AGV forklift tray positioning and forking method based on 3D depth vision

Abstract

The invention discloses an AGV forklift tray positioning and forking method based on 3D depth vision, and the method comprises the steps: firstly combining a normal vector plane and signal intensity gray segmentation, carrying out the iterative comparison calculation through employing a tray morphological template, and extracting a tray hole site to recognize the type of a tray; then calculating a prong outer edge linear equation through a convolution mask detector according to a tray form constraint condition; and finally, calculating vertical and horizontal space Euclidean distances from the boundary point of the tray to the extension line of the prong so as to obtain an absolute pose of the prong relative to the tray and judge whether the prong can work safely or not. According to the method, tray hole site recognition and real-time pose accurate measurement of the opposite prongs in a complex operation scene are effectively achieved, the system is not affected by physical factors such as color, size and illumination, and high applicability is achieved.

Description

technical field [0001] The invention relates to the technical field of intelligent warehousing logistics and robot vision, in particular to an AGV forklift pallet positioning and forking method based on 3D depth vision. Background technique [0002] In recent years, with the rise of intelligent logistics and unmanned warehouses, the automatic handling and sorting of goods by AGV unmanned forklifts according to the program has become a research and application hotspot. At present, the unmanned transformation of domestic industrial forklifts mainly adopts laser radar, infrared sensing and other solutions. Due to factors such as vibration, random positioning errors, and insufficient coverage of laser sensors during the process of forklift picking up pallets, it is impossible to ensure that the forklift tines are aligned with the pallet. There are potential safety hazards. Therefore, it is urgent to develop a high-accuracy intelligent detection and positioning method for logist...

AI Technical Summary

Problems solved by technology

Therefore, the above-mentioned series of technical defects cannot meet the strict requirements of the production environment for the safety and operation accuracy of AGV forklifts.

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