Methods, devices, controllers, and forklifts for controlling their working posture

Abstract

This application provides a method, device, controller, and forklift for controlling the operating posture of a forklift. The method includes: acquiring an image of the forklift's front captured by a camera; identifying a positioning line in the image; and controlling the forklift to travel within a preset angle range based on the angle between the positioning line and the forklift's orientation. By controlling the forklift to automatically align with the container based on the angle between the forklift's orientation and the positioning line, alignment accuracy is increased.

Description

Technical Field

[0001] This application relates to the field of vehicle technology, and in particular to a method, device, controller and forklift for controlling the working posture of a forklift. Background Technology

[0002] Forklifts (also known as stacker cranes or stacker forklifts) are widely used in the port and logistics industry for grabbing and placing containers. Forklifts enable the rapid and accurate movement and stacking of containers, reducing manual operation time and improving operational efficiency.

[0003] The relative position of the forklift and the container is not fixed. The forklift needs to move and align itself when grabbing or placing the container. If the alignment is not perfect, the operation may fail. In practice, positioning lines are usually marked on the site to improve alignment accuracy. However, manually controlling the forklift to align with the positioning lines will introduce some error.

[0004] Therefore, improving the positioning accuracy of forklifts is an urgent problem to be solved. Summary of the Invention

[0005] This application provides a method, device, controller, and forklift for controlling the working posture of a forklift, in order to improve the positioning accuracy of the forklift.

[0006] In a first aspect, this application provides a method for controlling the operating posture of a forklift, the method comprising:

[0007] Acquire images of the forklift from a camera;

[0008] Identify the bay lines in the image;

[0009] Based on the angle between the position line and the orientation of the forklift, the forklift is controlled to travel within a preset angle range.

[0010] In one possible implementation, the method further includes:

[0011] Obtain the angle between the position line and the forklift machine pose orientation line, and use it as the angle between the position line and the forklift machine pose orientation; wherein, the forklift machine pose orientation line is a preset line indicating the pose orientation of the forklift machine in the image.

[0012] In one possible implementation, controlling the forklift to travel within a preset angle range based on the angle between the position line and the forklift's orientation includes:

[0013] Determine whether the included angle is within the preset included angle range;

[0014] If the included angle is within the preset included angle range, then the forklift is controlled to travel in a straight line;

[0015] If the included angle is not within the preset included angle range, the forklift is controlled to turn and travel according to the included angle until the new position line and the forklift's position orientation angle reach the preset included angle range.

[0016] In one possible implementation, controlling the forklift's steering and travel according to the included angle includes:

[0017] Based on the preset correspondence between the included angle and the steering angle, the steering angle corresponding to the included angle is determined;

[0018] Control the forklift to rotate at the specified turning angle.

[0019] In one possible implementation, the method further includes:

[0020] The steering speed threshold is determined based on the steering angle, the wheelbase between the front and rear wheels of the forklift, the weight of the forklift, the weight of the container, the height of the container, and a preset anti-tipping coefficient.

[0021] Accordingly, controlling the forklift to rotate at the steering angle includes:

[0022] The stacker is controlled to rotate the steering angle at a speed less than or equal to the steering threshold.

[0023] In one possible implementation, determining the steering speed threshold based on the steering angle, the wheelbase between the front and rear wheels of the forklift, the weight of the forklift, the weight of the container, the height of the container, and a preset anti-tipping coefficient includes:

[0024] The stabilizing torque is determined based on the weight of the forklift, the weight of the container, and the height of the container;

[0025] The maximum rollover moment is determined based on the mapping relationship between the rollover moment, the stabilizing moment, and the anti-rollover coefficient;

[0026] The steering speed threshold is determined based on the maximum rollover moment.

[0027] In one possible implementation, the mapping relationship is such that the overturning moment divided by the stabilizing moment is greater than or equal to the anti-overturning coefficient.

[0028] In one possible implementation, obtaining the angle between the bayonet line and the forklift machine pose orientation line includes:

[0029] Determine the equation of the first straight line of the Béidl line in the image;

[0030] Determine the equation of the second straight line in the image representing the pose orientation line of the forklift machine;

[0031] The included angle is determined based on the equations of the first and second lines.

[0032] Secondly, this application also provides a control device for the operating posture of a forklift, the device comprising:

[0033] The acquisition module is used to acquire images of the front of the forklift captured by the camera;

[0034] The recognition module is used to identify the bay lines in the image;

[0035] The control module is used to control the forklift to travel within a preset angle range based on the angle between the position line and the orientation of the forklift.

[0036] Thirdly, this application also provides a controller, including: a memory and a processor;

[0037] The memory stores computer-executed instructions;

[0038] The processor executes computer execution instructions stored in the memory, causing the processor to perform the first aspect and / or various possible implementations of the first aspect.

[0039] Fourthly, this application also provides a forklift machine, the forklift machine including a controller for performing the first aspect and / or various possible implementations of the first aspect.

[0040] Fifthly, embodiments of this application provide a computer-readable storage medium storing computer-executable instructions, which, when executed by a processor, are used to implement the first aspect and / or various possible implementations of the first aspect.

[0041] In a sixth aspect, embodiments of this application provide a computer program product, including a computer program that, when executed by a processor, implements the first aspect and / or various possible implementations of the first aspect.

[0042] This application provides a method, device, controller, and forklift for controlling the operating posture of a forklift. The method includes: acquiring an image of the forklift's front captured by a camera; identifying a positioning line in the image; and controlling the forklift to travel within a preset angle range based on the angle between the positioning line and the forklift's orientation. The forklift is automatically aligned with the container based on the angle between its orientation and the positioning line, increasing alignment accuracy. Attached Figure Description

[0043] The accompanying drawings, which are incorporated in and form part of this specification, illustrate embodiments consistent with this application and, together with the description, serve to explain the principles of this application.

[0044] Figure 1 Conceptual schematic diagram provided for this application;

[0045] Figure 2 Flowchart of the control method for the working posture of the forklift provided in this application Figure 1 ;

[0046] Figure 3 A schematic diagram of a forklift machine provided in this application;

[0047] Figure 4 A schematic diagram of the images taken for this application;

[0048] Figure 5 A schematic diagram illustrating an angle control method provided in this application;

[0049] Figure 6 A schematic diagram illustrating the relationship between the position line and the orientation of the forklift machine is provided for this application;

[0050] Figure 7 A schematic diagram for identifying bayonet lines provided in this application;

[0051] Figure 8 This application provides a schematic diagram of a forklift turning mechanism;

[0052] Figure 9 A schematic diagram of the center of gravity of a forklift machine provided in this application;

[0053] Figure 10 The flowchart for controlling the working posture of the forklift provided in this application Figure 2 ;

[0054] Figure 11 A schematic diagram of the control device for the working posture of the forklift provided in this application;

[0055] Figure 12 A schematic diagram of the structure of the electronic device provided in this application.

[0056] The accompanying drawings illustrate specific embodiments of this application, which will be described in more detail below. These drawings and descriptions are not intended to limit the scope of the concept in any way, but rather to illustrate the concept of this application to those skilled in the art through reference to particular embodiments. Detailed Implementation

[0057] Exemplary embodiments will now be described in detail, examples of which are illustrated in the accompanying drawings. When the following description relates to the drawings, unless otherwise indicated, the same numbers in different drawings denote the same or similar elements. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with this application. Rather, they are merely examples of apparatuses and methods consistent with some aspects of this application as detailed in the appended claims.

[0058] First, let me explain the terms used in this application:

[0059] Forklift: A type of mechanical equipment used for handling, stacking and storing goods, especially widely used in environments such as warehouses, ports and logistics centers.

[0060] When forklifts are handling containers, there is a need for container alignment. Misalignment can lead to operational failures. In practice, alignment lines are typically marked on the site to improve accuracy. However, manually controlling the forklift to align with these lines can introduce errors.

[0061] In view of the above problems, the forklift operation posture control method provided in this application automatically controls the forklift's posture orientation by controlling the angle between the forklift's orientation and the positioning line, so as to align the forklift with the container and improve the positioning accuracy of the forklift. Figure 1 The conceptual diagrams provided for this application, such as Figure 1 As shown, when the forklift has a certain angle with the positioning line, control the forklift to turn until the direction of the forklift is the same as that of the positioning line, and control the forklift to travel in a straight line so that the forklift and the container are aligned.

[0062] The application scenarios for this application can be that the forklift grabs the container, drives it to align it, and then places the container, or it can grab the container while it is empty.

[0063] The subject of this application is the vehicle controller of the forklift, or it may be a chip or processor in the controller.

[0064] The technical solution of this application and how the technical solution of this application solves the above-mentioned technical problems are described in detail below with specific embodiments. These specific embodiments can be combined with each other, and the same or similar concepts or processes may not be described again in some embodiments. The embodiments of this application will now be described with reference to the accompanying drawings.

[0065] Figure 2 Flowchart of the control method for the working posture of the forklift provided in this application Figure 1 ,like Figure 2 As shown, the method includes:

[0066] S101. Acquire an image of the forklift machine captured by a camera.

[0067] In this step, the camera on the forklift is rigidly connected to the forklift, and the position of the camera is preset, so the change in the image source's viewing angle is synchronized with the change in the forklift's pose orientation. Figure 3 A schematic diagram of a forklift provided in this application is shown below. Figure 3 As shown, the forklift is equipped with a vision camera (i.e., a webcam) that can capture images of a predetermined angle in front of the forklift. A lidar sensor can also be installed at the bottom of the gantry below the forklift to obtain the distance to the container in front, thus determining the container's position for grabbing. The controller acquires the image data captured by the camera in real time.

[0068] S102, Identify the B-line in the image.

[0069] In one implementation, a neural network model (such as the LaneNet (AF) model) is used to detect the vertical beta lines in the image to obtain their positions on the image.

[0070] For example, Figure 4 This is a schematic diagram of the image taken for this application, from which the vertical bay lines can be identified.

[0071] S103. Based on the angle between the position line and the orientation of the forklift, control the forklift to travel within the preset angle range.

[0072] In one possible implementation, after obtaining the image, the forklift's pose orientation line is marked on the image. Since the camera is fixed on the forklift, the position of the forklift's pose orientation in the image is fixed. The angle between the camera position line and the forklift's pose orientation line is obtained as the angle between the camera position line and the forklift's pose orientation.

[0073] In one possible implementation, a first angle between the forklift's orientation and a certain direction in the image is pre-determined based on the camera's orientation. After obtaining the position line, a second angle between the position line and that direction is determined. The angle between the position line and the forklift's orientation can be determined based on the difference between the first and second angles.

[0074] After obtaining the angle between the position line and the orientation of the forklift, it is determined whether the angle is within the preset angle range. If it exceeds the preset angle, the forklift needs to be turned and the new angle between the position line and the orientation of the forklift needs to be obtained again until the new angle reaches the preset angle range. Then, the forklift is controlled to travel in a straight line within the preset angle range.

[0075] For example, such as Figure 5 As shown, Figure 5This is a schematic diagram of an angle control provided by this application. The preset angle range is a gray area of ​​-2° to 2°. The preset angle range can also be set to other ranges. This is just an example.

[0076] When the included angle is in the range of -2° to 2°, maintain straight driving.

[0077] When the included angle is in the range of -60° to -2°, the vehicle turns right.

[0078] When the angle is between 2° and 60°, the vehicle turns left.

[0079] This embodiment provides a method for controlling the operating posture of a forklift. The method includes: acquiring an image of the forklift's front captured by a camera; identifying the positioning line in the image; and controlling the forklift to travel within a preset angle range based on the angle between the positioning line and the forklift's orientation. This method automatically aligns the forklift with the container based on the angle between the forklift's orientation and the positioning line, increasing alignment accuracy.

[0080] The following embodiment details how to determine the angle between the position line and the forklift machine's orientation.

[0081] Figure 6 This application provides a schematic diagram illustrating the relationship between the position line and the orientation of the forklift machine. Figure 6 Image a is a top-down view of the actual situation, with the angle between the forklift's orientation and the position line being θ. However, in practical applications, a top-down view is not possible. The camera is mounted on the forklift, thus generating the image source shown in image b. Due to the camera's orientation and parameters, the image is distorted, resulting in the image shown in image b. However, because the camera is mounted on the forklift, the forklift's orientation line remains constant across all images, forming a straight line with a fixed slope, while the position line varies from image to image. As shown in image c, the forklift's orientation line at a preset angle can be marked on the image.

[0082] Therefore, the equation of the forklift machine's orientation line in the image (i.e., the equation of the first straight line) can be obtained as follows:

[0083] f(x) = ax + b

[0084] Where a is the preset slope, b is a variable constant, and x is the independent variable of the horizontal axis in the image.

[0085] Furthermore, it is necessary to determine the equation of the straight line of the Beveline. Figure 7 A schematic diagram for identifying bevel lines provided in this application, such as Figure 7As shown, the position of the vertical beta line in the image can be detected using a neural network model. Two points (x1, y1) and (x2, y2) are marked on a vertical beta line. These two points can be the two ends of the vertical beta line. Based on these two points, the equation of the beta line in the image (i.e., the second line equation) can be determined as follows:

[0086]

[0087] The angle θ between the Béla profile and the orientation of the forklift machine can be solved using the two equations:

[0088]

[0089] By solving the formula using two straight lines, the angle between the B-line and the orientation of the forklift can be accurately calculated.

[0090] After obtaining the angle between the position line and the forklift's orientation, if the angle is less than a preset range, the forklift needs to be steered. However, the angle is the angle between two lines in the image, and it needs to be converted to the forklift's actual steer angle.

[0091] Therefore, it is necessary to determine the turning angle corresponding to the preset angle and the turning angle, and then control the forklift to rotate at the determined turning angle.

[0092] The preset correspondence between the included angle and the turning angle is a mapping relationship between the included angle in the distorted image and the actual turning required, which is determined in advance based on a large number of experiments. The mapping relationship is also related to the camera's setting position and orientation. Once the camera's setting position and orientation are fixed, this relationship is fixed.

[0093] For example, steering angle equal:

[0094]

[0095] Once the steering angle is obtained, the forklift can be steered according to that angle. Figure 8 This application provides a schematic diagram of a forklift turning mechanism, such as... Figure 8 As shown, the actual rotation of the forklift is controlled. Angle. In real-world scenarios, steering angles vary in size. Larger steering angles often require higher speeds to adjust, while smaller angles only require minor adjustments. However, excessive speed during steering adjustments can cause the vehicle to tilt or even overturn. Therefore, steering speeds need to be limited to ensure the safety of forklift operations.

[0096] When designing anti-tipping measures for forklifts during operation, it is necessary to consider the factors that affect tipping. The first factor is the turning speed; the higher the speed, the greater the centrifugal force, and the easier it is to tip over. The second factor is the center of gravity of the forklift; the further the center of gravity is offset, the easier it is for the vehicle to tip over. The third factor is the turning angle, which determines the turning radius of the forklift and affects the centrifugal force.

[0097] Therefore, it is necessary to conduct force analysis on the vehicle and design control strategies.

[0098] Figure 9 The present application provides a schematic diagram of the center of mass of a forklift, wherein figure a shows the center of mass position when unloaded, figure b shows the overall center of mass when the load is added, and figure c shows the center of mass when the load is grabbed to a high point.

[0099] With the longitudinal direction of the vehicle as the x-axis, the direction perpendicular to the longitudinal direction of the vehicle as the y-axis, and the height as the z-axis, the center of mass when unloaded is set as (x1, y1, z1), the mass of the vehicle is M, the mass of the load is m, the height of the spreader is h, and the center of mass of the load is usually at the end of the spreader (x2, y1, h).

[0100] Therefore, the overall centroid under workload

[0101]

[0102] When unloaded, the mass of the load is 0, and the centroid of the load when unloaded can be predetermined and stored in the controller.

[0103] Based on the above centroid, the stabilizing torque M1 of the forklift can be obtained as follows:

[0104]

[0105] Wherein, the weight of the loaded vehicle is M+m, and the vertical distance from the center of mass to the ground is...

[0106] The vehicle's rollover moment M2 is:

[0107]

[0108] like Figure 8 As shown, F is the centrifugal force for steering, v is the steering speed, and r is the steering radius.

[0109] The turning radius is related to the turning angle and the track width between the front and rear wheels.

[0110]

[0111] in, ω represents the steering angle, and w represents the front and rear track width.

[0112] To avoid the risk of overturning, the stabilizing moment divided by the overturning moment must be greater than or equal to the preset anti-overturning coefficient L. The anti-overturning coefficient is obtained based on experience and can be set to 1.4, 1.5, or 1.3.

[0113]

[0114] Therefore, the maximum overturning moment can be obtained, and thus the expression for the turning speed v can be derived:

[0115]

[0116] For example, if L is taken as 1.4, and the relationship between the included angle and the steering angle is substituted, the maximum steering speed can be obtained:

[0117]

[0118] Where θ is the angle between the position line and the orientation of the forklift machine. Within the preset angle range of -2 to 2 degrees, the machine maintains a preset speed for straight-line travel. In this example, the speed is shown to be 30 km / h, but it can also be set to other speeds.

[0119] The formula for maximum steering speed shows that the higher the load or the heavier the load, the higher the overall center of gravity, and the lower the maximum steering speed.

[0120] The above formula can be used to determine the turning speed under different angle conditions. The forklift can be controlled to travel at the maximum turning speed, or at 80% of the maximum turning speed, or at 70% of the maximum turning speed. There are no restrictions here, and it can be set as needed, but it cannot exceed the maximum turning speed.

[0121] By limiting the maximum turning speed, safe speed control for forklifts to containers can be achieved. This control is dynamic rather than simply limiting it to a low speed.

[0122] The following is a complete example.

[0123] Figure 10 The flowchart for controlling the working posture of the forklift provided in this application Figure 2 ,like Figure 10 As shown.

[0124] Step 1: Obtain the image source.

[0125] The controller acquires images from the camera in real time.

[0126] Step 2: Detect lane markings using an AI model.

[0127] The acquired image sources undergo preprocessing to ensure they fit the model input, thereby improving detection accuracy and efficiency. Image size is adjusted to match the input image dimensions required by the model. Pixel values ​​are scaled to the range used during model training; specifically, this is achieved by normalizing pixel values ​​by dividing them by 255. Optionally, filters such as Gaussian blur are used to smooth the image, reducing noise and improving the clarity of lane marking detection.

[0128] The processed image is fed into a pre-trained LaneNet model for inference, and the model returns lane line segmentation results. The model's output, typically containing lane line masks or segmentation maps, is parsed to identify lane lines in the image.

[0129] Step 3: Obtain the direction line of the vehicle's forward movement.

[0130] The direction line of the vehicle's forward movement is preset in the image; it is a straight line with a specified slope and can be translated in the image to create an angle with the position line.

[0131] Step 4: Calculate the included angle between the two line segments.

[0132] Step 5: Adjust the left and right orientation of the forklift to reduce the included angle.

[0133] Step 6: Limit steering speed by controlling the anti-rollover speed.

[0134] The anti-rollover speed is the maximum steering speed in the aforementioned embodiments, and its calculation method will not be described here.

[0135] Step 7: Determine whether the included angle is less than the preset included angle P.

[0136] If there is no angle smaller than the preset angle P, return to step five.

[0137] If the angle is less than the preset angle P, proceed to step eight.

[0138] Step 8: Control the vehicle to travel in a straight line.

[0139] Step 9: Align the keyholes or the box positions.

[0140] The positioning line serves as an auxiliary reference line. When the forklift is moved within the positioning line range, it indicates that the forklift is on the indicated optimal path, improving alignment accuracy. Furthermore, to increase alignment precision, upon reaching the target position, precise alignment is achieved by calculating the position of the locking hole or container in the image.

[0141] The above steps constitute the basic process of forklift attitude control, ensuring that the forklift can effectively identify the bay positioning line and make corresponding control decisions. In the control strategy, by controlling the steering angle, the angle between the bay positioning line and the forklift's orientation is kept within a preset range, achieving auxiliary and automatic alignment between the forklift's orientation and the container's orientation, and controlling the lateral error of the finally aligned container to within 20mm.

[0142] In the above embodiments, even if the angle between the bayonet line and the forklift's orientation is within a preset range, there may still be cases where the forklift is outside the bayonet line and parallel to it. Therefore, judging solely by the angle may lead to misjudgment, necessitating the addition of judgment regarding the forklift's position point. The preset position point in the captured image is within the extension line of the bayonet line, ensuring the forklift does not exceed the bayonet line area. The preset position point can be the midpoint of the bottom edge of the image, or other position points; no limitation is imposed here. By restricting the forklift's position to within the bayonet line, and controlling its orientation by the angle, alignment accuracy is increased. If the preset position point in the image is not within the extension line of the bayonet line, the vehicle needs to be controlled to move into the bayonet line area.

[0143] Figure 11 A schematic diagram of the structure of the control device for the working posture of the forklift provided in this application is shown below. Figure 11 As shown, the forklift operator control device 110 provided in this embodiment includes:

[0144] The acquisition module 1101 is used to acquire images of the front of the forklift captured by the camera;

[0145] The recognition module 1102 is used to recognize the bay lines in the image;

[0146] The control module 1103 is used to control the forklift to travel within a preset angle range based on the angle between the position line and the orientation of the forklift.

[0147] In one possible implementation, the acquisition module 1101 is further configured to:

[0148] Obtain the angle between the position line and the forklift machine pose orientation line, and use it as the angle between the position line and the forklift machine pose orientation; wherein, the forklift machine pose orientation line is a preset line indicating the pose orientation of the forklift machine in the image.

[0149] In one possible implementation, the control module 1103 is specifically used for:

[0150] Determine whether the included angle is within the preset included angle range;

[0151] If the included angle is within the preset included angle range, then the forklift is controlled to travel in a straight line;

[0152] If the included angle is not within the preset included angle range, the forklift is controlled to turn and travel according to the included angle until the new position line and the forklift's position orientation angle reach the preset included angle range.

[0153] In one possible implementation, the control module 1103 is further configured to:

[0154] Based on the preset correspondence between the included angle and the steering angle, the steering angle corresponding to the included angle is determined;

[0155] Control the forklift to rotate at the specified turning angle.

[0156] In one possible implementation, the device further includes a determining module 1104;

[0157] The determining module 1104 is used to determine the turning speed threshold based on the turning angle, the wheelbase between the front and rear wheels of the stacker, the weight of the stacker, the weight of the container, the height of the container, and a preset anti-tipping coefficient.

[0158] Accordingly, the control module 1103 is also used for:

[0159] The stacker is controlled to rotate the steering angle at a speed less than or equal to the steering threshold.

[0160] In one possible implementation, the determining module 1104 is specifically used for:

[0161] The stabilizing torque is determined based on the weight of the forklift, the weight of the container, and the height of the container;

[0162] The maximum rollover moment is determined based on the mapping relationship between the rollover moment, the stabilizing moment, and the anti-rollover coefficient;

[0163] The steering speed threshold is determined based on the maximum rollover moment.

[0164] In one possible implementation, the mapping relationship is such that the overturning moment divided by the stabilizing moment is greater than or equal to the anti-overturning coefficient.

[0165] In one possible implementation, the acquisition module 1101 is further configured to:

[0166] Determine the equation of the first straight line of the Béidl line in the image;

[0167] Determine the equation of the second straight line in the image representing the pose orientation line of the forklift machine;

[0168] The included angle is determined based on the equations of the first and second lines.

[0169] The forklift operation posture control device provided in this embodiment can execute the method provided in the above method embodiment. Its implementation principle and technical effect are similar, and will not be described in detail here.

[0170] Figure 12 This is a schematic diagram of the electronic device provided in this application, which can be a controller for a forklift. Figure 12 As shown, the electronic device 50 provided in this embodiment includes at least one processor 501 and a memory 502. Optionally, the device 50 further includes a communication component 503. The processor 501, memory 502, and communication component 503 are connected via a bus 504.

[0171] In a specific implementation, at least one processor 501 executes computer execution instructions stored in memory 502, causing at least one processor 501 to perform the above-described method.

[0172] The specific implementation process of processor 501 can be found in the above method embodiments, and its implementation principle and technical effect are similar. It will not be repeated here.

[0173] In the above embodiments, it should be understood that the processor can be a Central Processing Unit (CPU), or other general-purpose processors, digital signal processors (DSPs), application-specific integrated circuits (ASICs), etc. The general-purpose processor can be a microprocessor or any conventional processor. The steps of the method disclosed in this invention can be directly implemented by a hardware processor, or implemented by a combination of hardware and software modules within the processor.

[0174] The memory may include random access memory (RAM) and may also include non-volatile memory (NVM), such as at least one disk storage device.

[0175] The bus can be an Industry Standard Architecture (ISA) bus, a Peripheral Component Interconnect (PCI) bus, or an Extended Industry Standard Architecture (EISA) bus, etc. Buses can be categorized as address buses, data buses, control buses, etc. For ease of illustration, the buses shown in the accompanying drawings are not limited to a single bus or a single type of bus.

[0176] This application also provides a forklift machine, which includes a camera and a controller. The camera and the controller are connected, and the controller is capable of performing the methods of any of the above embodiments based on the images captured by the camera.

[0177] This application also provides a computer program product, including a computer program that, when executed by a processor, implements the above-described method.

[0178] This application also provides a computer-readable storage medium storing computer-executable instructions, which, when executed by a processor, implement the above-described method.

[0179] The aforementioned readable storage medium can be implemented by any type of volatile or non-volatile storage device or a combination thereof, such as static random access memory (SRAM), electrically erasable programmable read-only memory (EEPROM), erasable programmable read-only memory (EPROM), programmable read-only memory (PROM), read-only memory (ROM), magnetic storage, flash memory, magnetic disk, or optical disk. The readable storage medium can be any available medium accessible to a general-purpose or special-purpose computer.

[0180] An exemplary readable storage medium is coupled to a processor, enabling the processor to read information from and write information to the readable storage medium. Of course, the readable storage medium can also be a component of the processor. The processor and the readable storage medium can reside in an Application Specific Integrated Circuit (ASIC). Alternatively, the processor and the readable storage medium can exist as discrete components in the device.

[0181] The division of units is merely a logical functional division; in actual implementation, there may be other division methods. For example, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed. Furthermore, the coupling or direct coupling or communication connection shown or discussed may be indirect coupling or communication connection through some interfaces, devices, or units, and may be electrical, mechanical, or other forms.

[0182] The units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the units can be selected to achieve the purpose of this embodiment according to actual needs.

[0183] In addition, the functional units in the various embodiments of the present invention can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit.

[0184] If a function is implemented as a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of this invention, or the part that contributes to the prior art, or a part of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods of the various embodiments of this invention. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, portable hard drives, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical disks.

[0185] Those skilled in the art will understand that all or part of the steps of the above-described method embodiments can be implemented by hardware related to program instructions. The aforementioned program can be stored in a computer-readable storage medium. When executed, the program performs the steps of the above-described method embodiments; and the aforementioned storage medium includes various media capable of storing program code, such as ROM, RAM, magnetic disks, or optical disks.

[0186] Finally, it should be noted that other embodiments of the invention will readily occur to those skilled in the art upon consideration of the specification and practice of the invention disclosed herein. This invention is intended to cover any variations, uses, or adaptations of the invention that follow the general principles of the invention and include common knowledge or customary techniques in the art not disclosed herein, and is not limited to the precise structures described above and shown in the accompanying drawings, and various modifications and changes can be made without departing from its scope. The scope of the invention is limited only by the appended claims.

Claims

1. A control method of a working posture of a lift truck, characterized by, The method comprises: acquiring an image of a front of a stacker crane captured by a camera; identifying a bay line in the image; controlling the stacker crane to travel within a preset angle range according to an included angle between the bay line and a stacker crane pose orientation; The method further comprises: determining a first straight line equation of the bay line in the image; determining a second straight line equation of a stacker crane pose orientation line in the image; determining the included angle between the bay line and the stacker crane pose orientation line as the included angle between the bay line and the stacker crane pose orientation according to the first straight line equation and the second straight line equation; wherein the stacker crane pose orientation line is a preset line indicating a pose orientation of the stacker crane in the image, and a slope of the stacker crane pose orientation line in each image is fixed.

2. The method of claim 1, wherein, The control of the stacker crane to travel within the preset angle range according to the included angle between the bay line and the stacker crane pose orientation comprises: determining whether the included angle is within the preset angle range; if the included angle is within the preset angle range, controlling the stacker crane to travel straight; if the included angle is not within the preset angle range, controlling the stacker crane to turn according to the included angle until a new included angle between the bay line and the stacker crane pose orientation reaches the preset angle range.

3. The method of claim 2, wherein, The control of the stacker crane to turn according to the included angle comprises: determining a turning angle corresponding to the included angle according to a preset correspondence between the included angle and the turning angle; controlling the stacker crane to turn by the turning angle.

4. The method of claim 3, wherein, The method further comprises: determining a turning speed threshold according to the turning angle, a wheelbase between front wheels and rear wheels of the stacker crane, a weight of the stacker crane, a weight of a container, a height of the container, and a preset rollover prevention coefficient; Correspondingly, the control of the stacker crane to turn by the turning angle comprises: controlling the stacker crane to turn by the turning angle at a speed less than or equal to the turning speed threshold.

5. The method of claim 4, wherein, The determination of the turning speed threshold according to the turning angle, the wheelbase between the front wheels and the rear wheels of the stacker crane, the weight of the stacker crane, the weight of the container, the height of the container, and the preset rollover prevention coefficient comprises: determining a stable moment according to the weight of the stacker crane, the weight of the container, and the height of the container; determining a maximum rollover moment according to a mapping relationship among a rollover moment, the stable moment, and the rollover prevention coefficient; determining the turning speed threshold according to the maximum rollover moment.

6. The method of claim 5, wherein, The mapping relationship is that the rollover moment divided by the stable moment is greater than or equal to the rollover prevention coefficient.

7. A control device for the working posture of a forklift, characterized in that, The device comprises: an acquisition module configured to acquire an image of a front of a stacker crane captured by a camera; an identification module configured to identify a bay line in the image; a control module configured to control the stacker crane to travel within a preset angle range according to an included angle between the bay line and a stacker crane pose orientation; The acquisition module is further configured to: determine a first straight line equation of the bay line in the image; determine a second straight line equation of a stacker crane pose orientation line in the image; According to the first linear equation and the second linear equation, an included angle between the berth line and a stacker pose orientation line is determined as an included angle between the berth line and a pose orientation of the stacker, wherein the stacker pose orientation line is a preset line indicating a pose orientation of the stacker in the image, and a slope of the stacker pose orientation line in each image is fixed.

8. A controller characterized by, Comprising: a memory, a processor; the memory stores computer-executed instructions; the processor executes the computer-executed instructions stored by the memory, so that the processor executes the method according to any one of claims 1-6.

9. A lift comprising: The stacker comprises a controller, and the controller is configured to execute the method according to any one of claims 1-6.

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