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Tray pose positioning method, device and equipment and storage medium

A positioning method and pallet technology, applied in the field of intelligent warehousing, can solve the problems of high precision and high robustness of pallet pose, and achieve the effect of improving universality and robustness.

Pending Publication Date: 2020-11-27
劢微机器人科技(深圳)有限公司
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  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

[0004] The main purpose of the present invention is to provide a pallet pose positioning method, device, equipment and storage medium, aiming to solve the technical problem that the prior art cannot perform high-precision and high-robust positioning for various types of pallet poses

Method used

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  • Tray pose positioning method, device and equipment and storage medium
  • Tray pose positioning method, device and equipment and storage medium
  • Tray pose positioning method, device and equipment and storage medium

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Embodiment Construction

[0049] It should be understood that the specific embodiments described here are only used to explain the present invention, not to limit the present invention.

[0050] refer to figure 1 , figure 1 It is a schematic structural diagram of a pallet position and posture positioning device in the hardware operating environment involved in the solution of the embodiment of the present invention.

[0051] Such as figure 1As shown, the pallet pose positioning device may include: a processor 1001, such as a central processing unit (Central Processing Unit, CPU), a communication bus 1002, a user interface 1003, a network interface 1004, a memory 1005, a TOF (Time Of Flight) camera 1006. Wherein, the communication bus 1002 is used to realize connection and communication between these components. The user interface 1003 may include a display screen (Display), an input unit such as a keyboard (Keyboard), and the optional user interface 1003 may also include a standard wired interface ...

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Abstract

The invention relates to the technical field of intelligent warehousing. The invention discloses a tray pose positioning method, device and equipment and a storage medium. The method comprises the following steps of: acquiring an RGBD image and a point cloud image of a preset tray area, performing image recognition processing on the RGBD image; obtaining tray identification information, establishing a corresponding coordinate system based on the tray identification information, wherein the processor is used for receiving the tray identification information, determining a tray center point coordinate according to the tray identification information, extracting tray point cloud data from the point cloud image according to the tray identification information, determining a tray course angle according to the tray point cloud data, and obtaining tray pose data according to the tray center point coordinate and the tray course angle. According to the method, deep learning and point cloud processing are combined, and the tray pose is positioned according to the obtained tray center point coordinate and the tray heading angle, so that high-precision and high-robustness positioning of various types of tray poses is realized, and the universality and robustness of tray pose detection are improved.

Description

technical field [0001] The invention relates to the technical field of intelligent warehousing, in particular to a pallet pose positioning method, device, equipment and storage medium. Background technique [0002] With the development of intelligent warehousing technology, the traditional manufacturing industry is also developing in the direction of digitalization, intelligence, and unmanned. Correspondingly, in actual production, the demand for unmanned forklifts is also increasing. It has always been a difficult point in the industry to realize the "skewing and straight picking" of pallets of unmanned forklifts. Most of the existing technologies can only perform pose positioning on pallets of specific shapes, and the generalization ability is not strong. The positioning of the pallet pose requires high environmental conditions and poor robustness. Therefore, how to solve the inability of the existing technology to perform high-precision and high-robust positioning for va...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G06T7/73G06T7/13G06T7/32G06T5/00G06K9/62G06N3/04G06N3/08
CPCG06T7/73G06T7/13G06T7/32G06N3/08G06T2207/10024G06T2207/10028G06T2207/20081G06T2207/20084G06N3/045G06F18/23213G06T5/70
Inventor 曾增
Owner 劢微机器人科技(深圳)有限公司
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