The invention relates to a forklift control method, a controller, a storage medium and a forklift and relates to the technical field of vehicle control, and the method comprises the steps that firstly, the angle deviation degree value between a pallet fork of the forklift and a fork hole of a tray is determined, and then the forklift is controlled to rotate based on the angle deviation degree value so that the pallet fork of the forklift can be parallel to the fork hole of the tray; and determining a horizontal deviation value between the pallet fork of the rotated forklift and the fork hole of the tray, and controlling the pallet fork of the forklift to perform horizontal adjustment based on the horizontal deviation value under the condition that the absolute value of the horizontal deviation value is smaller than or equal to the horizontal adjustment value of the pallet fork, so that the pallet fork of the forklift is aligned with the fork hole of the tray. And finally, the forklift is controlled to run linearly to fork the tray. According to the scheme, rotation of the forklift, horizontal movement of the pallet fork and linear driving of the forklift are all easy to execute, and the forklift can be accurately controlled to take and unload cargoes.

    本公开涉及一种叉车控制方法、控制器、存储介质和叉车,涉及车辆控制技术领域,该方法包括:先确定叉车的货叉与托盘的叉孔之间的角度偏移程度值,再基于角度偏移程度值,控制叉车转动,以使叉车的货叉与托盘的叉孔平行,并确定转动后的叉车的货叉与托盘的叉孔之间的水平偏移值,在水平偏移值的绝对值小于或等于货叉的水平调整值的情况下,基于水平偏移值,控制叉车的货叉进行水平调整,以使叉车的货叉与托盘的叉孔对齐,最后控制叉车直线行驶以叉取托盘。该方案中叉车的旋转、货叉的水平移动以及叉车的直线行驶都易于执行,能够较为准确地控制叉车进行取货和卸载货物。


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    Title :

    Forklift control method, controller, storage medium and forklift


    Additional title:

    叉车控制方法、控制器、存储介质和叉车


    Contributors:
    ZHAO JUNBIN (author)

    Publication date :

    2024-10-22


    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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