Electric carrying vehicle with tray measuring function and carried material identification method

Abstract

The problem that an existing carrying forklift is difficult to collect cargo information while carrying cargoes is solved. The invention provides an electric carrying vehicle with a tray measuring function and a carried material identification method. The electric carrying vehicle comprises a forklift arm used for lifting materials; the device further comprises an operation table, a supporting structure and an image module. The operation table is fixedly arranged on one side of the supporting structure, and the forklift arm is arranged on the other side of the supporting structure in a sliding mode. A power assembly used for providing lifting power is arranged between the forklift arm and the supporting structure. The image module comprises a first depth camera and a second depth camera; the first depth camera is arranged at the end, away from the supporting structure, of the forklift arm. The second depth camera is arranged at the upper end of the supporting structure; the cargo information is comprehensively recorded while the cargos are carried, and the logistics efficiency is improved.

Description

Technical Field

[0001] The invention relates to the technical field of cargo handling and storage, and in particular to an electric transport vehicle with a pallet measuring function and a material identification method. Background Art

[0002] Logistics is a very important part of modern social life, and logistics involves a lot of cargo handling scenarios. In logistics transportation, for items that are difficult to carry directly by manpower, tools such as forklifts are usually used, such as the content shown in the patent with authorization announcement number CN215756204U.

[0003] When billing for logistics transportation, it is usually necessary to associate the volume and weight of the goods. In addition, the volume and weight of the goods need to be known during transportation. In the traditional way, forklifts transport goods to designated locations for weighing and volume detection before loading, which is time-consuming and labor-intensive, seriously reducing the overall efficiency of freight transportation; and during multiple transportation processes, accidents are more likely to occur. For logistics, efficiency and cargo safety are both very important indicators, so an electric transport vehicle and material identification method that can directly collect material weight and volume data are needed. Summary of the invention

[0004] The purpose of the present invention is to solve the deficiencies of the prior art and to provide an electric transport vehicle with a pallet measuring function and a material identification method.

[0005] In order to solve the above problems, the present invention adopts the following technical solutions: An electric transporter with a pallet measurement function comprises a forklift arm for lifting materials; an operating table, a support structure and an image module; the operating table is fixedly arranged on one side of the support structure, and the forklift arm is slidably arranged on the other side of the support structure; a power component for providing lifting power is arranged between the forklift arm and the support structure; the image module comprises a first depth camera and a second depth camera; the first depth camera is arranged at the end of the forklift arm away from the support structure; the second depth camera is arranged at the upper end of the support structure.

[0006] Furthermore, the support structure includes a support base and a support frame, and the support frame is fixedly arranged above the support base.

[0007] Furthermore, an external support arm is arranged between the second depth camera and the supporting structure; one end of the external support arm is rotatably connected to the supporting structure, and a second depth camera is fixedly arranged on the other end of the external support arm; and a gas spring for controlling the rotation of the external support arm is also arranged between the external support arm and the supporting structure.

[0008] Furthermore, a camera mounting plate is fixedly provided on the upper part of the support frame; the camera mounting plate is located on the side of the support frame close to the forklift arm, and two outer support arms are rotatably provided on the left and right side edges of the camera mounting plate; each outer support arm is also provided with an extended connecting block, the connecting block is rotatably connected to one end of a gas spring, and the other end of the gas spring is rotatably connected to the camera mounting plate.

[0009] Furthermore, there are two forklift arms, which are symmetrically arranged; the forklift arms are slidably connected to the support base through a cantilever plate; the cantilever plate is connected to one end of the hydraulic cylinder in the power assembly, and the other end of the hydraulic cylinder is fixedly arranged on the support base; sliding parts are respectively arranged on both sides of the cantilever plate, and a sliding groove corresponding to the sliding part is arranged on the support base, and the sliding part is slidably arranged in the sliding groove.

[0010] Furthermore, a roller assembly is rotatably provided at one end of the forklift arm away from the supporting base; the roller assembly includes a first rotating arm and a second rotating arm, wherein the first rotating arm is rotatably connected to the forklift arm; two rollers are respectively provided at both ends of the second rotating arm; the second rotating arm is located in the middle part between the two rollers and is rotatably connected to the first rotating arm; the first rotating arm is also rotatably connected to the first connecting rod, and the first connecting rod is located inside the forklift arm; the other end of the first connecting rod is rotatably connected to the second connecting rod, and the other end of the second connecting rod is also provided with a second pulley that abuts against the bottom surface of the supporting base; the second connecting rod is also rotatably connected to the cantilever plate; when the cantilever plate moves upward, the roller assembly is driven downward by the first connecting rod and the second connecting rod; when the cantilever plate moves downward, the roller assembly is driven upward by the first connecting rod and the second connecting rod.

[0011] Furthermore, at least one weighing sensor is arranged in the forklift arm.

[0012] Furthermore, the operating platform includes a control area and a standing area; the control area is arranged on the support base; the standing area includes a standing board, and the standing board is rotatably arranged on a side of the support base away from the forklift arm.

[0013] A method for identifying transported materials includes the above-mentioned electric transport vehicle, and the identification method includes the following steps: Step 1: The forklift arm picks up the cargo and lifts it upwards to a set distance; Step 2: The load cells in the forklift arm obtain their respective values; Step 3: Obtain the total mass of the goods and the center of gravity of the goods according to the values ​​of each weighing sensor; Step 4: The first depth camera acquires image depth data of the goods at a first angle, and the two second depth cameras respectively acquire image depth data of the goods at a second angle and a third angle, and acquires photos of the goods at each angle; Step 5: Calculate the dimensions of the goods; Step 6: Store the photos, dimensions and total weight of the goods in an associated manner, and end the step.

[0014] Furthermore, the calculation of the outer dimensions of the goods in step 5 includes the following steps: Step 51: grayscale, smooth, enhance, and segment the collected image to enhance image quality; Step 52: extracting feature points from any two images, finding corresponding feature points in the other image, and recording the feature points to obtain disparity information of images at each angle; Step 53: Calculate the three-dimensional coordinates of the object according to the parallax information and the camera calibration parameters in combination with the triangulation principle, and convert them into the world coordinate system, thereby realizing three-dimensional reconstruction of the object; Step 54: Based on the reconstructed three-dimensional object, obtain its length in the dimension direction in the three-dimensional coordinates, and calculate the volume of the object based on its length in the dimension direction.

[0015] The beneficial effects of the present invention are: By setting up an image module, the dimensions and images of the goods on the forklift arm can be obtained while the goods are being transported, so that the cargo information can be recorded more comprehensively and the efficiency of logistics can be improved. By setting an outer support arm to connect the second depth camera, the second depth camera can be opened outward, and cooperate with the two second depth cameras on both sides to obtain a larger viewing angle, and can detect larger pallets and moving goods on the pallets. In addition, when not in use, it can be folded up to reduce interference with the surrounding environment during cargo handling; Through the roller assembly, in cooperation with the first connecting rod and the second connecting rod, the control roller can be raised or lowered downward to form support or retract as the forklift arm rises or falls; By setting up a weighing sensor, the weight of the cargo on the forklift arm can be detected to obtain more comprehensive cargo information; By setting up the standing area and the control area, it is convenient to control the overall movement of the transporter, improving the comfort and convenience of operation. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 It is a schematic diagram of the overall structure of the electric transport vehicle of Example 1; Figure 2 A schematic diagram of the outer support arm of the electric transport vehicle of Example 1 being opened; Figure 3 The overall structure of the electric transport vehicle of Example 1 is shown in FIG. Figure 2 ; Figure 4 The overall structure of the electric transport vehicle of Example 1 is shown in FIG. Figure 3 ; Figure 5 This is a schematic diagram of the outer support arm of Example 1 being opened; Figure 6 An exploded view of the forklift arm of the electric transport truck of Example 1; Figure 7 It is a schematic diagram of the cooperation between the roller assembly and the first connecting rod of Example 1; Figure 8 The forklift arm of the electric transport truck of Example 1 exploded Figure 2 ; Fig. 9 The forklift arm of the electric transport truck of Example 1 exploded Figure 3 ; Fig.10 This is a schematic diagram of the internal structure of the support base of the electric transport vehicle of Example 1; Fig.11 is a schematic diagram of a display component of Example 1; Fig.12 This is an exploded view of the standing area of ​​the electric transport vehicle of Example 1.

[0017] Description of the symbols in the figures: forklift arm 1, cantilever plate 11, sliding member 12, roller assembly 13, first rotating arm 131, second rotating arm 132, first connecting rod 14, second connecting rod 15, second pulley 16, weighing sensor 17, trough 18, cover plate 19, operating table 2, control area 21, walking assembly 211, walking wheel 2111, walking motor 2112, motor controller 2113, steering shaft 2114, control assembly 212, control handle 2121, display assembly 213, central control display Screen 2131, first hinge structure 2132, second hinge structure 2133, standing area 22, standing board 221, support rod 2211, arm guard 222, elastic structure 223, return spring 2231, support block 2232, disk 2233, support structure 3, power assembly 31, support base 32, universal wheel 321, support frame 33, outer support arm 34, camera mounting plate 35, gas spring 36, slide groove 37, buffer 38, image module 4, first depth camera 41, second depth camera 42. DETAILED DESCRIPTION

[0018] The following describes the embodiments of the present invention by specific examples, and those skilled in the art can easily understand other advantages and effects of the present invention from the contents disclosed in this specification. The present invention can also be implemented or applied through other different specific embodiments, and the details in this specification can also be modified or changed in various ways based on different viewpoints and applications without departing from the spirit of the present invention. It should be noted that the following embodiments and features in the embodiments can be combined with each other without conflict.

[0019] It should be noted that the illustrations provided in the following embodiments are only used to schematically illustrate the basic concept of the present invention. The figures only show components related to the present invention rather than being drawn according to the number, shape and size of components in actual implementation. In actual implementation, the type, quantity and proportion of each component may be changed arbitrarily, and the component layout may also be more complicated.

[0020] Embodiment 1: like Figure 1 to Figure 12 As shown, an electric transporter with a pallet measurement function includes a forklift arm 1 for lifting materials; an operating table 2, a support structure 3 and an image module 4; the operating table 2 is fixedly arranged on one side of the support structure 3, and the forklift arm 1 is slidably arranged on the other side of the support structure 3, and the forklift arm 1 on the other side of the operating table 2 can be controlled by the operating table 2 to lift or lower; a power assembly 31 is arranged between the forklift arm 1 and the support structure 3, and the power assembly 31 is used to provide power for the movement of the forklift arm 1; in this example, the power structure includes a hydraulic cylinder, and in some other embodiments, the power structure can also be in the form of a motor and a chain; the image module 4 includes a first depth camera 41 and a second depth camera 42; the first depth camera 41 is arranged at the end of the forklift arm 1 away from the support structure 3; the second depth camera 42 is arranged at the upper end of the support structure 3. The first depth camera 41 and the second depth camera 42 collect the length data and height data of the goods on the forklift arm 1 in various directions, and then obtain the approximate volume of the goods; it should be noted that the acquisition of distance or length data by the depth camera adopts the existing technology.

[0021] The support structure 3 includes a support base 32 and a "door"-shaped support frame 33, which is fixedly arranged above the support base 32; the support frame 33 is located in the vertical direction. A camera mounting plate 35 is fixedly arranged on the upper part of the support frame 33; the camera mounting plate 35 is located on the side of the support frame 33 close to the forklift arm 1, and two outer support arms 34 are rotatably arranged on the left and right edges of the camera mounting plate 35, respectively, and are connected to the second depth camera 42 through the outer support arms 34. It should be noted that the rotation axis of the outer support arm 34 is vertically arranged on the camera mounting plate 35, that is, the rotation surface formed by the rotation of the outer support arm 34 is parallel to the plate-shaped camera mounting plate 35. In this example, the second depth camera 42 is located at the end of the outer support arm 34; a gas spring 36 for controlling the rotation of the outer support arm 34 is also arranged between the outer support arm 34 and the support structure 3. Each outer support arm 34 is also provided with a connection block extending in a direction away from the second depth camera 42, and the connection block is rotatably connected to one end of a gas spring 36, and the other end of the gas spring 36 is rotatably connected to the camera mounting plate 35. The opening and retraction of the outer support arm 34 is directly controlled by the gas spring 36. The camera mounting plate 35 is also provided with a limit assembly for limiting the rotation range of the outer support arm 34, and the limit assembly of each outer support arm 34 includes two buffers 38, one of which corresponds to the position of the outer support arm 34 when it is in a horizontal state, and the other buffer 38 corresponds to the position of the outer support arm 34 when it is in a vertical drooping state. In this way, when the outer support arm 34 is retracted downward and unfolded to the side, it can be slowly stopped due to the buffer, thereby reducing the impact and vibration on the second depth camera 42 set at the end of the outer support arm 34.

[0022] The bottom of the support structure 3 is further provided with two universal wheels 321 , and the two universal wheels 321 are respectively provided at two sides of the bottom of the support structure 3 .

[0023] There are two forklift arms 1, and the two forklift arms 1 are symmetrically arranged; one end of each forklift arm 1 away from the support structure 3 is provided with a first depth camera 41; the forklift arm 1 is slidably connected to the support base 32 through a cantilever plate 11; the cantilever plate 11 is connected to one end of the hydraulic cylinder in the power assembly 31, and the other end of the hydraulic cylinder is fixedly arranged on the support base 32, and the cantilever plate 11 is controlled to rise or fall by the hydraulic cylinder; sliding members 12 are respectively arranged on both sides of the cantilever plate 11, and a U-shaped slide groove 37 corresponding to the sliding member 12 is arranged on the support base 32, and the sliding member 12 is slidably arranged in the slide groove 37; in this example, the sliding member 12 is a first roller, and two first pulleys are arranged on both sides of the cantilever plate 11, and the two first pulleys are distributed up and down. In this example, the forklift arm 1 includes a trough body 18 and a cover plate 19, wherein the trough body 18 is an elongated square trough as a whole, and the cover plate 19 is arranged above the trough body 18.

[0024] The end of the forklift arm 1 away from the supporting base 32 is also rotatably provided with a roller assembly 13; the roller assembly 13 includes a first rotating arm 131 and a second rotating arm 132, wherein the first rotating arm 131 is rotatably connected to the forklift arm 1; the second rotating arm 132 includes two connecting plates parallel to each other, and two rollers are rotatably provided at both ends of the connecting plates, and the rollers are located in the area between the two connecting plates; the middle part of the second rotating arm 132 located between the two rollers is rotatably connected to the first rotating arm 131, so that rollers are provided on both sides of the rotating connection part of the second rotating arm 132, so that the mass distribution on both sides is more uniform. In this way, when the first rotating arm 131 rotates downward, the second rotating arm 132 can be relatively stable in a horizontal state or a nearly horizontal state, so that the two rollers on the second rotating arm 132 are pressed on the ground to form a stable support; the part of the first rotating arm 131 close to the rotation connection with the forklift arm 1 is also rotatably connected to the first connecting rod 14 dynamic connection; it should be noted that the position where the first rotating arm 131 and the first connecting rod 14 are rotatably connected is located below the position where the first rotating arm 131 and the forklift arm 1 are rotatably connected. In this way, when the first connecting rod 14 moves in a direction away from the first rotating arm 131, it can pull the first rotating arm 131 to rotate downward; the first connecting rod 14 is located inside the groove body 18 of the forklift arm 1; the other end of the first connecting rod 14 is rotatably connected to the second connecting rod 15, and the other end of the second connecting rod 15 is also provided with a second pulley 16 that abuts against the bottom surface of the support base 32; the second connecting rod 15 is also rotatably connected to the cantilever plate 11; when the cantilever plate 11 moves upward, the first connecting rod 14 and the second connecting rod 15 drive the roller assembly 13 to rotate downward, so that when the forklift arm 1 is lifted, the roller on the second rotating arm 132 is controlled to move downward so that the roller forms a support with the ground; when the cantilever plate 11 moves downward, the first connecting rod 14 and the second connecting rod 15 drive the roller assembly 13 to rotate upward.

[0025] At least one weighing sensor 17 is arranged in the groove 18 of the forklift arm 1; in this example, two weighing sensors 17 are arranged in each forklift arm 1; the weighing sensors 17 in the forklift arm 1 are respectively arranged on both sides of the first connecting rod 14, and the two weighing sensors 17 are respectively located at one end close to the roller assembly 13 and one end close to the cantilever plate 11. The weighing sensor 17 adopts a cantilever sensor, and the sensing part of the cantilever sensor is exposed on the upper surface of the forklift arm 1, so as to directly contact with the goods carried on the forklift arm 1, thereby detecting the weight of the goods.

[0026] The operating platform 2 includes a control area 21 and a standing area 22 ; the control area 21 is disposed on a support base 32 ; and the standing area 22 is disposed on a side of the support base 32 away from the forklift arm 1 .

[0027] The standing area 22 includes a standing plate 221 and an arm guard 222; the standing plate 221 is rotatably arranged on a side of the support base 32 away from the forklift arm 1, and an elastic structure 223 is also arranged between the standing plate 221 and the support base 32 to help the standing plate 221 flip up and reset, so that when the standing plate 221 is not in use, it remains in an upward state and fits against the side of the support base 32 to reduce the occupied space; the arm guard 222 is fixedly arranged on the support base 32; the arm guard 222 is located directly above the standing plate 221 and helps the operator to stand firmly on the standing platform. The elastic structure 223 includes a return spring 2231 and a support block 2232, and the support block 2232 is slidably connected to the support base 32; the support block 2232 is also sleeved with a return spring 2231, one end of the return spring 2231 is against the support base 32, and the other end of the return spring 2231 is against the disc 2233 fixed at the end of the support block 2232. It should be noted that the side of the support block 2232 where the disc 2233 is provided is located at the position of the support block 2232 close to the standing plate 221; the standing plate 221 A support rod 2211 is arranged corresponding to the support block 2232, and the support block 2232 is against the support rod 2211; the two sides of the standing plate 221 are respectively connected to the support base 32 for rotation, and the support rod 2211 is fixedly arranged in the area between the two rotating connection parts of the standing plate 221; when the standing plate 221 is not subjected to external force, the return spring 2231 pushes the support block 2232 to resist the support rod 2211 and move upward, and when the support rod 2211 moves upward, the standing plate 221 is controlled to flip upward and fit with the side of the support base 32.

[0028] The control area 21 includes a walking component 211, a control component 212 and a display component 213; the control component 212 is connected to the walking component 211 and the display component 213 respectively. The walking component 211 includes a walking wheel 2111, a walking motor 2112 and a motor controller 2113; the walking wheel 2111 is connected to the walking motor 2112 by transmission, and the walking motor 2112 is also electrically connected to the motor controller 2113, and the motor controller 2113 controls the forward and reverse rotation and the rotation speed of the walking motor 2112; the walking wheel 2111 is arranged below the support base 32, and in this example, the walking wheel 2111 is located between the two universal wheels 321; the walking wheel 2111 is also connected to the control component 212 through a steering shaft 2114; the motor controller 2113 is electrically connected to the control component 212. The control assembly 212 includes a control handle 2121, which is fixedly arranged at the upper end of the steering shaft 2114. The control handle 2121 is also provided with a plurality of control buttons, which are used to control the rotation speed of the travel motor 2112, the lifting and lowering of the hydraulic cylinder, and the extension and shortening of the gas spring 36 connected to the outer support arm 34. In addition, by rotating the control handle 2121, the direction of the travel wheel 2111 can be directly controlled through the steering shaft 2114, thereby realizing the steering control of the entire transport vehicle. The display assembly 213 includes a central control display screen 2131. In this example, the central control display screen 2131 is arranged on the support frame 33 of the support structure 3. A first hinge structure 2132 capable of flipping up and down and a second hinge structure 2133 capable of horizontal rotation are also arranged between the central control display screen 2131 and the support frame 33. One end of the second hinge structure 2133 is fixedly connected to the support frame 33, and the other end of the second hinge structure 2133 is connected to the central control display screen 2131 through the first hinge structure 2132, so that the central control display screen 2131 can be adjusted in the horizontal plane and transmitted in the vertical plane. The second hinge structure 2133 includes two rotating rods connected in rotation.

[0029] A method for identifying transported materials includes the above-mentioned electric transport vehicle, and the identification method includes the following steps: Step 1: The forklift arm 1 forks the cargo and lifts it upwards a set distance; Step 2: The weighing sensors 17 in the forklift arm 1 obtain their respective values; Step 3: Obtain the total mass of the cargo and the center of gravity of the cargo according to the values ​​of each weighing sensor 17; in this example, the total mass of the cargo is the sum of the values ​​of the four weighing sensors in the forklift arm; the center of gravity of the cargo is obtained by the ratio of the values ​​of each weighing sensor; Step 4: The first depth camera acquires image depth data of the goods at the first angle, and the two second depth cameras acquire image depth data of the goods at the second angle and the third angle respectively, and acquires photos of the goods at each angle; it should be noted that the image depth data is a function of the depth camera itself, mainly including the distance and coordinate data relative to the camera, etc.; Step 5: Calculate the dimensions of the goods; Step 6: Store the photos, dimensions and total weight of the goods in an associated manner, and end the step.

[0030] Calculating the dimensions of the goods in step 5 includes the following steps: Step 51: grayscale, smooth, enhance and segment the acquired image to enhance image quality; Step 52: extracting feature points from any two images, finding corresponding feature points in the other image, and recording the feature points to obtain disparity information of images at each angle; Step 53: Calculate the three-dimensional coordinates of the object according to the parallax information and the camera calibration parameters in combination with the triangulation principle, and convert them into the world coordinate system, thereby realizing three-dimensional reconstruction of the object; Step 54: Based on the reconstructed three-dimensional object, obtain its length in the dimension direction in the three-dimensional coordinates, and calculate the volume of the object based on its length in the dimension direction.

[0031] It should be noted that the camera calibration parameters in step 53 are obtained by the Zhang Zhengyou chessboard calibration method in advance. The calibration parameters include the internal and external parameters of the camera, distortion coefficients, etc., which are used to establish the "3D-2D" and "2D-3D" mapping relationships.

[0032] During the implementation process, by setting the image module 4, it is possible to obtain the outer dimensions and image of the goods on the forklift arm 1 while transporting the goods, record the goods information more comprehensively, and improve the efficiency of logistics; by setting the outer support arm 34 to connect the second depth camera 42, the second depth camera 42 can be opened outward, and cooperate with the two second depth cameras 42 on both sides to obtain a larger viewing angle, and can detect larger pallets and goods moving on the pallets. In addition, when not in use, it can be folded up to reduce interference with the surrounding environment during cargo transportation and facilitate passing through some narrow areas; through the roller assembly 13, in cooperation with the first connecting rod 14 and the second connecting rod 15, the control roller can be controlled to form support or fold downward as the forklift arm 1 rises and falls; by setting the weighing sensor 17, the weight of the goods on the forklift arm 1 is detected to obtain more comprehensive cargo information; by setting the standing area 22 and the control area 21, it is convenient to control the overall motion of the transport vehicle, and improve the comfort and convenience of operation.

[0033] The above description is only a specific example of the present invention and does not constitute any limitation to the present invention. It is obvious that for professionals in this field, after understanding the content and principle of the present invention, various modifications and changes in form and details may be made without departing from the principle and structure of the present invention, but these modifications and changes based on the idea of ​​the present invention are still within the scope of protection of the claims of the present invention.

Claims

1. An electric transport vehicle with a pallet measurement function, comprising a forklift arm for lifting materials; characterized in that: It also includes an operating table, a supporting structure and an image module; the operating table is fixedly arranged on one side of the supporting structure, and the forklift arm is slidably arranged on the other side of the supporting structure; a power component for providing lifting power is arranged between the forklift arm and the supporting structure; the image module includes a first depth camera and a second depth camera; the first depth camera is arranged at the end of the forklift arm away from the supporting structure; the second depth camera is arranged at the upper end of the supporting structure.

2. The electric transport vehicle with pallet measurement function according to claim 1, characterized in that: The support structure includes a support base and a support frame, and the support frame is fixedly arranged above the support base.

3. The electric transport vehicle with pallet measurement function according to claim 2, characterized in that: An outer support arm is also arranged between the second depth camera and the supporting structure; one end of the outer support arm is rotatably connected to the supporting structure, and a second depth camera is fixedly arranged on the other end of the outer support arm; a gas spring for controlling the rotation of the outer support arm is also arranged between the outer support arm and the supporting structure.

4. The electric transport vehicle with pallet measurement function according to claim 3, characterized in that: A camera mounting plate is fixedly arranged on the upper part of the support frame; the camera mounting plate is located on the side of the support frame close to the forklift arm, and two outer support arms are rotatably arranged on the left and right side edges of the camera mounting plate; each outer support arm is also provided with an extended connecting block, the connecting block is rotatably connected to one end of a gas spring, and the other end of the gas spring is rotatably connected to the camera mounting plate.

5. The electric transport vehicle with pallet measurement function according to claim 2, characterized in that: There are two forklift arms in total, and the two forklift arms are symmetrically arranged; the forklift arm is slidably connected to the support base through a cantilever plate; the cantilever plate is connected to one end of the hydraulic cylinder in the power assembly, and the other end of the hydraulic cylinder is fixedly arranged on the support base; sliding parts are respectively arranged on both sides of the cantilever plate, and a sliding groove corresponding to the sliding part is arranged on the support base, and the sliding part is slidably arranged in the sliding groove.

6. The electric transport vehicle with pallet measurement function according to claim 5, characterized in that: A roller assembly is also rotatably provided at one end of the forklift arm away from the supporting base; the roller assembly includes a first rotating arm and a second rotating arm, wherein the first rotating arm is rotatably connected to the forklift arm; two rollers are respectively provided at both ends of the second rotating arm; the second rotating arm is located in the middle part between the two rollers and is rotatably connected to the first rotating arm; the first rotating arm is also rotatably connected to the first connecting rod, and the first connecting rod is located inside the forklift arm; the other end of the first connecting rod is rotatably connected to the second connecting rod, and the other end of the second connecting rod is also provided with a second pulley that abuts against the bottom surface of the supporting base; the second connecting rod is also rotatably connected to the cantilever plate; when the cantilever plate moves upward, the roller assembly is driven downward by the first connecting rod and the second connecting rod; when the cantilever plate moves downward, the roller assembly is driven upward by the first connecting rod and the second connecting rod.

7. The electric transport vehicle with pallet measurement function according to claim 5, characterized in that: At least one weighing sensor is arranged in the forklift arm.

8. The electric transport vehicle with pallet measurement function according to claim 2, characterized in that: The operating platform includes a control area and a standing area; the control area is arranged on the support base; the standing area includes a standing board, and the standing board is rotatably arranged on a side of the support base away from the forklift arm.

9. A method for identifying transported materials, characterized in that: The electric transport vehicle according to any one of claims 1 to 8, wherein the identification method comprises the following steps: Step 1: The forklift arm picks up the cargo and lifts it upwards to a set distance; Step 2: The load cells in the forklift arm obtain their respective values; Step 3: Obtain the total mass of the goods and the center of gravity of the goods according to the values ​​of each weighing sensor; Step 4: The first depth camera acquires image depth data of the goods at a first angle, and the two second depth cameras respectively acquire image depth data of the goods at a second angle and a third angle, and acquires photos of the goods at each angle; Step 5: Calculate the dimensions of the goods; Step 6: Store the photos, dimensions and total weight of the goods in an associated manner, and end the step.

10. A method for identifying transported materials according to claim 9, characterized in that: Calculating the dimensions of the goods in step 5 includes the following steps: Step 51: grayscale, smooth, enhance, and segment the collected image to enhance image quality; Step 52: extracting feature points from any two images, finding corresponding feature points in the other image, and recording the feature points to obtain disparity information of images at each angle; Step 53: Calculate the three-dimensional coordinates of the object according to the parallax information and the camera calibration parameters in combination with the triangulation principle, and convert them into the world coordinate system, thereby realizing three-dimensional reconstruction of the object; Step 54: Based on the reconstructed three-dimensional object, obtain its length in the dimension direction in the three-dimensional coordinates, and calculate the volume of the object based on its length in the dimension direction.

Images