CN115676711A - Control method for forklift device, storage medium, and processor - Google Patents
Control method for forklift device, storage medium, and processor Download PDFInfo
- Publication number
- CN115676711A CN115676711A CN202211307545.8A CN202211307545A CN115676711A CN 115676711 A CN115676711 A CN 115676711A CN 202211307545 A CN202211307545 A CN 202211307545A CN 115676711 A CN115676711 A CN 115676711A
- Authority
- CN
- China
- Prior art keywords
- target
- bracket
- determining
- fork
- boom
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Images
Landscapes
- Forklifts And Lifting Vehicles (AREA)
Abstract
The embodiment of the application provides a control method for a fork-mounted device, the fork-mounted device, a storage medium and a processor. The fork equipment comprises a fork, a boom assembly and a rotary platform, the boom assembly comprises a telescopic boom, image acquisition equipment and a radar device, and the image acquisition equipment and the radar device are installed on the telescopic boom, and the control method comprises the following steps: and determining a first horizontal spacing distance between the image acquisition equipment and the target bracket through the radar device, and acquiring the actual image position of the target bracket in the bracket stacking image through the image acquisition equipment. And respectively determining the motion parameters of the jib assembly and the rotary platform according to the deviation value between the actual image position and the target image position. The control boom assembly and the swing platform execute motion parameters to bring the forks and the apertures of the target carriage to the same horizontal line. The fork assembly operation can be executed according to the deviation value between the actual image position and the target image position, so that the accuracy and the efficiency of the fork assembly operation of the fork on the target bracket are improved.
Description
Technical Field
The application relates to the field of intelligent warehousing, in particular to a control method for forking equipment, the forking equipment, a storage medium and a processor.
Background
The telescopic arm type forklift is special equipment for transporting goods to a certain height through a telescopic amplitude-variable arm support, and has comprehensive functions of loading, unloading, hoisting, transporting and the like. In the prior art, due to complex working conditions such as large blind area of operation visual angle, long cargo distance, large fork-mounting workload and the like, the fork-mounting operation has extremely high requirements on the operation of a driver, and needs to be coordinated by a commander. Therefore, when the driver carries out the fork-lift operation, the working efficiency of the fork-lift operation is low, and the operation risk to the surrounding environment and the telescopic arm type forklift equipment is high.
Disclosure of Invention
An object of the embodiment of the application is to provide a control method for a forking device, the forking device, a storage medium and a processor.
In order to achieve the above object, a first aspect of the present application provides a control method for a forklift device, the forklift device includes a fork, a boom assembly and a rotating platform, the boom assembly includes a telescopic boom, an image capturing device mounted on the telescopic boom, and a radar apparatus, the control method includes:
under the condition that the fork mounting equipment is located at a position which is separated from the target bracket by a first preset distance, determining that a first horizontal spacing distance between the image acquisition equipment and the target bracket is a first numerical value through a radar device;
acquiring a bracket stacking image of an area where a target bracket is located through image acquisition equipment;
determining an actual image position of the target carrier in the carrier stack image;
respectively determining the motion parameters of the jib assembly and the rotary platform according to the deviation value between the actual image position and the target image position, wherein the target image position corresponds to the first numerical value, and the target image position refers to the target position of the target bracket in the stacking image of the bracket under the condition that the pallet fork and the hole of the target bracket are positioned on the same horizontal line;
the control boom assembly and the swing platform execute motion parameters to bring the forks and the apertures of the target carriage to the same horizontal line.
In an embodiment of the present application, determining the motion parameters of the boom assembly and the revolving platform according to the deviation value between the actual image position and the target image position includes: respectively determining first motion parameters of the jib assembly and the rotary platform according to the deviation value under the condition that the deviation value is greater than a preset deviation threshold value; and controlling the jib assembly and the rotary platform to respectively execute corresponding first motion parameters so that the deviation value is smaller than or equal to a preset deviation threshold value, and determining that the fork and the hole of the target bracket are positioned on the same horizontal line.
In the embodiment of this application, the deviation value includes vertical deviation value and lateral deviation value, and fork dress equipment still includes rotary solenoid valve and cantilever crane amplitude variation solenoid valve, and rotary solenoid valve installs in rotary platform, and the cantilever crane amplitude variation solenoid valve is installed in cantilever crane subassembly, and the first motion parameter of confirming cantilever crane subassembly and rotary platform respectively according to the deviation value includes: respectively determining a first current value of the rotary electromagnetic valve and a second current value of the boom amplitude-variable electromagnetic valve according to the transverse deviation value and the longitudinal deviation value; and determining a first motion parameter of the rotary platform according to the first current value of the rotary electromagnetic valve, and determining a first motion parameter of the jib assembly according to the second current value of the jib amplitude variation electromagnetic valve.
In an embodiment of the present application, the control method further includes: controlling the rotary platform to stop rotating and determining a second horizontal spacing distance between the radar device and the hole of the target bracket under the condition that the deviation value is smaller than or equal to a preset deviation threshold value; under the condition that the second horizontal spacing distance is greater than a second preset distance, determining a second motion parameter of the jib assembly according to the second horizontal spacing distance; and controlling the arm frame assembly to execute a second motion parameter so that the fork moves along a horizontal line where the target bracket is located until the spacing distance between the radar device and the hole of the target bracket is smaller than or equal to a second preset distance.
In an embodiment of the application, determining the second motion parameter of the boom assembly as a function of the second horizontal separation distance comprises: determining the single telescopic length of the arm length of the jib assembly when each movement cycle of the jib assembly is executed, wherein the movement cycle comprises the amplitude variation operation of the jib assembly and/or the telescopic operation of a telescopic jib; determining a single amplitude variation angle of the jib assembly according to the single telescopic length; determining the single horizontal movement distance of the fork when each movement cycle is executed by the jib assembly according to the single telescopic length and the single amplitude variation angle; determining the execution times of the arm support assembly in the motion cycle according to the second horizontal spacing distance and the single horizontal movement distance; determining a second motion parameter for each of the boom assemblies while performing each cycle of motion; and controlling a second motion parameter of the arm frame assembly to finish the execution times so as to enable the fork to move along a horizontal line where the target bracket is located until the spacing distance between the fork point of the fork and the hole of the target bracket is smaller than or equal to a second preset distance.
In an embodiment of the application, the fork mounting apparatus further includes an arm support telescopic solenoid valve and an arm support variable amplitude solenoid valve, both the arm support telescopic solenoid valve and the arm support variable amplitude solenoid valve are mounted on the arm support assembly, and determining a second motion parameter of each arm support assembly when each motion cycle is executed includes: determining a third current value of the boom variable amplitude electromagnetic valve according to the single variable amplitude angle; determining a fourth current value of the boom telescopic solenoid valve according to the single telescopic length; a second motion parameter of the boom assembly is determined based on the third current value and the fourth current value while performing each motion cycle.
In an embodiment of the present application, determining the single luffing angle of the boom assembly from the single telescoping length comprises: determining an initial coordinate position corresponding to the initial time point of each motion cycle of the image acquisition equipment; and determining the single amplitude variation angle of each motion period according to the initial coordinate position and the single telescopic length.
In an embodiment of the application, the control method further comprises: acquiring a plurality of bracket stack images of a bracket stack by image acquisition equipment under the condition that the fork equipment is located at a position which is separated from a target bracket by a first preset distance; carrying out feature extraction on the bracket holes in each bracket stacking image to obtain feature data corresponding to the bracket holes, wherein the feature data at least comprises the size of the bracket holes and the spacing distance between the holes of the bracket holes; and determining the bracket corresponding to the characteristic data successfully matched with the target characteristic data as the target bracket.
In an embodiment of the application, the control method further comprises: acquiring a historical image of the historical pallet stack, wherein the historical image is shot under the condition that the image acquisition equipment is separated from the historical pallet stack by a third preset distance; determining historical characteristic data of holes of each historical bracket in the historical images; determining the bracket type corresponding to the hole of each historical bracket according to the historical characteristic data; and determining the historical characteristic data corresponding to the holes of the historical brackets of each bracket type as the target characteristic data of each bracket type.
The present application in a second aspect provides a fork mounting apparatus comprising:
the pallet fork is used for performing fork assembly operation on the target bracket;
the arm frame assembly is connected with the fork and comprises a telescopic arm frame, image acquisition equipment and a radar device, wherein the image acquisition equipment is installed on the telescopic arm frame and used for acquiring a bracket stacking image of an area where a target bracket is located;
the rotary platform is connected with the arm frame assembly, and the position of the fork correspondingly changes when the rotary platform rotates; and
a processor configured to perform the above-described control method for the forklift device.
In an embodiment of the application, the rotary electromagnetic valve is installed on the rotary platform and controls the rotary operation of the rotary platform by adjusting a first current value; the boom amplitude solenoid valve is arranged on the boom component and controls the amplitude of the boom component by adjusting a second current value or a third current value; and the arm support telescopic electromagnetic valve is arranged on the arm support assembly and controls the telescopic arm support to extend or retract by adjusting a fourth current value.
A third aspect of the present application provides a machine-readable storage medium having stored thereon instructions which, when executed by a processor, cause the processor to be configured to perform the above-described control method for a forklift device.
A fourth aspect of the present application provides a processor configured to execute the above-described control method for a forklift device.
Through the technical scheme, the image acquisition equipment is arranged on the telescopic arm frame of the fork equipment, so that the actual image position of the target bracket in the bracket stacking image can be determined. By means of the radar means mounted on the telescopic boom, a first horizontal separation distance of the image acquisition device from the target holder can be determined. And respectively determining the motion parameters of the jib assembly and the rotary platform according to the deviation value between the target image position and the actual image position. And controlling the arm frame assembly and the rotary platform to execute motion parameters so that the fork and the hole of the target bracket are positioned on the same horizontal line. The fork-mounting operation can be executed according to the deviation value between the actual image position and the target image position, so that the accuracy and the efficiency of the fork-mounting operation of the fork on the target bracket are improved.
Additional features and advantages of embodiments of the present application will be described in detail in the detailed description which follows.
Drawings
The accompanying drawings, which are included to provide a further understanding of the embodiments of the disclosure and are incorporated in and constitute a part of this specification, illustrate embodiments of the disclosure and together with the description serve to explain the embodiments of the disclosure, but are not intended to limit the embodiments of the disclosure. In the drawings:
fig. 1 schematically shows a flow diagram of a control method for a fork-loading apparatus according to an embodiment of the present application;
FIG. 2 schematically illustrates a schematic view of a fork-loading apparatus according to an embodiment of the present application;
FIG. 3 schematically illustrates a schematic view of a carrier stack image according to an embodiment of the application;
FIG. 4 schematically illustrates a schematic diagram of a motion analysis of a boom assembly over a period of motion according to an embodiment of the present application;
FIG. 5 schematically illustrates a block diagram of a fork-loading apparatus according to an embodiment of the present application;
FIG. 6 schematically illustrates a block diagram of a fork-loading apparatus according to yet another embodiment of the present application;
fig. 7 schematically shows an internal structural diagram of a computer device according to an embodiment of the present application.
Detailed Description
To make the objects, technical solutions and advantages of the embodiments of the present application clearer, the technical solutions of the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it should be understood that the specific embodiments described herein are only used for illustrating and explaining the embodiments of the present application and are not used for limiting the embodiments of the present application. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.
Fig. 1 schematically shows a flow diagram of a control method for a forklift device according to an embodiment of the application. As shown in fig. 1, in an embodiment of the present application, there is provided a control method for a forklift device, the forklift device includes a forklift, a boom assembly and a rotating platform, the boom assembly includes a telescopic boom, an image capturing device mounted on the telescopic boom, and a radar apparatus, the control method includes the following steps:
and 102, under the condition that the forklift is located at a position which is separated from the target bracket by a first preset distance, determining that a first horizontal spacing distance between the image acquisition equipment and the target bracket is a first numerical value through the radar device.
And 104, acquiring a bracket stacking image of the area where the target bracket is located through image acquisition equipment.
And 108, respectively determining the motion parameters of the jib assembly and the rotary platform according to the deviation value between the actual image position and the target image position, wherein the target image position corresponds to the first numerical value, and the target image position refers to the target position of the target bracket in the bracket stacking image under the condition that the pallet fork and the hole of the target bracket are positioned on the same horizontal line.
And step 110, controlling the arm frame assembly and the rotary platform to execute motion parameters so that the fork and the hole of the target bracket are positioned on the same horizontal line.
The fork equipment is a special equipment which can transport goods horizontally and lift vertically. It is generally used for handling, stacking, unstacking, short-distance transportation, and the like of articles such as finished articles, packages, trays, and containers. As shown in fig. 2, fig. 2 schematically illustrates a schematic view of a forking device according to an embodiment of the application. The fork mounting device comprises a fork 210, a boom assembly 220 and a rotary platform 230, wherein the boom assembly 210 comprises a telescopic boom 211, an image acquisition device 212 and a radar device 213, wherein the image acquisition device 212 and the radar device 213 are mounted on the telescopic boom 211. The image acquisition device is any one of a camera, a video camera, a scanner or other devices (mobile phones, tablet computers and the like) with a photographing function. The image acquisition equipment is installed directly over the fork for gather the fork and install the image in the front right before the fork. The fork prongs are always centered in the image captured by the image capture device. The fork loading apparatus may be moved into proximity of the stack of carriages to perform a fork loading operation on the target carriage. The processor may then determine that the first horizontal separation distance of the image capturing device from the target bracket is a first value if the fork mounting device is at a position spaced a first predetermined distance from the target bracket. The target bracket is a bracket corresponding to the fork assembly operation, and each bracket at least comprises two holes for fork assembly. The first preset distance and the first horizontal separation distance may be measured by a radar device. The radar device 213 is a device that performs detection by a wireless signal. The radar device 213 is mounted on the telescopic boom, and may be a laser radar, and the mounting position of the radar device and the image capturing device are in the same vertical direction. The first preset distance is a distance between a position of the forking device and a position of the target bracket. Under the condition that the forking equipment and the target bracket are positioned at a first preset distance, the telescopic arm of the forking equipment can move conveniently. The first horizontal spacing distance refers to a spacing distance between the image pickup device and the target holder in the horizontal direction. The processor may determine a first value of the first horizontal separation distance. It will be appreciated that the first value is less than the value of the first predetermined distance and the first value is equal to or greater than the fork length.
Further, the processor may acquire a tray stack image of an area where the target tray is located through the image acquisition device. When the image capturing device captures an image corresponding to a target tray, a picture of stacking a plurality of trays around the target tray is also typically captured. The tray stack image is an image of a stack formed by a plurality of trays in an area where a target tray is located. The processor may determine the actual image position of the target carrier in the carrier stack image. The actual image position refers to an actual pixel position where the target tray appears in the tray stack image when the first horizontal separation distance between the image capture device and the target tray is a first value. The target image position corresponds to the first value, and the target image position is a target position of the target bracket in the bracket stacking image under the condition that the fork and the hole of the target bracket are positioned on the same horizontal line. That is, when the first horizontal spacing distance between the image capture device and the target bracket is a first value and the fork and the hole of the target bracket are at the same horizontal line, the theoretical pixel position of the target bracket appearing in the bracket stacking image is the target image position.
The processor may determine the motion parameters of the boom assembly and the swing platform, respectively, based on the deviation between the actual image position and the target image position. The deviation value is a separation coordinate value between a pixel coordinate corresponding to the actual image position and a pixel coordinate of the target image position. The motion parameter refers to at least one of the telescopic length corresponding to the telescopic operation, the variable amplitude angle corresponding to the variable amplitude operation, the telescopic length and the variable amplitude angle corresponding to the telescopic operation and the variable amplitude operation, and the rotary angle of the rotary platform when the jib assembly is subjected to the telescopic operation. The processor may control the boom assembly and the swing platform to perform corresponding motion parameters such that the forks are level with the apertures of the target carriage. At this time, the fork can perform an accurate forking action on the target bracket based on the image acquisition and the distance measurement.
In one embodiment, referring to fig. 3, the target image position may be described by a pixel coordinate of the target pallet in the pallet stack image, the pixel coordinate including a target abscissa and a target ordinate. Technicians can enable the pixel coordinates of the fork prongs of the fork to be in the central position in the image through the installation arrangement of the image acquisition equipment on the telescopic arm support. The pixel coordinates of the target pallet as captured by the image capture device (point a) are in the center position of the pallet stack image (as shown in the lower left side of fig. 3) when the fork prongs are aligned with the target pallet holes and are separated by a distance of 0. Because the image acquisition equipment is fixed on the telescopic arm support, the acquired image of the image acquisition equipment is changed along with the telescopic arm support, but the shooting angle of the image acquisition equipment is not changed. Then, in the case where the fork prongs and the holes of the target holder are located on the same horizontal line and the distance between the fork prongs and the holes of the target holder is not 0, the target abscissa of the target holder is not changed, but the target ordinate is changed according to the change of the distance between the image capture device (point O) and the target holder. If the first horizontal spacing distance between the image acquisition device and the hole of the target bracket is the second value, the image acquired by the image acquisition device is the current bracket stacking image (as shown in the lower right side of fig. 3). Wherein the second value is greater than or equal to the fork length. Then, the target ordinate of its target image position can be calculated according to the following formula (1):
H 1 ＝H 0 ×L 1 /L 0 (1)；
wherein H 1 Is the target ordinate, H, of the stacking image of the target bracket on the current bracket 0 Meaning that the target pallet is on the target ordinate of the pallet stack image when the prongs of the pallet fork are aligned with the holes of the target pallet and are separated by a distance of 0. L is 1 Is a second value, L 0 Refers to the fork length. It will be appreciated that image acquisitionThe distance between the device and the aperture of the target bracket and the distance between the fork prongs and the aperture of the target bracket may be measured by radar means. Further, the processor may determine the pixel coordinate of the target image position according to the above scheme, and then combine the acquired pixel coordinate of the actual image position to accurately determine the deviation value between the actual image position and the target image position.
In one embodiment, determining the motion parameters of the boom assembly and the swing platform based on the deviation value between the actual image position and the target image position comprises: respectively determining first motion parameters of the jib assembly and the rotary platform according to the deviation value under the condition that the deviation value is greater than a preset deviation threshold value; and controlling the jib assembly and the rotary platform to respectively execute corresponding first motion parameters so that the deviation value is smaller than or equal to a preset deviation threshold value, and determining that the pallet fork and the hole of the target bracket are positioned on the same horizontal line.
The processor may determine the first motion parameters of the boom assembly and the rotating platform, respectively, based on the deviation value when the deviation value is determined to be greater than the predetermined deviation threshold. Because the mechanical equipment is in the motion process, the error is inevitable, so can improve the operating efficiency through reasonable presetting deviation threshold value. The preset deviation threshold value is an error coordinate value allowing the pixel coordinate corresponding to the actual image position to be separated from the pixel coordinate of the target image position. The first motion parameter is a luffing angle at which the jib assembly performs luffing operation and a slewing angle at which the slewing platform performs slewing operation. The processor can control the arm support assembly and the rotary platform to respectively execute corresponding first motion parameters, so that the deviation value is smaller than or equal to a preset deviation threshold value. At this point, the processor may determine that the forks are level with the holes of the target pallet.
In one embodiment, the deviation value includes a longitudinal deviation value and a transverse deviation value, the forking device further includes a rotary solenoid valve and an arm frame amplitude solenoid valve, the rotary solenoid valve is installed on the rotary platform, the arm frame amplitude solenoid valve is installed on the arm frame assembly, and the determining the first motion parameters of the arm frame assembly and the rotary platform according to the deviation value includes: respectively determining a first current value of the rotary electromagnetic valve and a second current value of the boom amplitude-variable electromagnetic valve according to the transverse deviation value and the longitudinal deviation value; and determining a first motion parameter of the rotary platform according to the first current value of the rotary electromagnetic valve, and determining a first motion parameter of the jib assembly according to the second current value of the jib amplitude variation electromagnetic valve.
The vertical deviation value is a vertical coordinate value between the pixel coordinate corresponding to the actual image position and the pixel coordinate of the target image position. The lateral deviation value is a lateral separation coordinate value between the pixel coordinate corresponding to the actual image position and the pixel coordinate of the target image position. The rotary electromagnetic valve is an electromagnetic valve used for controlling the current of the rotary platform for rotary operation. The boom variable amplitude solenoid valve is a solenoid valve used for controlling the current of the boom component for variable amplitude operation. Wherein, the rotary electromagnetic valve is arranged on the rotary platform, and the boom variable amplitude electromagnetic valve is arranged on the boom assembly. The processor may determine a first current value for the rotary solenoid valve based on the lateral deviation value, and may determine a first motion parameter of the rotary platform based on the first current value. The processor can determine a second current value of the boom variable amplitude solenoid valve according to the longitudinal deviation value, and can determine a first motion parameter of the boom component according to the second current value. The first current value is a current value of the swing solenoid valve when the swing operation is performed. The second current value is the current value of the boom amplitude variation electromagnetic valve corresponding to the execution of amplitude variation operation when the pallet fork is not positioned at the same horizontal line with the hole of the target bracket.
For example, in the case that the actual image position of the target bracket is located at the right side of the target image position, and the lateral deviation value Δ x is greater than the preset deviation threshold, the processor may control the first current value of the rotary solenoid valve so that the rotary platform rotates counterclockwise, and until Δ x is less than the preset deviation threshold, the processor may control the first current value of the rotary solenoid valve to be-50 mA so that the rotary platform stops moving. And under the condition that the actual image position of the target bracket is positioned on the left side of the target image position and the transverse deviation value delta x is greater than the preset deviation threshold value, the processor can control the first current value of the rotary electromagnetic valve to enable the rotary platform to rotate clockwise, and until the delta x is smaller than the preset deviation threshold value, the processor can control the first current value of the rotary electromagnetic valve to be-50 mA to enable the rotary platform to stop moving. And under the condition that the actual image position of the target bracket is positioned above the target image position and the longitudinal deviation value delta y is greater than the preset deviation threshold value, the processor can control a second current value of the boom amplitude-variable electromagnetic valve to reduce the amplitude-variable angle of the boom assembly, and when the delta y is smaller than the preset deviation threshold value, the processor can control the second current value of the boom amplitude-variable electromagnetic valve to be-50 mA to stop the movement of the boom assembly. And under the condition that the actual image position of the target bracket is positioned below the target image position and the longitudinal deviation value delta y is greater than the preset deviation threshold value, the processor can control a second current value of the boom variable amplitude electromagnetic valve to increase the variable amplitude angle of the boom component, and when the delta y is smaller than the preset deviation threshold value, the processor can control the second current value of the boom variable amplitude electromagnetic valve to be-50 mA to stop the movement of the boom component.
In one embodiment, the control method further comprises: controlling the rotary platform to stop rotating and determining a second horizontal spacing distance between the radar device and the hole of the target bracket under the condition that the deviation value is smaller than or equal to a preset deviation threshold value; determining a second motion parameter of the jib assembly according to the second horizontal spacing distance under the condition that the second horizontal spacing distance is greater than a second preset distance; and controlling the arm frame assembly to execute a second motion parameter so that the fork moves along a horizontal line where the target bracket is located until the spacing distance between the radar device and the hole of the target bracket is smaller than or equal to a second preset distance.
Under the condition that the image acquisition equipment is at a first horizontal spacing distance from the target bracket, and the longitudinal deviation value and the transverse deviation value are smaller than or equal to the preset deviation threshold value, the pallet fork and the target bracket can be considered to be in the same horizontal line. At this time, the processor may control the swing platform to stop swinging, and may determine a second horizontal separation distance of the radar device from the hole of the target bracket through the radar device. In the event that the second horizontal separation distance is greater than the second predetermined distance, indicating that the forks have not entered or are not fully entered into the apertures of the target carriage, the processor may determine a second motion parameter of the boom assembly based on the second horizontal separation distance. The second preset distance is a preset safety distance for avoiding collision between the pallet fork and the bracket after the pallet fork enters the hole of the target bracket. For example, it may be 100mm. The second motion parameter refers to the telescopic length and the variable amplitude angle which correspond to the telescopic operation and the variable amplitude operation of the jib assembly when the pallet fork is close to the target bracket and moves along the horizontal line where the target bracket is located. The processor may control the arm support assembly to execute a second motion parameter to move the forks along a horizontal line with the target carriage until the radar device is spaced from the aperture of the target carriage by a distance less than or equal to a second predetermined distance. At this point, the forks have fully entered the apertures of the target pallet and a corresponding loading and unloading operation can be performed on the load.
In one embodiment, determining the second motion parameter of the boom assembly based on the second horizontal separation distance comprises: determining a single telescopic length of a boom assembly arm length when each motion cycle is executed by the boom assembly, wherein the motion cycle comprises the amplitude variation operation of the boom assembly and/or the telescopic operation of a telescopic boom; determining a single amplitude variation angle of the jib assembly according to the single telescopic length; determining the single horizontal movement distance of the fork when each movement cycle is executed by the jib assembly according to the single telescopic length and the single amplitude variation angle; determining the execution times of the arm support assembly in the motion cycle according to the second horizontal spacing distance and the single horizontal movement distance; determining a second motion parameter for each of the boom assemblies while performing each cycle of motion; and controlling a second motion parameter of the arm frame assembly to finish the execution times so as to enable the fork to move along a horizontal line where the target bracket is located until the spacing distance between the fork point of the fork and the hole of the target bracket is smaller than or equal to a second preset distance.
When a second motion parameter of the jib assembly is determined according to the second horizontal spacing distance, the jib assembly simultaneously performs the corresponding length and angle of the telescopic operation and the luffing operation so that the forks move along the horizontal line where the target bracket is located. In each movement period, the telescopic arm support performs one telescopic operation, and the arm support assembly performs one corresponding amplitude variation operation. The processor may determine a single expansion length of the telescopic boom assembly arm length while performing each cycle of motion. Based on the single telescoping length and the single luffing angle, the processor may determine a single horizontal travel distance of the forks as the mast assembly performs each cycle of motion. The single horizontal movement distance refers to the distance that the forks move along the horizontal line in which the target carrier is located when the boom assembly simultaneously performs the telescoping operation and the luffing operation in each motion cycle. The processor may determine the number of executions of the cycle of motion performed by the boom assembly based on the second horizontal separation distance and the single horizontal movement distance. For example, if the second horizontal spacing distance is 10m and the single horizontal movement distance is 2m, the number of times the arm support assembly performs the movement cycle is 5. The processor may control a second motion parameter of the arm support assembly to perform the number of executions to move the forks along a horizontal line with the target carriage until a spacing distance between a fork tip of the fork and the aperture of the target carriage is less than or equal to a second predetermined distance.
In one embodiment, the fork mounting apparatus further includes a boom extension solenoid valve and a boom amplitude solenoid valve, both of which are mounted on the boom assembly, and determining the second motion parameter of each boom assembly when executing each motion cycle includes: determining a third current value of the boom variable amplitude electromagnetic valve according to the single variable amplitude angle; determining a fourth current value of the boom extension electromagnetic valve according to the single extension length; a second motion parameter of the boom assembly is determined based on the third current value and the fourth current value while performing each motion cycle.
The boom extension electromagnetic valve is an electromagnetic valve used for controlling the current of the extension movement of the extension boom. When a second motion parameter of each boom assembly is determined during execution of each motion cycle, the processor may determine a third current value of the boom variable amplitude solenoid valve according to the single variable amplitude angle. The third current value is the current value of the corresponding boom variable amplitude solenoid valve when the variable amplitude operation is executed in each motion period under the condition that the pallet fork and the hole of the target bracket are positioned on the same horizontal line. When the jib assembly performs a single amplitude variation operation in each movement period, the change angle of the jib assembly is a single amplitude variation angle. When the single amplitude variation operation is executed, the processor can determine a third current value of the arm frame amplitude variation electromagnetic valve according to the single amplitude variation angle. When the telescopic arm support performs a single telescopic operation in each motion cycle, the telescopic length of the telescopic arm support is a single telescopic length. When the single telescopic operation is executed, the processor may determine a fourth current value of the boom telescopic solenoid valve according to the single telescopic length. The fourth current value is the current value of the corresponding boom extension solenoid valve when the extension operation is executed in each motion period. The processor may determine a second motion parameter of the boom assembly as each motion cycle is performed based on the determined third and fourth current values.
In one embodiment, determining the single luffing angle of the boom assembly from the single telescope length comprises: determining an initial coordinate position corresponding to the initial time point of each motion cycle of the image acquisition equipment; and determining the single amplitude variation angle of each motion period according to the initial coordinate position and the single telescopic length.
The processor can determine an initial coordinate position corresponding to the initial time point of each motion period of the image acquisition device according to the determination result, and determine a single amplitude variation angle of each motion period according to the initial coordinate position and the single telescopic length. The initial time point refers to the starting time corresponding to the second motion parameter of each motion cycle executed by the arm support assembly. The initial coordinate position refers to a coordinate position where the image acquisition device corresponding to the initial time point is located. Wherein the origin of the coordinate position is a hinge point between the arm support assembly and the chassis of the fork mounting apparatus. For example, referring to fig. 4, fig. 4 schematically illustrates a schematic view of a motion analysis of a boom assembly during a motion cycle according to an embodiment of the application. Assume that the initial coordinate position of the initial time point image capturing apparatus is O 1 The length of the arm support component is b 1 Angle between arm support assembly and horizontal direction 1 x is a 1 Then the initial coordinate position O 1 Is (b) 1 ·cosa 1 ，b 1 ·sina 1 ). The corresponding angle of the arm support assembly can be measured through an angle sensor, and the telescopic length of the telescopic arm support can be measured according to a pull wire sensor. O is 1 E means scalableThe telescopic direction of the arm support is O of the telescopic arm support in each motion period 1 The projection length of E on the Y axis is b 2 ·sina 1 . When the jib assembly performs amplitude variation operation to descend, the single amplitude variation angle of descending the jib assembly in each movement period is a 2 。O 1 F is the luffing direction of the jib assembly, then O 1 The projection length of F on the Y axis is
In order to realize the effect that the arm support assembly performs combined actions of amplitude variation and expansion as linear motion along the X-axis direction, the projection lengths of the two points E and F on the Y axis are equal. Then, the single luffing angle can be calculated according to the following formula (2):
wherein, a 2 Refers to the single amplitude angle, a, of the jib assembly per cycle of motion 1 Is the angle between the jib assembly and the horizontal at the initial point in time, b 1 Is the boom length of the finger boom assembly, b 2 Which refers to the single telescopic length of the telescopic arm support in each motion cycle.
The third current value of the boom variable amplitude solenoid valve can determine the single variable amplitude angle of the boom assembly, and the fourth current value of the boom telescopic solenoid valve can determine the single telescopic length of the telescopic boom. If the fourth current value of the boom extension solenoid valve is set to be 800mA, the third current value corresponding to the boom amplitude solenoid valve can be calculated according to the following formula (3):
wherein z is a third current value of the amplitude variable solenoid valve of the arm support, and a 2 Means for the arm-rest assembly during each cycle of movementAngle of single amplitude variation of (b) 2 The single expansion length of the telescopic arm support in each motion period is referred to.
In one embodiment, the control method further comprises: acquiring a plurality of bracket stack images of a bracket stack by image acquisition equipment under the condition that the fork equipment is located at a position which is separated from a target bracket by a first preset distance; carrying out feature extraction on the bracket holes in each bracket stacking image to obtain feature data corresponding to the bracket holes, wherein the feature data at least comprise the sizes of the bracket holes and the spacing distances among the bracket holes; and determining the bracket corresponding to the characteristic data successfully matched with the target characteristic data as the target bracket.
The processor may capture a plurality of tray stack images of the tray stack with the image capture device with the fork mounting device in a position spaced a first predetermined distance from the target tray. For example, the image capture device may be controlled to periodically capture the tray stack at a position with a first preset distance of 20m, so as to obtain a plurality of tray stack images. The processor can perform feature extraction on bracket holes existing in the plurality of acquired images to obtain feature data corresponding to the bracket holes. The characteristic data is data describing the shape of the holes of the bracket and the relative spatial position between the two holes of the bracket. The characteristic data includes at least the dimensions of the carrier holes and the spacing distance between the holes of the carrier holes. The processor may determine the cradle corresponding to the feature data successfully matched with the target feature data as the target cradle. The target characteristic data refers to characteristic data of the target tray, and the characteristic data of the target tray at least includes a size of the tray hole of the target tray and a spacing distance between the holes of the tray hole. If the feature data of the tray a in the tray stack image a is successfully matched with the target feature data, it may be determined that the tray a is the target tray in the tray stack image a. If the feature data of all the trays in the tray stack image a is not successfully matched with the target feature data, the feature data of all the trays in the next tray stack image B may be matched with the target feature data to determine the target tray. If the feature data of the trays a, b, and c in the tray stack image a are successfully matched with the target feature data, the tray which is the most central tray in the image can be used as the target tray according to the pixel coordinates of the trays a, b, and c in the image. After determining any one of the target brackets, the processor may control the swing platform and the arm frame assembly of the forklift device to execute corresponding motion parameters based on a deviation value between an actual image position of the target bracket and a target image position acquired by the image acquisition device, so that the fork and the hole of the target bracket are at the same horizontal line. Further, the processor may control the boom assembly to perform a corresponding combined luffing and telescoping cyclic motion to advance the forks into the target carriage bore based on a second horizontal separation distance between the radar apparatus and the target carriage.
In one embodiment, the control method further comprises: acquiring a history image of the history tray stack, wherein the history image is shot under the condition that the image acquisition equipment is separated from the history tray stack by a third preset distance; determining historical characteristic data of holes of each historical bracket in the historical image; determining the bracket type corresponding to the hole of each historical bracket according to the historical characteristic data; and determining the historical characteristic data corresponding to the holes of the historical brackets of each bracket type as the target characteristic data of each bracket type.
The historical carrier stack refers to a carrier stack which is subjected to cross loading operation in a historical time period, or a carrier stack which is used for image acquisition in a historical event period. The processor may collect historical images of historical stacks of carriers. Wherein the historical images are taken with the image capture device at a third predetermined distance from the historical stack of carriers, the historical images including at least one carrier stack image. The third preset distance is the horizontal spacing distance between the image acquisition equipment and the historical tray stack when the image acquisition equipment can acquire the historical tray stack, and the third preset distance can be detected through a radar device. For example, the third preset distance may be 2m. It is understood that the second preset distance < the third preset distance < the first preset distance. The processor can perform feature extraction on the holes of each historical bracket in the historical images to obtain historical feature data of the holes of the historical brackets. The historical characteristic data refers to characteristic data of the holes of the bracket acquired in a historical time period, and the historical characteristic data at least comprises the size of the holes of the bracket and the spacing distance between the holes of the bracket. The processor may determine a tray type for each of the holes of the historical trays based on the historical characterization data. The bracket types are divided according to the sizes of the holes and the spacing distances among the holes, and the brackets with the same hole size and the same spacing distance are determined as the same bracket type. The processor may determine historical characteristic data corresponding to holes of historical carriers for each carrier type as target characteristic data for each carrier type. That is, each carrier type contains historical characteristic data for the corresponding historical carrier. When the processor determines that one of the bracket types is the target bracket, the historical characteristic data of the bracket type is the target characteristic data.
According to the technical scheme, the image acquisition equipment is arranged on the telescopic arm frame of the forklift device, and historical characteristic data of historical brackets can be obtained by acquiring historical images to determine target characteristic data of each bracket type. When the image capturing apparatus captures a tray stack image to determine the target tray, the tray corresponding to the feature data successfully matched with the target feature data may be determined as the target tray. Therefore, the target bracket corresponding to the fork-mounting operation can be accurately identified in the long-distance operation. Further, the actual image position of the target carrier in the carrier stack image may be determined. By means of the radar means mounted on the telescopic boom, a first horizontal separation distance of the image acquisition device from the target holder can be determined. And respectively determining the motion parameters of the jib assembly and the rotary platform according to the deviation value between the actual image position and the target image position. And controlling the arm frame assembly and the rotary platform to execute motion parameters so that the fork and the hole of the target bracket are positioned on the same horizontal line. Further, the current values of the rotary electromagnetic valve, the boom amplitude variation electromagnetic valve and the boom extension electromagnetic valve are determined through the transverse deviation value and the longitudinal deviation value, so that the rotary platform, the boom assembly and the telescopic boom execute corresponding motion parameters. Therefore, the pallet fork can move along the horizontal line where the target bracket is located until the spacing distance between the fork point of the pallet fork and the hole of the target bracket is smaller than or equal to a second preset distance. The actual image position of the target bracket in the image can be close to the target image position, the fork point of the fork is controlled to move to the hole of the target bracket, and therefore accuracy and efficiency of the fork loading operation of the fork on the target bracket are improved.
FIG. 1 is a flow diagram illustrating a control method for a fork loading apparatus according to one embodiment. It should be understood that, although the steps in the flowchart of fig. 1 are shown in order as indicated by the arrows, the steps are not necessarily performed in order as indicated by the arrows. The steps are not limited to being performed in the exact order illustrated and, unless explicitly stated herein, may be performed in other orders. Moreover, at least a portion of the steps in fig. 1 may include multiple sub-steps or multiple stages that are not necessarily performed at the same time, but may be performed at different times, and the order of performance of the sub-steps or stages is not necessarily sequential, but may be performed in turn or alternately with other steps or at least a portion of the sub-steps or stages of other steps.
In one embodiment, as shown in fig. 5, there is provided a fork-loading apparatus comprising:
a fork 510 for forking the target bracket;
the arm frame assembly 520 is connected with the fork 510, the arm frame assembly 520 comprises a telescopic arm frame 521, an image acquisition device 522 and a radar device 523, the image acquisition device 522 is installed on the telescopic arm frame 521, the image acquisition device 522 is used for acquiring a bracket stacking image of an area where a target bracket is located, the position of the fork is correspondingly changed when the telescopic arm frame 521 extends or contracts, and the radar device 523 is used for determining a first horizontal spacing distance between the image acquisition device and the target bracket;
a revolving platform 530 connected to the arm frame assembly 520, wherein the position of the fork 510 is changed when the revolving platform 530 revolves; and
a processor 540 configured to execute the above-described control method for the forklift device.
A fork 510 of the forking device for forking the target bracket. In the case where the fork mounting apparatus is at a first predetermined distance from the target bracket, the processor 540 may determine, through the radar device 523, that the first horizontal separation distance of the image capturing apparatus 522 from the target bracket is a first value. Then, the processor 540 may collect a tray stack image of an area where the target tray is located through the image collecting apparatus 522 to determine a deviation value between an actual image position of the target tray in the tray stack image and the target image position. Further, the processor 540 may determine the motion parameters of the boom assembly 520 and the swing platform 530 according to the deviation values, so as to control the boom assembly 520 and the swing platform 430 to perform the motion parameters, so that the forks 510 are located at the same level with the holes of the target brackets.
In one embodiment, as shown in fig. 6, a rotary solenoid valve 550 is installed at the rotary platform 530, and the rotary solenoid valve 550 controls the rotary operation of the rotary platform 530 by adjusting a first current value; the boom amplitude solenoid valve 560 is mounted on the boom assembly 520, and the boom amplitude solenoid valve 560 controls the amplitude of the boom assembly 520 by adjusting the second current value or the third current value; the boom extension solenoid valve 570 is installed on the boom assembly 520, and the boom extension solenoid valve 570 controls extension or contraction of the telescopic boom 521 by adjusting a fourth current value.
In order to make the fork tips of the forks 510 and the holes of the target brackets be in the same horizontal line, and the distance between the fork tips of the forks 510 and the holes of the target brackets is less than or equal to a second preset distance, so as to perform accurate forking operation. The processor may determine a first current value of the rotary solenoid valve 550 and a second current value of the boom luffing solenoid valve 560, respectively, based on the lateral deviation value and the longitudinal deviation value. The processor may control the boom assembly 520 and the swing platform 530 according to the first current value and the second current value, respectively, to execute the corresponding first motion parameters, so that the deviation value is less than or equal to the preset deviation threshold value, and it is determined that the fork 510 and the hole of the target bracket are located on the same horizontal line. Further, after the forks 510 are level with the target carriage's aperture, the processor may control the radar device 523 to determine a second horizontal separation distance of the radar device 523 from the target carriage's aperture. If the second horizontal spacing distance is greater than the second preset distance, a third current value of the boom variable amplitude solenoid valve 560 and a fourth current value of the boom telescopic solenoid valve 570 may be controlled, so that the boom assembly 520 and the telescopic boom 521 execute second motion parameters corresponding to motion cycles of corresponding times. In this way, the fork 510 can move along the horizontal line with the target bracket until the distance between the fork tip of the fork 510 and the hole of the target bracket is less than or equal to the second predetermined distance.
The processor comprises a kernel, and the kernel calls the corresponding program unit from the memory. The kernel can be set to be one or more, and the control method for the fork equipment is realized by adjusting kernel parameters.
The memory may include volatile memory in a computer readable medium, random Access Memory (RAM) and/or nonvolatile memory such as Read Only Memory (ROM) or flash memory (flash RAM), and the memory includes at least one memory chip.
An embodiment of the present application provides a storage medium having a program stored thereon, which when executed by a processor, implements the above-described control method for a forking device.
The embodiment of the application provides a processor, wherein the processor is used for running a program, and the program is used for executing the control method for the fork-mounted equipment during running.
In one embodiment, a computer device is provided, which may be a server, the internal structure of which may be as shown in fig. 7. The computer apparatus includes a processor a01, a network interface a02, a memory (not shown in the figure), and a database (not shown in the figure) connected through a system bus. Wherein the processor a01 of the computer device is arranged to provide computing and control capabilities. The memory of the computer apparatus includes an internal memory a03 and a nonvolatile storage medium a04. The nonvolatile storage medium a04 stores an operating system B01, a computer program B02, and a database (not shown). The internal memory a03 provides an environment for running the operating system B01 and the computer program B02 in the nonvolatile storage medium a04. The database of the computer device is used for storing data for the control method of the fork-mounted device. The network interface a02 of the computer apparatus is used for communicating with an external terminal through a network connection. The computer program B02 is executed by the processor a01 to implement a control method for a fork-mounted apparatus.
It will be appreciated by those skilled in the art that the configuration shown in fig. 7 is a block diagram of only a portion of the configuration associated with the present application, and is not intended to limit the computing device to which the present application may be applied, and that a particular computing device may include more or fewer components than shown, or may combine certain components, or have a different arrangement of components.
The embodiment of the application provides equipment, which comprises a processor, a memory and a program stored on the memory and capable of running on the processor, wherein the processor executes the program to realize the following steps of the control method for the fork-mounted equipment.
The present application also provides a computer program product adapted to perform a program for initializing the steps of the control method for a fork-mounted device as follows, when executed on a data processing device.
As will be appreciated by one skilled in the art, embodiments of the present application may be provided as a method, system, or computer program product. Accordingly, the present application may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the present application may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and the like) having computer-usable program code embodied therein.
The present application is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the application. It will be understood that each flow and/or block of the flow diagrams and/or block diagrams, and combinations of flows and/or blocks in the flow diagrams and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
In a typical configuration, a computing device includes one or more processors (CPUs), input/output interfaces, network interfaces, and memory.
The memory may include forms of volatile memory in a computer readable medium, random Access Memory (RAM) and/or non-volatile memory, such as Read Only Memory (ROM) or flash memory (flash RAM). The memory is an example of a computer-readable medium.
Computer-readable media, including both non-transitory and non-transitory, removable and non-removable media, may implement information storage by any method or technology. The information may be computer readable instructions, data structures, modules of a program, or other data. Examples of computer storage media include, but are not limited to, phase change memory (PRAM), static Random Access Memory (SRAM), dynamic Random Access Memory (DRAM), other types of Random Access Memory (RAM), read Only Memory (ROM), electrically Erasable Programmable Read Only Memory (EEPROM), flash memory or other memory technology, compact disc read only memory (CD-ROM), digital Versatile Discs (DVD) or other optical storage, magnetic cassettes, magnetic tape magnetic disk storage or other magnetic storage devices, or any other non-transmission medium that can be used to store information that can be accessed by a computing device. As defined herein, a computer readable medium does not include a transitory computer readable medium such as a modulated data signal and a carrier wave.
It should also be noted that the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrases "comprising one of 8230; \8230;" 8230; "does not exclude the presence of additional like elements in a process, method, article, or apparatus that comprises the element.
The above are merely examples of the present application and are not intended to limit the present application. Various modifications and changes may occur to those skilled in the art. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application should be included in the scope of the claims of the present application.
Claims (13)
1. A control method for a forklift device is characterized in that the forklift device comprises a forklift, a boom assembly and a rotary platform, the boom assembly comprises a telescopic boom, an image acquisition device and a radar device, and the image acquisition device and the radar device are mounted on the telescopic boom, and the control method comprises the following steps:
under the condition that the forklift is located at a position which is separated from a target bracket by a first preset distance, determining that a first horizontal spacing distance between the image acquisition equipment and the target bracket is a first numerical value through the radar device;
acquiring a tray stacking image of an area where a target tray is located through the image acquisition equipment;
determining an actual image position of the target carrier in the carrier stack image;
respectively determining the motion parameters of the jib assembly and the rotary platform according to the deviation value between the actual image position and the target image position, wherein the target image position corresponds to the first numerical value, and the target image position is the target position of the target bracket in the bracket stacking image under the condition that the pallet fork and the hole of the target bracket are positioned on the same horizontal line;
and controlling the arm frame assembly and the rotary platform to execute the motion parameters so that the fork and the hole of the target bracket are positioned at the same horizontal line.
2. The control method for an forklift device according to claim 1, wherein the determining the motion parameters of the boom assembly and the slewing platform according to the deviation value between the actual image position and the target image position includes:
respectively determining first motion parameters of the jib assembly and the rotary platform according to the deviation value under the condition that the deviation value is larger than a preset deviation threshold value;
and controlling the arm frame assembly and the rotary platform to respectively execute corresponding first motion parameters so that the deviation value is smaller than or equal to a preset deviation threshold value, and determining that the fork and the hole of the target bracket are positioned on the same horizontal line.
3. The control method for the forklift equipment as recited in claim 2, wherein the offset value comprises a longitudinal offset value and a lateral offset value, the forklift equipment further comprises a rotary solenoid valve and a boom luffing solenoid valve, the rotary solenoid valve is mounted to the rotary platform, the boom luffing solenoid valve is mounted to the boom assembly, and the determining the first motion parameter of the boom assembly and the first motion parameter of the rotary platform respectively according to the offset value comprises:
respectively determining a first current value of the rotary electromagnetic valve and a second current value of the boom variable amplitude electromagnetic valve according to the transverse deviation value and the longitudinal deviation value;
and determining a first motion parameter of the rotary platform according to the first current value of the rotary electromagnetic valve, and determining a first motion parameter of the jib assembly according to the second current value of the jib amplitude variation electromagnetic valve.
4. The control method for a forklift device according to claim 2, characterized by further comprising:
controlling the rotary platform to stop rotating and determining a second horizontal spacing distance between the radar device and a hole of the target bracket under the condition that the deviation value is smaller than or equal to the preset deviation threshold value;
determining a second motion parameter of the jib assembly according to the second horizontal spacing distance under the condition that the second horizontal spacing distance is greater than a second preset distance;
and controlling the arm frame assembly to execute the second motion parameter so as to enable the fork to move along a horizontal line where the target bracket is located until the distance between the radar device and the hole of the target bracket is smaller than or equal to a second preset distance.
5. The control method for a fork lift apparatus of claim 4, wherein said determining a second motion parameter of the boom assembly as a function of the second horizontal separation distance comprises:
determining a single telescopic length of the jib assembly when each movement cycle is executed by the jib assembly, wherein the movement cycle comprises luffing operation of the jib assembly and/or telescopic operation of the telescopic jib;
determining a single variable amplitude angle of the jib assembly according to the single telescopic length;
determining a single horizontal movement distance of the fork when each movement cycle is executed by the jib assembly according to the single telescopic length and the single amplitude variation angle;
determining the number of times the boom assembly executes the motion cycle according to the second horizontal separation distance and the single horizontal movement distance;
determining a second motion parameter for each of said boom assemblies as each motion cycle is performed;
and controlling a second motion parameter of the arm frame assembly for completing the execution times so as to enable the fork to move along a horizontal line where the target bracket is located until the distance between the fork point of the fork and the hole of the target bracket is smaller than or equal to a second preset distance.
6. The control method for a forklift device according to claim 5, wherein the forklift device further includes a boom extension solenoid valve and a boom luffing solenoid valve, both of which are mounted to the boom assembly, and the determining the second motion parameter of each boom assembly while performing each motion cycle includes:
determining a third current value of the boom variable amplitude electromagnetic valve according to the single variable amplitude angle;
determining a fourth current value of the boom extension electromagnetic valve according to the single extension length;
and determining a second motion parameter of the arm support assembly when executing each motion cycle according to the third current value and the fourth current value.
7. The control method for a forklift device as set forth in claim 5, wherein said determining a single luffing angle of said boom assembly from said single telescope length comprises:
determining an initial coordinate position corresponding to the initial time point of each motion cycle of the image acquisition equipment;
and determining a single amplitude variation angle of each motion period according to the initial coordinate position and the single telescopic length.
8. The control method for a forklift device according to claim 1, characterized by further comprising:
acquiring a plurality of tray stack images of a tray stack by the image acquisition device while the fork mounting device is at a position spaced a first preset distance from the target tray;
carrying out feature extraction on bracket holes in each bracket stacking image to obtain feature data corresponding to the bracket holes, wherein the feature data at least comprise the sizes of the bracket holes and the spacing distances among the holes of the bracket holes;
and determining the bracket corresponding to the characteristic data successfully matched with the target characteristic data as the target bracket.
9. The control method for a forklift device according to claim 8, characterized by further comprising:
acquiring a history image of a history tray stack, wherein the history image is shot under the condition that an image acquisition device is separated from the history tray stack by a third preset distance;
determining historical characteristic data of holes of each historical bracket in the historical images;
determining the bracket type corresponding to the hole of each historical bracket according to the historical characteristic data;
and determining the historical characteristic data corresponding to the holes of the historical brackets of each bracket type as the target characteristic data of each bracket type.
10. A processor configured to execute the control method for a forklift device according to any one of claims 1 to 9.
11. A fork loading apparatus, comprising:
the pallet fork is used for performing fork mounting operation on the target bracket;
the arm support assembly is connected with the fork and comprises a telescopic arm support, image acquisition equipment and a radar device, the image acquisition equipment is installed on the telescopic arm support and is used for acquiring a bracket stacking image of an area where the target bracket is located, the position of the fork is correspondingly changed when the telescopic arm support extends or contracts, and the radar device is used for determining a first horizontal spacing distance between the image acquisition equipment and the target bracket;
the rotary platform is connected with the arm frame assembly, and the position of the pallet fork is correspondingly changed when the rotary platform rotates; and
the processor of claim 10.
12. The forklift device of claim 11, further comprising:
the rotary electromagnetic valve is arranged on the rotary platform and controls the rotary operation of the rotary platform by adjusting a first current value;
the boom amplitude solenoid valve is arranged on the boom assembly and controls the amplitude of the boom assembly by adjusting a second current value or a third current value;
the arm support telescopic electromagnetic valve is arranged on the arm support assembly and controls the telescopic arm support to extend or retract by adjusting a fourth current value.
13. A machine-readable storage medium having instructions stored thereon, which when executed by a processor causes the processor to be configured to perform the control method for an fork-mounted apparatus according to any one of claims 1 to 9.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211307545.8A CN115676711A (en) | 2022-10-25 | 2022-10-25 | Control method for forklift device, storage medium, and processor |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211307545.8A CN115676711A (en) | 2022-10-25 | 2022-10-25 | Control method for forklift device, storage medium, and processor |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN115676711A true CN115676711A (en) | 2023-02-03 |
Family
ID=85098974
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202211307545.8A Pending CN115676711A (en) | 2022-10-25 | 2022-10-25 | Control method for forklift device, storage medium, and processor |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN115676711A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117023477A (en) * | 2023-10-10 | 2023-11-10 | 临工重机股份有限公司 | Rotary table rotation centering limiting system and control method thereof |
-
2022
- 2022-10-25 CN CN202211307545.8A patent/CN115676711A/en active Pending
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117023477A (en) * | 2023-10-10 | 2023-11-10 | 临工重机股份有限公司 | Rotary table rotation centering limiting system and control method thereof |
| CN117023477B (en) * | 2023-10-10 | 2024-03-01 | 临工重机股份有限公司 | Rotary table rotation centering limiting system and control method thereof |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| JP7206421B2 (en) | Smart forklift and detection method of container position and orientation deviation | |
| EP2447203B1 (en) | Industrial truck, method and computer program for controlling an industrial truck | |
| CN115676711A (en) | Control method for forklift device, storage medium, and processor | |
| JP2023531391A (en) | Warehouse robot control method, device, equipment, and readable storage medium | |
| WO2023226676A2 (en) | Unmanned forklift truck high shelf deliver method, apparatus, and device, and storage medium | |
| EP2994400B1 (en) | An automated warehouse | |
| CN113666304A (en) | Method, device, equipment and storage medium for controlling transfer robot | |
| CN110673653B (en) | Anti-tipping control method and device for engineering machinery and engineering machinery | |
| JP2019533621A (en) | Integrated obstacle detection and payload centering sensor system | |
| US20230111540A1 (en) | Photographing method for picking or placing, photographing system, and transport robot | |
| CN114852868A (en) | Control method, controller and device for crane boom and crane | |
| CN109093622B (en) | Monitoring method and device for manipulator | |
| CN116823104A (en) | Method, device, storage medium and processor for determining optimal cargo space | |
| CN115057363A (en) | Control method for boom, controller, crane and storage medium | |
| CN115010019A (en) | Telescopic arm mechanical equipment control device, control method and telescopic arm mechanical equipment | |
| KR102171077B1 (en) | Method for double stacking of autonomous forklift and apparatus for the same | |
| CN113173505A (en) | Automatic bottom-opening stacking method and system for gantry crane storage yard, storage medium and gantry crane | |
| CN113772564A (en) | Method and device for adjusting stress of supporting leg and engineering machinery | |
| CN114419164B (en) | Pose calibration data generation method and device, electronic equipment and storage medium | |
| CN112061652B (en) | Method and system for shaping stacked goods | |
| EP4173772A1 (en) | Methods, apparatuses and computer program products for depalletizing mixed objects | |
| CN115560745A (en) | Method for determining spatial position of lifting hook, engineering machine, device and processor | |
| CN114379969B (en) | Inventory container handling system and method | |
| US20220362936A1 (en) | Object height detection for palletizing and depalletizing operations | |
| CN117658018A (en) | Liftable mobile robot and system |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination |