The invention provides a material cage stacking method based on an unmanned forklift truck and an unmanned forklift truck control system. According to the material cage stacking method, after the unmanned forklift truck moves to a cage stacking preparation position and a pallet fork is lifted, the material cage is stacked; the method comprises the following steps: scanning tray supporting legs of a to-be-stacked material cage and a basic material cage through a pre-calibrated laser radar on an unmanned forklift below a pallet fork to obtain mixed point cloud data; first pose data of the to-be-stacked material cage in a forklift body coordinate system and second pose data of the basic material cage in the forklift body coordinate system are obtained through calculation based on the mixed point cloud data; displacement data required by the unmanned forklift can be obtained by performing difference value operation on the second pose data and the first pose data. The material cage stacking method can be suitable for the situation that no fixed position exists in material cage stacking, and the material cages can be accurately stacked no matter whether the material cages on the pallet forks incline or not.

    本发明提供了一种基于无人叉车的料笼堆叠方法及无人叉车控制系统,本发明的料笼堆叠方法,无人叉车运动到在堆笼准备位置且升起货叉之后,会通过货叉下方无人叉车上预先标定好的激光雷达对待堆叠料笼的托盘支腿以及基础料笼进行扫描,获得混合点云数据;之后基于混合点云数据计算得到待堆叠料笼在叉车车体坐标系下的第一位姿数据和基础料笼在叉车车体坐标系下的第二位姿数据;通过对第二位姿数据和第一位姿数据进行差值运算就可以获得无人叉车需要的位移数据。本发明的料笼堆叠方法可以适用于料笼堆叠无固定位置,且无论货叉上料笼是否发生歪斜都能够准确的进行料笼的堆叠。


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    Titel :

    Material cage stacking method based on unmanned forklift and unmanned forklift control system


    Weitere Titelangaben:

    基于无人叉车的料笼堆叠方法及无人叉车控制系统


    Beteiligte:
    CHEN WENCHENG (Autor:in) / LYU CHAOSHUN (Autor:in) / HUANG JINYONG (Autor:in)

    Erscheinungsdatum :

    2023-06-06


    Medientyp :

    Patent


    Format :

    Elektronische Ressource


    Sprache :

    Chinesisch


    Klassifikation :

    IPC:    B66F HOISTING, LIFTING, HAULING, OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD , Hub-, Verhol- oder Schubvorrichtungen, soweit nicht anderweitig vorgesehen, z.B. Vorrichtungen mit unmittelbarer Krafteinwirkung auf die Last



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