CN111498755A - Fork truck that possesses fork automatic adjustment function - Google Patents
Fork truck that possesses fork automatic adjustment function Download PDFInfo
- Publication number
- CN111498755A CN111498755A CN202010472815.5A CN202010472815A CN111498755A CN 111498755 A CN111498755 A CN 111498755A CN 202010472815 A CN202010472815 A CN 202010472815A CN 111498755 A CN111498755 A CN 111498755A
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- fork
- forklift
- controller
- coordinate
- adjustment function
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Classifications
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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
- B66F9/12—Platforms; Forks; Other load supporting or gripping members
- B66F9/14—Platforms; Forks; Other load supporting or gripping members laterally movable, e.g. swingable, for slewing or transverse movements
- B66F9/142—Movements of forks either individually or relative to each other
- B66F9/144—Movements of forks relative to each other - independent
-
- 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
-
- 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
- B66F9/0759—Details of operating station, e.g. seats, levers, operator platforms, cabin suspension
-
- 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
- B66F9/20—Means for actuating or controlling masts, platforms, or forks
- B66F9/24—Electrical devices or systems
-
- 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
- B66F9/063—Automatically guided
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- Engineering & Computer Science (AREA)
- Transportation (AREA)
- Structural Engineering (AREA)
- Civil Engineering (AREA)
- Life Sciences & Earth Sciences (AREA)
- Geology (AREA)
- Mechanical Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Forklifts And Lifting Vehicles (AREA)
Abstract
The utility model provides a fork truck that possesses fork automatic adjustment function, includes fork truck portal, fork truck actuating system, fork elevating system, fork stores pylon, fork, its characterized in that: the device comprises a controller, a coordinate identification device and a fork horizontal adjusting mechanism, wherein the controller is connected with the coordinate identification device, the fork lifting mechanism and the fork horizontal adjusting mechanism in a wired or wireless mode; the coordinate recognition device senses coordinate information of the pallet fork, the goods and the fork holes and transmits the coordinate information to the controller; the controller receives and processes the coordinate information sensed by the coordinate recognition equipment, calculates the coordinate difference between the fork and the goods and the fork hole, and sends control signals to the fork lifting mechanism and the fork horizontal adjusting mechanism according to the calculation result to realize the position adjustment of the fork. Compared with the existing forklift products, the forklift can greatly reduce manual intervention in the working process of the forklift and effectively improve the working efficiency of the forklift for forking goods.
Description
Technical Field
The invention belongs to the technical field of AGV forklifts, and particularly relates to a forklift with a fork automatic adjusting function.
Background
With the rapid development of logistics and warehousing industries and the wide application of intelligent warehousing and automatic sorting technologies, the market demands for AGV (automated Guided vehicle) forklifts are more and more extensive. The pallet size on the current market is not unified and the specifications are various, so that the fork distance and the upper and lower positions of the fork are required to be frequently adjusted in the operation process of the forklift, the fork is accurately inserted into the pallet jack, the technical problem is more prominent in the application of the forklift for stacking, when the fork is in a higher position, the fork is easily collided with the goods due to inaccurate fork adjustment, and then the stacked goods collapse is caused, and therefore, the accurate adjustment of the fork is more important. The existing AGV forklift generally realizes the symmetrical or integral adjustment of the horizontal position of the pallet fork by taking a hydraulic oil cylinder as power, and the adjustment mode has the advantages of lower working efficiency and large adjustment error.
Disclosure of Invention
The invention aims to overcome the defects of the prior art, improve the adjustment efficiency and the adjustment precision of the fork position of the AGV forklift when forking goods, and further improve the working efficiency and the working reliability of the AGV forklift.
In order to achieve the purpose, the invention adopts the following technical scheme:
the utility model provides a fork truck that possesses fork automatic adjustment function, includes fork truck portal 1, fork truck actuating system 2, fork elevating system 3, fork stores pylon 4, fork 5, its characterized in that: the automatic fork lifting device is characterized by further comprising a controller 6, a coordinate recognition device 8 and a fork horizontal adjusting mechanism 9, wherein the controller 6 is connected with the coordinate recognition device 8, the fork lifting mechanism 3 and the fork horizontal adjusting mechanism 9 in a wired or wireless mode; the coordinate recognition device 8 senses coordinate information of the forks 5, the goods and the fork holes and transmits the coordinate information to the controller 6; the controller 6 receives and processes the coordinate information sensed by the coordinate recognition device 8, calculates the coordinate difference between the fork 5 and the goods and the fork holes, and sends control signals to the fork lifting mechanism 3 and the fork horizontal adjusting mechanism 9 according to the calculation result to realize the position adjustment of the fork 5.
Further, the fork horizontal adjusting mechanisms 9 comprise two mechanisms, each fork 5 is driven independently, each fork horizontal adjusting mechanism 9 comprises a servo motor 10, a speed reducer 11, a coupler 18, a linear lead screw 12, a fork adjusting head 13, a guide shaft 14 and a first limiting stopper 15, the servo motor 10 is arranged in the middle of the fork hanging frame 4 and fixedly connected with the speed reducer 11, the speed reducer 11 is connected with the linear lead screw 12 through the coupler 18, and the servo motor 10 drives the linear lead screw 12 to rotate through the speed reducer 11 and the coupler 18 during movement; the linear screw 12 penetrates through the middle of the fork adjusting head 13, one end of the linear screw is movably connected with the fork hanging frame 4, the other end of the linear screw is connected with the coupler 18, the fork adjusting head 13 is fixedly connected with the fork 5, threads matched with the linear screw 12 are arranged in the fork adjusting head, and rotary motion of the linear screw 12 is converted into horizontal motion of the fork 5. The guide shafts 14 are horizontally arranged in the fork hangers 4 and are arranged up and down for hanging the forks 5, the forks 5 are movably connected with the guide shafts 14, and the forks 5 can slide along the guide shafts 14; the first limiting devices 15 are arranged at two ends of the linear lead screw 12, when the pallet fork 5 moves to the first limiting devices 15 along the guide shaft 14, the first limiting devices 15 send in-place signals to the controller 6, and the controller 6 controls the pallet fork horizontal adjusting mechanism 9 to respond so as to avoid collision.
Further, the forklift with the automatic fork adjustment function further comprises a second limiting stopper 16, the second limiting stopper 16 is arranged at the root of the fork 5, when the forklift moves to enable goods to be in contact with the second limiting stopper 16, the second limiting stopper 16 transmits limiting signals to the controller 6, and the controller 6 controls the forklift driving system 2 to respond so as to avoid collision.
Further, the coordinate recognition device 8 is a binocular camera system.
Further, the binocular camera system has a stable light source.
Further, a fork truck that possesses fork automatic adjustment function still includes display 7, display 7 sets up the offside at fork 5 for the video image that the demonstration binocular camera was gathered and distance, the angle information that 6 calculatees of controller.
Further, a fork truck that possesses fork automatic adjustment function still includes fork truck management system 17 for detect and show the fork truck state, set up the fork truck parameter.
Further, the first stopper 15 is a mechanical or electronic stopper.
Further, the second stopper 16 is a mechanical or electronic stopper.
Further, the movable connection between the fork 5 and the guide shaft 14 is a shaft sleeve connection.
Compared with the prior art, the forklift with the automatic pallet fork adjusting function provided by the invention has the following beneficial effects: firstly, the working mode that the common forklift wholly or symmetrically adjusts the fork positions through a hydraulic oil cylinder is changed, and the adjustment of different distances on the horizontal position of a single fork 5 is realized through a fork horizontal adjusting mechanism 9, so that the working efficiency of the AGV forklift is effectively improved; secondly, the servo motor 10 is adopted to drive the fork 5 to move left and right, the structure is simple, the realization is easy, the control precision can reach +/-1 mm and is far higher than other fork driving modes, and the fork can be guaranteed to accurately fork and take goods; the binocular vision system has high precision and repeatability, can accurately identify goods and fork holes, is provided with a stable light source, and can adapt to different illumination environments; fourthly, on-line viewing of live images and operation of software are facilitated.
Drawings
Fig. 1 is a schematic view of an overall structure of a forklift with a fork automatic adjustment function according to the present invention;
fig. 2 is a schematic structural view of a fork leveling mechanism of a forklift having an automatic fork leveling function according to the present invention.
Detailed Description
The following detailed description of embodiments of the present invention is provided in connection with the accompanying drawings and examples. The following examples are intended to illustrate the invention but are not intended to limit the scope of the invention.
In the description of the present invention, it should be noted that, unless otherwise explicitly specified or limited, the terms "disposed" and "connected" are to be interpreted broadly, e.g., as a fixed connection, a detachable connection, or an integral connection; can be mechanically or electrically connected; the two components can be directly connected or indirectly connected through an intermediate medium, and the two components can be communicated with each other. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.
As shown in fig. 1, an embodiment of the present invention provides a forklift with a fork automatic adjustment function, including a forklift mast 1, a forklift drive system 2, a fork lifting mechanism 3, a fork hanger 4, and a fork 5, and is characterized in that: the fork level adjusting device is characterized by further comprising a controller 6, a coordinate recognition device 8 and a fork level adjusting mechanism 9, wherein the controller 6 is connected with the coordinate recognition device 8, the fork lifting mechanism 3 and the fork water adjusting mechanism 9 in a wired or wireless mode; the coordinate recognition device 8 senses coordinate information of the forks 5, the goods and the fork holes and transmits the coordinate information to the controller 6; the controller 6 receives and processes the coordinate information sensed by the coordinate recognition device 8, calculates the coordinate difference between the fork 5 and the goods and the fork holes, and sends control signals to the fork lifting mechanism 3 and the fork horizontal adjusting mechanism 9 according to the calculation result to realize the position adjustment of the fork 5.
As shown in fig. 1 and 2, the two fork horizontal adjusting mechanisms 9 each independently drive one fork 5, each fork horizontal adjusting mechanism 9 includes a servo motor 10, a speed reducer 11, a coupler 18, a linear screw 12, a fork adjusting head 13, a guide shaft 14, and a first stopper 15, the servo motor 10 is disposed in the middle of the fork hanger 4 and fixedly connected to the speed reducer 11, the speed reducer 11 is connected to the linear screw 12 through the coupler 18, and the servo motor 10 drives the linear screw 12 to rotate through the speed reducer 11 and the coupler 18 during movement; the linear screw 12 penetrates through the middle of the fork adjusting head 13, one end of the linear screw is movably connected with the fork hanging frame 4, the other end of the linear screw is connected with the coupler 18, the fork adjusting head 13 is fixedly connected with the fork 5, threads matched with the linear screw 12 are arranged in the fork adjusting head, and rotary motion of the linear screw 12 is converted into horizontal motion of the fork 5. The guide shafts 14 are horizontally arranged in the fork hangers 4 and are arranged up and down for hanging the forks 5, the forks 5 are movably connected with the guide shafts 14, and the forks 5 can slide along the guide shafts 14; the first stoppers 15 are disposed at two ends of the linear screw 12, when the fork 5 moves to the first stoppers 15 along the guide shaft 14, the first stoppers 15 send in-place signals to the controller 6, the controller 6 receives the in-place signals and then responds to stop the movement of the fork 5, and the manner of stopping the movement of the fork 5 may be to cut off the driving power supply of the servo motor 10. Adopt private clothes motor 10 drive fork 5 to remove the motion about, simple structure easily realizes, and control accuracy can reach 1mm, is far above other fork 5 drive methods, guarantees that fork 5 can accurately fork and get the goods.
As shown in fig. 1 and 2, the forklift with the automatic fork adjustment function further comprises a second stopper 16, the second stopper 16 is arranged at the root of the fork 5, when the forklift moves to enable goods to touch the second stopper 16, the second stopper 16 transmits a signal to the controller 6, and the controller 6 controls the forklift drive system 2 to respond so as to avoid collision.
In addition to the above embodiments, the control of the forklift drive system 2 to respond further includes cutting off the driving force of the forklift drive system 2 and braking, for example, an electrically driven forklift is realized by cutting off the power supply of the driving motor, and a hydraulically driven forklift is realized by cutting off the hydraulic power. The fork truck has the advantages that the wheels are braked and kept braked simultaneously, and the fork truck can stop moving immediately and keep the position of the fork truck through the implementation mode of cutting off driving force and braking, so that the collision between the fork truck and goods is effectively prevented.
As an alternative embodiment, the coordinate recognition device 8 is a binocular camera system, and the binocular vision system has high precision and repeatability and can accurately recognize goods and fork holes.
On the basis of the above embodiment, further, in the working process, the controller 6 is applied to perform parameter setting on the binocular camera system, the parameter setting includes internal parameter setting and external parameter setting, the internal parameters include geometric and optical parameters of the camera, and the external parameters include a conversion proportional relation between a camera coordinate system and a world coordinate system.
Furthermore, the binocular camera system can generate different position relations including on a straight line, on a plane and on three-dimensional distribution when acquiring the goods and the fork hole images, and can determine the corresponding relation between the characteristic points of the goods and the fork hole in a space coordinate system and the image points of the characteristic points on the image plane by utilizing the binocular camera system.
Further, the controller 6 performs preprocessing on the image acquired by the binocular camera system, including enhancing image contrast enhancement, filtering out random noise, removing false color, and the like.
Further, the controller 6 performs feature extraction on the acquired image, where matching features commonly used in the feature extraction include a point feature, a line feature, and a region feature.
Further, the controller 6 also performs stereo matching on the images: according to the calculation of the selected features, the corresponding relation among the features is established, and the physical points in the same space are corresponding to the mapping points in different images, and the main matching steps comprise: selecting image features corresponding to an actual physical structure from an image acquired by one camera, determining corresponding image features of the same physical structure from an image acquired by the other camera, further determining the relative position between the two features, obtaining parallax, and further converting the parallax into an actual coordinate difference according to a proportional relation.
Furthermore, the controller 6 controls the fork lifting mechanism 3 and the fork horizontal adjusting mechanism 9 by adopting a negative feedback method according to the calculated coordinate difference, so as to adjust the position of the fork 5, and when the position of the fork 5 meets the fork entering condition, the controller 6 stops the fork adjustment.
As an alternative embodiment, the binocular camera system has a steady light source to ensure that the forklift works properly in a dark working environment.
As shown in fig. 1, the display 7 is disposed at the opposite side of the fork 5, and is configured to display video images captured by the binocular camera and distance and angle information calculated by the controller (6), and mainly includes: the distance and angle deviation between the fork 5 and the goods, etc.
On the basis of the above embodiment, further, through the visual display of the display 7, clear forklift working state can be provided for the staff.
As an alternative embodiment, the display 7 is a touch display.
As shown in fig. 1, the forklift with the automatic pallet fork adjustment function further comprises a forklift management system 17, wherein the forklift management system 17 is connected with the controller 6 in a wired or wireless manner and is used for detecting and displaying the state of the forklift and setting parameters of the forklift. The forklift state that can detect and show includes fork truck alarm information, travel log, position coordinate etc. and the fork truck parameter that can set up includes fork truck serial number, fork truck task number, fork initialization, log save, manual mode switch, navigation coordinate, vehicle coordinate, angle, fork lift height, fork current deviation etc..
Furthermore, the information can be transmitted in a wireless mode among the display 7, the forklift management system 17 and the controller 6, and the information display units of the display 7 and the forklift management system 17 can be arranged in a monitoring machine room or a monitoring center, so that unified dispatching of a plurality of forklifts and centralized monitoring of the states of the forklifts are facilitated.
As an alternative embodiment, the first and second stoppers 15 and 16 are mechanical or electronic stoppers.
On the basis of the above embodiment, further, the mechanical stopper includes an on-off type mechanical stopper, which has the advantages of easy implementation, simple structure and good economical efficiency; the electronic limiter comprises a photoelectric correlation sensor and a Hall sensor, and has the advantages of small size, attractive appearance, long service life and good reliability.
As an alternative embodiment, the movable connection between the fork 5 and the guide shaft 14 is a bushing connection.
The foregoing is a more detailed description of the invention in connection with specific preferred embodiments and it is not intended that the invention be limited to these specific details. For those skilled in the art to which the invention pertains, several simple deductions or substitutions can be made without departing from the spirit of the invention, and all shall be considered as belonging to the protection scope of the invention.
Claims (10)
1. A forklift with a fork automatic adjusting function comprises a forklift gantry (1), a forklift driving system (2), a fork lifting mechanism (3), a fork hanging rack (4) and a fork (5),
the method is characterized in that: also comprises a controller (6), a coordinate recognition device (8) and a fork horizontal adjusting mechanism (9),
the controller (6) is connected with the coordinate recognition device (8), the fork lifting mechanism (3) and the fork horizontal adjusting mechanism (9) in a wired or wireless mode;
the coordinate recognition device (8) senses coordinate information of the pallet fork (5), the goods and the fork holes and transmits the coordinate information to the controller (6);
the controller (6) receives and processes the coordinate information sensed by the coordinate recognition device (8), calculates the coordinate difference between the pallet fork (5) and the goods and the fork holes, and sends control signals to the pallet fork lifting mechanism (3) and the pallet fork horizontal adjusting mechanism (9) according to the calculation result to realize the position adjustment of the pallet fork (5).
2. The forklift with the automatic fork adjustment function according to claim 1, wherein: the fork horizontal adjusting mechanisms (9) comprise two forks (5) which are driven independently, each fork horizontal adjusting mechanism (9) comprises a servo motor (10), a speed reducer (11), a coupler (18), a linear screw rod (12), a fork adjusting head (13), a guide shaft (14) and a first stopper (15),
the servo motor (10) is arranged in the middle of the pallet fork hanging rack (4) and fixedly connected with the speed reducer (11), the speed reducer (11) is connected with the linear lead screw (12) through the coupler (18), and the servo motor (10) drives the linear lead screw (12) to rotate through the speed reducer (11) and the coupler (18) during movement;
the linear screw rod (12) penetrates through the middle of the fork adjusting head (13), one end of the linear screw rod is movably connected with the fork hanging frame (4), the other end of the linear screw rod is connected with the coupler (18), the fork adjusting head (13) is fixedly connected with the fork (5), threads matched with the linear screw rod (12) are arranged in the fork adjusting head, and the rotary motion of the linear screw rod (12) is converted into the horizontal motion of the fork (5);
the guide shaft (14) is horizontally arranged in the fork hanging rack (4) and is arranged up and down for hanging the fork (5), the fork (5) is movably connected with the guide shaft (14), and the fork (5) can slide along the guide shaft (14);
the first limiting devices (15) are arranged at two ends of the linear lead screw (12), when the pallet fork (5) moves to the first limiting devices (15) along the guide shaft (14), the first limiting devices (15) send in-place signals to the controller (6), and the controller (6) controls the pallet fork horizontal adjusting mechanism (9) to respond to avoid collision.
3. The forklift with the automatic fork adjustment function according to claim 1, wherein: the forklift is characterized by further comprising a second limiting stopper (16), wherein the second limiting stopper (16) is arranged at the root of the pallet fork (5), when the forklift moves to enable goods to be in contact with the second limiting stopper (16), the second limiting stopper (16) transmits limiting signals to the controller (6), and the controller (6) controls the forklift driving system (2) to respond to avoid collision.
4. The forklift with the automatic fork adjustment function according to claim 1, wherein: the coordinate recognition device (8) is a binocular camera system.
5. The forklift with automatic fork adjustment function according to claim 4, wherein: the binocular camera system has a stable light source.
6. The forklift with the automatic fork adjustment function according to claim 1, wherein: still include display (7), display (7) set up the offside at fork (5), are connected through wired or wireless mode with controller (6) for the video image that the display binocular camera gathered and the distance, the angle information that controller (6) calculated.
7. The forklift with the automatic fork adjustment function according to claim 1, wherein: the forklift truck control system further comprises a forklift truck management system (17) for detecting and displaying the state of the forklift truck and setting forklift truck parameters.
8. The forklift with the automatic fork adjustment function according to claim 2, wherein: the first stopper (15) is a mechanical or electronic stopper.
9. The forklift with automatic fork adjustment function according to claim 3, wherein: the second stopper (16) is a mechanical or electronic stopper.
10. The forklift with the automatic fork adjustment function according to claim 2, wherein: the movable connection between the fork (5) and the guide shaft (14) is a shaft sleeve connection.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010472815.5A CN111498755A (en) | 2020-05-29 | 2020-05-29 | Fork truck that possesses fork automatic adjustment function |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010472815.5A CN111498755A (en) | 2020-05-29 | 2020-05-29 | Fork truck that possesses fork automatic adjustment function |
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| Publication Number | Publication Date |
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| CN111498755A true CN111498755A (en) | 2020-08-07 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN202010472815.5A Pending CN111498755A (en) | 2020-05-29 | 2020-05-29 | Fork truck that possesses fork automatic adjustment function |
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Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112340339A (en) * | 2020-11-09 | 2021-02-09 | 苏州罗伯特木牛流马物流技术有限公司 | Control system and method for accurately placing roadway for fork type AGV (automatic guided vehicle) carrying shuttle car |
| CN112591677A (en) * | 2020-12-11 | 2021-04-02 | 广州飞锐机器人科技有限公司 | AGV fork truck loading control method, device, system, equipment and medium |
| CN113280855A (en) * | 2021-04-30 | 2021-08-20 | 中国船舶重工集团公司第七一三研究所 | Intelligent sensing system and method for multi-source sensing pallet fork |
| CN114314443A (en) * | 2021-12-27 | 2022-04-12 | 科捷智能科技股份有限公司 | Cargo bed fork-out protection method |
| CN115196551A (en) * | 2021-04-13 | 2022-10-18 | 上海宝钢高强钢加工配送有限公司 | Fork self-adaptive positioning device and positioning method for crane |
| WO2024011585A1 (en) * | 2022-07-15 | 2024-01-18 | 孙宝锋 | Manual forklift |
-
2020
- 2020-05-29 CN CN202010472815.5A patent/CN111498755A/en active Pending
Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112340339A (en) * | 2020-11-09 | 2021-02-09 | 苏州罗伯特木牛流马物流技术有限公司 | Control system and method for accurately placing roadway for fork type AGV (automatic guided vehicle) carrying shuttle car |
| CN112591677A (en) * | 2020-12-11 | 2021-04-02 | 广州飞锐机器人科技有限公司 | AGV fork truck loading control method, device, system, equipment and medium |
| CN112591677B (en) * | 2020-12-11 | 2022-03-29 | 广州飞锐机器人科技有限公司 | AGV fork truck loading control method, device, system, equipment and medium |
| CN115196551A (en) * | 2021-04-13 | 2022-10-18 | 上海宝钢高强钢加工配送有限公司 | Fork self-adaptive positioning device and positioning method for crane |
| CN115196551B (en) * | 2021-04-13 | 2024-01-30 | 上海宝钢高强钢加工配送有限公司 | Fork self-adaptive positioning device and positioning method for crane |
| CN113280855A (en) * | 2021-04-30 | 2021-08-20 | 中国船舶重工集团公司第七一三研究所 | Intelligent sensing system and method for multi-source sensing pallet fork |
| CN113280855B (en) * | 2021-04-30 | 2022-07-26 | 中国船舶重工集团公司第七一三研究所 | Intelligent sensing system and method for multi-source sensing pallet fork |
| CN114314443A (en) * | 2021-12-27 | 2022-04-12 | 科捷智能科技股份有限公司 | Cargo bed fork-out protection method |
| WO2024011585A1 (en) * | 2022-07-15 | 2024-01-18 | 孙宝锋 | Manual forklift |
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