The invention discloses a pallet forking method and device and a computer storage medium. The pallet forking method comprises the steps that pallet leg point clouds of at least two pallet legs are obtained; obtaining a pallet surface center point and a pallet surface orientation angle of a pallet surface corresponding to the pallet leg point cloud; acquiring a path planning target point according to the pallet surface center point, the pallet surface orientation angle and the forklift orientation angle; and generating a planned path of the forklift based on the path planning target point, so that the forklift forks the pallet according to the planned path. By means of the mode, after the fork teeth enter the pallet, the fork tips can still be used for recognizing information of holes in the pallet, and the pallet forking precision is improved.

    本申请公开了一种栈板叉取方法、装置以及计算机存储介质,获取至少两块栈板腿的栈板腿点云;获取所述栈板腿点云所对应栈板面的栈板面中心点以及栈板面朝向角;根据所述栈板面中心点、所述栈板面朝向角以及叉车朝向角获取路径规划目标点;基于所述路径规划目标点生成所述叉车的规划路径,以使所述叉车按照所述规划路径叉取所述栈板。通过上述方式,在叉齿进入栈板后,依旧能够使用叉尖识别栈板内部孔洞的信息,提高栈板叉取精度。


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    Title :

    Pallet forking method and device and computer storage medium


    Additional title:

    一种栈板叉取方法、装置以及计算机存储介质


    Contributors:
    ZHUANG HAN (author) / MAO LIBING (author) / HU KUN (author) / LU WEI (author)

    Publication date :

    2024-09-27


    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



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