Forklift control method, forklift control device, equipment and computer storage medium

Abstract

The invention provides a forklift control method, a forklift control device, forklift control equipment and a computer storage medium. The forklift control method comprises the steps that a three-dimensional camera installed on the forklift is used for collecting a cylindrical axis point cloud; based on the cylindrical axis point cloud, obtaining a cylindrical axis pose; on the basis of the cylindrical shaft pose, the descending height and target coordinates of the forklift are obtained; and a spool on the forklift is controlled to descend according to the descending height, and the forklift is moved to the target coordinate so that the spool can be placed on the cylindrical shaft. By means of the forklift control method, the forklift 3D camera is used for recognizing the cylindrical shaft, the arrival point where the vehicle needs to retreat can be accurately obtained, the descending height of the fork teeth can be accurately obtained, traditional schemes of pasting two-dimensional codes can be reduced, and the labor cost is greatly reduced.

Description

Technical Field

[0001] The present application relates to the field of robot recognition technology, and in particular to a forklift control method, a forklift control device, a forklift control equipment and a computer storage medium. Background Art

[0002] At present, the common process of I-wheel identification and axle alignment is as follows: the forklift stops at the preparation point for code pasting; the downward camera on the forklift is used to identify the QR code; the vehicle adjustment trajectory is planned and the vehicle position is adjusted according to the code pasting position; the forklift backs up in a straight line to make the I-wheel on the vehicle butt with the axle. That is, the vehicle stops at the preparation point, uses the downward camera to identify the pasted code, adjusts the vehicle trajectory according to the recognition result, and backs up the vehicle to make the I-wheel butt with the axle.

[0003] However, the solution of sticking QR codes requires workers to manually stick the QR codes at the standard position before each I-shaped wheel is docked with the shaft, which consumes a lot of manpower costs. In addition, the manual sticking of QR codes is prone to large errors, resulting in low docking accuracy. Summary of the invention

[0004] In order to solve the above technical problems, the present application proposes a forklift control method, a forklift control device, a forklift control equipment and a computer storage medium.

[0005] In order to solve the above technical problems, the present application proposes a forklift control method, which includes:

[0006] Collecting a cylindrical axis point cloud using a three-dimensional camera installed on the forklift;

[0007] Based on the cylindrical axis point cloud, obtaining the cylindrical axis position and posture;

[0008] Based on the cylindrical axis position, obtaining the descent height and target coordinates of the forklift;

[0009] The I-shaped wheel on the forklift is controlled to descend according to the descending height, and the forklift is moved to the target coordinate to place the I-shaped wheel on the cylindrical shaft.

[0010] In order to solve the above technical problems, the present application also proposes a forklift control device, which includes: a collection module, a posture module, a planning module, and a control module; wherein,

[0011] The acquisition module is used to acquire the cylindrical axis point cloud using a three-dimensional camera installed on the forklift;

[0012] The posture module is used to obtain the cylinder axis posture based on the cylinder axis point cloud;

[0013] The planning module is used to obtain the descent height and target coordinates of the forklift based on the cylindrical axis posture;

[0014] The control module is used to control the I-shaped wheel on the forklift to descend according to the descending height, and to move the forklift to the target coordinate so as to place the I-shaped wheel on the cylindrical shaft.

[0015] To solve the above technical problems, the present application also proposes a forklift control device, which includes a memory and a processor coupled to the memory; wherein the memory is used to store program data, and the processor is used to execute the program data to implement the forklift control method as described above.

[0016] In order to solve the above technical problems, the present application further proposes a computer storage medium, wherein the computer storage medium is used to store program data, and when the program data is executed by a computer, it is used to implement the above forklift control method.

[0017] Compared with the prior art, the beneficial effects of the present application are as follows: the forklift control device uses a three-dimensional camera installed on the forklift to collect the cylindrical axis point cloud; based on the cylindrical axis point cloud, the cylindrical axis position is obtained; based on the cylindrical axis position, the descent height and target coordinates of the forklift are obtained; the I-shaped wheel on the forklift is controlled to descend according to the descent height, and the forklift is moved to the target coordinate to place the I-shaped wheel on the cylindrical axis. Through the above-mentioned forklift control method, the forklift 3D camera is used to identify the cylindrical axis, which can accurately obtain the point where the vehicle needs to retreat and the height to which the fork tines are lowered, which can reduce the traditional solution of pasting QR codes and greatly reduce labor costs. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings required for use in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0019] in:

[0020] Figure 1 This is a schematic diagram of a scenario in which a fork-root 3D camera is used to identify an axle and insert an I-shaped wheel into the axle, as provided by the present application;

[0021] Figure 2 It is a flowchart of the first embodiment of the forklift control method provided by the present application;

[0022] Figure 3It is a schematic diagram of the process of the fork root 3D camera guiding the forklift to place the I-shaped wheel on the shaft provided by the present application;

[0023] Figure 4 yes Figure 2 The specific flow chart of step S11 of the forklift control method shown;

[0024] Figure 5 is a flow chart of a second embodiment of a forklift control method provided by the present application;

[0025] Figure 6 yes Figure 2 The specific flow chart of step S12 of the forklift control method shown;

[0026] Figure 7 is a flow chart of a third embodiment of a forklift control method provided by the present application;

[0027] Figure 8 is a flow chart of a fourth embodiment of a forklift control method provided by the present application;

[0028] Fig. 9 It is a structural schematic diagram of an embodiment of a forklift control device provided by the present application;

[0029] Fig.10 It is a structural schematic diagram of an embodiment of a forklift control device provided by the present application;

[0030] Fig.11 It is a structural diagram of an embodiment of a computer storage medium provided by the present application. DETAILED DESCRIPTION

[0031] The following will be combined with the drawings in the embodiments of the present application to clearly and completely describe the technical solutions in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0032] The terms "first", "second", "third", "fourth", etc. (if any) in the specification and claims of the present application and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. It should be understood that the data used in this way can be interchangeable where appropriate, so that the embodiments of the present application described herein can, for example, be implemented in an order other than those illustrated or described herein. In addition, the terms "including" and "having" and any of their variations are intended to cover non-exclusive inclusions, for example, a process, method, system, product or device that includes a series of steps or units is not necessarily limited to those steps or units that are clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.

[0033] The present application provides a solution for placing an I-shaped wheel on a cylindrical shaft by using a 3D camera installed at the fork root to identify and guide a forklift. The forklift loaded with the I-shaped wheel is stopped in front of the cylindrical shaft matched with the I-shaped wheel. The 3D camera at the fork root is used to identify the center point, direction and height of the cylindrical shaft, guide the forklift loaded with the I-shaped wheel to move backward, and after the I-shaped wheel enters the cylindrical shaft stably, the fork teeth are lowered to put the I-shaped wheel on the shaft, and the task is completed.

[0034] Please refer to Figure 1 , Figure 1 This is a schematic diagram of the scenario provided by the present application of using a fork root 3D camera to identify the shaft so as to put the I-wheel through the shaft. Set the direction of the forklift head to the positive direction of the x-axis, the ground facing up to the positive direction of the z-axis, and the right-hand coordinate system head facing left to the positive direction of the y-axis. Among them, the 3D camera is installed in the middle position of the fork root. The position where the forklift starts to identify is set as the initial position, and the 3D camera can collect the point cloud of the docking shaft and part of the I-wheel. Two fork teeth are arranged above the two fork roots, and the two fork teeth are provided with I-wheels to be docked, and the hole in the middle of the I-wheel is used to dock the cylindrical shaft.

[0035] The forklift slowly backs up to the cylindrical shaft to be identified. The fork tine is raised so that the 3D camera can see the entire cylindrical shaft and the lower edge of the I-shaped wheel. The fork root 3D camera identifies and fits the tip and direction of the cylindrical shaft and converts it into the position information that the forklift wants to reach. The center of the cylindrical shaft is fitted to convert it into the height to which the fork tine should be lowered. The fork tine is lowered to the specified height, and the retreat path is planned. The forklift follows the trajectory to reach the target point, lowers the fork tine, places the I-shaped wheel, and the task is completed.

[0036] based on Figure 1 For details, please refer to the schematic diagram of the scene shown in Figure 2 and Figure 3 , Figure 2 is a flow chart of the first embodiment of the forklift control method provided by the present application, Figure 3 It is a schematic diagram of the process of the fork root 3D camera guiding the forklift to place the I-shaped wheel on the shaft provided by the present application.

[0037] The forklift control method of the present application is applied to a forklift control device, wherein the forklift control device of the present application can be a server, a terminal device, or a system in which a server and a terminal device cooperate with each other. Accordingly, the various parts of the forklift control device, such as various units, subunits, modules, and submodules, can all be set in the server, can all be set in the terminal device, or can be set in the server and the terminal device respectively.

[0038] Furthermore, the above-mentioned server can be hardware or software. When the server is hardware, it can be implemented as a distributed server cluster consisting of multiple servers, or it can be implemented as a single server. When the server is software, it can be implemented as multiple software or software modules, such as software or software modules used to provide distributed servers, or it can be implemented as a single software or software module, which is not specifically limited here.

[0039] like Figure 2 As shown, the specific steps are as follows:

[0040] Step S11: using a three-dimensional camera installed on a forklift to collect the cylindrical axis point cloud.

[0041] In the embodiments of the present application, Figure 3 As shown, the forklift control device controls the forklift carrying the I-shaped wheel to slowly retreat in front of the cylindrical shaft and lift the fork teeth, so that the 3D camera can see the entire cylindrical shaft and the lower edge of the I-shaped wheel.

[0042] Then, the forklift control device uses a 3D camera to obtain the cylindrical axis point cloud, wherein the cylindrical axis point cloud can be obtained by screening the original point cloud through the currently common point cloud acquisition algorithm and point cloud recognition algorithm.

[0043] This application provides a specific solution for obtaining the cylindrical axis point cloud. For details, please refer to Figure 4 , Figure 4 yes Figure 2 The specific flow chart of step S11 of the forklift control method is shown.

[0044] like Figure 4 As shown, the specific steps are as follows:

[0045] Step S111: using a 3D camera installed on a forklift to collect the original point cloud.

[0046] In the embodiment of the present application, the forklift control device sets the radius of the cylindrical axis to be r cylinder , the approximate height of the cylinder axis is h cylinder , the radius of the I-shaped wheel is r roll The above parameters can be directly obtained or calibrated through hardware parameters.

[0047] Step S112: using the preset cylindrical axis model and forklift body model to crop the original point cloud, and / or using the cluster block interval with the most cluster points determined by clustering to crop the original point cloud to obtain the cylindrical axis point cloud.

[0048] In the embodiment of the present application, the forklift control device first calibrates the position relationship between the fork root 3D camera and the forklift through the tooling calibration. Then, the forklift control device performs a straight-through filter based on the point cloud ROI (region of interest) range and cuts the point cloud belonging to the pallet on the ground, that is, x∈(x min , x max ), y∈(y min ,y max ), z∈(z min , z max ).

[0049] Among them, x min , x max ,y min ,y max , z min , z max , is the prior effective area of ​​the cylindrical axis obtained by the forklift control device according to the length of the cylindrical axis and the vehicle body model, and its setting method is:

[0050] x min The distance between the surface of the I-shaped wheel close to the cylindrical axis and the 3D camera in the x direction. max y is the distance from the back edge of the cylinder axis to the 3D camera in the x direction. min ,y max Set to the maximum possible deviation in the y direction when the vehicle reaches the preparation point.

[0051] z min =h cylinder -r cyl i nder -Δ h_cylinder

[0052] z max =h cylinder +r cylinder +Δ h_cylinder

[0053] Among them, Δ h_cylinder is the preset redundancy.

[0054] Furthermore, the forklift control device can also remove noise points by clustering, that is, using region growing clustering or Euclidean clustering to obtain each cluster block, discarding the cluster block with a point number less than a given threshold, and selecting the cluster block with the largest number of points in the region as the point cloud of the cylindrical axis.

[0055] It should be noted that the point cloud to be clustered can be the original point cloud collected by the 3D camera or the point cloud cropped by the above model.

[0056] In order to improve the accuracy of subsequent cylindrical axis recognition and the accuracy of forklift control, after obtaining the cylindrical axis point cloud in this application, it is also necessary to perform a verification operation on the recognized cylindrical axis point cloud, which can not only prevent misrecognition caused by people or obstacles near the axis, but also prevent collision accidents caused by incorrect configurations such as the axis radius and height.

[0057] For details, please continue to refer to Figure 5 , Figure 5 which is a schematic flowchart of the second embodiment of the forklift control method provided by this application.

[0058] As Figure 5 shown, the specific steps are as follows:

[0059] Step S21: Divide the cylindrical axis point cloud into several point cloud intervals according to the preset axis direction.

[0060] In the embodiment of this application, the forklift control device divides the cylindrical axis point cloud into n equal parts according to the interval [[x min ,x max .

[0061] It should be noted that the cylindrical axis point cloud can be the point cloud cropped by the above model or the point cloud after removing noise by the above clustering.

[0062] Step S22: Traverse every two adjacent target point cloud intervals to obtain the upper point cloud interval and the lower point cloud interval of the two adjacent target point cloud intervals.

[0063] Step S23: When the upper point cloud interval or the lower point cloud interval does not meet the preset block condition, regard the two adjacent target point cloud intervals as the verification point cloud intervals.

[0064] In the embodiment of this application, the forklift control device calculates the maximum and minimum values y min_i ,y max_i ,z min_i ,z max_i of the y value and z value of each point cloud interval. Let i = 0, 1,..., n - 1, then traversing from small to large, there must exist 0 < p < q < n - 1 such that:

[0065] a max_rate *2r cylinder >y max_p -y min_p >a min_rate *2r cylinder

[0066] amax_rate *2r cylinder >z max_p -z min_p >a min_rate *2r cylinder

[0067] a max_rate *2r cylinder >y max_q -y min_q >a min_rate *2r cylinder

[0068] a max_rate *2r cylinder >z max_q -z min_q >a min_rate *2r cylinder

[0069] And the p-1th block or q+1th block does not meet the conditions, that is:

[0070] a max_rate *2r cylinder <y max_p-1 -y min_p-1 or

[0071] y max_p-1 -y min_p-1 >a min_rate *2r cylinder or

[0072] a max_rate *2r cylinder <y max_p-1 -y min_p-1 or

[0073] y max_p-1 -y min_p-1 >a min_rate *2r cylinder ;

[0074] a max_rate *2r cylinder <y max_q+1 -y min_q+1 or

[0075] y max_q+1 -y min_q+1 >a min_rate *2r cylinder or

[0076] a max_rate *2r cylinder <y max_q+1 -y min_q+1 or

[0077] y max_q+1 -y min_q+1 >a min_rate *2r cylinder ;

[0078] Thereby, the forklift control device determines the verification point cloud area [p, q].

[0079] Step S24: Obtain the maximum point cloud length of the verification point cloud interval in the preset axis direction.

[0080] Step S25: When the difference between the maximum point cloud length and the axis length of the cylinder axis is within a preset threshold range, the cylinder axis point cloud verification passes.

[0081] In the embodiment of the present application, the forklift control device verifies that if the length difference between all point clouds in [p, q] and the cylindrical axis is within a given threshold range, the cylindrical axis verification passes; otherwise, the verification fails, an alarm is issued, and subsequent identification and control are not performed.

[0082] Step S12: Based on the cylinder axis point cloud, obtain the cylinder axis position and posture.

[0083] In the embodiment of the present application, the forklift control device fits the cylindrical axis point cloud to obtain the position relationship of the cylindrical axis point cloud relative to the fork root 3D camera, and combines the position relationship of the fork root 3D camera relative to the forklift to obtain the relative posture of the cylindrical axis relative to the forklift. The posture discussed later specifically includes the position coordinates and the cylindrical axis orientation.

[0084] Specifically, the present application provides a technical solution for calculating the cylindrical axis position and posture. In other embodiments, common point cloud fitting technology can also be used to determine the cylindrical axis position and posture. Figure 6 , Figure 6 yes Figure 2 The specific flow chart of step S12 of the forklift control method is shown.

[0085] like Figure 6 As shown, the specific steps are as follows:

[0086] Step S121: Obtain the point cloud mean and covariance matrix of the cylinder axis point cloud.

[0087] In the embodiment of the present application, the forklift control device calculates the cylindrical point cloud for all point clouds that meet the above conditions, and calculates the mean value (x avr ,y avr , z avr ). Then calculate the covariance matrix of all point clouds, which is calculated as follows:

[0088]

[0089] Among them, each term cov(x, y)=E(xy)-E(x)E(y), and E represents the mean or expectation.

[0090] Step S122: Obtain the eigenvector corresponding to the minimum eigenvalue of the covariance matrix.

[0091] In the embodiment of the present application, the forklift control device calculates the minimum eigenvalue of the covariance matrix and its corresponding eigenvector v(v x , v y , v z ).

[0092] Step S123: Use the point cloud mean as the initial value, and use the eigenvector and the initial value to fit the cylinder axis equation.

[0093] In the embodiment of the present application, according to the formula of the cylindrical axis:

[0094]

[0095] The forklift control device determines the initial value of each parameter point cloud according to the calculation result of step S121 as follows:

[0096] x cylinder =x avr ,y cylinder =y avr , z cylinder =z avr +r cylinder ,

[0097] a=v x , b = v y , c = v z

[0098] For each point (x i ,y i , z i ), calculate the residual formula for each point:

[0099]

[0100] The forklift control device uses software including but not limited to ceres, and uses the least squares method to fit, and the equation of the circular shaft column can be obtained:

[0101]

[0102] Step S124: Obtain the cylindrical axis position and posture according to the cylindrical axis equation.

[0103] In the embodiment of the present application, the forklift control device counts all points of the cylindrical axis and obtains the point (x i_min ,y i_min, z i_min ). Let the coordinates of the tip of the cylinder axis in the camera coordinate system be Orientation

[0104] Forklift control device according to x i_min And the center line of the cylindrical axis can be used to calculate the cylindrical point at the tip of the axis in the camera coordinate system. The calculation formula is:

[0105]

[0106] Finally, the forklift control device obtains the coordinates of the tip of the cylindrical axis in the forklift coordinate system through the rotation and translation matrix of the camera coordinate system and the forklift coordinate system. Orientation

[0107] Step S13: Based on the cylindrical axis posture, the descent height and target coordinates of the forklift are obtained.

[0108] In the embodiment of the present application, the forklift control device can convert the forklift's descent height and target coordinates according to the cylindrical shaft posture and the current posture of the forklift, thereby moving the forklift to a position where the cylindrical shaft is inserted into the hole of the I-shaped wheel.

[0109] Specifically, the application calculates the height of the fork tine descent and the coordinates of the vehicle at the point, which can be calculated in the following two ways:

[0110] When the I-shaped wheel is close to the forklift's fender on the fork teeth and is not easy to shake, use the following method: Figure 7 The scheme shown, Figure 7 It is a flow chart of the third embodiment of the forklift control method provided in the present application.

[0111] Figure 7 The scheme shown uses an external parameter matrix plus ground height encoder calibration for calculation. Figure 7 As shown, the specific steps are as follows:

[0112] Step S31: obtaining the lowest height of the fork teeth supporting the I-shaped wheel from the ground.

[0113] In an embodiment of the present application, the forklift control device calibrates the rotation and translation matrix of the camera coordinate system to the vehicle body coordinate system through external parameters, set to (R, T), and calibrates the fork tine to drop to the lowest point, that is, when the height encoded by the wire encoder is zero, the height of the lower edge of the fork tine from the ground is h0.

[0114] Step S32: Obtain the inner width of the fork tines and the current height of the fork tines.

[0115] Step S33: based on the tip point of the cylindrical shaft, the radius of the cylindrical shaft, the inner width, the current height and the lowest height, the descending height of the forklift is obtained.

[0116] In the embodiment of the present application, the forklift control device sets the inner width of the fork tine to L fork , the height of the fork tine is h fork , the depth of the spool is d roll , the depth of the shaft is d cylinder , the distance from the forklift's rotation center to the baffle surface is d center The above parameters can be directly obtained or calibrated through hardware parameters.

[0117] Based on the above parameters, the forklift control device can calculate the height of the wire encoder to which the fork tine should be lowered:

[0118]

[0119] Step S34: Based on the cylindrical axis orientation, the target orientation of the forklift is obtained.

[0120] In the embodiment of the present application, the forklift control device is based on the cylindrical axis direction Calculate the direction the forklift will reach in the forklift coordinate system:

[0121]

[0122] Step S35: based on the target orientation, the tip of the cylindrical shaft, the depth of the I-shaped wheel, and the depth of the cylindrical shaft, the target coordinates of the forklift are obtained.

[0123] In the embodiment of the present application, the forklift control device calculates the coordinates that the forklift is to reach in the forklift coordinate system as follows:

[0124]

[0125] Finally, the forklift control device combines the map coordinates to obtain the map coordinates that the vehicle is to reach under the map coordinate system.

[0126] When the spool tends to wobble on the fork teeth, use Figure 8 The scheme shown, Figure 8 It is a flow chart of the fourth embodiment of the forklift control method provided by the present application.

[0127] Figure 8 The solution shown uses an external parameter matrix plus a fitted spool center, calculated by deviation. Figure 8 As shown, the specific steps are as follows:

[0128] Step S41: Based on the tip point of the cylindrical shaft and the center point of the I-shaped wheel, the descending height of the forklift is obtained.

[0129] In the embodiment of the present application, the forklift control device cuts the point cloud of the I-shaped wheel in the middle of the fork teeth from the original point cloud. Then, the contour of the lower edge of the I-shaped wheel is fitted by the two-dimensional least square method of the circular contour to obtain the center point of the I-shaped wheel in the camera coordinate system.

[0130] The forklift control device uses the circular plane at the lower end of the I-shaped wheel to perform plane fitting to obtain the direction of the I-shaped wheel. The center point and orientation of the I-shaped wheel in the forklift coordinate system are transformed by the external parameter matrix, set as Then, the height that the fork tine descends from its current position is:

[0131]

[0132] Step S42: Based on the cylindrical shaft orientation and the I-shaped wheel orientation, the target orientation of the forklift is obtained.

[0133] In the embodiment of the present application, the forklift is adjusted from the current position to the direction:

[0134]

[0135] Step S43: Acquire the target coordinates of the forklift based on the target orientation of the forklift, the tip point of the cylindrical axis, and the depth of the cylindrical axis.

[0136] In the embodiment of the present application, the displacement that the forklift needs to move from the current position is:

[0137]

[0138] Finally, the forklift control device combines the map coordinates to obtain the map coordinates that the vehicle is to reach under the map coordinate system.

[0139] Step S14: the I-shaped wheel on the forklift is controlled to descend according to the descending height, and the forklift is moved to the target coordinate to place the I-shaped wheel on the cylindrical shaft.

[0140] In the embodiment of the present application, the forklift control device lowers the forklift to the identified specified height, plans the vehicle's backward trajectory according to the backward target point and the length of the axle, and controls the vehicle to reach the point, and then lowers the I-shaped wheel to complete the task.

[0141] In the present application, the forklift control device uses a three-dimensional camera installed on the forklift to collect the cylindrical axis point cloud; based on the cylindrical axis point cloud, the cylindrical axis position is obtained; based on the cylindrical axis position, the descent height and target coordinates of the forklift are obtained; the I-shaped wheel on the forklift is controlled to descend according to the descent height, and the forklift is moved to the target coordinate to place the I-shaped wheel on the cylindrical axis. Through the above-mentioned forklift control method, the forklift 3D camera is used to identify the cylindrical axis, which can accurately obtain the point where the vehicle needs to retreat and the height of the fork tine descent, which can reduce the traditional solution of pasting QR codes and greatly reduce labor costs.

[0142] Those skilled in the art will appreciate that, in the above method of specific implementation, the order in which the steps are written does not imply a strict execution order and does not constitute any limitation on the implementation process. The specific execution order of the steps should be determined by their functions and possible internal logic.

[0143] In order to implement the above forklift control method, the present application also proposes a forklift control device, for details, please refer to Fig. 9 , Fig. 9 It is a structural schematic diagram of an embodiment of a forklift control device provided by the present application.

[0144] The forklift control device 500 of this embodiment includes: a collection module 51 , a posture module 52 , a planning module 53 , and a control module 54 .

[0145] The acquisition module 51 is used to acquire the cylindrical axis point cloud using a three-dimensional camera installed on the forklift.

[0146] The posture module 52 is used to obtain the cylinder axis posture based on the cylinder axis point cloud.

[0147] The planning module 53 is used to obtain the descent height and target coordinates of the forklift based on the cylindrical axis posture.

[0148] The control module 54 is used to control the I-shaped wheel on the forklift to descend according to the descending height, and to move the forklift to the target coordinate so as to place the I-shaped wheel on the cylindrical shaft.

[0149] In order to implement the above forklift control method, the present application also proposes a forklift control device, for details, please refer to Fig.10 , Fig.10 It is a structural schematic diagram of an embodiment of a forklift control device provided by the present application.

[0150] The forklift control device 600 of this embodiment includes a processor 61 , a memory 62 , an input / output device 63 , and a bus 64 .

[0151] The processor 61 , the memory 62 , and the input / output device 63 are respectively connected to the bus 64 . The memory 62 stores program data. The processor 61 is used to execute the program data to implement the forklift control method described in the above embodiment.

[0152] In the embodiment of the present application, the processor 61 may also be referred to as a CPU (Central Processing Unit). The processor 61 may be an integrated circuit chip having the ability to process signals. The processor 61 may also be a general-purpose processor, a digital signal processor (DSP), an application-specific integrated circuit (ASIC), a field programmable gate array (FPGA), or other programmable logic devices, discrete gates or transistor logic devices, or discrete hardware components. A general-purpose processor may be a microprocessor or the processor 61 may also be any conventional processor, etc.

[0153] This application also provides a computer storage medium, please continue to refer to Fig.11 , Fig.11 1 is a schematic diagram of the structure of an embodiment of a computer storage medium provided in the present application. The computer storage medium 700 stores a computer program 71. When the computer program 71 is executed by a processor, it is used to implement the forklift control method of the above embodiment.

[0154] When the embodiments of the present application are implemented in the form of software functional units and sold or used as independent products, they can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present application is essentially or the part that contributes to the prior art or all or part of the technical solution can be embodied in the form of a software product, and the computer software product is stored in a storage medium, including several instructions to enable a computer device (which can be a personal computer, a server, or a network device, etc.) or a processor to perform all or part of the steps of the method described in each embodiment of the present application. The aforementioned storage medium includes: various media that can store program codes, such as a USB flash drive, a mobile hard disk, a read-only memory (ROM), a random access memory (RAM), a disk or an optical disk.

[0155] The above description is only an implementation method of the present application, and does not limit the patent scope of the present application. Any equivalent structure or equivalent process transformation made using the contents of the present application specification and drawings, or directly or indirectly used in other related technical fields, are also included in the patent protection scope of the present application.

Claims

1. A forklift control method, characterized in that: The forklift control method comprises: Collecting a cylindrical axis point cloud using a three-dimensional camera installed on the forklift; Based on the cylindrical axis point cloud, obtaining the cylindrical axis position and posture; Based on the cylindrical axis position, obtaining the descent height and target coordinates of the forklift; The I-shaped wheel on the forklift is controlled to descend according to the descending height, and the forklift is moved to the target coordinate to place the I-shaped wheel on the cylindrical shaft.

2. The forklift control method according to claim 1, characterized in that: The method of collecting the cylindrical axis point cloud by using a three-dimensional camera installed on the forklift includes: Collecting original point cloud using a three-dimensional camera installed on the forklift; The original point cloud is cropped using a preset cylindrical axis model and a forklift body model, and / or the original point cloud is cropped using a cluster block interval with the most cluster points determined by clustering to obtain the cylindrical axis point cloud.

3. The forklift control method according to claim 1 or 2, characterized in that: After collecting the cylindrical axis point cloud by using the three-dimensional camera installed on the forklift, the forklift control method further includes: Dividing the cylindrical axis point cloud into a plurality of point cloud intervals according to a preset axis direction; Traversing every two adjacent target point cloud intervals, obtaining the previous point cloud interval and the next point cloud interval of the two adjacent target point cloud intervals; When the previous point cloud interval or the next point cloud interval does not meet the preset block condition, the two adjacent target point cloud intervals are used as verification point cloud intervals; Obtaining the maximum point cloud length of the verification point cloud interval in a preset axis direction; When the difference between the maximum point cloud length and the axis length of the cylinder axis is within a preset threshold range, the cylinder axis point cloud verification passes.

4. The forklift control method according to claim 1, characterized in that: The step of obtaining the cylindrical axis position and posture based on the cylindrical axis point cloud comprises: Obtaining the point cloud mean and covariance matrix of the cylinder axis point cloud; Obtaining the eigenvector corresponding to the minimum eigenvalue of the covariance matrix; Taking the point cloud mean as an initial value, fitting the cylinder axis equation using the eigenvector and the initial value; According to the cylinder axis equation, the cylinder axis position and posture are obtained.

5. The forklift control method according to claim 4, characterized in that: The step of obtaining the cylindrical axis position and posture according to the cylindrical axis equation includes: According to the cylindrical axis equation, obtaining the cylindrical axis tip point at which the distance between the cylindrical axis and the forklift is the smallest; Based on the tip point of the cylindrical axis and the radius of the cylindrical axis, obtaining the cylindrical axis orientation; The cylindrical axis position and orientation are obtained based on the cylindrical axis tip point and the cylindrical axis orientation.

6. The forklift control method according to claim 1, characterized in that: The cylindrical axis position includes the cylindrical axis tip point and the cylindrical axis orientation; The step of obtaining the descending height and target coordinates of the forklift based on the cylindrical axis posture includes: Obtaining the lowest height of the fork teeth supporting the I-shaped wheel from the ground; Obtaining the inner width of the fork tine and the current height of the fork tine; Based on the tip point of the cylindrical shaft, the radius of the cylindrical shaft, the inner width, the current height and the lowest height, obtaining the descending height of the forklift; Based on the cylindrical axis orientation, obtaining a target orientation of the forklift; The target coordinates of the forklift are acquired based on the target orientation, the tip point of the cylindrical shaft, the depth of the I-shaped wheel, and the depth of the cylindrical shaft.

7. The forklift control method according to claim 1, characterized in that: The cylindrical axis position includes the cylindrical axis tip point and the cylindrical axis orientation; The forklift control method further includes: Collecting the I-shaped wheel point cloud using a three-dimensional camera installed on the forklift; Perform fitting based on the spool point cloud to obtain the spool center point and spool orientation; The step of obtaining the descending height and target coordinates of the forklift based on the cylindrical axis posture includes: Based on the tip point of the cylindrical shaft and the center point of the I-shaped wheel, obtaining the descending height of the forklift; Based on the cylindrical shaft orientation and the I-shaped wheel orientation, obtaining a target orientation of the forklift; The target coordinates of the forklift are acquired based on the target orientation of the forklift, the tip point of the cylindrical shaft, and the depth of the cylindrical shaft.

8. A forklift control device, characterized in that: The forklift control device comprises: a collection module, a posture module, a planning module, and a control module; wherein, The acquisition module is used to acquire the cylindrical axis point cloud using a three-dimensional camera installed on the forklift; The posture module is used to obtain the cylinder axis posture based on the cylinder axis point cloud; The planning module is used to obtain the descent height and target coordinates of the forklift based on the cylindrical axis posture; The control module is used to control the I-shaped wheel on the forklift to descend according to the descending height, and to move the forklift to the target coordinate so as to place the I-shaped wheel on the cylindrical shaft.

9. A forklift control device, characterized in that: The forklift control device includes a memory and a processor coupled to the memory; The memory is used to store program data, and the processor is used to execute the program data to implement the forklift control method according to any one of claims 1 to 7.

10. A computer storage medium, characterized in that: The computer storage medium is used to store program data, and when the program data is executed by a computer, it is used to implement the forklift control method according to any one of claims 1 to 7.

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