The invention discloses a forklift inclination angle measuring method, equipment and device, and a storage medium. The forklift inclination angle measuring method comprises the steps of: acquiring pallet fork acceleration information and pallet fork angular speed information of a forklift; determining current angle information of a pallet fork of the forklift according to the pallet fork acceleration information and the pallet fork angular speed information; acquiring portal frame acceleration information and portal frame angular speed information of the forklift; determining current angle information of a portal frame of the forklift according to the portal frame acceleration information and the portal frame angular speed information; and determining a relative inclination angle between the pallet fork and the portal frame according to the current angle information of the pallet fork of the forklift and the current angle information of the portal frame of the forklift. Since the relative inclination angle between the pallet fork and the portal frame is determined according to the current angle information of the pallet fork of the forklift and the current angle information of theportal frame of the forklift, compared with the prior art that the forklift overturns because goods are prone to falling off due to misoperation of the inclination angle of the pallet fork of the forklift which is manually operated, the forklift inclination angle measuring method, the equipment and the device realize precise measurement of the inclination angles of the pallet fork and the portal frame of the forklift, and automatic goods taking and placing of the unmanned forklift are facilitated.

    本发明公开了一种叉车倾斜角度测量方法、设备、存储介质及装置,本发明通过获取叉车的货叉加速度信息和货叉角速度信息,根据货叉加速度信息和货叉角速度信息确定叉车货叉的当前角度信息,获取叉车的门架加速度信息和门架角速度信息,根据门架加速度信息和门架角速度信息确定叉车门架的当前角度信息,根据叉车货叉的当前角度信息和叉车门架的当前角度信息确定货叉与门架之间的相对倾斜角度。根据叉车货叉的当前角度信息和叉车门架的当前角度信息确定货叉与门架之间的相对倾斜角度,相对于现有技术通过手动操作叉车货叉倾角容易因操作失误导致货物翻落从而导致叉车倾翻,本发明实现了叉车货叉及门架倾斜角度的精准测量,便于无人叉车自动取放货。


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    Title :

    Forklift inclination angle measuring method, equipment and device, and storage medium


    Additional title:

    叉车倾斜角度测量方法、设备、存储介质及装置


    Contributors:
    GUO JINHU (author)

    Publication date :

    2021-02-05


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    G01C Messen von Entfernungen, Höhen, Neigungen oder Richtungen , MEASURING DISTANCES, LEVELS OR BEARINGS / 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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