The invention relates to a method for a stacker to pick and place goods, a control device and the stacker, the stacker picks and places the goods from a goods shelf, the goods shelf comprises a plurality of goods grids, each goods grid is provided with a positioning mark, the stacker comprises a goods fork, the stacker is provided with a camera device, and the method comprises the steps that a first image is acquired according to the camera device and a target goods grid coordinate; according to the first image, judging whether the target goods lattice is within a first preset range or not; if the target goods lattice is within the first preset range, acquiring the actual position of the positioning mark in the first image; a deviation value between the actual position and the standard position of the positioning mark is obtained at the current goods taking and placing position of the pallet fork; judging whether the deviation value is within a second preset range or not; and if the deviation value is not within the second preset range, the adjusted goods taking and placing position is obtained according to the deviation value, and the fork takes and places goods from the adjusted goods taking and placing position. Goods taking and placing positions of the forks can be automatically adjusted, and the risk that the stacking machine collides with a warehouse can be reduced.

    本发明涉及一种堆垛机取放货物的方法、控制装置及堆垛机,堆垛机从货架上取放货物,货架包括多个货格,每个货格上设置有定位标记,堆垛机包括货叉,堆垛机上设置有摄像设备,所述方法包括:根据摄像设备和目标货格坐标,获取第一图像;根据第一图像,判断目标货格是否在第一预设范围内;若目标货格在第一预设范围内,获取第一图像中的定位标记的实际位置;在货叉的当前取放货位置,获取实际位置与定位标记的标准位置之间的偏差值;判断偏差值是否在第二预设范围内;若偏差值不在第二预设范围内,则根据偏差值获取调整后取放货位置,使货叉从调整后取放货位置取放货物。本发明能自动调整货叉的取放货位置,还可以减少堆垛机撞库的风险。


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    Title :

    Goods taking and placing method of stacking machine, control device and stacking machine


    Additional title:

    堆垛机取放货物的方法、控制装置及堆垛机


    Contributors:
    PENG GUANJUN (author) / KE XIAOFENG (author) / XING PIN (author) / LIU WENFEI (author)

    Publication date :

    2025-02-25


    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 / G06T Bilddatenverarbeitung oder Bilddatenerzeugung allgemein , IMAGE DATA PROCESSING OR GENERATION, IN GENERAL



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