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Tray positioning detection method and device and intelligent forklift

A technology of pallet positioning and detection method, applied in image data processing, instrument, calculation and other directions, can solve problems such as poor efficiency, high failure rate, long recognition time, etc., to improve work efficiency and intelligence, improve recognition efficiency and Identify the success rate and enhance the effect of environmental anti-interference ability

Pending Publication Date: 2020-07-03
广州市技田信息技术有限公司
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

In the existing technology, when the intelligent forklift recognizes the pallet, it generally uses the camera to obtain the image of the pallet for recognition. This recognition method has the disadvantages of long recognition time, poor efficiency and high failure rate, which needs to be solved urgently.

Method used

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  • Tray positioning detection method and device and intelligent forklift
  • Tray positioning detection method and device and intelligent forklift
  • Tray positioning detection method and device and intelligent forklift

Examples

Experimental program
Comparison scheme
Effect test

Embodiment 1

[0041] Such as figure 1 As shown, this embodiment discloses a pallet positioning detection method, the steps of which include:

[0042] S1. Use a camera to acquire first image data of a current scene.

[0043] Specifically, the current scene includes an image of the pallet, and specifically, in the image of the pallet, the side where the fork opening of the pallet is located is a rectangle with a known height.

[0044] S2. Use an active light source to irradiate the current scene, and simultaneously use a camera to acquire second image data of the current scene.

[0045] Specifically, in this embodiment, the active light source emits a laser beam with a fixed pattern to irradiate the current scene. Preferably, the active light source can simultaneously emit two parallel laser beams to irradiate the current scene, so as to enhance the anti-interference ability of the environment.

[0046] S3. Perform mean filtering processing on the first image data and the second image data...

Embodiment 2

[0071] Such as figure 2 As shown, this embodiment discloses a pallet positioning detection device, including a processor; a memory; and a computer program, wherein the computer program is stored in the memory and is configured to be executed by the processor, and the processor executes the computer program to perform The steps in the pallet positioning detection method as described in Example 1.

Embodiment 3

[0073] Such as image 3 As shown, this embodiment discloses an intelligent forklift, which includes a camera 1 , an active light source 2 , a control module 3 and a forklift driving module 4 . Specifically, the camera 1 is used to obtain the image data of the current scene; the active light source 2 is used to illuminate the current scene; the control module 3 is electrically connected to the camera 1, the active light source 2 and the fork drive module 4, and is used to execute such as The steps in the pallet positioning detection method described in Embodiment 1 are to obtain offset information, and generate a control command according to the offset information and transmit it to the fork-taking drive module 4; the fork-take drive module 4 is used to fork the pallet according to the control command Pick.

[0074] Specifically, the forklift driving module 4 may include a driving part of the forklift and an up and down driving part of the fork rod. Specifically, the control m...

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Abstract

The invention discloses a tray positioning detection method and device and an intelligent forklift. According to the method, an active light source is adopted to irradiate a scene; stable image features can be obtained; enhancing environmental anti-interference capability, according to the method, the images of the scene with the external light source and the scene without the external light source are subjected to image difference operation and binarization processing, the influence of different image backgrounds on recognition can be effectively reduced, and the recognition efficiency and the recognition success rate of the intelligent forklift on the tray can be remarkably improved, so that the working efficiency and the intelligent degree of the forklift are improved.

Description

technical field [0001] The invention belongs to the technical field of intelligent forklift control, and in particular relates to a pallet positioning detection method and device and an intelligent forklift. Background technique [0002] Forklift is an industrial handling vehicle, which refers to various wheeled handling vehicles for loading and unloading, stacking and short-distance transportation of palletized goods. It is often used for the transportation of storage objects, plays a very important role in the logistics system of enterprises, and is the main force in material handling equipment. It is widely used in the transportation of goods at various trade transfer nodes such as stations, ports, airports, factories, and warehouses. With the development of science and technology, the intelligence of forklifts is also increasing. In order to meet the needs of faster-paced and higher-load cargo circulation, the intelligent control and automatic operation of forklifts are...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G06T7/00
CPCG06T7/0004G06T2207/30164G06T2207/30252
Inventor 高绍斌
Owner 广州市技田信息技术有限公司
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