The embodiment of the invention provides a control method for fork loading equipment, the fork loading equipment, a storage medium and a processor. The fork loading equipment comprises a pallet fork, an arm frame assembly and a rotary platform, the arm frame assembly comprises a telescopic arm frame, image acquisition equipment installed on the telescopic arm frame and a radar device, and the control method comprises the steps that the first horizontal spacing distance between the image acquisition equipment and a target bracket is determined through the radar device; and acquiring the actual image position of the target bracket in the bracket stacking image through image acquisition equipment. And according to the deviation value between the actual image position and the target image position, respectively determining motion parameters of the boom assembly and the revolving platform. And the boom assembly and the rotary platform are controlled to execute the motion parameters, so that the pallet fork and the hole of the target bracket are located on the same horizontal line. Forking operation can be carried out according to the deviation value between the actual image position and the target image position, so that the accuracy and efficiency of forking operation carried out on the target bracket by the pallet fork are improved.

    本申请实施例提供一种用于叉装设备的控制方法、叉装设备、存储介质及处理器。叉装设备包括货叉、臂架组件和回转平台,臂架组件包括可伸缩臂架、安装在可伸缩臂架上的图像采集设备和雷达装置,控制方法包括:通过雷达装置确定图像采集设备与目标托架的第一水平间隔距离,通过图像采集设备采集目标托架在托架堆垛图像中的实际图像位置。根据实际图像位置与目标图像位置之间的偏差值分别确定臂架组件和回转平台的运动参数。控制臂架组件和回转平台执行运动参数,以使货叉与目标托架的孔洞处于同一水平线。可以根据实际图像位置与目标图像位置之间的偏差值来执行叉装作业,以提高货叉对目标托架执行叉装作业的准确性和效率。


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    Title :

    Control method for fork loading equipment, fork loading equipment, storage medium and processor


    Additional title:

    用于叉装设备的控制方法、叉装设备、存储介质及处理器


    Contributors:
    TANG HAO (author) / ZHU HOU (author) / CHEN XIAOJIN (author) / XIONG LU (author) / YANG CUNXIANG (author)

    Publication date :

    2023-02-03


    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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