Method, device and equipment for automatically loading cylindrical goods on unmanned forklift and medium

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Method, device and equipment for automatically loading cylindrical goods on unmanned forklift and medium

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CAO JIANQING / ZHANG SHUO / QIAN YONGQIANG

The embodiment of the invention discloses a method, device and equipment for automatically loading cylindrical goods on an unmanned forklift and a medium. The method comprises the steps that through a measurement sensor arranged on the unmanned forklift, the chord length and width of cylindrical goods corresponding to the height of a target forklift at the first moment and the second moment in the fork tooth lifting process of the unmanned forklift are obtained through measurement; according to the chord length and width of the cylindrical goods at the first moment and the second moment and the inner width and length of the prongs of the unmanned forklift, the leakage height of the cylindrical goods on the lower surfaces of the prongs is determined; and the target fork tooth lifting height of the unmanned forklift is determined according to the leakage height and the racking height. According to the technical scheme, the lifting height of the fork teeth of the unmanned forklift can be automatically and efficiently determined based on the measuring sensor arranged on the unmanned forklift for cylindrical goods with different diameters, it is ensured that the cylindrical goods are safely placed on a goods shelf, and the operation efficiency of the unmanned forklift is improved.

本发明实施例公开了一种无人叉车自动上架圆柱形货物的方法、装置、设备和介质。其中，该方法包括：通过所述无人叉车上配置的测量传感器，测量得到无人叉车在叉齿抬升过程中第一时刻和第二时刻的目标叉车高度处对应的圆柱形货物弦长宽度；根据所述第一时刻和第二时刻的圆柱形货物弦长宽度以及所述无人叉车的叉齿内宽长度，确定叉齿下表面的圆柱形货物的漏出高度；根据所述漏出高度和上架高度确定无人叉车的目标叉齿抬升高度。本技术方案，能够针对不同直径的圆柱形货物，基于无人叉车上配置的测量传感器自动高效地确定无人叉车的叉齿抬升高度，确保将圆柱形货物安全放置于货架，有助于提高无人叉车的运营效率。

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Title :

Method, device and equipment for automatically loading cylindrical goods on unmanned forklift and medium

Additional title:

无人叉车自动上架圆柱形货物的方法、装置、设备和介质

Contributors:

CAO JIANQING (author) / ZHANG SHUO (author) / QIAN YONGQIANG (author)

Publication date :

2024-03-19

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