Omni-directional automatic forklift and 3D stereoscopic vision navigating and positioning method

Abstract

The invention discloses an omni-directional automatic forklift and a 3D stereoscopic vision navigating and positioning method. The 3D stereoscopic vision navigating and positioning method comprises the following steps: acquiring information of a 3D coordinate in the working environment of the automatic forklift; generating a 3D map; acquiring real-time images and positioning an initial position according to the 3D map; determining a target position; navigating to the target position and judging whether encountering barriers; scanning and identifying two-dimensional codes on a goods shelf; judging whether the automatic forklift is over against the goods and is aligned with the goods; enabling the automatic forklift to insert into a goods shelf tray and completing taking the goods and putting the goods. The omni-directional automatic forklift and the 3D stereoscopic vision navigating and positioning method have the benefits that the 3D map of the working environment is built by a plurality of binocular stereo cameras, the automatic forklift is capable of effectively and accurately positioning, taking the goods and putting the goods with combination of a speedometer, a laser radar and a front camera, three-freedom-degree omni-directional movement on the plane is implemented by Mecanum wheels, the automatic forklift is capable of taking the goods and putting the goods on the same goods shelf without steering, any barriers in the working environment can be effectively avoided in tine by the laser radar and an infrared sensor, and the automatic forklift can be automatically charged by communication between an upper computer and a charging box.

Description

technical field [0001] The invention relates to the technical field of forklifts, in particular to an omnidirectional automatic forklift and a 3D stereo vision navigation and positioning method. Background technique [0002] At present, the rise in labor costs has become the most important difficulty encountered in the current business development of enterprises. In countries and regions with advanced manufacturing industries, the use of automatic forklifts to replace manual loading, unloading and transportation of goods in warehouses to save costs has become the mainstream today. In China, most of the forklifts currently in use are still manually operated or using magnetic track navigation and RFID positioning technology to carry out autonomous movement and delivery of goods. Although this method can meet certain needs, it has relatively large limitations and needs to be targeted at warehouses. Larger transformation, not universal. At the same time, the detection range of ...

AI Technical Summary

Problems solved by technology

In China, most of the forklifts currently in use are still manually operated or using magnetic track navigation and RFID positioning technology to carry out autonomous movement and delivery of goods. Although this method can meet certain needs, it has relatively large limitations and needs to be targeted at warehouses. Larger modification, not universal

At the same time, the detection range of automatic forklifts using the current navigation and positioning technology is not wide, the stability and accuracy of navigation performance are not high, obstacles cannot be avoided well, and dead angles that cannot be detected cannot be navigated with poor accuracy.

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