Forklift motion control method and device

Abstract

The embodiment of the invention provides a forklift motion control method and device. A forklift is provided with a measuring unit for detecting a pallet. The forklift motion control method comprisesthe following steps that the pallet information detected by the measuring unit is acquired; according to the pallet information detected by the measuring unit, the fork feeding surface of the pallet and the distance and angle between the measuring unit and the edge of the fork feeding surface are determined; and based on the distance and angle between the measuring unit and the edge of the fork feeding surface and the real-time movement direction of the forklift, the direction angle of a forklift body of the forklift is adjusted so that a fork of the forklift can enter a fork feeding hole positon in the fork feeding surface. By the adoption of the technical scheme of the forklift motion control method and device, it can be ensured that the fork of the forklift accurately enters and picks up the pallet, and the flexibility and accuracy of forklift control are improved.

Description

technical field [0001] The invention relates to the technical field of mobile robots, in particular to a method and device for controlling motion of a forklift. Background technique [0002] The use of unmanned forklifts can save increasingly expensive labor costs and improve the efficiency of logistics and warehousing systems. Unmanned forklifts must be able to know the position and orientation of pallets in order to accurately pick up goods during work. In order to achieve this goal, most unmanned forklifts in related technologies need to pre-calibrate the body orientation when parking to pick up goods. This solution requires The unmanned forklift runs to the calibration point accurately every time, and the pallet must also be placed at the corresponding point determined in advance. [0003] It can be seen that this solution in the related art can tolerate very little error, and it is difficult to ensure that the forklift or the pallet does not deviate from the designated...

AI Technical Summary

Problems solved by technology

[0003] It can be seen that this scheme in the related art can tolerate very little error, and it is difficult to ensure that the forklift or the pallet does not deviate from the designated position due to various factors such as the accumulation of operational errors and sudden operation accidents (tray instability and slippage).

And if one of the two deviates from the calibrated position, or the pallet is at the specified point but the pose has too large a deviation, it will make it difficult for the unmanned forklift to pick up the pallet accurately

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