Depth camera-based material cage stacking method and device, electronic device, and system
A technology of depth camera and material cage, which is applied in the direction of measuring device, storage device, stereo system, etc., can solve the problems of high deployment complexity, lack of flexibility and ease of use, etc., and achieve simple deployment, high accuracy of feature extraction, high Effect of Stacking Repeatability
Active Publication Date: 2021-06-01
HANGZHOU LANXIN TECH CO LTD
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[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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[0039]The exemplary embodiment will be described in detail herein, and examples thereof are shown in the drawings. The following description is related to the drawings, unless otherwise indicated, the same numbers in the drawings represent the same or similar elements. The embodiment described in the exemplary embodiments will not represent all embodiments consistent with the present invention. In contrast, examples of apparatus and methods consistent with some aspects of the invention, as detailed in the appended claims.
[0040]The terms used in the present invention are for the purpose of describing particular embodiments, not intended to limit the invention. "One", "one", "one", "" "and" "" as used in the present invention and the appended claims are also intended to include most forms unless the context clearly represents other meanings. It should also be understood that the terms "and / or" as used herein refer to any or from any or more of the associated listing items.
[0041]It s...
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The present application discloses a depth camera-based material cage stacking method, device, electronic equipment, and system. The method includes: collecting a first depth image through a left depth camera; extracting the left side of the upper material cage from the first depth image The first feature and the second feature on the left side of the lower cage, and respectively calculate the position p1 and position p2 of the first and second features relative to the left depth camera; collect the second depth map through the right depth camera; from the Extract the third feature on the right side of the upper cage and the fourth feature on the right side of the lower cage in the second depth map, and calculate the positions p3 and p4 of the third and fourth features relative to the depth camera on the right; according to the position p1-position p4 and the pose transformation relationship of the right camera relative to the left camera, calculate the deviation distance and deviation angle of the upper material cage relative to the lower material cage; control the forklift AGV, so that the deviation distance and deviation angle are close to 0, Complete the stacking of the upper and lower cages.
Description
Technical field[0001]The present invention relates to the field of logistics automation, and more particularly to a material cage stacking method and apparatus, electronic device, and system based on a depth camera.Background technique[0002]With the improvement of the current warehousing and transportation system, the market's intelligence of the automatic guide transport vehicle (AGV) of Automated Guided Vehicle is getting higher and higher. Among them, the automatic stack of warehousing cages is a wide range of demand. The warehouse cage typically has four vertical beams at the bottom of the casing, and there is a groove at the bottom of each of the shares, and there is a projection at the top, which constitutes a set of pairs of grooves. When the two cages are stacked each other, four grooves of the upper cargo boxes are nestled in front of the four bins to achieve the stability of the stack.[0003]There are a variety of existing automatic stacking technical solutions. The first s...
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IPC IPC(8): B65G1/137G01B11/14G01B11/26H04N13/271
Inventor 周玄昊陈政儒
Owner HANGZHOU LANXIN TECH CO LTD