The invention relates to the technical field of cargo loading and unloading, and discloses a tray forking method and device, computer equipment and a storage medium. The method comprises the steps that point cloud data of a tray and point cloud data in an area where a fork on a forklift is located are obtained in real time; determining a target adjustment pose corresponding to the pallet fork according to the point cloud data; when the posture of the pallet fork is adjusted to the target adjustment posture, the relative height of a front side fork hole of the pallet relative to the pallet fork and the pitch angle of the pallet are obtained according to the point cloud data; obtaining a first height corresponding to a rear side fork hole of the tray according to the pitch angle of the tray; and when the forklift forks the pallet, the height of the pallet fork is adjusted according to the relative height and the first height. When the pallet is forked by the forklift, the height of the pallet fork is adjusted according to the relative height of the front fork hole of the pallet relative to the pallet fork and the corresponding height of the rear fork hole, so that the pallet fork passes through the front fork hole and the rear fork hole of the pallet under the collision-free condition, the operation efficiency is improved, and the equipment abrasion is reduced.

    本发明涉及货物装卸技术领域,公开了涉及托盘叉取方法、装置、计算机设备及存储介质,该方法包括:实时获取托盘以及叉车上的货叉所处区域内的点云数据;根据点云数据,确定货叉对应的目标调整位姿;当货叉的位姿调整至目标调整位姿时,根据点云数据得到托盘的前侧叉孔相对于货叉的相对高度以及托盘的俯仰角;根据托盘的俯仰角,得到托盘的后侧叉孔对应的第一高度;在叉车进行托盘叉取时,根据相对高度和第一高度,对货叉的高度进行调整。在叉车进行托盘叉取时,根据托盘的前侧叉孔相对于货叉的相对高度以及后侧叉孔对应的高度,对货叉的高度进行调整,使货叉在无碰撞情况下通过托盘的前后叉孔,提高了作业效率,且减小了设备磨损。


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    Titel :

    Tray forking method and device, computer equipment and storage medium


    Weitere Titelangaben:

    托盘叉取方法、装置、计算机设备及存储介质


    Beteiligte:
    LIU YAOWU (Autor:in)

    Erscheinungsdatum :

    2023-11-24


    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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