The cargo inserting and taking method based on the forklift comprises the following steps that S1, a tail end area containing the tail end of a driving path is formed, and coordinates of four vertexes of the tail end area in a world coordinate system are calibrated; s2, when the forklift travels along the planned traveling path, the distance between the forklift and the target position is detected, and if the distance is smaller than or equal to the set tail end deceleration distance, the forklift is controlled to decelerate; s3, the acceleration in the deceleration process is calculated in a self-adaptive mode, so that the speed of the forklift entering the tail end area is the expected tail end speed, and the forklift runs at the constant tail end speed in the tail end area; s4, after effective trigger signals of the two trigger switches are detected in sequence, it is determined that the goods are successfully inserted and taken; the two trigger switches are arranged on the same gear shaper, the repeated poses of the goods on the gear shaper are achieved through the trigger switches, then the positioning precision of the goods during unloading is improved, and the high-precision goods positioning scene requirement can be better met.
本发明公开一种基于叉车的货物插取方法,包括如下步骤:S1、形成包含行驶路径末端的末端区域,标定末端区域的四个顶点在世界坐标系中的坐标;S2、叉车沿规划的行驶路径行驶时,检测叉车距目标位置的距离,若该距离小于等于设定的末端减速距离时,控制叉车进行减速;S3、自适应的计算减速过程的加速度,以使叉车进入末端区域时的速度即为期望的末端速度,叉车在末端区域内以末端速度匀速行驶;S4、依次检测到两个触发开关的有效触发信号后,认定货物插取成功;通过在同一插齿上设置两个触发开关,通过触发开关实现货物在插齿上的重复性位姿,进而提高了卸货时货物的定位精度,能够更好的适用于高精度货物定位的场景需求。
Cargo inserting and taking method and system based on forklift
一种基于叉车的货物插取方法及系统
2023-04-07
Patent
Electronic Resource
Chinese
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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