truck arm with
Target goods pallet（Or target shelf）Between relative position, and fork truck and target goods are adjusted according to the relative position
Pallet（Or target shelf location）Registration.
Although the embodiments of the invention are described in conjunction with the attached drawings, but those of ordinary skill in the art can be in appended power
Profit makes various deformations or amendments in the range of requiring.
Claims (16)
1. a kind of cargo pallet based on Quick Response Code positioning accesses system, including positioning Quick Response Code and pallet detecting system,
It is characterized in that：The positioning Quick Response Code includes at least two cargo alignment codes being arranged on cargo pallet, and is arranged in goods
At least two shelf alignment codes in the pallet rest portion of frame；The pallet detecting system be arranged on fork truck and with the fork
The controller of vehicle is electrically connected；The pallet detecting system detects at least two cargo alignment codes of the cargo pallet, the control
Device processed calculates the relative position of the fork truck arm and the cargo pallet of the fork truck, and adjusts the fork according to the relative position
Vehicle arm is aligned with the cargo pallet；The pallet detecting system detects at least two shelf alignment codes of the shelf, described
Controller calculates the relative position of the fork truck arm and the shelf of the fork truck, and adjusts the fork truck according to the relative position
Arm is aligned with the shelf location of the shelf.
2. a kind of cargo pallet based on Quick Response Code positioning according to claim 1 accesses system, it is characterised in that：It is described
Cargo pallet includes fork truck arm interconnecting piece, and the cargo alignment code includes being arranged the first of the both ends of the fork truck arm interconnecting piece
Cargo alignment code and the second cargo alignment code；The pallet detecting system detect the cargo pallet the first cargo alignment code and
Second cargo alignment code, the controller calculate the relative position of the fork truck arm and the cargo pallet of the fork truck, and according to
The relative position adjusts the fork truck arm and is aligned with the cargo pallet.
3. a kind of cargo pallet based on Quick Response Code positioning according to claim 2 accesses system, it is characterised in that:It is described
Fork truck arm interconnecting piece includes left jack and right jack, and the first cargo alignment code is arranged close to the left jack, and described second
Cargo alignment code is arranged close to the right jack.
4. a kind of cargo pallet based on Quick Response Code positioning according to claim 3 accesses system, it is characterised in that：It is described
Shelf alignment code includes the first shelf alignment code and the second shelf alignment code being arranged at pallet rest portion both ends, the support
Disk detecting system detects the first shelf alignment code and the second shelf alignment code, the controller calculate the fork truck of the fork truck
The relative position of arm and the shelf, and adjust according to the relative position shelf location pair of the fork truck arm and the shelf
It is accurate.
5. a kind of cargo pallet based on Quick Response Code positioning according to claim 4 accesses system, it is characterised in that:It is described
The left part in the pallet rest portion is arranged in first shelf alignment code, and the second shelf alignment code setting is shelved in the pallet
The right part in portion.
6. a kind of cargo pallet based on Quick Response Code positioning according to claim 1 accesses system, it is characterised in that：Also wrap
Information Quick Response Code is included, described information Quick Response Code includes the goods information code being arranged on the cargo pallet；The pallet detection
Goods information code described in system detectio judges whether the cargo pallet equipped with the goods information code is target pallet.
7. a kind of cargo pallet based on Quick Response Code positioning according to claim 6 accesses system, it is characterised in that：It is described
Goods information code is arranged at the middle part of the cargo pallet.
8. a kind of cargo pallet based on Quick Response Code positioning according to claim 6 accesses system, it is characterised in that：It is described
Information Quick Response Code includes the shelf information code being arranged in the pallet rest portion；The pallet detecting system detects the shelf
Information code judges whether the shelf equipped with the shelf information code are target shelf.
9. a kind of cargo pallet based on Quick Response Code positioning according to claim 8 accesses system, it is characterised in that：It is described
Shelf information code is arranged at the middle part of the pallet rest portion.
10. it is a kind of based on Quick Response Code positioning cargo pallet access method, suitable for include by cargo pallet cargo alignment code,
The cargo pallet of goods information code, the pallet detecting system composition of the shelf alignment codes 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：Goods is detected by the pallet detecting system
The cargo alignment code of object pallet, and be registrated fork truck arm with the cargo pallet according to the cargo alignment code；Pass through the support
Disk detecting system detects the shelf alignment code of pallet rest portion, and according to the shelf alignment code by fork truck arm and the shelf
Shelf location is registrated.
11. a kind of cargo pallet access method based on Quick Response Code positioning according to claim 10, it is characterised in that：Institute
At least two cargo alignment codes that pallet detecting system detects the cargo pallet are stated, the controller of fork truck calculates fork truck arm and institute
The relative position of cargo pallet is stated, and the fork truck arm is adjusted according to the relative position and is aligned with the cargo pallet；It is described
Pallet detecting system detects at least two shelf alignment codes of the shelf, and the controller of fork truck calculates the fork truck arm of the fork truck
With the relative position of the shelf, and the shelf location pair of the fork truck arm and the shelf is adjusted according to the relative position
It is accurate.
12. a kind of cargo pallet access method based on Quick Response Code positioning according to claim 11, it is characterised in that：Fork
The relative position of vehicle arm and cargo pallet includes：Horizontal distance L between fork truck arm center and cargo pallet center1, vertically away from
From W1And vertical distance H1, the angle a between fork truck arm plane and the shelf1；The relative position packet of fork truck arm and shelf
It includes：Horizontal distance L between fork truck arm center and pallet rest portion center2, vertical range W2And vertical distance H2, fork truck arm
Angle a between plane and the shelf2。
13. a kind of cargo pallet access method based on Quick Response Code positioning according to claim 11, it is characterised in that:
The controller calculates the first relative position of the first cargo alignment code of the fork truck arm and the cargo pallet and described
Second relative position of fork truck arm and the second cargo alignment code of the cargo pallet, and according to first relative position and institute
State the relative position that the second relative position calculates the fork truck arm and the cargo pallet.
14. a kind of cargo pallet access method based on Quick Response Code positioning according to claim 11, it is characterised in that:
The controller calculates the third relative position of the fork truck arm and the first shelf alignment code of the pallet rest portion, Yi Jisuo
The 4th relative position of fork truck arm and the second shelf alignment code of the pallet rest portion is stated, and according to the third relative position
The relative position of the fork truck arm and the shelf is calculated with the 4th relative position.
15. a kind of cargo pallet access side based on Quick Response Code positioning according to claim 10 or 11 or 12 or 13 or 14
Method, it is characterised in that：The cargo pallet deposit operation includes：
The pallet detecting system searches for target goods pallet according to the coding information of target goods pallet input by user；
The pallet detecting system detects the positioning Quick Response Code of the target goods pallet；
The controller of fork truck calculates the relative position of fork truck arm and the target goods pallet, and is adjusted according to the relative position
The fork truck arm is registrated with the target goods pallet；
The controller controls the fork truck arm and forks the target goods pallet；
The controller controls the fork truck and is moved near target shelf location；
The pallet detecting system searches for target shelf according to the coding information of target shelf location input by user；
The pallet detecting system detects the positioning Quick Response Code of the target shelf；
The controller of fork truck calculates the relative position of fork truck arm and the target shelf, and according to described in relative position adjustment
Fork truck arm is registrated with the target shelf location；
The controller controls the fork truck arm and the target goods pallet is placed on the target shelf location.
16. a kind of cargo pallet access side based on Quick Response Code positioning according to claim 10 or 11 or 12 or 13 or 14
Method, it is characterised in that：The taking-up of the cargo pallet operates：
The pallet detecting system searches for target shelf according to the coding information of target shelf location input by user；
The pallet detecting system detects the positioning Quick Response Code of the target shelf；
The controller of fork truck calculates the relative position of fork truck arm and the target shelf, and according to described in relative position adjustment
Fork truck arm is registrated with the target shelf location；
The pallet detecting system searches for target goods pallet according to the coding information of target goods pallet input by user；
The pallet detecting system detects the positioning Quick Response Code of the target goods pallet；
The controller of fork truck calculates the relative position of fork truck arm and the target goods pallet, and is adjusted according to the relative position
The fork truck arm is registrated with the target goods pallet；
The controller controls the fork truck arm and forks the target goods pallet.
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