| 屈辉现,杨斌,陈庆虎,胡超,陈刚,刘鹏.基于智能叉车的纸卷自动装车系统的流程设计及其应用难点分析[J].中国造纸,2026,45(5):190-198 |
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| 基于智能叉车的纸卷自动装车系统的流程设计及其应用难点分析 |
| Process Design and Application Difficulty Analysis of Automatic Paper Roll Loading System Based on Intelligent Forklift |
| 收稿日期：2025-11-10 修订日期：2025-11-18 |
| DOI：10.11980/j.issn.0254-508X.2026.05.022 |
| 关键词: 纸卷AGV 智能叉车 纸卷装车系统 纸卷装车流程 |
| Key Words:paper roll AGV intelligent forklift paper roll loading system paper roll loading process |
| 基金项目: |
| 作者 | 单位 | 邮编 | | 屈辉现* | 中轻长泰（长沙）智能科技股份有限公司,湖南长沙,410116 | 410116 | | 杨斌 | 中轻长泰（长沙）智能科技股份有限公司,湖南长沙,410116 | 410116 | | 陈庆虎 | 中轻长泰（长沙）智能科技股份有限公司,湖南长沙,410116 | 410116 | | 胡超 | 中轻长泰（长沙）智能科技股份有限公司,湖南长沙,410116 | 410116 | | 陈刚 | 中轻长泰（长沙）智能科技股份有限公司,湖南长沙,410116 | 410116 | | 刘鹏 | 中轻长泰（长沙）智能科技股份有限公司,湖南长沙,410116 | 410116 |
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| 摘要:随着物流装备智能化发展，无人化场景下的自动化纸卷装车作业已成为造纸行业的发展趋势。本文针对造纸厂成品纸卷自动装车技术的流程设计及实际应用难点，对多车协同调度与自主路径规划、高精度地图与货车识别、垛型规划与分批出库、纸卷圆心识别与抓放等技术方案进行了深入分析，并在现有造纸厂控制系统中增加仓储管理系统（WMS）和机器人控制系统（RCS）的交互，设计构建了一种基于智能叉车（IFL）的纸卷自动装车系统。该方案对现有场景环境适应能力强、改造要求低，能够显著最小化搭建部署及调试自动装车系统对生产的影响，提高部署效率，从而降低实施成本，提升装车作业的效率与安全性。 |
| Abstract:With the intelligent development of logistics equipment， automated paper roll loading operations in unmanned scenarios have become a trend in the paper industry. This study focused on the process design and practical application challenges of automatic paper roll loading technology in paper mills. It conducted an in-depth analysis of technical solutions such as multi-vehicle cooperative scheduling and autonomous path planning， high-precision maps and truck recognition， stacking pattern planning and batch delivery， paper roll center identification and grasping and releasing. It also integrated the interaction to the existing paper mill control system between the warehouse management system (WMS) and robot control system (RCS)， designed and constructed an automatic paper roll loading system based on intelligent forklift (IFL). This solution exhibited strong adaptability to existing scenarios and required minimal modification. It could significantly minimize the impact on production during the setup， deployment， and debugging of the automatic loading system， improve deployment efficiency， thereby reducing implementation costs and enhancing the efficiency and safety of loading operations. |
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