The invention relates to the field of automatic guide equipment carrying goods shelves, and discloses a goods shelf carrying method and device, a machine readable medium and a system. The goods shelf carrying method comprises the steps that under the condition that the relative position of automatic guiding equipment and a goods shelf changes, whether the included angle between the movement direction of the automatic guiding equipment at the current moment and a first connecting line is smaller than a first included angle threshold value or not is judged, the first connecting line is the connecting line of the center of the automatic guiding equipment and the center of the bottom of the goods shelf, and the first included angle threshold value is smaller than or equal to 90 degrees; and when a judgment result is that the included angle is greater than the first included angle threshold value, a first motion adjustment parameter is generated to adjust the automatic guide equipment to move towards the goods shelf.

    本申请涉及自动引导设备搬运货架领域,公开了一种货架搬运方法及其装置、机器可读介质和系统。本申请中的货架搬运方法包括:在自动引导设备与货架产生相对位置变化的情况下,判断当前时刻自动引导设备的运动方向与第一连线之间的夹角是否小于第一夹角阈值,其中,第一连线为自动引导设备的中心和货架底部的中心的连线,第一夹角阈值为小于等于90°的值;在判断的结果为夹角大于第一夹角阈值的情况下,生成第一运动调节参数以调节所述自动引导设备朝着所述货架移动。


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    Title :

    Goods shelf carrying method, goods shelf carrying device, machine readable medium and system


    Additional title:

    货架搬运方法及其装置、机器可读介质和系统


    Contributors:
    LIU ZHE (author) / WANG YUEXIANG (author) / YIN HUIXIN (author) / CAO SHUYANG (author)

    Publication date :

    2021-06-22


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    B60P Fahrzeuge zum Transport von Lasten oder zum Befördern, Tragen oder Aufnehmen besonderer Lasten oder Gegenstände , VEHICLES ADAPTED FOR LOAD TRANSPORTATION OR TO TRANSPORT, TO CARRY, OR TO COMPRISE SPECIAL LOADS OR OBJECTS / G05D SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES , Systeme zum Steuern oder Regeln nichtelektrischer veränderlicher Größen



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