Unlock instant, AI-driven research and patent intelligence for your innovation.

Forklift reversing obstacle avoidance method based on RGB-D

A forklift and obstacle avoidance technology, which is applied in the field of image recognition and mobile robots, can solve the problems of being easily affected by the outside world, low real-time performance, and high false detection rate, achieving good real-time performance, improving detection accuracy, and reducing false detection rates. Effect

Pending Publication Date: 2022-06-21
浙江科钛机器人股份有限公司
View PDF0 Cites 0 Cited by
  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0004] In the existing actual factory environment, the implementation of the present invention proposes a RGB-based -D forklift back obstacle detection method

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
  • Forklift reversing obstacle avoidance method based on RGB-D
  • Forklift reversing obstacle avoidance method based on RGB-D
  • Forklift reversing obstacle avoidance method based on RGB-D

Examples

Experimental program
Comparison scheme
Effect test

Embodiment Construction

[0056] The technical solutions of the present invention are further described in detail below with reference to the accompanying drawings, but the protection scope of the present invention is not limited to the following.

[0057] like figure 1 As shown, the present invention provides an RGB-D-based forklift reversing obstacle avoidance method. The installation position of the camera in this method is as follows Figure 4 As shown, make sure that the angle of the camera is level with respect to the ground. This method first needs to preprocess the acquired depth map to improve the quality of the depth map. The preprocessing steps are as follows: figure 2 The concrete steps of the present invention are as follows:

[0058] Step 1: The camera is installed horizontally on the leg of the forklift, parallel to the horizontal ground, and the RGB-D camera installed on the forklift is used to obtain the three-dimensional depth image and RGB image, and the depth image is preprocess...

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 discloses a forklift reversing and obstacle avoiding method based on RGB-D. According to the method, an RGB-D camera is adopted to obtain depth information and RGB information of a surrounding environment, and meanwhile, a producer-consumer model is utilized to realize the method. A producer is responsible for obtaining a depth map and an RGB map and preprocessing the depth map to improve the quality of the depth map. A consumer is responsible for detecting and avoiding a rear-placed obstacle, firstly, most irrelevant data is removed by using ROI, then, the position of the obstacle is roughly extracted by using background difference, finally, the obstacle is accurately segmented by using a three-dimensional threshold value, and the detection precision of the obstacle is improved and the false detection rate is reduced in combination with the RGB angular point information of the obstacle. The method has the advantages of simplicity in implementation, low operation consumption, high operation speed, low false detection rate and the like.

Description

technical field [0001] The invention relates to the technical field of image recognition and mobile robots, in particular to an RGB-D-based forklift retreating obstacle avoidance method. Background technique [0002] Since the beginning of the 21st century, robotics technology has undergone tremendous development, especially in the field of intelligent unmanned handling robots. Mobile handling robots are currently shining in the industrial field, such as intelligent unmanned jacking AGV, intelligent unmanned stacker, intelligent unmanned forklift, etc. In a complex factory environment, how to detect and avoid obstacles to ensure the safety of the robot's operation is the prerequisite for the robot to complete the task. In the obstacle avoidance function, the detection and avoidance of obstacles behind the mobile robot is an important part. At present, the detection and avoidance of obstacles behind autonomous mobile robots generally rely on ultrasonic sensors and obstacle ...

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): G06T7/00G06T7/62G06T7/70G06T7/80G06T5/40
CPCG06T7/0002G06T7/70G06T7/80G06T5/40G06T7/62G06T2207/30261G06T2207/10028
Inventor 钟深友魏璇曾金荣潘斌王洁
Owner 浙江科钛机器人股份有限公司