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Vision-based system and method for positioning lifting height of forklift AGV fork

A technology for forks and forklifts, which is applied in the field of vision-based forklift AGV fork height positioning, which can solve the problems of large cumulative errors and achieve cost-effective results

Active Publication Date: 2019-04-05
NINGBO RUYI
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

The key point in the above method is that no means of storing absolute position information is used. All moving distance measurements are obtained through cumulative counting, so a large cumulative error may occur and needs to be reset

Method used

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  • Vision-based system and method for positioning lifting height of forklift AGV fork
  • Vision-based system and method for positioning lifting height of forklift AGV fork
  • Vision-based system and method for positioning lifting height of forklift AGV fork

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Experimental program
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Embodiment 1

[0042] This embodiment provides a vision-based forklift AGV fork lift height positioning system, such as Figure 1 to Figure 3 As shown, the system includes:

[0043] Including forklifts and forks, including: code tape and image acquisition device;

[0044] Code belt, the code belt and the fork are set in linkage; the surface of the code belt is provided with preset multi-line codes, which are used to mark the absolute position of the current truck;

[0045] An image acquisition device, the image acquisition device is arranged on the forklift, and is used to collect the image information of the code tape, and obtain the current stand-up height of the fork according to the preset image processing algorithm combined with the preset multi-line code of the code tape.

[0046] Further, the image acquisition device and the code tape are set according to preset alignment positions.

[0047] Further, the number of image acquisition devices is one or more.

[0048] Further, the pres...

Embodiment 2

[0066] This embodiment provides a vision-based method for positioning the fork lift height of the forklift AGV fork, such as Figures 2 to 4 As shown, the method includes the steps of:

[0067] S1: Mark the absolute position of the fork through the preset multi-line code on the code tape set in conjunction with the fork;

[0068] S2: Collect the image information of the code tape through the image acquisition device installed on the forklift, and obtain the current stand-up height of the fork according to the preset image processing algorithm combined with the preset multi-line code of the code tape.

[0069] Further, step S2 includes:

[0070] S21: Acquiring the code tape image information within the preset field of view through the image acquisition unit;

[0071] S22: Obtain the coded information of the coded tape in the coded tape image information within the preset field of view through the coded acquisition unit;

[0072] S23: Using the position optimization unit, sub...

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Abstract

The invention discloses a vision-based system for positioning lifting height of a forklift AGV fork. The system aims to solve the problem that in the prior art, the height identification of a forkliftfork is complex, and is large in error. The system comprises a forklift and a fork, and further comprises a code belt and an image acquisition device; the code belt and the fork are arranged in a linkage mode, preset multi-row codes are arranged on the surface of the code belt, and are used for marking the absolute position of a current truck; and the image acquisition device is arranged on the forklift, and is used for collecting image information of the code belt, and based on a preset image treatment algorithm combining with the preset multi-row codes of the code belt, the current liftingheight of the fork is obtained. According to the system, the absolute position of the fork is coded, so that absolute errors do not exist; and the capability of the image acquisition device on extracting image elements is used to carry out interpolation on the basis of acquired absolute position data, so that the accurate position of the fork lifting can be calculated, and compared with other ways, the system has higher cost performance.

Description

technical field [0001] The invention relates to the technical field of forklift control, in particular to a vision-based system and method for positioning the fork lift height of an AGV forklift. Background technique [0002] At present, the devices for detecting the height of the fork of a forklift on the market are divided into two types: direct distance measurement and indirect distance measurement from the point of view of detection principle. [0003] Direct ranging is measured by installing a ranging sensor on the fork to measure its distance from the reference plane. The ranging technology is generally based on traditional laser, ultrasonic, etc. Among these methods, the laser-based ranging method is expensive, such as laser ranging ; Based on the low reliability of ultrasonic waves, it is greatly affected by the ambient temperature and humidity. In addition, direct distance measurement has high requirements for assembly. For example, using laser distance measurement ...

Claims

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Application Information

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IPC IPC(8): B66F9/075B66F9/06
CPCB66F9/06B66F9/0755
Inventor 叶国云傅敏田丰郑振华
Owner NINGBO RUYI