English 
Chinese 
In the forklift AGV transformation project of a state-owned chemical enterprise in Henan, AGV provided a dynamic stacking solution with a load of 1.5T, a pile height of 5.7m, and docking with mobile shelves, helping the company to take scientific and technological innovation as the starting point in the context of "intelligent transformation and digital transformation" to build a solid foundation for intelligent logistics in the chemical industry. Through the innovative model of "high-end technology and high-quality products", we will promote the gradual realization of the grand goal of becoming a world-class chemical power.
Customer needs
1、Warehouse handling
The finished products after palletizing are sent to the connection area of the warehouse through the handling forklift AGV, and the finished products are transported into the warehouse through the high-level forklift AGV, and the finished products are sent to the storage location designated by the WMS system
2. Finished products are out of the warehouse
It is sent to the AGV dispatching system through the central control system, and at the same time, the central control system calls the mobile shelf to open, and the AGV dispatching system dispatches the high-level forklift AGV to the shelf storage location to carry the finished product out of the warehouse
Difficulties and countermeasures
The industry's first laser SLAM forklift AGV docking mobile shelf, lifting 5.7m dynamic scene application. In the highly dynamic scenario, the access and stacking requires the forklift AGV to drive into the shelf and detect the moving direction of the shelf and the number of cargo layers in real time, which requires extremely high operation accuracy and safety of the forklift AGV.
The mobile shelf is derived from the light and heavy fixed shelf, which is driven by the roller or motor attached to the chassis, and belongs to the dense structure. The mobile shelf only needs to set up a channel, the space utilization rate is extremely high, safe and reliable, easy to move, and it is suitable for the warehouse with many inventory varieties and high inventory frequency, and the warehouse in and out of the warehouse in the order of the roadway.
Key point 1: The forklift AGV load is nearly 1.5T, and the stack height is 5.7m
The load of 1.5T in the industry is usually the upper limit of the stacking height of 4.5m, the project is overloaded and the stacking height is too high will aggravate the elastic deformation of the gantry, and the relative position deviation of the fork relative to the storage location will increase due to the excessive deformation during the high stacking, and the fork will hit the shelf in a serious way.
Countermeasures: The end of the fork is integrated with 3D lidar, which is relatively fixed with the fork, moving up and down with the fork, the lidar can move up and down freely, the laser head moves down after the fork is lifted, and the laser head moves upward after the fork lands, and the lidar is normally recognized in the state of pick-and-take.
Key point 2: The position error of the automatic moving shelves before and after each stop is ± 300mm
Compared with the initial calibration position, there will be a stop error and the position deviation is not uniform before and after the operation of the mobile shelf, and the position of the shelf of the forklift AGV is different every time the forklift AGV picks up and unloads the goods in the scenario of high dynamics, which requires extremely high navigation technology, motion control technology and positioning accuracy of the forklift AGV.
Countermeasures: The forklift AGV fork integrates lidar and sensors in place, and when the car body runs to the front of the storage location of the moving shelf, the 3D laser scanner is turned on to calculate the deviation angle of the warehouse and the height information of the horizontal plane of the storage location in real time.
Key point 3: The location pallet is placed in unlimited places
Due to the superposition of various errors in the displacement, deformation and navigation of the storage location, there is a risk of back-end collision when adjacent pallets are placed.
Countermeasure: When the forklift AGV arrives in front of the cargo location and is ready to put the material, the lidar integrated by the forklift AGV fork detects the distance and position deviation of the beam, determines the pick-and-place point of the pallet through the size chain calculation, and places the pallet in the accurate position of the storage location.
Solution
The logistics solution of the project includes automatic palletizing manipulator, conveying equipment, and forklift AGV automatic handling system, and realizes the coordination and cooperation of various logistics systems through the centralized scheduling control of the system.
1, high-level forklift AGV, the body load 15T, mast lifting height 5.7m.
The vehicle body navigation technology adopts laser SLAM navigation mode, which ensures the smooth and safe operation of the car body, and at the same time takes into account the efficiency of cargo storage.
2. AGVS is connected with MES, WMS, WCS system and automatic three-dimensional warehouse system
Realize the distribution of production logistics tasks, automatic warehousing of forklift AGVs, closed-loop data of the whole process, and lean collaborative production.
Value embodiment
The batch application of handling robots ensures the safety of people and things when picking and placing goods, reduces errors in the process of goods processing and information processing, improves the level of warehouse management and automation within the factory, and lays the foundation for the subsequent construction of intelligent factories for customers.