WO2023070432A1

WO2023070432A1 - Method for safely moving goods by intelligent agv high-position forklift

Info

Publication number: WO2023070432A1
Application number: PCT/CN2021/127008
Authority: WO
Inventors: 李忠关; 徐光运; 张贻弓
Original assignee: 兰剑智能科技股份有限公司
Priority date: 2021-10-25
Filing date: 2021-10-28
Publication date: 2023-05-04
Also published as: CN113816303B; CN113816303A

Abstract

The present invention relates to the technical field of logistics equipment. Disclosed is a method for safely moving goods by an intelligent AGV high-position forklift. In the method, by means of a tray ranging sensor and a shelf ranging sensor, which are arranged on a fork arm carrier, and by using laser ranging technology, the change amount of the difference in the distance between a portal frame and a shelf cross beam can be measured during an operation process, so as to determine whether the sway amplitude of the portal frame is within an allowable range; a comparison is made to determine whether the difference in the distance between the portal frame and a tray and the distance between the portal frame and the shelf cross beam is within a threshold value, so as to determine whether the tray can be placed on a shelf; and it is detected whether the deviation of the distance between the portal frame and the tray and the actual displacement of an AGV high-position forklift is normal, so as to determine whether there is a phenomenon of pushing or dragging the tray, thereby ensuring the safety of fetching and placing goods.

Description

A method for safely moving goods by an intelligent AGV high-position forklift

technical field

The invention relates to the technical field of logistics equipment, in particular to a method for safely moving goods by an intelligent AGV high-position forklift.

Background technique

As an important transportation tool, forklifts are also widely used in the logistics field. Due to the particularity of the logistics field, the height of the general shelf is relatively high, so high-position forklifts are often used in the logistics field. The current high-position forklifts mainly exist in the following aspects The problem:

First, because the mast is too high when the mast is extended, the high-position forklift will inevitably shake when the car body moves or the mast moves. When placing the goods, if the door frame is still shaking, the position of the goods may be shifted, resulting in the failure of the pallet to be placed on the shelf and the risk of the goods falling.

Second, most of the AGV forklifts record the position and height of each cargo space on the shelf, and then the AGV drives to the designated position of the cargo space to pick and place the goods. During the picking process, the AGV does not detect the pallet, but picks up the goods directly after reaching the target position. After problems such as ground subsidence, shelf deformation, and changes in the verticality of the AGV gantry wear, it will lead to deviations in the position of the AGV for picking and placing goods. It may cause bumping against the pallet when picking up the goods.

Third, AGV cannot detect the quality of pallets during the process of picking and placing goods. There are many pallet quality problems in actual field use, such as pallet collapse, non-standard size, outrigger slippage, missing, etc. All may lead to dragging and pushing when picking and placing the goods, which will eventually lead to the failure of picking and placing the goods, and the accident of falling the goods.

Contents of the invention

In view of the above problems, the present invention provides a method for safely moving goods by an intelligent AGV high-position forklift. The method can detect the shaking of the door frame and the accuracy of the position of the goods through the cooperation of the pallet ranging sensor and the shelf ranging sensor. It can also prevent the fork from pushing and pulling the pallet when it is detached from the pallet, ensuring the safety of picking and placing the goods.

The technical scheme that the present invention solves its technical problem to take is:

A method for safely moving goods by an intelligent AGV high-position forklift, when releasing goods, includes the following steps,

1.1 The AGV high-position forklift moves to the designated position;

1.2 The cargo fork is lifted to the specified height;

1.3 The fork moves forward, and the pallet with the goods is sent into the shelf;

1.4 Detect the shaking of the mast through the shelf ranging sensor;

1.4.1 The shelf ranging sensor continuously detects the distance A between the shelf ranging sensor and the shelf at a certain frequency;

1.4.2 Take the maximum value A _max and the minimum value A _min of the distance measured within T1 second, and make a difference to obtain the difference ΔA;

1.4.3 Compare ΔA with the set value A';

1.4.3.1 When the difference ΔA is less than the set value A', proceed to the next step;

1.4.3.2 When the difference ΔA is greater than the set value A', the AGV high-level forklift stops, wait for T2 seconds, and repeat steps 1.4.1-1.4.3;

1.5 The fork is lowered, and the pallet with the goods is placed on the cargo space;

1.6 The cargo fork moves back to its original position.

Further, in step 1.5, before the pallet with the goods is placed on the storage space, the position detection of the offset position of the delivery is performed by the shelf distance sensor and the pallet distance sensor, and the detection of the offset position of the delivery includes the following steps ,

1.5.1 The pallet ranging sensor detects the distance B1 between the pallet ranging sensor and the pallet, and the shelf ranging sensor detects the distance B2 between the shelf ranging sensor and the shelf;

1.5.2 Make a difference between the distance B1 and the distance B2 to obtain the difference ΔB;

1.5.3 Compare the difference ΔB obtained in step 1.5.2 with the set range;

1.5.3.1 When the difference ΔB is within the set range, proceed to the next step;

1.5.3.2 When the difference ΔB is outside the set range, stop the machine and give an alarm, waiting for manual processing;

Further, in step 1.6, the dragging detection is performed during the process of moving the fork back to the position, and the dragging detection includes the following steps,

1.6.1 The pallet ranging sensor detects the distance between the pallet ranging sensor and the pallet to obtain the distance C1;

1.6.2 After the fork moves back for T4 seconds, the pallet distance measuring sensor detects the distance between the pallet distance measuring sensor and the pallet again, and obtains the distance C2;

1.6.3 Make a difference between the distances C1 and C2 until the difference ΔC;

1.6.4 Compare the difference ΔC with the moving distance D1 of the fork;

1.6.4.1 When the difference ΔC is less than the moving distance D1 of the fork, stop the machine and alarm, and wait for manual processing;

1.6.4.2 When the difference ΔC is greater than or equal to the moving distance D1 of the fork, the fork continues to move backward;

1.6.5 Repeat the operation of steps 1.6.2-1.6.4 until the fork is completely detached from the pallet, and the entire loading operation is completed.

Further, it also includes a pick-up process, and the pick-up process includes the following steps,

2.1 The AGV high-position forklift moves to the designated position;

2.2 Lift the fork to the specified height;

2.3 The fork is moved forward to pick up the goods, and the push detection is carried out during the forward movement;

2.3.1 The pallet ranging sensor detects the distance between the pallet ranging sensor and the pallet to obtain the distance E1;

2.3.2 After an interval of T5 seconds, the pallet ranging sensor detects the distance between the pallet ranging sensor and the pallet again, and obtains the distance E2, and makes a difference between the distance E1 and E2 to obtain the difference ΔE1, and then compares the difference ΔE1 with the pallet fork Compare the distance F1 moved in the same time period;

2.3.2.1 When ΔE1 is less than F1, stop the machine and give an alarm, waiting for manual processing;

2.3.2.2 When ΔE1 is greater than or equal to F1, the fork continues to move forward;

2.3.3 Repeat the operation of step 2.3.2 until the fork of the AGV high forklift is fully inserted into the socket of the pallet.

2.4 Lift the fork to move the goods away and complete the task of picking up the goods.

2.1 The AGV high-position forklift moves to the designated position;

2.2 Lift the fork to the specified height;

2.3.2 After an interval of T5 seconds, the pallet ranging sensor detects the distance between the pallet ranging sensor and the pallet again to obtain the distance E2;

2.3.3 Make a difference between the distances E1 and E2 to obtain the difference ΔE1;

2.3.4 Compare the difference ΔE1 with the distance F1 that the fork moves in the same time period;

2.3.4.1 When ΔE1 is less than F1, stop the machine and give an alarm, waiting for manual processing;

2.3.4.2 When ΔE1 is equal to F1, after an interval of T6 seconds, repeat steps 2.3.1 to 2.3.4 until the fork of the AGV high-level forklift is completely inserted into the socket of the pallet.

A method for safely moving goods by an intelligent AGV high-position forklift, when picking up goods, includes the following steps,

2.1 The AGV high-position forklift moves to the designated position;

2.2 Lift the fork to the specified height;

Further, in step 2.3, shake detection is performed before the fork moves forward to pick up the goods, and the shake detection includes the following steps,

First, the shelf ranging sensor continuously detects the distance A between the shelf ranging sensor and the shelf at a certain frequency;

Second, take the maximum value A _max and the minimum value A _min of the distance measured within T1 seconds, and make a difference to obtain the difference ΔA;

Third, compare ΔA with the set value A';

When the difference ΔA is less than the set value A', proceed to the next step;

When the difference ΔA is greater than the set value A', the AGV high-mounted forklift stops, waits for T2 seconds, and repeats the operations from the first step to the third step.

Further, it also includes a delivery process, and the delivery process includes the following steps,

1.1 The AGV high-position forklift moves to the designated position;

1.2 The cargo fork is lifted to the specified height;

1.4 Detect the shaking of the mast through the shelf ranging sensor;

1.4.3 Compare ΔA with the set value A';

1.6 The cargo fork moves back to its original position.

1.5.3 Compare the difference ΔB obtained in step 1.5.2 with the set range;

1.6.4 Compare the difference ΔC with the moving distance D1 of the fork;

1.6.4.2 When the difference ΔC is greater than or equal to the moving distance D1 of the fork, the fork will continue to move backward;

The beneficial effects of the present invention are:

1. This method uses the combination of the pallet ranging sensor and the shelf ranging sensor to use the laser ranging to detect the four abnormal conditions of the door frame shaking, the offset position of the goods, pushing the top, and dragging the pallet. Compared with the traditional blind The way of picking can effectively avoid abnormalities such as pallet deviation and falling, which increases the safety in the process of picking and putting goods.

2. The shelf ranging sensor of the high-position forklift is set on the second mounting plate, and the lower limit position of the shelf ranging sensor is determined through the limit plate installed on the mast, so that the lower limit position of the fork remains unchanged Under the premise of this, it is also possible to automatically lower the shelf distance sensor to the bottom of the pallet distance sensor during work, so as to detect the distance of the shelf.

Description of drawings

Fig. 1 is a three-dimensional structural schematic diagram 1 of the high-position forklift;

Fig. 2 is the schematic diagram of the enlarged structure of part A in Fig. 1;

Fig. 3 is a schematic diagram of the installation structure of the shelf ranging sensor and the pallet ranging sensor;

Fig. 4 is a three-dimensional structural schematic diagram II of the high-position forklift;

Fig. 5 is the schematic diagram of the enlarged structure of part B in Fig. 4;

Figure 6 is a schematic diagram of the shaking detection principle;

Fig. 7 is a schematic diagram of the detection principle of the offset position of the delivery;

Fig. 8 is a schematic diagram of the detection principle of the drag tray;

Figure 9 is a schematic diagram of the principle of ejecting the tray test.

In the figure: 1-base, 2-car body, 3-door frame, 4-fork frame, 41-fork, 5-sensor mounting plate, 51-installation leg, 52-first mounting plate, 521-long circle Hole, 53-the second mounting plate, 54-block, 6-pallet ranging sensor, 7-shelf ranging sensor, 8-limiting plate.

Detailed ways

Embodiment one

For the convenience of description, the coordinate system is defined as shown in Figure 1, and the left and right directions are horizontal, the front and rear directions are vertical, and the up and down directions are vertical.

As shown in Figures 1 and 4, an intelligent AGV high-position forklift includes a base 1, and the base 1 is sequentially provided with a car body 2 and a door frame 3 from back to front, and the door frame 3 and the door frame The base 1 is slidably connected, and a first driving device for driving the door frame 3 to move back and forth is arranged between the door frame 3 and the vehicle body 2 . The door frame 3 can be extended and retracted in three stages. The door frame 3 is equipped with a pallet fork 41 frame 4 for lifting the goods to a high position on the shelf. The bottom of the door frame 3 is equipped with a driving pallet 41 frame 4 The second driving device that moves up and down along the door frame 3. The fork 41 is fixedly arranged on the fork 41 frame 4 .

Here, the base 1, the vehicle body 2, the door frame 3, the fork 41 frame 4, the first driving device, the second driving device and their mutual connections are all prior art, and will not be repeated here. repeat.

As shown in Figures 2 and 3, the fork 41 frame 4 is fixedly provided with a sensor mounting plate 5 between the two forks 41, as a specific implementation, described in this embodiment Two L-shaped mounting legs 51 are provided on the left and right sides of the sensor mounting plate 5 respectively, and the mounting legs 51 are fixedly connected to the fork 41 frame 4 by screws.

The pallet distance measuring sensor 6 for detecting the pallet is arranged on the sensor mounting plate 5, the pallet distance measuring sensor 6 is located above the fork 41, and the upper side of the pallet distance measuring sensor 6 reaches the The distance between the forks 41 is less than the height of the pallet. A shelf distance measuring sensor 7 for detecting shelves is arranged on the sensor mounting plate 5 below the pallet distance measuring sensor 6 .

Further, the lower end of the sensor mounting plate 5 is fixedly provided with a first mounting plate 52 extending downward in the vertical direction, and the pallet ranging sensor 6 is fixedly disposed at the lower end of the first mounting plate 52 .

Further, in order to facilitate the adjustment of the installation position of the pallet ranging sensor 6, as shown in FIG. For connection, the first mounting plate 52 is provided with mounting holes for accommodating the fixing bolts, and the mounting holes are oblong holes 521 extending in the vertical direction.

Further, as shown in FIG. 3 , the sensor mounting plate 5 is vertically provided with a second mounting plate 53 , and the second mounting plate 53 is slidably connected to the sensor mounting plate 5 through a sliding assembly. As a specific implementation, the second mounting plate 53 described in this embodiment is fixedly connected to the sensor mounting plate 5 through a linear guide rail, and the guide rail is fixedly arranged on the sensor mounting plate 5, and is connected with the sensor mounting plate 5. The sliding block matched with the guide rail is fixedly arranged on the second mounting plate 53 . The shelf ranging sensor 7 is fixed on the lower end of the second mounting plate 53 for measuring the distance to the shelf. The lower end of the door frame 3 or the base 1 is provided with a limiting plate 8 , and the limiting plate 8 is located directly below the second mounting plate 53 . Preferably, the limiting plate 8 is arranged at the lower end of the mast 3 in order to enable the fork 41 to move back and forth with the mast 3 when the fork 41 is at the lower limit position.

The reason for such arrangement is that when the fork 41 frame 4 rises, the second mounting plate 53 will stretch out under the effect of its own gravity, and the shelf distance measuring sensor 7 will stretch out. The lower end of the door frame 3 is equipped with a limiting plate 8, and the limiting plate 8 is located directly below the second mounting plate 53. When the fork 41 frame 4 is located at the low position of the door frame 3, the second mounting plate The lower end of 53 leans against the said limiting plate 8 to prevent it from stretching out and contacting the ground.

Further, the sensor mounting plate 5 is provided with a stopper 54 directly above the second mounting plate 53 for preventing the slider from falling out of the guide rail.

A method for safely moving goods by an intelligent AGV high-position forklift, when releasing goods, includes the following steps:

1.1 According to the recorded location of the goods to be placed, the AGV high-level forklift moves to the designated position of the goods to be placed;

1.2 According to the recorded height of the goods to be placed, the fork 41 of the AGV high-level forklift lifts the goods to the specified height;

1.3 The fork of the AGV high-position forklift moves forward to the designated position, and the pallet with the goods is sent into the shelf;

Here, the forks can be moved forward in three ways:

First, the pallet fork moves with the movement of the AGV high-position forklift, and the distance that the pallet fork moves at this time is equal to the distance that the AGV high-position forklift moves.

Second, the pallet fork moves along with the movement of the mast, and the moving distance of the pallet fork is equal to the moving distance of the mast.

Third, for the truck to move under the simultaneous action of the AGV high-level forklift and the mast, the moving distance of the fork is equal to the sum of the moving distance of the AGV high-level forklift and the moving distance of the mast.

As a specific implementation, the movement of the pallet fork in this embodiment adopts the first method and the third method, that is, the AGV high-level forklift described earlier moves forward until the AGV high-level forklift moves forward to the limit position. Then the door frame moves forward until the pallet with goods is sent into the rack.

1.4 Detect the shaking of the door frame 3 through the shelf ranging sensor 7;

1.4.1 As shown in Figure 6, the shelf ranging sensor 7 continuously detects the distance A between the shelf ranging sensor 7 and the shelf at a certain frequency, and records it in real time;

Preferably, the shelf ranging sensor 7 detects the distance A between the shelf ranging sensor 7 and the shelf multiple times per second. For example, the shelf ranging sensor 7 detects the distance A between the shelf ranging sensor 7 and the shelf at a frequency of 2-3 times per second.

1.4.2 Take the maximum value A _max and the minimum value A _min of the distance measured within T1 seconds, and make a difference between the maximum value A _max and the minimum value A _min to obtain the difference between the maximum value A _max and the minimum value A _min value ΔA;

Preferably, the time T1 is 2 seconds;

1.4.3 Compare the difference ΔA obtained in step 1.4.2 with the set value A';

1.4.3.1 When the difference ΔA is less than the set value A', it means that the swaying degree of the mast 3 is within the allowable range, and the swaying condition is met, and the next operation can be carried out;

1.4.3.2 When the difference ΔA is greater than the set value A', it means that the shaking degree of the mast 3 exceeds the allowable range, does not meet the shaking conditions, and the next operation cannot be performed. At this time, the AGV high-level forklift stops. , after waiting for T2 seconds, repeat steps 1.4.1-1.4.3;

Preferably, the set value A' is 10 mm, and the time T2 is 1-5 seconds;

1.5 The fork 41 of the AGV high-position forklift is lowered, and the pallet with the goods is placed on the cargo space;

Further, in order to ensure that the pallet can be accurately placed on the shelf, before placing the pallet with the goods on the shelf, it is necessary to detect the offset position of the goods, that is, by comparing the distance measuring sensor 7 of the shelf with the distance measuring sensor of the pallet. Whether the distance difference of 6 is within the setting range is used to judge whether the goods can be placed on the shelf. The specific operation is as follows,

1.5.1 As shown in Figure 7, the pallet ranging sensor 6 detects the distance B1 between the pallet ranging sensor 6 and the pallet, and once the fork 41 picks up the goods, the distance B1 is fixed, and at the same time , the shelf ranging sensor 7 detects the distance B2 between the shelf ranging sensor 7 and the shelf;

1.5.3 Compare the difference ΔB obtained in step 1.5.2 with the set range;

1.5.3.1 When the difference ΔB is within the set range, it means that the pallet has been placed in place and the next step can be carried out;

1.5.3.2 When the difference ΔB is outside the set range, it means that the pallet has not reached the position where the goods are placed, then stop the machine and alarm, and wait for manual processing;

Here, the obtained difference ΔB is actually the sum of the distance L1 and the distance L2. Since the distance L1 between the pallet ranging sensor 6 and the shelf ranging sensor 7 is a fixed value, when the high-position forklift moves forward in the delivery process Among them, only the distance L2 changes with the movement of the forklift, so the difference ΔB can be used as a characterization or index of the change of the distance L2; the size of the set range is related to the size of the pallet, Adjust according to pallet size.

1.6 After the AGV high-position forklift completes the delivery, the fork 41 moves backward to separate the pallet from the fork 41. During this process, if the pallet itself has cross braces collapsed or the goods are not put on the shelf, it will cause the fork 41 to be unable to completely separate from the pallet, and the pallet will be dragged. Therefore, dragging detection is required. The described drag detection includes the following steps:

1.6.1 As shown in Figure 8, the pallet ranging sensor 6 detects the distance between the pallet ranging sensor 6 and the pallet to obtain the distance C1;

1.6.2 After the fork 41 moves backward for T4 seconds, the pallet distance measuring sensor 6 detects the distance between the pallet distance measuring sensor 6 and the pallet again, and obtains the distance C2;

1.6.3 Make a difference between the distances C1 and C2 obtained in step 1.6.1 and step 1.6.2 until the difference ΔC;

1.6.4 Compare the difference ΔC obtained in step 1.6.3 with the moving distance D1 of the fork 41;

1.6.4.1 When the difference ΔC is less than the moving distance D1 of the fork 41, it means that the pallet is being dragged, then stop the machine and give an alarm, and wait for manual processing;

1.6.4.2 When the difference ΔC is greater than or equal to the moving distance D1 of the fork 41, it means that the pallet is not dragged, and the fork 41 continues to move backward;

1.6.5 Repeat steps 1.6.2-1.6.4 until the fork 41 is completely detached from the pallet, and the entire loading operation is completed.

Preferably, the time T4 is 2 seconds.

Here, the fork can move backward in three ways:

As a specific implementation, the movement of the pallet fork in this embodiment adopts the second method and the first method, that is, the mast moves backward until the mast moves backward to the limit position, during this process, the moving distance of the fork is equal to the moving distance of the mast. Then the AGV high-position forklift moves backward until the pallet fork 41 of the AGV high-position forklift breaks away from the pallet completely. In this process, as shown in FIG. distance D2.

A method for safely moving goods by an intelligent AGV high-position forklift, when picking up goods, includes the following steps:

2.1 According to the recorded location of the goods to be picked up, the AGV high-level forklift moves to the designated position of the goods to be picked up;

2.2 According to the recorded height of the goods to be picked up, the fork 41 of the AGV high-level forklift is lifted to the specified height;

2.3 As shown in Figure 9, the fork moves forward to pick up the goods. During this process, if the fork 41 is not aligned with the socket of the pallet or the pallet itself has problems such as the collapse of the cross brace, the pallet may be pushed by the fork 41. problem, therefore, it is necessary to carry out push detection during the process of moving the fork forward to pick up the goods;

2.3.1 The pallet ranging sensor 6 detects the distance between the pallet ranging sensor 6 and the pallet to obtain the distance E1;

2.3.2 After an interval of T5 seconds, the pallet distance measuring sensor 6 detects the distance between the pallet distance measuring sensor 6 and the pallet again to obtain the distance E2, and makes a difference between the distance E1 and E2 to obtain the difference ΔE1, and then compares the difference ΔE1 with Compare the distance F1 that the fork moves in the same time period;

2.3.2.1 When the difference ΔE1 is less than the moving distance F1 of the fork, it means that the pallet is pushed out, then stop the machine and alarm, and wait for manual processing;

2.3.2.2 When the difference ΔE1 is greater than or equal to the moving distance F1 of the fork, it means that the pallet is not pushed and the fork continues to move forward;

2.3.3 Repeat the operation of step 2.3.2 until the fork 41 of the AGV high forklift is completely inserted into the socket of the pallet.

Preferably, the time T5 is 2 seconds.

Here, the forks can be moved forward in three ways:

The second is that the pallet fork moves with the movement of the mast, and the distance that the pallet fork moves at this moment is equal to the distance that the mast moves.

Third, the fork moves under the simultaneous action of the AGV high-position forklift and the mast. At this time, the moving distance of the fork is equal to the sum of the moving distance of the AGV high-position forklift and the distance of the mast.

As a specific implementation, the movement of the pallet fork in this embodiment adopts the first method and the second method, that is, the AGV high-level forklift described earlier moves forward until the AGV high-level forklift moves forward To the limit position, during this process, as shown in Figure 9, the moving distance F1 of the fork is equal to the moving distance G of the AGV high-position forklift. Then the gantry moves forward until the fork 41 of the AGV high-position forklift is fully inserted into the socket of the pallet. During this process, the moving distance of the fork is equal to the moving distance of the gantry.

2.4 The fork 41 of the AGV high-position forklift is lifted to move the goods away to complete the task of picking up the goods.

Further, in order to avoid pushing the pallet due to the shaking of the door frame 3 during the picking process, in step 2.3, the shaking detection is performed before the fork moves forward to pick up the goods. The operation of step 1.4 in the process is the same and will not be repeated here.

Embodiment two

2.3 The fork is moved forward to pick up the goods, and the push detection is carried out during the process of moving the fork forward to pick up the goods;

2.3.2 After an interval of T5 seconds, the pallet distance measuring sensor 6 detects the distance between the pallet distance measuring sensor 6 and the pallet again to obtain the distance E2;

2.3.3 Make a difference between the distances E1 and E2 obtained in steps 2.3.1 and 2.3.2 to obtain the difference ΔE1;

2.3.4 Compare the difference ΔE1 obtained in step 2.3.3 with the moving distance F1 of the fork in the same time period;

2.3.4.1 When the difference ΔE1 is less than the moving distance F1 of the fork, it means that the pallet is pushed out, then stop the machine and alarm, and wait for manual processing;

2.3.4.2 When the difference ΔE1 is equal to the moving distance F1 of the fork, it means that the pallet has not been pushed, and after an interval of T6 seconds, repeat steps 2.3.1 to 2.3.4 until the AGV high-position forklift The forks of the pallet are fully inserted into the sockets of the pallet.

Preferably, the time T5 is 2 seconds; the time T6 is 2-3 seconds.

The rest are the same as the first embodiment, and will not be repeated here.

Claims

A method for safely moving goods by an intelligent AGV high-position forklift, characterized in that: when releasing goods, it includes the following steps,

1.1 The AGV high forklift moves to the designated position;

1.2 The cargo fork is lifted to the specified height;

1.3 The fork moves forward, and the pallet with the goods is sent into the shelf;

1.4 Detect the shaking of the mast through the shelf ranging sensor;

1.4.1 The shelf ranging sensor continuously detects the distance A between the shelf ranging sensor and the shelf at a certain frequency;

1.4.2 Take the maximum value A max and the minimum value A min of the distance measured within T1 second, and make a difference to obtain the difference ΔA;

1.4.3 Compare ΔA with the set value A';

1.4.3.1 When the difference ΔA is less than the set value A', proceed to the next step;

1.4.3.2 When the difference ΔA is greater than the set value A', the AGV high-level forklift stops, wait for T2 seconds, and repeat steps 1.4.1-1.4.3;

1.5 The fork is lowered, and the pallet with the goods is placed on the cargo space;

1.6 After the fork moves back to the position.
A method for safely moving goods by an intelligent AGV high-position forklift according to claim 1, characterized in that: in step 1.5, the shelf distance sensor and the pallet distance sensor are used before placing the pallet with goods on the cargo space Carrying out the detection of the offset position of the delivery, the detection of the offset position of the delivery includes the following steps,

1.5.1 The pallet ranging sensor detects the distance B1 between the pallet ranging sensor and the pallet, and the shelf ranging sensor detects the distance B2 between the shelf ranging sensor and the shelf;

1.5.2 Make a difference between the distance B1 and the distance B2 to obtain the difference ΔB;

1.5.3 Compare the difference ΔB obtained in step 1.5.2 with the set range;

1.5.3.1 When the difference ΔB is within the set range, proceed to the next step;

1.5.3.2 When the difference ΔB is outside the set range, stop the machine and give an alarm, waiting for manual processing;
A method for safely moving goods by an intelligent AGV high-position forklift according to claim 1, characterized in that: in step 1.6, drag detection is performed during the process of moving the fork back to its position, and the drag detection includes the following step,

1.6.1 The pallet ranging sensor detects the distance between the pallet ranging sensor and the pallet to obtain the distance C1;

1.6.2 After the fork moves back for T4 seconds, the pallet distance measuring sensor detects the distance between the pallet distance measuring sensor and the pallet again, and obtains the distance C2;

1.6.3 Make a difference between the distances C1 and C2 until the difference ΔC;

1.6.4 Compare the difference ΔC with the moving distance D1 of the fork;

1.6.4.1 When the difference ΔC is less than the moving distance D1 of the fork, stop the machine and alarm, and wait for manual processing;

1.6.4.2 When the difference ΔC is greater than or equal to the moving distance D1 of the fork, the fork continues to move backward;

1.6.5 Repeat the operation of steps 1.6.2-1.6.4 until the fork is completely detached from the pallet, and the entire loading operation is completed.
A method for safely moving goods by an intelligent AGV high-position forklift according to claim 1, characterized in that: it also includes a pick-up process, and the pick-up process includes the following steps,

2.1 The AGV high-position forklift moves to the designated position;

2.2 Lift the fork to the specified height;

2.3 The fork is moved forward to pick up the goods, and the push detection is carried out during the forward movement;

2.3.1 The pallet ranging sensor detects the distance between the pallet ranging sensor and the pallet to obtain the distance E1;

2.3.2 After an interval of T5 seconds, the pallet ranging sensor detects the distance between the pallet ranging sensor and the pallet again, and obtains the distance E2, and makes a difference between the distance E1 and E2 to obtain the difference ΔE1, and then compares the difference ΔE1 with the pallet fork Compare the distance F1 moved in the same time period;

2.3.2.1 When ΔE1 is less than F1, stop the machine and give an alarm, waiting for manual processing;

2.3.2.2 When ΔE1 is greater than or equal to F1, the fork continues to move forward;

2.3.3 Repeat the operation of step 2.3.2 until the fork of the AGV high forklift is fully inserted into the socket of the pallet.

2.4 Lift the fork to move the goods away and complete the task of picking up the goods.
A method for safely moving goods by an intelligent AGV high-position forklift according to claim 1, characterized in that: it also includes a pick-up process, and the pick-up process includes the following steps,

2.1 The AGV high-position forklift moves to the designated position;

2.2 Lift the fork to the specified height;

2.3 The fork is moved forward to pick up the goods, and the push detection is carried out during the forward movement;

2.3.1 The pallet ranging sensor detects the distance between the pallet ranging sensor and the pallet to obtain the distance E1;

2.3.2 After an interval of T5 seconds, the pallet ranging sensor detects the distance between the pallet ranging sensor and the pallet again to obtain the distance E2;

2.3.3 Make a difference between the distances E1 and E2 to obtain the difference ΔE1;

2.3.4 Compare the difference ΔE1 with the distance F1 that the fork moves in the same time period;

2.3.4.1 When ΔE1 is less than F1, stop the machine and give an alarm, waiting for manual processing;

2.3.4.2 When ΔE1 is equal to F1, after an interval of T6 seconds, repeat steps 2.3.1 to 2.3.4 until the fork of the AGV high-level forklift is completely inserted into the socket of the pallet.

2.4 Lift the fork to move the goods away and complete the task of picking up the goods.
A method for safely moving goods by an intelligent AGV high-position forklift, characterized in that: when picking up the goods, it includes the following steps,

2.1 The AGV high-position forklift moves to the designated position;

2.2 Lift the fork to the specified height;

2.3 The fork is moved forward to pick up the goods, and the push detection is carried out during the forward movement;

2.3.1 The pallet ranging sensor detects the distance between the pallet ranging sensor and the pallet to obtain the distance E1;

2.3.2 After an interval of T5 seconds, the pallet ranging sensor detects the distance between the pallet ranging sensor and the pallet again, and obtains the distance E2, and makes a difference between the distance E1 and E2 to obtain the difference ΔE1, and then compares the difference ΔE1 with the pallet fork Compare the distance F1 moved in the same time period;

2.3.2.1 When ΔE1 is less than F1, stop the machine and give an alarm, waiting for manual processing;

2.3.2.2 When ΔE1 is greater than or equal to F1, the fork continues to move forward;

2.3.3 Repeat the operation of step 2.3.2 until the fork of the AGV high forklift is fully inserted into the socket of the pallet.

2.4 Lift the fork to move the goods away and complete the task of picking up the goods.
A method for safely moving goods by an intelligent AGV high-position forklift according to claim 6, characterized in that: in step 2.3, the shaking detection is performed before the fork moves forward to pick up the goods, and the shaking detection includes the following steps,

First, the shelf ranging sensor continuously detects the distance A between the shelf ranging sensor and the shelf at a certain frequency;

Second, take the maximum value A max and the minimum value A min of the distance measured within T1 seconds, and make a difference to obtain the difference ΔA;

Third, compare ΔA with the set value A';

When the difference ΔA is less than the set value A', proceed to the next step;

When the difference ΔA is greater than the set value A', the AGV high-mounted forklift stops, waits for T2 seconds, and repeats the operations from the first step to the third step.
A method for safely moving goods by an intelligent AGV high-position forklift according to claim 7, characterized in that: it also includes a delivery process, and the delivery process includes the following steps,

1.1 The AGV high forklift moves to the designated position;

1.2 The cargo fork is lifted to the specified height;

1.3 The fork moves forward, and the pallet with the goods is sent into the shelf;

1.4 Detect the shaking of the mast through the shelf ranging sensor;

1.4.1 The shelf ranging sensor continuously detects the distance A between the shelf ranging sensor and the shelf at a certain frequency;

1.4.2 Take the maximum value A max and the minimum value A min of the distance measured within T1 second, and make a difference to obtain the difference ΔA;

1.4.3 Compare ΔA with the set value A';

1.4.3.1 When the difference ΔA is less than the set value A', proceed to the next step;

1.4.3.2 When the difference ΔA is greater than the set value A', the AGV high-level forklift stops, wait for T2 seconds, and repeat steps 1.4.1-1.4.3;

1.5 The fork is lowered, and the pallet with the goods is placed on the cargo space;

1.6 After the fork moves back to the position.
A method for safely moving goods by an intelligent AGV high-position forklift according to claim 8, characterized in that: in step 1.5, the shelf distance sensor and the pallet distance sensor are used before placing the pallet with the goods on the cargo space Carrying out the detection of the offset position of the delivery, the detection of the offset position of the delivery includes the following steps,

1.5.1 The pallet ranging sensor detects the distance B1 between the pallet ranging sensor and the pallet, and the shelf ranging sensor detects the distance B2 between the shelf ranging sensor and the shelf;

1.5.2 Make a difference between the distance B1 and the distance B2 to obtain the difference ΔB;

1.5.3 Compare the difference ΔB obtained in step 1.5.2 with the set range;

1.5.3.1 When the difference ΔB is within the set range, proceed to the next step;

1.5.3.2 When the difference ΔB is outside the set range, stop the machine and give an alarm, waiting for manual processing;
A method for safely moving goods by an intelligent AGV high-position forklift according to claim 8, characterized in that: in step 1.6, dragging detection is performed during the process of moving the fork back to its position, and the dragging detection includes the following steps ,

1.6.1 The pallet ranging sensor detects the distance between the pallet ranging sensor and the pallet to obtain the distance C1;

1.6.2 After the fork moves back for T4 seconds, the pallet distance measuring sensor detects the distance between the pallet distance measuring sensor and the pallet again, and obtains the distance C2;

1.6.3 Make a difference between the distances C1 and C2 until the difference ΔC;

1.6.4 Compare the difference ΔC with the moving distance D1 of the fork;

1.6.4.1 When the difference ΔC is less than the moving distance D1 of the fork, stop the machine and alarm, and wait for manual processing;

1.6.4.2 When the difference ΔC is greater than or equal to the moving distance D1 of the fork, the fork continues to move backward;

1.6.5 Repeat the operation of steps 1.6.2-1.6.4 until the fork is completely detached from the pallet, and the entire loading operation is completed.
An intelligent AGV high-position forklift, characterized in that the intelligent AGV high-position forklift uses the method for safely moving goods by the intelligent AGV high-position forklift according to claims 1-10 to pick and place goods.