CN111483949A

CN111483949A - Stacking vehicle AGV and height positioning method, device and equipment for pallet fork of stacking vehicle AGV

Info

Publication number: CN111483949A
Application number: CN202010180326.2A
Authority: CN
Inventors: 陈盛; 毕运锋; 张月; 穆方波
Original assignee: Zhejiang Dahua Robot Technology Co ltd
Current assignee: Zhejiang Huaray Technology Co Ltd
Priority date: 2020-03-16
Filing date: 2020-03-16
Publication date: 2020-08-04

Abstract

The embodiment of the invention provides a stacker AGV and a method, a device and equipment for positioning the height of a fork of the stacker AGV, and also provides a computer readable storage medium. Wherein, this stacker AGV includes: the stacking car AGV comprises a stacking car AGV body, a lifting mechanism, a pallet fork and a pull rope displacement sensor, wherein the lifting mechanism is arranged on the stacking car AGV body, the lifting mechanism is used for lifting the pallet fork, the pull rope displacement sensor is arranged on the stacking car AGV body, and the pull rope displacement sensor is fixed on the lifting mechanism. According to the invention, the technical problem of low accuracy of the fork lifting height acquired by the image acquisition device in the related technology is solved, and the accuracy of positioning the fork lifting height is improved.

Description

Stacking vehicle AGV and height positioning method, device and equipment for pallet fork of stacking vehicle AGV

Technical Field

The invention relates to the field of automatic handling, in particular to a stacker AGV and a method, a device, equipment and a computer readable storage medium for positioning the height of a fork of the stacker AGV.

Background

The storehouse of mill waits to dock the pallet and places in subaerial outside, and a lot of pallets of waiting to dock still place on goods shelves, because goods shelves are the multilayer, each layer pallet height is different, involves the fork and lifts to a certain height after, and the control fork gets into the bottom passageway of waiting to dock the pallet and lifts the pallet to with the pallet shipment flow such as get goods, to full autonomous navigation piling car AGV, involve the high-order storehouse and get goods scheduling problem.

In the correlation technique, through installing image acquisition device on the fork truck body, make it aim at the sign indicating number area of installation on the fork, wherein, the sign indicating number area is through utilizing the absolute position of freight train to carry out the code, and every line of code is a specified value for mark the absolute position that this sign indicating number area current fork was located, then utilize image acquisition device to extract image coding information, and carry out the interpolation on the basis of the absolute position data who obtains, and then realize the location to the fork of piling car AGV. However, in the above scheme, the code belt is dirty, which affects the accuracy of the image acquisition device for acquiring the image coding information, and further causes the accuracy of the lifting height of the fork acquired by the image acquisition device to be low.

Disclosure of Invention

Based on this, the embodiment of the invention provides a stacker AGV and a method, a device and a computer readable storage medium for positioning the height of the fork of the stacker AGV, so as to solve the problem that the accuracy of the lifting height of the fork acquired by an image acquisition device in the related art is low.

In a first aspect, an embodiment of the present invention provides a stacker AGV100, including a stacker AGV body 70, a lifting mechanism 20 and a fork 80, where the lifting mechanism 20 is disposed on the stacker AGV body 70, and the lifting mechanism 20 is configured to lift and lower the fork 80, and further including: a pull rope displacement sensor 10, wherein the pull rope displacement sensor 10 is disposed on the stacker AGV body 70, and a pull rope end of the pull rope displacement sensor 10 is fixed on the lifting mechanism 20.

In one embodiment, the lifting mechanism 20 includes: the automatic loading device comprises a chain 23, a lifting part 22 and a lifting power source 21, wherein the chain 23 is wound on the lifting part 22, and two ends of the chain 23 are respectively connected with the fork 80 and the stacking car AGV body 70; the lifting component 22 is arranged at the top of the lifting power source 21, and a pull wire end of the pull wire displacement sensor 10 is fixed on the lifting component 22; the lifting power source 21 is disposed on the stacker AGV body 70.

In one embodiment, the stacker AGV100 also includes a navigation laser 50, the navigation laser 50 being disposed on top of the stacker AGV body 70.

In one embodiment, the stacker AGV100 also includes a TOF camera 40, the TOF camera 40 being disposed on the stacker AGV body 70.

In one embodiment, the stacker AGV100 further comprises: and the photoelectric sensor 30 is arranged at the front end of the fork angle of the fork 80, and the photoelectric sensor 30 is arranged at the front end of the fork angle of the fork 80.

In a second aspect, an embodiment of the present invention provides a method for height positioning of the forks 80 of a stacker AGV100, where the stacker AGV (100) is the stacker AGV (100) of the first aspect, the method comprising:

acquiring a signal sent by a pull rope displacement sensor 10, wherein the pull rope displacement sensor is arranged on an AGV body 70 of the stacker, and a pull rope end of the pull rope displacement sensor 10 is fixed on the lifting mechanism 20;

from the signal, the height at which the forks 80 are lifted is determined.

In one embodiment, the method further comprises:

determining the difference between the lifting height of the fork 80 and the height of the pallet 200 to be butted;

the height at which the forks 80 are lifted is adjusted so that the difference is within a preset range of values.

In one embodiment, after adjusting the height at which the forks 80 are lifted so that the difference is within a preset range of values, the method further comprises:

determining an offset angle between a first centerline parallel to the orientation of the forks 80 and a second centerline of the pallet 200 to be docked;

the orientation of the forks 80 is adjusted so that the declination angle is within a preset declination angle range.

In one embodiment, after adjusting the orientation of the forks 80 so that the declination angle is within a preset declination angle range, the method further comprises:

judging whether the pallet fork 80 touches an obstacle or not;

in the case where it is judged that the fork 80 touches the obstacle, a warning is issued.

In one embodiment, after determining whether the forks 80 have touched an obstacle, the method further comprises:

under the condition that the pallet fork 80 is judged not to touch the obstacle, controlling the pallet fork 80 to enter the bottom channel of the pallet 200 to be butted;

and controlling the fork 80 to lift a preset lifting height.

In a third aspect, an embodiment of the present invention provides a height positioning apparatus for the forks 80 of a stacker AGV100, the stacker AGV (100) being the stacker AGV (100) of the first aspect, the apparatus comprising:

an acquiring module, configured to acquire a signal sent by a pull rope displacement sensor 10, where the pull rope displacement sensor is disposed on an AGV main body 70 of a stacker, and a pull end of the pull rope displacement sensor 10 is fixed to the lifting mechanism 20;

a first determining module for determining the height at which the forks 80 are lifted based on the signal.

In a fourth aspect, an embodiment of the present invention provides a height positioning device for the forks 80 of a stacker AGV100, the height positioning device for the forks 80 of a stacker AGV100 comprising a memory, a processor, and a computer program stored on the memory and operable on the processor, wherein the processor implements the above-mentioned height positioning method for the forks 80 of the stacker AGV100 when executing the computer program.

In a fifth aspect, embodiments of the present invention provide a computer readable storage medium having stored thereon a computer program that, when executed by a processor, implements the above-described method for height positioning of the forks 80 of a stacker AGV 100.

According to the stacker AGV and the height positioning method, device, equipment and computer readable storage medium for the fork of the stacker AGV, provided by the embodiment of the invention, the lifting height of the fork is measured by using the length change of the stay wire end of the stay wire displacement sensor when the fork is lifted by the lifting mechanism in a mode that the stay wire displacement sensor is arranged on the AGV main body and the stay wire end of the stay wire displacement sensor is fixed on the lifting machine, so that the technical problem of low accuracy of the lifting height of the fork acquired by the image acquisition device in the related technology is solved, and the accuracy of the positioning of the lifting height of the fork is improved.

The details of one or more embodiments of the invention are set forth in the accompanying drawings and the description below to provide a more thorough understanding of the invention.

Drawings

In order to more clearly illustrate the embodiments of the present invention or technical solutions in related arts, the drawings needed to be used in the description of the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without creating any inventive idea.

FIG. 1 is a schematic diagram of an application scenario of a stacker AGV according to an embodiment of the present invention;

FIG. 2 is a schematic diagram of a stacker AGV according to an embodiment of the present invention;

FIG. 3 is a schematic illustration of the forks of a stacker AGV according to an embodiment of the present invention in a raised condition;

FIG. 4 is a schematic illustration of an embodiment of the invention with the forks of the stacker AGV in a raised position, undocked;

FIG. 5 is a schematic diagram of a stacker AGV according to an embodiment of the present invention with its forks fully docked with the pallet to be docked;

FIG. 6 is a flow chart of a method for height positioning of the forks of a stacker AGV according to an embodiment of the present invention;

FIG. 7 is a flow chart of a method for height positioning of the forks of a stacker AGV according to the preferred embodiment of the present invention;

FIG. 8 is a block diagram of a fork height positioning device for an AGV according to an embodiment of the present invention;

FIG. 9 is a hardware configuration diagram of a fork height positioning device of a stacker AGV according to an embodiment of the present invention.

Reference numerals:

100. a stacker AGV; 10. a pull rope displacement sensor; 20. a lifting mechanism; 21. a lifting power source; 22. a lifting member; 23. a chain; 30. a photosensor; 40. a TOF camera; 50. a navigation laser; 60. a pull rope displacement sensor fixing part; 70. an AGV body of a stacker; 80. a pallet fork; 200. a pallet to be butted; 300. and (7) a shelf.

Detailed Description

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

It will be understood that when an element is referred to as being "mounted on" another element, it can be directly mounted on the other element or intervening elements may also be present. When a component is referred to as being "disposed on" another component, it can be directly on the other component or intervening components may also be present. When an element is referred to as being "secured to" another element, it can be directly secured to the other element or intervening elements may also be present.

Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. The terminology used in the description of the invention herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. As used herein, the term "or/and" includes any and all combinations of one or more of the associated listed items.

In one embodiment, fig. 1 is a schematic view of an application scenario of a stacker AGV100 according to an embodiment of the present invention, as shown in fig. 1, when a rack 300 is installed, a user can directly measure the height of each layer of the rack 300 and the height of a pallet 200 to be docked by using a measuring tool, and then record the height of each layer of the rack 300 and the height of the pallet 200 to be docked into the stacker AGV100, respectively, so as to determine the fixed height of the pallet 200 to be docked on the rack 300. Therefore, in the present embodiment, when the stacker AGV100 needs to pick up the goods from the shelf 300 and the stacker AGV100 is docked with the pallet 200 to be docked, the lifting height of the fork 80 is determined.

In this embodiment, a stacker AGV100 is provided. FIG. 2 is a schematic diagram of a stacker AGV100 according to an embodiment of the invention, and FIG. 3 is a schematic diagram of a fork 80 of the stacker AGV100 according to an embodiment of the invention in a raised position, as shown in FIGS. 2 and 3, the stacker AGV100 comprising: stacker AGV main part 70, lifting mechanism 20 and fork 80, lifting mechanism 20 sets up on stacker AGV main part 70, and lifting mechanism 20 is used for going up and down fork 80, and stacker AGV100 still includes: and the pulling rope displacement sensor 10 is arranged on the AGV body 70 of the stacking car, and the pulling rope end of the pulling rope displacement sensor 10 is fixed on the lifting mechanism 20 and used for recording the lifting height of the lifting mechanism 20.

In the embodiment, when the lifting mechanism 20 lifts, since the stay wire end of the stay wire displacement sensor 10 is fixed on the lifting mechanism 20, the stay wire of the stay wire displacement sensor 10 can be lengthened along with the lifting of the lifting mechanism 20, the stay wire displacement sensor 10 can record the length of the lengthened stay wire at this time, and the length of the lengthened stay wire is used as the lifting height of the fork 80, by this way, the positioning of the lifting height of the fork 80 is realized, the technical problem of low accuracy of the lifting height of the fork 80 acquired by the image acquisition device in the related art is solved, and the accuracy of positioning the lifting height of the fork 80 is improved.

In this embodiment, after determining the lifting height of the fork 80, the AGV100 of the stacker may further compare the lifting height of the fork 80 with the height of the pallet 200 to be docked to obtain a difference value therebetween, and then determine whether the difference value is within a preset value range; if so, the docking is started, and if not, the fork 80 is controlled to lift or descend so that the difference value is within a preset value range, thereby realizing the safe docking between the stacker AGV100 and the pallet 200 to be docked.

The predetermined range of values is determined based on the accuracy of detection of the rope displacement sensor 10 and the height of the pallet passageway, and is typically greater than the accuracy of detection of the rope displacement sensor 10 but less than the height of the pallet passageway.

In one embodiment, the lifting member 22 includes: the automatic loading device comprises a chain 23, a lifting part 22 and a lifting power source 21, wherein the chain 23 is wound on the lifting part 22, and two ends of the chain 23 are respectively connected with a fork 80 and an AGV main body 70 of the stacking car; the lifting component 22 is arranged at the top of the lifting power source 21, and the stay wire end of the stay wire displacement sensor 10 is fixed on the lifting component 22; the lifting power source 21 is provided on the stacker AGV body 70.

In the embodiment, the chain 23 is wound on the lifting part 22, and two ends of the chain 23 are respectively connected with the fork 80 and the stacker AGV body 70, when the lifting power source 21 performs the lifting operation, the lifting part 22 is lifted together, and the lifting of the fork 80 is driven by the chain 23, since the stay wire end of the stay wire displacement sensor 10 is fixed on the lifting part 22, the stay wire of the stay wire displacement sensor 10 can be lengthened, the stay wire displacement sensor 10 records the length of the lengthened stay wire, and then the length of the lengthened stay wire is used as the lifting height of the fork 80, thereby realizing the positioning of the lifting height of the fork 80.

It should be noted that the pull cord displacement sensor 10 may be disposed on the stacker AGV body 70 via the pull cord displacement sensor mount 60, wherein the pull cord displacement sensor mount 60 may be disposed on the stacker AGV100 via riveting, welding, and threading.

In one embodiment, the stacker AGV100 may further include a navigation laser 50, and the navigation laser 50 is disposed on the top of the stacker AGV body 70 and faces the stacker AGV, and is configured to determine its current position and direction by emitting a laser beam and simultaneously collecting the laser beam reflected by the reflector, and to implement guidance of the AGV through successive operations.

In an embodiment, the stacker AGV100 may further include a TOF camera 40, where the TOF camera 40 may be disposed on the stacker AGV main body 70 and faces the stacker AGV, and may be configured to determine an offset angle between a first central line parallel to the orientation of the fork 80 and a second central line of the pallet 200 to be docked, and further determine whether the pallet 200 to be docked and the stacker AGV100 have a deviation according to the offset angle, and if the offset angle is greater than a preset offset angle, determine that the pallet 200 to be docked and the stacker AGV100 have a deviation, and adjust the orientation of the stacker AGV100, by this way, the safe docking between the fork 80 and the pallet 200 to be docked is achieved, and it should be noted that the first offset angle is an angle formed by the first central line and the second central line and is generally an acute angle.

In one embodiment, the stacker AGV100 may further include an electro-optical sensor 30, and the electro-optical sensor 30 is disposed at the front end of the fork corner of the fork 80 for detecting whether the fork 80 touches an obstacle, and if the fork 80 touches an obstacle, the forward task is stopped. By the mode, the situation that the pallet forks 80 touch obstacles to cause damage to the pallet forks 80 or the pallet 200 to be butted is avoided, and the safety of the process of butting the AGV100 and the pallet 200 to be butted is ensured.

In one embodiment, fig. 4 is a schematic diagram of the stacking car AGV100 according to an embodiment of the present invention with the forks 80 in the lifted state and fig. 5 is a schematic diagram of the stacking car AGV100 according to an embodiment of the present invention with the forks 80 fully docked with the pallet 200 to be docked, as shown in fig. 4 and 5, after the stacking car AGV100 reaches the pick-up point, the forks 80 start to be lifted until the difference between the height of the forks 80 and the height of the pallet 200 to be docked is within a preset value range, the forks 80 are controlled to enter the bottom aisle of the pallet 200 to be docked, and then the forks 80 are continuously controlled to lift the preset lifting height, such as the direction of the arrow in fig. 5, so that the pallet 200 to be docked is emptied, and after the preset lifting height is lifted, the stacking car 100 starts to perform the transport task.

The method embodiment provided by the present embodiment may be implemented in a controller of a stacker AGV. The method of height positioning the forks 80 of the stacker AGV100 of the present embodiment will be described and illustrated with the controller of the stacker AGV as an example.

A method for height positioning of the forks 80 of a stacker AGV100 is provided in this embodiment, wherein the stacker AGV100 in this embodiment may be a stacker AGV100 as in the embodiments described above. FIG. 6 is a flow chart of a method for height positioning of the forks 80 of a stacker AGV100 according to an embodiment of the present invention, as shown in FIG. 6, that includes:

step S602: the controller acquires the signal sent by the pull rope displacement sensor 10, wherein the pull rope displacement sensor is arranged on the stacker AGV body 70, and the pull wire end of the pull rope displacement sensor 10 is fixed on the lifting mechanism 20.

Step S604: control determines the height at which the forks 80 are lifted based on the signals.

In this embodiment, the controller obtains the signal sent by the pull rope displacement sensor 10 in a manner that the extension displacement sensor is arranged on the AGV body 70 of the stacker and the pull rope end of the pull rope displacement sensor 10 is fixed on the lifting mechanism 20 when the fork 80 is lifted, wherein the signal is a length signal that the pull rope of the pull rope displacement sensor 10 is lengthened and is used for indicating the length of the lengthened pull rope, and then the lifting height of the fork 80 is determined through the signal, so that the height positioning of the fork 80 is realized, and the technical problem that the lifting height of the fork 80 acquired by the image acquisition device in the related art is low in accuracy is solved.

After determining the height at which the forks 80 are lifted, to achieve safe docking between the stacker AGV100 and the pallet 200 to be docked, the controller may determine the difference between the height at which the forks 80 are lifted and the height of the pallet 200 to be docked; and the lifting height of the fork 80 is adjusted to ensure that the difference value is within a preset value range, so that the situation that the height of the fork 80 is inconsistent with that of the pallet 200 to be butted, which results in the AGV of the stacking vehicle

100 and the pallet 200 to be docked.

In one embodiment, to avoid an angular deviation between the stacker AGV100 and the pallet 200 to be docked, which could result in a collision between the stacker AGV100 and the bottom aisle of the pallet 200 to be docked, the controller may also determine the offset angle between a first centerline parallel to the orientation of the forks 80 and a second centerline of the pallet 200 to be docked; and the orientation of the forks 80 is adjusted so that the slip angle is within a preset slip angle range.

In this embodiment, the controller determines the deviation angle may be determined from the actual length of the pallet 200 to be docked and the projected length of the projection of the actual length of the pallet 200 to be docked onto a reference plane, wherein the reference plane is a plane perpendicular to the first centerline parallel to the orientation of the forks 80.

Due to the principle of taking an image by a camera, an object is projected on a reference plane perpendicular to the center line of the camera, and the projected image is zoomed to a fixed size to obtain a taken image. Therefore, the projection length of the projection of the real length of the pallet on the reference plane can be determined after the projection length is amplified according to a certain proportion according to the image shot by the camera. Wherein, it is assumed that the ratio between the projection length of the projection of the real length of the pallet 200 to be docked on the reference plane and the pallet 200 image to be docked in the image captured by the camera is 1: 100, the first pallet image with the length of 1cm in the image shot by the camera represents that the projection length of the real pallet on the reference plane is 100 cm.

After the projection length of the projection of the real length of the pallet 200 to be butted on the reference plane is obtained through the image of the pallet 200 to be butted in the image, the controller can obtain the cosine value of the first deflection angle by calculating the ratio of the projection length to the real length of the pallet; and then determining the angle corresponding to the cosine value as a first deflection angle so as to determine the first deflection angle between a first central line parallel to the orientation of the AGV and a second central line of the pallet to be butted.

Optionally, after determining the cosine value of the first declination, the first declination is calculated according to the following formula:

where D denotes the first deflection angle, L denotes the projected length of the actual length of the pallet in the reference plane, and Q is the actual length of the pallet.

In the step, the controller calculates the deflection angle according to the inverse cosine, so that the calculation process is simpler and more convenient, the logic is clearer, and a method for determining the deflection angle is also provided.

In one embodiment, to prevent the fork 80 from touching an obstacle, such as the shelf 300, the controller may further determine whether the fork 80 touches the obstacle, issue a warning if it is determined that the fork 80 touches the obstacle, and stop the forward task, thereby achieving safety during the picking process.

It should be noted that the controller can be implemented by the photoelectric sensor 30 to determine whether the fork 80 touches an obstacle.

In this embodiment, in the case that it is determined that the forks 80 do not touch the obstacle, the controller controls the forks 80 to enter the bottom channel of the pallet 200 to be docked; and the pallet fork 80 is controlled to lift by a preset lifting height, so that the pallet 200 to be butted is emptied, and then the pallet 200 to be butted is taken out to perform a carrying task.

It should be noted that the preset lifting height is preset by the user and is smaller than the height of each floor of the shelf 300.

The embodiments of the invention will be described and illustrated hereinafter with reference to the accompanying drawings and preferred embodiments.

In this embodiment, a preferred method of height positioning the forks 80 of the stacker AGV100 is provided. FIG. 7 is a flowchart of a method for height positioning of the forks 80 of a stacker AGV100 in accordance with a preferred embodiment of the present invention, as shown in FIG. 7, which includes:

step S702: the controller controls the stacker AGV100 to the pick point.

Step S704: the controller issues a lifting command, and the lifting mechanism 20 performs a lifting action and drives the fork 80 to lift.

Step S706: the controller determines the lifting height H of the fork 80 and the height H of the pallet 200 to be docked, and determines whether the difference is within a preset value range, if so, step S708 is executed, and if not, step S722 is executed.

Step S708: the controller determines whether a deviation angle between a first center line parallel to the orientation of the forks 80 and a second center line of the pallet 200 to be docked is within a preset deviation angle range, if so, performs step S710, and if not, performs step S718.

Step S710: the controller determines whether the fork 80 touches an obstacle, if so, performs step S720, and if not, performs step S712.

Step S712: the controller controls the stacker AGV100 to begin travel and the forks 80 begin to enter the bottom aisle of the pallet 200 to be docked.

Step S714: the controller controls the forks 80 to continue to lift a height a, where a is the set lifting height, so that the forks 80 lift the pallet 200 to be docked empty.

Step S716: the controller controls the stacker AGV100 to take out the pallet 200 to be docked, and further performs the transporting task.

Step S718: the controller adjusts the orientation of the forks 80.

Step S720: the controller controls the stacker AGV100 to start alarming and perform manual intervention.

Step S722: the controller controls the lifting mechanism 20 to be raised or lowered to adjust the height at which the forks 80 are lifted.

In this way, the positioning of the lifting height of the forks 80 is achieved, and the safe docking between the stacker AGV100 and the pallet 200 to be docked is achieved.

The embodiment further provides a height positioning device for the forks 80 of the stacker AGV100, which can be applied to the stacker AGV100, and the device is used to implement the above-mentioned embodiments and preferred embodiments, and the description thereof is omitted. As used below, the term "module" may be a combination of software and/or hardware that implements a predetermined function. While the system described in the embodiments below is preferably implemented in software, implementations in hardware, or a combination of software and hardware are also possible and contemplated.

FIG. 8 is a block diagram of a height positioning arrangement for the forks 80 of a stacker AGV100 according to an embodiment of the present invention, as shown in FIG. 8, wherein the stacker AGV100 in this embodiment may be a stacker AGV100 in the above-described implementation, the arrangement comprising:

an obtaining module 810, configured to obtain a signal sent by a pull rope displacement sensor 10, where the pull rope displacement sensor is disposed on the stacker AGV main body 70, and a pull end of the pull rope displacement sensor 10 is fixed to the lifting mechanism 20 of the stacker AGV 100;

a first determining module 820 coupled to the obtaining module 810 is used for determining the height of the fork 80 according to the signal.

In one embodiment, the apparatus further comprises: a second determining module, configured to determine a difference between the lifting height of the pallet fork 80 and the height of the pallet 200 to be docked; the first adjusting module is used for adjusting the lifting height of the fork 80, so that the difference value is within a preset value range.

In one embodiment, the apparatus further comprises: a second determination module for determining an offset angle between a first centerline parallel to the orientation of the forks 80 and a second centerline of the pallet 200 to be docked; and a second adjusting module for adjusting the orientation of the fork 80 so that the deflection angle is within a preset deflection angle range.

In one embodiment, the apparatus further comprises: a judging module, configured to judge whether the pallet fork 80 touches an obstacle; and the warning module is used for giving a warning when judging that the pallet fork 80 touches an obstacle.

In one embodiment, the apparatus further comprises: the first control module is used for controlling the pallet fork 80 to enter the bottom channel of the pallet 200 to be butted under the condition that the pallet fork 80 is judged not to touch the obstacle; and the second control module is used for controlling the fork 80 to lift the preset lifting height.

Additionally, the method of height positioning the forks 80 of the stacker AGV100 of the embodiment of the invention described in connection with FIG. 6 may be implemented by a height positioning apparatus for the forks 80 of the stacker AGV 100. FIG. 9 is a hardware configuration diagram of the height positioning device for the forks 80 of a stacker AGV100 in accordance with an embodiment of the present invention.

The height positioning apparatus for the forks 80 of the stacker AGV100 may include a processor 91 and a memory 92 having computer program instructions stored therein.

Specifically, the processor 91 may include a Central Processing Unit (CPU), or an Application Specific Integrated Circuit (ASIC), or may be configured as one or more Integrated circuits implementing the embodiments of the present invention.

Memory 92 may include mass storage for data or instructions. By way of example, and not limitation, memory 92 may include a Hard Disk Drive (HDD), a floppy Disk Drive, flash memory, an optical Disk, a magneto-optical Disk, tape, or a Universal Serial Bus (USB) Drive or a combination of two or more of these. Memory 92 may include removable or non-removable (or fixed) media, where appropriate. The memory 92 may be internal or external to the data processing apparatus, where appropriate. In a particular embodiment, the memory 92 is a non-volatile solid-state memory. In particular embodiments, memory 92 includes Read Only Memory (ROM). Where appropriate, the ROM may be mask-programmed ROM, Programmable ROM (PROM), Erasable PROM (EPROM), Electrically Erasable PROM (EEPROM), electrically rewritable ROM (EAROM), or flash memory or a combination of two or more of these.

The processor 91 reads and executes computer program instructions stored in the memory 92 to implement any of the above-described embodiments of the method for height positioning of the forks 80 of the stacker AGV 100.

In one example, the height positioning apparatus for the forks 80 of the stacker AGV100 may also include a communication interface 93 and a bus 90. As shown in fig. 9, the processor 91, the memory 92, and the communication interface 93 are connected to each other via the bus 90 to complete communication therebetween.

The communication interface 93 is mainly used for implementing communication between modules, apparatuses, units and/or devices in the embodiments of the present invention.

The bus 90 comprises hardware, software, or both coupling the components of the height positioning devices of the forks 80 of the stacker AGV100 to one another, by way of example and not limitation, the bus may comprise an Accelerated Graphics Port (AGP) or other graphics bus, an Enhanced Industry Standard Architecture (EISA) bus, a Front Side Bus (FSB), a HyperTransport (HT) interconnect, an Industry Standard Architecture (ISA) bus, an InfiniBand interconnect, a Low Pin count (L PC) bus, a memory bus, a Micro Channel Architecture (MCA) bus, a Peripheral Component Interconnect (PCI) bus, a PCI-Express (PCI-X) bus, a Serial Advanced Technology Attachment (SATA) bus, a video electronics standards Association local (V L B) bus, or other suitable bus, or a combination of two or more of these.

The height positioning device for the forks 80 of the stacker AGV100 can execute the height positioning method for the forks 80 of the stacker AGV100 according to the embodiment of the present invention based on the acquired signals sent by the pull rope displacement sensor 10, thereby implementing the height positioning method for the forks 80 of the stacker AGV100 described with reference to fig. 6.

Additionally, in conjunction with the method for height positioning of the forks 80 of the stacker AGV100 in the above-described embodiment, embodiments of the present invention may be implemented by providing a computer readable storage medium. The computer readable storage medium having stored thereon computer program instructions; the computer program instructions, when executed by the processor, implement any of the above-described embodiments of a method for height positioning the forks 80 of a stacker AGV 100.

The technical features of the above embodiments can be arbitrarily combined, and for the sake of brevity, all possible combinations of the technical features in the above embodiments are not described, but should be considered as the scope of the present specification as long as there is no contradiction between the combinations of the technical features.

The above-mentioned embodiments only express several embodiments of the present invention, and the description thereof is more specific and detailed, but not construed as limiting the scope of the present invention. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the inventive concept, which falls within the scope of the present invention. Therefore, the protection scope of the present patent shall be subject to the appended claims.

Claims

1. A stacker AGV (100), said stacker AGV (100) comprising a stacker AGV body (70), a lifting mechanism (20) and a fork (80), said lifting mechanism (20) being disposed on said stacker AGV body (70) for lifting said fork (80), characterized in that said stacker AGV (100) further comprises: a pull rope displacement sensor (10), wherein the pull rope displacement sensor (10) is arranged on the AGV body (70) of the stacker, and a pull wire end of the pull rope displacement sensor (10) is fixed on the lifting mechanism (20).

2. A stacker AGV (100) according to claim 1, characterized in that said lifting mechanism (20) comprises: the automatic lifting device comprises a chain (23), a lifting part (22) and a lifting power source (21), wherein the chain (23) is wound on the lifting part (22), and two ends of the chain are respectively connected with the fork (80) and the AGV main body (70) of the stacker truck; the lifting component (22) is arranged at the top of the lifting power source (21), and a stay wire end of the stay wire displacement sensor (10) is fixed on the lifting component (22); the lifting power source (21) is arranged on the stacker AGV body (70).

3. A stacker AGV (100) according to claim 1, characterized in that said stacker AGV (100) further comprises a navigation laser (50), said navigation laser (50) being disposed on top of said stacker AGV body (70).

4. A stacker AGV (100) according to claim 1, characterized in that said stacker AGV (100) further comprises a TOF camera (40), said TOF camera (40) being disposed on said stacker AGV body (70).

5. A stacker AGV (100) according to claim 1, characterized in that said stacker AGV (100) further comprises: the photoelectric sensor (30), photoelectric sensor (30) set up in fork (80) fork angle front end.

6. A method of height positioning of the forks (80) of a stacker AGV (100), the stacker AGV (100) being a stacker AGV (100) according to any one of claims 1-5, characterized in that the method comprises:

acquiring a signal sent by a pull rope displacement sensor (10);

determining the height of the fork (80) from the signal.

7. The method for height positioning of the forks (80) of a stacker AGV (100) of claim 6, further comprising:

determining a difference between the height at which the forks (80) are lifted and the height of the pallet (200) to be docked;

adjusting the lifting height of the pallet fork (80) so that the difference value is within a preset value range.

8. The method for height positioning of the forks (80) of a stacker AGV (100) of claim 7, wherein after adjusting the height at which the forks (80) are lifted so that the difference is within a preset range of values, the method further comprises:

determining an offset angle between a first centerline parallel to the orientation of the forks (80) and a second centerline of the pallet (200) to be docked;

adjusting the orientation of the forks (80) so that the deflection angle is within a preset deflection angle range.

9. The method for height positioning of the forks (80) of a stacker AGV (100) of claim 8, wherein the orientation of the forks (80) is adjusted so that after the declination is within a preset declination range, the method further comprises:

judging whether the pallet fork (80) touches an obstacle or not;

and when the pallet fork (80) is judged to touch the obstacle, a warning is given.

10. The method for height positioning of the forks (80) of a stacker AGV (100) of claim 9, wherein after determining whether the forks (80) contact an obstacle, the method further comprises:

under the condition that the pallet fork (80) is judged not to touch the obstacle, controlling the pallet fork (80) to enter a bottom channel of the pallet (200) to be butted;

and controlling the fork (80) to lift a preset lifting height.

11. A height positioning arrangement for the forks (80) of a stacker AGV (100), said stacker AGV (100) being a stacker AGV (100) according to any one of claims 1 to 5, characterized in that said arrangement comprises:

the system comprises an acquisition module, a lifting mechanism (20) and a control module, wherein the acquisition module is used for acquiring signals sent by a pull rope displacement sensor (10), the pull rope displacement sensor (10) is arranged on an AGV body (70) of the stacker, and a pull wire end of the pull rope displacement sensor (10) is fixed on the lifting mechanism (20);

and the first determination module is used for determining the lifting height of the pallet fork (80) according to the signal.

12. A height positioning arrangement of the forks (80) of a stacker AGV (100), comprising a memory, a processor, and a computer program stored on said memory and executable on said processor, characterized in that said processor, when executing said computer program, implements a height positioning method of the forks (80) of a stacker AGV (100) according to any one of claims 7 to 10.

13. A computer-readable storage medium, in which a computer program is stored, which computer program, when being executed by a processor, carries out a method for height positioning of the forks (80) of a stacker AGV (100) according to one of the claims 7 to 10.