Looking for breakthrough ideas for innovation challenges? Try Patsnap Eureka!

Pallet recognition processing method and device

A technology for recognition processing and pallets, which is applied in the field of image processing and can solve problems such as the decline in the overall recognition rate of pallets

Pending Publication Date: 2020-09-18
ゼジャンハーレイテクノロジーカンパニーリミテッド
View PDF11 Cites 4 Cited by
  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0007] The embodiment of the present invention provides a pallet recognition processing method and device to at least solve the problem in the related art that the area generation algorithm is used and the ground calibration results are relied on, resulting in a decline in the overall recognition rate of pallets

Method used

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
View more

Image

Smart Image Click on the blue labels to locate them in the text.
Viewing Examples
Smart Image
  • Pallet recognition processing method and device
  • Pallet recognition processing method and device
  • Pallet recognition processing method and device

Examples

Experimental program
Comparison scheme
Effect test

Embodiment 1

[0083] The method embodiment provided in Embodiment 1 of the present application may be executed in a mobile terminal, a computer terminal, or a similar computing device. Taking running on a mobile terminal as an example, figure 1 It is a block diagram of the hardware structure of the mobile terminal of the pallet identification processing method of the embodiment of the present invention, as figure 1 As shown, the mobile terminal may include one or more ( figure 1 Only one is shown in the figure) a processor 102 (the processor 102 may include but not limited to a processing device such as a microprocessor MCU or a programmable logic device FPGA) and a memory 104 for storing data. Optionally, the above-mentioned mobile terminal also A transmission device 106 for communication functions as well as input and output devices 108 may be included. Those of ordinary skill in the art can understand that, figure 1 The shown structure is only for illustration, and does not limit the ...

Embodiment 2

[0134] According to another embodiment of the present invention, a pallet identification processing device is also provided, Figure 4 is a block diagram of a pallet recognition processing device according to an embodiment of the present invention, such as Figure 4 shown, including:

[0135] The extraction module 42 is used to obtain the point cloud data of the target pallet to be identified based on the TOF imaging system, and extract the point cloud features of the point cloud data;

[0136] The obtaining module 44 is used to obtain the adjacent point cloud features corresponding to the point cloud features from the pre-established pallet database, wherein the pallet database stores point cloud features and stacks of pallets with corresponding relationships. Plate normal vector, pallet center point;

[0137] A determining module 46, configured to determine a target rotation matrix and a target translation matrix according to the point cloud features and the adjacent point...

Embodiment 3

[0168] Embodiments of the present invention also provide a computer-readable storage medium, in which a computer program is stored, wherein the computer program is set to execute the steps in any one of the above method embodiments when running.

[0169] Optionally, in this embodiment, the above-mentioned storage medium may be configured to store a computer program for performing the following steps:

[0170] S1, based on the TOF imaging system, acquiring point cloud data of the target pallet to be identified, and extracting point cloud features of the point cloud data;

[0171] S2. Obtain adjacent point cloud features corresponding to the point cloud features from a pre-established pallet database, wherein the pallet database stores point cloud features of pallets with corresponding relationships, pallet normal vectors, the center point of the pallet;

[0172] S3. Determine a target rotation matrix and a target translation matrix according to the point cloud features and the...

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to View More

PUM

No PUM Login to View More

Abstract

The invention provides a pallet recognition processing method and device. The method comprises the steps: obtaining the point cloud data of a to-be-recognized target pallet based on a TOF imaging system, and extracting the point cloud features of the point cloud data; obtaining adjacent point cloud features corresponding to the point cloud features from a pre-established pallet database; determining a target rotation matrix and a target translation matrix according to the point cloud features and the adjacent point cloud features; according to the target rotation matrix and the target translation matrix, rotation and translation processing is carried out on the pallet normal vector and the pallet center point corresponding to the adjacent point cloud features in the point cloud database; according to the method, the direction and position information of the target pallet in the point cloud data can be obtained, the problem that the overall recognition rate of the pallet is reduced dueto the fact that a region generation algorithm is adopted and depends on a ground calibration result in the related technology can be solved, and the pallet can be well recognized under the conditionthat pallet data is incomplete.

Description

technical field [0001] The present invention relates to the field of image processing, in particular, to a pallet recognition processing method and device. Background technique [0002] Automated logistics and warehousing systems are the future development trend, and smart forklifts play an important role in it. In addition to autonomous navigation, smart forklifts also need to dynamically identify the pallets on which the goods are placed, and at the same time determine the posture and position of the pallets to accurately complete the automatic handling task. [0003] At present, there is no very general and mature technology for the identification of pallets. The current method on the one hand needs to add manual labels to the pallets, but this method needs to be modified on the pallets, and the labor cost is high; Eye, binocular, or depth cameras are based on image recognition pallets, but this method is limited by the application environment (for example, it is greatly...

Claims

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to View More

Application Information

Patent Timeline
no application Login to View More
Patent Type & Authority Applications(China)
IPC IPC(8): G06T7/73G06F16/583G06T7/80
CPCG06T7/73G06F16/583G06T7/85G06T2207/10012
Inventor 汪鹏飞任宇鹏卢维殷俊
Owner ゼジャンハーレイテクノロジーカンパニーリミテッド
Who we serve
  • R&D Engineer
  • R&D Manager
  • IP Professional
Why Patsnap Eureka
  • Industry Leading Data Capabilities
  • Powerful AI technology
  • Patent DNA Extraction
Social media
Patsnap Eureka Blog
Learn More
PatSnap group products

Browse by: Latest US Patents, China's latest patents, Technical Efficacy Thesaurus, Application Domain, Technology Topic, Popular Technical Reports.

© 2024 PatSnap. All rights reserved.Legal|Privacy policy|Modern Slavery Act Transparency Statement|Sitemap|About US| Contact US: help@patsnap.com