The invention discloses a forklift robot. The top of the forklift robot is provided with a holder and a camera arranged on the holder. The forklift robot is provided with a jacking rod, and the top of the jacking rod is fixedly connected with the holder. The forklift robot operation control method comprises the steps of obstacle avoidance detection in the advancing process of the forklift robot, goods taking process control and goods placing process control. The control over the goods taking process of the forklift robot comprises the steps that when the forklift robot reaches a goods taking site, the camera visual angle is adjusted through a holder, and whether goods exist or not, goods stacking detection, pallet or tray recognition and vehicle body goods detection are conducted. The forklift robot goods placing process control comprises the steps that when a forklift robot reaches a goods placing site, the camera visual angle is adjusted through a holder, whether goods exist or not is recognized, goods stacking detection is conducted before and after goods placing, and goods height recognition is conducted.
本发明公开了一种叉车机器人,该叉车机器人顶部设有云台,以及设置于所述云台上的相机。叉车机器人具有顶升杆,该顶升杆的顶部与所述云台固接。该叉车机器人作业控制方法包括:叉车机器人行进中的避障检测、取货过程控制和放货过程控制。叉车机器人取货过程控制包括:当叉车机器人到达取货点地时,通过云台调整相机视角,进行货物有无识别、货物堆放检测、栈板或托盘识别、车身货物检测。叉车机器人放货过程控制包括:在叉车机器人到达放货点地时,通过云台调整相机视角,进行货物有无识别、放货前后货物堆放检测、货物高度识别。
Forklift robot and operation control method and controller thereof
一种叉车机器人及其作业控制方法、控制器
2024-10-25
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 / F16M Rahmen, Gehäuse oder Grundplatten von Kraftmaschinen oder anderen Maschinen oder von Apparaten, nicht auf eine besondere Art von Maschine oder Apparat eingeschränkt, die anderweitig vorgesehen ist , FRAMES, CASINGS, OR BEDS, OF ENGINES OR OTHER MACHINES OR APPARATUS, NOT SPECIFIC TO AN ENGINE, MACHINE, OR APPARATUS PROVIDED FOR ELSEWHERE |
Forklift control method, controller, storage medium and forklift
European Patent Office | 2024
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