The invention discloses a prong position adjusting method of an AGV forklift. The prong position adjusting method of the AGV forklift comprises the following steps that firstly, three-dimensional images of pallet forking holes are captured through a field depth sensor, and according to the three-dimensional images, the current coordinate positions of the forking holes are obtained; then, the current coordinate positions of the prong points of the prongs are obtained; finally, whether the current included angle between the current coordinate position of each prong point and the current coordinate position of the corresponding forking hole is within a preset angle range or not is judged, if yes, the prongs are inserted into the forking holes, and if not, the prong positions are adjusted relative to the forking holes until the current included angle is within the preset angle range. The arranged field depth sensor can automatically detect the positions of the forking holes, the prongs are made to automatically adjust the positions according to the positions of the forking holes, and then the prongs are automatically matched with the forking holes; and in this way, the automation degree is high, the manual participation degree is low, the intelligence degree is high, and the work efficiency is high. The invention further discloses a prong position adjusting system of the AGV forklift and the AGV forklift comprising the prong position adjusting system.

    本发明公开一种AGV叉车叉齿位置调整方法,步骤包括首先利用景深传感器抓取托盘叉孔的立体图像,依据立体图像获取叉孔当前坐标位置;然后,获取叉齿的齿尖当前坐标位置;最后,比较齿尖当前坐标位置与叉孔当前坐标位置之间的当前夹角是否在预设角度范围内,若是,则叉齿插入叉孔内;若否,则相对于叉孔调节叉齿位置直至当前夹角是否在预设角度范围内。景深传感器的设置能够实现自动检测叉孔的位置,并使叉齿依据叉孔位置自动调整自身位置,使叉齿与叉孔自动匹配,自动化程度高,人工参与度地,智能化程度高,工作效率较高。本发明还公开一种AGV叉车叉齿位置调整系统及包含AGV叉车叉齿位置调整系统的AGV叉车。


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    Title :

    AGV forklift and prong position adjusting method and system of AGV forklift


    Additional title:

    一种AGV叉车、AGV叉车叉齿位置调整方法及系统


    Contributors:
    DAI JINQIU (author) / YIN JUNJIE (author) / WEN YIFAN (author) / JIN LYUJUN (author)

    Publication date :

    2020-04-17


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    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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