The invention relates to the technical field of intelligent storage and unmanned forklifts, in particular to a high-position goods picking and placing method for a forward-moving type unmanned forklift, which comprises an industrial personal computer, and a software system of the industrial personal computer adopts a modular structure and mainly comprises a chassis control module, a fork arm control module, a visual detection module, a task management module and a safety protection module. And a peripheral module and a web module. The forward-moving type unmanned forklift is large in chassis, stable in forklift body, small in shaking when the fork arm is lifted, high enough in lifting height, capable of easily achieving the lifting height of 10 m or above, small in forklift body length when the portal frame is retracted, suitable for narrow roadways, safe and reliable, capable of improving the goods taking and placing precision and the goods stability in the operation process, and capable of being used for a large-scale industrial production line. An image recognition technology based on deep learning is adopted to detect the position of goods or a goods shelf relative to a forklift, and the goods are accurately taken and placed by adjusting the transverse movement amount of a fork arm and planning a warehousing route.

    本发明涉及智慧仓储、无人叉车技术领域,具体为一种前移式无人叉车的高位取放货方法,包括工控机,所述工控机的软件系统采用模块化结构,主要包括底盘控制模块、叉臂控制模块、视觉检测模块、任务管理模块、安全防护模块,外设模块和web模块。本发明前移式无人叉车底盘大,车身稳定,叉臂升起时晃动小,举升高度足够高,可以轻松做到10米以上的举升高度,门架收回时车身长度小,适用于窄巷道,安全可靠,提高了取放货精度及运行过程中货物的稳定性,采用基于深度学习的图像识别技术检测货物或货架相对于叉车的位置,通过调整叉臂横移量及规划入库路线准确取放货。


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    Title :

    High-position goods picking and placing method of forward-moving type unmanned forklift


    Additional title:

    一种前移式无人叉车的高位取放货方法


    Contributors:
    CHEN WENCHENG (author) / LYU CHAOSHUN (author) / GUO JINHU (author)

    Publication date :

    2025-04-25


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    G05D SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES , Systeme zum Steuern oder Regeln nichtelektrischer veränderlicher Größen / 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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