The invention discloses a multi-agent unmanned stacking forklift based on an event triggering mechanism and a control method, the multi-agent unmanned stacking forklift comprises a forklift body and a carrying module arranged on the forklift body, and the carrying module comprises multiple sets of mechanical arms and is used for taking goods; the main controller is connected with the machine body and the carrying module, and the main controller is used for controlling the machine body to act and controlling the carrying module to act; the laser sensor and the machine body are integrally arranged, the laser sensor is connected with the main controller, and the laser sensor is used for scanning the goods shelf so as to obtain residual space information of the goods shelf; the main controller receives the remaining space information. The unmanned forklift has the advantages that whether the goods shelf can store the goods or not can be accurately and rapidly judged, meanwhile, the goods can be orderly arranged, the situation that the goods are stacked and damaged during goods stacking is prevented, and the working efficiency of the unmanned forklift is greatly improved.
本发明公开了基于事件触发机制的多智能体无人堆垛叉车及控制方法,包括:机身和设置于机身上的搬运模块,所述搬运模块包括有多组机械臂,用于拿取货物;主控制器,所述主控制器与机身主体和搬运模块连接,所述主控制器用于控制机身动作和控制搬运模块动作;激光传感器,所述激光传感器与机身一体化设置,所述激光传感器与主控制器连接,所述激光传感器用于扫描货架,从而获得货架的剩余空间信息;主控制器接收剩余空间信息。本发明具备可以准确快速的判断出货架是否可以存放货物并存放的效果,同时达到了可以有序的对货物进行排放,防止堆垛货物时出现堆叠,造成货物损坏的情况,大大的提高了无人叉车的工作效率的优点。
Multi-agent unmanned stacking forklift based on event triggering mechanism and control method
基于事件触发机制的多智能体无人堆垛叉车及控制方法
2024-08-13
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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European Patent Office | 2023
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