CN115959599A - Material rack stacking method - Google Patents
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- CN115959599A CN115959599A CN202211689856.5A CN202211689856A CN115959599A CN 115959599 A CN115959599 A CN 115959599A CN 202211689856 A CN202211689856 A CN 202211689856A CN 115959599 A CN115959599 A CN 115959599A
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Abstract
The invention provides a material rack stacking method, which comprises the steps that an intelligent forklift is used for loading material racks to move; lifting the fork arm to the upper part of the stacking area; scanning support legs of the material rack of the load and support legs of the material rack of the stacking area to respectively obtain first position information and second position information; respectively obtaining first position information and second position information according to the first position information and the second position information; calculating deviation data between the two material racks; calculating a moving route of the intelligent forklift entering the stacking area; the intelligent forklift moves according to the moving route, and the loaded material rack is located above the material rack in the stacking area; scanning the support legs of the loaded material rack and the support legs of the material rack in the stacking area to obtain third position information and fourth position information; and if the position deviation data of the two material racks are within the error range, stacking the loaded material racks right above the material racks in the stacking area, otherwise, adjusting the pose of the loaded material racks according to the position deviation data of the two material racks. The material rack stacking method can ensure that two material racks are stably stacked.
Description
Technical Field
The invention relates to the technical field of AGV material stacking, in particular to a material rack stacking method.
Background
In order to facilitate material transportation of AGV equipment, a plurality of materials can be stacked on the material frames, then the AGV moves through traction or lifting of the material frames to achieve material transferring, the empty material frames can be stacked in the stacking area, the stacking method comprises the steps that a worker uses a forklift to stack the material frames onto the placing surface of the stacking area, or the AGV pulls or lifts the material frames to know and transfer the material frames to the placing surface of the stacking area, in order to save the field space, the two material frames can be stacked together theoretically to improve the space utilization rate, however, due to the fact that manual work and the positional deviation of the AGV placing material frames are large (the reason is that the positioning precision of the manual work and the material frames of the AGV is limited, the walking precision and the stopping precision of the AGV are limited, the material frames slide in the moving and discharging processes of the forklift/the AGV, the ground conditions of the stacking area cause the material frames to shake after being discharged, and the like), the two material frames cannot be stably stacked with high butt joint precision.
Disclosure of Invention
The invention aims to overcome the defects of the prior art and provide a material rack stacking method, wherein a laser scanner is used for accurately positioning a loaded material rack on an intelligent forklift and a material rack in a stacking area, and the butting precision is adjusted according to the positions of the two material racks, so that the two material racks are stably stacked.
In order to achieve the purpose, the invention adopts the following technical scheme:
the material rack stacking method comprises the following steps:
the intelligent forklift is provided with a laser scanner which is positioned below the fork arm and can move up and down;
the intelligent forklift is loaded with a material rack and moves to the outer side of a stacking area, and the material rack is arranged in the stacking area;
the intelligent forklift lifts the fork arms to the position above the stacking area;
scanning the support legs of the stacks of the load by the laser scanner to obtain first position information, and scanning the support legs of the stacks of the stacking area to obtain second position information;
calculating the pose of the rack of the load according to the first position information to form first pose information, and calculating the pose of the rack of the stacking area according to the second position information to form second pose information;
calculating deviation data between the two material racks according to the first position and posture information and the second position and posture information;
calculating a moving route of the intelligent forklift entering the stacking area according to deviation data between the two material racks;
the intelligent forklift moves according to the moving route, and the loaded material rack is positioned above the material rack in the stacking area;
the laser scanner scans the support legs of the stacks of the loads to obtain third position information, and scans the support legs of the stacks of the stacking area to obtain fourth position information;
and the intelligent forklift calculates the position deviation data of the two material racks according to the third position information and the fourth position information, if the position deviation data is within an error range, the loaded material racks are stacked right above the material racks in the stacking area, otherwise, the position and posture of the loaded material racks are adjusted according to the position deviation data of the two material racks, and the position deviation data of the two material racks are within the error range.
Compared with the prior art, the material rack stacking method has the following beneficial effects:
(1) According to the invention, a loaded material rack on an intelligent forklift and a material rack in a stacking area are taken as research objects, firstly, a laser scanner is used for accurately positioning the loaded material rack on the intelligent forklift and the material rack in the stacking area, and a moving route of the intelligent forklift is obtained according to pose information of the two material racks obtained through positioning, so that the intelligent forklift accurately enters the stacking area and simultaneously completes primary alignment of the two material racks by using the movement of the intelligent forklift, then, the loaded material rack on the intelligent forklift and the material rack in the stacking area are used again, secondary accurate positioning of the two material racks is completed (if the two material racks are accurately aligned after the primary alignment, the secondary accurate positioning plays a check role), and the docking accuracy is adjusted according to the positions of the two material racks obtained through the secondary accurate positioning, so that the two material racks are stably stacked, the success rate of stacking the two material racks is improved, and the problem of accurate stacking of the material racks in the industry is solved;
(2) In order to adapt to a complex working environment (complex ground condition), the invention is applied to a laser scanner for scanning the material rack, thereby realizing the accurate positioning of the material rack of the load on the intelligent forklift and the material rack of the stacking area, providing guarantee for the subsequent calculation of the relative position of the material rack of the load on the intelligent forklift and the material rack of the stacking area, and having short algorithm identification time, thereby improving the material rack stacking speed;
(3) According to the invention, the automatic operation of the intelligent forklift is carried out by identifying the position of the material rack, adjusting the position of the material rack, carrying out secondary positioning and carrying out automatic material stacking, so that the operation adaptability of the AGV (intelligent forklift) is improved, and the material rack stacking process is more intelligent, efficient and safe;
(4) Under the condition that the stacking height allows, the method can stack the material rest to three layers or more, thereby further improving the utilization rate of the field space.
Further, when the fork arms are lifted to the upper side of the stacking area by the intelligent forklift, the lifting height h = NxA + B, the unit of h is cm, N is the number of the material racks in the vertical area in the stacking area aligned by the intelligent forklift, A is the height value of the material racks, B is a deviation value, and B is 5-15.
If N is 1, the material frame stacking operation is to stack a second layer of material frames, if N is 2, the material frame stacking operation is to stack a third layer of material frames, and the like; by setting the deviation value, the preliminary position of the bottom of the rack of the load lifted by the fork arms is ensured to be positioned at the top of the rack in the stacking area; in addition, the fork arm lifts the back, can provide scanning space for laser scanner, avoids causing the interference to laser scanner.
Further, the process of obtaining the first location information and the second location information includes:
the laser scanner moves to the position of the supporting leg of the material rack capable of scanning the load, and the position of the supporting leg of the material rack capable of scanning the load is scanned to form first position information;
the laser scanner moves to the position of the support leg of the material rack in the scannable stacking area, and the position of the support leg of the material rack in the scannable stacking area is scanned to form second position information.
According to the invention, the height and the pose (relative to the coordinate and the inclination angle of a rectangular coordinate system of the intelligent forklift) of the material rack are determined by scanning the positions of the support legs of the loaded material rack, so that the loaded material rack is enabled to be completely positioned above the material rack in the stacking area through subsequent adjustment.
Furthermore, when the deviation data between the two material racks is calculated, the coordinates of the material racks in the stacking area are taken as a reference,
and the coordinates of the material rack in the stacking area are taken as a reference, so that the deviation data can be conveniently calculated subsequently.
Further, the deviation data between the two material racks comprises displacement deviation and angle deviation between the two material racks.
The displacement deviation is the deviation of the position of the loaded material rack relative to the x direction and the y direction of the position of the material rack in a rectangular coordinate system taking the coordinate of the material rack in the stacking area as the reference, and the angle deviation is the deviation of an included angle formed by the position of the loaded material rack and the x axis or the y axis in the rectangular coordinate system taking the inclination angle of the loaded material rack in the stacking area as the reference.
Furthermore, the intelligent forklift moves according to the moving route, and the fork arms lift upwards for 5-20cm at the same time, so that the loaded material rack is located above the material rack in the stacking area.
When the intelligent forklift load material rack moves to the outer side of the stacking area, the fork arm is lifted to the upper side of the stacking area, and the loaded material rack is ensured to be always positioned above the material rack of the stacking area when entering the stacking area by lifting the fork arm again, so that the two material racks are prevented from colliding.
Further, the process of obtaining the third location information and the fourth location information includes:
the laser scanner moves to the position of the supporting leg of the material rack capable of scanning the load, and the position of the supporting leg of the material rack capable of scanning the load is scanned to form third position information;
the laser scanner moves to the position of the support leg of the material rack in the scannable stacking area, the position of the support leg of the material rack in the scannable stacking area is scanned, and fourth position information is formed.
Further, the process of determining whether the position deviation data is within the error range includes:
whether the delta x is +/-10 mm or not, if so, entering the next step, and otherwise, judging that the position deviation data is not within the error range;
whether the delta y is +/-10 mm or not is judged, if yes, the next step is carried out, and if not, the position deviation data is judged not to be within the error range;
and comparing whether the deviation value delta theta of the inclination angles theta of the loaded material frame and the loaded material frame in the stacking area is +/-0.5 ℃ or not according to the rectangular coordinate system of the material frame in the stacking area, if so, judging that the position deviation data is positioned in an error range, and otherwise, judging that the position deviation data is not positioned in the error range.
After the height of the fork arms is adjusted twice, the loaded material rack is located above the material rack in the stacking area, so that the two material racks can be accurately butted only by ensuring xy displacement and an inclination angle of the loaded material rack relative to the upper plane of the material rack in the stacking area.
Further, the process of intelligence fork truck according to the position deviation data adjustment load's of two work or material rests the posture of work or material rest includes:
position deviation data of the two material racks are called;
whether the delta x is +/-10 mm or not is judged, if yes, the next step is started, otherwise, the movable gantry of the intelligent forklift moves back and forth according to the delta x to adjust the x coordinate of the loaded material rack, the position of the supporting legs of the loaded material rack is scanned again, and the third position information and the position deviation data of the two material racks are updated;
and if the delta y is +/-10 mm, entering the next step, otherwise, moving the side shift mechanism of the intelligent forklift left and right according to the delta y to adjust the y coordinate of the loaded material rack, scanning the position of the supporting legs of the loaded material rack again, and updating the third position information and the position deviation data of the two material racks.
The invention adjusts the posture of the loaded material rack by using the movable door frame and the side shifting mechanism on the intelligent forklift, thereby realizing the secondary positioning of the loaded material rack and ensuring that the two material racks can be accurately butted.
Furthermore, after the intelligent forklift adjusts the pose of the loaded material rack according to the position deviation data of the two material racks, the position of the supporting legs of the loaded material rack is scanned again, the third position information is updated, the position of the supporting legs of the material rack in the stacking area is scanned again, and the fourth position information is updated.
After the pose of the loaded material rack is adjusted, the two material racks are scanned again to update the position information, so that the secondary confirmation of the positions of the two material racks is realized, and the stacking success rate of the two material racks is improved.
Drawings
FIG. 1 is a schematic diagram of an intelligent forklift;
fig. 2 is a flow chart of the present invention.
Description of reference numerals:
the device comprises a vehicle body 1, a fork arm 2, a movable door frame 3, a side shift mechanism 4 and a laser scanner 5.
Detailed Description
Embodiments of the present invention are described below with reference to the accompanying drawings:
referring to fig. 1, the method for stacking stacks is suitable for an intelligent forklift, wherein the intelligent forklift comprises a forklift body 1, a fork arm 2, a movable portal 3, a side-moving mechanism 4 and a laser scanner 5, the movable portal 3 is arranged on the forklift body 1, the fork arm 2 is arranged on the movable portal 3 through the side-moving mechanism 4, and the laser scanner 5 is located below the fork arm 2 and can move up and down.
The movable door frame 3 can be turned back and forth around a horizontal axis, and the side shift mechanism 4 can be moved left and right relative to the movable door frame 3.
As an improved scheme, the number of the laser scanners is two, and the two laser scanners are respectively used for scanning the material rack on the fork arm and the material rack outside the intelligent forklift; when two laser scanners set intelligent fork truck lifting yoke, two laser scanners carry out the scanning simultaneously to improve the scanning speed of two work or material rests.
The fork arm 2, the movable door frame 3 and the side shifting mechanism 4 belong to conventional technical components of an intelligent forklift, and the invention is not described in detail.
Referring to fig. 2, the stack stacking method of the present invention includes:
the intelligent forklift is loaded with a material rack and moves to the outer side of a stacking area, and the material rack is arranged in the stacking area;
the intelligent forklift lifts the fork arm to the position above the stacking area;
scanning the support legs of the stacks of the load by the laser scanner to obtain first position information, and scanning the support legs of the stacks of the stacking area to obtain second position information;
calculating the pose of the rack of the load according to the first position information to form first pose information, and calculating the pose of the rack of the stacking area according to the second position information to form second pose information;
calculating deviation data between the two material racks according to the first position information and the second position information;
calculating a moving route of the intelligent forklift entering the stacking area according to deviation data between the two material racks;
the intelligent forklift moves according to the moving route, and the loaded material rack is positioned above the material rack in the stacking area;
the laser scanner scans the support legs of the stacks of the loads to obtain third position information, and scans the support legs of the stacks of the stacking area to obtain fourth position information;
and the intelligent forklift calculates the position deviation data of the two material racks according to the third position information and the fourth position information, if the position 5 deviation data is in an error range, the loaded material racks are stacked right above the material racks in the stacking area, the fork arms descend to enable the loaded material racks to be stacked on the material racks in the stacking area, and otherwise, the position posture of the loaded material racks is adjusted according to the position deviation data of the two material racks to enable the position deviation data of the two material racks to be in the error range.
When the intelligent forklift lifts the fork arms to the position above the stacking area, the lifting height h = NxA + B of the fork arms, the unit of h is cm, and N is intelligence
The number of material racks in a vertical area in a stacking area capable of being aligned by a forklift is 5-15, wherein A is a height value of the material racks, B is a deviation value. 0, if N is 1, the material frame stacking operation is to stack the second layer material frame, and if N is 2, the material frame stacking operation is to stack the second layer material frame
Stacking a third layer of material racks, and so on; by setting the deviation value, the preliminary position of the bottom of the material rack of the load lifted by the fork arm is ensured to be positioned at the top of the material rack in the stacking area; in addition, the fork arm lifts the back, can provide scanning space for laser scanner, avoids causing the interference to laser scanner.
A process for obtaining first location information and second location information, comprising: 5 the laser scanner moves to the position of the supporting leg of the material rack capable of scanning the load,
forming first position information;
the laser scanner moves to the position of the supporting leg of the material rack in the scannable stacking area, the position of the supporting leg of the material rack in the scannable stacking area is scanned, and second position information is formed.
According to the invention, the height and the pose (the coordinate and the inclination angle relative to a rectangular coordinate system of the 0 intelligent forklift) of the rack are determined by scanning the positions of the support legs of the loaded rack, so that the loaded rack is ensured to be completely positioned above the rack in the stacking area through subsequent adjustment.
When calculating the deviation data between the two material racks, taking the coordinates of the material racks in the stacking area as a reference,
and the coordinates of the material rack in the stacking area are taken as a reference, so that the deviation data can be conveniently calculated subsequently.
The deviation data between the two material racks comprises displacement deviation and angle deviation between the two material racks.
5 in the rectangular coordinate system of displacement deviation for the coordinate of the work or material rest that uses the stack area as the benchmark, the position of the work or material rest of load for
The angular deviation is the deviation of the included angle formed by the position of the loaded material rack and the x axis or the y axis in a rectangular coordinate system taking the coordinate of the material rack in the stacking area as the reference in the inclination angle of the loaded material rack.
The intelligent forklift moves according to the moving route, and meanwhile the fork arms lift upwards for 5-20cm, so that the loaded material rack is located above the material rack in the stacking area.
0 when the intelligent forklift load-material rack moves to the outer side of the stacking area, the fork arm is lifted to the upper part of the stacking area, and the material rack is lifted to the upper part of the stacking area
The fork arm lifts again, ensures that the work or material rest of load is in the work or material rest top of piling up the district all the time when getting into and piling up the district, avoids two work or material rest to bump.
A process of obtaining third location information and fourth location information, comprising:
the laser scanner moves to the position of the supporting leg of the material rack capable of scanning the load, and the position of the supporting leg of the material rack capable of scanning the load is scanned to form third position information;
the laser scanner moves to the position of the support leg of the material rack in the scannable stacking area, the position of the support leg of the material rack in the scannable stacking area is scanned, and fourth position information is formed.
The process of determining whether the position deviation data is within the error range includes:
whether the delta x is +/-10 mm (-10 is more than or equal to delta x is less than or equal to 10), if so, entering the next step, otherwise, judging that the position deviation data is not positioned in the error range;
whether the delta y is +/-10 mm (-10 is more than or equal to and less than or equal to 10), if so, entering the next step, otherwise, judging that the position deviation data is not positioned in the error range;
and comparing whether the deviation value delta theta of the inclination angles theta of the loaded material frame and the material frame in the stacking area is +/-0.5 degrees (delta theta is more than or equal to 0.5 degrees and less than or equal to 0.5 degrees) or not according to the rectangular coordinate system of the material frame in the stacking area, if so, judging that the position deviation data is positioned in the error range, otherwise, judging that the position deviation data is not positioned in the error range.
After the height of the fork arms is adjusted twice, the loaded material rack is positioned above the material rack in the stacking area, so that the two material racks can be accurately butted only by ensuring xy displacement and an inclination angle of the loaded material rack relative to the upper plane of the material rack in the stacking area.
The process of intelligence fork truck according to the position deviation data adjustment load's of two work or material rests the position appearance of work or material rest includes:
position deviation data of the two material racks are called;
whether the delta x is +/-10 mm or not is judged, if yes, the next step is started, otherwise, the movable gantry of the intelligent forklift moves back and forth according to the delta x to adjust the x coordinate of the loaded material rack, the position of the supporting legs of the loaded material rack is scanned again, and the third position information and the position deviation data of the two material racks are updated;
and if the delta y is +/-10 mm, entering the next step, otherwise, moving the side shift mechanism of the intelligent forklift left and right according to the delta y to adjust the y coordinate of the loaded material rack, scanning the position of the supporting legs of the loaded material rack again, and updating the third position information and the position deviation data of the two material racks.
The invention adjusts the posture of the loaded material rack by using the movable door frame and the side shifting mechanism on the intelligent forklift, thereby realizing the secondary positioning of the loaded material rack and ensuring that the two material racks can be accurately butted.
The deviation of the deviation value delta theta is realized by moving the intelligent forklift; and if the deviation value delta theta is not within the range of +/-0.5 degrees after the pose of the loaded material rack is adjusted, setting the moving route (twice) of the intelligent forklift again according to the mode, and adjusting the angle of the pose of the loaded material rack by the intelligent forklift through secondary moving.
The AGV is applied to the prior art, and is used for setting a moving route according to the pose deviation of the AGV (a loaded material frame) and a reference object (a material frame in a stacking area) so as to adjust the pose of the AGV.
And after the intelligent forklift adjusts the pose of the loaded material rack according to the position deviation data of the two material racks, scanning the position of the supporting legs of the loaded material rack again, updating the third position information, scanning the position of the supporting legs of the material rack in the stacking area again, and updating the fourth position information.
After the pose of the loaded material rack is adjusted, the two material racks are scanned again to update the position information, so that the secondary confirmation of the positions of the two material racks is realized, and the stacking success rate of the two material racks is improved.
Compared with the prior art, the material rack stacking method has the following beneficial effects:
(1) According to the invention, a loaded material rack on an intelligent forklift and a material rack in a stacking area are taken as research objects, firstly, a laser scanner is used for accurately positioning the loaded material rack on the intelligent forklift and the material rack in the stacking area, and a moving route of the intelligent forklift is obtained according to pose information of the two material racks obtained through positioning, so that the intelligent forklift accurately enters the stacking area and simultaneously completes primary alignment of the two material racks by using the movement of the intelligent forklift, then, the loaded material rack on the intelligent forklift and the material rack in the stacking area are used again, secondary accurate positioning of the two material racks is completed (if the two material racks are accurately aligned after the primary alignment, the secondary accurate positioning plays a check role), and the docking accuracy is adjusted according to the positions of the two material racks obtained through the secondary accurate positioning, so that the two material racks are stably stacked, the success rate of stacking the two material racks is improved, and the problem of accurate stacking of the material racks in the industry is solved;
(2) In order to adapt to a complex working environment (complex ground condition), the invention is applied to a laser scanner for scanning the material rack, thereby realizing the accurate positioning of the loaded material rack on the intelligent forklift and the material rack in the stacking area, providing guarantee for the subsequent calculation of the relative positions of the loaded material rack on the intelligent forklift and the material rack in the stacking area, and having short algorithm identification time, thereby improving the stacking speed of the material rack;
(3) According to the invention, the automatic operation of the intelligent forklift is carried out by identifying the position of the material rack, adjusting the position of the material rack, carrying out secondary positioning and carrying out automatic material stacking, so that the operation adaptability of the AGV (intelligent forklift) is improved, and the material rack stacking process is more intelligent, efficient and safe;
(4) Under the condition that the stacking height allows, the method can stack the material rest to three layers or more, thereby further improving the utilization rate of the field space.
Variations and modifications to the above-described embodiments may occur to those skilled in the art, which fall within the scope and spirit of the above description. Therefore, the present invention is not limited to the specific embodiments disclosed and described above, and modifications and variations of the present invention are also intended to fall within the scope of the appended claims. Furthermore, although specific terms are employed herein, they are used in a generic and descriptive sense only and not for purposes of limitation.
Claims (10)
1. The rack stacking method is characterized by comprising the following steps:
the intelligent forklift is provided with a laser scanner which is positioned below the fork arm and can move up and down;
the intelligent forklift is loaded with a material rack and moves to the side part of a stacking area, and the material rack is arranged in the stacking area;
the intelligent forklift lifts the fork arm to the position above the stacking area;
scanning the support legs of the stacks of the load by the laser scanner to obtain first position information, and scanning the support legs of the stacks of the stacking area to obtain second position information;
calculating the pose of the rack of the load according to the first position information to form first pose information, and calculating the pose of the rack of the stacking area according to the second position information to form second pose information;
calculating deviation data between the two material racks according to the first position and posture information and the second position and posture information;
calculating a moving route of the intelligent forklift entering the stacking area according to deviation data between the two material racks;
the intelligent forklift moves according to the moving route, and the loaded material rack is positioned above the material rack in the stacking area;
the laser scanner scans the support legs of the stacks of the loads to obtain third position information, and scans the support legs of the stacks of the stacking area to obtain fourth position information;
and the intelligent forklift calculates the position deviation data of the two material racks according to the third position information and the fourth position information, if the position deviation data is within an error range, the loaded material racks are stacked right above the material racks in the stacking area, otherwise, the position and posture of the loaded material racks are adjusted according to the position deviation data of the two material racks, and the position deviation data of the two material racks are within the error range.
2. The stack stacking method according to claim 1, wherein when the smart forklift lifts the yoke above the stacking area, the lifting height h = NxA + B, h is cm, N is the number of stacks in a vertical area in the stacking area aligned by the smart forklift, a is a height value of the stacks, B is an offset value, and B is 5-15.
3. The stack stacking method of claim 1, wherein obtaining the first location information and the second location information comprises:
the laser scanner moves to the position of the supporting leg of the material rack capable of scanning the load, and the position of the supporting leg of the material rack capable of scanning the load is scanned to form first position information;
the laser scanner moves to the position of the support leg of the material rack in the scannable stacking area, and the position of the support leg of the material rack in the scannable stacking area is scanned to form second position information.
4. The stack stacking method of claim 1, wherein the calculating of the deviation data between two stacks is based on coordinates of the stacks of the stacking area.
5. The stack stacking method of any of claims 1 and 4, wherein the deviation data between two stacks comprises a displacement deviation and an angle deviation between the two stacks.
6. The stack stacking method of claim 1, wherein the intelligent forklift moves according to the movement path while the fork arms lift 5-20cm upwards, so that the loaded stack is positioned above the stacks in the stacking area.
7. The stack stacking method of claim 1, wherein obtaining the third location information and the fourth location information comprises:
the laser scanner moves to the position of the supporting leg of the material rack capable of scanning the load, and the position of the supporting leg of the material rack capable of scanning the load is scanned to form third position information;
the laser scanner moves to the position of the support leg of the material rack in the scannable stacking area, the position of the support leg of the material rack in the scannable stacking area is scanned, and fourth position information is formed.
8. The stack stacking method according to claim 1, wherein the determining whether the positional deviation data is within the error range includes:
whether the delta x is +/-10 mm or not, if so, entering the next step, and otherwise, judging that the position deviation data is not within the error range;
whether the delta y is +/-10 mm or not, if so, entering the next step, and otherwise, judging that the position deviation data is not within the error range;
and comparing whether the deviation value delta theta of the inclination angles theta of the loaded material frame and the loaded material frame in the stacking area is +/-0.5 ℃ or not according to the rectangular coordinate system of the material frame in the stacking area, if so, judging that the position deviation data is positioned in an error range, and otherwise, judging that the position deviation data is not positioned in the error range.
9. The stack stacking method according to claim 1, wherein the process of adjusting the pose of the loaded stacks by the intelligent forklift according to the positional deviation data of the two stacks includes:
position deviation data of the two material racks are called;
if the delta x is +/-10 mm, entering the next step, otherwise, moving the movable gantry of the intelligent forklift forward and backward according to the delta x to adjust the x coordinate of the loaded material rack, scanning the position of the supporting legs of the loaded material rack again, and updating third position information and position deviation data of the two material racks;
and if the delta y is +/-10 mm, entering the next step, otherwise, moving the side shift mechanism of the intelligent forklift left and right according to the delta y to adjust the y coordinate of the loaded material rack, scanning the position of the supporting legs of the loaded material rack again, and updating the third position information and the position deviation data of the two material racks.
10. The stack stacking method according to claim 1, wherein after the intelligent forklift adjusts the pose of the loaded stack according to the positional deviation data of the two stacks, the position of the outriggers of the loaded stack is scanned again, the third positional information is updated, and the position of the outriggers of the stacks in the stacking area is scanned again, and the fourth positional information is updated.
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| CN202211689856.5A CN115959599A (en) | 2022-12-27 | 2022-12-27 | Material rack stacking method |
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| CN202211689856.5A Pending CN115959599A (en) | 2022-12-27 | 2022-12-27 | Material rack stacking method |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116674920A (en) * | 2023-04-25 | 2023-09-01 | 中国铁建电气化局集团有限公司 | Intelligent transportation method, device, equipment and storage medium |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116674920A (en) * | 2023-04-25 | 2023-09-01 | 中国铁建电气化局集团有限公司 | Intelligent transportation method, device, equipment and storage medium |
| CN116674920B (en) * | 2023-04-25 | 2024-01-23 | 中国铁建电气化局集团有限公司 | Intelligent transportation method, device, equipment and storage medium |
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