The invention provides a material rack stacking method. The material rack stacking method comprises the steps that an intelligent forklift loads a material rack to move; the fork arm is lifted to the position above the stacking area; scanning the supporting legs of the material rack of the load and the supporting legs of the material rack of the stacking area to obtain first position information and second position information respectively; respectively obtaining first pose information and second pose information according to the first position information and the second position information; calculating deviation data between the two material racks; calculating a moving route of the intelligent forklift entering the stacking area; the intelligent forklift moves according to the moving route, and the loaded material frame is located above the material frame of the stacking area; scanning the supporting legs of the material rack of the load and the supporting legs of the material rack of the stacking area to obtain third position information and fourth position information; and if the position deviation data of the two material racks are within the error range, the loaded material racks are stacked right above the material racks in the stacking area, otherwise, the poses of the loaded material racks are adjusted according to the position deviation data of the two material racks. According to the material rack stacking method, it can be ensured that the two material racks are stably stacked.
本发明提供一种料架堆叠方法,包括智能叉车负载料架移动;抬升叉臂至堆叠区上方;扫描负载的料架的支脚、堆叠区的料架的支脚分别获得第一位置信息和第二位置信息;根据第一位置信息、第二位置信息分别得出第一位姿信息、第二位姿信息;计算两个料架之间的偏差数据;计算智能叉车进入堆叠区的移动路线;智能叉车根据移动路线移动,并使负载的料架位于堆叠区的料架上方;扫描负载的料架的支脚、堆叠区的料架的支脚以获得第三位置信息和第四位置信息;若两个料架的位置偏差数据在误差范围内,则将负载的料架堆叠于堆叠区的料架正上方,否则,根据两个料架的位置偏差数据调整负载的料架的位姿。本发明的一种料架堆叠方法,能确保两个料架稳固堆叠。
Material rack stacking method
料架堆叠方法
2023-04-14
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 / B65G TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS , Transport- oder Lagervorrichtungen, z.B. Förderer zum Laden oder Abladen |