Material cage stacking method and device based on depth cameras, electronic equipment and system

Abstract

The invention discloses a material cage stacking method and device based on depth cameras, an electronic device and a system. The method comprises the following steps that 1, a first depth map is collected through a left depth camera; 2, a first feature at the left side of an upper material cage and a second feature at the left side of a lower material cage are extracted from the first depth map, and a position p1 and a position p2 of the first feature and the second feature relative to the left depth camera are calculated; 3, a second depth map is collected through a right depth camera; 4, a third feature at the right side of the upper material cage and a fourth feature at the right side of the lower material cage are extracted from the second depth map, and a position p3 and a position p4 of the third feature and the fourth feature relative to a right depth camera are calculated correspondingly; 5, the deviation distance and the deviation angle of the upper material cage relative to the lower material cage are calculated according to the position p1, the position P2, the position P3 and the position p4 and the pose conversion relation of the right camera relative to the left camera; and 6, a forklift AGV is controlled, so that the deviation distance and the deviation angle are close to 0, and stacking of the upper material cage and the lower material cage is completed.

Description

technical field [0001] The invention relates to the technical field of logistics automation, and in particular, to a depth camera-based material cage stacking method and device, electronic equipment and a system. Background technique [0002] With the improvement of the automation integration of the current warehousing and transportation system, the market has higher and higher requirements for the intelligence of the Automated Guided Vehicle (AGV). Among them, the automatic stacking of storage cages is a widely demanded function. The storage cage generally has four vertical beams at the four corners of the bottom of the box. Each vertical beam has a groove at the bottom and a protrusion at the top to form a set of docking grooves. When two material cages are stacked on each other, the four grooves of the upper container and the four protrusions of the lower container need to be nested correspondingly to achieve stable stacking. [0003] There are many existing technical s...

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Problems solved by technology

[0007] The purpose of the embodiments of the present invention is to provide a depth camera-based material cage stacking method and device, electronic equipment, and system to solve the lack of flexibility and ease of use in the method of stacking cargo cages in the related art, and the deployment complexity is large The problem

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