The invention relates to a pallet fork device, a control method of the pallet fork device, electronic equipment, a medium and a robot. The method comprises the steps that the pose of a target cargo and the position relation between a specific part of the target cargo and the pallet fork device are determined; on the basis of the pose and the position relation of the target goods, pose adjustment parameters of the pallet fork device are determined; and the robot pallet fork device is controlled according to the pose adjusting parameters, so that the goods taking mechanism acts on the specific part. According to the scheme, the pose adjustment parameters can be determined based on the pose and the position relation of the target goods, then the robot pallet fork device is controlled according to the determined pose adjustment parameters, and the pose of the target goods and the position relation between the specific part and the pallet fork device are comprehensively considered in the control process of the pallet fork device, so that the control accuracy of the robot pallet fork device is improved. Therefore, the goods taking mechanism can act on the target goods more accurately, and the control accuracy and safety of the pallet fork device are improved.

    本申请是关于一种货叉装置、其控制方法、电子设备、介质及机器人,该方法包括:确定目标货物的位姿以及目标货物的特定部位与货叉装置的位置关系;基于目标货物的位姿以及位置关系,确定货叉装置的位姿调整参数;按照位姿调整参数控制机器人货叉装置,以使取货机构作用于特定部位。本申请提供的方案,能够基于目标货物的位姿以及位置关系,确定位姿调整参数,进而按照确定好的位姿调整参数控制机器人货叉装置,由于对货叉装置的控制过程综合考虑了目标货物的位姿以及特定部位与货叉装置的位置关系,使得取货机构可以更准确的作用于目标货物,提高了货叉装置的控制准确性和安全性。


    Access

    Download


    Export, share and cite



    Title :

    Pallet fork device, control method thereof, electronic equipment, medium and robot


    Additional title:

    货叉装置、其控制方法、电子设备、介质及机器人


    Contributors:
    ZHAO YING (author)

    Publication date :

    2024-09-24


    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



    Pallet fork device and robot

    ZHANG XIAODONG | European Patent Office | 2023

    Free access

    Pallet fork device and storage robot

    ZHAN QINGXIN / ZHANG XIAODONG | European Patent Office | 2023

    Free access

    PALLET FORK DEVICE AND WAREHOUSE ROBOT

    ZHAN QINGXIN / ZHANG XIAODONG | European Patent Office | 2024

    Free access

    Pallet fork and forklift robot

    LIU JIANGBO / ZHANG NAN | European Patent Office | 2024

    Free access

    Limiting device for pallet fork and pallet fork

    CHEN ZHUOYUAN / WANG SHAOCAN / LI PEIYANG et al. | European Patent Office | 2023

    Free access