Currently, the continuous expansion of the Industry 4.0 wave is profoundly driving the paper industry to fully transition from traditional models to intelligent and digital formats. The large-scale application of unmanned balanced heavy-duty handling vehicles has become the core of the revolution in warehousing and logistics efficiency in the traditional paper industry.

Traditional paper manufacturing companies generally rely on manual operation of paper roll hoisting forklifts for product transportation. Manual transport not only has a high labor intensity, but also faces issues such as complex operating environments and the special shape of goods (such as large paper rolls), making it easy to cause accidents like tipping, collision, and crushing of goods. Additionally, there are many problems such as low operational precision, significant efficiency bottlenecks, and poor environmental adaptability, which seriously affect the storage and logistics operational efficiency, cost control, and refined management upgrades in large paper manufacturing enterprises.

The systematic application of unmanned balancing heavy-duty clamps perfectly addresses the aforementioned issues. From breaking through positional deviations to achieve precise gripping, to optimizing the stacking of paper rolls, unmanned balancing heavy-duty clamps leverage cutting-edge AI technology to break the limitations of traditional operations. This enables efficient, unmanned operations in various environments and scenarios within the paper industry.

1. In indoor and outdoor operations, how can we achieve accurate identification of paper rolls?

In the process of handling and transporting paper rolls indoors and outdoors, the first task is to identify the stacking of paper rolls in the work area. So, how can unmanned counterbalanced forklifts quickly and accurately identify the paper rolls?

We have equipped our unmanned balancing weight handling vehicle with an industry-leading perception system. With high-resolution visual sensors, it can quickly capture subtle changes in the position and orientation of paper rolls. Paired with advanced AI image recognition algorithms and AI filtering technology, it can accurately identify paper rolls clearly even in complex lighting and with numerous interferences.

At the same time, the technical side also applies multi-sensor fusion technology, integrating data from laser radar sensors and others to construct a 3D model of the paper rolls, accurately calculating the relative distance between the paper rolls and the vehicle. The powerful real-time data processing algorithm rapidly extracts effective information from massive scene data for perceptual identification of the paper rolls, providing a reliable basis for subsequent operations.

2. Identifying and handling paper rolls, dynamic planning and adjustment of vehicle routes are key.

When the unmanned balancing heavy lifting vehicle detects the paper roll in the work area ahead, the intelligent path planning algorithm begins to take effect, dynamically planning and adjusting the vehicle's path in real-time.

1) If a deviation in the paper roll position is detected, the path planning algorithm will fully consider the motion characteristics of the large and small arms as well as the vehicle's status, swiftly planning a new route that cleverly avoids obstacles to ensure accurate grasping of the paper roll;

2) During the motion of the large and small arms, by utilizing a local path optimization strategy and real-time feedback from sensors, the path will be dynamically adjusted to ensure that the grasping operation is safe and efficient;

3) During the operation of the unmanned grasping vehicle, a collision detection model continuously monitors the distance between the large and small arms and surrounding objects; if a collision risk is detected, the path will be adjusted immediately to prevent collision accidents.

3. Paper roll gripping and handling, compliant control and adaptive adjustment

To better align the grabbing process of the unmanned balance heavy lifting clamp truck with the positional deviations of the paper rolls, Jiuyou Intelligent creatively adopted compliant control technology. Force/moment sensors are installed on the gripping device to perceive changes in the gripping force in real time. Based on this feedback, compliant control algorithms are used to flexibly adjust the motion trajectory and gripping force of the arms, allowing the gripping device to adapt to changes in the position and posture of the paper rolls for a smooth gripping process.

Moreover, in the method of paper roll gripping, it has overcome the technical difficulties of horizontal and vertical grabbing. It has achieved adaptive optimization of the gripping strategy, automatically selecting and switching between horizontal and vertical gripping according to the scenario.

For example, horizontal grabbing: suitable for narrow passages or densely stacked scenarios; vertical grabbing: suitable for quick loading and unloading but requires a stable ground. By continuously training the success rate model of different grabbing methods through deep learning, the decision-making logic can be optimized.

Ultimately, the asymmetrical fixture for the upper and lower arms was realized, enabling adaptive grabbing of various types of paper rolls with diameters ranging from 300 to 2400 mm; high-precision real-time sensing ensures 100% stable grasping. The grasping points accurately clamped the centroid of the paper roll at the contact drop point between the fixture and the paper roll, achieving an industry-leading level, especially for the grabbing and recognition of small diameter paper rolls. Moreover, the dynamic control algorithm for adjusting the vehicle's dynamics and stability has also overcome numerous challenges, addressing and solving deep technical problems such as active vibration suppression, tilting prevention during turns, predicting the center of gravity shift of the paper roll, and distributing load pressure.

The effective synergy of high-precision perception, adaptive fixture control, and dynamic control algorithms ensures the stability and reliability of the gripping process.

4. Intelligent paper roll stacking, multi-layer stacking improves warehouse space utilization.

The paper roll stacking function seamlessly connects with the grabbing and transportation process of the unmanned balancing heavy-duty forklift. After completing the grabbing task, the vehicle quickly plans the route to the stacking area and performs the stacking operation swiftly upon arrival.

During the stacking process, the vehicle monitors the placement position and angle of the paper rolls in real time through sensors, ensuring that each paper roll is placed steadily. At the same time, the system automatically adjusts the stacking quantity and position of the upper paper rolls based on the load capacity of the bottom paper rolls, to prevent the paper rolls from collapsing due to overload and to ensure the safety of warehouse operations.

In the technology of paper roll stacking, Jiuyao Intelligent has established mature technical capabilities for outdoor three-layer stacking, positioning accuracy of ±10mm, and ultra-high lifting of 6450mm, which has been successfully commercialized.

The unmanned balanced lifting clamp truck from Jiuyue Intelligent integrates advanced stacking algorithms, which, through precise modeling of the storage area, can calculate the optimal stacking scheme based on information such as the size and weight of paper rolls, significantly improving warehouse space utilization and reducing warehousing costs for enterprises.

Conclusion:

The Jiuyou Intelligent Unmanned Balance Heavy Clamping Truck's adaptive clamping and stacking technology, through systematic insights and key breakthroughs in industry technical challenges, has promoted the intelligence in industrial logistics of the paper industry, bringing more efficient and reliable goods handling solutions to the paper industry!