CN110790192A - Flexible object stacking method and storage medium - Google Patents
Flexible object stacking method and storage medium Download PDFInfo
- Publication number
- CN110790192A CN110790192A CN201910861977.5A CN201910861977A CN110790192A CN 110790192 A CN110790192 A CN 110790192A CN 201910861977 A CN201910861977 A CN 201910861977A CN 110790192 A CN110790192 A CN 110790192A
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- Prior art keywords
- laser
- fork arm
- forklift
- sensor
- contact
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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
-
- 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
Abstract
The invention provides a flexible object stacking method and a storage medium, wherein the height h1 of a material stack at a blanking designated station is identified through a laser sensor, a fork arm is lifted to the height h2 larger than h1 by a laser forklift, so that the situation that the material stack at the blanking designated station collides when the material is thrown is avoided, the throwing work is influenced, a non-contact sensor is arranged to detect the contact state between the upper end surface of the fork arm and a pallet jack, when the fork arm of the laser forklift drives the pallet to descend onto the material stack, the weight of an object on the pallet enables the flexible object on the material stack to be compressed under pressure, when the flexible object is compressed to the limit, the pallet does not descend, the fork arm of the laser forklift continues to descend to enable the upper end surface of the fork arm to be separated from the jack, and the non-contact sensor breaks a contact signal, so that the object throwing. Compared with the prior art, the stacking method can detect whether the flexible object is put in place or not, has a simple and direct detection mode, and can effectively improve the stacking efficiency of the flexible object.
Description
Technical Field
The invention relates to the field of object positioning, in particular to a flexible object stacking method and a storage medium.
Background
Along with the development of intelligent manufacturing, artifical fork truck is being replaced by AGV slowly, therefore many places originally judged and controlled by the manual work need have a set of safe intelligent control scheme to replace to promote automated production efficiency, save time and human cost. In the handling that adopts AGV to carry out flexible object, after the object reachs appointed stacking point, need stack flexible object range upon range of, in order to practice thrift the space, at piling up the in-process, after every layer of stacking, the height of object all can increase, but because flexible object has elasticity or plasticity, and the goods weight of stacking is different, lower floor's object is compressed the degree differently, its maximum height after pushing away puts is also different, consequently can't judge through absolute numerical value that the material stacks whether target in place, can only adopt the manual work to judge whether the material pushes away and puts target in place, consequently, can't realize full automated transport and put in goods, the efficiency of flexible object transportation has been reduced, be unfavorable for AGV's popularization and application.
Disclosure of Invention
The first invention aims to provide a flexible object stacking method, which can automatically detect whether flexible objects are stacked in place.
In order to solve the technical problems, the invention adopts the following technical scheme:
a method of stacking flexible objects, comprising the steps of:
a. the laser forklift moves to a specified loading station, and the position of a jack of the pallet is identified through a laser sensor;
b. the fork arm of the laser forklift descends and then is inserted into the jack, the detection switch identifies an insertion in-place signal, and the laser forklift stops inserting after receiving the insertion in-place signal;
c. the fork arm of the laser forklift rises, a contact signal is triggered through the non-contact sensor, the fork arm stops rising after the laser forklift receives the contact signal, and the laser forklift moves to a specified blanking station;
d. lifting a fork arm of a laser forklift upwards, detecting the height h1 of a material pile at a blanking designated station by a laser sensor, lifting the fork arm to the height h2 by the laser forklift according to data detected by the laser sensor, and then descending, wherein h2 is larger than h 1;
e. the non-contact sensor breaks the contact signal, the fork arm of the laser forklift stops descending, the jack is withdrawn, and then a to f are repeated.
According to the flexible object stacking method, the height h1 of the material stack at the unloading designated station is identified through the laser sensor, the fork arm is lifted to the height h2 larger than h1 by the laser forklift, so that the phenomenon that the material stack at the unloading designated station collides when the material is thrown is avoided, the throwing work is influenced, the contact state of the upper end face of the fork arm and the jack of the pallet is detected through the non-contact sensor, when the fork arm of the laser forklift drives the pallet to descend onto the material stack, the weight of the object on the pallet enables the flexible object on the material stack to be compressed under pressure, after the flexible object is compressed to the limit, the pallet does not descend any more, the fork arm of the laser forklift continues to descend to enable the upper end face of the fork arm to be separated from the jack, and the non-contact sensor breaks a contact signal. Compared with the prior art, the stacking method provided by the invention can realize full-automatic stacking of the flexible objects, can detect whether the flexible objects are put in place or not, has a simple and direct detection mode, and can effectively improve the stacking efficiency of the flexible objects.
Preferably, the detection switch is arranged on the upper end face of the fork arm and located at one end far away from the forking end, and the detection switch triggers a target-position signal through contact with the pallet. When the fork arm of the laser forklift is completely inserted in place, the pallet is contacted with one end of the body close to the laser forklift, so that an in-place signal is triggered.
Preferably, the non-contact sensor triggers the contact signal by detecting light, when no light passes between the upper end face of the yoke and the jack, the non-contact sensor triggers the contact signal, and when light passes between the upper end face of the yoke and the jack, the non-contact sensor disconnects the contact signal.
Furthermore, the non-contact sensor is arranged on the upper end face of the fork arm and is positioned at one end far away from the forking end.
Preferably, the non-contact sensor is a photosensitive sensor.
Preferably, the laser sensor is arranged on the lower end face of the forking end of the fork arm.
Preferably, h2 is more than or equal to h1+5 cm.
Preferably, in step a, the laser forklift triggers the operation by receiving a carrying signal sent by the intelligent control center. Or, the laser forklift triggers the work by receiving a manually input carrying signal.
Preferably, the laser forklift is provided with a control terminal, and the laser sensor, the detection switch and the non-contact sensor are in communication connection with the control terminal.
Another object of the present invention is to provide a storage medium storing a plurality of execution instructions for a central control center of an AGV to load and perform the following operations: a. the laser forklift moves to a specified loading station, and the position of a jack of the pallet is identified through a laser sensor; b. after descending, a fork arm of the laser forklift is inserted into the jack, a detection switch triggers an insertion in-place signal, and the laser forklift stops inserting after receiving the insertion in-place signal; c. the fork arm of the laser forklift rises, a contact signal is triggered through the non-contact sensor, the fork arm stops rising after the laser forklift receives the contact signal, and the laser forklift runs to a blanking designated station; d. lifting a fork arm of a laser forklift upwards, detecting the height h1 of a material pile at a blanking designated station by a laser sensor, lifting the fork arm to the height h2 by the laser forklift according to data detected by the laser sensor, and then descending, wherein h2 is larger than h 1; e. and when the non-contact sensor breaks the contact signal, stopping descending the fork arm of the laser forklift, exiting the jack, and repeating the steps a to e.
The storage medium can assist the laser forklift to execute the flexible object stacking method, so that the automatic execution efficiency of the laser forklift is improved.
Drawings
FIG. 1 is a flow chart of the operation of the present invention;
figure 2 is a schematic view of the structure of a material stack 1;
figure 3 is a schematic illustration of the structure of a material stack 2;
FIG. 4 is a laser forklift transport state FIG. 1;
FIG. 5 is an enlarged view of portion A of FIG. 4;
FIG. 6 is a laser forklift transport state FIG. 2;
FIG. 7 is an enlarged view of portion B of FIG. 6;
fig. 8 is a diagram of the laser forklift throwing state 1;
FIG. 9 is an enlarged view of section C of FIG. 8;
fig. 10 is a laser forklift launch state fig. 2;
fig. 11 is an enlarged view of a portion C of fig. 10.
Description of reference numerals:
the device comprises a laser forklift 1, a material stack 2, a pallet 201, a flexible object 202, a fork arm 101, a laser sensor 3, a non-contact sensor 4, a detection switch 5 and a jack 2011.
Detailed Description
The technical scheme of the invention is further explained according to the attached drawings:
referring to fig. 1, the invention discloses a flexible object stacking method, which comprises the following steps:
a. the laser forklift moves to a specified loading station, and the position of a jack of the pallet is identified through a laser sensor; b. the fork arm of the laser forklift descends and then is inserted into the jack, the detection switch identifies an insertion in-place signal, and the laser forklift stops inserting after receiving the insertion in-place signal; c. the fork arm of the laser forklift rises, a contact signal is triggered through the non-contact sensor, the fork arm stops rising after the laser forklift receives the contact signal, and the laser forklift moves to a specified blanking station; d. the fork arm of the laser forklift is lifted upwards, the laser sensor detects the height h1 of a material pile at a blanking designated station, the laser forklift lifts the fork arm to the height h2 according to data detected by the laser sensor and then starts to descend, and h2 is larger than or equal to h1+5 cm. e. The non-contact sensor breaks the contact signal, the fork arm of the laser forklift stops descending, the jack is withdrawn, and then a to e are repeated.
The detection switch is arranged on the upper end face of the fork arm and located at one end far away from the fork taking end, and the detection switch triggers an in-place signal through contact with the pallet. When the fork arm of the laser forklift is completely inserted in place, the pallet is contacted with one end of the body close to the laser forklift, so that an in-place signal is triggered.
The non-contact sensor triggers the contact signal by detecting light, when no light passes between the upper end face of the fork arm and the jack, the non-contact sensor triggers the contact signal, and when the light passes between the upper end face of the fork arm and the jack, the non-contact sensor breaks the contact signal. Furthermore, the non-contact sensor is arranged on the upper end face of the fork arm and is positioned at one end far away from the forking end. Preferably, the non-contact sensor is a photosensitive sensor.
The laser sensor is arranged on the lower end face of the fork arm and is positioned at the forking end.
The laser forklift triggers the operation by receiving the carrying signal sent by the intelligent control center. In addition, the laser forklift is triggered to operate by receiving a manually input carrying signal.
The working principle is as follows:
referring to fig. 2-11, the laser forklift 1 of the invention comprises a laser sensor 3, a non-contact sensor 4 and a detection switch 5, wherein the laser sensor 3 is mounted on the lower end surface of the fork arm 101 of the laser forklift 1, and the non-contact sensor 4 and the detection switch 5 are mounted on the upper end surface of the fork arm 101 of the laser forklift 1 and are both positioned at one end close to the fork end of the laser forklift 1 far away from the fork taking end. The optical sensor 3, the non-contact sensor 4 and the detection switch 5 are all in communication connection with a control terminal of the laser forklift 1.
When the laser forklift 1 runs to a specified loading station, the laser sensor 3 detects the position of the jack 2011 of the pallet 201 and feeds the position back to a control terminal of the laser forklift 1, the fork arm 101 of the laser forklift 1 is inserted into the jack 2011, and when the fork arm 101 is inserted in place, one end, close to the main body of the laser forklift 1, of the pallet 201 can be in contact with the detection switch 5, so that an in-place signal is triggered; the fork arm 101 of the laser forklift 1 stops being inserted and ascends to enable the upper end face of the fork arm to be attached to the upper wall of the jack 2011 of the pallet 201, so that a contact signal is triggered, and after receiving the contact signal, the forklift stops ascending and moves to a specified blanking station; the fork arm 101 of the laser forklift 1 is lifted upwards, the laser sensor 3 detects the height h1 of the material stack 2 at the unloading designated station and feeds back the height h1 to the laser forklift 1, the laser forklift 1 controls the fork arm 101 to be lifted to the height h2 according to information fed back by the laser sensor 3 and starts to descend, the descending is stopped after the pallet 201 descends to the material stack 2, the fork arm 101 of the forklift continues to descend until the upper end surface of the fork arm is separated from the jack 2011 of the pallet 201, so that the contact signal is disconnected, the fork arm 101 of the laser forklift 1 exits from the jack 2011, and the throwing work is completed.
Here, the material stack 2 is composed of a pallet 201 and a flexible object 202 stacked at a specified blanking station, and the forking end is the end of the fork arm 101 close to the outside.
Compared with the prior art, the stacking method can realize full-automatic stacking of the flexible objects, can detect whether the flexible objects are put in place or not, has a simple and direct detection mode, and can effectively improve the stacking efficiency of the flexible objects.
The invention also discloses a storage medium, which stores a plurality of execution instructions, wherein the execution instructions are used for loading the center control center of the AGV and executing the following operations:
a. the laser forklift moves to a specified loading station, and the position of a jack of the pallet is identified through a laser sensor; b. after descending, a fork arm of the laser forklift is inserted into the jack, the detection switch triggers an insertion in-place signal, and the laser forklift stops inserting after receiving the insertion in-place signal; c. the fork arm of the laser forklift rises, a contact signal is triggered through the non-contact sensor, the fork arm stops rising after the laser forklift receives the contact signal, and the laser forklift moves to a specified blanking station; d. lifting a fork arm of a laser forklift upwards, detecting the height h1 of a material pile at a blanking designated station by a laser sensor, lifting the fork arm to the height h2 by the laser forklift according to data detected by the laser sensor, and then descending, wherein h2 is larger than h 1; e. and when the non-contact sensor breaks the contact signal, stopping descending the fork arm of the laser forklift, exiting the jack, and repeating the steps a to e.
The storage medium can assist the laser forklift to execute the flexible object stacking method, so that the automatic execution efficiency of the laser forklift is improved.
Compared with the prior art, the storage medium can assist the laser forklift 1 in executing the flexible object stacking method, so that the automatic execution efficiency of the laser forklift 1 is improved.
Variations and modifications to the above-described embodiments may occur to those skilled in the art, in light of the above teachings and teachings. Therefore, the present invention is not limited to the specific embodiments disclosed and described above, and modifications and variations of the present invention are also intended to fall within the scope of the appended claims. Furthermore, although specific terms are employed herein, they are used in a generic and descriptive sense only and not for purposes of limitation.
Claims (10)
1. A method of stacking flexible objects, comprising the steps of:
a. the laser forklift moves to a specified loading station, and the position of a jack of the pallet is identified through a laser sensor;
b. after descending, a fork arm of the laser forklift is inserted into the jack, the detection switch triggers an insertion in-place signal, and the laser forklift stops inserting after receiving the insertion in-place signal;
c. the fork arm of the laser forklift rises, a contact signal is triggered through the non-contact sensor, the fork arm stops rising after the laser forklift receives the contact signal, and the laser forklift moves to a specified blanking station;
d. lifting a fork arm of a laser forklift upwards, detecting the height h1 of a material pile at a blanking designated station by a laser sensor, lifting the fork arm to the height h2 by the laser forklift according to data detected by the laser sensor, and then descending, wherein h2 is larger than h 1;
e. and when the non-contact sensor breaks the contact signal, stopping descending the fork arm of the laser forklift, exiting the jack, and repeating the steps a to e.
2. The method for stacking flexible objects as recited in claim 1, wherein: the detection switch is arranged on the upper end face of the fork arm and located at one end far away from the fork taking end, and the detection switch triggers an in-place signal through contact with the pallet.
3. The method for stacking flexible objects as recited in claim 1, wherein: the non-contact sensor triggers the contact signal by detecting light, when no light passes between the upper end face of the fork arm and the jack, the non-contact sensor triggers the contact signal, and when the light passes between the upper end face of the fork arm and the jack, the non-contact sensor breaks the contact signal.
4. A method of stacking flexible objects according to claim 3, wherein: the non-contact sensor is arranged on the upper end face of the fork arm and is positioned at one end far away from the forking end.
5. The method for stacking flexible objects according to claim 4, wherein: the non-contact sensor is a photosensitive sensor.
6. The method for stacking flexible objects as recited in claim 1, wherein: the laser sensor is arranged on the lower end face of the forking end of the fork arm.
7. The method for stacking flexible objects as recited in claim 1, wherein: the h2 is more than or equal to h1+5 cm.
8. The method for stacking flexible objects as recited in claim 1, wherein: in the step a, the laser forklift receives a carrying signal sent by an intelligent control center to trigger work; or the laser forklift triggers the work by receiving a manually input carrying signal.
9. The method for stacking flexible objects as recited in claim 1, wherein: laser fork truck is equipped with control terminal, laser sensor, detection switch and non-contact sensor all with control terminal communication connection.
10. A storage medium storing a plurality of execution instructions for a central control center of an AGV to load and perform the following operations:
a. the laser forklift moves to a specified loading station, and the position of a jack of the pallet is identified through a laser sensor;
b. after descending, a fork arm of the laser forklift is inserted into the jack, the detection switch triggers an insertion in-place signal, and the laser forklift stops inserting after receiving the insertion in-place signal;
c. the fork arm of the laser forklift rises, a contact signal is triggered through the non-contact sensor, the fork arm stops rising after the laser forklift receives the contact signal, and the laser forklift moves to a specified blanking station;
d. lifting a fork arm of a laser forklift upwards, detecting the height h1 of a material pile at a blanking designated station by a laser sensor, lifting the fork arm to the height h2 by the laser forklift according to data detected by the laser sensor, and then descending, wherein h2 is larger than h 1;
e. and when the non-contact sensor breaks the contact signal, stopping descending the fork arm of the laser forklift, exiting the jack, and repeating the steps a to e.
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| CN201910861977.5A CN110790192B (en) | 2019-09-12 | 2019-09-12 | Flexible object stacking method and storage medium |
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| CN201910861977.5A CN110790192B (en) | 2019-09-12 | 2019-09-12 | Flexible object stacking method and storage medium |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112327320A (en) * | 2020-10-19 | 2021-02-05 | 未来机器人（深圳）有限公司 | Cage jack pose detection method and cage carrying and stacking method |
| WO2022199644A1 (en) * | 2021-03-26 | 2022-09-29 | 未来机器人（深圳）有限公司 | Pallet stacking tilt recognition device |
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