The invention relates to the technical field of tray detection and positioning, in particular to an unmanned forklift tray picking method and
system based on a
gravity center correction
pose, and the method comprises the steps: S1, obtaining an RGB feature image, defining a tray detection category template, and building a tray
pose estimation model; s2, acquiring an acquisition value of a weighing sensor in real time; s3, carrying out final value
consistency analysis; s4, carrying out dynamic fluctuation stability analysis; s5, according to the
pickup safety coefficient and the dynamic fluctuation stability, analyzing and determining a formal
pickup motion plan of the unmanned forklift; s6, according to the moment balance principle, adjusting the position and posture of the
gravity center projection of the tray
pickup object to the pickup plane coordinate
system, and generating the optimal target pickup posture # imgabs0 # of the current tray scene; s7, the unmanned forklift
system generates a planning path of the final picking process according to the optimal target picking posture # imgabs1 #, and picking is completed; the
gravity center structure stability problem of tray object picking is fully considered, so that the automatic unmanned picking operation requirement is met.