The invention provides a transport vehicle and a storage medium capable of laterally moving a cargo loading part while referring to the positional relationship of the cargo with respect to the cargo loading part. A transport vehicle (1) is provided with: a fork (16); a lateral displacement unit (19) that laterally displaces the fork (16); a dot matrix acquisition unit (22) that acquires a dot matrix by horizontally irradiating the cargo loaded on the fork (16) with laser light; an edge determination unit that determines the edge position of the cargo on the basis of the acquired dot matrix; a cargo position determination unit; and a lateral displacement control unit that controls the amount of lateral displacement of the lateral displacement unit (19). When the fork (16) is moving laterally, the cargo position determination unit detects whether or not the positional relationship of the cargo with respect to the fork (16) changes on the basis of the determined edge position of the cargo.
本发明提供一种搬送车以及存储介质,能够一边参照货物相对于货物装载部的位置关系,一边使货物装载部侧移。搬送车(1)包括:货叉(16);侧移部(19),使货叉(16)侧移;点阵获取部(22),对被装载于货叉(16)的货物水平地照射激光以获取点阵;边缘确定部,基于所获取的点阵来确定货物的边缘位置;货物位置确定部;以及侧移控制部,控制侧移部(19)的侧移量。货物位置确定部在货叉(16)正在侧移时,基于所确定的货物的边缘位置,检测货物相对于货叉(16)的位置关系是否发生变化。
Transport vehicle and storage medium
搬送车以及存储介质
01.10.2024
Patent
Elektronische Ressource
Chinesisch
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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